My code wasn’t allocating the TFLite arena when I uploaded my code, so I followed this post and the recommended steps on the generated code: Failed to allocate TFLite arena (error code 1) on Portenta - Help - Edge Impulse
Now I am no longer able to compile my code due to this error:
C:\Users\bjk021\AppData\Local\Temp\arduino\sketches\AE339090C94AD21DAC34D87117111D4C/linker_script.ld:138 cannot move location counter backwards (from 2005e2d0 to 2003fc00)
collect2.exe: error: ld returned 1 exit status
exit status 1
Compilation error: exit status 1
I would greatly appreciate any suggestions or other posts that could help me troubleshoot. Thank you!
Here is my code:
/* Edge Impulse ingestion SDK
- Copyright (c) 2022 EdgeImpulse Inc.
- Licensed under the Apache License, Version 2.0 (the “License”);
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an “AS IS” BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
*/
/* Includes ---------------------------------------------------------------- */
#include <Smaller_Camera_Sign_inferencing.h>
#include <Arduino_OV767X.h> //Click here to get the library: http://librarymanager/All#Arduino_OV767X
#include <stdint.h>
#include <stdlib.h>
/* Constant variables ------------------------------------------------------- */
#define EI_CAMERA_RAW_FRAME_BUFFER_COLS 160
#define EI_CAMERA_RAW_FRAME_BUFFER_ROWS 120
#define DWORD_ALIGN_PTR(a) ((a & 0x3) ?(((uintptr_t)a + 0x4) & ~(uintptr_t)0x3) : a)
/*
** NOTE: If you run into TFLite arena allocation issue.
**
** This may be due to may dynamic memory fragmentation.
** Try defining “-DEI_CLASSIFIER_ALLOCATION_STATIC” in boards.local.txt (create
** if it doesn’t exist) and copy this file to
** <ARDUINO_CORE_INSTALL_PATH>/arduino/hardware/<mbed_core>/<core_version>/.
**
** See
** (https://support.arduino.cc/hc/en-us/articles/360012076960-Where-are-the-installed-cores-located-)
** to find where Arduino installs cores on your machine.
**
** If the problem persists then there’s not enough memory for this model and application.
*/
/* Edge Impulse ------------------------------------------------------------- /
class OV7675 : public OV767X {
public:
int begin(int resolution, int format, int fps);
void readFrame(void buffer);
private:
int vsyncPin;
int hrefPin;
int pclkPin;
int xclkPin;
volatile uint32_t* vsyncPort;
uint32_t vsyncMask;
volatile uint32_t* hrefPort;
uint32_t hrefMask;
volatile uint32_t* pclkPort;
uint32_t pclkMask;
uint16_t width;
uint16_t height;
uint8_t bytes_per_pixel;
uint16_t bytes_per_row;
uint8_t buf_rows;
uint16_t buf_size;
uint8_t resize_height;
uint8_t *raw_buf;
void *buf_mem;
uint8_t *intrp_buf;
uint8_t *buf_limit;
void readBuf();
int allocate_scratch_buffs();
int deallocate_scratch_buffs();
};
typedef struct {
size_t width;
size_t height;
} ei_device_resize_resolutions_t;
/**
- @brief Check if new serial data is available
-
@return Returns number of available bytes
*/
int ei_get_serial_available(void) {
return Serial.available();
}
/**
- @brief Get next available byte
-
@return byte
*/
char ei_get_serial_byte(void) {
return Serial.read();
}
/* Private variables ------------------------------------------------------- */
static OV7675 Cam;
static bool is_initialised = false;
/*
** @brief points to the output of the capture
*/
static uint8_t *ei_camera_capture_out = NULL;
uint32_t resize_col_sz;
uint32_t resize_row_sz;
bool do_resize = false;
bool do_crop = false;
static bool debug_nn = false; // Set this to true to see e.g. features generated from the raw signal
/* Function definitions ------------------------------------------------------- */
bool ei_camera_init(void);
void ei_camera_deinit(void);
bool ei_camera_capture(uint32_t img_width, uint32_t img_height, uint8_t *out_buf) ;
int calculate_resize_dimensions(uint32_t out_width, uint32_t out_height, uint32_t *resize_col_sz, uint32_t *resize_row_sz, bool *do_resize);
