speedup; add some i2c commands

5 files changed, 266 insertions, 4 deletions

diff --git a/src/camera/veye_i2c.cpp b/src/camera/veye_i2c.cpp
new file mode 100644
index 0000000..9d04d9b
--- /dev/null
+++ b/src/camera/veye_i2c.cpp
@@ -0,0 +1,106 @@
+#include "veye_i2c.h"
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <iostream>
+#include <linux/i2c-dev.h>
+#include <linux/i2c.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include "veyeimx287m_types.h"
+
+bool veye::imx287m::i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value)
+{
+    int err;
+    int i = 0;
+    uint8_t buf[2] = {reg >> 8, reg & 0xff};
+    uint8_t bufout[4] = {0};
+    struct i2c_msg msgs[2] = {
+        {.addr = i2c_addr,
+         .flags = 0,
+         .len = 2,
+         // .buf = (uint8_t *) (&reg),
+         .buf = buf},
+        {
+            .addr = i2c_addr,
+            .flags = I2C_M_RD,
+            .len = 4,
+            .buf = bufout,
+        },
+    };
+
+    struct i2c_rdwr_ioctl_data msgset;
+    msgset.msgs = msgs;
+    msgset.nmsgs = 2;
+
+    err = ioctl(fd, I2C_RDWR, &msgset);
+    //printf("Read i2c addr %02X\n", i2c_addr);
+    if (err != msgset.nmsgs) {
+        std::cerr << "Read i2c err " << err << std::endl;
+        return false;
+    }
+
+    value = ntohl(*(uint32_t *) bufout);
+    // fprintf(stderr, "addr %04x : value %08x \n", reg + i, value);
+
+    return true;
+}
+
+bool veye::imx287m::test(uint32_t value)
+{
+    const std::string i2cDevName{"/dev/i2c-10"};
+    constexpr uint32_t i2cDevAddr{0x3b};
+    int fd = open(i2cDevName.c_str(), O_RDWR);
+
+    if (!fd) {
+        std::cerr << "cannot open i2c device " << i2cDevName << ", error: " << strerror(errno)
+                  << std::endl;
+        return false;
+    }
+
+    if (ioctl(fd, I2C_SLAVE_FORCE, i2cDevAddr) < 0) {
+        std::cerr << "cannot set i2c slave. dev: " << i2cDevName << ", addr: " << i2cDevAddr
+                  << ", error: " << strerror(errno) << std::endl;
+
+        return false;
+    }
+
+    uint32_t expTime{0};
+    // if (!i2cRead(fd, i2cDevAddr, (uint16_t) veye::imx287m::Register::ME_Time, expTime)) {
+    //     return false;
+    // }
+
+    // std::cout << "exp time is: " << expTime << std::endl;
+    std::cout << "set exp time to " << value;
+
+    if (!i2cWrite(fd, (uint16_t) veye::imx287m::Register::ME_Time, value)) {
+        return false;
+    }
+
+    if (!i2cRead(fd, i2cDevAddr, (uint16_t) veye::imx287m::Register::ME_Time, expTime)) {
+        return false;
+    }
+    std::cout << "\texp time is: " << expTime << std::endl;
+
+    return true;
+}
+
+bool veye::imx287m::i2cWrite(int fd, uint16_t reg, const uint32_t value)
+{
+    uint8_t msg[] = {reg >> 8, reg & 0xff, value >> 24, value >> 16, value >> 8, value >> 0};
+    int len = sizeof(msg) / sizeof(msg[0]);
+
+    if (write(fd, msg, len) != len) {
+        std::cerr << "cannot write value. reg: " << reg << ", error: " << strerror(errno)
+                  << std::endl;
+        return false;
+    }
+
+    // TODO: find a best way to get up-to-date values
+    usleep(100);
+
+    return true;
+}
diff --git a/src/camera/veye_i2c.h b/src/camera/veye_i2c.h
new file mode 100644
index 0000000..1638976
--- /dev/null
+++ b/src/camera/veye_i2c.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <cstdint>
+
+namespace veye {
+namespace imx287m {
+bool i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value);
+bool i2cWrite(int fd, uint16_t reg, const uint32_t value);
+
+bool test(uint32_t value);
+} // namespace imx287m
+} // namespace veye
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index dee3c6a..c7e519a 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -15,6 +15,7 @@
 #include <QElapsedTimer>
 
 #include "constants.h"
+#include "imagealgos.h"
 #include "pixels.h"
 // #include "rotaryencoder.h"
 
@@ -141,7 +142,7 @@ bool VeyeIMX287m::init()
 
 bool VeyeIMX287m::setExposureTimeUs(int valueUs)
 {
-    return true;
+    //return true;
     std::cout << __func__ << ": " << valueUs << std::endl << std::flush;
 
     /*
@@ -378,7 +379,15 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
         }
 
         image.rotate();
-        image.pixels();
+        // const auto pixels = image.pixels();
+        const auto pixels = image.sharedPixels();
+#pragma push_macro("emit")
+#undef emit
+        // std::cout << "emit pixels" << std::endl;
+        newPixels.emit(pixels);
+#pragma pop_macro("emit")
+        // const auto lines = pixelsToLines(*pixels);
+        // continue;
 
