spresense: Add support for camera

ports/cxd56/Makefile

@@ -201,7 +201,7 @@ all: $(BUILD)/firmware.spk
 $(FIRMWARE):
 	$(ECHO) ""
 	$(ECHO) "Download the spresense binaries zip archive from:"
-	$(ECHO) "https://developer.sony.com/file/download/download-spresense-firmware-v1-4-000"
+	$(ECHO) "https://developer.sony.com/file/download/download-spresense-firmware-v2-0-000"
 	$(ECHO) "Extract spresense binaries to $(FIRMWARE)"
 	$(ECHO) ""
 	$(ECHO) "run make flash-bootloader again to flash bootloader."

ports/cxd56/common-hal/camera/Camera.c

@@ -0,0 +1,224 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <string.h>
+#include <fcntl.h>
+
+#include <arch/board/board.h>
+#include <nuttx/video/video.h>
+#include <nuttx/arch.h>
+
+#include "py/runtime.h"
+
+#include "shared-bindings/camera/Camera.h"
+
+#define JPG_COMPRESS_RATIO (9)
+#define SPRESENSE_CAMIMAGE_MEM_ALIGN (32)
+
+typedef struct {
+    const char* devpath;
+    int fd;
+} camera_dev_t;
+
+STATIC camera_dev_t camera_dev = {"/dev/video", -1};
+
+static void camera_size_to_width_and_height(camera_imagesize_t size, uint16_t *width, uint16_t *height) {
+    switch (size) {
+        case IMAGESIZE_320x240:
+            *height = VIDEO_VSIZE_QVGA;
+            *width = VIDEO_HSIZE_QVGA;
+            break;
+        case IMAGESIZE_640x320:
+            *height = VIDEO_VSIZE_VGA;
+            *width = VIDEO_HSIZE_VGA;
+            break;
+        case IMAGESIZE_1280x720:
+            *height = VIDEO_VSIZE_HD;
+            *width = VIDEO_HSIZE_HD;
+            break;
+        case IMAGESIZE_1280x960:
+            *height = VIDEO_VSIZE_QUADVGA;
+            *width = VIDEO_HSIZE_QUADVGA;
+            break;
+        case IMAGESIZE_1920x1080:
+            *height = VIDEO_VSIZE_FULLHD;
+            *width = VIDEO_HSIZE_FULLHD;
+            break;
+        case IMAGESIZE_2048x1536:
+            *height = VIDEO_VSIZE_3M;
+            *width = VIDEO_HSIZE_3M;
+            break;
+        case IMAGESIZE_2560x1920:
+            *height = VIDEO_VSIZE_5M;
+            *width = VIDEO_HSIZE_5M;
+            break;
+        default:
+            mp_raise_ValueError(translate("Size not supported"));
+            break;
+    }
+}
+
+static void camera_set_format(enum v4l2_buf_type type, uint32_t pixformat, uint16_t width, uint16_t height) {
+    v4l2_requestbuffers_t req = {0};
+
+    // Set Buffer Mode.
+    req.type = type;
+    req.memory = V4L2_MEMORY_USERPTR;
+    req.count = 1;
+    req.mode = V4L2_BUF_MODE_RING;
+    ioctl(camera_dev.fd, VIDIOC_REQBUFS, (unsigned long)&req);
+    v4l2_format_t fmt = {0};
+
+    // Set Format.
+    fmt.type = type;
+    fmt.fmt.pix.width = width;
+    fmt.fmt.pix.height = height;
+    fmt.fmt.pix.field = V4L2_FIELD_ANY;
+    fmt.fmt.pix.pixelformat = pixformat;
+    ioctl(camera_dev.fd, VIDIOC_S_FMT, (unsigned long)&fmt);
+}
+
+static void camera_start_streaming(enum v4l2_buf_type type) {
+    ioctl(camera_dev.fd, VIDIOC_STREAMON, (unsigned long)&type);
+}
+
+static void camera_start_preview() {
+    camera_set_format(V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_PIX_FMT_UYVY, VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA);
+
+    v4l2_buffer_t buf;
+
+    memset(&buf, 0, sizeof(v4l2_buffer_t));
+    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    buf.memory = V4L2_MEMORY_USERPTR;
+    ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf);
+
+    camera_start_streaming(V4L2_BUF_TYPE_VIDEO_CAPTURE);
+}
+
+void common_hal_camera_construct(camera_obj_t *self, camera_imagesize_t size) {
+    if (camera_dev.fd < 0) {
+        if (video_initialize(camera_dev.devpath) < 0) {
+            mp_raise_ValueError(translate("Could not initialize Camera"));
+        }
+        camera_dev.fd = open(camera_dev.devpath, 0);
+        if (camera_dev.fd < 0) {
+            mp_raise_ValueError(translate("Could not initialize Camera"));
