indi_rpicam v 1.3

* Also supports V1 camera (omv5647 chip).
* Performance improvements, especially for the V1 and V2 camera.

debian/indi-rpicam/changelog

@@ -1,3 +1,10 @@
+indi-rpicam (1.3) stable; urgency=low
+
+  * Also supports V1 camera (omv5647 chip).
+  * Performance improvements, especially for the V1 and V2 camera.
+
+ -- Lars Berntzon <lars.berntzon@cecilia-data.se>  Tue, 05 Jan 2021 21:00:00 +0200
+
 indi-rpicam (1.2) stable; urgency=low
 
   * Supports long exposure for imx477 (requires one initial waste frame)

indi-rpicam/CMakeLists.txt

@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.0)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/")
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../cmake_modules/")
 
 PROJECT(indi_rpicam CXX C)
 
 set(INDI_RPICAM_VERSION_MAJOR 1)
-set(INDI_RPICAM_VERSION_MINOR 2)
+set(INDI_RPICAM_VERSION_MINOR 3)
 
 set(CMAKE_PREFIX_PATH /opt/vc)
 
@@ -17,7 +17,7 @@ include(GNUInstallDirs)
 include(CMakeCommon)
 
 find_package(MMAL REQUIRED)
-find_package(INDI REQUIRED)
+find_package(INDI COMPONENTS driver REQUIRED)
 find_package(CFITSIO REQUIRED)
 find_package(Nova REQUIRED)
 find_package(USB1 REQUIRED)
@@ -84,4 +84,22 @@ ELSE()
   MESSAGE (STATUS  "GTEST not found, not building unit tests")
 ENDIF (GTEST_FOUND)
 
+# ARM specific flags
+include(FindARM.cmake)
+IF (NEON_FOUND)
+  MESSAGE(STATUS "Neon found with compiler flag : -mfpu=neon -D__NEON__")
+  SET(CMAKE_C_FLAGS "-mfpu=neon -D__NEON__ -ftree-vectorize ${CMAKE_C_FLAGS}")
+  SET(CMAKE_CXX_FLAGS "-mfpu=neon -D__NEON__ -ftree-vectorize ${CMAKE_CXX_FLAGS}")
+ENDIF (NEON_FOUND)
+IF (CORTEXA8_FOUND)
+  MESSAGE(STATUS "Cortex-A8 Found with compiler flag : -mcpu=cortex-a8")
+  SET(CMAKE_C_FLAGS "-mcpu=cortex-a8 -fprefetch-loop-arrays ${CMAKE_C_FLAGS}")
+  SET(CMAKE_CXX_FLAGS "-mcpu=cortex-a8 -fprefetch-loop-arrays ${CMAKE_CXX_FLAGS}")
+ENDIF (CORTEXA8_FOUND)
+IF (CORTEXA9_FOUND)
+  MESSAGE(STATUS "Cortex-A9 Found with compiler flag : -mcpu=cortex-a9")
+  SET(CMAKE_C_FLAGS "-mcpu=cortex-a9 ${CMAKE_C_FLAGS}")
+  SET(CMAKE_CXX_FLAGS "-mcpu=cortex-a9 ${CMAKE_CXX_FLAGS}")
+ENDIF (CORTEXA9_FOUND)
+
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/indi_rpicam.xml CONFIGURATIONS Release DESTINATION ${INDI_DATA_DIR})

