Functions
fsp_err_t	R_CRU_Open (cru_ctrl_t const p_api_ctrl, cru_cfg_t const const p_cfg)

fsp_err_t	R_CRU_Close (cru_ctrl_t *const p_api_ctrl)

fsp_err_t	R_CRU_CaptureStart (cru_ctrl_t *const p_api_ctrl)

fsp_err_t	R_CRU_CaptureStop (cru_ctrl_t *const p_api_ctrl)

fsp_err_t	R_CRU_StatusGet (cru_ctrl_t const p_api_ctrl, camera_status_t p_status)

Detailed Description

Driver for the CRU peripheral on RZ MPUs. This module implements the Camera Interface.

Overview

The CRU supports interfacing with external cameras by accepting data signals in order to capture incoming data

Features

Feature	Options
Input color formats	RGB565, RGB888, YCbCr420(8bit), YCbCr420(10bit), YCbCr422(8bit), YCbCr422(10bit), RAW8, RAW10, RAW12, RAW12
Datalanes	one, two, four
Maximum resolution	Up to 2800 x 4095 pixels
Interrupts	Frame Start, Frame End, Scan Line

Configuration

Build Time Configurations for r_cru

The following build time configurations are defined in fsp_cfg/r_cru_cfg.h:

Configuration	Options	Default	Description
Parameter Checking	Default (BSP) Enabled Disabled	Default (BSP)	If selected code for parameter checking is included in the build.

Configurations for Graphics > CRU Driver on r_cru

This module can be added to the Stacks tab via New Stack > Graphics > CRU Driver on r_cru.