+        }
+    }
+
+    uint16_t width, height;
+
+    camera_size_to_width_and_height(size, &width, &height);
+
+    self->size = size;
+
+    // In SPRESENSE SDK, JPEG compression quality=80 by default.
+    // In such setting, the maximum actual measured size of JPEG image
+    // is about width * height * 2 / 9.
+    self->buffer_size = (size_t)(width * height * 2 / JPG_COMPRESS_RATIO);;
+    self->buffer = m_malloc(self->buffer_size, true);
+    if (self->buffer == NULL) {
+        mp_raise_msg(&mp_type_MemoryError, translate("Couldn't allocate picture buffer"));
+    }
+    self->picture_buffer = self->buffer;
+    while ((uint32_t)self->picture_buffer % SPRESENSE_CAMIMAGE_MEM_ALIGN != 0) {
+        self->picture_buffer++;
+    }
+
+    camera_start_preview();
+
+    camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, width, height);
+
+    camera_start_streaming(V4L2_BUF_TYPE_STILL_CAPTURE);
+
+    sleep(1);
+}
+
+void common_hal_camera_deinit(camera_obj_t *self) {
+    if (common_hal_camera_deinited(self)) {
+        return;
+    }
+
+    video_uninitialize();
+
+    m_free(self->buffer);
+
+    close(camera_dev.fd);
+    camera_dev.fd = -1;
+}
+
+bool common_hal_camera_deinited(camera_obj_t *self) {
+    return camera_dev.fd < 0;
+}
+
+void common_hal_camera_take_picture(camera_obj_t *self) {
+    v4l2_buffer_t buf;
+
+    memset(&buf, 0, sizeof(v4l2_buffer_t));
+    buf.type = V4L2_BUF_TYPE_STILL_CAPTURE;
+    buf.memory = V4L2_MEMORY_USERPTR;
+    buf.m.userptr = (unsigned long)self->picture_buffer;
+    buf.length = self->buffer_size - SPRESENSE_CAMIMAGE_MEM_ALIGN;
+    ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf);
+
+    ioctl(camera_dev.fd, VIDIOC_TAKEPICT_START, 0);
+
+    ioctl(camera_dev.fd, VIDIOC_DQBUF, (unsigned long)&buf);
+
+    ioctl(camera_dev.fd, VIDIOC_TAKEPICT_STOP, false);
+
+    self->picture_size = (size_t)buf.bytesused;
+}
+
+uint8_t *common_hal_camera_get_picture_buffer(camera_obj_t *self) {
+    return self->picture_buffer;
+}
+
+size_t common_hal_camera_get_picture_size(camera_obj_t *self) {
+    return self->picture_size;
+}
+
+camera_imagesize_t common_hal_camera_get_size(camera_obj_t *self) {
+    return self->size;
+}
+
+void common_hal_camera_set_size(camera_obj_t *self, camera_imagesize_t size) {
+    uint16_t width, height;
+
+    camera_size_to_width_and_height(size, &width, &height);
+
+    self->buffer_size = (size_t)(width * height * 2 / JPG_COMPRESS_RATIO);;
+    self->buffer = m_realloc(self->buffer, self->buffer_size);
+    if (self->buffer == NULL) {
+        mp_raise_msg(&mp_type_MemoryError, translate("Couldn't allocate picture buffer"));
+    }
+    self->picture_buffer = self->buffer;
+    while ((uint32_t)self->picture_buffer % SPRESENSE_CAMIMAGE_MEM_ALIGN != 0) {
+        self->picture_buffer++;
+    }
+
+    camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, width, height);
+}

ports/cxd56/common-hal/camera/Camera.h

@@ -0,0 +1,43 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright 2020 Sony Semiconductor Solutions Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H
+#define MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H
+
+#include "py/obj.h"
+
+#include "shared-bindings/camera/ImageSize.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    uint8_t *buffer;
+    size_t buffer_size;
+    uint8_t *picture_buffer;
+    size_t picture_size;
+    camera_imagesize_t size;
+} camera_obj_t;
+
+#endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H

ports/cxd56/common-hal/camera/__init__.c

@@ -0,0 +1 @@
+// No camera module functions.

ports/cxd56/mpconfigport.mk

@@ -11,6 +11,7 @@ MPY_TOOL_LONGINT_IMPL = -mlongint-impl=mpz
 
 CIRCUITPY_AUDIOBUSIO = 0
 CIRCUITPY_AUDIOIO = 0
+CIRCUITPY_CAMERA = 1
 CIRCUITPY_COUNTIO = 0
 CIRCUITPY_DISPLAYIO = 0
 CIRCUITPY_FREQUENCYIO = 0