/********************MILIANKE**************************
*Company : MiLianKe Electronic Technology Co., Ltd.
*WebSite:[url]https://www.milianke.com[/url]
*TechWeb:[url]https://www.uisrc.com[/url]
*tmall-shop:[url]https://milianke.tmall.com[/url]
*jd-shop:[url]https://milianke.jd.com[/url]
*taobao-shop1: [url]https://milianke.taobao.com[/url]
*Create Date: 2021/10/15
*File Name: 5640_test.c
*Description:
*Declaration:
*The reference demo provided by Milianke is only used for learning.
*We cannot ensure that the demo itself is free of bugs, so users
*should be responsible for the technical problems and consequences
*caused by the use of their own products.
*Copyright: Copyright (c) MiLianKe
*All rights reserved.
*Revision: 1.0
****************************************************/
#include "xil_exception.h"
#include "xil_printf.h"
#include "xil_cache.h"
#include "vdma_pl.h"
#include "xgpio.h"
#include "HDMIdma_intr.h"
#include "sccb_iic.h"
#include "ov5640_cfg.h"
#include "sys_intr.h"
//内存地址空间定义
#define BUF_BASE_SIZE   0x08000000
#define BUF_RANG_SIZE          0x800000
#define BUF1_ADDR                BUF_BASE_SIZE + BUF_RANG_SIZE*0
#define BUF2_ADDR                BUF_BASE_SIZE + BUF_RANG_SIZE*1
#define BUF3_ADDR                BUF_BASE_SIZE + BUF_RANG_SIZE*2
//设置输出视频参数
#define VIDEO_OUT_HSIZE         1280*4
#define VIDEO_OUT_STRIDE  1280*4
#define VIDEO_OUT_VSIZE         720
#define IMG_SIZE VIDEO_OUT_HSIZE*VIDEO_OUT_VSIZE
//设置输入视频0参数
#define VIDEO0_IN_HSIZE         640*4
#define VIDEO0_IN_STRIDE  1280*4
#define VIDEO0_IN_VSIZE         480
//设置输入视频1参数
#define VIDEO1_IN_HSIZE         640*4
#define VIDEO1_IN_STRIDE 1280*4
#define VIDEO1_IN_VSIZE         480
#define VIDEO1_OFFSET   (640+1280*240)*4
#define CAM0_AXI_VDMA_ID XPAR_CAM0_AXI_VDMA_1_DEVICE_ID
#define CAM1_AXI_VDMA_ID XPAR_CAM1_AXI_VDMA_1_DEVICE_ID
#define CAM0_AXI_VDMA_INTR XPAR_FABRIC_CAM0_AXI_VDMA_1_S2MM_INTROUT_INTR
#define CAM1_AXI_VDMA_INTR XPAR_FABRIC_CAM1_AXI_VDMA_1_S2MM_INTROUT_INTR
u8 *CAM0_DBUF[IMG_SIZE];
u8 *CAM1_DBUF[IMG_SIZE];
u8 *VIDEOOUT_DBUF[IMG_SIZE];
XGpio rstn_5640;
XGpio sscb_cam0;
XGpio sscb_cam1;
extern XScuGic Intc;
extern Run_Config RunCfg;
extern XAxiVdma video0_in,video1_in;
extern XAxiVdma_DmaSetup video0_in_WriteCfg,video1_in_WriteCfg;
extern XHDMIDma HDMIDma;
extern XHDMIPsu HDMIPsu;
extern volatile  int  rfram_cnt;
extern volatile  int  rfram_error;
extern volatile  int  wframe1_cnt;
extern volatile  int  wframe1_error;
extern volatile  int  wfram1_grap_done;
extern volatile  int  grap_button;
extern volatile  int  delay_frame;
void init_intr_sys(void)
{
        Init_Intr_System(&Intc);//initialize global interrupt source
        Video1_in_SetupIntrSystem(&Intc,&video0_in,CAM0_AXI_VDMA_INTR);
        Video2_in_SetupIntrSystem(&Intc,&video1_in,CAM1_AXI_VDMA_INTR);
        XAxiVdma_IntrEnable(&video0_in, XAXIVDMA_IXR_ALL_MASK, XAXIVDMA_WRITE);//enable vdma s2mm channel interrupt
        XAxiVdma_IntrEnable(&video1_in, XAXIVDMA_IXR_ALL_MASK, XAXIVDMA_WRITE);//enable vdma s2mm channel interrupt
        HDMIdma_init(&RunCfg ,&Intc);//setup HDMI channel
        HDMIdma_Setup_Intr_System(&RunCfg);//enable HDMI channel
        Setup_Intr_Exception(&Intc);//enable global interrupt source
}
int main()
{
        Xil_DCacheDisable();
        Xil_ICacheDisable();
        video_buffer_init(CAM0_DBUF[0]);
//设置摄像头0的三个缓存地址
        CAM0_DBUF[0] = (u8*)BUF1_ADDR;
        CAM0_DBUF[1] = (u8*)BUF2_ADDR;
        CAM0_DBUF[2] = (u8*)BUF3_ADDR;
