介绍
FPGA 的一大优势是我们可以实现并行图像处理数据流。虽然任务比较重,但是我们不需要昂贵的 FPGA,我们可以使用成本低廉范围中的一个,例如 Spartan 7 或 Artix 7。对于这个项目,将展示如何设计一个简单的图像处理应用程序,该应用程序平行处理两个摄像头。
本项目主要使用 Digilent PCAM 扩展板。PCAM 扩展板为最多四个 PCAMS 提供接口。所以只需要有FMC接口的开发板都可以完成本项目移植。
Vivado
为了让系统快速启动和运行,我们将从赛灵思的一个示例项目开始设计。要打开参考项目,我们需要首先创建一个针对自己开发板上 FPGA 的项目。
打开项目后,创建一个新的BD。
打开BD后,在BD中添加一个 MIPI CSI2 IP。
要打开参考设计,右键单击 CSI2 IP并选择打开 IP 示例设计。
我们将使用这个参考项目。首先要做的是移除 DSI 输出路径。这将为我们的图像处理平台释放 FPGA 中的逻辑资源。
下一步是添加以下元素以创建第二条图像处理通道。
-
CSI2 IP Block
-
Register Slices & concatenation
-
Sensor Demosaic
-
VDMA
-
AXI Switch
完成的设计应如下所示:
除了 CSI2 IP 中的设置外,第二个图像处理通道与第一个相同。
原始 CSI2 IP 设置
添加的 CSI2 IP 中的设置
VDMA 内存设置
Sensor Demosaic设置
AXI4 Stream Switch
时钟有不同的上行和下行时钟
完成BD设计接下来就是针对硬件进行管脚约束。
一旦完成,我们就可以生成和构建项目并导出 XSA 用于软件开发。
该设备的利用率如下:
软件开发
导出 XSA 后,我们可以创建一个新的 Vitis 项目,其中包含 hello world 应用程序。
从 hello world 应用程序 BSP 设置中,我们可以导入 MIPI CSI2 示例项目。
我们需要对这个项目进行一些更改。
首先是通过 IIC 与传感器通信并设置传感器。板上的 CSI2 Sensor与FPGA 的 I2C 并没有直接连接。通过一个I2C BUFFER,与四个sensor连接,因为sensor的地址是一样的。
这可以在 fucntion_prototpye.c 中提供的传感器配置函数中进行更改。
所以我们在配置运行之前需要选择多路复用器。
- extern int SensorPreConfig(int pcam5c_mode) {
- u32 Index, MaxIndex, MaxIndex1, MaxIndex2;
- int Status;
- SensorIicAddr = SENSOR_ADDRESS;
- u8 SP701mux_addr = 0x75;
- u8 SP701mux_ch = 0x40;
- u8 PCAM_FMC_addr = 0x70;
- u8 PCAM_FMC_ch = 0x01;
- Status = XIic_SetAddress(&IicAdapter, XII_ADDR_TO_SEND_TYPE, SP701mux_addr);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- WriteBuffer[0] = SP701mux_ch;
- Status = AdapterWriteData(1);
- if (Status != XST_SUCCESS) {
- printf("sp701 mux failed\n\r");
- return XST_FAILURE;
- }
- Status = XIic_SetAddress(&IicAdapter, XII_ADDR_TO_SEND_TYPE, PCAM_FMC_addr);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- WriteBuffer[0] = PCAM_FMC_ch;
- Status = AdapterWriteData(1);
- if (Status != XST_SUCCESS) {
- printf("pcam mux failed\n\r");
- return XST_FAILURE;
- }
- Status = XIic_SetAddress(&IicAdapter, XII_ADDR_TO_SEND_TYPE, SensorIicAddr);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- WritetoReg(0x31, 0x03, 0x11);
- WritetoReg(0x30, 0x08, 0x82);
- Sensor_Delay();
- MaxIndex = length_sensor_pre;
- for(Index = 0; Index < (MaxIndex - 0); Index++)
- {
- WriteBuffer[0] = sensor_pre[Index].Address >> 8;
- WriteBuffer[1] = sensor_pre[Index].Address;
- WriteBuffer[2] = sensor_pre[Index].Data;
- Sensor_Delay();
- Status = AdapterWriteData(3);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- }
- WritetoReg(0x30, 0x08, 0x42);
- MaxIndex1 = length_pcam5c_mode1;
- for(Index = 0; Index < (MaxIndex1 - 0); Index++)
- {
- WriteBuffer[0] = pcam5c_mode1[Index].Address >> 8;
- WriteBuffer[1] = pcam5c_mode1[Index].Address;
