feat: transports list, new device support

* refactor: use transports list * refactor: transports list, secondary serial for we2 * refactor: support transports list * refactor: disable mirror/flip * chore: add dev board * fix: signed compare
Seeed-Studio · Mar 14, 2024 · 41cf3f1 · 41cf3f1
1 parent 223733e
commit 41cf3f1
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Showing 18 changed files with 456 additions and 73 deletions.
diff --git a/core/algorithm/el_algorithm_yolo_pose.cpp b/core/algorithm/el_algorithm_yolo_pose.cpp
@@ -214,7 +214,7 @@ bool AlgorithmYOLOPOSE::is_model_valid(const EngineType* engine) {
             auto it = std::find_if(anchor_strides_1.begin(),
                                    anchor_strides_1.end(),
                                    [&output_shape](const types::anchor_stride_t& anchor_stride) {
-                                       return anchor_stride.size == output_shape.dims[1];
+                                       return static_cast<int>(anchor_stride.size) == output_shape.dims[1];
                                    });
             if (it == anchor_strides_1.end())
                 return false;
@@ -225,7 +225,7 @@ bool AlgorithmYOLOPOSE::is_model_valid(const EngineType* engine) {
             auto it = std::find_if(anchor_strides_2.begin(),
                                    anchor_strides_2.end(),
                                    [&output_shape](const types::anchor_stride_t& anchor_stride) {
-                                       return anchor_stride.size == output_shape.dims[1];
+                                       return static_cast<int>(anchor_stride.size) == output_shape.dims[1];
                                    });
             if (it == anchor_strides_2.end())
                 return false;
@@ -234,7 +234,7 @@ bool AlgorithmYOLOPOSE::is_model_valid(const EngineType* engine) {
         } break;
         default:
             if (output_shape.dims[2] % 3 != 0) return false;
-            if (output_shape.dims[1] != sum) return false;
+            if (output_shape.dims[1] != static_cast<int>(sum)) return false;
         }
     }
 
@@ -311,15 +311,15 @@ inline void AlgorithmYOLOPOSE::init() {
         switch (dim_2) {
         case 1:
             for (size_t j = 0; j < _anchor_variants; ++j) {
-                if (dim_1 == _anchor_strides[j].size) {
+                if (dim_1 == static_cast<int>(_anchor_strides[j].size)) {
                     _output_scores_ids[j] = i;
                     break;
                 }
             }
             break;
         case 64:
             for (size_t j = 0; j < _anchor_variants; ++j) {
-                if (dim_1 == _anchor_strides[j].size) {
+                if (dim_1 == static_cast<int>(_anchor_strides[j].size)) {
                     _output_bboxes_ids[j] = i;
                     break;
                 }

diff --git a/core/el_types.h b/core/el_types.h
@@ -219,6 +219,13 @@ typedef struct EL_ATTR_PACKED el_model_info_t {
 
 typedef uint8_t el_model_id_t;
 
+typedef enum {
+    EL_TRANSPORT_UNKNOWN = 0,
+    EL_TRANSPORT_UART,
+    EL_TRANSPORT_SPI,
+    EL_TRANSPORT_I2C,
+} el_transport_type_t;
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/porting/el_device.h b/porting/el_device.h
@@ -53,10 +53,10 @@ class Device {
 
     Camera*  get_camera() { return _camera; }
     Display* get_display() { return _display; }
-    Serial*  get_serial() { return _serial; }
+
+    const std::forward_list<Transport*>& get_transports() { return _transports; }
+
     Network* get_network() { return _network; }
-    Wire*    get_wire() { return _wire; }
-    SSPI*    get_sspi() { return _sspi; }
 
     el_sensor_info_t get_sensor_info(uint8_t id) const {
         auto it = std::find_if(_registered_sensors.begin(), _registered_sensors.end(), [&](const el_sensor_info_t& s) {
@@ -110,22 +110,19 @@ class Device {
           _revision_id(0),
           _camera(nullptr),
           _display(nullptr),
-          _serial(nullptr),
           _network{nullptr},
-          _sspi(nullptr),
-          _wire(nullptr) {}
+          _transports{},
+          _registered_sensors{} {}
 
     const char* _device_name;
     uint32_t    _device_id;
     uint32_t    _revision_id;
 
