static PyObject* logiRead(PyObject* self, PyObject* arg)
{
PyObject* transferTuple;
unsigned int offset, size, i ;
unsigned char type_size = 1 ;
uint8_t * rx ;
if(!PyArg_ParseTuple(arg, "ll|b", &offset, &size, &type_size))
return NULL;
switch(type_size){
case 1:
rx = (uint8_t *) malloc(size*type_size);
logi_read(rx, size, offset);
transferTuple = PyTuple_New(size);
for(i=0;i<size;i++)
PyTuple_SetItem(transferTuple, i, Py_BuildValue("i",((uint8_t *) rx)[i]));
free(rx);
break ;
case 2:
rx = (uint8_t *) malloc(size*type_size);
logi_read(rx, size*2, offset);
transferTuple = PyTuple_New(size);
for(i=0;i<size;i++)
PyTuple_SetItem(transferTuple, i, Py_BuildValue("i",((uint16_t *) rx)[i]));
free(rx);
break ;
case 4:
rx = (uint8_t *) malloc(size*type_size);
logi_read(rx, size*4, offset);
transferTuple = PyTuple_New(size);
for(i=0;i<size;i++)
PyTuple_SetItem(transferTuple, i, Py_BuildValue("i",((uint32_t *) rx)[i]));
free(rx);
break ;
default :
pabort("type_size argument can only be 1, 2, 4\n");
break;
}
return transferTuple ;
}
void loadSensorConfig(char conf[][2], unsigned int addr, unsigned int conf_size){
unsigned int i=0 ;
unsigned short buffer ;
buffer = 0x4201;
logi_write((unsigned char *) &buffer, 2, addr+1);
buffer = 0x4200;
logi_write((unsigned char *) &buffer, 2, addr+1);
buffer = 0x0001 ;
while( conf[i][0] != 0xFF){
printf("waiting for master not busy \n");
while((buffer & 0x01) != 0x00 && (buffer & 0x02) != 0x02 ){
logi_read((unsigned char *)&buffer, 2, addr+1);
//printf("%x\n", buffer);
}
printf("master free \n");
//printf("0x%04x\n", buffer);
if((buffer & 0x02) == 0x02){
printf("NACK error !\n");
buffer = 0x4201;
logi_write((unsigned char *)&buffer, 2, addr+1);
buffer = 0x4200;
logi_write((unsigned char *)&buffer, 2, addr+1);
buffer = 0x0001 ;
i -- ;
continue ;
}
//printf("sending config \n");
printf("0x%02x , 0x%02x \n", conf[i][0], conf[i][1]);
buffer = 0x4200;
logi_write((unsigned char *)&buffer, 2, addr+1); // disable master
buffer = (unsigned short) conf[i][0] ; // write to fifo
logi_write((unsigned char *)&buffer, 2, addr);
buffer = (unsigned short) conf[i][1] ;
logi_write((unsigned char *)&buffer, 2, addr);
buffer = 0x4202;
logi_write((unsigned char *)&buffer, 2, addr+1); //enable master
buffer = 0x0001 ;
if(i == 0) sleep(1);
i ++ ;
}
}
int grab_frame(void){
unsigned short cmd_buffer[8] ;
unsigned short vsync1, vsync2 ;
FILE * yuv_fd, * jpeg_fd ;
int i,j, res, inc ;
unsigned int nbFrames = 1 ;
unsigned int pos = 0 ;
unsigned int nb = 0 ;
unsigned char * image_buffer, * start_buffer, * end_ptr; //yuv frame buffer
unsigned char *y_buffer ;
unsigned short fifo_state, fifo_data ;
unsigned int retry_counter = 0 ;
unsigned int retry_pixel = 0 ;
image_buffer = (unsigned char *) malloc((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN*4)/8+32);// 32 are the frame start, frame end indicators
y_buffer = (unsigned char *) malloc(IMAGE_WIDTH*IMAGE_HEIGHT);
if(image_buffer == NULL || y_buffer == NULL){
printf("allocation error ! \n");
return -1 ;
}
for(inc = 0 ; inc < (nbFrames && retry_counter < 5) ; ){
sprintf(jpeg_file_name, "./grabbed_frame%04d.jpg", inc);
jpeg_fd = fopen(jpeg_file_name, "wb");
if(jpeg_fd == NULL){
printf("Error opening output file \n");
exit(EXIT_FAILURE);
}
sprintf(yuv_file_name, "./grabbed_frame%04d.yuv", inc);
yuv_fd = fopen(yuv_file_name, "wb");
if(yuv_fd == NULL){
printf("Error opening output file \n");
exit(EXIT_FAILURE);
}
printf("issuing reset to fifo \n");
cmd_buffer[0] = 0 ;
cmd_buffer[1] = 0 ;
cmd_buffer[2] = 0 ;
logi_write((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
logi_read((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
printf("fifo size : %d, free : %d, available : %d \n", cmd_buffer[0], cmd_buffer[1], cmd_buffer[2]); // reading and printing fifo states
nb = 0 ;
retry_pixel = 0 ;
while(nb < (((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)*3)){
logi_read((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
while(cmd_buffer[2] < 512){
logi_read((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
//printf("%u\n", cmd_buffer[2]);
}
logi_read(&image_buffer[nb], 1024, FIFO_ADDR);
nb += 1024 ;
}
if(retry_pixel == 10000){
printf("no camera detected !\n");
fclose(jpeg_fd);
return -1 ;
}
printf("nb : %u \n", nb);
start_buffer = image_buffer ;
end_ptr = &image_buffer[((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)*3];
vsync1 = *((unsigned short *) start_buffer) ;
vsync2 = *((unsigned short *) &start_buffer[((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)+2]) ;
while(vsync1 != 0x55AA && vsync2 != 0x55AA && start_buffer < end_ptr){
start_buffer+=2 ;
vsync1 = *((unsigned short *) start_buffer) ;
vsync2 = *((unsigned short *) &start_buffer[((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)+2]) ;
}
if(vsync1 == 0x55AA && vsync2 == 0x55AA){
inc ++ ;
printf("frame found !\n");
}else{
printf("sync not found !\n");
/*fclose(rgb_fd);*/
fclose(yuv_fd);
fclose(jpeg_fd);
retry_counter ++ ;
continue ;
}
start_buffer += 2 ;
bin_to_gray(start_buffer, y_buffer);
fwrite(y_buffer, 1, IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN, yuv_fd);
write_jpegfile(y_buffer, IMAGE_WIDTH, IMAGE_HEIGHT, 1, jpeg_fd, 100);
fclose(yuv_fd);
fclose(jpeg_fd);
}
if(retry_counter == 5){
return -1 ;
}
return 0 ;
}
int wb_rd(unsigned int addr){
unsigned short read_val;
logi_read((unsigned char *) &read_val, (unsigned int)2, addr);
printf("address: 0x%x Read Value: 0x%x \r\n", addr, read_val);
return(1);
}