313 lines
10 KiB
C
313 lines
10 KiB
C
#include "mini212g2.h"
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#include "debug.h"
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#include "string.h"
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#if SENSOR_UART_ENABLE
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/* ============================================================
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* Protocol constants
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* ============================================================ */
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#define FRAME_HEAD1 0x55
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#define FRAME_HEAD2 0xAA
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#define FRAME_TAIL 0xF0
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/* ACK response: 55 AA 01 00 01 F0 */
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#define ACK_LEN 6
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static const uint8_t ACK_PATTERN[ACK_LEN] = {0x55, 0xAA, 0x01, 0x00, 0x01, 0xF0};
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/* ============================================================
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* DVP output configuration commands
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* (from Mini212G2 serial protocol document)
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* ============================================================ */
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/* Digital port type → CMOS */
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static const uint8_t CMD_DIGITAL_CMOS[] =
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{0x55, 0xAA, 0x07, 0x02, 0x01, 0x02, 0x00, 0x00, 0x00, 0x02, 0x04, 0xF0};
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/* CMOS interface → CMOS8(MSB) */
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static const uint8_t CMD_CMOS8_MSB[] =
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{0x55, 0xAA, 0x07, 0x02, 0x01, 0x04, 0x00, 0x00, 0x00, 0x01, 0x01, 0xF0};
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/* CMOS content → Y16 */
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static const uint8_t CMD_CONTENT_Y16[] =
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{0x55, 0xAA, 0x07, 0x02, 0x01, 0x03, 0x00, 0x00, 0x00, 0x02, 0x05, 0xF0};
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/* Frame rate → 30Hz */
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static const uint8_t CMD_FPS_30HZ[] =
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{0x55, 0xAA, 0x07, 0x02, 0x01, 0x05, 0x00, 0x00, 0x00, 0x00, 0x01, 0xF0};
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/* Save settings */
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static const uint8_t CMD_SAVE[] =
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{0x55, 0xAA, 0x07, 0x01, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x03, 0xF0};
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/* Shutter compensation (NUC) */
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static const uint8_t CMD_SHUTTER[] =
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{0x55, 0xAA, 0x07, 0x02, 0x01, 0x08, 0x00, 0x00, 0x00, 0x01, 0x0D, 0xF0};
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/* Query: digital video page */
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static const uint8_t CMD_QUERY_DIGITAL[] =
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{0x55, 0xAA, 0x07, 0x02, 0x01, 0x80, 0x00, 0x00, 0x00, 0x00, 0x84, 0xF0};
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/* Query: status page (simplest query, always works) */
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static const uint8_t CMD_QUERY_STATUS[] =
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{0x55, 0xAA, 0x07, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x87, 0xF0};
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/* ============================================================
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* Low-level UART helpers
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* ============================================================ */
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static void Sensor_UART_Init(void)
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{
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GPIO_InitTypeDef gpio = {0};
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USART_InitTypeDef usart = {0};
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#if SENSOR_USE_USART3
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/* USART3: PB10=TX PB11=RX
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* NOTE: This reuses the debug printf port. printf is disabled. */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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gpio.GPIO_Pin = GPIO_Pin_10;
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gpio.GPIO_Speed = GPIO_Speed_50MHz;
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gpio.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_Init(GPIOB, &gpio);
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gpio.GPIO_Pin = GPIO_Pin_11;
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gpio.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(GPIOB, &gpio);
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#else
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/* USART2: PA2=TX PA3=RX */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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gpio.GPIO_Pin = GPIO_Pin_2;
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gpio.GPIO_Speed = GPIO_Speed_50MHz;
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gpio.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_Init(GPIOA, &gpio);
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gpio.GPIO_Pin = GPIO_Pin_3;
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gpio.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(GPIOA, &gpio);
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#endif
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usart.USART_BaudRate = SENSOR_UART_BAUD;
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usart.USART_WordLength = USART_WordLength_8b;
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usart.USART_StopBits = USART_StopBits_1;
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usart.USART_Parity = USART_Parity_No;
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usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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usart.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
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USART_Init(SENSOR_UART, &usart);
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USART_Cmd(SENSOR_UART, ENABLE);
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}
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static void Sensor_SendBytes(const uint8_t *data, uint8_t len)
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{
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for (uint8_t i = 0; i < len; i++) {
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while (!USART_GetFlagStatus(SENSOR_UART, USART_FLAG_TXE));
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USART_SendData(SENSOR_UART, data[i]);
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}
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while (!USART_GetFlagStatus(SENSOR_UART, USART_FLAG_TC));
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}
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/**
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* Read response bytes until FRAME_TAIL seen or timeout.
