Added pan feature to camera capture

Updated tests

Author: siliconwitch

source/application/lua_libraries/camera.c

@@ -87,6 +87,18 @@ static int lua_camera_capture(lua_State *L)
         }
     }
 
+    int16_t pan = 0;
+
+    if (lua_getfield(L, 1, "pan") != LUA_TNIL)
+    {
+        pan = luaL_checkinteger(L, -1) * 2;
+
+        if (pan < -280 || pan > 280)
+        {
+            luaL_error(L, "pan value must be value between -140 and 140");
+        }
+    }
+
     uint8_t quality_level = 6;
 
     if (lua_getfield(L, 1, "quality") != LUA_TNIL)
@@ -179,10 +191,18 @@ static int lua_camera_capture(lua_State *L)
     data_bytes_sent_out = 0;
     footer_bytes_sent_out = 0;
 
+    // Apply resolution
     capture_settings.resolution = resolution;
     uint8_t resolution_bytes[2] = {(uint8_t)(resolution >> 8), (uint8_t)(resolution & 0xFF)};
     spi_write(FPGA, 0x23, resolution_bytes, sizeof(resolution_bytes));
 
+    // Apply pan
+    // Normalize pan to center of sensor with correct offset for 720 native resolution
+    pan += (1280 / 2) - (720 / 2);
+    check_error(i2c_write(CAMERA, 0x3810, 0xFF, pan >> 8).fail);
+    check_error(i2c_write(CAMERA, 0x3811, 0xFF, pan).fail);
+
+    // Apply quality
     // These should match the indexed tables in quant_tables.sv
     switch (quality_level)
     {
@@ -214,6 +234,7 @@ static int lua_camera_capture(lua_State *L)
 
     spi_write(FPGA, 0x26, &quality_level, sizeof(quality_level));
 
+    // Start capture
     spi_write(FPGA, 0x20, NULL, 0);
 
     return 0;

tests/test_api.py

@@ -175,19 +175,40 @@ async def main():
     await test.lua_send("frame.sleep(0.05)")
     await test.lua_equals("frame.camera.image_ready()", "true")
 
-    ## Capture in different modes
-    await test.lua_send("frame.camera.capture{quality_factor=10}")
-    await test.lua_send("frame.sleep(0.1)")
-    await test.lua_send("frame.camera.capture{quality_factor=25}")
-    await test.lua_send("frame.sleep(0.1)")
-    await test.lua_send("frame.camera.capture{quality_factor=50}")
-    await test.lua_send("frame.sleep(0.1)")
-    await test.lua_send("frame.camera.capture{quality_factor=100}")
-    await test.lua_send("frame.sleep(0.1)")
-    await test.lua_error("frame.camera.capture{quality_factor=75}")
+    ## Capture in different resolutions
+    await test.lua_send("frame.camera.capture { resolution = 100 }")
+    await test.lua_send("frame.camera.capture { resolution = 256 }")
+    await test.lua_send("frame.camera.capture { resolution = 512 }")
+    await test.lua_send("frame.camera.capture { resolution = 720 }")
+
+    await test.lua_error("frame.camera.capture { resolution = 80 }")
+    await test.lua_error("frame.camera.capture { resolution = 513 }")
+    await test.lua_error("frame.camera.capture { resolution = 721 }")
+
+    ## Capture in different quality
+    await test.lua_send("frame.camera.capture { quality = 'VERY_HIGH' }")
+    await test.lua_send("frame.camera.capture { quality = 'HIGH' }")
+    await test.lua_send("frame.camera.capture { quality = 'MEDIUM' }")
+    await test.lua_send("frame.camera.capture { quality = 'LOW' }")
+    await test.lua_send("frame.camera.capture { quality = 'VERY_LOW' }")
+
+    await test.lua_error("frame.camera.capture { quality = 50 }")
+    await test.lua_error("frame.camera.capture { quality = 'BAD' }")
+
+    ## Capture with different pan amounts
+    await test.lua_send("frame.camera.capture { pan = -140 }")
+    await test.lua_send("frame.camera.capture { pan = -75 }")
+    await test.lua_send("frame.camera.capture { pan = 0 }")
+    await test.lua_send("frame.camera.capture { pan = 75 }")
+    await test.lua_send("frame.camera.capture { pan = 140 }")
+
+    await test.lua_error("frame.camera.capture { pan = -141 }")
+    await test.lua_error("frame.camera.capture { pan = 200 }")
 
     ## Read
+    await test.lua_send("frame.sleep(0.1)")
     await test.lua_equals("#frame.camera.read(123)", "123")
+    await test.lua_equals("#frame.camera.read_raw(54)", "54")
 
     ## Test sleep prevents captures
     await test.lua_send("frame.camera.power_save(true)")
@@ -196,9 +217,6 @@ async def main():
     await test.lua_send("frame.sleep(0.1)")
     await test.lua_send("frame.camera.capture{}")
 
-    ## Zoom & pan
-    # TODO
-
     ## Manual exposure & gain
     # TODO
 

tests/test_camera.py

@@ -55,7 +55,7 @@ async def main():
     frame.camera.power_save(false)
 
     frame.camera.set_gain(1)
-    frame.camera.set_shutter(2500)
+    frame.camera.set_shutter(1500)
 
     frame.camera.capture { resolution = 100, quality = 'VERY_HIGH' }; transfer()
     frame.camera.capture { resolution = 100, quality = 'HIGH' }; transfer()
@@ -81,6 +81,14 @@ async def main():
     frame.camera.capture { resolution = 720, quality = 'LOW' }; transfer()
     frame.camera.capture { resolution = 720, quality = 'VERY_LOW' }; transfer()
 
+    frame.camera.capture { resolution = 720, pan = -140 }; transfer()
+    frame.camera.capture { resolution = 720, pan = -75 }; transfer()
+    frame.camera.capture { resolution = 720, pan = 0 }; transfer()
+    frame.camera.capture { resolution = 720, pan = 75 }; transfer()
+    frame.camera.capture { resolution = 720, pan = 140 }; transfer()
+
+    frame.camera.capture { }; transfer()
+
     print("Done - Press enter to finish")
     """