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controller_files/imx477_Full_frame_test_pattern_2.png create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/imx477_Full_frame_test_pattern_3.png create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__002.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__003.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__004.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__005.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__006.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__007.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge__008.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/mipi_fpga_ipod_lcd_nano_6_ipone_verilog_spi_mipi_bridge_driv.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/navbar.html create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C 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MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/tindie-larges.png create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_002.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_003.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_004.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_005.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_006.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_007.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_008.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_009.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_010.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_011.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_012.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_013.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_014.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_015.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_016.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_017.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_018.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_019.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_020.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_021.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_022.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_023.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_024.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_025.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crossl_026.JPG create mode 100644 docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller_files/usb_c_fpga_mipi_camera_c_mount_industrial_lattice_crosslink_.JPG diff --git a/docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller.html b/docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller.html new file mode 100644 index 0000000..ab1086a --- /dev/null +++ b/docs/Embedded Engineering Making Opensource USB C industrial camera with Interchangeable C mount lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller.html @@ -0,0 +1,3143 @@ + + + + + + + + + + + + + + + + + + + +Embedded Engineering : Making Opensource USB C industrial camera +with Interchangeable C mount lens, Interchangeable MIPI Sensor with +Lattice Crosslink NX FPGA and Cypress FX3 USB 3.0 controller + + + + + + + + + + + +
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Sunday, June 12, 2022

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+Making Opensource USB C industrial camera with Interchangeable C mount +lens, Interchangeable MIPI Sensor with Lattice Crosslink NX FPGA and +Cypress FX3 USB 3.0 controller +

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     This + post is going yet another part in the DIY camera projects which have +been doing since quite some time. In this post I will showing you next +successful implementation of making C mount high lens mount  USB C +camera. This implementation will have absolute modular boards having +dedicated Sensor board which can be changed if needed. 

+ +


Project Video


+




Hardware System
There are three boards, USB, FPGA and Sensor board. 
Sensor + board has Sensor itself along with its power and Oscillator, Board +has  High Density connector to be able to connect to FPGA/Host +board, High Density connector also supply power to the board has I2C, +4Lane MIPI with clock , I2C and also few other control signals. 


FPGA + board has in this case Lattice Crosslink NX LIFCL-40 in 256caBGA +package with required power regulators, This board also has 2x 16Mybte +RAM for applications that need additional memory, FPGA config flash +memory is also on this board this board has two high density connector. +Board pass I2C signal from Host right threw. 

USB + Board in this case has CYUSB3014 USB 3.0 Superspeed controller, along +with required power and Memory, As this board has 3.0 USB C connector, +so there is USB 3.0 mux is also there to support connector +reversal 

Schematic 

Currently + I have just one camera PCB, This schematic shows IMX290 IMX327 IMX462 +PCB , all these 3 sensors have same resolution and also same PCB +footprint.



FPGA board







USB 3.0 board




PCB Boards


All of the boards are 6 Layer, All of them are 27 x 27 mm , while mounting holes are 22 mm appart

Camera sensor Board 




IMX477 Sensor PCB





FPGA PCB





USB 3.0 Board




Assembly 






Hardware and Camera Lens C mount

To + be able to mount a C mount lens I designed a mount in Fusion 360. as +small threads on FDM printer are little hard to deal with  There +are many already made aluminum CS mount to C mount adapters are +available online, Raspberry Pi camera also comes with one such ring, I +bought these CS to C mount ring and I designed part around my PCB to fit + these CS mount adapter ring to give me metal thread. 









Enclosure








FPGA Design

MIPI
What + is MIPI, you can google it to find out but basically it is a interface +specification for Displays and Camera sensor to a application processor.

Image + blow show block diagram of MIPI.  On one side there is application + processor and other side is the peripheral. When peripheral is Camera +and CSI apply. though mipi is closed specification which means one has +to be member of MIPI consortium to gain access to full specification. +And membership of the consortium comes with a big price tag for +individuals. Luckily full specification is already available just a +right keyword web search away. DCS, CCS, DSI, CSI and DPHY all the +specification are available with just few minutes of web search.




