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SikongJueluo:master SikongJueluo:pyg SikongJueluo:dpp SikongJueluo:refactor
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compare: SikongJueluo:c5f0e706a421757d2ebe7525f2006d62c9571b19
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SikongJueluo:master SikongJueluo:pyg SikongJueluo:dpp SikongJueluo:refactor

2 Commits
1273be7dee ... c5f0e706a4

Author SHA1 Message Date
alivender
c5f0e706a4 feat: 部分修复摄像头批量读逻辑 2025-07-14 12:14:40 +08:00
alivender
9b580be5e9 add: 添加自动对焦逻辑（还没写完） 2025-07-14 10:48:13 +08:00
5 changed files with 775 additions and 212 deletions
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82
server/src/Controllers/VideoStreamController.cs
View File

@@ -365,4 +365,86 @@ public class VideoStreamController : ControllerBase
return TypedResults.InternalServerError($"获取支持的分辨率列表失败: {ex.Message}");
}
}
/// <summary>
/// 初始化摄像头自动对焦功能
/// </summary>
/// <returns>初始化结果</returns>
[HttpPost("InitAutoFocus")]
public async Task<IResult> InitAutoFocus()
{
try
{
logger.Info("收到初始化自动对焦请求");
var result = await _videoStreamService.InitAutoFocusAsync();
if (result)
{
logger.Info("自动对焦初始化成功");
return TypedResults.Ok(new
{
success = true,
message = "自动对焦初始化成功",
timestamp = DateTime.Now
});
}
else
{
logger.Warn("自动对焦初始化失败");
return TypedResults.BadRequest(new
{
success = false,
message = "自动对焦初始化失败",
timestamp = DateTime.Now
});
}
}
catch (Exception ex)
{
logger.Error(ex, "初始化自动对焦时发生异常");
return TypedResults.InternalServerError($"初始化自动对焦失败: {ex.Message}");
}
}
/// <summary>
/// 执行自动对焦
/// </summary>
/// <returns>对焦结果</returns>
[HttpPost("AutoFocus")]
public async Task<IResult> AutoFocus()
{
try
{
logger.Info("收到执行自动对焦请求");
var result = await _videoStreamService.PerformAutoFocusAsync();
if (result)
{
logger.Info("自动对焦执行成功");
return TypedResults.Ok(new
{
success = true,
message = "自动对焦执行成功",
timestamp = DateTime.Now
});
}
else
{
logger.Warn("自动对焦执行失败");
return TypedResults.BadRequest(new
{
success = false,
message = "自动对焦执行失败",
timestamp = DateTime.Now
});
}
}
catch (Exception ex)
{
logger.Error(ex, "执行自动对焦时发生异常");
return TypedResults.InternalServerError($"执行自动对焦失败: {ex.Message}");
}
}
}

788
server/src/Peripherals/CameraClient.cs
View File

@@ -196,19 +196,6 @@ class Camera
}
}
await Task.Delay(5);
{
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, 0x00000101);
if (!ret.IsSuccessful)
{
logger.Error($"Failed to write STORE_ADDR: {ret.Error}");
return new(ret.Error);
}
if (!ret.Value)
{
logger.Error("STORE_ADDR write returned false");
return new(new Exception("STORE_ADDR write returned false"));
}
}
return true;
}
@@ -253,32 +240,44 @@ class Camera
/// <summary>
/// 批量配置I2C寄存器
/// </summary>
/// <param name="registerTable">寄存器配置表，每个元素包含3个字节：[地址高位, 地址低位, 数据]</param>
/// <param name="registerTable">寄存器配置表，每个元素格式为：[16位寄存器地址, 数据1, 数据2, ...]</param>
/// <param name="customDelayMs">自定义延时时间（毫秒），如果为null则使用默认延时逻辑</param>
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureRegisters(byte[][] registerTable, int? customDelayMs = null)
public async ValueTask<Result<bool>> ConfigureRegisters(UInt16[][] registerTable, int? customDelayMs = null)
{
var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
foreach (var cmd in registerTable)
{
if (cmd.Length != 3)
if (cmd.Length < 2)
{
logger.Error($"Invalid register command length: {cmd.Length}, expected 3 bytes");
return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected 3 bytes"));
logger.Error($"Invalid register command length: {cmd.Length}, expected at least 2 elements (address + data)");
return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected at least 2 elements"));
}
var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
// 将16位地址和数据转换为字节数组
var i2cData = new byte[cmd.Length + 1]; // +1 because address becomes 2 bytes
var address = cmd[0];
i2cData[0] = (byte)(address >> 8); // 地址高位
i2cData[1] = (byte)(address & 0xFF); // 地址低位
// 复制数据部分
for (int i = 1; i < cmd.Length; i++)
{
i2cData[i + 1] = (byte)cmd[i];
}
var ret = await i2c.WriteData(CAM_I2C_ADDR, i2cData, CAM_PROTO);
if (!ret.IsSuccessful)
{
logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: Address=0x{address:X4}, Data={string.Join(",", cmd.Skip(1).Select(x => $"0x{x:X2}"))} error: {ret.Error}");
return new(ret.Error);
}
if (!ret.Value)
{
logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: Address=0x{address:X4}, Data={string.Join(",", cmd.Skip(1).Select(x => $"0x{x:X2}"))}");
return false;
}
@@ -290,7 +289,7 @@ class Camera
else
{
// 使用默认延时逻辑
if (cmd[0] == 0x30 && cmd[1] == 0x08 && cmd[2] == 0x82)