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* timeout_ms ≈ approximate milliseconds (uses Delay_Us polling).
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* Returns number of bytes actually read.
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*/
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static int Sensor_ReadResp(uint8_t *buf, uint8_t max_len, uint16_t timeout_ms)
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{
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uint8_t idx = 0;
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/* Poll with ~0.1 ms granularity */
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for (uint32_t i = 0; i < (uint32_t)timeout_ms * 10; i++) {
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if (USART_GetFlagStatus(SENSOR_UART, USART_FLAG_RXNE)) {
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buf[idx++] = (uint8_t)USART_ReceiveData(SENSOR_UART);
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if (idx >= max_len) return idx;
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if (idx >= 2 && buf[idx - 1] == FRAME_TAIL) return idx;
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} else {
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Delay_Us(100);
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}
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}
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return idx;
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}
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static void Sensor_FlushRx(void)
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{
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while (USART_GetFlagStatus(SENSOR_UART, USART_FLAG_RXNE))
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(void)USART_ReceiveData(SENSOR_UART);
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}
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/* ============================================================
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* Public API
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* ============================================================ */
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/* ============================================================
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* Debug inspection variables (watch in JTAG debugger)
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* ============================================================ */
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volatile uint8_t sensor_init_ok = 0;
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volatile uint8_t sensor_init_fail = 0;
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volatile uint8_t sensor_last_resp[32] = {0};
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volatile uint8_t sensor_last_resp_len = 0;
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volatile uint8_t sensor_comm_test = 0;
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int Mini212G2_SendCmd(const uint8_t *cmd, uint8_t len)
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{
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uint8_t resp[8];
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Sensor_FlushRx();
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Sensor_SendBytes(cmd, len);
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int n = Sensor_ReadResp(resp, sizeof(resp), 200);
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/* Save last response for debugger inspection */
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sensor_last_resp_len = (uint8_t)n;
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for (int j = 0; j < n && j < 32; j++)
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sensor_last_resp[j] = resp[j];
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if (n == ACK_LEN && memcmp(resp, ACK_PATTERN, ACK_LEN) == 0)
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return 0;
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printf("[Sensor] resp(%d):", n);
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for (int j = 0; j < n; j++) printf(" %02x", resp[j]);
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printf("\r\n");
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return -1;
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}
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#endif /* SENSOR_UART_ENABLE (UART helpers + SendCmd) */
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int Mini212G2_Init(void)
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{
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#if !SENSOR_UART_ENABLE
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printf("[Sensor] UART disabled, assuming pre-configured via USB\r\n");
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printf("[Sensor] Expected: CMOS output, CMOS8(MSB), Y16, 30Hz\r\n");
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return 0;
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#else
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int ok = 0, fail = 0;
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Sensor_UART_Init();
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printf("[Sensor] UART init %d, baud=%d\r\n",
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(int)(SENSOR_UART == USART3 ? 3 : 2), (int)SENSOR_UART_BAUD);
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/* Sensor needs several seconds to boot after power-on */
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printf("[Sensor] Waiting 3s for sensor boot...\r\n");
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Delay_Ms(3000);
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/* === Communication test: send status query === */
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{
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uint8_t test_resp[32];
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Sensor_FlushRx();
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Sensor_SendBytes(CMD_QUERY_STATUS, sizeof(CMD_QUERY_STATUS));
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int tn = Sensor_ReadResp(test_resp, sizeof(test_resp), 500);
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sensor_last_resp_len = (uint8_t)tn;
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for (int j = 0; j < tn && j < 32; j++)
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sensor_last_resp[j] = test_resp[j];
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sensor_comm_test = (tn > 0) ? 1 : 0xFF;
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/* Breakpoint here to check sensor_comm_test and sensor_last_resp */
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}
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Delay_Ms(200);
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printf("[Sensor] Configuring CMOS/DVP output...\r\n");
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/* 1. Shutter compensation */
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if (Mini212G2_SendCmd(CMD_SHUTTER, sizeof(CMD_SHUTTER)) == 0)
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{ ok++; printf("[Sensor] Shutter OK\r\n"); }
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else
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{ fail++; printf("[Sensor] Shutter FAIL\r\n"); }
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Delay_Ms(200);
