zynq_7010/zynq_7010_code/HCamDevice.h

/*
 * @Author: your name
 * @Date: 2022-01-11 09:41:39
 * @LastEditTime: 2023-02-27 16:38:45
 * @LastEditors: Zhaozhonmin 1656963645@qq.com
 * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 * @FilePath: \zynq_MSS\capimage\HCamDevice.h
 */
#pragma once
#include <string>
#include <linux/videodev2.h>
// #include "../cameraConfig.h"
#include "CameraParams.h"
#include <functional>
#include <memory>
#include <thread>
#include <map>

#define adcRegSize 20


class Camconfig;


class HCamDevice
{
public:
    int open_device(int , int);
    int close_device();

    void HtCamStartVideoCapturing();    //开始 摄像头工作
    void HtCamStopVideoCapturing();     //停止 摄像头工作
    int  HtCamStartSampling();           //开始cis摄像头灯寄存器设置
    int  HtCamStopSampling();            //停止cis摄像头灯寄存器设置

    void HtCamSetTriggerMode(int val);  //设置触发模式
    int  HtCamGetTriggerMode();          //获取触发模式
    int  HtCamGetColorMode();            //获取颜色模式
    void HtCamSetClolr(int color);      //设置颜色模式
    //设置dpi dpi =0 200dpi ,dpi =1 300dpi,dpi =2 600dpi
    //注意协议的逻辑 ：11号寄存器设置1 12号设置1 200dpi   11号寄存器设置1 12号设置0 300dpi   11号寄存器设置0 12号设置0 600dpi  
    void HtCamSetDpi(int dpi);          


    int HtCamReadCaptureFrame(void **pbuf, int timeout);    //读图 <较重要>

    int get_width() { return v4lWidth; }
    int get_height() { return v4lHeight; }
    void set_width_hegith(int , int);

    void HtCamSetdivder (bool ); //设置扫描仪传感器使能
    void HtCamGetPeriod(uint8_t &reg_value);//获取扫描仪传感器占空比   

    void HtCamSetPeriod(double reg_value); //设置扫描仪传感器占空比
    //void HtCamGetPeriod(double &reg_value); //获取扫描仪传感器占空比

    void HtCamGetFrameCnt(uint32_t &val);//获取设置采集的帧数  需要采集的帧数，设置为0x05表示采集六帧后停止
    void HtCamSetFrameCnt(uint32_t val);//需要采集的帧数，设置为0x05表示采集六帧后停止

    void HtCamGetFrameNum(uint32_t &val);//采集到的帧数，如果为0x0005则表示采集到了5帧

    
    uint32_t HtCamReadFpgaRegs(uint8_t reg_addr);                   //读取寄存器值
    void HtCamSetSpTime(uint32_t reg_value,uint32_t val);//0x03      reg_value //灰度内触发间隔 val读写间隔//影响到图像得拉伸    //2023-8-28 val 改为曝光间隔，        
    void HtCamGetSpTime(uint32_t &reg_value);               //获取当前sptime 
    void HtCamSetSpTime2(uint32_t reg_value);// reg_value //彩色内触发间隔 至少大于灰度三倍

    void HtCamSetStSp(int start_sample);//0x0d    //2023 /8/23 灰度彩色默认：200                  //更具不同的颜色模式设置不同的st_sp  //影响到图像的偏移           
    void HtCamGetStSp(uint32_t &start_sample);                 
    void HtCamSetVsnpTime(int color);       //相位

    void HtCamChangeExposureValueF(uint32_t* value); //曝光值设置
    void HtCamChangeExposureValueB(uint32_t* value); //曝光值设置

    //void HtCamWriteADCReg(uint8_t addr,uint8_t data); //写adc寄存器
    void HtCamReadADCReg_ALL(uint8_t addr) ; //读adc寄存器
    void HtCamSetLowPower(bool val);//低功耗模式


    ////////////////ADC 寄存器0x00 - 0x14///////////////////
    /////////////// 0x00 - 0xdh暂时只需要写高位，低位不用写
    // 1、adc参数配置寄存器分为两个 0x00 和 0x07
    // 2、每个adc参数配置又分32位宽 ，前八个位宽为adc值