- WriteBuffer[2] = pcam5c_mode1[Index].Data;
- Sensor_Delay();
- Status = AdapterWriteData(3);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- }
- WritetoReg(0x30, 0x08, 0x02);
- Sensor_Delay();
- WritetoReg(0x30, 0x08, 0x42);
- MaxIndex2 = length_sensor_list;
- for(Index = 0; Index < (MaxIndex2 - 0); Index++)
- {
- WriteBuffer[0] = sensor_list[Index].Address >> 8;
- WriteBuffer[1] = sensor_list[Index].Address;
- WriteBuffer[2] = sensor_list[Index].Data;
- Sensor_Delay();
- Status = AdapterWriteData(3);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- }
- if(Status != XST_SUCCESS) {
- xil_printf("Error: in Writing entry status = %x \r\n", Status);
- return XST_FAILURE;
- }
- return XST_SUCCESS;
- }
由于我们添加了第二个 Demosaic,我们还需要更新其配置。
- int demosaic()
- {
- demosaic_Config = XV_demosaic_LookupConfig(DEMOSAIC_DEVICE_ID);
- XV_demosaic_CfgInitialize(&InstancePtr, demosaic_Config,
- demosaic_Config->BaseAddress);
- XV_demosaic_Set_HwReg_width(&InstancePtr, 1920);
- XV_demosaic_Set_HwReg_height(&InstancePtr, 1080);
- XV_demosaic_Set_HwReg_bayer_phase(&InstancePtr, 0x3);
- XV_demosaic_EnableAutoRestart(&InstancePtr);
- XV_demosaic_Start(&InstancePtr);
- demosaic_Config1 = XV_demosaic_LookupConfig(DEMOSAIC_DEVICE1_ID);
- XV_demosaic_CfgInitialize(&InstancePtr1, demosaic_Config1,
- demosaic_Config1->BaseAddress);
- XV_demosaic_Set_HwReg_width(&InstancePtr1, 1920);
- XV_demosaic_Set_HwReg_height(&InstancePtr1, 1080);
- XV_demosaic_Set_HwReg_bayer_phase(&InstancePtr1, 0x3);
- XV_demosaic_EnableAutoRestart(&InstancePtr1);
- XV_demosaic_Start(&InstancePtr1);
- return XST_SUCCESS;
- }
最后阶段是设置第二个 DMA,这里必须注意 DDR3地址管理以确保帧不会相互重叠。
- int vdma_hdmi() {
- InitVprocSs_CSC(1);
- ResetVDMA();
- RunVDMA(&AxiVdma, XPAR_AXI_VDMA_0_DEVICE_ID, HORIZONTAL_RESOLUTION, \
- VERTICAL_RESOLUTION, srcBuffer, FRAME_COUNTER, 0);
- RunVDMA(&AxiVdma1, XPAR_AXI_VDMA_1_DEVICE_ID, HORIZONTAL_RESOLUTION, \
- VERTICAL_RESOLUTION, srcBuffer1, FRAME_COUNTER, 0);
- return XST_SUCCESS;
- }
我们还需要注释掉 DSI 和TPG等函数使用的任何代码。
主代码也需要更新,以便在串口命令下控制 AXI Switch。
- /******************************************************************************
- * Copyright (C) 2018 - 2022 Xilinx, Inc. All rights reserved.
- * SPDX-License-Identifier: MIT
- *******************************************************************************/
- /*****************************************************************************/
- /**
- *
- * @file xmipi_sp701_example.c
- *
- * <pre>
- * MODIFICATION HISTORY:
- *
- * Ver Who Date Changes
- * ----- ------ -------- --------------------------------------------------
- * X.XX XX YY/MM/DD
- * 1.00 RHe 19/09/20 Initial release.
