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);
 }