camera: Update camera module

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

@@ -42,18 +42,28 @@ typedef struct {
 
 STATIC camera_dev_t camera_dev = {"/dev/video", -1};
 
+typedef struct {
+    uint16_t width;
+    uint16_t height;
+} image_size_t;
+
+STATIC const image_size_t image_size_table[] = {
+    { VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA },
+    { VIDEO_HSIZE_VGA, VIDEO_VSIZE_VGA },
+    { VIDEO_HSIZE_HD, VIDEO_VSIZE_HD },
+    { VIDEO_HSIZE_QUADVGA, VIDEO_VSIZE_QUADVGA },
+    { VIDEO_HSIZE_FULLHD, VIDEO_VSIZE_FULLHD },
+    { VIDEO_HSIZE_3M, VIDEO_VSIZE_3M },
+    { VIDEO_HSIZE_5M, VIDEO_VSIZE_5M },
+};
+
 static bool camera_check_width_and_height(uint16_t width, uint16_t height) {
-    if ((width == VIDEO_HSIZE_QVGA && height == VIDEO_VSIZE_QVGA) ||
-        (width == VIDEO_HSIZE_VGA && height == VIDEO_VSIZE_VGA) ||
-        (width == VIDEO_HSIZE_HD && height == VIDEO_VSIZE_HD) ||
-        (width == VIDEO_HSIZE_QUADVGA && height == VIDEO_VSIZE_QUADVGA) ||
-        (width == VIDEO_HSIZE_FULLHD && height == VIDEO_VSIZE_FULLHD) ||
-        (width == VIDEO_HSIZE_3M && height == VIDEO_VSIZE_3M) ||
-        (width == VIDEO_HSIZE_5M && height == VIDEO_VSIZE_5M)) {
-        return true;
-    } else {
-        return false;
+    for (int i = 0; i < MP_ARRAY_SIZE(image_size_table); i++) {
+        if (image_size_table[i].width == width && image_size_table[i].height == height) {
+            return true;
+        }
     }
+    return false;
 }
 
 static bool camera_check_buffer_length(uint16_t width, uint16_t height, camera_imageformat_t format, size_t length) {
@@ -61,18 +71,14 @@ static bool camera_check_buffer_length(uint16_t width, uint16_t height, camera_i
         // 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.
-        return length >= (size_t)(width * height * 2 / 9) ? true : false;
+        return length >= (size_t)(width * height * 2 / 9);
     } else {
         return false;
     }
 }
 
 static bool camera_check_format(camera_imageformat_t format) {
-    if (format == IMAGEFORMAT_JPG) {
-        return true;
-    } else {
-        return false;
-    }
+    return format == IMAGEFORMAT_JPG;
 }
 
 static void camera_set_format(enum v4l2_buf_type type, uint32_t pixformat, uint16_t width, uint16_t height) {

ports/cxd56/supervisor/port.c

@@ -46,7 +46,7 @@
 #include "common-hal/pwmio/PWMOut.h"
 #include "common-hal/busio/UART.h"
 
-#define HEAP_SIZE (1000 * 1024)
+#define SPRESENSE_MEM_ALIGN (32)
 
 uint32_t* heap;
 uint32_t heap_size;
@@ -57,8 +57,10 @@ safe_mode_t port_init(void) {
     // Wait until RTC is available
     while (g_rtc_enabled == false);
 
-    heap = memalign(32, HEAP_SIZE);
-    heap_size = HEAP_SIZE / sizeof(uint32_t);
+    heap = memalign(SPRESENSE_MEM_ALIGN, 128 * 1024);
+    uint32_t size = CONFIG_RAM_START + CONFIG_RAM_SIZE - (uint32_t)heap - 2 * SPRESENSE_MEM_ALIGN;
+    heap = realloc(heap, size);
+    heap_size = size / sizeof(uint32_t);
 
     if (board_requests_safe_mode()) {
         return USER_SAFE_MODE;

shared-bindings/camera/Camera.c

@@ -52,7 +52,7 @@
 //|
 //|         buffer = bytearray(512 * 1024)
 //|         file = open("/sd/image.jpg","wb")
-//|         size = cam.take_picture()
+//|         size = cam.take_picture(buffer, camera.ImageFormat.JPG)
 //|         file.write(buffer, size)
 //|         file.close()"""
 //|
@@ -99,7 +99,7 @@ STATIC void check_for_deinit(camera_obj_t *self) {
 //|     def take_picture(self, buf: WriteableBuffer, format: ImageFormat) -> int:
 //|         """Take picture and save to ``buf`` in the given ``format``
 //|
-//|         :return: the size of the picture taken
+//|         :return: the number of bytes written into buf
 //|         :rtype: int"""
 //|         ...
 //|

shared-bindings/camera/__init__.c

@@ -39,7 +39,7 @@ STATIC const mp_rom_map_elem_t camera_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_Camera), MP_ROM_PTR(&camera_type) },
 
     // Enum-like Classes.
-    { MP_ROM_QSTR(MP_QSTR_ImageSize), MP_ROM_PTR(&camera_imageformat_type) },
+    { MP_ROM_QSTR(MP_QSTR_ImageFormat), MP_ROM_PTR(&camera_imageformat_type) },
 };
 
 STATIC MP_DEFINE_CONST_DICT(camera_module_globals, camera_module_globals_table);