Configuration	Options	Default	Description
General > Name	Name must be a valid C symbol	g_cru0	Module name.
Input > Capture Specifications > Number of pixels to capture horizontally	Value must be an integer greater than 0	1280	Specify the number of horizontal pixels to capture.
Input > Capture Specifications > Number of lines to capture vertically	Value must be an integer greater than 0	720	Specify the number of vertical pixels to capture.
Input > Capture Specifications > Horizontal pixel to start capture from	Value must be an integer	0	Specify the horizontal pixel to start capturing image data from. Allows an image smaller than the native resolution of a camera to be captured.
Input > Capture Specifications > Line to start capture from	Value must be an integer	0	Specify the vertical line to start capturing image data from. Allows an image smaller than the native resolution of a camera to be captured.
Input > Timing Custom > Timing	User custom Over 360Mbps 360 Mbps 250 Mbps 125 Mbps 80 Mbps	Over 360Mbps	If User Custom is selected, any value can be set as each parameter
Input > Timing Custom > T_INIT	Value must be an integer	0	If User Custom is selected, any value can be set as this parameter
Input > Timing Custom > TCLK_MISS	Value must be an integer	0	If User Custom is selected, any value can be set as this parameter
Input > Timing Custom > TCLK_SETTLE	Value must be an integer	0	If User Custom is selected, any value can be set as this parameter
Input > Timing Custom > THS_SETTLE	Value must be an integer	0	If User Custom is selected, any value can be set as this parameter
Input > Timing Custom > TCLK_PREPARE	Value must be an integer	0	If User Custom is selected, any value can be set as this parameter
Input > Timing Custom > THS_PREPARE	Value must be an integer	0	If User Custom is selected, any value can be set as this parameter
Input > Color format	YUV420(8bit) YUV420(10bit) YUV422(8bit) YUV422(10bit) RGB565 RGB888 RAW8 RAW10 RAW12 RAW14	YUV422(8bit)	Select the input color format.
Input > Number of datalanes	use 1 datalane use 2 datalanes use 4 datalanes	use 2 datalanes	Select a number of datalanes.
Output > Buffer > Image buffer section	This property must be a valid section name	UNCACHED_BSS	Specify the RAM section for the image data buffer. Typically .bss (internal RAM) or .sdram. When Arm Compiler 6 is used to place this memory in on-chip SRAM, the section name must be .bss or start with .bss. to avoid consuming unnecessary ROM space.
Output > Buffer > Number of image buffers	Value must be an integer between 0 and 8	1	Specify the number of buffers to create.When user select 0,the buffer set in user application can be used.
Output > Color format	YUV420 (YUYV) YUV420 (UYVY) YUV422 (YUYV) YUV422 (UYVY) RGB888 24bit RGB888 32bit(Upper 8bit is 0) ARGB8888 BGRA8888	YUV422 (YUYV)	Select the output color format.
Interrupts > Image Conversion > Enable Interrupt > Frame Start interrupt	Enable Disable	Disable	Enable or Disable Image Conversion interrupt
Interrupts > Image Conversion > Enable Interrupt > Frame End Interrupt	Enable Disable	Disable	Enable or Disable Image Conversion interrupt
Interrupts > Image Conversion > Enable Interrupt > Scan Line interrupt	Enable Disable	Disable	Enable or Disable Image Conversion interrupt
Interrupts > Image Conversion > Enable Interrupt > Scan Line Number	Value must be an integer between 0 and 4095	0	Line specification for generating a scan line interrupt.
Interrupts > Image Conversion > Callback	Name must be a valid C symbol	NULL	Set the callback function name for Image Conversion interrupt
Interrupts > Image Conversion > Interrupt Priority	Value must be between 0 and 31	24	Select the Image Conversion interrupt priority.
Demosaic > bit extension	repeat from the highest 4bits/2bits filled with 0	repeat from the highest 4bits/2bits	Bit extension for demosaic(8bit/10bit -> 12bit).
Demosaic > RAW type	R (RGRG...) Gr(GRGR...) Gb(GBGB...) B (BGBG...)	R (RGRG...)	The 1st pixel type of 1st line when used RAW data as input format
Linearmatrix > Enable	enable disable	disable	Enable or disable linearmatrix after demosaic.This function can be enabled if input format is RAW data
Linearmatrix > Offset R	Value must be an integer between -128 and 127	0	Offset R for Linear matrix calculation. Reference manual for details.
Linearmatrix > Offset G	Value must be an integer between -128 and 127	0	Offset G for Linear matrix calculation. Reference manual for details.
Linearmatrix > Offset B	Value must be an integer between -128 and 127	0	Offset B for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Rr	Value msut be -4 or more and less than 4	1.0	Coefficient Rr for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Rg	Value msut be -4 or more and less than 4	0	Coefficient Rg for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Rb	Value msut be -4 or more and less than 4	0	Coefficient Rb for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Gr	Value msut be -4 or more and less than 4	0	Coefficient Gr for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Gg	Value msut be -4 or more and less than 4	1.0	Coefficient Gg for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Gb	Value msut be -4 or more and less than 4	0	Coefficient Gb for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Br	Value msut be -4 or more and less than 4	0	Coefficient Br for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Bg	Value msut be -4 or more and less than 4	0	Coefficient Bg for Linear matrix calculation. Reference manual for details.
Linearmatrix > Coefficient Bb	Value msut be -4 or more and less than 4	1.0	Coefficient Bb for Linear matrix calculation. Reference manual for details.
Statistics > Enable	enable disable	disable	Enable or disable statistics.This function can be enabled if input format is RAW data
Statistics > Buffer num	Value must be an integer between 0 and 8	0	Number of buffers for statistics.When user select 0,the buffer set in user application can be used.
Statistics > Processing unit	16 x 16 32 x 32 64 x 64 128 x 128	16 x 16	processing unit for statistics.
Statistics > Input data bit position	Value must be an integer between 0 and 8	0	Input data bit position for statistics.If input format is RAW16, [15-n:8-n:]data will be used
Statistics > Horizontal start position	Value must be an integer between 0 and 376	0	Horizontal start position for statistics

Usage Notes

Interrupt Configuration

Frame start or end interrupt is generated when CRU module write capture data for one frame
Scan Line interrupt is generated when user specified line is read by CRU module

CRU setup with external camera

Ensure that the memory pointed to by p_buffer is both valid and large enough to store a complete image.
The amount of space required (in bytes) can be calculated as: size (bytes) = image width (pixels) * image height (lines) * number of bytes per pixel
Ensure that the size above is divisible by and aligned to 512 bytes.

Examples

Basic Example

This is a basic example of minimal use of the CRU in an application. This example shows how this driver can be used for capturing data from an external I/O device such as an image sensor.

void basic_example (void)
{
    /* Open the CRU driver */
    g_cru_on_cru.open(&g_cru_ctrl, &g_cru_cfg);
    /* Start capture */
    g_cru_on_cru.captureStart(&g_cru_ctrl);
}

Data Structures
struct	statistics_cfg_t

struct	linearmatrix_cfg_t

struct	cru_extended_cfg_t

struct	cru_instance_ctrl_t

Enumerations
enum	cru_color_input_format_t

enum	cru_color_output_format_t

enum	cru_datalane_t

enum	cru_interrupt_enable_t

enum	cru_event_image_conv_int_t

Data Structure Documentation

◆ statistics_cfg_t

struct statistics_cfg_t

Statistics configuration parameters

Data Fields
uint8_t	statistics	Setting for Statistics processing (0: execute, 1:through)
uint8_t *	pp_buffer[8]	Pointer to array of buffer pointers.
uint8_t	num_buffers	Number of buffers to use.
uint8_t	stunit	(0:16x16, 1:32x32, 2:64x64, 3:128x128) Selection of processing units for statistics processing(0-3)
uint8_t	stsadpos	Input data bit position selection for adjacent pixel absolute value summation (0-8)
uint16_t	sthpos	horizontal start position for statistics processing (0-376)