     Camera*  _camera;
     Display* _display;
-    Serial*  _serial;
     Network* _network;
-    SSPI*    _sspi;
-    Wire*    _wire;
 
+    std::forward_list<Transport*>       _transports;
     std::forward_list<el_sensor_info_t> _registered_sensors;
 };
 

diff --git a/porting/el_transport.h b/porting/el_transport.h
@@ -36,7 +36,9 @@ namespace edgelab {
 // No status transport protocol (framed), TCP alternative should have a server class, a connection could derive from Transport
 class Transport {
    public:
-    Transport() : _is_present(false) {}
+    el_transport_type_t type;
+
+    Transport() : type(EL_TRANSPORT_UNKNOWN), _is_present(false) {}
     virtual ~Transport() = default;
 
     virtual std::size_t read_bytes(char* buffer, size_t size)       = 0;

diff --git a/porting/espressif/el_device_esp.cpp b/porting/espressif/el_device_esp.cpp
@@ -82,7 +82,7 @@ void DeviceEsp::init() {
     static SerialEsp serial{
       usb_serial_jtag_driver_config_t{.tx_buffer_size = 8192, .rx_buffer_size = 8192}
     };
-    this->_serial = &serial;
+    this->_transports.emplace_front(&serial);
 
     static NetworkEsp network{};
     this->_network = &network;

diff --git a/porting/himax/we1/el_device_we1.cpp b/porting/himax/we1/el_device_we1.cpp
@@ -53,7 +53,7 @@ void DeviceWE1::init() {
       .id = ++sensor_id, .type = el_sensor_type_t::EL_SENSOR_TYPE_CAM, .state = el_sensor_state_t::EL_SENSOR_STA_REG});
 
     static SerialWE1 serial{};
-    this->_serial = &serial;
+    this->_transports.emplace_front(&serial);
 }
 
 void DeviceWE1::restart() {

diff --git a/porting/himax/we2/boards/dev_board/board.h b/porting/himax/we2/boards/dev_board/board.h
@@ -0,0 +1,80 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) Seeed Technology Inc.
+ *
+ * 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 _BOARD_DEV_BOARD_WE2_H_
+#define _BOARD_DEV_BOARD_WE2_H_
+
+#define PRODUCT_NAME_PREFIX "dev_board"
+#define PRODUCT_NAME_SUFFIX "v1"
+#define DEVICE_NAME         (PRODUCT_NAME_PREFIX "_" PRODUCT_NAME_SUFFIX)
+#define PORT_DEVICE_NAME    "Dev Board"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <WE2_device.h>
+#include <hx_drv_gpio.h>
+#include <hx_drv_scu.h>
+#include <hx_drv_scu_export.h>
+
+#ifdef TRUSTZONE_SEC
+    #if (__ARM_FEATURE_CMSE & 1) == 0
+        #error "Need ARMv8-M security extensions"
+    #elif (__ARM_FEATURE_CMSE & 2) == 0
+        #error "Compile with --cmse"
+    #endif
+
+    #include <arm_cmse.h>
+
+    #ifdef NSC
+        #include <veneer_table.h>
+    #endif
+    /* Trustzone config. */
+
+    #ifndef TRUSTZONE_SEC_ONLY
+        /* FreeRTOS includes. */
+        #include <secure_port_macros.h>
+    #endif
+#endif
+
+#define CONFIG_EL_CAMERA_PWR_CTRL_INIT_F                        \
+    {                                                           \
+        hx_drv_gpio_set_output(AON_GPIO1, GPIO_OUT_LOW);        \
+        hx_drv_scu_set_PA1_pinmux(SCU_PA1_PINMUX_AON_GPIO1, 0); \
+        hx_drv_gpio_set_out_value(AON_GPIO1, GPIO_OUT_LOW);     \
+    }
+
+#define CONFIG_EL_SPI_CS_INIT_F \
+    { hx_drv_scu_set_PB5_pinmux(SCU_PB5_PINMUX_SPI_S_CS, 1); }
+#define CONFIG_EL_SPI_CTRL_INIT_F \
+    { hx_drv_scu_set_PB8_pinmux(SCU_PB8_PINMUX_GPIO2_1, 1); }
+#define CONFIG_EL_SPI_CTRL_PIN GPIO21
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/porting/himax/we2/boards/grove_vision_ai_we2/board.h b/porting/himax/we2/boards/grove_vision_ai_we2/board.h
@@ -26,18 +26,19 @@
 #ifndef _BOARD_GROVE_VISION_AI_WE2_H_
 #define _BOARD_GROVE_VISION_AI_WE2_H_
 
