Initial structure with gateware directory to store cores sources.

Example SpinalHDL core handling ov7670 registered inputs
Example litex firmware to access ov7670 control bus

.bsp/sbt.json

@@ -0,0 +1 @@
+{"name":"sbt","version":"1.6.0","bspVersion":"2.0.0-M5","languages":["scala"],"argv":["/usr/lib/jvm/java-11-openjdk-amd64/bin/java","-Xms100m","-Xmx100m","-classpath","/home/dlobato/.local/share/JetBrains/IdeaIC2022.2/Scala/launcher/sbt-launch.jar","-Dsbt.script=/usr/bin/sbt","xsbt.boot.Boot","-bsp"]}

.gitignore

@@ -14,6 +14,32 @@
 debug.log
 
 .vscode
+.idea
 obj_dir
 *.fst
-imgui.ini
+imgui.ini
+
+build
+
+*.d
+*.o
+*.bin
+*.elf
+*.map
+
+*.egg-info/
+
+# sbt specific
+.cache/
+.history/
+.lib/
+dist/*
+target
+lib_managed/
+src_managed/
+project/boot/
+project/plugins/project/
+
+simWorkspace/
+tmp/
+null

build.sbt

@@ -0,0 +1,19 @@
+ThisBuild / version := "1.0"
+ThisBuild / scalaVersion := "2.12.16"
+ThisBuild / organization := "org.jderobot"
+
+val spinalVersion = "1.7.3"
+val spinalCore = "com.github.spinalhdl" %% "spinalhdl-core" % spinalVersion
+val spinalLib = "com.github.spinalhdl" %% "spinalhdl-lib" % spinalVersion
+val spinalIdslPlugin = compilerPlugin("com.github.spinalhdl" %% "spinalhdl-idsl-plugin" % spinalVersion)
+val scalatest = "org.scalatest" %% "scalatest-funsuite" % "3.2.14" % "test"
+
+lazy val mylib = (project in file("."))
+  .settings(
+    name := "fpga-robotics",
+    Compile / scalaSource := baseDirectory.value / "gateware" / "main" / "scala",
+    Test / scalaSource := baseDirectory.value / "gateware" / "test" / "scala",
+    libraryDependencies ++= Seq(spinalCore, spinalLib, spinalIdslPlugin)
+  )
+
+fork := true