        CAM1_DBUF[0] = (u8*)(BUF1_ADDR + VIDEO1_OFFSET);
        CAM1_DBUF[1] = (u8*)(BUF2_ADDR + VIDEO1_OFFSET);
        CAM1_DBUF[2] = (u8*)(BUF3_ADDR + VIDEO1_OFFSET);
//设置摄像头1的三个缓存地址
        VIDEOOUT_DBUF[0] = (u8*)BUF1_ADDR;
        VIDEOOUT_DBUF[1] = (u8*)BUF2_ADDR;
        VIDEOOUT_DBUF[2] = (u8*)BUF3_ADDR;
//通过memset函数设置缓存初值
        memset(VIDEOOUT_DBUF[0], 0x00, IMG_SIZE);
        memset(VIDEOOUT_DBUF[1], 0x00, IMG_SIZE);
        memset(VIDEOOUT_DBUF[2], 0x00, IMG_SIZE);
//通过Xil_DcacheFlushRang确保把cache中初始化数据都刷入到DDR中
        Xil_DCacheFlushRange((INTPTR)VIDEOOUT_DBUF[0], IMG_SIZE);
        Xil_DCacheFlushRange((INTPTR)VIDEOOUT_DBUF[1], IMG_SIZE);
        Xil_DCacheFlushRange((INTPTR)VIDEOOUT_DBUF[2], IMG_SIZE);
//初始化AXI-GPIO 并且复位摄像头
        XGpio_Initialize(&rstn_5640, XPAR_GPIO_RSTN_DEVICE_ID);
        XGpio_SetDataDirection(&rstn_5640, 1, 0x0);
        XGpio_DiscreteWrite(&rstn_5640, 1, 0x0);
//初始化用于sccb的AXI-GPIO
        sccb_gpio_init(&sscb_cam0,XPAR_CAM0_GPIO_SCCB_DEVICE_ID);
        sccb_gpio_init(&sscb_cam1,XPAR_CAM1_GPIO_SCCB_DEVICE_ID);
//通过sccb分别对摄像头0和摄像头1进行初始化
        ov5640_init(sscb_cam0,640,480,0x46,0x07);
        ov5640_init(sscb_cam1,640,480,0x40,0x01);
//设置摄像头0的VDMA的视频缓存地址
        video0_in_WriteCfg.FrameStoreStartAddr[0] = (UINTPTR)CAM0_DBUF[0];
        video0_in_WriteCfg.FrameStoreStartAddr[1] = (UINTPTR)CAM0_DBUF[1];
        video0_in_WriteCfg.FrameStoreStartAddr[2] = (UINTPTR)CAM0_DBUF[2];
//设置摄像头1的VDMA的视频缓存地址
        video1_in_WriteCfg.FrameStoreStartAddr[0] = (UINTPTR)CAM1_DBUF[0];
        video1_in_WriteCfg.FrameStoreStartAddr[1] = (UINTPTR)CAM1_DBUF[1];
        video1_in_WriteCfg.FrameStoreStartAddr[2] = (UINTPTR)CAM1_DBUF[2];
//完成复位
        XGpio_DiscreteWrite(&rstn_5640, 1, 0x1);
//初始化并且设置摄像头0的VDMA
        Video1_S2MMSetup(CAM0_AXI_VDMA_ID, &video0_in, video0_in_WriteCfg , 480 , 640*4 ,  1280*4);
//初始化并且设置摄像头1的VDMA
        Video2_S2MMSetup(CAM1_AXI_VDMA_ID, &video1_in, video1_in_WriteCfg , 480 , 640*4 ,  1280*4);
        XAxiVdma_DmaStart(&video0_in, XAXIVDMA_WRITE); //启动摄像头0的VDMA传输方向为PL到PS
        XAxiVdma_DmaStart(&video1_in, XAXIVDMA_WRITE); //启动摄像头1的VDMA传输方向为PL到PS
    while(1)
    {
             if(wfram1_grap_done == 1)//park模式手动控制中断，等待中断产生             {
                     video_buffer_update((u8*)CAM0_DBUF[(wframe1_cnt+1)%3],&RunCfg);
                     wfram1_grap_done =0;//清除中断
             }
    }    return XST_SUCCESS;
}
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#define BUF_BASE_SIZE   0x08000000
#define BUF_RANG_SIZE          0x800000
#define BUF1_ADDR                BUF_BASE_SIZE + BUF_RANG_SIZE*0
#define BUF2_ADDR                BUF_BASE_SIZE + BUF_RANG_SIZE*1
#define BUF3_ADDR                BUF_BASE_SIZE + BUF_RANG_SIZE*2
#define VIDEO1_OFFSET   (640+1280*240)*4
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 CAM0_DBUF[0] = (u8*)BUF1_ADDR;
        CAM0_DBUF[1] = (u8*)BUF2_ADDR;
        CAM0_DBUF[2] = (u8*)BUF3_ADDR;
        CAM1_DBUF[0] = (u8*)(BUF1_ADDR + VIDEO1_OFFSET);
        CAM1_DBUF[1] = (u8*)(BUF2_ADDR + VIDEO1_OFFSET);
        CAM1_DBUF[2] = (u8*)(BUF3_ADDR + VIDEO1_OFFSET);
        VIDEOOUT_DBUF[0] = (u8*)BUF1_ADDR;
        VIDEOOUT_DBUF[1] = (u8*)BUF2_ADDR;
        VIDEOOUT_DBUF[2] = (u8*)BUF3_ADDR;
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 ov5640_init(sscb_cam0,640,480,0x46,0x07);
        ov5640_init(sscb_cam1,640,480,0x40,0x01);
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