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Merge pull request #40 from sparkfun/features_for_launch
First Release
2 parents 819eda1 + e502357 commit adb5ef0

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‎.github/workflows/build.yml

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‎.gitmodules

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[submodule "src/opencv"]
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path = src/opencv
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url = https://github.com/sfe-SparkFro/opencv.git
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[submodule "src/ulab"]
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path = src/ulab
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[submodule "opencv"]
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path = opencv
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url = https://github.com/opencv/opencv.git
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[submodule "ulab"]
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path = ulab
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url = https://github.com/v923z/micropython-ulab.git
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[submodule "micropython"]
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path = micropython
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url = https://github.com/sparkfun/micropython.git

‎Makefile

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# Set Pico SDK flags to create our own malloc wrapper and enable exceptions
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CMAKE_ARGS += -DSKIP_PICO_MALLOC=1 -DPICO_CXX_ENABLE_EXCEPTIONS=1
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ifndef PLATFORM
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$(error PLATFORM not specified. Use 'make PLATFORM=rp2350' or similar.)
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endif
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# Get current directory
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CURRENT_DIR = $(shell pwd)
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TOOLCHAIN_FILE = platforms/${PLATFORM}.toolchain.cmake
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# Set the MicroPython user C module path to the OpenCV module
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MAKE_ARGS = USER_C_MODULES="$(CURRENT_DIR)/src/opencv_upy.cmake"
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# TODO: For some reason, specifying this in the toolchain file doesn't work
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CMAKE_ARGS += -DBUILD_LIST=core,imgproc,imgcodecs
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# Build MicroPython with the OpenCV module
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# Generic build
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all:
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@cd micropython/ports/rp2 && export CMAKE_ARGS="$(CMAKE_ARGS)" && make -f Makefile $(MAKEFLAGS) $(MAKE_ARGS)
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cd opencv && mkdir -p build && cmake -S . -B build -DPICO_BUILD_DOCS=0 -DCMAKE_TOOLCHAIN_FILE=../${TOOLCHAIN_FILE} ${CMAKE_ARGS} && make -C build -f Makefile $(MAKEFLAGS) $(MAKE_ARGS)
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# Clean the MicroPython build
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# Clean the OpenCV build
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clean:
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@cd micropython/ports/rp2 && make -f Makefile $(MAKEFLAGS) clean
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# Load the MicroPython submodules
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submodules:
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@cd micropython/ports/rp2 && make -f Makefile $(MAKEFLAGS) submodules
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cd opencv && rm -rf build

‎README.md

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‎micropython

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‎src/opencv_upy.cmake renamed to ‎micropython_opencv.cmake

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#-------------------------------------------------------------------------------
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# SPDX-License-Identifier: MIT
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#
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# Copyright (c) 2025 SparkFun Electronics
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#-------------------------------------------------------------------------------
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# opencv_upy.cmake
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#
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# CMake file for the MicroPython port of OpenCV.
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#-------------------------------------------------------------------------------
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# Create an INTERFACE library for our CPP module.
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add_library(usermod_cv2 INTERFACE)
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# Add our source files to the library.
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target_sources(usermod_cv2 INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/alloc.c
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${CMAKE_CURRENT_LIST_DIR}/convert.cpp
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${CMAKE_CURRENT_LIST_DIR}/core.cpp
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${CMAKE_CURRENT_LIST_DIR}/imgproc.cpp
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${CMAKE_CURRENT_LIST_DIR}/numpy.cpp
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${CMAKE_CURRENT_LIST_DIR}/opencv_upy.c
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${CMAKE_CURRENT_LIST_DIR}/src/alloc.c
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${CMAKE_CURRENT_LIST_DIR}/src/convert.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/core.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/highgui.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/imgcodecs.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/imgproc.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/numpy.cpp
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${CMAKE_CURRENT_LIST_DIR}/src/opencv_upy.c
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)
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# Add the src directory as an include directory.
@@ -21,16 +33,16 @@ target_link_libraries(usermod INTERFACE usermod_cv2)
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# OpenCV creates some global variables on the heap. These get created before
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# the GC is initialized, so we need to allocate some space for them on the C
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# heap. 10kB seems sufficient. TODO: See if we can get away with less.
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set(MICROPY_C_HEAP_SIZE 10240)
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# heap. 64kB seems sufficient.
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set(MICROPY_C_HEAP_SIZE 65536)
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# Makes m_tracked_calloc() and m_tracked_free() available. These track pointers
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# in a linked list to ensure the GC does not free them. Needed for some OpenCV
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# functions
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set(MICROPY_TRACKED_ALLOC 1)
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# Set ULAB max number of dimensions to 4 (default is 2). TODO: See if 4 is
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# actually needed, or if we can get away with 2.
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# Set ULAB max number of dimensions to 4 (default is 2), which is needed for
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# some OpenCV functions
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target_compile_definitions(usermod INTERFACE ULAB_MAX_DIMS=4)
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# Include ULAB
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target_link_libraries(usermod INTERFACE "-Wl,--wrap,free")
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target_link_libraries(usermod INTERFACE "-Wl,--wrap,calloc")
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target_link_libraries(usermod INTERFACE "-Wl,--wrap,realloc")
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# __NEWLIB__ is not defined for some reason, which causes a conflicting
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# definition of uint here:
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# https://github.com/opencv/opencv/blob/9cdd525bc59b34a3db8f6db905216c5398ca93d6/modules/core/include/opencv2/core/hal/interface.h#L35-L39
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target_compile_definitions(usermod INTERFACE -D__NEWLIB__)