+ + + MIPI DPHY Signal +
+
+
+The image shows i got from google shows signal level for MIPI , HS +driven by differential driver swings -200mV to +200mV at offset of +200mv. while LP signal is a 1.2V lvcmos 
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+there are two different modes of transmission , HS mode and LP mode, HS +mode is for hi speed display data while LP mode is for Low power +transmission. 
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+Receiver must detect when transmitter has gone into HS mode and exited HS mode.
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+Image blow shows how transmitter enter HS modes. 
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+Stage 0 : LP-11 state in the shown image is LP state.
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+Stage 1 : To get into HS mode driver drives LPdp low for Tlpx(minimum 50ns) and stay in LP-01 (HS driver is tristate in LP 01).
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+Stage 2: Driver drives LPdn low for Ths-prepare (minimum 95ns) stay in +LP-00 , Later somewere in the middle of this stage target device will +activate it's 100R termination register. 
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+Stage 3: Now Target is in HS, driver activates HS driver start sending mandatory zeros .
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+Stage 4: Send mandatory 0xB8 sync byte and then payload.
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+CSI
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+As explained earlier CSI , describes Packet structure. How exactly bytes are packed on to wire in different lanes configuration.
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+Image blow shows packet structure. 
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+There are Two types of Packets
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+Short Packet: 4 Bytes (Fixed Length)
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+Long Packet: 6 - 655541 Bytes (Variable Length)
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MIPI Short Packet Structure
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MIPI Long Packet Structure
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+Endianness
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+Bytes are sent lsbit first and bytes in the packet are sent LSByte first. 
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+CCS
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+Very important fact with CCS when comparing with DCS , CCS describes +command interface to be I2C while with DCS commands are set over same HS + line as the data itself. 
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+But in case of camera as per MIPI spec CCS is implemented over a extra I2C line. 
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+CSI Single Frame
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+Single Frame from camera is show in the image blow. 
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+Camera send a Frame start packet 
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+Then send embedded line information which tells receiver about the stream 
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+Then image data line by line. 
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 +Test Video
+

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+What make this camera sensor different to camera modules
+

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+IMX219 camera is bare bone camera sensor. What do means when i say bare +bone camera sensor is , there not much image processing going on on the +camera die it self. Camera sensor is Sensor array with Bayer filter on +it , 10 bit ADC , clock system , MIPI output driver and I2C controllable + system control.
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+What does this means for us as camera sensor implementer. As my final +goal is to interface this camera to USB3.0 UVC with RAW YUV.  This +camera does not output YUV, forget about YUV this will not even output +RGB. Camera output is absolute RAW 10-bit ADC conversion result from the + Bayer filtered sensor array.
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+So go first get RGB output from bayer raw data, a Debayer or demosaic +need to be performed. Once demosaic is done we will have RGB ready +to be converted to YUV. And one we have YUV it can be transmitted to USB + to be displayed.
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+What next this camera will not have is any automatic control over +exposure. because camera does not have any intelligence to know how +dark  or bright scene is.  Solution to this problem what +raspberry pi implement is , Raspberry Pi regularly on each frame update +analog gain register over I2C to adjust gain according to how bright and + dark scene is.
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+This camera does not have any white balance control as well so host must + do correct while balance compensations. To get correct colors out of +image.
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+FPGA module Block Diagram 
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+FPGA block diagram is show in the image blow. This diagram describe how +overall system is implemented and what the key components what this +diagram does not describe is control signals and other miscellaneous +stuff.
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+Byte Aligner Received + Raw unaligned bits from DDR RX module outputs Aligned bytes, Bytes on +MIPI lane does not have any defined byte boundary so this modules Looks +for always constant first byte 0xB8 on wire, once 0xB8 is found, byte +boundary offset is determined, set output valid to active and start +outputting correct bytes stays reset when data lane are in MIPI LP state + .
+
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+Lane Aligner Receives multiple lane, byte aligned data from +mipi rx byte aligner @mipi byte clock  outputs lane aligned data in + a multi-lane mipi bus, data on different lane may appear at different +offset so this module will wait till of the all lanes have valid output +start outputting lane aligned data so byte x from all the lanes +outputted at same timescale
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+MIPI CSI Packet Decoder Basically a packet Stripper, removes + header and footer from packet Takes lane aligned data from lane aligner + @ mipi byte clock looks for specific packet type, in this case RAW10bit + (0x2B) RAW12bit (0x2C) RAW14bit (0x2D). Module outputs Stripped bytes +in exactly the way they were received. This module also fetch packet +length and output_valid is active as long as input data is valid and +received number of bytes is still within the limits of packet length.
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+MIPI CSI RAW Depacker  Receives Upto 4 lane raw mipi +bytes from packet decoder, rearrange bytes to output upto 8 pixel upto +16bit each output is one clock cycle delayed, because the way,  +output_valid_o remains active only while  chunk is outputted
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+Debayer / demosaic Takes upto 8x upto 16bit pixel from +depacker module @mipi byte clock output upto 8x upto 32bit RGB for each +pixel , output is delayed by 2 lines Implement Basic Debayer filter, As +debayer need pixel inform neighboring pixel which may be on next or +previous display line, so input data is written onto RAM, only 4 lines +are stored in RAM at one time and only three of the readable at any give + time , RAM to which data is written to can not be read. First line is +expected to BGBG , second line GRGR Basically BGGR format  
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+RGB to YUV Color Space Converter Received upto 8 pixel RGB +from the Debayer filter output upto 8pixel yuv422  Calculation is +done based on integer YUV formula from the YUV wiki page 
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+Output reformatter Takes upto 8pixel yuv input from rgb2yuv +module @ mipi byte clock outputs 32bit 2pixel yuv output @output_clk_i , + This block has RAM to have output clock independent of mipi clock, +Output clock_clock must be fast enough to be able to get whole line +worth of data before next line starts,  This implementation of +Output reformatter outputs data which which meant to send out of the +system to a 32bit receiver depending on requirement this will be need to + be adapted as per the receiver 
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+
+Debayer / demosaic  Need little more attention than other modules , IMX219 datasheet incorrectly mention output as to be either GBRG or RGGB. 
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+But after wasting lots of time it turned out camera output BGGR .  +IMX219 Camera only output BGGR as defined by the IMX219 Driver in linux +repo MEDIA_BUS_FMT_SBGGR10_1X10,  Camera datasheet incrorrectly +defines output as RGGB and GBRG. Data sheet is incorrect in this case.
+
+To test my debayer, Iwas using built in camera test patterns. One key +thing about IMX219 is Bayer filter type does affect test pattern as +well. It seems like in Test pattern mode it outputs RGGB instead of +BGGR. Test pattern will have R and B channel inverted when image have +right color.
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+Update: I have discussed this issue with raspberry pi , It turned out +flipping image seems to be the solution, once image flipped bayer output + it correct for both data from sensor and test pattern. because flipping + image does not affect bayer order of the test pattern.
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+MIPI RAW Packet Format
+
+
+
+
+
+
+