if (address == 0x3008 && cmd.Length >= 2 && cmd[1] == 0x82)
{
// 复位命令，等待5MS
await Task.Delay(5);
@@ -376,39 +375,39 @@ class Camera
}
// 2. 配置I2C寄存器
var resolutionRegisters = new byte[][]
var resolutionRegisters = new UInt16[][]
{
// H_OFFSET/V_OFFSET
new byte[] { 0x38, 0x10, unchecked((byte)((hOffset >> 8) & 0xFF)) },
new byte[] { 0x38, 0x11, unchecked((byte)(hOffset & 0xFF)) },
new byte[] { 0x38, 0x12, unchecked((byte)((vOffset >> 8) & 0xFF)) },
[0x3810, unchecked((byte)((hOffset >> 8) & 0xFF))],
[0x3811, unchecked((byte)(hOffset & 0xFF))],
[0x3812, unchecked((byte)((vOffset >> 8) & 0xFF))],
// H_START/V_START
new byte[] { 0x38, 0x00, unchecked((byte)((hStart >> 8) & 0xFF)) },
new byte[] { 0x38, 0x01, unchecked((byte)(hStart & 0xFF)) },
new byte[] { 0x38, 0x02, unchecked((byte)((vStart >> 8) & 0xFF)) },
new byte[] { 0x38, 0x03, unchecked((byte)(vStart & 0xFF)) },
[0x3800, unchecked((byte)((hStart >> 8) & 0xFF))],
[0x3801, unchecked((byte)(hStart & 0xFF))],
[0x3802, unchecked((byte)((vStart >> 8) & 0xFF))],
[0x3803, unchecked((byte)(vStart & 0xFF))],
// H_END/V_END
new byte[] { 0x38, 0x04, unchecked((byte)((hEnd >> 8) & 0xFF)) },
new byte[] { 0x38, 0x05, unchecked((byte)(hEnd & 0xFF)) },
new byte[] { 0x38, 0x06, unchecked((byte)((vEnd >> 8) & 0xFF)) },
new byte[] { 0x38, 0x07, unchecked((byte)(vEnd & 0xFF)) },
[0x3804, unchecked((byte)((hEnd >> 8) & 0xFF))],
[0x3805, unchecked((byte)(hEnd & 0xFF))],
[0x3806, unchecked((byte)((vEnd >> 8) & 0xFF))],
[0x3807, unchecked((byte)(vEnd & 0xFF))],
// 输出像素个数
new byte[] { 0x38, 0x08, unchecked((byte)((dvpHo >> 8) & 0xFF)) },
new byte[] { 0x38, 0x09, unchecked((byte)(dvpHo & 0xFF)) },
new byte[] { 0x38, 0x0A, unchecked((byte)((dvpVo >> 8) & 0xFF)) },
new byte[] { 0x38, 0x0B, unchecked((byte)(dvpVo & 0xFF)) },
[0x3808, unchecked((byte)((dvpHo >> 8) & 0xFF))],
[0x3809, unchecked((byte)(dvpHo & 0xFF))],
[0x380A, unchecked((byte)((dvpVo >> 8) & 0xFF))],
[0x380B, unchecked((byte)(dvpVo & 0xFF))],
// 总像素
new byte[] { 0x38, 0x0C, unchecked((byte)((hts >> 8) & 0xFF)) },
new byte[] { 0x38, 0x0D, unchecked((byte)(hts & 0xFF)) },
new byte[] { 0x38, 0x0E, unchecked((byte)((vts >> 8) & 0xFF)) },
new byte[] { 0x38, 0x0F, unchecked((byte)(vts & 0xFF)) },
[0x380C, unchecked((byte)((hts >> 8) & 0xFF))],
[0x380D, unchecked((byte)(hts & 0xFF))],
[0x380E, unchecked((byte)((vts >> 8) & 0xFF))],
[0x380F, unchecked((byte)(vts & 0xFF))],
// Timing Voffset
new byte[] { 0x38, 0x13, unchecked((byte)(vOffset & 0xFF)) }
[0x3813, unchecked((byte)(vOffset & 0xFF))]
};
var configResult = await ConfigureRegisters(resolutionRegisters, customDelayMs: 1);
@@ -533,9 +532,9 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> Reset()
{
var resetRegisters = new byte[][]
var resetRegisters = new UInt16[][]
{
new byte[] { 0x30, 0x08, 0x82 } // 复位命令
[0x30, 0x08, 0x82] // 复位命令
};
return await ConfigureRegisters(resetRegisters, customDelayMs: 5); // 复位后等待5ms
@@ -547,9 +546,9 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> Sleep()
{
var sleepRegisters = new byte[][]
var sleepRegisters = new UInt16[][]
{
new byte[] { 0x30, 0x08, 0x42 } // 休眠命令
[0x3008, 0x42] // 休眠命令
};
return await ConfigureRegisters(sleepRegisters);
@@ -561,13 +560,13 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureBasicRegisters()
{
var basicRegisters = new byte[][]
var basicRegisters = new UInt16[][]
{
new byte[] { 0x31, 0x03, 0x02 },
new byte[] { 0x30, 0x17, 0xff },
new byte[] { 0x30, 0x18, 0xff },
new byte[] { 0x30, 0x37, 0x13 },
new byte[] { 0x31, 0x08, 0x01 }
[0x3103, 0x02],
[0x3017, 0xff],
[0x3018, 0xff],
[0x3037, 0x13],
[0x3108, 0x01]
};
return await ConfigureRegisters(basicRegisters);
@@ -579,13 +578,13 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureSensorControl()
{
var sensorRegisters = new byte[][]
var sensorRegisters = new UInt16[][]
{
new byte[] { 0x36, 0x30, 0x36 },
new byte[] { 0x36, 0x31, 0x0e },
new byte[] { 0x36, 0x32, 0xe2 },
new byte[] { 0x36, 0x33, 0x12 },
new byte[] { 0x36, 0x21, 0xe0 }
[0x3630, 0x36],
[0x3631, 0x0e],
[0x3632, 0xe2],
[0x3633, 0x12],
[0x3621, 0xe0]
};
return await ConfigureRegisters(sensorRegisters);
@@ -597,14 +596,14 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureAnalogControl()
{
var analogRegisters = new byte[][]
var analogRegisters = new UInt16[][]
{
new byte[] { 0x37, 0x04, 0xa0 },
new byte[] { 0x37, 0x03, 0x5a },
new byte[] { 0x37, 0x15, 0x78 },
new byte[] { 0x37, 0x17, 0x01 },
new byte[] { 0x37, 0x0b, 0x60 },
new byte[] { 0x37, 0x05, 0x1a }
[0x3704, 0xa0],
[0x3703, 0x5a],
[0x3715, 0x78],
[0x3717, 0x01],
[0x370b, 0x60],
[0x3705, 0x1a]
};