indi-rpicam/FindARM.cmake

@@ -0,0 +1,79 @@
+# Adapted from:
+# https://github.com/torch/torch7/blob/master/lib/TH/cmake/FindARM.cmake
+
+# Check if the processor is an ARM and if Neon instructions are available on the
+# machine where the project is compiled.
+
+IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
+   EXEC_PROGRAM(cat ARGS "/proc/cpuinfo" OUTPUT_VARIABLE CPUINFO)
+
+   # Neon instruction can be found on the majority part of modern ARM processor.
+   STRING(REGEX REPLACE "^.*(neon).*$" "\\1" NEON_THERE ${CPUINFO})
+   STRING(COMPARE EQUAL "neon" "${NEON_THERE}" NEON_TRUE)
+   IF (NEON_TRUE)
+      set(NEON_FOUND true CACHE BOOL "NEON available on host")
+   ELSE (NEON_TRUE)
+      set(NEON_FOUND false CACHE BOOL "NEON available on host")
+   ENDIF (NEON_TRUE)
+
+   # On ARMv8, neon is inherit and instead listed as 'asimd' in /proc/cpuinfo.
+   STRING(REGEX REPLACE "^.*(asimd).*$" "\\1" ASIMD_THERE ${CPUINFO})
+   STRING(COMPARE EQUAL "asimd" "${ASIMD_THERE}" ASIMD_TRUE)
+   IF (ASIMD_TRUE)
+      set(ASIMD_FOUND true CACHE BOOL "ASIMD/NEON available on host")
+   ELSE (ASIMD_TRUE)
+      set(ASIMD_FOUND false CACHE BOOL "ASIMD/NEON available on host")
+   ENDIF (ASIMD_TRUE)
+
+   # Find the processor type (for now OMAP3 or OMAP4).
+   STRING(REGEX REPLACE "^.*(OMAP3).*$" "\\1" OMAP3_THERE ${CPUINFO})
+   STRING(COMPARE EQUAL "OMAP3" "${OMAP3_THERE}" OMAP3_TRUE)
+   IF (OMAP3_TRUE)
+      set(CORTEXA8_FOUND true CACHE BOOL "OMAP3 available on host")
+   ELSE (OMAP3_TRUE)
+      set(CORTEXA8_FOUND false CACHE BOOL "OMAP3 available on host")
+   ENDIF (OMAP3_TRUE)
+
+   # Find the processor type (for now OMAP3 or OMAP4).
+   STRING(REGEX REPLACE "^.*(OMAP4).*$" "\\1" OMAP4_THERE ${CPUINFO})
+   STRING(COMPARE EQUAL "OMAP4" "${OMAP4_THERE}" OMAP4_TRUE)
+   IF (OMAP4_TRUE)
+      set(CORTEXA9_FOUND true CACHE BOOL "OMAP4 available on host")
+   ELSE (OMAP4_TRUE)
+      set(CORTEXA9_FOUND false CACHE BOOL "OMAP4 available on host")
+   ENDIF (OMAP4_TRUE)
+
+ELSEIF(CMAKE_SYSTEM_NAME MATCHES "Darwin")
+   EXEC_PROGRAM("/usr/sbin/sysctl -n machdep.cpu.features" OUTPUT_VARIABLE
+      CPUINFO)
+
+   # Neon instruction can be found on the majority part of modern ARM processor.
+   STRING(REGEX REPLACE "^.*(neon).*$" "\\1" NEON_THERE ${CPUINFO})
+   STRING(COMPARE EQUAL "neon" "${NEON_THERE}" NEON_TRUE)
+   IF (NEON_TRUE)
+      set(NEON_FOUND true CACHE BOOL "NEON available on host")
+   ELSE (NEON_TRUE)
+      set(NEON_FOUND false CACHE BOOL "NEON available on host")
+   ENDIF (NEON_TRUE)
+
+ELSEIF(CMAKE_SYSTEM_NAME MATCHES "Windows")
+   # TODO
+   set(CORTEXA8_FOUND   false CACHE BOOL "OMAP3 not available on host")
+   set(CORTEXA9_FOUND   false CACHE BOOL "OMAP4 not available on host")
+   set(NEON_FOUND   false CACHE BOOL "NEON not available on host")
+ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
+   set(CORTEXA8_FOUND   false CACHE BOOL "OMAP3 not available on host")
+   set(CORTEXA9_FOUND   false CACHE BOOL "OMAP4 not available on host")
+   set(NEON_FOUND   false CACHE BOOL "NEON not available on host")
+ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
+
+if(NOT NEON_FOUND)
+      MESSAGE(STATUS "Could not find hardware support for NEON on this machine.")
+endif(NOT NEON_FOUND)
+if(NOT CORTEXA8_FOUND)
+      MESSAGE(STATUS "No OMAP3 processor on this machine.")
+endif(NOT CORTEXA8_FOUND)
+if(NOT CORTEXA9_FOUND)
+      MESSAGE(STATUS "No OMAP4 processor on this machine.")
+endif(NOT CORTEXA9_FOUND)
+mark_as_advanced(NEON_FOUND)

indi-rpicam/README.md

@@ -1,5 +1,5 @@
 # indi_rpicam
-This is an INDI driver for Raspberry Pi High Quality Camera.
+This is an INDI driver for Raspberry Pi High Quality Camera, the V2 camera (imx219 chip) and the V1 camera (omv5647 chip).
 