◆ linearmatrix_cfg_t

struct linearmatrix_cfg_t

LenearMatrix configuration parameters

Data Fields
uint8_t	linearmatrix	Setting for Linear matrix processing (0: execute, 1:through)
int8_t	rof	R offset value -128(8'h80)～127(8'h7F)
int8_t	gof	G offset value -128(8'h80)～127(8'h7F)
int8_t	bof	B offset value -128(8'h80)～127(8'h7F)
int16_t	rr	Coefficient R of R data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	rg	Coefficient G of R data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	rb	Coefficient B of R data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	gr	Coefficient R of G data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	gg	Coefficient G of G data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	gb	Coefficient B of G data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	br	Coefficient R of B data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	bg	Coefficient G of B data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))
int16_t	bb	Coefficient B of B data for Linear Matrix calculation (-4096(13'h1000)～4095(13'h0FFF))

◆ cru_extended_cfg_t

struct cru_extended_cfg_t

CRU hardware specific configuration

Data Fields
cru_datalane_t	num_datalane	select number of datalane
cru_color_input_format_t	color_input	input color format
cru_color_output_format_t	color_output	output color format
cru_interrupt_enable_t	interrupt_enable	Interrupt enable table.
uint16_t	scan_line_num	Line specification for generating a scan line interrupt.
uint8_t	image_conv_int_ipl	Image conversion interrupt priority.
IRQn_Type	image_conv_int_irq	Image conversion IRQ number.
statistics_cfg_t	statistics_cfg	Statistics Configuration.
linearmatrix_cfg_t	linearmatrix_cfg	LinearMatrix Configuration.
uint8_t	rgb_bit_extension	Settings when RGB bit is extended (8bit/10bit -> 12bit) 0: Lower 4bits/2bits are expanded repeatedly from the highest 4bits/2bits 1: Lower 4bits/2bits are filled with zeros
uint8_t	rawstarttype	0: R (RGRG...), 1: Gr (GRGR...), 2: Gb (GBGB...), 3: B (BGBG...) Specify the type of the 1st pixel of the 1st line of RAW data
uint32_t	t_init
uint32_t	tclk_miss	timing parameter, register of CSIDPHYTIM0
uint32_t	tclk_settle	timing parameter, register of CSIDPHYTIM0
uint32_t	ths_settle	timing parameter, register of CSIDPHYTIM1
uint32_t	tclk_prepare	timing parameter, register of CSIDPHYTIM1
uint32_t	ths_prepare	timing parameter, register of CSIDPHYTIM1

◆ cru_instance_ctrl_t

struct cru_instance_ctrl_t

CRU instance control block.

Data Fields
cru_cfg_t const *	p_cfg
	Status of LCDC module. More...

uint8_t	capture_num
	The buffer number currently used by CRU.

void const *	p_context
	Placeholder for user data. Passed to the user callback.

void(*	p_callback )(camera_callback_args_t *p_args)
	Callback provided when a image conversion ISR occurs.

Field Documentation

◆ p_cfg

cru_cfg_t const* cru_instance_ctrl_t::p_cfg

Status of LCDC module.

Pointer to the configuration structure

Enumeration Type Documentation

◆ cru_color_input_format_t

enum cru_color_input_format_t

CRU color format setting

Enumerator
CRU_COLOR_INPUT_FORMAT_YUV420_8BIT	YUV420 8bit.
CRU_COLOR_INPUT_FORMAT_YUV420_10BIT	YUV420 10bit.
CRU_COLOR_INPUT_FORMAT_YUV422_8BIT	YUV422 8bit.
CRU_COLOR_INPUT_FORMAT_YUV422_10BIT	YUV422 10bit.
CRU_COLOR_INPUT_FORMAT_RGB565	RGB565.
CRU_COLOR_INPUT_FORMAT_RGB888	RGB888.
CRU_COLOR_INPUT_FORMAT_RAW8	RAW8.
CRU_COLOR_INPUT_FORMAT_RAW10	RAW10.
CRU_COLOR_INPUT_FORMAT_RAW12	RAW12.
CRU_COLOR_INPUT_FORMAT_RAW14	RAW14.