-
 #define PRODUCT_NAME_PREFIX "grove_vision_ai"
 #define PRODUCT_NAME_SUFFIX "v2"
 #define DEVICE_NAME         (PRODUCT_NAME_PREFIX "_" PRODUCT_NAME_SUFFIX)
 #define PORT_DEVICE_NAME    "Grove Vision AI (V2)"
 
-
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 #include <WE2_device.h>
+#include <hx_drv_gpio.h>
+#include <hx_drv_scu.h>
+#include <hx_drv_scu_export.h>
 
 #ifdef TRUSTZONE_SEC
     #if (__ARM_FEATURE_CMSE & 1) == 0
@@ -59,6 +60,19 @@ extern "C" {
     #endif
 #endif
 
+#define CONFIG_EL_CAMERA_PWR_CTRL_INIT_F                        \
+    {                                                           \
+        hx_drv_gpio_set_output(AON_GPIO1, GPIO_OUT_HIGH);       \
+        hx_drv_scu_set_PA1_pinmux(SCU_PA1_PINMUX_AON_GPIO1, 0); \
+        hx_drv_gpio_set_out_value(AON_GPIO1, GPIO_OUT_HIGH);    \
+    }
+
+#define CONFIG_EL_SPI_CS_INIT_F \
+    { hx_drv_scu_set_PB11_pinmux(SCU_PB11_PINMUX_SPI_S_CS, 1); }
+#define CONFIG_EL_SPI_CTRL_INIT_F \
+    { hx_drv_scu_set_PA0_pinmux(SCU_PA0_PINMUX_AON_GPIO0_2, 1); }
+#define CONFIG_EL_SPI_CTRL_PIN AON_GPIO0
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/porting/himax/we2/drivers/OV5647_mipi_2lane_1296x972.i b/porting/himax/we2/drivers/OV5647_mipi_2lane_1296x972.i
@@ -91,8 +91,10 @@
 	{HX_CIS_I2C_Action_W, 0x4837, 0x16},
 	{HX_CIS_I2C_Action_W, 0x4800, 0x24},
 	{HX_CIS_I2C_Action_W, 0x3503, 0x00},
+
 	{HX_CIS_I2C_Action_W, 0x3820, 0x41},
-	{HX_CIS_I2C_Action_W, 0x3821, 0x07},
+	{HX_CIS_I2C_Action_W, 0x3821, 0x00},
+
 	{HX_CIS_I2C_Action_W, 0x350a, 0x00},
 	{HX_CIS_I2C_Action_W, 0x350b, 0x10},
 	{HX_CIS_I2C_Action_W, 0x3500, 0x00},

diff --git a/porting/himax/we2/drivers/drv_ov5647.c b/porting/himax/we2/drivers/drv_ov5647.c
@@ -221,10 +221,9 @@ el_err_code_t drv_ov5647_init(uint16_t width, uint16_t height) {
         EL_LOGD("mclk DIV3, xshutdown_pin=%d", DEAULT_XHSUTDOWN_PIN);
 