 ## Long exposures
 For long exposures to work one must first first grab a waste-frame with the desired exposure time.

indi-rpicam/TODO

@@ -1,4 +1,5 @@
 - Make sure indi_rpicam does not break building whole indi_3rdparty
+- raw10-decoders needs to move up high-bits to bit15 in image buffer.
 - Try using encoding MMAL_ENCODING_BAYER_SBGGR12P if that works and is even faster.
 - Don't start from x=0 on subframes..
 - Exposure time does not seem to affect exposure now. printf(stderr from mmalcamera does not get output anywhere.

indi-rpicam/cameracontrol.cpp

@@ -52,6 +52,11 @@ CameraControl::~CameraControl()
 
 void CameraControl::startCapture()
 {
+    LOG_TEST("entered");
+    if (is_capturing) {
+        LOG_TEST("camera is already capturing..");
+        return;
+    }
     camera->connect(MMALCamera::CAPTURE_PORT_NO, encoder.get(), 0); // Connected the capture port to the encoder.
 
     camera->setExposureParameters(gain, shutter_speed);
@@ -67,6 +72,7 @@ void CameraControl::startCapture()
 #endif
 
     camera->startCapture();
+    is_capturing = true;
 
     start_time = std::chrono::steady_clock::now();
     print_first = true;
@@ -75,10 +81,15 @@ void CameraControl::startCapture()
 void CameraControl::stopCapture()
 {
     LOGF_TEST("total time consumed by buffer processing: %f", buffer_processing_time.count());
+    if (!is_capturing) {
+        LOG_TEST("camera is not capturing..");
+        return;
+    }
     camera->stopCapture();
     std::chrono::duration<double> diff = std::chrono::steady_clock::now() - start_time;
     LOGF_TEST("exposure stopped after %f s", diff.count());
     camera->disconnect();
+    is_capturing = false;
 }
 
 /**
@@ -131,5 +142,4 @@ void CameraControl::signal_complete()
     for(auto p : capture_listeners) {
         p->capture_complete();
     }
-    stopCapture();
 }

indi-rpicam/cameracontrol.h

@@ -64,6 +64,7 @@ class CameraControl : MMALBufferListener
     bool print_first {true};
     double gain {1};
     uint32_t shutter_speed {100000};
+    bool is_capturing {false};
 
 #ifndef NDEBUG
     std::chrono::duration <double> buffer_processing_time {};

indi-rpicam/jpegpipeline.cpp

@@ -41,7 +41,7 @@ void JpegPipeline::reset()
  void JpegPipeline::data_received(uint8_t *data,  uint32_t length)
 {
      uint8_t byte;
-     for(;length; data++, length--)
+     while(length > 0)
      {
         byte = *data;
         switch(state)
@@ -74,7 +74,18 @@ void JpegPipeline::reset()
             break;
 
         case State::SKIP_BYTES:
-            skip_bytes--;
+	    if(skip_bytes <= length)
+	    {
+		length -= skip_bytes;
+		data += skip_bytes;
+		skip_bytes = 0;
+	    }
+	    else
+	    {
+		length = 0;
+		data += length;
+		skip_bytes -= length;
+	    }
             if (skip_bytes == 0) {
                 if (entropy_data_follows) {
                     state = State::WANT_ENTROPY_DATA;
@@ -83,7 +94,7 @@ void JpegPipeline::reset()
                     state = State::WANT_FF;
                 }
             }
-            break;
+            continue;
 
         case State::WANT_ENTROPY_DATA:
             if (byte == 0xFF) {
@@ -121,7 +132,7 @@ void JpegPipeline::reset()
                 state = State::END_OF_JPEG;
                 break;
 
-            case 0xda: // SOS (Start of scan)
+            case 0xda: // SOS (Start of stream)
             case 0xc0: // Baseline DCT
             case 0xc4: // Huffman Table
                 entropy_data_follows = true;
@@ -139,5 +150,7 @@ void JpegPipeline::reset()
             }
             break;
         }
+	data++;
+	length--;
      }
 }

indi-rpicam/jpegpipeline.h

@@ -59,7 +59,7 @@ class JpegPipeline : public Pipeline
 private:
     int s1 {0}; // Length field, first byte MSB.
     int s2 {0}; // Length field, second byte LSB.
-    int skip_bytes {0}; //Counter for skipping bytes.
+    uint32_t skip_bytes {0}; //Counter for skipping bytes.
     bool entropy_data_follows {false};
     int current_type {}; // For debugging only.
 };

indi-rpicam/mmalcamera.cpp

@@ -260,6 +260,9 @@ void MMALCamera::getSensorInfo()
     if (!strcmp(cameraModel, "imx477")) {
         xPixelSize = yPixelSize = 1.55F;
     }
+    else if (!strcmp(cameraModel, "ov5647")) {
+        xPixelSize = yPixelSize = 1.4F;
+    }
     else if (!strcmp(cameraModel, "imx219")) {
         xPixelSize = yPixelSize = 1.12F;
     }

indi-rpicam/mmalcomponent.cpp

@@ -80,15 +80,9 @@ void MMALComponent::port_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffe
 {
     mmal_buffer_header_mem_lock(buffer);
 