void resizeImage(int srcWidth, int srcHeight, uint8_t *srcImage, int dstWidth, int dstHeight, uint8_t *dstImage, int iBpp);
void cropImage(int srcWidth, int srcHeight, uint8_t *srcImage, int startX, int startY, int dstWidth, int dstHeight, uint8_t *dstImage, int iBpp);
/**
-
@brief Arduino setup function
*/
void setup()
{
// put your setup code here, to run once:
Serial.begin(115200);
// comment out the below line to cancel the wait for USB connection (needed for native USB)
while (!Serial);
Serial.println(“Edge Impulse Inferencing Demo”);// summary of inferencing settings (from model_metadata.h)
ei_printf(“Inferencing settings:\n”);
ei_printf(“\tImage resolution: %dx%d\n”, EI_CLASSIFIER_INPUT_WIDTH, EI_CLASSIFIER_INPUT_HEIGHT);
ei_printf(“\tFrame size: %d\n”, EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE);
ei_printf(“\tNo. of classes: %d\n”, sizeof(ei_classifier_inferencing_categories) / sizeof(ei_classifier_inferencing_categories[0]));
}
/**
-
@brief Get data and run inferencing
-
@param[in] debug Get debug info if true
*/
void loop()
{
bool stop_inferencing = false;while(stop_inferencing == false) {
ei_printf(“\nStarting inferencing in 2 seconds…\n”);// instead of wait_ms, we'll wait on the signal, this allows threads to cancel us... if (ei_sleep(2000) != EI_IMPULSE_OK) { break; } ei_printf("Taking photo...\n"); if (ei_camera_init() == false) { ei_printf("ERR: Failed to initialize image sensor\r\n"); break; } // choose resize dimensions uint32_t resize_col_sz; uint32_t resize_row_sz; bool do_resize = false; int res = calculate_resize_dimensions(EI_CLASSIFIER_INPUT_WIDTH, EI_CLASSIFIER_INPUT_HEIGHT, &resize_col_sz, &resize_row_sz, &do_resize); if (res) { ei_printf("ERR: Failed to calculate resize dimensions (%d)\r\n", res); break; } void *snapshot_mem = NULL; uint8_t *snapshot_buf = NULL; snapshot_mem = ei_malloc(resize_col_sz*resize_row_sz*2); if(snapshot_mem == NULL) { ei_printf("failed to create snapshot_mem\r\n"); break; } snapshot_buf = (uint8_t *)DWORD_ALIGN_PTR((uintptr_t)snapshot_mem); if (ei_camera_capture(EI_CLASSIFIER_INPUT_WIDTH, EI_CLASSIFIER_INPUT_HEIGHT, snapshot_buf) == false) { ei_printf("Failed to capture image\r\n"); if (snapshot_mem) ei_free(snapshot_mem); break; } ei::signal_t signal; signal.total_length = EI_CLASSIFIER_INPUT_WIDTH * EI_CLASSIFIER_INPUT_HEIGHT; signal.get_data = &ei_camera_cutout_get_data; // run the impulse: DSP, neural network and the Anomaly algorithm ei_impulse_result_t result = { 0 }; EI_IMPULSE_ERROR ei_error = run_classifier(&signal, &result, debug_nn); if (ei_error != EI_IMPULSE_OK) { ei_printf("Failed to run impulse (%d)\n", ei_error); ei_free(snapshot_mem); break; } // print the predictions ei_printf("Predictions (DSP: %d ms., Classification: %d ms., Anomaly: %d ms.): \n", result.timing.dsp, result.timing.classification, result.timing.anomaly);
#if EI_CLASSIFIER_OBJECT_DETECTION == 1
bool bb_found = result.bounding_boxes[0].value > 0;
for (size_t ix = 0; ix < result.bounding_boxes_count; ix++) {
auto bb = result.bounding_boxes[ix];
if (bb.value == 0) {
continue;
}
ei_printf(" %s (%f) [ x: %u, y: %u, width: %u, height: %u ]\n", bb.label, bb.value, bb.x, bb.y, bb.width, bb.height);
}
if (!bb_found) {
ei_printf(" No objects found\n");
}
#else
for (size_t ix = 0; ix < EI_CLASSIFIER_LABEL_COUNT; ix++) {
ei_printf(" %s: %.5f\n", result.classification[ix].label,
result.classification[ix].value);
}
#if EI_CLASSIFIER_HAS_ANOMALY == 1
ei_printf(" anomaly score: %.3f\n", result.anomaly);
#endif
#endif
while (ei_get_serial_available() > 0) {
if (ei_get_serial_byte() == 'b') {
ei_printf("Inferencing stopped by user\r\n");
stop_inferencing = true;
}
}
if (snapshot_mem) ei_free(snapshot_mem);
}
ei_camera_deinit();
}
/**
- @brief Determine whether to resize and to which dimension
