Update Himax motion detection feature.

* Update MD settings according to the new App Note. * Update MD example.

Author: iabdalkader

libraries/Himax_HM01B0/himax.cpp

@@ -117,7 +117,7 @@ static regval_list_t himax_default_regs[] = {
  {SINGLE_THR_HOT, 0x90}, // single hot pixel th
  {SINGLE_THR_COLD, 0x40}, // single cold pixel th
  {0x1012, 0x00}, // Sync. shift disable
- {0x2000, 0x07},
+ {STATISTIC_CTRL, 0x07},  // AE stat en | MD LROI stat en | magic
  {0x2003, 0x00},
  {0x2004, 0x1C},
  {0x2007, 0x00},
@@ -156,7 +156,7 @@ static regval_list_t himax_default_regs[] = {
  {FS_50HZ_H, 0x00},
  {FS_50HZ_L, 0x32},
 
- {MD_CTRL, 0x30},
+ {MD_CTRL, 0x00},
  {FRAME_LEN_LINES_H, HIMAX_FRAME_LENGTH_QVGA>>8},
  {FRAME_LEN_LINES_L, HIMAX_FRAME_LENGTH_QVGA&0xFF},
  {LINE_LEN_PCK_H, HIMAX_LINE_LEN_PCK_QVGA>>8},
@@ -315,20 +315,21 @@ int HIMAX_SetFramerate(uint32_t framerate)
 int HIMAX_EnableMD(bool enable)
 {
  int ret = HIMAX_ClearMD();
- if (enable) {
- ret |= HIMAX_RegWrite(MD_CTRL, 0x03);
- } else {
- ret |= HIMAX_RegWrite(MD_CTRL, 0x30);
- }
+ ret |= HIMAX_RegWrite(MD_CTRL, enable ? 1:0);
  return ret;
 }
 
-int HIMAX_SetMDThreshold(uint32_t low, uint32_t high)
+int HIMAX_SetMDThreshold(uint32_t threshold)
 {
- int ret = 0;
- ret |= HIMAX_RegWrite(MD_THL, low & 0xff);
- ret |= HIMAX_RegWrite(MD_THH, high & 0xff);
- return ret;
+ // Set motion detection threshold/sensitivity.
+ // The recommended threshold range is 0x03 to 0xF0.
+ //
+ // Motion is detected according to the following:
+ // |MD_LROI_MEAN – MD_LROI_IIR_MEAN| > ( MD_LROI_MEAN * MD_THL / 64)
+ //
+ // In other words, motion is detected if the abs difference of the ROI mean and the
+ // average ROI mean of the last 8 or 16 frames is higher than (ROI mean * threshold / 64).
+ return HIMAX_RegWrite(MD_THL, (threshold < 3) ? 3 : (threshold > 0xF0) ? 0xF0 : threshold);
 }
 
 int HIMAX_SetLROI(uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2)

libraries/Himax_HM01B0/himax.h

@@ -158,7 +158,7 @@ int HIMAX_Mode(uint8_t mode);
 int HIMAX_SetResolution(uint32_t resolution);
 int HIMAX_SetFramerate(uint32_t framerate);
 int HIMAX_EnableMD(bool enable);
-int HIMAX_SetMDThreshold(uint32_t low, uint32_t high);
+int HIMAX_SetMDThreshold(uint32_t threshold);
 int HIMAX_SetLROI(uint32_t x, uint32_t y, uint32_t w, uint32_t h);
 int HIMAX_PollMD();
 int HIMAX_ClearMD();

libraries/Portenta_Camera/camera.cpp

@@ -543,12 +543,12 @@ int CameraClass::standby(bool enable)
  }
 }
 
-int CameraClass::motionDetectionThreshold(uint32_t low, uint32_t high)
+int CameraClass::motionDetectionThreshold(uint32_t threshold)
 {
  if (this->initialized == false) {
  return -1;
  }
- return HIMAX_SetMDThreshold(low, high);
+ return HIMAX_SetMDThreshold(threshold);
 }
 
 int CameraClass::motionDetectionWindow(uint32_t x, uint32_t y, uint32_t w, uint32_t h)

libraries/Portenta_Camera/camera.h

@@ -20,7 +20,7 @@ class CameraClass {
  int standby(bool enable);
  int motionDetection(bool enable, md_callback_t callback=NULL);
  int motionDetectionWindow(uint32_t x, uint32_t y, uint32_t w, uint32_t h);
- int motionDetectionThreshold(uint32_t low, uint32_t high);
+ int motionDetectionThreshold(uint32_t threshold);
  int motionDetected();
  int testPattern(bool walking);
 };

libraries/Portenta_Camera/examples/CameraMotionDetect/CameraMotionDetect.ino

@@ -14,12 +14,17 @@ void setup() {
 
  pinMode(LEDB, OUTPUT);
  digitalWrite(LEDB, HIGH);
- 
+
  // Init the cam QVGA, 30FPS
- cam.begin(CAMERA_R320x240, 60);
+ cam.begin(CAMERA_R320x240, 30);
+
+ // Set motion detection threshold (0 -> 255).
+ // The lower the threshold the higher the sensitivity.
+ cam.motionDetectionThreshold(0);
 
- cam.motionDetectionThreshold(100, 200);
+ // Set motion detection window/ROI.
  cam.motionDetectionWindow(0, 0, 320, 240);
+
  // The detection can also be enabled without any callback
  cam.motionDetection(true, on_motion);
 }