+

+
+
+

+

ISP Pipeline Specifications


No + virtual restriction on supported frame rate or resolution. Tested more +than 4K with IMX477 4056x3040. Can do 8K with around 30FPS or even +higher than that as long as FPGA is fast enough for needed frame rate +and FPGA/Board has enough memory to be able to store minimum 4 Line +worth of pixels. Output Clock is independent of MIPI clock. Easily +Portable code to Xilinx or any other FPGA, No Vendor specific components + has been used except for the PHY itself which can be replaced by other +vendor's DDR phy and Embedded Block RAM. Only Debayer/Demosaic and +Output reformatter need Block RAM. Block ram can also be replaced +vendor's RAM. Auto detection of RAW pixel width supporting different +camera sensors and sensor modes without FPGA reconfiguration.

Speed

  • Supports + MIPI bus clock 900Mbitsps Per lane with upto 4 Lanes, Total 3.6Gbitsps +Sensor bit stream, Has been Tested upto 900Mbitsps with 8x Gear.
  • Pixel + Processing pipeline with 2,4 or 8 Pixel per clock can reach more than +110Mhz with Lattice Crosslink-NX LIFCL-40 High Speed, So basically Can +process upto 880 MegaPixels per second. With this can reach Around +120FPS with 4K resolution and around 30 FPS with 8K. Or even 3000 FPS +with 640 x 480 as long as Camera and MIPI Wire allows. With Different +Faster FPGA speed will be more.
  • FPGA Oputput Pipeline is +decoupled from MIPI clock, runs on output clock, It feeds into Cypress +FX3 32bit GPIF can do Max 160Mhz. Cyress FX3's specs limits max GPIF +clock to 100Mhz.

Configurability

  • Selectable max RAW pixel width
        FPGA + Design is configurable with parameters to support pixel depth from +RAW10 to RAW14 or Virtually any bit depth even 16bit RAW when it becomes + a MIPI Specs. Parameter specify maximum pixel width that is supported +while module auto detect package type at runtime with RAW14 selected as +max pixel width, RAW10, RAW12 and RAW14 will be automatically detected +and processed
  • Selectable number of MIPI lanes: With just definition of Parameter value number of lane is also configurable between 2 or 4 MIPI lanes.
  • Selectable Pipeline Size: Pipeline + is Configurable with a parameter to Process 2,4 or 8 Pixel. 2 Pixel Per + Clock is only available with 2 Lane MIPI, while 8 Pixel Per Clock is +only available with 4 Lanes.
  • Selectable MIPI Gear Ratio: User + can select weather to operate MIPI/DDR Phy in 16x or 8x Gear ratio. +Most DDR/MIPI Phy supports 8x Gear while few do support 16x gear.
  • Selectable MIPI continuous clock mode
    User + and select between MIPI clock lp based Frame sync or Frame start and +frame stop packt based frame sync. Some MIPI cameras do not support +going to LP mode while frame blank occur, With this option user can +enable Frame Start and Frame stop detection, to have a frame sync.
  • Selectable ROM based Sample Generator
    For + ISP debuging ROM based sample generator can be activated. Two ROM lines + are there have both even and odd line to full image test.
Block RAM and DDR PHY IPs need to be manually regenerated if Gear, pixel width , lane or PPC is changed.