         // setCamParam(V4L2_CID_EXPOSURE, 18);
     }
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 9986e59..37da5b0 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -42,8 +42,8 @@ public:
     // Image &getImage();
 
 public:
-    libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
-    libcamera::Signal<std::shared_ptr<Image>> newImage;
+    // libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
+    // libcamera::Signal<std::shared_ptr<Image>> newImage;
 
 private:
     bool setCamParam(unsigned int v4l2controlId, int value);
diff --git a/src/camera/veyeimx287m_types.h b/src/camera/veyeimx287m_types.h
new file mode 100644
index 0000000..640a0e1
--- /dev/null
+++ b/src/camera/veyeimx287m_types.h
@@ -0,0 +1,135 @@
+#pragma once
+
+#include <QObject>
+
+namespace veye {
+namespace imx287m {
+
+enum class Register {
+    ImageAcqu = 0x0400,
+    ImageFeature = 0x0800,
+    ImageSigProc = 0x0c00,
+    IOCtrl = 0x1000,
+    FPGACmd = 0x1400,
+    FPGABlock = 0x1800,
+
+    Manufacturer_Name = 0x0000,
+    Model_Name = 0x0004,
+    Sensor_Name = 0x0008,
+    Product_Info = 0x000C,
+    Device_Version = 0x0010,
+    System_reset = 0x0014,
+    Param_save_to_flash = 0x0018,
+    System_reboot = 0x001C,
+    Time_stamp = 0x0020,
+    Error_code = 0x0024,
+    Format_Cap = 0x0028,
+    TriggerMode_Cap = 0x0030,
+    LaneNum_Cap = 0x0034,
+    Temp_K = 0x0058,
+
+    Image_Acquisition = 0x400,
+    Trigger_Mode = 0x404,
+    Trigger_Source = 0x408,
+    Trigger_Num = 0x40C,
+    Trigger_Inerval = 0x410,
+    Trigger_Software = 0x414,
+    Trigger_Count = 0x418,
+    I2C_Addr = 0x41C,
+    I2C_Port_Sel = 0x420,
+
+    User_overlay_enable = 0x428,
+    User_overlay_zone0 = 0x42C,
+    User_overlay_zone1 = 0x430,
+    User_overlay_zone2 = 0x434,
+    User_overlay_zone3 = 0x438,
+    User_define_zone0 = 0x43C,
+    User_define_zone1 = 0x440,
+    User_define_zone2 = 0x444,
+    User_define_zone3 = 0x448,
+    Nondiscontinuous_mode = 0x44C,
+    Sensor_Reg_Addr = 0x0450,
+    Sensor_Reg_Val = 0x454,
+    Slave_mode = 0x460,
+    Sensor_Frame_Count = 0x464,
+    Out_Frame_Count = 0x468,
+    Trigger_Cycle_Min = 0x46C,
+    Trigger_Cycle_Max = 0x470,
+
+    Test_Image_Selector = 0x800,
+    Pixel_Format = 0x804,
+    Sensor_Width = 0x808,
+    Sensor_Height = 0x80C,
+    MaxFrame_Rate = 0x810,
+    Framerate = 0x814,
+    ROI_Width = 0x818,
+    ROI_Height = 0x81C,
+    ROI_Offset_X = 0x820,
+    ROI_Offset_Y = 0x824,
+    Image_Direction = 0x828,
+    Data_shift = 0x82C,
+    Black_Level = 0x830,
+    BLC_Mode = 0x834,
+    ReadOut_Mode = 0x838,
+    Lane_Num = 0x83C,
+    MIPI_DataRate = 0x840,
+    MIN_ROI_Width = 0x844,
+    MIN_ROI_Height = 0x848,
+    FrameRate_Ex = 0x850,
+    OSD_Mode = 0x854,
+
+    ISP_module_ctrl = 0xC00,
+    Exposure_Mode = 0xC04,
+    Target_Brightness = 0xC08,
+    Exposure_Time_Source = 0xC0C,
+    ME_Time = 0xC10,
+    AE_MAX_Time = 0xC14,
+    Exp_Time = 0xC18,
+    Gain_Mode = 0xC1C,
+    Manual_Gain = 0xC20,
+    AG_Max_Gain = 0xC24,
+    Cur_Gain = 0xC28,
+    AAROIOffsetX = 0xC2C,
+    AAROIOffsetY = 0xC30,
+    AAROIWidth = 0xC34,
+    AAROIHeight = 0xC38,
+    WB_Mode = 0xC3C,
+    MWB_Rgain = 0xC40,
+    MWB_Bgain = 0xC44,
+    AWBROIOffsetX = 0xC48,
+    AWBROIOffsetY = 0xC4C,
+    AWBROIWidth = 0xC50,
+    AWBROIHeight = 0xC54,
+    AWB_Rgain = 0xC58,
+    AWB_Bgain = 0xC5C,
+    Gamma = 0xC60,
+    DPC_Start = 0xC64,
+    DPC_Status = 0xC68,
+    DPC_Count = 0xC6C,
+    AAROI_enable = 0xC80,
+    Max_Exp_time = 0xC8C,
+    Min_Exp_time = 0xC90,
+
+    Trigger_Delay = 0x1000,
+    Trigger_Activation = 0x1004,
+    Trigger_Filter_Enable = 0x1008,
+    Trigger_Filter_Width = 0x100C,
+    Trigger_Exp_Delay = 0x1010,
+    GPIOS_Status = 0x1014,
+
+    GPIO1_OutSelect = 0x1020,
+    GPIO1_Useroutput = 0x1024,
+    GPIO1_Reverse = 0x1028,
+
+    GPIO2_OutSelect = 0x1030,
+    GPIO2_Useroutput = 0x1034,
+    GPIO2_Reverse = 0x1038
+};
+
+class Params : public QObject
+{
+    // Q_OBJECT
+};
+
+} // namespace imx287m
+} // namespace veye