designs/cam_to_hdmi/radiona_ulx3s.py

@@ -0,0 +1,229 @@
+#!/usr/bin/env python3
+from litex.build.generic_platform import Subsignal, Pins, IOStandard, Misc
+from litex.soc.cores.bitbang import I2CMaster
+#
+# This file is part of LiteX-Boards.
+#
+# Copyright (c) 2018-2019 Florent Kermarrec <[email protected]>
+# Copyright (c) 2018 David Shah <[email protected]>
+# SPDX-License-Identifier: BSD-2-Clause
+
+from migen import *
+from migen.genlib.resetsync import AsyncResetSynchronizer
+
+from litex.build.io import DDROutput, SDROutput
+
+from litex_boards.platforms import radiona_ulx3s
+
+from litex.build.lattice.trellis import trellis_args, trellis_argdict
+
+from litex.soc.cores.clock import *
+from litex.soc.integration.soc_core import *
+from litex.soc.integration.builder import *
+from litex.soc.cores.video import VideoHDMIPHY
+from litex.soc.cores.led import LedChaser
+from litex.soc.cores.spi import SPIMaster
+from litex.soc.cores.gpio import GPIOOut
+
+from litedram import modules as litedram_modules
+from litedram.phy import GENSDRPHY, HalfRateGENSDRPHY
+
+#from fpga_robotics.cores.video.ov7670 import OV7670
+
+
+# CRG ----------------------------------------------------------------------------------------------
+
+class _CRG(Module):
+    def __init__(self, platform, sys_clk_freq, with_usb_pll=False, with_video_pll=False, sdram_rate="1:1"):
+        self.rst = Signal()
+        self.clock_domains.cd_sys    = ClockDomain()
+        if sdram_rate == "1:2":
+            self.clock_domains.cd_sys2x    = ClockDomain()
+            self.clock_domains.cd_sys2x_ps = ClockDomain()
+        else:
+            self.clock_domains.cd_sys_ps = ClockDomain()
+
+        # # #
+
+        # Clk / Rst
+        clk25 = platform.request("clk25")
+        rst   = platform.request("rst")
+
+        # PLL
+        self.submodules.pll = pll = ECP5PLL()
+        self.comb += pll.reset.eq(rst | self.rst)
+        pll.register_clkin(clk25, 25e6)
+        pll.create_clkout(self.cd_sys,    sys_clk_freq)
+        if sdram_rate == "1:2":
+            pll.create_clkout(self.cd_sys2x,    2*sys_clk_freq)
+            pll.create_clkout(self.cd_sys2x_ps, 2*sys_clk_freq, phase=180) # Idealy 90° but needs to be increased.
+        else:
+           pll.create_clkout(self.cd_sys_ps, sys_clk_freq, phase=90)
+
+        # USB PLL
+        if with_usb_pll:
+            self.submodules.usb_pll = usb_pll = ECP5PLL()
+            self.comb += usb_pll.reset.eq(rst | self.rst)
+            usb_pll.register_clkin(clk25, 25e6)
+            self.clock_domains.cd_usb_12 = ClockDomain()
+            self.clock_domains.cd_usb_48 = ClockDomain()
+            usb_pll.create_clkout(self.cd_usb_12, 12e6, margin=0)
+            usb_pll.create_clkout(self.cd_usb_48, 48e6, margin=0)
+
+        # Video PLL
+        if with_video_pll:
+            self.submodules.video_pll = video_pll = ECP5PLL()
+            self.comb += video_pll.reset.eq(rst | self.rst)
+            video_pll.register_clkin(clk25, 25e6)
+            self.clock_domains.cd_hdmi   = ClockDomain()
+            self.clock_domains.cd_hdmi5x = ClockDomain()
+            video_pll.create_clkout(self.cd_hdmi,    25e6, margin=0)
+            video_pll.create_clkout(self.cd_hdmi5x, 125e6, margin=0)
+
+        # VideoProc PLL
+        self.submodules.videoproc_pll = videoproc_pll = ECP5PLL()
+        self.comb += videoproc_pll.reset.eq(rst | self.rst)
+        videoproc_pll.register_clkin(clk25, 25e6)
+        self.clock_domains.cd_videoproc = ClockDomain()
+        self.clock_domains.cd_xclk = ClockDomain()
+        videoproc_pll.create_clkout(self.cd_videoproc,    100e6, margin=0)
+        videoproc_pll.create_clkout(self.cd_xclk,    25e6, margin=0)
+        self.specials += DDROutput(1, 0, platform.request("ov7670_xclk"), ClockSignal("xclk"))
+
+        self.clock_domains.cd_pclk = cd_pclk = ClockDomain()
+        self.comb += cd_pclk.clk.eq(platform.request("ov7670_pclk"))
+        self.specials += AsyncResetSynchronizer(cd_pclk, rst | self.rst)
+
+        # SDRAM clock
+        sdram_clk = ClockSignal("sys2x_ps" if sdram_rate == "1:2" else "sys_ps")
+        self.specials += DDROutput(1, 0, platform.request("sdram_clock"), sdram_clk)
+
+        # Prevent ESP32 from resetting FPGA
+        self.comb += platform.request("wifi_gpio0").eq(1)
+
+# BaseSoC ------------------------------------------------------------------------------------------
+
+class BaseSoC(SoCCore):
+    def __init__(self, device="LFE5U-45F", revision="2.0", toolchain="trellis",
+        sys_clk_freq=int(50e6), sdram_module_cls="MT48LC16M16", sdram_rate="1:1",
+        with_led_chaser=True, with_video_terminal=False, with_video_framebuffer=False,
+        with_spi_flash=False, **kwargs):