         // OV5647 Enable
-        hx_drv_gpio_set_output(AON_GPIO1, GPIO_OUT_HIGH);
-        hx_drv_scu_set_PA1_pinmux(SCU_PA1_PINMUX_AON_GPIO1, 0);
-        hx_drv_gpio_set_out_value(AON_GPIO1, GPIO_OUT_HIGH);
-        EL_LOGD("Set PA1(AON_GPIO1) to High");
+        CONFIG_EL_CAMERA_PWR_CTRL_INIT_F;
+
+        EL_LOGD("Init PA1(AON_GPIO1)");
 
         hx_drv_cis_set_slaveID(CIS_I2C_ID);
         EL_LOGD("hx_drv_cis_set_slaveID(0x%02X)", CIS_I2C_ID);
@@ -371,7 +370,10 @@ el_err_code_t drv_ov5647_init(uint16_t width, uint16_t height) {
     jpeg_cfg.enc_width      = width;
     jpeg_cfg.enc_height     = height;
     jpeg_cfg.jpeg_enctype   = JPEG_ENC_TYPE_YUV422;
-    jpeg_cfg.jpeg_encqtable = JPEG_ENC_QTABLE_10X;
+    jpeg_cfg.jpeg_encqtable = JPEG_ENC_QTABLE_4X;
+    if (width > 240 && height > 240) {
+        jpeg_cfg.jpeg_encqtable = JPEG_ENC_QTABLE_10X;
+    } 
 
     // sensordplib_set_int_hw5x5rgb_jpeg_wdma23(hw5x5_cfg, jpeg_cfg, 1, NULL);
     sensordplib_set_int_hw5x5_jpeg_wdma23(hw5x5_cfg, jpeg_cfg, 1, NULL);

diff --git a/porting/himax/we2/el_config_porting.h b/porting/himax/we2/el_config_porting.h
@@ -35,8 +35,10 @@
 #ifndef CONFIG_EL_TARGET_HIMAX
     #error "Please specify porting target"
 #else
-    #if defined(CONFIG_EL_BOARD_GRIVE_VISION_AI_WE2)
+    #if defined(CONFIG_EL_BOARD_GROVE_VISION_AI_WE2)
         #include "boards/grove_vision_ai_we2/board.h"
+    #elif defined(CONFIG_EL_BOARD_DEV_BOARD_WE2)
+        #include "boards/dev_board/board.h"
     #else
         #error "Please specify porting board"
     #endif

diff --git a/porting/himax/we2/el_device_we2.cpp b/porting/himax/we2/el_device_we2.cpp
@@ -39,9 +39,10 @@ extern "C" {
 #include "core/el_debug.h"
 #include "el_camera_we2.h"
 #include "el_config_porting.h"
+#include "el_serial2_we2.h"
 #include "el_serial_we2.h"
-#include "el_wire_we2.h"
 #include "el_sspi_we2.h"
+#include "el_wire_we2.h"
 #include "porting/el_flash.h"
 
 #define U55_BASE BASE_ADDR_APB_U55_CTRL_ALIAS
@@ -146,14 +147,22 @@ void DeviceWE2::init() {
       .id = ++sensor_id, .type = el_sensor_type_t::EL_SENSOR_TYPE_CAM, .state = el_sensor_state_t::EL_SENSOR_STA_REG});
 
     static SerialWE2 serial{};
-    this->_serial = &serial;
+    serial.type = EL_TRANSPORT_UART;
+    this->_transports.emplace_front(&serial);
+
+    static Serial2WE2 serial2{};
+    serial2.type = EL_TRANSPORT_UART;
+    this->_transports.emplace_front(&serial2);
 
     this->_network = nullptr;
-    static sspiWE2 sspi{};
-    this->_sspi = &sspi;
+
+    static sspiWE2 spi{};
+    spi.type = EL_TRANSPORT_SPI;
+    this->_transports.emplace_front(&spi);
 
     static WireWE2 wire{0x62};
-    this->_wire = &wire;
+    wire.type = EL_TRANSPORT_I2C;
+    this->_transports.emplace_front(&wire);
 }
 
 void DeviceWE2::reset() { __NVIC_SystemReset(); }