雙MIPI攝像頭圖像系統(tǒng)設(shè)計(jì)

介紹

FPGA 的一大優(yōu)勢(shì)是我們可以實(shí)現(xiàn)并行圖像處理數(shù)據(jù)流。雖然任務(wù)比較重，但是我們不需要昂貴的 FPGA，我們可以使用成本低廉范圍中的一個(gè)，例如 Spartan 7 或 Artix 7。對(duì)于這個(gè)項(xiàng)目，將展示如何設(shè)計(jì)一個(gè)簡(jiǎn)單的圖像處理應(yīng)用程序，該應(yīng)用程序平行處理兩個(gè)攝像頭。

本項(xiàng)目主要使用 Digilent PCAM 擴(kuò)展板。PCAM 擴(kuò)展板為最多四個(gè) PCAMS 提供接口。所以只需要有FMC接口的開發(fā)板都可以完成本項(xiàng)目移植。

Vivado

為了讓系統(tǒng)快速啟動(dòng)和運(yùn)行，我們將從賽靈思的一個(gè)示例項(xiàng)目開始設(shè)計(jì)。要打開參考項(xiàng)目，我們需要首先創(chuàng)建一個(gè)針對(duì)自己開發(fā)板上 FPGA 的項(xiàng)目。

打開項(xiàng)目后，創(chuàng)建一個(gè)新的BD。

打開BD后，在BD中添加一個(gè) MIPI CSI2 IP。

要打開參考設(shè)計(jì)，右鍵單擊 CSI2 IP并選擇打開 IP 示例設(shè)計(jì)。

我們將使用這個(gè)參考項(xiàng)目。首先要做的是移除 DSI 輸出路徑。這將為我們的圖像處理平臺(tái)釋放 FPGA 中的邏輯資源。

下一步是添加以下元素以創(chuàng)建第二條圖像處理通道。

• CSI2 IP Block
• Register Slices & concatenation
• Sensor Demosaic
• VDMA
• AXI Switch

完成的設(shè)計(jì)應(yīng)如下所示：

除了 CSI2 IP 中的設(shè)置外，第二個(gè)圖像處理通道與第一個(gè)相同。

原始 CSI2 IP 設(shè)置

添加的 CSI2 IP 中的設(shè)置

VDMA 內(nèi)存設(shè)置

Sensor Demosaic設(shè)置

AXI4 Stream Switch

時(shí)鐘有不同的上行和下行時(shí)鐘

完成BD設(shè)計(jì)接下來就是針對(duì)硬件進(jìn)行管腳約束。

一旦完成，我們就可以生成和構(gòu)建項(xiàng)目并導(dǎo)出 XSA 用于軟件開發(fā)。

該設(shè)備的利用率如下：

軟件開發(fā)

導(dǎo)出 XSA 后，我們可以創(chuàng)建一個(gè)新的 Vitis 項(xiàng)目，其中包含 hello world 應(yīng)用程序。

從 hello world 應(yīng)用程序 BSP 設(shè)置中，我們可以導(dǎo)入 MIPI CSI2 示例項(xiàng)目。

我們需要對(duì)這個(gè)項(xiàng)目進(jìn)行一些更改。

首先是通過 IIC 與傳感器通信并設(shè)置傳感器。板上的 CSI2 Sensor與FPGA 的 I2C 并沒有直接連接。通過一個(gè)I2C BUFFER，與四個(gè)sensor連接，因?yàn)閟ensor的地址是一樣的。

這可以在 fucntion_prototpye.c 中提供的傳感器配置函數(shù)中進(jìn)行更改。

所以我們?cè)谂渲眠\(yùn)行之前需要選擇多路復(fù)用器。

externintSensorPreConfig(intpcam5c_mode){


u32Index,MaxIndex,MaxIndex1,MaxIndex2;
intStatus;
SensorIicAddr=SENSOR_ADDRESS;

u8SP701mux_addr=0x75;
u8SP701mux_ch=0x40;

u8PCAM_FMC_addr=0x70;
u8PCAM_FMC_ch=0x01;


Status=XIic_SetAddress(&IicAdapter,XII_ADDR_TO_SEND_TYPE,SP701mux_addr);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}

WriteBuffer[0]=SP701mux_ch;
Status=AdapterWriteData(1);
if(Status!=XST_SUCCESS){
printf("sp701muxfailed

");
returnXST_FAILURE;
}

Status=XIic_SetAddress(&IicAdapter,XII_ADDR_TO_SEND_TYPE,PCAM_FMC_addr);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}