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/* 2. Digital port → CMOS */
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if (Mini212G2_SendCmd(CMD_DIGITAL_CMOS, sizeof(CMD_DIGITAL_CMOS)) == 0)
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{ ok++; printf("[Sensor] Digital->CMOS OK\r\n"); }
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else
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{ fail++; printf("[Sensor] Digital->CMOS FAIL\r\n"); }
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Delay_Ms(200);
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/* 3. CMOS interface → 8-bit MSB */
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if (Mini212G2_SendCmd(CMD_CMOS8_MSB, sizeof(CMD_CMOS8_MSB)) == 0)
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{ ok++; printf("[Sensor] CMOS8(MSB) OK\r\n"); }
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else
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{ fail++; printf("[Sensor] CMOS8(MSB) FAIL\r\n"); }
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Delay_Ms(200);
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/* 4. CMOS content → Y16 (raw 16-bit thermal) */
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if (Mini212G2_SendCmd(CMD_CONTENT_Y16, sizeof(CMD_CONTENT_Y16)) == 0)
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{ ok++; printf("[Sensor] Y16 OK\r\n"); }
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else
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{ fail++; printf("[Sensor] Y16 FAIL\r\n"); }
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Delay_Ms(200);
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/* 5. Frame rate → 30Hz */
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if (Mini212G2_SendCmd(CMD_FPS_30HZ, sizeof(CMD_FPS_30HZ)) == 0)
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{ ok++; printf("[Sensor] 30Hz OK\r\n"); }
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else
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{ fail++; printf("[Sensor] 30Hz FAIL\r\n"); }
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Delay_Ms(200);
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/* 6. Save settings to flash */
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if (Mini212G2_SendCmd(CMD_SAVE, sizeof(CMD_SAVE)) == 0)
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{ ok++; printf("[Sensor] Save OK\r\n"); }
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else
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{ fail++; printf("[Sensor] Save FAIL\r\n"); }
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Delay_Ms(500);
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printf("[Sensor] Config result: %d ok, %d fail\r\n", ok, fail);
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sensor_init_ok = (uint8_t)ok;
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sensor_init_fail = (uint8_t)fail;
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/* Print current digital video status for verification */
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Mini212G2_PrintDigitalVideoStatus();
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return (fail == 0) ? 0 : -1;
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#endif /* SENSOR_UART_ENABLE */
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}
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#if SENSOR_UART_ENABLE
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void Mini212G2_PrintDigitalVideoStatus(void)
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{
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uint8_t resp[32];
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Sensor_FlushRx();
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Sensor_SendBytes(CMD_QUERY_DIGITAL, sizeof(CMD_QUERY_DIGITAL));
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int n = Sensor_ReadResp(resp, sizeof(resp), 500);
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if (n < 24) {
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printf("[Sensor] Query failed (got %d bytes)\r\n", n);
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return;
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}
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/* Parse per protocol spec (Page 11-12):
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* Byte5 = ext-sync, Byte6 = digital port type, Byte7 = CMOS content,
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* Byte8 = CMOS interface, Byte9 = frame rate, Byte11 = clock phase */
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static const char *port_names[] = {
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"OFF", "USB2.0", "CMOS", "BT1120", "BT656",
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"USB+UART", "LCD", "LVDS", "LCD+DVP", "UVC+CDC"
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};
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static const char *content_names[] = {
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"YUV422", "YUV422+Param", "Y16", "Y16+Param",
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"Y16+YUV422", "Y16+Param+YUV422"
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};
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static const char *iface_names[] = {"CMOS16", "CMOS8(MSB)", "CMOS8(LSB)"};
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static const char *fps_names[] = {"30Hz", "25Hz", "9Hz", "50Hz"};
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uint8_t port_type = resp[6];
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uint8_t content = resp[7];
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uint8_t iface = resp[8];
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uint8_t fps = resp[9];
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uint8_t clk_phase = resp[11];
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printf("[Sensor] Digital Video Status:\r\n");
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printf(" Port: %s (%d)\r\n",
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(port_type < 10) ? port_names[port_type] : "?", (int)port_type);
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printf(" Content: %s (%d)\r\n",
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(content < 6) ? content_names[content] : "?", (int)content);
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printf(" Interface: %s (%d)\r\n",
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(iface < 3) ? iface_names[iface] : "?", (int)iface);
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printf(" FPS: %s (%d)\r\n",
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(fps < 4) ? fps_names[fps] : "?", (int)fps);
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printf(" ClkPhase: %s (%d)\r\n",
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(clk_phase == 0) ? "Rising" : "Falling", (int)clk_phase);
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}
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int Mini212G2_ShutterCompensation(void)
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{
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return Mini212G2_SendCmd(CMD_SHUTTER, sizeof(CMD_SHUTTER));
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}
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#endif /* SENSOR_UART_ENABLE */
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