return await ConfigureRegisters(analogRegisters);
@@ -616,13 +615,13 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureClockControl()
{
var clockRegisters = new byte[][]
var clockRegisters = new UInt16[][]
{
new byte[] { 0x39, 0x05, 0x02 },
new byte[] { 0x39, 0x06, 0x10 },
new byte[] { 0x39, 0x01, 0x0a },
new byte[] { 0x30, 0x35, 0x11 }, // 30fps
new byte[] { 0x30, 0x36, PLL_MUX } // PLL倍频
[0x3905, 0x02],
[0x3906, 0x10],
[0x3901, 0x0a],
[0x3035, 0x11], // 30fps
[0x3036, PLL_MUX] // PLL倍频
};
return await ConfigureRegisters(clockRegisters);
@@ -634,15 +633,15 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigurePSRAMControl()
{
var psramRegisters = new byte[][]
var psramRegisters = new UInt16[][]
{
new byte[] { 0x37, 0x31, 0x12 },
new byte[] { 0x36, 0x00, 0x08 },
new byte[] { 0x36, 0x01, 0x33 },
new byte[] { 0x30, 0x2d, 0x60 },
new byte[] { 0x36, 0x20, 0x52 },
new byte[] { 0x37, 0x1b, 0x20 },
new byte[] { 0x47, 0x1c, 0x50 }
[0x3731, 0x12],
[0x3600, 0x08],
[0x3601, 0x33],
[0x302d, 0x60],
[0x3620, 0x52],
[0x371b, 0x20],
[0x471c, 0x50]
};
return await ConfigureRegisters(psramRegisters);
@@ -654,15 +653,15 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureDVPTiming()
{
var dvpRegisters = new byte[][]
var dvpRegisters = new UInt16[][]
{
new byte[] { 0x3a, 0x13, 0x43 },
new byte[] { 0x3a, 0x18, 0x00 },
new byte[] { 0x3a, 0x19, 0xf8 },
new byte[] { 0x36, 0x35, 0x13 },
new byte[] { 0x36, 0x36, 0x03 },
new byte[] { 0x36, 0x34, 0x40 },
new byte[] { 0x36, 0x22, 0x01 }
[0x3a13, 0x43],
[0x3a18, 0x00],
[0x3a19, 0xf8],
[0x3635, 0x13],
[0x3636, 0x03],
[0x3634, 0x40],
[0x3622, 0x01]
};
return await ConfigureRegisters(dvpRegisters);
@@ -674,18 +673,18 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureBaseControl()
{
var baseRegisters = new byte[][]
var baseRegisters = new UInt16[][]
{
new byte[] { 0x3c, 0x01, 0x34 },
new byte[] { 0x3c, 0x04, 0x28 },
new byte[] { 0x3c, 0x05, 0x98 },
new byte[] { 0x3c, 0x06, 0x00 },
new byte[] { 0x3c, 0x07, 0x08 },
new byte[] { 0x3c, 0x08, 0x00 },
new byte[] { 0x3c, 0x09, 0x1c },
new byte[] { 0x3c, 0x0a, 0x9c },
new byte[] { 0x3c, 0x0b, 0x40 },
new byte[] { 0x37, 0x08, 0x64 }
[0x3c01, 0x34],
[0x3c04, 0x28],
[0x3c05, 0x98],
[0x3c06, 0x00],
[0x3c07, 0x08],
[0x3c08, 0x00],
[0x3c09, 0x1c],
[0x3c0a, 0x9c],
[0x3c0b, 0x40],
[0x3708, 0x64]
};
return await ConfigureRegisters(baseRegisters);
@@ -697,15 +696,15 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureImageFormat()
{
var formatRegisters = new byte[][]
var formatRegisters = new UInt16[][]
{
new byte[] { 0x40, 0x01, 0x02 },
new byte[] { 0x40, 0x05, 0x1a },
new byte[] { 0x30, 0x00, 0x00 },
new byte[] { 0x30, 0x04, 0xff },
new byte[] { 0x43, 0x00, 0x6F }, // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
new byte[] { 0x50, 0x1f, 0x01 }, // Format: ISP RGB
new byte[] { 0x44, 0x0e, 0x00 }
[0x4001, 0x02],
[0x4005, 0x1a],
[0x3000, 0x00],
[0x3004, 0xff],
[0x4300, 0x6F], // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
[0x501f, 0x01], // Format: ISP RGB
[0x440e, 0x00]
};
return await ConfigureRegisters(formatRegisters);
@@ -717,10 +716,10 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureISPControl()
{
var ispRegisters = new byte[][]
var ispRegisters = new UInt16[][]
{
new byte[] { 0x50, 0x00, 0xA7 }, // ISP控制
new byte[] { 0x50, 0x01, 0xA3 } // ISP控制
[0x5000, 0xA7], // ISP控制
[0x5001, 0xA3] // ISP控制
};
return await ConfigureRegisters(ispRegisters);
@@ -732,19 +731,19 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureAEC()
{
var aecRegisters = new byte[][]
var aecRegisters = new UInt16[][]
{
new byte[] { 0x3a, 0x0f, 0x30 }, // AEC控制;stable range in high
new byte[] { 0x3a, 0x10, 0x28 }, // AEC控制;stable range in low
new byte[] { 0x3a, 0x1b, 0x30 }, // AEC控制;stable range out high
new byte[] { 0x3a, 0x1e, 0x26 }, // AEC控制;stable range out low
new byte[] { 0x3a, 0x11, 0x60 }, // AEC控制; fast zone high
new byte[] { 0x3a, 0x1f, 0x14 }, // AEC控制; fast zone low
new byte[] { 0x3a, 0x02, 0x17 }, // 60Hz max exposure
new byte[] { 0x3a, 0x03, 0x10 }, // 60Hz max exposure
new byte[] { 0x3a, 0x14, 0x17 }, // 50Hz max exposure
new byte[] { 0x3a, 0x15, 0x10 }, // 50Hz max exposure
new byte[] { 0x3b, 0x07, 0x0a } // 帧曝光模式
[0x3a0f, 0x30], // AEC控制;stable range in high
[0x3a10, 0x28], // AEC控制;stable range in low
[0x3a1b, 0x30], // AEC控制;stable range out high
[0x3a1e, 0x26], // AEC控制;stable range out low
[0x3a11, 0x60], // AEC控制; fast zone high
[0x3a1f, 0x14], // AEC控制; fast zone low
[0x3a02, 0x17], // 60Hz max exposure
[0x3a03, 0x10], // 60Hz max exposure
[0x3a14, 0x17], // 50Hz max exposure
[0x3a15, 0x10], // 50Hz max exposure