WriteBuffer[0]=PCAM_FMC_ch;
Status=AdapterWriteData(1);
if(Status!=XST_SUCCESS){
printf("pcammuxfailed

");
returnXST_FAILURE;
}



Status=XIic_SetAddress(&IicAdapter,XII_ADDR_TO_SEND_TYPE,SensorIicAddr);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}


WritetoReg(0x31,0x03,0x11);
WritetoReg(0x30,0x08,0x82);

Sensor_Delay();


MaxIndex=length_sensor_pre;
for(Index=0;Index>8;
WriteBuffer[1]=sensor_pre[Index].Address;
WriteBuffer[2]=sensor_pre[Index].Data;

Sensor_Delay();

Status=AdapterWriteData(3);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}
}


WritetoReg(0x30,0x08,0x42);


MaxIndex1=length_pcam5c_mode1;

for(Index=0;Index>8;
WriteBuffer[1]=pcam5c_mode1[Index].Address;
WriteBuffer[2]=pcam5c_mode1[Index].Data;

Sensor_Delay();

Status=AdapterWriteData(3);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}
}


WritetoReg(0x30,0x08,0x02);
Sensor_Delay();
WritetoReg(0x30,0x08,0x42);


MaxIndex2=length_sensor_list;

for(Index=0;Index>8;
WriteBuffer[1]=sensor_list[Index].Address;
WriteBuffer[2]=sensor_list[Index].Data;

Sensor_Delay();

Status=AdapterWriteData(3);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}
}


if(Status!=XST_SUCCESS){
xil_printf("Error:inWritingentrystatus=%x
",Status);
returnXST_FAILURE;
}

returnXST_SUCCESS;

}

由于我們添加了第二個(gè) Demosaic，我們還需要更新其配置。

intdemosaic()
{
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);
returnXST_SUCCESS;

}

最后階段是設(shè)置第二個(gè) DMA，這里必須注意 DDR3地址管理以確保幀不會(huì)相互重疊。

intvdma_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);

returnXST_SUCCESS;

}

我們還需要注釋掉 DSI 和TPG等函數(shù)使用的任何代碼。

主代碼也需要更新，以便在串口命令下控制 AXI Switch。

/******************************************************************************
*Copyright(C)2018-2022Xilinx,Inc.Allrightsreserved.
*SPDX-License-Identifier:MIT
*******************************************************************************/

/*****************************************************************************/
/**
*
*@filexmipi_sp701_example.c
*
*
*MODIFICATIONHISTORY:
*
*VerWhoDateChanges
*---------------------------------------------------------------------
*X.XXXXYY/MM/DD
*1.00RHe19/09/20Initialrelease.
*
*
******************************************************************************/
/*****************************IncludeFiles*********************************/

#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"



/**************************ConstantDefinitions*****************************/


#definePAGE_SIZE16
#defineXAXIS_SWITCH_DEVICE_IDXPAR_AXIS_SWITCH_0_DEVICE_ID

#defineIIC_BASE_ADDRESSXPAR_IIC_2_BASEADDR

#defineEEPROM_TEST_START_ADDRESS0x80

#defineIIC_SWITCH_ADDRESS0x74
#defineIIC_ADV7511_ADDRESS0x39
//XV_tpg_Config*tpg1_Config;XV_tpg_Config*tpg1_Config;
//XV_tpgtpg1;
//XV_tpgtpg1;
typedefu8AddressType;

typedefstruct{
u8addr;
u8data;
u8init;
}HDMI_REG;

#defineNUMBER_OF_HDMI_REGS16
HDMI_REGhdmi_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}
};

u8EepromIicAddr;/*VariableforstoringEepromIICaddress*/

intIicLowLevelDynEeprom();

u8EepromReadByte(AddressTypeAddress,u8*BufferPtr,u8ByteCount);
u8EepromWriteByte(AddressTypeAddress,u8*BufferPtr,u8ByteCount);



/****************i************TypeDefinitions*******************************/

typedefu8AddressType;

/**************************VariableDefinitions*****************************/

externXIicIicFmc,IicAdapter;/*IICdevice.*/

//HDMIIIC
intIicLowLevelDynEeprom()
{
u8BytesRead;
u32StatusReg;
u8Index;
intStatus;
u32i;
EepromIicAddr=IIC_SWITCH_ADDRESS;
Status=XIic_DynInit(IIC_BASE_ADDRESS);
if(Status!=XST_SUCCESS){
returnXST_FAILURE;
}
xil_printf("
AfterXIic_DynInit
");
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;Indexfor(Index=0;Indexfor(i=0;i<1000;i++)?{};?//?IIC?delay
?if(BytesRead!=1){
returnXST_FAILURE;
}
}


returnXST_SUCCESS;