- @param[in] out_width width of output image
- @param[in] out_height height of output image
- @param[out] resize_col_sz pointer to frame buffer’s column/width value
- @param[out] resize_row_sz pointer to frame buffer’s rows/height value
- @param[out] do_resize returns whether to resize (or not)
*/
int calculate_resize_dimensions(uint32_t out_width, uint32_t out_height, uint32_t *resize_col_sz, uint32_t *resize_row_sz, bool *do_resize)
{
size_t list_size = 2;
const ei_device_resize_resolutions_t list[list_size] = { {42,32}, {128,96} };
// (default) conditions
*resize_col_sz = EI_CAMERA_RAW_FRAME_BUFFER_COLS;
*resize_row_sz = EI_CAMERA_RAW_FRAME_BUFFER_ROWS;
*do_resize = false;
for (size_t ix = 0; ix < list_size; ix++) {
if ((out_width <= list[ix].width) && (out_height <= list[ix].height)) {
*resize_col_sz = list[ix].width;
*resize_row_sz = list[ix].height;
*do_resize = true;
break;
}
}
return 0;
}
/**
-
@brief Setup image sensor & start streaming
-
@retval false if initialisation failed
*/
bool ei_camera_init(void) {
if (is_initialised) return true;if (!Cam.begin(QQVGA, RGB565, 1)) { // VGA downsampled to QQVGA (OV7675)
ei_printf(“ERR: Failed to initialize camera\r\n”);
return false;
}
is_initialised = true;return true;
}
/**
-
@brief Stop streaming of sensor data
*/
void ei_camera_deinit(void) {
if (is_initialised) {
Cam.end();
is_initialised = false;
}
}
/**
- @brief Capture, rescale and crop image
- @param[in] img_width width of output image
- @param[in] img_height height of output image
- @param[in] out_buf pointer to store output image, NULL may be used
-
when full resolution is expected. - @retval false if not initialised, image captured, rescaled or cropped failed
*/
bool ei_camera_capture(uint32_t img_width, uint32_t img_height, uint8_t *out_buf)
{
if (!is_initialised) {
ei_printf(“ERR: Camera is not initialized\r\n”);
return false;
}
if (!out_buf) {
ei_printf("ERR: invalid parameters\r\n");
return false;
}
// choose resize dimensions
int res = calculate_resize_dimensions(img_width, img_height, &resize_col_sz, &resize_row_sz, &do_resize);
if (res) {
ei_printf("ERR: Failed to calculate resize dimensions (%d)\r\n", res);
return false;
}
if ((img_width != resize_col_sz)
|| (img_height != resize_row_sz)) {
do_crop = true;
}
Cam.readFrame(out_buf); // captures image and resizes
if (do_crop) {
uint32_t crop_col_sz;
uint32_t crop_row_sz;
uint32_t crop_col_start;
uint32_t crop_row_start;
crop_row_start = (resize_row_sz - img_height) / 2;
crop_col_start = (resize_col_sz - img_width) / 2;
crop_col_sz = img_width;
crop_row_sz = img_height;
//ei_printf("crop cols: %d, rows: %d\r\n", crop_col_sz,crop_row_sz);
cropImage(resize_col_sz, resize_row_sz,
out_buf,
crop_col_start, crop_row_start,
crop_col_sz, crop_row_sz,
out_buf,
16);
}
// The following variables should always be assigned
// if this routine is to return true
// cutout values
//ei_camera_snapshot_is_resized = do_resize;
//ei_camera_snapshot_is_cropped = do_crop;
ei_camera_capture_out = out_buf;
return true;
}
/**
-
@brief Convert RGB565 raw camera buffer to RGB888
-
@param[in] offset pixel offset of raw buffer
-
@param[in] length number of pixels to convert
-
@param[out] out_buf pointer to store output image
*/
int ei_camera_cutout_get_data(size_t offset, size_t length, float *out_ptr) {
size_t pixel_ix = offset * 2;
size_t bytes_left = length;
size_t out_ptr_ix = 0;// read byte for byte
while (bytes_left != 0) {
// grab the value and convert to r/g/b
uint16_t pixel = (ei_camera_capture_out[pixel_ix] << 8) | ei_camera_capture_out[pixel_ix+1];
uint8_t r, g, b;
r = ((pixel >> 11) & 0x1f) << 3;
g = ((pixel >> 5) & 0x3f) << 2;
b = (pixel & 0x1f) << 3;// then convert to out_ptr format float pixel_f = (r << 16) + (g << 8) + b; out_ptr[out_ptr_ix] = pixel_f; // and go to the next pixel out_ptr_ix++; pixel_ix+=2; bytes_left--;}
// and done!
