Remove dependency on OpenCV fork

Fixes #31

Author: sfe-SparkFro

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "src/opencv/opencv"]
 	path = src/opencv/opencv
-	url = https://github.com/sfe-SparkFro/opencv.git
+	url = https://github.com/opencv/opencv.git
 [submodule "src/ulab"]
 	path = src/ulab
 	url = https://github.com/v923z/micropython-ulab.git

src/opencv/opencv

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2019 BayLibre SAS
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_TOOLCHAIN_STDINT_H_
+#define ZEPHYR_INCLUDE_TOOLCHAIN_STDINT_H_
+
+/*
+ * Some gcc versions and/or configurations as found in the Zephyr SDK
+ * (questionably) define __INT32_TYPE__ and derivatives as a long int
+ * which makes the printf format checker to complain about long vs int
+ * mismatch when %u is given a uint32_t argument, and uint32_t pointers not
+ * being compatible with int pointers. Let's redefine them to follow
+ * common expectations and usage.
+ */
+
+#if __SIZEOF_INT__ != 4
+#error "unexpected int width"
+#endif
+
+#undef __INT32_TYPE__
+#undef __UINT32_TYPE__
+#undef __INT_FAST32_TYPE__
+#undef __UINT_FAST32_TYPE__
+#undef __INT_LEAST32_TYPE__
+#undef __UINT_LEAST32_TYPE__
+#undef __INT64_TYPE__
+#undef __UINT64_TYPE__
+#undef __INT_FAST64_TYPE__
+#undef __UINT_FAST64_TYPE__
+#undef __INT_LEAST64_TYPE__
+#undef __UINT_LEAST64_TYPE__
+
+#define __INT32_TYPE__ int
+#define __UINT32_TYPE__ unsigned int
+#define __INT_FAST32_TYPE__ __INT32_TYPE__
+#define __UINT_FAST32_TYPE__ __UINT32_TYPE__
+#define __INT_LEAST32_TYPE__ __INT32_TYPE__
+#define __UINT_LEAST32_TYPE__ __UINT32_TYPE__
+#define __INT64_TYPE__ long long int
+#define __UINT64_TYPE__ unsigned long long int
+#define __INT_FAST64_TYPE__ __INT64_TYPE__
+#define __UINT_FAST64_TYPE__ __UINT64_TYPE__
+#define __INT_LEAST64_TYPE__ __INT64_TYPE__
+#define __UINT_LEAST64_TYPE__ __UINT64_TYPE__
+
+/*
+ * The confusion also exists with __INTPTR_TYPE__ which is either an int
+ * (even when __INT32_TYPE__ is a long int) or a long int. Let's redefine
+ * it to a long int to get some uniformity. Doing so also makes it compatible
+ * with LP64 (64-bit) targets where a long is always 64-bit wide.
+ */
+
+#if __SIZEOF_POINTER__ != __SIZEOF_LONG__
+#error "unexpected size difference between pointers and long ints"
+#endif
+
+#undef __INTPTR_TYPE__
+#undef __UINTPTR_TYPE__
+#define __INTPTR_TYPE__ long int
+#define __UINTPTR_TYPE__ long unsigned int
+
+/*
+ * Re-define the INTN_C(value) integer constant expression macros to match the
+ * integer types re-defined above.
+ */
+
+#undef __INT32_C
+#undef __UINT32_C
+#undef __INT64_C
+#undef __UINT64_C
+#define __INT32_C(c) c
+#define __UINT32_C(c) c ## U
+#define __INT64_C(c) c ## LL
+#define __UINT64_C(c) c ## ULL
+
+#endif /* ZEPHYR_INCLUDE_TOOLCHAIN_STDINT_H_ */

src/opencv/platforms/include/zephyr_stdint.h

@@ -12,6 +12,15 @@ include("${CMAKE_CURRENT_LIST_DIR}/common.cmake")
 # Set RP2350 specific settings
 set(OPENCV_DISABLE_THREAD_SUPPORT ON)
 
+# Add compiler flag -D_M_CEE
+# set(CMAKE_C_FLAGS_INIT "${CMAKE_C_FLAGS_INIT} -D_M_CEE")
+# set(CMAKE_CXX_FLAGS_INIT "${CMAKE_CXX_FLAGS_INIT} -D_M_CEE")
+
 # Fix for https://github.com/raspberrypi/pico-sdk/issues/2505
 set(CMAKE_C_FLAGS_INIT "${CMAKE_C_FLAGS_INIT} -DOPENCV_INCLUDE_PORT_FILE=\\\"${CMAKE_CURRENT_LIST_DIR}/include/rp2350_unsafe_cv_xadd.h\\\"")
 set(CMAKE_CXX_FLAGS_INIT "${CMAKE_CXX_FLAGS_INIT} -DOPENCV_INCLUDE_PORT_FILE=\\\"${CMAKE_CURRENT_LIST_DIR}/include/rp2350_unsafe_cv_xadd.h\\\"")
+
+# Fix for https://github.com/sparkfun/micropython-opencv/issues/31
+# Source: https://docs.zephyrproject.org/4.0.0/doxygen/html/zephyr__stdint_8h_source.html
+set(CMAKE_C_FLAGS_INIT "${CMAKE_C_FLAGS_INIT} -imacros ${CMAKE_CURRENT_LIST_DIR}/include/zephyr_stdint.h")
+set(CMAKE_CXX_FLAGS_INIT "${CMAKE_CXX_FLAGS_INIT} -imacros ${CMAKE_CURRENT_LIST_DIR}/include/zephyr_stdint.h")

src/opencv/platforms/rp2350.toolchain.cmake

@@ -50,3 +50,8 @@ target_link_libraries(usermod INTERFACE "-Wl,--wrap,malloc")
 target_link_libraries(usermod INTERFACE "-Wl,--wrap,free")
 target_link_libraries(usermod INTERFACE "-Wl,--wrap,calloc")
 target_link_libraries(usermod INTERFACE "-Wl,--wrap,realloc")
+
+# __NEWLIB__ is not defined for some reason, which causes a conflicting
+# definition of uint here:
+# https://github.com/opencv/opencv/blob/9cdd525bc59b34a3db8f6db905216c5398ca93d6/modules/core/include/opencv2/core/hal/interface.h#L35-L39
+target_compile_definitions(usermod INTERFACE -D__NEWLIB__)