Tests


4 Lane 12 bit IMX477
        4056x3040 20 FPS Full Sensor
        2028x1520 70 FPS Full Sensor Binned 2x2
        2028x1080 100 FPS
4 Lane 10 bit IMX477
        1332x990 200 FPS Binned 4x4
        640x480 400 FPS Binned 4x4
2 Lane 12 bit IMX477
        4056x3040 10 FPS Full Sensor
        2028x1520 35 FPS Full Sensor Binned 2x2
        2028x1080 50 FPS
2 Lane 10 bit IMX477
        1332x990 100 FPS Binned 4x4
        640x480 200 FPS Binned 4x4
2 Lane 10 bit IMX219
        3280x2464 7 FPS
        1280x720 30 FPS
        1280x720 60 FPS
        1920x1080 30 FPS
        640x480 30 FPS
        640x480 200 FPS
        640x128 600 FPS
        640x80 900 FPS


4 Lane 12 bit IMX290/IMX327/IMX462
        1280x720 120 FPS
        1920x1080 120 FPS

2 Lane 12 bit IMX290/IMX327/IMX462
        1280x720 60 FPS
        1920x1080 60 FPS

Scope capture 

MIPI 2 Lane Mode, Decoded Data shows both lanes of lane aligned data IMX219 Full frame one of the line, on ch2 is byte clock


A start frame MIPI package (0x00), Use for Frame Sync with cameras where Clock does not go into LP during frame blank

A Frame Stop MIPI package (0x01) , Use for Frame Sync with cameras where Clock does not go into LP during frame blank

Show difference of Fast vs slow slew rate on GPIF port , CH1 shows GPIF port data line and ch2 is ~100Mhz clok


IMX477 + Test pattern mode 0 were full is set to full 0x7FF and other colors are + zero, but pixel where there is no blue color present shows high bits, +Also Even line where there is no blue at all shows high bits, This must +be kept in mind when matching colors 



+
+Test image 
+
+
+
+
IMX219 Basic Test Full Frame Colors Uncorrected 

IMX219 Full Frame Test pattern 5


+
+

+
IMX477 Full Frame Test Pattern 2
+
+
+
+
IMX477 Full Frame Test Pattern 3



 +
+
+Cypress FX3 Firmware
+
+
+
+
+Firmware implementation with FX3 was quite easy. I have put all the +resolution and framerate in the USB descriptor , As described earlier +this type of camera sensors are quite bare bone all the have sensor +element, PLLs and ADC . So this camera sensor does not have any control +over exposure, White-balance or even brightness, I have implemented +manual control over USB UVC control channel. it possible to completely +control camera exposure and brightness.
+
+
+
+
+Few things you keep in mind, cypress fx3 clock frequency need to be set +in 400Mhz mode to allow full 100Mhz 32bit GPIF DMA transfer.
+
+
+
+One more thing is though Cypress CYUSB3014 has 512KB RAM but only 224 KB and additional 32KB is available for DMA buffer.
+
+
+
+Having large buffer chunk is really important because on every DMA chunk + CPU intervention is expected to insert UVC header. As this is high + performance application less often CPU intervention is needed is +better. So I have set DMA chunk / UVC individual packet to 32KB
+
+
+
+Scope capture Image blow shows Channel 13 is the individual DMA packet capture and on Channel 12 show CPU DMA finish interrupt.
+
+
+
+These Two scope capture show difference between 16KB DMA vs 32KB DMA
+
+ + + +
+ +
16KB DMA Size, CH13 DMA packet , CH12 CPU interrupt
+
+ + + +
32KB DMA Size, CH13 DMA packet , CH12 CPU interrupt
+

PCB and Schematic Source is available in the Github Repo. 
+
https://github.com/circuitvalley/USB_C_Industrial_Camera_FPGA_USB3


+
+ +
+
+
+
+Posted by +Gaurav Singh + + +at +9:52 PM + + + + + + + + + + +
+ +
+
+
+Labels: +, +, +, +, +, +, + + +
+
+Location: +Germany + +
+
+
+
+ +

32 comments:

+
+ + +
+
  1. EliaJune 24, 2022 at 1:06 PM

    Absolutely interesting! Very good job! Thanks for share!!

    ReplyDelete
  2. TigerJuly 2, 2022 at 7:56 PM

    Very Impressive!

    ReplyDelete
  3. FrankJuly 5, 2022 at 1:13 PM

    Hi !
    The project is super !
    Is it possible to add an imx335 industrial sensor to the project ?