- * </pre>
- *
- ******************************************************************************/
- /***************************** Include Files *********************************/
- #include "xparameters.h"
- #include "xiic.h"
- #include "xil_exception.h"
- #include "function_prototype.h"
- #include "pcam_5C_cfgs.h"
- #include "xstatus.h"
- #include "sleep.h"
- #include "xiic_l.h"
- #include "xil_io.h"
- #include "xil_types.h"
- //#include "xv_tpg.h"
- #include "xil_cache.h"
- #include "stdio.h"
- #include "xaxis_switch.h"
- /************************** Constant Definitions *****************************/
- #define PAGE_SIZE 16
- #define XAXIS_SWITCH_DEVICE_ID XPAR_AXIS_SWITCH_0_DEVICE_ID
- #define IIC_BASE_ADDRESS XPAR_IIC_2_BASEADDR
- #define EEPROM_TEST_START_ADDRESS 0x80
- #define IIC_SWITCH_ADDRESS 0x74
- #define IIC_ADV7511_ADDRESS 0x39
- //XV_tpg_Config *tpg1_Config;XV_tpg_Config *tpg1_Config;
- //XV_tpg tpg1;
- //XV_tpg tpg1;
- typedef u8 AddressType;
- typedef struct {
- u8 addr;
- u8 data;
- u8 init;
- } HDMI_REG;
- #define NUMBER_OF_HDMI_REGS 16
- HDMI_REG hdmi_iic[NUMBER_OF_HDMI_REGS] = {
- {0x41, 0x00, 0x10},
- {0x98, 0x00, 0x03},
- {0x9A, 0x00, 0xE0},
- {0x9C, 0x00, 0x30},
- {0x9D, 0x00, 0x61},
- {0xA2, 0x00, 0xA4},
- {0xA3, 0x00, 0xA4},
- {0xE0, 0x00, 0xD0},
- {0xF9, 0x00, 0x00},
- {0x18, 0x00, 0xE7},
- {0x55, 0x00, 0x00},
- {0x56, 0x00, 0x28},
- {0xD6, 0x00, 0xC0},
- {0xAF, 0x00, 0x4},
- {0xF9, 0x00, 0x00}
- };
- u8 EepromIicAddr; /* Variable for storing Eeprom IIC address */
- int IicLowLevelDynEeprom();
- u8 EepromReadByte(AddressType Address, u8 *BufferPtr, u8 ByteCount);
- u8 EepromWriteByte(AddressType Address, u8 *BufferPtr, u8 ByteCount);
- /****************i************ Type Definitions *******************************/
- typedef u8 AddressType;
- /************************** Variable Definitions *****************************/
- extern XIic IicFmc, IicAdapter ; /* IIC device. */
- //HDMI IIC
- int IicLowLevelDynEeprom()
- {
- u8 BytesRead;
- u32 StatusReg;
- u8 Index;
- int Status;
- u32 i;
- EepromIicAddr = IIC_SWITCH_ADDRESS;
- Status = XIic_DynInit(IIC_BASE_ADDRESS);
- if (Status != XST_SUCCESS) {
- return XST_FAILURE;
- }
- xil_printf("\r\nAfter XIic_DynInit\r\n");
- while (((StatusReg = XIic_ReadReg(IIC_BASE_ADDRESS,
- XIIC_SR_REG_OFFSET)) &
- (XIIC_SR_RX_FIFO_EMPTY_MASK |
- XIIC_SR_TX_FIFO_EMPTY_MASK |
- XIIC_SR_BUS_BUSY_MASK)) !=
- (XIIC_SR_RX_FIFO_EMPTY_MASK |
- XIIC_SR_TX_FIFO_EMPTY_MASK)) {
- }
- EepromIicAddr = IIC_ADV7511_ADDRESS;
- for ( Index = 0; Index < NUMBER_OF_HDMI_REGS; Index++)
- {
- EepromWriteByte(hdmi_iic[Index].addr, &hdmi_iic[Index].init, 1);
- }
- for ( Index = 0; Index < NUMBER_OF_HDMI_REGS; Index++)
- {
- BytesRead = EepromReadByte(hdmi_iic[Index].addr, &hdmi_iic[Index].data, 1);
- for(i=0;i<1000;i++) {}; // IIC delay
- if (BytesRead != 1) {
- return XST_FAILURE;
- }
- }
- return XST_SUCCESS;
- }
- /*****************************************************************************/
- /**
- * This function writes a buffer of bytes to the IIC serial EEPROM.
- *
- * @param BufferPtr contains the address of the data to write.
- * @param ByteCount contains the number of bytes in the buffer to be
- * written. Note that this should not exceed the page size of the
- * EEPROM as noted by the constant PAGE_SIZE.
- *
- * @return The number of bytes written, a value less than that which was
- * specified as an input indicates an error.
- *
- * @note one.