◆ cru_color_output_format_t

enum cru_color_output_format_t

Color order setting

Enumerator
CRU_COLOR_OUTPUT_FORMAT_YUV420_YUYV	YUV420 YUYV.
CRU_COLOR_OUTPUT_FORMAT_YUV420_UYVY	YUV420 UYVY.
CRU_COLOR_OUTPUT_FORMAT_YUV422_YUYV	YUV422 YUYV.
CRU_COLOR_OUTPUT_FORMAT_YUV422_UYVY	YUV422 UYVY.
CRU_COLOR_OUTPUT_FORMAT_RGB888_24BIT	RGB888 24BIT.
CRU_COLOR_OUTPUT_FORMAT_RGB888_32BIT	RGB888 32BIT (Upper 8bit is 0x00)
CRU_COLOR_OUTPUT_FORMAT_ARGB8888	ARGB8888.
CRU_COLOR_OUTPUT_FORMAT_BGRA8888	BGRA888.

◆ cru_datalane_t

enum cru_datalane_t

Enumerator
CRU_DATALANE_1	use one datalane
CRU_DATALANE_2	use two datalane
CRU_DATALANE_4	use four datalane

◆ cru_interrupt_enable_t

enum cru_interrupt_enable_t

CRU interrupt enable

◆ cru_event_image_conv_int_t

enum cru_event_image_conv_int_t

CRU events table for image conv int

Enumerator
CRU_EVENT_FRAME_START	Interrupt for Frame Start.
CRU_EVENT_FRAME_END	Interrupt for Frame End.
CRU_EVENT_SCAN_LINE	Interrupt for Scan Line.

Function Documentation

◆ R_CRU_Open()

fsp_err_t R_CRU_Open	(	cru_ctrl_t *const	p_api_ctrl,
		cru_cfg_t const *const	p_cfg
	)

　Initializes the CRU modules and enables interrupts

Return values

FSP_SUCCESS	Initializes the CRU modules.
FSP_ERR_ASSERTION	Pointer to the control block is NULL.
FSP_ERR_ALREADY_OPEN	CRU module is already open
FSP_ERR_INVALID_ARGUMENT	Invalid argument error
FSP_ERR_INVALID_ALIGNMENT	Input buffer alignment

◆ R_CRU_Close()

fsp_err_t R_CRU_Close ( cru_ctrl_t *const p_api_ctrl )

Close the capture while the CRU module is operating

Return values

FSP_SUCCESS	Close the CRU module
FSP_ERR_ASSERTION	Pointer to the control block is NULL.
FSP_ERR_NOT_OPEN	CRU module is not open

◆ R_CRU_CaptureStart()

fsp_err_t R_CRU_CaptureStart ( cru_ctrl_t *const p_api_ctrl )

Start a capture. It is only possible when CRU is open.

Return values

FSP_SUCCESS	start a capture.
FSP_ERR_ASSERTION	Pointer to the control block is NULL.
FSP_ERR_INVALID_MODE	CRU module is not CAMERA_STATE_IN_PROGRESS

◆ R_CRU_CaptureStop()

fsp_err_t R_CRU_CaptureStop ( cru_ctrl_t *const p_api_ctrl )

Stop a capture. It is only possible when CRU is running.

Return values

FSP_SUCCESS	stop a capture.
FSP_ERR_ASSERTION	Pointer to the control block is NULL.
FSP_ERR_INVALID_MODE	CRU module is not CAMERA_STATE_BUSY

◆ R_CRU_StatusGet()

fsp_err_t R_CRU_StatusGet	(	cru_ctrl_t *const	p_api_ctrl,
		camera_status_t *	p_status
	)

Get the camera status, CAMERA module status and buffer address. It is only possible when CRU is running.

Return values

FSP_SUCCESS	stop a capture.
FSP_ERR_ASSERTION	Pointer to the control block is NULL.
FSP_ERR_INVALID_MODE	CRU module is not CAMERA_STATE_BUSY

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for r_cru

Configurations for Graphics > CRU Driver on r_cru

Usage Notes

Interrupt Configuration

CRU setup with external camera

Examples

Basic Example

Data Structures

Enumerations

Data Structure Documentation

◆ statistics_cfg_t

◆ linearmatrix_cfg_t

◆ cru_extended_cfg_t

◆ cru_instance_ctrl_t

Data Fields

Field Documentation

◆ p_cfg

Enumeration Type Documentation

◆ cru_color_input_format_t

◆ cru_color_output_format_t

◆ cru_datalane_t

◆ cru_interrupt_enable_t

◆ cru_event_image_conv_int_t

Function Documentation

◆ R_CRU_Open()

◆ R_CRU_Close()

◆ R_CRU_CaptureStart()

◆ R_CRU_CaptureStop()

◆ R_CRU_StatusGet()