return 0;
}
// This include file works in the Arduino environment
// to define the Cortex-M intrinsics
#ifdef __ARM_FEATURE_SIMD32
#include <device.h>
#endif
// This needs to be < 16 or it won’t fit. Cortex-M4 only has SIMD for signed multiplies
#define FRAC_BITS 14
#define FRAC_VAL (1<<FRAC_BITS)
#define FRAC_MASK (FRAC_VAL - 1)
//
// Resize
//
// Assumes that the destination buffer is dword-aligned
// Can be used to resize the image smaller or larger
// If resizing much smaller than 1/3 size, then a more rubust algorithm should average all of the pixels
// This algorithm uses bilinear interpolation - averages a 2x2 region to generate each new pixel
//
// Optimized for 32-bit MCUs
// supports 8 and 16-bit pixels
void resizeImage(int srcWidth, int srcHeight, uint8_t *srcImage, int dstWidth, int dstHeight, uint8_t *dstImage, int iBpp)
{
uint32_t src_x_accum, src_y_accum; // accumulators and fractions for scaling the image
uint32_t x_frac, nx_frac, y_frac, ny_frac;
int x, y, ty, tx;
if (iBpp != 8 && iBpp != 16)
return;
src_y_accum = FRAC_VAL/2; // start at 1/2 pixel in to account for integer downsampling which might miss pixels
const uint32_t src_x_frac = (srcWidth * FRAC_VAL) / dstWidth;
const uint32_t src_y_frac = (srcHeight * FRAC_VAL) / dstHeight;
const uint32_t r_mask = 0xf800f800;
const uint32_t g_mask = 0x07e007e0;
const uint32_t b_mask = 0x001f001f;
uint8_t *s, *d;
uint16_t *s16, *d16;
uint32_t x_frac2, y_frac2; // for 16-bit SIMD
for (y=0; y < dstHeight; y++) {
ty = src_y_accum >> FRAC_BITS; // src y
y_frac = src_y_accum & FRAC_MASK;
src_y_accum += src_y_frac;
ny_frac = FRAC_VAL - y_frac; // y fraction and 1.0 - y fraction
y_frac2 = ny_frac | (y_frac << 16); // for M4/M4 SIMD
s = &srcImage[ty * srcWidth];
s16 = (uint16_t *)&srcImage[ty * srcWidth * 2];
d = &dstImage[y * dstWidth];
d16 = (uint16_t *)&dstImage[y * dstWidth * 2];
src_x_accum = FRAC_VAL/2; // start at 1/2 pixel in to account for integer downsampling which might miss pixels
if (iBpp == 8) {
for (x=0; x < dstWidth; x++) {
uint32_t tx, p00,p01,p10,p11;
tx = src_x_accum >> FRAC_BITS;
x_frac = src_x_accum & FRAC_MASK;
nx_frac = FRAC_VAL - x_frac; // x fraction and 1.0 - x fraction
x_frac2 = nx_frac | (x_frac << 16);
src_x_accum += src_x_frac;
p00 = s[tx]; p10 = s[tx+1];
p01 = s[tx+srcWidth]; p11 = s[tx+srcWidth+1];
#ifdef __ARM_FEATURE_SIMD32
p00 = __SMLAD(p00 | (p10<<16), x_frac2, FRAC_VAL/2) >> FRAC_BITS; // top line
p01 = __SMLAD(p01 | (p11<<16), x_frac2, FRAC_VAL/2) >> FRAC_BITS; // bottom line
p00 = __SMLAD(p00 | (p01<<16), y_frac2, FRAC_VAL/2) >> FRAC_BITS; // combine
#else // generic C code
p00 = ((p00 * nx_frac) + (p10 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // top line