- *
- ******************************************************************************/
- u8 EepromWriteByte(AddressType Address, u8 *BufferPtr, u8 ByteCount)
- {
- u8 SentByteCount;
- u8 WriteBuffer[sizeof(Address) + PAGE_SIZE];
- u8 Index;
- /*
- * A temporary write buffer must be used which contains both the address
- * and the data to be written, put the address in first based upon the
- * size of the address for the EEPROM
- */
- if (sizeof(AddressType) == 2) {
- WriteBuffer[0] = (u8) (Address >> 8);
- WriteBuffer[1] = (u8) (Address);
- } else if (sizeof(AddressType) == 1) {
- WriteBuffer[0] = (u8) (Address);
- EepromIicAddr |= (EEPROM_TEST_START_ADDRESS >> 8) & 0x7;
- }
- /*
- * Put the data in the write buffer following the address.
- */
- for (Index = 0; Index < ByteCount; Index++) {
- WriteBuffer[sizeof(Address) + Index] = BufferPtr[Index];
- }
- /*
- * Write a page of data at the specified address to the EEPROM.
- */
- SentByteCount = XIic_DynSend(IIC_BASE_ADDRESS, EepromIicAddr,
- WriteBuffer, sizeof(Address) + ByteCount,
- XIIC_STOP);
- /*
- * Return the number of bytes written to the EEPROM.
- */
- return SentByteCount - sizeof(Address);
- }
- /******************************************************************************
- *
- * This function reads a number of bytes from the IIC serial EEPROM into a
- * specified buffer.
- *
- * @param BufferPtr contains the address of the data buffer to be filled.
- * @param ByteCount contains the number of bytes in the buffer to be read.
- * This value is constrained by the page size of the device such
- * that up to 64K may be read in one call.
- *
- * @return The number of bytes read. A value less than the specified input
- * value indicates an error.
- *
- * @note None.
- *
- ******************************************************************************/
- u8 EepromReadByte(AddressType Address, u8 *BufferPtr, u8 ByteCount)
- {
- u8 ReceivedByteCount;
- u8 SentByteCount;
- u16 StatusReg;
- /*
- * Position the Read pointer to specific location in the EEPROM.
- */
- do {
- StatusReg = XIic_ReadReg(IIC_BASE_ADDRESS, XIIC_SR_REG_OFFSET);
- if (!(StatusReg & XIIC_SR_BUS_BUSY_MASK)) {
- SentByteCount = XIic_DynSend(IIC_BASE_ADDRESS, EepromIicAddr,
- (u8 *) &Address, sizeof(Address), XIIC_REPEATED_START);
- }
- } while (SentByteCount != sizeof(Address));
- /*
- * Receive the data.
- */
- ReceivedByteCount = XIic_DynRecv(IIC_BASE_ADDRESS, EepromIicAddr,
- BufferPtr, ByteCount);
- /*
- * Return the number of bytes received from the EEPROM.
- */
- return ReceivedByteCount;
- }
- /*****************************************************************************/
- /**
- *
- * Main function to initialize interop system and read data from AR0330 sensor
- * @param None.
- *
- * @return
- * - XST_SUCCESS if MIPI Interop was successful.
- * - XST_FAILURE if MIPI Interop failed.
- *
- * @note None.
- *
- ******************************************************************************/
- int main() {
- int Status;
- int pcam5c_mode = 1;
- int usr_entry ,prev_sel;
- int default_input;
- int dsi_hdmi_select = 0;
- Xil_ICacheDisable();
- Xil_DCacheDisable();
- XAxis_Switch AxisSwitch;
- XAxis_Switch_Config *ASWConfig;
- ASWConfig = XAxisScr_LookupConfig(XAXIS_SWITCH_DEVICE_ID);
- XAxisScr_CfgInitialize(&AxisSwitch, ASWConfig,ASWConfig->BaseAddress);
- XAxisScr_RegUpdateDisable(&AxisSwitch);
- XAxisScr_MiPortDisableAll(&AxisSwitch);
- XAxisScr_MiPortEnable(&AxisSwitch, 0, 0);
- XAxisScr_RegUpdateEnable(&AxisSwitch);
- xil_printf("\n\r******************************************************\n\r");
- xil_printf("\n\r** SP701 Example Design **");
- Status = IicLowLevelDynEeprom();
- if (Status != XST_SUCCESS) {
- xil_printf("ADV7511 IIC programming FAILED\r\n");
- return XST_FAILURE;
- }
- xil_printf("ADV7511 IIC programming PASSED\r\n");