    ReplyDelete
    Replies
    1. Gaurav SinghJuly 5, 2022 at 8:01 PM

      IMX335 + is also MIPI CSI sensor, So it can be added, I just did a quick search +and found sensor itself is not available for purchase but you can buy +IMX335 based cameras pretty cheap and get camera sensor out of it. Yes +you can have IMX335 As long as you have sensor and Sensor PCB for it.

      Delete
  4. DavidJuly 7, 2022 at 12:45 AM

    Any intentions to support any of the global shutter IMX modules?

    ReplyDelete
    Replies
    1. Gaurav SinghJuly 7, 2022 at 4:00 PM

      There noting special need to be done to support any new MIPI sensor.
      As + long as i could lay my hand on the sensor or even Raspberry Pi style +camera module. I could integrate driver into USB part and its done.

      Delete
    2. Gaurav SinghJuly 7, 2022 at 4:00 PM

      Do you have any suggestion of any easily available sensor?

      Delete
  5. HassanJuly 9, 2022 at 9:57 PM

    Excellent,Is it possible to scale for other Humidity, measuring and texture and servo motor control sensors?

    ReplyDelete
    Replies
    1. Gaurav SinghJuly 10, 2022 at 10:59 AM

      Do you have any specific part number in mind, I assume Humidity sensor would not generate enough data to justify use of an FPGA

      Delete
  6. HassanJuly 10, 2022 at 9:59 PM

    I haven't any idea about parts .
    But our target is to building of hyperspectral cameras the near-infrared
    - 900 – 1700 nm
    -SWIR (1000 – 2500 nm)
    - (2700 – 5300 nm) spectral range .
    These wavelengths are part of the thermal range, so-called MWIR.
    the + targets’ chemical composition for analysis, or detect moisture or +foreign objects in the target. For instance, it should can be used to +detect the sugar level on berries or potatoes or moisture percentage on +baked goods, or to identify different plastic types for recycling.
    Please advice.

    ReplyDelete
    Replies
    1. Gaurav SinghJuly 13, 2022 at 10:42 AM

      Sorry + for delayed response, I Have few questions before i could possible +answer your question. Is this near infrared camera sensor a normal +camera sensor with specif filters or specific filters removed a normal +camera sensor?
      it is normal camera sensor then you do not need to do much.
      But + if it is special camera sensor but has MIPI CSI 2 as interface and Does + output mipi RAW style format, then also you can pretty much use design +as it.
      But if you have special camera with LVDS, Parallel or SLVS-EC then you need some modification to hardware and software.
      If you are talking about specific solutions then you have to talk about what exactly you are dealing with.

      Delete
  7. Unix_ManJuly 24, 2022 at 3:19 PM

    Holy + Sh*t... this is incredible. You should seriously write a book for +serious hobbyist to build such advanced cameras from scratch as like +what you have did.

    Would like to congratulate you for such remarkable DIY camera build you made.

    I + have been searching on google for tutorials on how to build cameras +from scratch and couldn't find any. Luckily I found this tutorial.

    Thanks for this great DIY documentation.

    ReplyDelete
  8. TerrySeptember 12, 2022 at 10:46 AM

    Hi ,

    Can i ask one thing? Sorry i am not familiar with fpeg.So my question may sound silly...
    + Why you don't consider cypress cx3? Using cx3 as bridge and connect +with sensor via 4 lane. Is it more easily to archive then your way?
    Why you need FPGA and cypress-fx? It is more difficult to study and make thing goes well as i think…

    And cognation! good work.

    My company is producting ccm camera and usb camera/
    Current our compnay is using other company's product to test mipi 4 lane sensor. It’s bandwidth is 2.5Gs/s.

    + I ask because my boss want us survey how to build our own tester for +saving money and for me, I can learn skill which is fun fo me.


    So i have 3 opions , I do not know which is beter, can you give me some advice?
    1 jetson nano/rpi cm4 + sensor transfer board + custermor sensor board.
    : Mipi protocol + usb protocol+ linux driver + open source mipi 2 lane codes(I can not found 4 lane source code for now)

    2 cypress cx3 + sensor transfer board + customer sensor board.
    : Mipi protocol + usb protocol + cypress sdk

    3. Like your demo
    Lattice Crosslink NX FPGA+ Cypress FX3 USB 3.0+ sensor transfer board + customer sensor board.
    : Mipi protocol + usb protocol + FPGA+ cypress sdk

    Thanks in advance

    Terry

    ReplyDelete
    Replies
    1. Gaurav SinghSeptember 18, 2022 at 6:18 PM

      Primary + difference between FX3 and CX3 in this application would be, Solution +FX3 + FPGA will not need any custom application at the PC side. Solution + with FX3 implements standard UVC device. As UVC does not support RAW or + RGB so solution with CX3 would need to implement a custom +application/driver solution on the PC side. As almost all of the MIPI +CSI-2 Camera only output RAW bayer. RAW bayer need to be converted to +useable format before anything can be done with it.