[0x3b07, 0x0a] // 帧曝光模式
};
return await ConfigureRegisters(aecRegisters);
@@ -756,29 +755,29 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureLENC()
{
var lencRegisters = new byte[][]
var lencRegisters = new UInt16[][]
{
new byte[] { 0x58, 0x00, 0x23 }, new byte[] { 0x58, 0x01, 0x14 }, new byte[] { 0x58, 0x02, 0x0f },
new byte[] { 0x58, 0x03, 0x0f }, new byte[] { 0x58, 0x04, 0x12 }, new byte[] { 0x58, 0x05, 0x26 },
new byte[] { 0x58, 0x06, 0x0c }, new byte[] { 0x58, 0x07, 0x08 }, new byte[] { 0x58, 0x08, 0x05 },
new byte[] { 0x58, 0x09, 0x05 }, new byte[] { 0x58, 0x0a, 0x08 }, new byte[] { 0x58, 0x0b, 0x0d },
new byte[] { 0x58, 0x0c, 0x08 }, new byte[] { 0x58, 0x0d, 0x03 }, new byte[] { 0x58, 0x0e, 0x00 },
new byte[] { 0x58, 0x0f, 0x00 }, new byte[] { 0x58, 0x10, 0x03 }, new byte[] { 0x58, 0x11, 0x09 },
new byte[] { 0x58, 0x12, 0x07 }, new byte[] { 0x58, 0x13, 0x03 }, new byte[] { 0x58, 0x14, 0x00 },
new byte[] { 0x58, 0x15, 0x01 }, new byte[] { 0x58, 0x16, 0x03 }, new byte[] { 0x58, 0x17, 0x08 },
new byte[] { 0x58, 0x18, 0x0d }, new byte[] { 0x58, 0x19, 0x08 }, new byte[] { 0x58, 0x1a, 0x05 },
new byte[] { 0x58, 0x1b, 0x06 }, new byte[] { 0x58, 0x1c, 0x08 }, new byte[] { 0x58, 0x1d, 0x0e },
new byte[] { 0x58, 0x1e, 0x29 }, new byte[] { 0x58, 0x1f, 0x17 }, new byte[] { 0x58, 0x20, 0x11 },
new byte[] { 0x58, 0x21, 0x11 }, new byte[] { 0x58, 0x22, 0x15 }, new byte[] { 0x58, 0x23, 0x28 },
new byte[] { 0x58, 0x24, 0x46 }, new byte[] { 0x58, 0x25, 0x26 }, new byte[] { 0x58, 0x26, 0x08 },
new byte[] { 0x58, 0x27, 0x26 }, new byte[] { 0x58, 0x28, 0x64 }, new byte[] { 0x58, 0x29, 0x26 },
new byte[] { 0x58, 0x2a, 0x24 }, new byte[] { 0x58, 0x2b, 0x22 }, new byte[] { 0x58, 0x2c, 0x24 },
new byte[] { 0x58, 0x2d, 0x24 }, new byte[] { 0x58, 0x2e, 0x06 }, new byte[] { 0x58, 0x2f, 0x22 },
new byte[] { 0x58, 0x30, 0x40 }, new byte[] { 0x58, 0x31, 0x42 }, new byte[] { 0x58, 0x32, 0x24 },
new byte[] { 0x58, 0x33, 0x26 }, new byte[] { 0x58, 0x34, 0x24 }, new byte[] { 0x58, 0x35, 0x22 },
new byte[] { 0x58, 0x36, 0x22 }, new byte[] { 0x58, 0x37, 0x26 }, new byte[] { 0x58, 0x38, 0x44 },
new byte[] { 0x58, 0x39, 0x24 }, new byte[] { 0x58, 0x3a, 0x26 }, new byte[] { 0x58, 0x3b, 0x28 },
new byte[] { 0x58, 0x3c, 0x42 }, new byte[] { 0x58, 0x3d, 0xce }
[0x5800, 0x23], [0x5801, 0x14], [0x5802, 0x0f],
[0x5803, 0x0f], [0x5804, 0x12], [0x5805, 0x26],
[0x5806, 0x0c], [0x5807, 0x08], [0x5808, 0x05],
[0x5809, 0x05], [0x580a, 0x08], [0x580b, 0x0d],
[0x580c, 0x08], [0x580d, 0x03], [0x580e, 0x00],
[0x580f, 0x00], [0x5810, 0x03], [0x5811, 0x09],
[0x5812, 0x07], [0x5813, 0x03], [0x5814, 0x00],
[0x5815, 0x01], [0x5816, 0x03], [0x5817, 0x08],
[0x5818, 0x0d], [0x5819, 0x08], [0x581a, 0x05],
[0x581b, 0x06], [0x581c, 0x08], [0x581d, 0x0e],
[0x581e, 0x29], [0x581f, 0x17], [0x5820, 0x11],
[0x5821, 0x11], [0x5822, 0x15], [0x5823, 0x28],
[0x5824, 0x46], [0x5825, 0x26], [0x5826, 0x08],
[0x5827, 0x26], [0x5828, 0x64], [0x5829, 0x26],
[0x582a, 0x24], [0x582b, 0x22], [0x582c, 0x24],
[0x582d, 0x24], [0x582e, 0x06], [0x582f, 0x22],
[0x5830, 0x40], [0x5831, 0x42], [0x5832, 0x24],
[0x5833, 0x26], [0x5834, 0x24], [0x5835, 0x22],
[0x5836, 0x22], [0x5837, 0x26], [0x5838, 0x44],
[0x5839, 0x24], [0x583a, 0x26], [0x583b, 0x28],
[0x583c, 0x42], [0x583d, 0xce]
};
return await ConfigureRegisters(lencRegisters);
@@ -790,19 +789,19 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureAWB()
{
var awbRegisters = new byte[][]
var awbRegisters = new UInt16[][]
{
new byte[] { 0x51, 0x80, 0xff }, new byte[] { 0x51, 0x81, 0xf2 }, new byte[] { 0x51, 0x82, 0x00 },
new byte[] { 0x51, 0x83, 0x14 }, new byte[] { 0x51, 0x84, 0x25 }, new byte[] { 0x51, 0x85, 0x24 },
new byte[] { 0x51, 0x86, 0x09 }, new byte[] { 0x51, 0x87, 0x09 }, new byte[] { 0x51, 0x88, 0x09 },
new byte[] { 0x51, 0x89, 0x75 }, new byte[] { 0x51, 0x8a, 0x54 }, new byte[] { 0x51, 0x8b, 0xe0 },
new byte[] { 0x51, 0x8c, 0xb2 }, new byte[] { 0x51, 0x8d, 0x42 }, new byte[] { 0x51, 0x8e, 0x3d },
new byte[] { 0x51, 0x8f, 0x56 }, new byte[] { 0x51, 0x90, 0x46 }, new byte[] { 0x51, 0x91, 0xf8 },
new byte[] { 0x51, 0x92, 0x04 }, new byte[] { 0x51, 0x93, 0x70 }, new byte[] { 0x51, 0x94, 0xf0 },
new byte[] { 0x51, 0x95, 0xf0 }, new byte[] { 0x51, 0x96, 0x03 }, new byte[] { 0x51, 0x97, 0x01 },
new byte[] { 0x51, 0x98, 0x04 }, new byte[] { 0x51, 0x99, 0x12 }, new byte[] { 0x51, 0x9a, 0x04 },
new byte[] { 0x51, 0x9b, 0x00 }, new byte[] { 0x51, 0x9c, 0x06 }, new byte[] { 0x51, 0x9d, 0x82 },
new byte[] { 0x51, 0x9e, 0x38 }
[0x5180, 0xff], [0x5181, 0xf2], [0x5182, 0x00],
[0x5183, 0x14], [0x5184, 0x25], [0x5185, 0x24],