- //Initialize FMC, Adapter and Sensor IIC
- Status = InitIIC();
- if (Status != XST_SUCCESS) {
- xil_printf("\n\r IIC initialization Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("IIC Initializtion Done \n\r");
- //Initialize FMC Interrupt System
- Status = SetupFmcInterruptSystem(&IicFmc);
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rInterrupt System Initialization Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("FMC Interrupt System Initialization Done \n\r");
- //Set up IIC Interrupt Handlers
- SetupIICIntrHandlers();
- xil_printf("IIC Interrupt Handlers Setup Done \n\r");
- Status = SetFmcIICAddress();
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rFMC IIC Address Setup Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("Fmc IIC Address Set\n\r");
- //Initialize Adapter Interrupt System
- Status = SetupAdapterInterruptSystem(&IicAdapter);
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rInterrupt System Initialization Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("Adapter Interrupt System Initialization Done \n\r");
- //Set Address of Adapter IIC
- Status = SetAdapterIICAddress();
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rAdapter IIC Address Setup Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("Adapter IIC Address Set\n\r");
- Status = InitializeCsiRxSs();
- if (Status != XST_SUCCESS) {
- xil_printf("CSI Rx Ss Init failed status = %x.\r\n", Status);
- return XST_FAILURE;
- }
- dsi_hdmi_select = 0;
- //using default_input var to compare same option selection
- default_input = 1;
- //SetupDSI();
- resetIp();
- EnableCSI();
- GPIOSelect(dsi_hdmi_select);
- Status = demosaic();
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rDemosaic Failed \n\r");
- return XST_FAILURE;
- }
- CamReset();
- //Preconifgure Sensor
- Status = SensorPreConfig(pcam5c_mode);
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rSensor PreConfiguration Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("\n\rSensor 1 is PreConfigured\n\r");
- WritetoReg(0x30, 0x08, 0x02);
- //Preconifgure Sensor
- Status = SensorPreConfig1(pcam5c_mode);
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rSensor PreConfiguration Failed \n\r");
- return XST_FAILURE;
- }
- xil_printf("\n\rSensor 2 is PreConfigured\n\r");
- WritetoReg(0x30, 0x08, 0x02);
- Status = vdma_hdmi();
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rVdma_hdmi Failed \n\r");
- return XST_FAILURE;
- }
- Status = vtpg_hdmi();
- if (Status != XST_SUCCESS) {
- xil_printf("\n\rVtpg Failed \n\r");
- return XST_FAILURE;
- }
- Sensor_Delay();
- xil_printf("\n\rPipeline Configuration Completed \n\r");
- while(1) {
- xil_printf("\r\nPlease Select Camera(1 or 2) + ENTER:");
- usr_entry = getchar();
- char b;
- scanf("%c", &b);// This will take ENTER key
- switch(usr_entry) {
- case '1':
- xil_printf("\n\rSwitching to Camera 1\n\r");
- XAxisScr_RegUpdateDisable(&AxisSwitch);
- XAxisScr_MiPortDisableAll(&AxisSwitch);
- XAxisScr_MiPortEnable(&AxisSwitch, 0, 0);
- XAxisScr_RegUpdateEnable(&AxisSwitch);
- break;
- case '2':
- xil_printf("\n\rSwitching to Camera 1\n\r");
- XAxisScr_RegUpdateDisable(&AxisSwitch);
- XAxisScr_MiPortDisableAll(&AxisSwitch);
- XAxisScr_MiPortEnable(&AxisSwitch, 0, 1);
- XAxisScr_RegUpdateEnable(&AxisSwitch);
- break;
- default:
- xil_printf("\n\rSelection is unavailable. Please try again\n\r");
- break;
- }
- }
- return XST_SUCCESS;
- }
测试
我们可以在连接到 HDMI 输出时运行应用程序并在显示器上看到图像。
使用应用程序选择图像。
参考
https://www.hackster.io/
总结
该项目展示了一个MIPI摄像头接入FPGA的简单、快捷的方式,同时可以学习一下软件的导入工程的方式,简单的基于MicroBlaze系统要学会自己写控制代码,也许这就是新一代“FPGA打工人”需要掌握的一项新技术吧~(doge~不是)
示例工程
https://github.com/ATaylorCEngFIET/Hackster/tree/master
标签:Status,MIPI,return,u8,XST,printf,xil,图像,摄像头 From: https://www.cnblogs.com/kn-zheng/p/17167227.htmlhttps://github.com/ATaylorCEngFIET/SP701_Imaging_Vivado