}


/*****************************************************************************/
/**
*ThisfunctionwritesabufferofbytestotheIICserialEEPROM.
*
*@paramBufferPtrcontainstheaddressofthedatatowrite.
*@paramByteCountcontainsthenumberofbytesinthebuffertobe
*written.Notethatthisshouldnotexceedthepagesizeofthe
*EEPROMasnotedbytheconstantPAGE_SIZE.
*
*@returnThenumberofbyteswritten,avaluelessthanthatwhichwas
*specifiedasaninputindicatesanerror.
*
*@noteone.
*
******************************************************************************/
u8EepromWriteByte(AddressTypeAddress,u8*BufferPtr,u8ByteCount)
{
u8SentByteCount;
u8WriteBuffer[sizeof(Address)+PAGE_SIZE];
u8Index;

/*
*Atemporarywritebuffermustbeusedwhichcontainsboththeaddress
*andthedatatobewritten,puttheaddressinfirstbaseduponthe
*sizeoftheaddressfortheEEPROM
*/
if(sizeof(AddressType)==2){
WriteBuffer[0]=(u8)(Address>>8);
WriteBuffer[1]=(u8)(Address);
}elseif(sizeof(AddressType)==1){
WriteBuffer[0]=(u8)(Address);
EepromIicAddr|=(EEPROM_TEST_START_ADDRESS>>8)&0x7;
}

/*
*Putthedatainthewritebufferfollowingtheaddress.
*/
for(Index=0;IndexreturnSentByteCount-sizeof(Address);

}


/******************************************************************************
*
*ThisfunctionreadsanumberofbytesfromtheIICserialEEPROMintoa
*specifiedbuffer.
*
*@paramBufferPtrcontainstheaddressofthedatabuffertobefilled.
*@paramByteCountcontainsthenumberofbytesinthebuffertoberead.
*Thisvalueisconstrainedbythepagesizeofthedevicesuch
*thatupto64Kmaybereadinonecall.
*
*@returnThenumberofbytesread.Avaluelessthanthespecifiedinput
*valueindicatesanerror.
*
*@noteNone.
*
******************************************************************************/
u8EepromReadByte(AddressTypeAddress,u8*BufferPtr,u8ByteCount)
{
u8ReceivedByteCount;
u8SentByteCount;
u16StatusReg;

/*
*PositiontheReadpointertospecificlocationintheEEPROM.
*/
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));
/*
*Receivethedata.
*/
ReceivedByteCount=XIic_DynRecv(IIC_BASE_ADDRESS,EepromIicAddr,
BufferPtr,ByteCount);

/*
*ReturnthenumberofbytesreceivedfromtheEEPROM.
*/

returnReceivedByteCount;

}


/*****************************************************************************/
/**
*
*MainfunctiontoinitializeinteropsystemandreaddatafromAR0330sensor

*@paramNone.
*
*@return
*-XST_SUCCESSifMIPIInteropwassuccessful.
*-XST_FAILUREifMIPIInteropfailed.
*
*@noteNone.
*
******************************************************************************/
intmain(){
intStatus;
intpcam5c_mode=1;
intusr_entry,prev_sel;
intdefault_input;
intdsi_hdmi_select=0;

Xil_ICacheDisable();
Xil_DCacheDisable();
XAxis_SwitchAxisSwitch;
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("

******************************************************

");
xil_printf("

**SP701ExampleDesign**");

Status=IicLowLevelDynEeprom();
if(Status!=XST_SUCCESS){
xil_printf("ADV7511IICprogrammingFAILED
");
returnXST_FAILURE;
}
xil_printf("ADV7511IICprogrammingPASSED
");


//InitializeFMC,AdapterandSensorIIC
Status=InitIIC();
if(Status!=XST_SUCCESS){
xil_printf("

IICinitializationFailed

");
returnXST_FAILURE;
}
xil_printf("IICInitializtionDone

");

//InitializeFMCInterruptSystem
Status=SetupFmcInterruptSystem(&IicFmc);
if(Status!=XST_SUCCESS){
xil_printf("

InterruptSystemInitializationFailed

");
returnXST_FAILURE;
}
xil_printf("FMCInterruptSystemInitializationDone

");

