Adding firmware for camera

Signed-off-by: David Shah <davey1576@gmail.com>

demo/Makefile

@@ -48,8 +48,8 @@ ctrlsoc.bin: ctrlsoc.asc
 	icetime -d up5k -c 12 -mtr ctrlsoc.rpt ctrlsoc.asc
 	icepack ctrlsoc.asc ctrlsoc.bin
 
-ctrlsoc_fw.elf: sections.lds start.S firmware.c demodat.inc
-	riscv32-unknown-elf-gcc -O1 -Wall -Wextra -march=rv32i -Wl,-Bstatic,-T,sections.lds,--strip-debug -ffreestanding -nostdlib -o ctrlsoc_fw.elf start.S firmware.c
+ctrlsoc_fw.elf: sections.lds start.S firmware.c demodat.inc camera/camera.c
+	riscv32-unknown-elf-gcc -O1 -Wall -Wextra -march=rv32i -Wl,-Bstatic,-T,sections.lds,--strip-debug -ffreestanding -nostdlib -o ctrlsoc_fw.elf start.S firmware.c camera/camera.c
 
 ctrlsoc_fw.hex: ctrlsoc_fw.elf
 	riscv32-unknown-elf-objcopy -O verilog ctrlsoc_fw.elf ctrlsoc_fw.hex