[0x5186, 0x09], [0x5187, 0x09], [0x5188, 0x09],
[0x5189, 0x75], [0x518a, 0x54], [0x518b, 0xe0],
[0x518c, 0xb2], [0x518d, 0x42], [0x518e, 0x3d],
[0x518f, 0x56], [0x5190, 0x46], [0x5191, 0xf8],
[0x5192, 0x04], [0x5193, 0x70], [0x5194, 0xf0],
[0x5195, 0xf0], [0x5196, 0x03], [0x5197, 0x01],
[0x5198, 0x04], [0x5199, 0x12], [0x519a, 0x04],
[0x519b, 0x00], [0x519c, 0x06], [0x519d, 0x82],
[0x519e, 0x38]
};
return await ConfigureRegisters(awbRegisters, customDelayMs: 2);
@@ -814,14 +813,14 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureGamma()
{
var gammaRegisters = new byte[][]
var gammaRegisters = new UInt16[][]
{
new byte[] { 0x54, 0x80, 0x01 }, new byte[] { 0x54, 0x81, 0x08 }, new byte[] { 0x54, 0x82, 0x14 },
new byte[] { 0x54, 0x83, 0x28 }, new byte[] { 0x54, 0x84, 0x51 }, new byte[] { 0x54, 0x85, 0x65 },
new byte[] { 0x54, 0x86, 0x71 }, new byte[] { 0x54, 0x87, 0x7d }, new byte[] { 0x54, 0x88, 0x87 },
new byte[] { 0x54, 0x89, 0x91 }, new byte[] { 0x54, 0x8a, 0x9a }, new byte[] { 0x54, 0x8b, 0xaa },
new byte[] { 0x54, 0x8c, 0xb8 }, new byte[] { 0x54, 0x8d, 0xcd }, new byte[] { 0x54, 0x8e, 0xdd },
new byte[] { 0x54, 0x8f, 0xea }, new byte[] { 0x54, 0x90, 0x1d }
[0x5480, 0x01], [0x5481, 0x08], [0x5482, 0x14],
[0x5483, 0x28], [0x5484, 0x51], [0x5485, 0x65],
[0x5486, 0x71], [0x5487, 0x7d], [0x5488, 0x87],
[0x5489, 0x91], [0x548a, 0x9a], [0x548b, 0xaa],
[0x548c, 0xb8], [0x548d, 0xcd], [0x548e, 0xdd],
[0x548f, 0xea], [0x5490, 0x1d]
};
return await ConfigureRegisters(gammaRegisters);
@@ -834,12 +833,12 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureCMX()
{
var cmxRegisters = new byte[][]
var cmxRegisters = new UInt16[][]
{
new byte[] { 0x53, 0x81, 0x1e }, new byte[] { 0x53, 0x82, 0x5b }, new byte[] { 0x53, 0x83, 0x08 },
new byte[] { 0x53, 0x84, 0x0a }, new byte[] { 0x53, 0x85, 0x7e }, new byte[] { 0x53, 0x86, 0x88 },
new byte[] { 0x53, 0x87, 0x7c }, new byte[] { 0x53, 0x88, 0x6c }, new byte[] { 0x53, 0x89, 0x10 },
new byte[] { 0x53, 0x8a, 0x01 }, new byte[] { 0x53, 0x8b, 0x98 }
[0x5381, 0x1e], [0x5382, 0x5b], [0x5383, 0x08],
[0x5384, 0x0a], [0x5385, 0x7e], [0x5386, 0x88],
[0x5387, 0x7c], [0x5388, 0x6c], [0x5389, 0x10],
[0x538a, 0x01], [0x538b, 0x98]
};
return await ConfigureRegisters(cmxRegisters);
@@ -851,11 +850,11 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureSDE()
{
var sdeRegisters = new byte[][]
var sdeRegisters = new UInt16[][]
{
new byte[] { 0x55, 0x80, 0x06 }, new byte[] { 0x55, 0x83, 0x40 }, new byte[] { 0x55, 0x84, 0x10 },
new byte[] { 0x55, 0x89, 0x10 }, new byte[] { 0x55, 0x8a, 0x00 }, new byte[] { 0x55, 0x8b, 0xf8 },
new byte[] { 0x50, 0x1d, 0x40 }
[0x5580, 0x06], [0x5583, 0x40], [0x5584, 0x10],
[0x5589, 0x10], [0x558a, 0x00], [0x558b, 0xf8],
[0x501d, 0x40]
};
return await ConfigureRegisters(sdeRegisters);
@@ -867,13 +866,13 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureCIP()
{
var cipRegisters = new byte[][]
var cipRegisters = new UInt16[][]
{
new byte[] { 0x53, 0x00, 0x08 }, new byte[] { 0x53, 0x01, 0x30 }, new byte[] { 0x53, 0x02, 0x10 },
new byte[] { 0x53, 0x03, 0x00 }, new byte[] { 0x53, 0x04, 0x08 }, new byte[] { 0x53, 0x05, 0x30 },
new byte[] { 0x53, 0x06, 0x08 }, new byte[] { 0x53, 0x07, 0x16 }, new byte[] { 0x53, 0x09, 0x08 },
new byte[] { 0x53, 0x0a, 0x30 }, new byte[] { 0x53, 0x0b, 0x04 }, new byte[] { 0x53, 0x0c, 0x06 },
new byte[] { 0x50, 0x25, 0x00 }
[0x5300, 0x08], [0x5301, 0x30], [0x5302, 0x10],
[0x5303, 0x00], [0x5304, 0x08], [0x5305, 0x30],
[0x5306, 0x08], [0x5307, 0x16], [0x5309, 0x08],
[0x530a, 0x30], [0x530b, 0x04], [0x530c, 0x06],
[0x5025, 0x00]
};
return await ConfigureRegisters(cipRegisters);
@@ -885,16 +884,16 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureTimingControl()
{
var timingRegisters = new byte[][]
var timingRegisters = new UInt16[][]
{
new byte[] { 0x38, 0x20, 0x46 }, // vflip
new byte[] { 0x38, 0x21, 0x01 }, // mirror
new byte[] { 0x38, 0x14, 0x31 }, // timing X inc
new byte[] { 0x38, 0x15, 0x31 }, // timing Y inc
new byte[] { 0x36, 0x18, 0x00 },
new byte[] { 0x36, 0x12, 0x29 },
new byte[] { 0x37, 0x09, 0x52 },
new byte[] { 0x37, 0x0c, 0x03 }
[0x3820, 0x46], // vflip
[0x3821, 0x01], // mirror
[0x3814, 0x31], // timing X inc
[0x3815, 0x31], // timing Y inc
[0x3618, 0x00],
[0x3612, 0x29],
[0x3709, 0x52],
[0x370c, 0x03]
};
return await ConfigureRegisters(timingRegisters);
@@ -906,22 +905,22 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureTestAndFlash()
{
var testRegisters = new byte[][]
var testRegisters = new UInt16[][]
{
new byte[] { 0x40, 0x04, 0x02 }, // BLC(背光) 2 lines