p01 = ((p01 * nx_frac) + (p11 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // bottom line
p00 = ((p00 * ny_frac) + (p01 * y_frac) + FRAC_VAL/2) >> FRAC_BITS; // combine top + bottom
#endif // Cortex-M4/M7
*d++ = (uint8_t)p00; // store new pixel
} // for x
} // 8-bpp
else
{ // RGB565
for (x=0; x < dstWidth; x++) {
uint32_t tx, p00,p01,p10,p11;
uint32_t r00, r01, r10, r11, g00, g01, g10, g11, b00, b01, b10, b11;
tx = src_x_accum >> FRAC_BITS;
x_frac = src_x_accum & FRAC_MASK;
nx_frac = FRAC_VAL - x_frac; // x fraction and 1.0 - x fraction
x_frac2 = nx_frac | (x_frac << 16);
src_x_accum += src_x_frac;
p00 = __builtin_bswap16(s16[tx]); p10 = __builtin_bswap16(s16[tx+1]);
p01 = __builtin_bswap16(s16[tx+srcWidth]); p11 = __builtin_bswap16(s16[tx+srcWidth+1]);
#ifdef __ARM_FEATURE_SIMD32
{
p00 |= (p10 << 16);
p01 |= (p11 << 16);
r00 = (p00 & r_mask) >> 1; g00 = p00 & g_mask; b00 = p00 & b_mask;
r01 = (p01 & r_mask) >> 1; g01 = p01 & g_mask; b01 = p01 & b_mask;
r00 = __SMLAD(r00, x_frac2, FRAC_VAL/2) >> FRAC_BITS; // top line
r01 = __SMLAD(r01, x_frac2, FRAC_VAL/2) >> FRAC_BITS; // bottom line
r00 = __SMLAD(r00 | (r01<<16), y_frac2, FRAC_VAL/2) >> FRAC_BITS; // combine
g00 = __SMLAD(g00, x_frac2, FRAC_VAL/2) >> FRAC_BITS; // top line
g01 = __SMLAD(g01, x_frac2, FRAC_VAL/2) >> FRAC_BITS; // bottom line
g00 = __SMLAD(g00 | (g01<<16), y_frac2, FRAC_VAL/2) >> FRAC_BITS; // combine
b00 = __SMLAD(b00, x_frac2, FRAC_VAL/2) >> FRAC_BITS; // top line
b01 = __SMLAD(b01, x_frac2, FRAC_VAL/2) >> FRAC_BITS; // bottom line
b00 = __SMLAD(b00 | (b01<<16), y_frac2, FRAC_VAL/2) >> FRAC_BITS; // combine
}
#else // generic C code
{
r00 = (p00 & r_mask) >> 1; g00 = p00 & g_mask; b00 = p00 & b_mask;
r10 = (p10 & r_mask) >> 1; g10 = p10 & g_mask; b10 = p10 & b_mask;
r01 = (p01 & r_mask) >> 1; g01 = p01 & g_mask; b01 = p01 & b_mask;
r11 = (p11 & r_mask) >> 1; g11 = p11 & g_mask; b11 = p11 & b_mask;
r00 = ((r00 * nx_frac) + (r10 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // top line
r01 = ((r01 * nx_frac) + (r11 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // bottom line
r00 = ((r00 * ny_frac) + (r01 * y_frac) + FRAC_VAL/2) >> FRAC_BITS; // combine top + bottom
g00 = ((g00 * nx_frac) + (g10 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // top line
g01 = ((g01 * nx_frac) + (g11 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // bottom line
g00 = ((g00 * ny_frac) + (g01 * y_frac) + FRAC_VAL/2) >> FRAC_BITS; // combine top + bottom
b00 = ((b00 * nx_frac) + (b10 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // top line
b01 = ((b01 * nx_frac) + (b11 * x_frac) + FRAC_VAL/2) >> FRAC_BITS; // bottom line