demo/camera/camera.c

@@ -0,0 +1,168 @@
+/*
+ *  Copyright (C) 2018  David Shah <david@symbioticeda.com>
+ *
+ *  Permission to use, copy, modify, and/or distribute this software for any
+ *  purpose with or without fee is hereby granted, provided that the above
+ *  copyright notice and this permission notice appear in all copies.
+ *
+ *  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ *  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ *  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ *  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ *  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ *  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ *  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ */
+
+#include "camera.h"
+#define CAMERA_BASE 0x03000000
+
+#define reg_camera_i2c (*(volatile uint32_t*)CAMERA_BASE)
+#define reg_camera_fb  ((volatile uint32_t*)(CAMERA_BASE + 0x8000))
+
+static void i2c_delay() {
+    for (volatile int i = 0; i < 10; i++)
+        ;
+}
+
+static void set_i2c_io(uint8_t sda, uint8_t scl) {
+    reg_camera_i2c = ((scl & 0x1) << 1) | (sda & 0x1);
+    i2c_delay();
+}
+
+static void i2c_start() {
+	set_i2c_io(1, 1);
+	set_i2c_io(0, 1);
+	set_i2c_io(0, 0);
+}
+
+static void i2c_send(uint8_t data) {
+	for (int i = 7; i >= 0; i--) {
+		uint8_t bit = (data >> i) & 0x1;
+		set_i2c_io(bit, 0);
+		set_i2c_io(bit, 1);
+		set_i2c_io(bit, 0);
+	}
+	set_i2c_io(1, 0);
+	set_i2c_io(1, 1);
+	set_i2c_io(1, 0);
+}
+
+static void i2c_stop() {
+	set_i2c_io(0, 0);
+	set_i2c_io(0, 1);
+	set_i2c_io(1, 1);
+}
+
+void camera_i2c_write(uint16_t address, uint8_t data) {
+    i2c_start();
+    i2c_send(0x10 << 1);
+    i2c_send((address >> 8) & 0xFF);
+    i2c_send(address & 0xFF);
+    i2c_send(data);
+    i2c_stop();
+}
+
+const int framelength = 666;
+const int linelength = 3448;
+
+void camera_init() {
+	// Based on "Preview Setting" from a Linux driver
+	camera_i2c_write(0x0100,  0x00); //standby mode
+	camera_i2c_write(0x30EB,  0x05); //mfg specific access begin
+	camera_i2c_write(0x30EB,  0x0C); //
+	camera_i2c_write(0x300A,  0xFF); //
+	camera_i2c_write(0x300B,  0xFF); //
+	camera_i2c_write(0x30EB,  0x05); //
+	camera_i2c_write(0x30EB,  0x09); //mfg specific access end
+	camera_i2c_write(0x0114,  0x01); //CSI_LANE_MODE: 2-lane
+	camera_i2c_write(0x0128,  0x00); //DPHY_CTRL: auto mode (?)
+	camera_i2c_write(0x012A,  0x18); //EXCK_FREQ[15:8] = 24MHz
+	camera_i2c_write(0x012B,  0x00); //EXCK_FREQ[7:0]
+	camera_i2c_write(0x0160,  ((framelength >> 8) & 0xFF)); //framelength
+	camera_i2c_write(0x0161,  (framelength & 0xFF));
+	camera_i2c_write(0x0162,  ((linelength >> 8) & 0xFF));
+	camera_i2c_write(0x0163,  (linelength & 0xFF));
+	camera_i2c_write(0x0164,  0x00); //X_ADD_STA_A[11:8]
+	camera_i2c_write(0x0165,  0x00); //X_ADD_STA_A[7:0]
+	camera_i2c_write(0x0166,  0x0A); //X_ADD_END_A[11:8]
+	camera_i2c_write(0x0167,  0x00); //X_ADD_END_A[7:0]
+	camera_i2c_write(0x0168,  0x00); //Y_ADD_STA_A[11:8]
+	camera_i2c_write(0x0169,  0x00); //Y_ADD_STA_A[7:0]
+	camera_i2c_write(0x016A,  0x07); //Y_ADD_END_A[11:8]
+	camera_i2c_write(0x016B,  0x80); //Y_ADD_END_A[7:0]
+	camera_i2c_write(0x016C,  0x02); //x_output_size[11:8] = 640
+	camera_i2c_write(0x016D,  0x80); //x_output_size[7:0]
+	camera_i2c_write(0x016E,  0x01); //y_output_size[11:8] = 480
+	camera_i2c_write(0x016F,  0xE0); //y_output_size[7:0]
+	camera_i2c_write(0x0170,  0x01); //X_ODD_INC_A
+	camera_i2c_write(0x0171,  0x01); //Y_ODD_INC_A
+	camera_i2c_write(0x0174,  0x02); //BINNING_MODE_H_A = x4-binning
+	camera_i2c_write(0x0175,  0x02); //BINNING_MODE_V_A = x4-binning
+	camera_i2c_write(0x018C,  0x08); //CSI_DATA_FORMAT_A[15:8]
+	camera_i2c_write(0x018D,  0x08); //CSI_DATA_FORMAT_A[7:0]
+	camera_i2c_write(0x0301,  0x08); //VTPXCK_DIV
+	camera_i2c_write(0x0303,  0x01); //VTSYCK_DIV
+	camera_i2c_write(0x0304,  0x03); //PREPLLCK_VT_DIV
+	camera_i2c_write(0x0305,  0x03); //PREPLLCK_OP_DIV
+	camera_i2c_write(0x0306,  0x00); //PLL_VT_MPY[10:8]
+	camera_i2c_write(0x0307,  0x14); //PLL_VT_MPY[7:0]
+	camera_i2c_write(0x0309,  0x08); //OPPXCK_DIV
+	camera_i2c_write(0x030B,  0x02); //OPSYCK_DIV
+	camera_i2c_write(0x030C,  0x00); //PLL_OP_MPY[10:8]
+	camera_i2c_write(0x030D,  0x0A); //PLL_OP_MPY[7:0]
+	camera_i2c_write(0x455E,  0x00); //??
+	camera_i2c_write(0x471E,  0x4B); //??
+	camera_i2c_write(0x4767,  0x0F); //??
+	camera_i2c_write(0x4750,  0x14); //??
+	camera_i2c_write(0x4540,  0x00); //??
+	camera_i2c_write(0x47B4,  0x14); //??
+	camera_i2c_write(0x4713,  0x30); //??
+	camera_i2c_write(0x478B,  0x10); //??
+	camera_i2c_write(0x478F,  0x10); //??
+	camera_i2c_write(0x4793,  0x10); //??
+	camera_i2c_write(0x4797,  0x0E); //??
+	camera_i2c_write(0x479B,  0x0E); //??
+
+	//camera_i2c_write(0x0157,  232); // ANA_GAIN_GLOBAL_A
+	//camera_i2c_write(0x0257,  232); // ANA_GAIN_GLOBAL_B
+
+
+	//camera_i2c_write(0x0600,  0x00); // Test pattern: disable
+	//camera_i2c_write(0x0601,  0x00); // Test pattern: disable
+
+#if 0
+	camera_i2c_write(0x0600,  0x00); // Test pattern: solid colour
+	camera_i2c_write(0x0601,  0x01); //
+
+	camera_i2c_write(0x0602,  0x02); // Test pattern: red
+	camera_i2c_write(0x0603,  0xAA); //
+
+	camera_i2c_write(0x0604,  0x02); // Test pattern: greenR
+	camera_i2c_write(0x0605,  0xAA); //
+
+	camera_i2c_write(0x0606,  0x02); // Test pattern: blue
+	camera_i2c_write(0x0607,  0xAA); //
+
+	camera_i2c_write(0x0608,  0x02); // Test pattern: greenB
+	camera_i2c_write(0x0609,  0xAA); //
+
+
+	camera_i2c_write(0x0624,  0x0A); // Test pattern width
+	camera_i2c_write(0x0625,  0x00); //
+
+	camera_i2c_write(0x0626,  0x07); // Test pattern height
+	camera_i2c_write(0x0627,  0x80); //
+
+
+#endif
+
+	camera_i2c_write(0x0100, 0x01);
+}
+
+void acquire_image(uint8_t *buffer) {
+    for (int y = 0; y < 30; y++)
+        for (int x = 0; x < 40; x++)
+            *(buffer++) = reg_camera_fb[((y << 6) | x) << 2];
+}