new byte[] { 0x47, 0x13, 0x03 }, // JPEG mode 3
new byte[] { 0x44, 0x07, 0x04 }, // 量化标度
new byte[] { 0x46, 0x0c, 0x20 },
new byte[] { 0x48, 0x37, 0x22 }, // DVP CLK divider
new byte[] { 0x38, 0x24, 0x02 }, // DVP CLK divider
[0x4004, 0x02], // BLC(背光) 2 lines
[0x4713, 0x03], // JPEG mode 3
[0x4407, 0x04], // 量化标度
[0x460c, 0x20],
[0x4837, 0x22], // DVP CLK divider
[0x3824, 0x02], // DVP CLK divider
// 彩条测试禁用
new byte[] { 0x50, 0x3d, 0x00 },
new byte[] { 0x47, 0x41, 0x00 },
[0x503d, 0x00],
[0x4741, 0x00],
// 闪光灯配置
new byte[] { 0x30, 0x16, 0x02 },
new byte[] { 0x30, 0x1c, 0x02 },
new byte[] { 0x30, 0x19, 0x02 }, // 开启闪光灯
new byte[] { 0x30, 0x19, 0x00 } // 关闭闪光灯
[0x3016, 0x02],
[0x301c, 0x02],
[0x3019, 0x02], // 开启闪光灯
[0x3019, 0x00] // 关闭闪光灯
};
return await ConfigureRegisters(testRegisters);
@@ -933,11 +932,396 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> StartStreaming()
{
var startRegisters = new byte[][]
var startRegisters = new UInt16[][]
{
new byte[] { 0x30, 0x08, 0x02 } // 开始流
[0x3008, 0x02] // 开始流
};
return await ConfigureRegisters(startRegisters);
}
#region 自动对焦功能
/// <summary>
/// OV5640 自动对焦固件数据
/// </summary>
private static readonly UInt16[] OV5640_AF_FIRMWARE =
[
0x02, 0x0d, 0xf3, 0x02, 0x0a, 0x5f, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0x31, 0x30, 0x01,
0x03, 0x02, 0x03, 0x09, 0x30, 0x02, 0x03, 0x02, 0x03, 0x09, 0x90, 0x51, 0xa5, 0xe0, 0x78, 0xbb,
0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xe5, 0x1f, 0x70, 0x45, 0x75, 0x1e, 0x20,
0xd2, 0x34, 0x12, 0x0c, 0x0c, 0x78, 0x9c, 0x12, 0x0b, 0xd2, 0x78, 0xa8, 0xa6, 0x14, 0x08, 0xa6,
0x15, 0x78, 0xb3, 0xa6, 0x09, 0x18, 0x76, 0x01, 0x78, 0x4c, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78,
0x6c, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb3, 0xe6, 0x78, 0x8c, 0xf6, 0x75, 0x1f, 0x01, 0x78,
0xbb, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78, 0xbd, 0xe6, 0x78, 0xba,
0xf6, 0x22, 0x79, 0xb8, 0xe7, 0xd3, 0x78, 0xbb, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08,
0xc3, 0x79, 0xbb, 0xe7, 0x78, 0xb8, 0x96, 0xff, 0x78, 0xa6, 0x76, 0x00, 0x08, 0xa6, 0x07, 0x79,
0xb9, 0xe7, 0xd3, 0x78, 0xbc, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbc,
0xe7, 0x78, 0xb9, 0x96, 0xff, 0x12, 0x0c, 0x13, 0x79, 0xba, 0xe7, 0xd3, 0x78, 0xbd, 0x96, 0x40,
0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbd, 0xe7, 0x78, 0xba, 0x96, 0xff, 0x12, 0x0c,
0x13, 0x78, 0xb2, 0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78, 0xb2,
0xe6, 0x25, 0xe0, 0x24, 0x6c, 0xf8, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb2, 0xe6, 0x24, 0x8c,
0xf8, 0xa6, 0x09, 0x78, 0xb2, 0xe6, 0x24, 0x01, 0xff, 0xe4, 0x33, 0xfe, 0xd3, 0xef, 0x94, 0x0f,
0xee, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0x7f, 0x00, 0x80, 0x05, 0x78, 0xb2, 0xe6, 0x04, 0xff,
0x78, 0xb2, 0xa6, 0x07, 0xe5, 0x1f, 0xb4, 0x01, 0x0a, 0xe6, 0x60, 0x03, 0x02, 0x03, 0x09, 0x75,
0x1f, 0x02, 0x22, 0x12, 0x0c, 0x0c, 0x78, 0x9e, 0x12, 0x0b, 0xd2, 0x12, 0x0c, 0x0c, 0x78, 0xa0,
0x12, 0x0b, 0xff, 0x78, 0xaa, 0x12, 0x0b, 0xff, 0xff, 0x78, 0xac, 0xa6, 0x06, 0x08, 0xa6, 0x07,
0x78, 0x8c, 0xe6, 0x78, 0xb4, 0xf6, 0x78, 0x8c, 0xe6, 0x78, 0xb5, 0xf6, 0x7f, 0x01, 0xef, 0x25,
0xe0, 0x24, 0x4d, 0x78, 0x9f, 0x12, 0x0b, 0xc9, 0x50, 0x0a, 0x12, 0x0b, 0xab, 0x78, 0x9e, 0xa6,
0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0x78, 0xab, 0x12, 0x0b, 0xc9, 0x50, 0x0f,
0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0, 0x78, 0xaa, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74,
0x8c, 0x2f, 0xf9, 0x78, 0xb4, 0xe6, 0xc3, 0x97, 0x50, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78,
0xb4, 0xf6, 0xef, 0x25, 0xe0, 0x24, 0x4d, 0xf9, 0xd3, 0x78, 0xa1, 0x12, 0x0b, 0xcb, 0x40, 0x0a,
0x12, 0x0b, 0xab, 0x78, 0xa0, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0xf9,
0xd3, 0x78, 0xad, 0x12, 0x0b, 0xcb, 0x40, 0x0f, 0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0,
0x78, 0xac, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 0x8c, 0x2f, 0xf9, 0x78, 0xb5, 0xe6, 0xd3, 0x97,
0x40, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78, 0xb5, 0xf6, 0x0f, 0xef, 0x64, 0x10, 0x60, 0x03,
0x02, 0x01, 0x3e, 0xc3, 0x79, 0x9f, 0x78, 0xa1, 0x12, 0x0b, 0xf7, 0x78, 0xa2, 0xf6, 0x08, 0xa6,
0x07, 0xc3, 0x79, 0xab, 0x78, 0xad, 0x12, 0x0b, 0xf7, 0x78, 0xae, 0xf6, 0x08, 0xa6, 0x07, 0xc3,
0x79, 0xb4, 0xe7, 0x78, 0xb5, 0x96, 0x08, 0xf6, 0xd3, 0x79, 0x9f, 0xe7, 0x78, 0x9d, 0x96, 0x19,
0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0x9d, 0xe7, 0x78, 0x9f,
0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xa4, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xd3, 0x79, 0xab, 0xe7, 0x78,