      All three possible solution have few limitations and also few advantages.
      1. + With Jetson or RPI , Easy to make will be for sure, Why would really +need all 4 Lanes? 4 Lanes "May" give just few more FPS. a custom Jetson +board will support 4 Lanes camera, Or a Raspberry Pi module also support + 4 Lane camera. Latency may be an issue depending on how you using it +and also because image has to go throw whole Linux ISP.

      2. +Cypress CX3, Will need custom driver and/or custom application on the +PC/USB host side. If you are under windows getting driver signed and +even driver development on windows may not be as fast.

      3. Has +really good latency, Cost is high but still less than a Linux SBC, Has +few limitation with Image quality and corrections.

      Regards

      Delete
    2. TerrySeptember 20, 2022 at 8:10 AM

      Hello,
      Thanks + for your replay. We need 4 lane jig because our customer need 4 lane. +and In our firmware engineer said, if we want use 2 lane to archive the + same fps as 4 lane. The clock must be higher twice clock rate more then + 4 lane. It is easier to cause problem.

      And Currently I think +Way 3 is more good for us. Beause the mipi bandwidth. Currently Our +customer use 16m 30fps. I think in the future they will use more +bandwidth(Maybe 20M or 32M 30fps).

      Lattice CrossLink-NX is 2.5g per lane. Cypress Fx3 is 5g/s. In the future, we can use Sx3 to get 20g/s.


      Terry
       

      Delete
  9. TerrySeptember 15, 2022 at 8:47 AM

    Hello ,
    another question:how to build your lattice crosslink nx ffpeg firmware?
    Is it using lattice diamond software? I ask become i can not find project .only .v verilog file..
    Thanks in advance
    Terry

    ReplyDelete
    Replies
    1. Gaurav SinghSeptember 18, 2022 at 6:08 PM

      Lattice + Crosslink nx are supported by Lattice Radiant software, Not by Diamond, + You need to create a lattice radiant project, Chose target device, Add +all v files and also from Lattice Specific folder under src all IP v +files then, implement

      Delete
  10. TerrySeptember 20, 2022 at 8:12 AM

    Hello,

    My + goal is try to use your project and try to understand. If I use your +project and try to light another mipi 4 lane sensor(like ov13b10 , or +ar1335 just for example, is it very difficult?

    I use Lattice +Radiant , Create a project(Terry_test_crosslink_nx) ,and Use your +src/*.v and Lattice_specific/*.v, I Choose LIFCL(CrossLink-NX) ,(I guess + from your pic.) and Run All. And it seems work without Error but +warning. And when I click Netlist Analyzer some thing think schematic +shows.

    How do I know the output is ready? What is the ouput of +FPGA. Sorry I ask the silly problem...Is it +Terry_test_crosslink_nx_impl_1.ibs? I found it in IBIS directory.

    If + I can produce the FPGA code, and cypress fx3 code, next stage is try to + make our hardware to see your Hardware and try to make one for test +purpose.

    My boss told me it is very difficult for me cause I am +not fpga Engineer, I said I want to use your project code and try to +adjust it. Also FPGA have ip,I know I am beginner in FPGA, but I think +it is possible for me to change your code for our customer ccm +boad.(With vcm possible), and write cypress firmware . For PC write AP +use UVC extension to issue I2c and get raw data from fx3 and fpga .

    I + am not FPGA programmer, I have only a little Hardware background( Nmos, + Pmos, PNP, adc,capacity a little knowledge) I use Stm32 and pico in the + past as Jig, use I2c to commute with Our Lighsensor / Hall sensor and +to test it in producing line. Also some knowleage of linux driver.(I +use open uvc linux driver and change it for our customer module about 5 +years, I can only modify it, I can not write my own uvc linux driver by +myself.)

    I am a software Engineer for about 20 years., my main +focus is c/c++/ OpenCV / Microsoft MFC/algorithm, I graduate at +Mathematic degree and got Computer Science master degree. So my hardware + is weak. Currently I study MIP/PHY spec and USB spec for this purpose. +Also try to learn Verilog . I like to study. That is why I am willing to + tough this area. The question is if I will take too much time to +archive.. My boss won’t got happy if I need one year or longer to do it : + )

    Terry

    ReplyDelete
    Replies
    1. Gaurav SinghSeptember 23, 2022 at 9:28 PM

      You would have bit file as output. That file can be programmed on FPGA.
      I + have an old project published which uses Off the self development +boards, One from lattice mach XO3, another one Cypress FX3 USB board. If + I am starting I would use that to begin with.