b00 = ((b00 * ny_frac) + (b01 * y_frac) + FRAC_VAL/2) >> FRAC_BITS; // combine top + bottom
}
#endif // Cortex-M4/M7
r00 = (r00 << 1) & r_mask;
g00 = g00 & g_mask;
b00 = b00 & b_mask;
p00 = (r00 | g00 | b00); // re-combine color components
*d16++ = (uint16_t)__builtin_bswap16(p00); // store new pixel
} // for x
} // 16-bpp
} // for y
} /* resizeImage() */
//
// Crop
//
// Assumes that the destination buffer is dword-aligned
// optimized for 32-bit MCUs
// Supports 8 and 16-bit pixels
//
void cropImage(int srcWidth, int srcHeight, uint8_t *srcImage, int startX, int startY, int dstWidth, int dstHeight, uint8_t *dstImage, int iBpp)
{
uint32_t *s32, *d32;
int x, y;
if (startX < 0 || startX >= srcWidth || startY < 0 || startY >= srcHeight || (startX + dstWidth) > srcWidth || (startY + dstHeight) > srcHeight)
return; // invalid parameters
if (iBpp != 8 && iBpp != 16)
return;
if (iBpp == 8) {
uint8_t *s, *d;
for (y=0; y<dstHeight; y++) {
s = &srcImage[srcWidth * (y + startY) + startX];
d = &dstImage[(dstWidth * y)];
x = 0;
if ((intptr_t)s & 3 || (intptr_t)d & 3) { // either src or dst pointer is not aligned
for (; x<dstWidth; x++) {
*d++ = *s++; // have to do it byte-by-byte
}
} else {
// move 4 bytes at a time if aligned or alignment not enforced
s32 = (uint32_t *)s;
d32 = (uint32_t *)d;
for (; x<dstWidth-3; x+= 4) {
*d32++ = *s32++;
}
// any remaining stragglers?
s = (uint8_t *)s32;
d = (uint8_t *)d32;
for (; x<dstWidth; x++) {
*d++ = *s++;
}
}
} // for y
} // 8-bpp
else
{
uint16_t *s, *d;
for (y=0; y<dstHeight; y++) {
s = (uint16_t *)&srcImage[2 * srcWidth * (y + startY) + startX * 2];
d = (uint16_t *)&dstImage[(dstWidth * y * 2)];
x = 0;
if ((intptr_t)s & 2 || (intptr_t)d & 2) { // either src or dst pointer is not aligned
for (; x<dstWidth; x++) {
*d++ = *s++; // have to do it 16-bits at a time
}
} else {
// move 4 bytes at a time if aligned or alignment no enforced
s32 = (uint32_t *)s;
d32 = (uint32_t *)d;
for (; x<dstWidth-1; x+= 2) { // we can move 2 pixels at a time
*d32++ = *s32++;
}
// any remaining stragglers?
s = (uint16_t *)s32;
d = (uint16_t *)d32;
for (; x<dstWidth; x++) {
*d++ = *s++;
}
}
} // for y
} // 16-bpp case
} /* cropImage() */
#if !defined(EI_CLASSIFIER_SENSOR) || EI_CLASSIFIER_SENSOR != EI_CLASSIFIER_SENSOR_CAMERA
#error “Invalid model for current sensor”
#endif
// OV767X camera library override
#include <Arduino.h>
#include <Wire.h>
#define digitalPinToBitMask(P) (1 << (digitalPinToPinName(P) % 32))
#define portInputRegister(P) ((P == 0) ? &NRF_P0->IN : &NRF_P1->IN)
//
// OV7675::begin()
//
// Extends the OV767X library function. Some private variables are needed
// to use the OV7675::readFrame function.