    // is_gain == true  设置增益 
    // is_gain == false 设置偏移 
    // is_adc1 == true  设置adc1
    // is_adc1 == false  设置adc2
    // addr adc 寄存器地址
    // adc  寄存器数据
    void HtCamWriteADCReg_ALL(bool is_gain,bool is_adc1,uint8_t addr, uint8_t data);

    void stopFPGAScan();//暂时无用 2023 -8 -2
    void startFPGAScan();//暂时无用 2023 -8 -2
private:
    int init_fpga(); //初始化 寄存器基地址
    int uninit_fpga(); 


    int HtCamWaitVideoCapture(int msTimeout);                       //等待图像信号

    void HtCamWriteFpgaRegs(uint8_t reg_addr, uint32_t reg_value);  //写寄存器
 
public:
    HCamDevice();
    ~HCamDevice();


    int HtCamReadNextFrame(void **pbuf);
    int V4LBufferQuery();

    void HtCamChangeTriggerInAndEXt(int in_out);

    void savePsReg();

    void HtCamWriteAllADC();
    void HtCamInitADCReg();
    void HtCamWriteADCReg(uint8_t addr,uint8_t data);
    void HtCamWriteADCReg();
    void HtCamReadADCReg(uint8_t addr, uint8_t *data);

    void HtCamOverClockClear();     // 清除切换超频标志位

    uint8_t getADCReg(int addr);
    void setADCReg(int addr , uint8_t value);
    void saveADCReg();

    void setConfig(Camconfig* _config){config = _config;}

    void HtCamChangeMonoStartSample(int start_sample);

    void ChangeScanState(bool state);

private:

    int init_sample();
    int init_capture();
    int init_video_buffer();
    int init_dev();
    void init_ps_regs();
    void HtCamSwitchSampleModes(unsigned char mode);//测试数据

    void HtCamExitVideoCapturing();
    void HtCamResizeBuffer(int width, int height, int number);



    int HtCamEventWorkThread(void);

    struct captureBuffer
    {
        void *start;
        int dmabuf_fd;
        uint32_t length;
    };

    const unsigned int phyBaseAddr = 0x40010000;
    const unsigned int AddrMapSize = 0x100;
    unsigned int *virBaseAddr;
    
    int memfd;
    std::string subDeviceName;
    int subDevicefd;

    std::string videoDevName;
    int videofd;

    unsigned int v4lWidth;
    unsigned int v4lHeight;

    unsigned int v4lBufferCount;
    int nplanes;
    int drivertype;
    enum v4l2_buf_type v4l2buftype;
    enum v4l2_memory v4l2memtype;
    struct captureBuffer *captureBufers;
    int lastSucceedBufferIndex;

    uint32_t pPsReg[PSReg::REG_NUM + 1] = {0};
    uint8_t pADCReg[adcRegSize];


    std::shared_ptr<std::thread> event_thread = nullptr;

    std::shared_ptr<std::thread>  thread_auto_duty= nullptr;
    //std::condition_variable auto_duty_wait;
    //std::mutex auto_duty_lock_;
    Camconfig* config = nullptr;

    std::string  _CAM_TYPE = "PYTHONZ_1200";
    int  _V4LWIDTH = 15552 / 3; //灰度
    int  _IMG_BUF_WIDTH = 5184;
    int  _V4LHEIGHT = 128;
    int  _V4LBUFFERCOUNT = 32;
    std::string  _SP_DPI = "150|300|600";
    std::string  _V4L_DPIS = "300|600";
    int  _N_DPI = 150;
    int  _CIS_NUM = 6;
    std::map<int, int>  _DPI_WIDTH = {{150, 7776}, {300, 5184}, {600, 10368}};
    std::map<int, int>  _DPI_V4LWIDTH = {{150, 15552}, {300, 15552}, {600, 31104}};
    std::string  _ADCPATH = "/media/sd-mmcblk1p1/ADC.ini";
    int  VSNP = 0 ;
    int  ST_SP = 85 ; 
    int  ST_SP_VSNP = 0;
    int  _TRIG_SPACING = 2592;
};

class FPGA{

    int init_fpga(); //初始化 寄存器基地址
    int uninit_fpga(); 

public:
    FPGA();
    ~FPGA();

private:
    const unsigned int phyBaseAddr = 0x40010000;
    const unsigned int AddrMapSize = 0x100;
    unsigned int *virBaseAddr;
    int memfd;

};