      Delete
  11. TerrySeptember 23, 2022 at 12:17 PM

    Hello,

    1. Can i ask one thing, if i want bought sensor/ FPGA /fx board from you. Do you have this product for sale?

    + 2. How can i burn FPGA in your board? I know i can burn FPGA from usb +or jtag if i buy lattice crosslink NX demo board. But i do not know how +to burn FPGA code if from your FPGA board.

    3.I plain to make +our hardware product from your Gerber, But i am afraid some thing will +go wrong. That's why i want buy product from your side directly. And +when i have ability to understand your code. I will make our hardware +product from your Gerber and schematic.

    4. We ask lattice agent + in Taiwan. They said the MIPI IP need 5000 license fee. Yet i can test +for 4 hour each time. It is enough for me. Is it also the same in your +board?

    5. I try to search FPGA + usb 3.0 solution. Currently +only your poject can do it, that is why i am urgent to look for your +help.

    6. Please correct me if i am wrong cause i am a beginner in FPGA...

    Thanks in advance.
    Terry

    ReplyDelete
    Replies
    1. Gaurav SinghSeptember 23, 2022 at 9:21 PM

      1. Depending on your use, I may have few boards left.
      2. + There is Flash memory on the board, Once firmware is flashed you do not + need any programmer, To reprogram you would need any FT2232H cable, I +have used busblaster and few other generic FT2232H board.
      3. You can + possibly order board and try to solder them self. You would need to +take a little care with as board has Large Fine pitch BGA.
      4. I do +not use any IP from Lattice that need any fee. I use dphy IP as without +using it you just can not use hard DPHY of crosslink nx. That IP is +free, It is just basic building block. You can even avoid using that if +needed to.
      6. It is some what complicated project for beginner to approach, I hope you can understand.

      Regards


      Delete
  12. TerrySeptember 30, 2022 at 11:36 AM

    Hello,

    Sorry for the late response. And thank for your kindly response! I see your message 9/26 and I am not prepare to response.

    1. Can you provide the link how i can buy it?

    + 2. If buying is not available, how do our hardware product the same +product with you? i am not sure github resource is enough cause I am +software engineer.
    Does anything hardware engineer need take care?
    For example, i notice your mount is build by 3d print, so we need ask if our Mechanical Engineer can use it directly.

    3. This week spend some time on the Lattice Radiant 3.0 Tutorial with
    CrossLink-NX (LIFCL)
    + And Read a book by Blaine realder: Verilog by example.( +https://www.amazon.com/Verilog-Example-Concise-Introduction-Design/dp/0983497303)
    I am not finishing yet. I think it will cost me 2-3 weeks.(I have 3 job responsibility currently... :()

    + Now I have some knowledge about FPGA Verilog progamming. I can run +sample project form Radiaint and run simulation(ModelSilm) in it.
    After I am done, I will try to understand the code you do it on the github.

    4. I also study the lattice product. The taiwaint lattice agent said
    + They have Sony Imx169(CSI2-to-Parallel Bridge Board) +(https://www.latticesemi.com/csi2bridge) which have .v source code and +can use in
    crosslink nx evaluation board +(https://www.latticesemi.com/en/Products/DevelopmentBoardsAndKits/CrossLink-NXEvaluationBoard)and +
    Lattice USB 3.0 Video Bridging Solution.Is that okay for me to +study? I think if the lattice have solution, and they have sdk so i can + buy their product and study by myself.

    6. If i bough your +product, and i don't want bother you too much. It is your nice character + to share your open project, it is rough for me to keep bother you if i +do not prepare well.
    I need study by myself. That's why if i can +study lattice demo board and cs2 camera withy .v source, more chance i +will study.

    7.I have cypress cx3 demo board(from econ system: +https://www.e-consystems.com/CX3-Reference-Design-Kit.asp), so i have +some experience in cypress EZ-USB Suit,
    i will buy cypress fx3 demo +board(https://www.infineon.com/cms/en/product/evaluation-boards/cyusb3kit-003/) + for study when i am ready.

    ps. Can i send mail to you? Or you + prefer i leave message here. Maill can send picture, it is more easily +to describe my words.(My English is not good)

    Regards
    Terry

    ReplyDelete
  13. TerryOctober 5, 2022 at 10:24 AM

    This comment has been removed by the author.

    ReplyDelete
  14. TerryOctober 5, 2022 at 10:27 AM

    Hello,

    My + hardware view your schematic and tell me . He think he can product the +same layout with you. And if i want him to start working(after convince +my boss),
    he can make his own layout. (Without change your pin defines.)

    He + said if i bought your board. FOr him it will have problem , cause he +need solder the board by himself. So he prefer to make his schematic +and make PCB engineer draw another Gerber. Buy chip from Taiwan agent. +And make PCB company to SMT it by factory.(The cost is about 1000us for +PCB and 700 us fir SMT)

    So, it is no need to buy your board. And I am sorry if you spend time on preparing.