//SetupIICInterruptHandlers
SetupIICIntrHandlers();
xil_printf("IICInterruptHandlersSetupDone

");

Status=SetFmcIICAddress();
if(Status!=XST_SUCCESS){
xil_printf("

FMCIICAddressSetupFailed

");
returnXST_FAILURE;
}
xil_printf("FmcIICAddressSet

");

//InitializeAdapterInterruptSystem
Status=SetupAdapterInterruptSystem(&IicAdapter);
if(Status!=XST_SUCCESS){
xil_printf("

InterruptSystemInitializationFailed

");
returnXST_FAILURE;
}
xil_printf("AdapterInterruptSystemInitializationDone

");

//SetAddressofAdapterIIC
Status=SetAdapterIICAddress();
if(Status!=XST_SUCCESS){
xil_printf("

AdapterIICAddressSetupFailed

");
returnXST_FAILURE;
}
xil_printf("AdapterIICAddressSet

");

Status=InitializeCsiRxSs();
if(Status!=XST_SUCCESS){
xil_printf("CSIRxSsInitfailedstatus=%x.
",Status);
returnXST_FAILURE;
}


dsi_hdmi_select=0;
//usingdefault_inputvartocomparesameoptionselection
default_input=1;
//SetupDSI();
resetIp();
EnableCSI();
GPIOSelect(dsi_hdmi_select);

Status=demosaic();
if(Status!=XST_SUCCESS){
xil_printf("

DemosaicFailed

");
returnXST_FAILURE;
}

CamReset();

//PreconifgureSensor
Status=SensorPreConfig(pcam5c_mode);
if(Status!=XST_SUCCESS){
xil_printf("

SensorPreConfigurationFailed

");
returnXST_FAILURE;
}
xil_printf("

Sensor1isPreConfigured

");
WritetoReg(0x30,0x08,0x02);

//PreconifgureSensor
Status=SensorPreConfig1(pcam5c_mode);
if(Status!=XST_SUCCESS){
xil_printf("

SensorPreConfigurationFailed

");
returnXST_FAILURE;
}
xil_printf("

Sensor2isPreConfigured

");
WritetoReg(0x30,0x08,0x02);


Status=vdma_hdmi();
if(Status!=XST_SUCCESS){
xil_printf("

Vdma_hdmiFailed

");
returnXST_FAILURE;
}

Status=vtpg_hdmi();
if(Status!=XST_SUCCESS){
xil_printf("

VtpgFailed

");
returnXST_FAILURE;
}


Sensor_Delay();
xil_printf("

PipelineConfigurationCompleted

");

while(1){

xil_printf("
PleaseSelectCamera(1or2)+ENTER:");


usr_entry=getchar();

charb;
scanf("%c",&b);//ThiswilltakeENTERkey



switch(usr_entry){

case'1':
xil_printf("

SwitchingtoCamera1

");
XAxisScr_RegUpdateDisable(&AxisSwitch);
XAxisScr_MiPortDisableAll(&AxisSwitch);
XAxisScr_MiPortEnable(&AxisSwitch,0,0);
XAxisScr_RegUpdateEnable(&AxisSwitch);
break;

case'2':
xil_printf("

SwitchingtoCamera1

");
XAxisScr_RegUpdateDisable(&AxisSwitch);
XAxisScr_MiPortDisableAll(&AxisSwitch);
XAxisScr_MiPortEnable(&AxisSwitch,0,1);
XAxisScr_RegUpdateEnable(&AxisSwitch);
break;

default:
xil_printf("

Selectionisunavailable.Pleasetryagain

");
break;
}

}
returnXST_SUCCESS;

}

測(cè)試

我們可以在連接到 HDMI 輸出時(shí)運(yùn)行應(yīng)用程序并在顯示器上看到圖像。

使用應(yīng)用程序選擇圖像。

參考

https://www.hackster.io/

總結(jié)

該項(xiàng)目展示了一個(gè)MIPI攝像頭接入FPGA的簡(jiǎn)單、快捷的方式，同時(shí)可以學(xué)習(xí)一下軟件的導(dǎo)入工程的方式，簡(jiǎn)單的基于MicroBlaze系統(tǒng)要學(xué)會(huì)自己寫控制代碼，也許這就是新一代“FPGA打工人”需要掌握的一項(xiàng)新技術(shù)吧~（doge~不是）

示例工程

https://github.com/ATaylorCEngFIET/Hackster/tree/master

https://github.com/ATaylorCEngFIET/SP701_Imaging_Vivado