0xa9, 0x96, 0x19, 0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0xa9,
0xe7, 0x78, 0xab, 0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xb0, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x79, 0xb4,
0xe7, 0xd3, 0x78, 0xb3, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xb3, 0xe7,
0x78, 0xb4, 0x96, 0xff, 0x78, 0xb7, 0xa6, 0x07, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03, 0x02, 0x02,
0xef, 0x90, 0x30, 0x24, 0x74, 0x0f, 0xf0, 0x90, 0x0e, 0x8a, 0xe4, 0x93, 0xff, 0x18, 0xe6, 0xc3,
0x9f, 0x40, 0x03, 0x02, 0x03, 0x09, 0x90, 0x30, 0x24, 0x74, 0x0e, 0xf0, 0x78, 0xa2, 0x12, 0x0b,
0xd9, 0x12, 0x0b, 0xa2, 0x90, 0x0e, 0x87, 0x12, 0x0b, 0xb7, 0x78, 0x9e, 0x12, 0x0b, 0xe8, 0x7b,
0x04, 0x12, 0x0b, 0x90, 0xc3, 0x12, 0x07, 0x0e, 0x50, 0x6f, 0x90, 0x0e, 0x8b, 0xe4, 0x93, 0xff,
0x78, 0xb7, 0xe6, 0x9f, 0x40, 0x07, 0x90, 0x30, 0x24, 0x74, 0x0a, 0x80, 0x16, 0x90, 0x0e, 0x89,
0xe4, 0x93, 0xff, 0xd3, 0x78, 0xa7, 0xe6, 0x9f, 0x18, 0xe6, 0x94, 0x00, 0x40, 0x09, 0x90, 0x30,
0x24, 0x74, 0x0b, 0xf0, 0x75, 0x1f, 0x05, 0x78, 0xae, 0x12, 0x0b, 0xd9, 0x12, 0x0b, 0xa2, 0x90,
0x0e, 0x88, 0x12, 0x0b, 0xb7, 0x78, 0xa8, 0x12, 0x0b, 0xe8, 0x7b, 0x40, 0x12, 0x0b, 0x90, 0xd3,
0x12, 0x07, 0x0e, 0x40, 0x24, 0x90, 0x30, 0x24, 0x74, 0x0c, 0xf0, 0x75, 0x1f, 0x05, 0x22, 0x90,
0x30, 0x24, 0x74, 0x01, 0xf0, 0xe5, 0x1f, 0xb4, 0x05, 0x0f, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5,
0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0x22, 0xe5, 0x1f, 0x60, 0x03, 0x02, 0x03,
0x93, 0xf5, 0x1e, 0xd2, 0x34, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x55, 0x75, 0x37,
0x01, 0x12, 0x0d, 0x85, 0xe4, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xe4, 0xf6, 0x08, 0xf6,
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0x04, 0x12, 0x0f, 0x52, 0x74, 0x02, 0x93, 0x42, 0x04, 0x85, 0x39, 0x82, 0x85, 0x38, 0x83, 0xec,
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0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x8e,
0x83, 0x22, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x07, 0x5b
];
/// <summary>
/// 写入自动对焦固件到摄像头
/// </summary>
/// <returns>写入结果</returns>
private async ValueTask<Result<bool>> WriteFocusFirmware()
{
logger.Info("开始写入OV5640自动对焦固件");
var setStartAddrResult = await ConfigureRegisters([[0x3000, 0x80]]);
if (!setStartAddrResult.IsSuccessful) return setStartAddrResult;
UInt16 firmwareAddr = 0x8000;
var firmwareCommands = new List<UInt16[]>();
for (int i = 0; i < OV5640_AF_FIRMWARE.Length; i++)
{
UInt16 addr = (UInt16)(firmwareAddr + i);
firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]);
}
var result = await ConfigureRegisters(firmwareCommands.ToArray());
if (!result.IsSuccessful)
{
logger.Error($"固件写入失败: {result.Error}");
return result;
}
logger.Info($"OV5640自动对焦固件写入完成，总共写入 {OV5640_AF_FIRMWARE.Length} 字节");
return true;
}
/// <summary>
/// 初始化自动对焦功能
/// </summary>
/// <returns>初始化结果</returns>
public async ValueTask<Result<bool>> InitAutoFocus()
{
logger.Info("开始初始化OV5640自动对焦功能");
// 步骤1: 启动MCU
var mcuResult = await ConfigureRegisters([[0x3000, 0x20]]);
if (!mcuResult.IsSuccessful) return mcuResult;
// 步骤2: 写入自动对焦固件
var firmwareResult = await WriteFocusFirmware();
if (!firmwareResult.IsSuccessful) return firmwareResult;
// 步骤3: 配置对焦相关寄存器
var focusRegisters = new UInt16[][]
{
[0x3022, 0x00], // 清除指令寄存器
[0x3023, 0x00], // 清除状态寄存器
[0x3024, 0x00], // 清除参数寄存器
[0x3025, 0x00],
[0x3026, 0x00],
[0x3027, 0x00],
[0x3028, 0x00],
[0x3029, 0xFF], // 状态寄存器
[0x3000, 0x00], // 启动MCU
[0x3004, 0xFF] // 使能中断
};
var result = await ConfigureRegisters(focusRegisters);
if (!result.IsSuccessful) return result;
logger.Info("OV5640自动对焦功能初始化完成");
return true;
}
/// <summary>
/// 执行一次自动对焦
/// </summary>
/// <returns>对焦结果</returns>
public async ValueTask<Result<bool>> PerformAutoFocus()
{
logger.Info("开始执行一次自动对焦");
// 步骤1: 将 0x3022 寄存器写为 0x03，开始单点对焦过程
var focusCmdResult = await ConfigureRegisters([[0x3022, 0x03]]);
if (!focusCmdResult.IsSuccessful)
{
logger.Error($"写入对焦命令失败: {focusCmdResult.Error}");
return focusCmdResult;
}
logger.Info("已发送单点对焦命令 (0x3022 = 0x03)");
// 步骤2: 读取寄存器 0x3029 的状态，如果返回值为 0x10，代表对焦已完成
int iteration = 5000;
byte focusStatus = 0x00;
do
{
var readResult = await ReadRegister(0x3029);
if (!readResult.IsSuccessful)
{
logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}");
return new(readResult.Error);
}
focusStatus = readResult.Value;
if (focusStatus == 0x10)
{
logger.Info("对焦已完成 (0x3029 = 0x10)");
break;
}
if (iteration-- == 0)
{
logger.Error($"自动对焦超时，状态: 0x{focusStatus:X2}");
return new(new Exception($"自动对焦超时，状态: 0x{focusStatus:X2}"));