demo/camera/camera.h

@@ -0,0 +1,33 @@
+/*
+ *  Copyright (C) 2018  David Shah <david@symbioticeda.com>
+ *
+ *  Permission to use, copy, modify, and/or distribute this software for any
+ *  purpose with or without fee is hereby granted, provided that the above
+ *  copyright notice and this permission notice appear in all copies.
+ *
+ *  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ *  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ *  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ *  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ *  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ *  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ *  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ */
+
+
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <stdint.h>
+
+// Write to camera register
+void camera_i2c_write(uint16_t address, uint8_t data);
+
+// Init camera with default config
+void camera_init();
+
+// Copy 40x30 to buffer
+void acquire_image(uint8_t *buffer);
+
+#endif

demo/camera/cameraif.v

@@ -1,5 +1,5 @@
 /*
- *  Copyright (C) 2018  Clifford Wolf <clifford@symbioticeda.com>
+ *  Copyright (C) 2018  David Shah <david@symbioticeda.com>
  *
  *  Permission to use, copy, modify, and/or distribute this software for any
  *  purpose with or without fee is hereby granted, provided that the above
@@ -114,6 +114,7 @@ module cameraif(
     wire [1:0] i2c_din;
     reg [1:0] i2c_gpio;
     reg [1:0] i2c_read;
+    reg i2c_read_last;
 
     SB_IO #(
         .PIN_TYPE(6'b 1010_01),
@@ -141,10 +142,14 @@ module cameraif(
         if (reset) begin
             i2c_gpio <= 2'b11;
             i2c_read <= 2'b11;
+            i2c_read_last <= 1'b0;
         end else if (addr == 16'h0000 && valid) begin
             if (wstrb[0])
                 i2c_gpio <= wdata[1:0];
             i2c_read <= i2c_din;
+            i2c_read_last <= 1'b1;
+        end else begin
+            i2c_read_last <= 1'b0;
         end
     end
 
@@ -156,8 +161,8 @@ module cameraif(
         end
     end
 
-    assign rdata = (addr == 16'h0000) ? {30'b0, i2c_read} :
-                                        {24'b0, ds_read_data};
+    assign rdata = i2c_read_last ? {30'b0, i2c_read} :
+                                   {24'b0, ds_read_data};
 