    One more thing, we check your mipi schematic, you use DPHY1 to connect sensor, DPHY 0 is no usage, ist that right?
    And if we directly use your schematic, then we can not use Hard Dphy of crosslink, is that right?

    Right + now i am still learn FPGA , studying Lattice solution. I cannot found +the Offical ccm camera supported by crosslink evolution board. It is +stranger.. Maybe i will write a letter on lattice to see if they can +help me.

    Current I write some sample code on Radiant, I write +some simple Verilog module(like 32 bit counter, two bit ADDER with +carrier), write a test bench, Run it with ModelSim. And I know the FPGA +ouput is *.ibs file.

    Next step is survey the EV board I need and buy it and Test on it.
    It is fun for me. But I do not want my boss wait me too long 



    Thanks

    Terry

    ReplyDelete
    Replies
    1. Gaurav SinghOctober 7, 2022 at 6:40 PM

      Good that things worked out for you. There are two DPHY on FPGA , I use DPHY1 Because in PCB layout it was easy to route them.

      Regards

      Delete
  15. Terry wu's TechniqueNovember 11, 2022 at 7:25 AM

    This comment has been removed by the author.

    ReplyDelete
  16. Terry wu's TechniqueNovember 11, 2022 at 7:26 AM

    This comment has been removed by the author.

    ReplyDelete
  17. Terry wu's TechniqueNovember 11, 2022 at 7:47 AM

    This comment has been removed by the author.

    ReplyDelete
  18. Terry wu's TechniqueNovember 11, 2022 at 7:50 AM

    Hello,

    + it's me again. Can you help with those question? I want spend time +study your project. For better understanding how to write mipi fpga +code!
    My questions:
    1. What is your top module in radiant? Or it do not matter?
    2. you mention mipi ip dphy IP is free, does it have website to state how to use?
    3. i see codes is in radiant 2.0. I am using radiant 3.2 does it matter?



    I buy 1.lattice Embedded Vision Development Kit (crosslink+ ecp5 + fx3)
    It has source code. i will study after those kit arrive my company.
    2. cypress CYUSB3KIT-004( crosslink + sx3) .
    for studying. But CYUSB3KIT-004 do not provide source code! only bitstream and sx3 bin file...
    So maybe i need write my cross link fpga code and use sx3 binary in the furture..

    This month i read 2 verilog book(Chinese book). And run exmple codes.

    Currently i try to solve problem in HDLBits https://hdlbits.01xz.net/wiki/Main_Page.

    Now i know some knowledge about RTL. Gate level / switch level. and know fpga use lut to implementGate level view.
    Also know the fpga have 3 main area:
    Combinational Logic Design
    Sequential Logic Design
    Fine State Machine

    Also the blocking/nonblocking assignment
    Metastability/glitch problem

    Yet i am still a beginner in fpga :p

    Also I am reading some book: (Still progress slowly. My English is not good)
    Vaibbhav Taraate - ASIC Design and Synthesis. RTL Design Using Verilog-Springer (2021)
    Brock J. LaMeres - Introduction to Logic Circuits & Logic Design with Verilog-Springer International Publishing (2019)
    Weste, Neil H E_Harris, David Money - CMOS VLSI Design_ A Circuits and Systems Perspective (2010, Addison-Wesley)

    FPGA is interesting for me. Hope me can enjoy the fpga world. Not drop into fpga hell. haha


    Thanks in advance

    Terry




    ReplyDelete
    Replies
    1. Gaurav SinghNovember 21, 2022 at 12:47 AM

      1. + As you add all the files Top module will be automatically selected, +Just keep Test bench files to be marked for simulation only.
      2. Crosslink nx hard mipi phy is a basic building block it is free. datasheet is available net.
      3. Use latest version of Radiant.

      Delete
  19. NitheeshDecember 4, 2022 at 11:46 PM

    Can + you provide the exact number of glass to display latency(or a close +approximate)? I read you store upto 4 lines in the memory so the latency + should be less than a frame for 4K or UHD?

    ReplyDelete
    Replies
    1. Gaurav SinghDecember 9, 2022 at 12:17 AM

      ISP + Pipeline only has delay / latency of 4 line , if you are talking about +4K 60 FPS then each line is about 7.71us then 4 line would be around 30 +us . So after 30 us of frame start my ISP will start producing valid +data on output.

      Delete
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);background-repeat:no-repeat;border:none;height:28px;outline:0;position:absolute;width:28px}.recaptcha-checkbox-nodatauri.recaptcha-checkbox-borderAnimation{background-image:url(https://www.gstatic.com/recaptcha/api2/checkbox_sprite.png)}.recaptcha-checkbox-spinner-gif{-webkit-border-radius:2px;-moz-border-radius:2px;border-radius:2px;background-color:#fff;back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