-    try {
-        for(auto *l : buffer_listeners)
-        {
-            l->buffer_received(port, buffer);
-        }
-    }
-    catch (std::exception &e) {
-        mmal_buffer_header_mem_unlock(buffer);
-        throw e;
+    for(auto *l : buffer_listeners)
+    {
+        l->buffer_received(port, buffer);
     }
 
     mmal_buffer_header_mem_unlock(buffer);

indi-rpicam/mmaldriver.cpp

@@ -140,10 +140,6 @@ bool MMALDriver::Connect()
 
     camera_control.reset(new CameraControl());
 
-    //    // FIXME: Seems the HIQ-camera is quite buggy, it needs the mmal_component to be opened twice
-    //    camera_control.reset(); // Since the reset below would allocate the second camera object before the first got deleted.
-    //    camera_control.reset(new CameraControl());
-
     camera_control->add_capture_listener(this);
 
     setupPipeline();
@@ -157,9 +153,8 @@ bool MMALDriver::Connect()
                  camera_control->get_camera()->xPixelSize,
                  camera_control->get_camera()->yPixelSize);
 
-//    // Should probably not be called by the subclass of CCD - not clear.
-//    UpdateCCDFrame(0, 0, static_cast<int>(camera_control->get_camera()->get_width()),
-//                   static_cast<int>(camera_control->get_camera()->get_height()));
+    uint32_t nbuf = PrimaryCCD.getXRes() * PrimaryCCD.getYRes() * PrimaryCCD.getBPP() / 8;
+    PrimaryCCD.setFrameBufferSize(nbuf);
 
     return true;
 }
@@ -209,8 +204,7 @@ bool MMALDriver::initProperties()
     IUFillSwitch(&mIsoS[1], "ISO_200", "200", ISS_OFF);
     IUFillSwitch(&mIsoS[2], "ISO_400", "400", ISS_ON);
     IUFillSwitch(&mIsoS[3], "ISO_800", "800", ISS_OFF);
-    IUFillSwitchVector(&mIsoSP, mIsoS, 4, getDeviceName(), "CCD_ISO", "ISO", IMAGE_SETTINGS_TAB, IP_RW, ISR_1OFMANY, 60,
-                       IPS_IDLE);
+    IUFillSwitchVector(&mIsoSP, mIsoS, 4, getDeviceName(), "CCD_ISO", "ISO", IMAGE_SETTINGS_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 #endif
 
     // CCD Gain
@@ -312,6 +306,8 @@ bool MMALDriver::UpdateCCDFrame(int x, int y, int w, int h)
 bool MMALDriver::StartExposure(float duration)
 {
     LOGF_DEBUG("%s(%f)", __FUNCTION__, duration);
+    assert(PrimaryCCD.getFrameBuffer() != 0);
+
 
     if (InExposure)
     {
@@ -448,6 +444,9 @@ void MMALDriver::TimerHit()
             ccdBufferLock.unlock();
             InExposure = false;
 
+            // Stop capturing (must be done from main thread).
+            camera_control->stopCapture();
+
             // Let INDI::CCD know we're done filling the image buffer
             LOG_DEBUG("Exposure complete.");
             ExposureComplete(&PrimaryCCD);
@@ -567,6 +566,18 @@ void MMALDriver::setupPipeline()
         Raw12ToBayer16Pipeline *raw12_pipe = new Raw12ToBayer16Pipeline(brcm_pipe, &chipWrapper);
         brcm_pipe->daisyChain(raw12_pipe);
     }
+    else if (!strcmp(camera_control->get_camera()->getModel(), "ov5647")) {
+
+
+        raw_pipe.reset(new JpegPipeline());
+
+        BroadcomPipeline *brcm_pipe = new BroadcomPipeline();
+        raw_pipe->daisyChain(brcm_pipe);
+
+        Raw10ToBayer16Pipeline *raw10_pipe = new Raw10ToBayer16Pipeline(brcm_pipe, &chipWrapper);
+        // receiver->daisyChain(&raw_writer);
+        brcm_pipe->daisyChain(raw10_pipe);
+    }    
     else if (!strcmp(camera_control->get_camera()->getModel(), "imx219"))
     {
         raw_pipe.reset(new JpegPipeline());