//
int OV7675::begin(int resolution, int format, int fps)
{
pinMode(OV7670_VSYNC, INPUT);
pinMode(OV7670_HREF, INPUT);
pinMode(OV7670_PLK, INPUT);
pinMode(OV7670_XCLK, OUTPUT);
vsyncPort = portInputRegister(digitalPinToPort(OV7670_VSYNC));
vsyncMask = digitalPinToBitMask(OV7670_VSYNC);
hrefPort = portInputRegister(digitalPinToPort(OV7670_HREF));
hrefMask = digitalPinToBitMask(OV7670_HREF);
pclkPort = portInputRegister(digitalPinToPort(OV7670_PLK));
pclkMask = digitalPinToBitMask(OV7670_PLK);
// init driver to use full image sensor size
bool ret = OV767X::begin(VGA, format, fps);
width = OV767X::width(); // full sensor width
height = OV767X::height(); // full sensor height
bytes_per_pixel = OV767X::bytesPerPixel();
bytes_per_row = width * bytes_per_pixel; // each pixel is 2 bytes
resize_height = 2;
buf_mem = NULL;
raw_buf = NULL;
intrp_buf = NULL;
//allocate_scratch_buffs();
return ret;
} /* OV7675::begin() */
int OV7675::allocate_scratch_buffs()
{
//ei_printf(“allocating buffers…\r\n”);
buf_rows = height / resize_row_sz * resize_height;
buf_size = bytes_per_row * buf_rows;
buf_mem = ei_malloc(buf_size);
if(buf_mem == NULL) {
ei_printf("failed to create buf_mem\r\n");
return false;
}
raw_buf = (uint8_t *)DWORD_ALIGN_PTR((uintptr_t)buf_mem);
//ei_printf("allocating buffers OK\r\n");
return 0;
}
int OV7675::deallocate_scratch_buffs()
{
//ei_printf(“deallocating buffers…\r\n”);
ei_free(buf_mem);
buf_mem = NULL;
//ei_printf("deallocating buffers OK\r\n");
return 0;
}
//
// OV7675::readFrame()
//
// Overrides the OV767X library function. Fixes the camera output to be
// a far more desirable image. This image utilizes the full sensor size
// and has the correct aspect ratio. Since there is limited memory on the
// Nano we bring in only part of the entire sensor at a time and then
// interpolate to a lower resolution.
//
void OV7675::readFrame(void* buffer)
{
allocate_scratch_buffs();
uint8_t* out = (uint8_t*)buffer;
noInterrupts();
// Falling edge indicates start of frame
while ((*vsyncPort & vsyncMask) == 0); // wait for HIGH
while ((*vsyncPort & vsyncMask) != 0); // wait for LOW
int out_row = 0;
for (int raw_height = 0; raw_height < height; raw_height += buf_rows) {
// read in 640xbuf_rows buffer to work with
readBuf();
resizeImage(width, buf_rows,
raw_buf,
resize_col_sz, resize_height,
&(out[out_row]),
16);
out_row += resize_col_sz * resize_height * bytes_per_pixel; /* resize_col_sz * 2 * 2 */
}
interrupts();
deallocate_scratch_buffs();
} /* OV7675::readFrame() */
//
// OV7675::readBuf()
//
// Extends the OV767X library function. Reads buf_rows VGA rows from the
// image sensor.
//
void OV7675::readBuf()
{
int offset = 0;
uint32_t ulPin = 33; // P1.xx set of GPIO is in 'pin' 32 and above
NRF_GPIO_Type * port;
port = nrf_gpio_pin_port_decode(&ulPin);
for (int i = 0; i < buf_rows; i++) {
// rising edge indicates start of line
while ((*hrefPort & hrefMask) == 0); // wait for HIGH
for (int col = 0; col < bytes_per_row; col++) {
// rising edges clock each data byte
while ((*pclkPort & pclkMask) != 0); // wait for LOW
uint32_t in = port->IN; // read all bits in parallel
in >>= 2; // place bits 0 and 1 at the "bottom" of the register
in &= 0x3f03; // isolate the 8 bits we care about
in |= (in >> 6); // combine the upper 6 and lower 2 bits
raw_buf[offset++] = in;
while ((*pclkPort & pclkMask) == 0); // wait for HIGH
}
while ((*hrefPort & hrefMask) != 0); // wait for LOW
}
} /* OV7675::readBuf() */