‎opencv

Submodule opencv added at 31b0eee

‎platforms/common.cmake

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# Derived from:
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# https://github.com/joachimBurket/esp32-opencv/blob/master/esp32/doc/detailed_build_procedure.md
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set(CMAKE_BUILD_TYPE Release)
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set(BUILD_SHARED_LIBS OFF)
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set(CV_DISABLE_OPTIMIZATION OFF)
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set(WITH_IPP OFF)
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set(WITH_TBB OFF)
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set(WITH_OPENMP OFF)
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set(WITH_PTHREADS_PF OFF)
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set(WITH_QUIRC OFF)
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set(WITH_1394 OFF)
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set(WITH_CUDA OFF)
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set(WITH_OPENCL OFF)
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set(WITH_OPENCLAMDFFT OFF)
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set(WITH_OPENCLAMDBLAS OFF)
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set(WITH_VA_INTEL OFF)
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set(WITH_EIGEN OFF)
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set(WITH_GSTREAMER OFF)
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set(WITH_GTK OFF)
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set(WITH_JASPER OFF)
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set(WITH_JPEG OFF)
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set(WITH_OPENJPEG OFF)
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set(WITH_WEBP OFF)
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set(BUILD_ZLIB ON)
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set(BUILD_PNG ON)
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set(WITH_TIFF OFF)
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set(WITH_V4L OFF)
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set(WITH_LAPACK OFF)
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set(WITH_ITT OFF)
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set(WITH_PROTOBUF OFF)
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set(WITH_IMGCODEC_HDR OFF)
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set(WITH_IMGCODEC_SUNRASTER OFF)
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set(WITH_IMGCODEC_PXM OFF)
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set(WITH_IMGCODEC_PFM OFF)
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# TODO: For some reason, specifying this in the toolchain file doesn't work
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# set(BUILD_LIST core,imgproc,imgcodecs)
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set(BUILD_JAVA OFF)
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set(BUILD_opencv_python OFF)
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set(BUILD_opencv_java OFF)
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set(BUILD_opencv_apps OFF)
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set(BUILD_PACKAGE OFF)
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set(BUILD_PERF_TESTS OFF)
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set(BUILD_TESTS OFF)
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set(CV_ENABLE_INTRINSICS OFF)
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set(CV_TRACE OFF)
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set(OPENCV_ENABLE_MEMALIGN OFF)

‎platforms/include/rp2350_unsafe_cv_xadd.h

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#ifndef RP2350_UNSAFE_CV_XADD_H
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#define RP2350_UNSAFE_CV_XADD_H
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// Fix for https://github.com/raspberrypi/pico-sdk/issues/2505
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// TLDR; OpenCV uses atomic operations for incrementing reference counters by
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// default. However, the Pico SDK does not support atomic operations on data in
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// PSRAM; attempting to do so just causes an infinite loop where the value is
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// incremented forever. The workaround is to use a non-atomic operation by
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// re-defining the `CV_XADD` macro. This is "unsafe" because it's not atomic,
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// but it *should* be fine since we're only using one thread. Also see:
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// https://github.com/opencv/opencv/blob/52bed3cd7890192700b2451e2713c340209ffd79/modules/core/include/opencv2/core/cvdef.h#L697-L723
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static inline int unsafe_cv_xadd(int* addr, int delta)
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{
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int tmp = *addr;
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*addr += delta;
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return tmp;
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}
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#define CV_XADD(addr, delta) unsafe_cv_xadd(addr, delta)
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#endif

‎platforms/include/zephyr_stdint.h

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

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