}
await Task.Delay(10);
}
while (focusStatus != 0x10);
// 步骤3: 写寄存器 0x3022 为 0x06，暂停对焦过程，使镜头将保持在此对焦位置
var pauseResult = await ConfigureRegisters([[0x3022, 0x06]]);
if (!pauseResult.IsSuccessful)
{
logger.Error($"暂停对焦过程失败: {pauseResult.Error}");
return pauseResult;
}
logger.Info($"自动对焦完成并暂停，镜头保持在对焦位置，剩余迭代次数: {iteration}");
return true;
}
#endregion
}

94
server/src/Services/HttpVideoStreamService.cs
View File

@@ -1030,4 +1030,98 @@ public class HttpVideoStreamService : BackgroundService
(1280, 720, "1280x720 (HD)")
};
}
#region 自动对焦功能
/// <summary>
/// 检查摄像头是否已配置
/// </summary>
/// <returns>是否已配置</returns>
public bool IsCameraConfigured()
{
lock (_cameraLock)
{
return _camera != null && !string.IsNullOrEmpty(_cameraAddress);
}
}
/// <summary>
/// 初始化摄像头自动对焦功能
/// </summary>
/// <returns>初始化结果</returns>
public async Task<bool> InitAutoFocusAsync()
{
try
{
lock (_cameraLock)
{
if (_camera == null)
{
logger.Error("摄像头未配置，无法初始化自动对焦");
return false;
}
}
logger.Info("开始初始化摄像头自动对焦功能");
var result = await _camera!.InitAutoFocus();
if (result.IsSuccessful && result.Value)
{
logger.Info("摄像头自动对焦功能初始化成功");
return true;
}
else
{
logger.Error($"摄像头自动对焦功能初始化失败: {result.Error?.Message ?? "未知错误"}");
return false;
}
}
catch (Exception ex)
{
logger.Error(ex, "初始化摄像头自动对焦功能时发生异常");
return false;
}
}
/// <summary>
/// 执行摄像头自动对焦
/// </summary>
/// <returns>对焦结果</returns>
public async Task<bool> PerformAutoFocusAsync()
{
try
{
lock (_cameraLock)
{
if (_camera == null)
{
logger.Error("摄像头未配置，无法执行自动对焦");
return false;
}
}
logger.Info("开始执行摄像头自动对焦");
var result = await _camera!.PerformAutoFocus();
if (result.IsSuccessful && result.Value)
{
logger.Info("摄像头自动对焦执行成功");
return true;
}
else
{
logger.Error($"摄像头自动对焦执行失败: {result.Error?.Message ?? "未知错误"}");
return false;
}
}
catch (Exception ex)
{
logger.Error(ex, "执行摄像头自动对焦时发生异常");
return false;
}
}
#endregion
}

17
server/src/UdpClientPool.cs
View File

@@ -465,7 +465,7 @@ public class UDPClientPool
// Send address packages in batches of 128, control outstanding
int sentCount = 0;
var startTime = DateTime.Now;
const int batchSize = 128;
const int batchSize = 64;
while (sentCount < pkgList.Count)
{
var elapsed = DateTime.Now - startTime;
@@ -487,11 +487,12 @@ public class UDPClientPool
var ret = await UDPClientPool.SendMultiAddrPackAsync(endPoint, batchPkgs);
if (!ret) return new(new Exception($"Send address package batch failed at segment {sentCount}!"));
sentCount += batchSend;
// Task.Delay(1).Wait();
}
// Wait until enough data is received or timeout
startTime = DateTime.Now;
List<UDPData>? udpDatas = null;
var udpDatas = new List<UDPData>();
while (true)
{
var elapsed = DateTime.Now - startTime;
@@ -504,23 +505,23 @@ public class UDPClientPool
var dataArr = await MsgBus.UDPServer.FindDataArrayAsync(endPoint.Address.ToString(), taskID, timeleft);
if (dataArr.HasValue)
{
udpDatas = dataArr.Value;
udpDatas.AddRange(dataArr.Value);
break;
}
}
}
if (udpDatas is null || udpDatas.Count < readTimes)
return new(new Exception($"Expected {readTimes} UDP data packets but received {udpDatas?.Count ?? 0}"));
if (udpDatas.Count < readTimes)
return new(new Exception($"Expected {readTimes} UDP data packets but received {udpDatas.Count}"));
// Collect and validate all received data
for (var i = 0; i < udpDatas.Count; i++)
{
var bytes = udpDatas[i].Data;
var expectedLen = ((pkgList[i].Options.BurstLength + 1) * 4);
if (bytes.Length != expectedLen)
return new(new Exception($"Expected {expectedLen} bytes but received {bytes.Length} bytes at segment {i}"));
resultData.AddRange(bytes);
if ((bytes.Length - 4) != expectedLen)
return new(new Exception($"Expected {expectedLen} bytes but received {bytes.Length - 4} bytes at segment {i}"));
resultData.AddRange(bytes[4..]);
}
// Validate total data length

6
server/src/UdpServer.cs
View File

@@ -367,15 +367,17 @@ public class UDPServer
return retPack.Value;
}
static int ReceiveHandleCcount = 0;
private void ReceiveHandler(IAsyncResult res)
{
logger.Trace("Enter handler");
var remoteEP = new IPEndPoint(IPAddress.Any, listenPort);
byte[] bytes = listener.EndReceive(res, ref remoteEP);
// 提前开始接收下一个包
listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
logger.Debug($"Test ReceiveHandler Count = {ReceiveHandleCcount}");
ReceiveHandleCcount++;
// Handle RemoteEP
if (remoteEP is null)
@@ -431,7 +433,7 @@ public class UDPServer
udpData.TryGetValue($"{remoteAddress}-{taskID}", out var dataQueue))
{
dataQueue.Enqueue(data);
logger.Trace("Receive data from old client");
logger.Debug($"Test Lock dataQueue.Count = {dataQueue.Count}");
}
else
{