     // Debugging
     reg [22:0] hb_ctr;

demo/camera/link/csi_rx_ice40.v

@@ -67,12 +67,12 @@ module csi_rx_ice40 #(
 		.PACKAGE_PIN(dphy_clk_lane),
 		.D_IN_0(dphy_clk_pre)
 	);
-	
+
 	SB_GB clk_gbuf (
 		.USER_SIGNAL_TO_GLOBAL_BUFFER(dphy_clk_pre),
 		.GLOBAL_BUFFER_OUTPUT(dphy_clk)
 	);
-	
+
 	wire dphy_lp;
 	SB_IO #(
 		.PIN_TYPE(6'b000001),
@@ -89,25 +89,25 @@ module csi_rx_ice40 #(
 		else
 			div <= div + 1'b1;
 	assign word_clk = div[1];
-	
+
 	wire sreset;
 	reg [7:0] sreset_ctr;
 	always @(posedge word_clk or posedge areset)
 		if (areset)
 			sreset_ctr <= 0;
 		else if (!(&sreset_ctr))
 			sreset_ctr <= sreset_ctr + 1'b1;
-			
+
 	assign sreset = !(&sreset_ctr);
-	
+
 	wire byte_packet_done, wait_for_sync;
 	wire [LANES*8-1:0] aligned_bytes;
 	wire [LANES-1:0] aligned_bytes_valid;
 
 
 	generate
 	genvar ii;
-	for (ii = 0; ii < LANES; ii++) begin
+	for (ii = 0; ii < LANES; ii=ii+1) begin
 		wire [1:0] din_raw;
 		SB_IO #(
 			.PIN_TYPE(6'b000000),

demo/camera/phy/byte_aligner.v

@@ -51,7 +51,7 @@ module dphy_rx_byte_align(
 
 	reg [7:0] curr_byte;
 	reg [7:0] last_byte;
-	reg [7:0] shifted_byte;
+	wire [7:0] shifted_byte;
 
 	reg found_sync;
 	reg [2:0] sync_offs; // found offset of sync pattern
@@ -94,7 +94,7 @@ module dphy_rx_byte_align(
 		found_sync = 1'b0;
 		sync_offs = 0;
 		for (i = 0; i < 8; i = i + 1) begin
-			if ((concat_word[(1+i) +: 8] == sync_word) && (last_byte[i:0]  == 0)) begin
+			if ((concat_word[(1+i) +: 8] == sync_word) /*&& (last_byte[i:0]  == 0)*/) begin
 				was_found = 1'b1;
 				offset = i;
 			end

demo/ctrlsoc.v

@@ -213,6 +213,9 @@ module ctrlsoc (
 				addr_flash: begin
 					buserror <= |mem_wstrb;
 				end
+                addr_camera: begin
+                    /* nothing to do here */
+                end
 				mem_addr == 32'h 02000000: begin
 					mem_ready <= 1;
 					if (mem_wstrb[0]) begin

demo/firmware.c

@@ -21,6 +21,8 @@
 #include <stdint.h>
 #include <stdbool.h>
 
+#include "camera/camera.h"
+
 // a pointer to this is a null pointer, but the compiler does not
 // know that because "sram" is a linker symbol from sections.lds.
 extern uint32_t sram;
@@ -413,8 +415,11 @@ void main()
 {
 	print("\n\n\n\n\n");
 	print("Booting..\n");
+
 	ml_test();
 	print("\n");
+	camera_init();
+	print ("Initialised camera\n");
 
 	reg_leds = 127;
 	while (!RUN_LOOP) {

demo/testbench.v

@@ -76,6 +76,8 @@ module testbench;
 	wire ml_csb;
 	wire ml_clk;
 
+	wire cam_scl = 1'b0, cam_sda = 1'b0;
+
 	ctrlsoc ctrl (
 		.clk       (ctrl_clk ),
 
@@ -99,7 +101,10 @@ module testbench;
 		.led5      (led5     ),
 
 		.ml_csb    (ml_csb   ),
-		.ml_clk    (ml_clk   )
+		.ml_clk    (ml_clk   ),
+
+		.cam_scl   (cam_scl),
+		.cam_sda   (cam_sda)
 	);
 
 	spiflash flash (