+        platform = radiona_ulx3s.Platform(device=device, revision=revision, toolchain=toolchain)
+        platform.add_extension([
+            ("i2c", 0,
+                 Subsignal("scl", Pins("C6"), IOStandard("LVCMOS33"), Misc("DRIVE=4"), Misc("PULLMODE=UP")),  # GP6
+                 Subsignal("sda", Pins("C7"), IOStandard("LVCMOS33"), Misc("DRIVE=4"), Misc("PULLMODE=UP"))  # GN6
+             ),
+            ("ov7670_xclk", 0, Pins("B11"), IOStandard("LVCMOS33")),  # GP0
+            ("ov7670_pclk", 0, Pins("N16"), IOStandard("LVCMOS33")),
+            ("ov7670", 0,
+                Subsignal("href", Pins("N17"), IOStandard("LVCMOS33")),
+                Subsignal("vsync", Pins("P16"), IOStandard("LVCMOS33")),
+                Subsignal("data", Pins("C16 D16 B17 C17 B15 C15 C18 D17"), IOStandard("LVCMOS33")),
+            )
+        ])
+
+        # CRG --------------------------------------------------------------------------------------
+        with_usb_pll   = kwargs.get("uart_name", None) == "usb_acm"
+        with_video_pll = with_video_terminal or with_video_framebuffer
+        self.submodules.crg = _CRG(platform, sys_clk_freq, with_usb_pll, with_video_pll, sdram_rate=sdram_rate)
+
+        # SoCCore ----------------------------------------------------------------------------------
+        SoCCore.__init__(self, platform, sys_clk_freq, ident="LiteX SoC on ULX3S", **kwargs)
+
+        # SDR SDRAM --------------------------------------------------------------------------------
+        if not self.integrated_main_ram_size:
+            sdrphy_cls = HalfRateGENSDRPHY if sdram_rate == "1:2" else GENSDRPHY
+            self.submodules.sdrphy = sdrphy_cls(platform.request("sdram"), sys_clk_freq)
+            self.add_sdram("sdram",
+                phy           = self.sdrphy,
+                module        = getattr(litedram_modules, sdram_module_cls)(sys_clk_freq, sdram_rate),
+                size          = 0x40000000,
+                l2_cache_size = kwargs.get("l2_size", 8192)
+            )
+
+        # Video ------------------------------------------------------------------------------------
+        if with_video_terminal or with_video_framebuffer:
+            self.submodules.videophy = VideoHDMIPHY(platform.request("gpdi"), clock_domain="hdmi")
+            if with_video_terminal:
+                self.add_video_terminal(phy=self.videophy, timings="640x480@75Hz", clock_domain="hdmi")
+            if with_video_framebuffer:
+                self.add_video_framebuffer(phy=self.videophy, timings="640x480@75Hz", clock_domain="hdmi")
+
+        # SPI Flash --------------------------------------------------------------------------------
+        if with_spi_flash:
+            from litespi.modules import IS25LP128
+            from litespi.opcodes import SpiNorFlashOpCodes as Codes
+            self.add_spi_flash(mode="4x", module=IS25LP128(Codes.READ_1_1_4))
+
+        # Leds -------------------------------------------------------------------------------------
+        if with_led_chaser:
+            self.submodules.leds = LedChaser(
+                pads         = platform.request_all("user_led"),
+                sys_clk_freq = sys_clk_freq)
+
+        # I2C --------------------------------------------------------------------------------------
+        pads = platform.request("i2c", 0)
+        self.submodules.i2c = I2CMaster(pads)
+
+        #ov7670_pads = platform.request("ov7670", 0)
+        #self.submodules.ov7670 = OV7670(pads = ov7670_pads, clock_domain="videoproc")
+
+
+
+# Build --------------------------------------------------------------------------------------------
+
+def main():
+    from litex.soc.integration.soc import LiteXSoCArgumentParser
+    parser = LiteXSoCArgumentParser(description="LiteX SoC on ULX3S")
+    target_group = parser.add_argument_group(title="Target options")
+    target_group.add_argument("--build",           action="store_true",   help="Build design.")
+    target_group.add_argument("--load",            action="store_true",   help="Load bitstream.")
+    target_group.add_argument("--toolchain",       default="trellis",     help="FPGA toolchain (trellis or diamond).")
+    target_group.add_argument("--device",          default="LFE5U-45F",   help="FPGA device (LFE5U-12F, LFE5U-25F, LFE5U-45F or LFE5U-85F).")
+    target_group.add_argument("--revision",        default="2.0",         help="Board revision (2.0 or 1.7).")
+    target_group.add_argument("--sys-clk-freq",    default=50e6,          help="System clock frequency.")
+    target_group.add_argument("--sdram-module",    default="MT48LC16M16", help="SDRAM module (MT48LC16M16, AS4C32M16 or AS4C16M16).")
+    target_group.add_argument("--with-spi-flash",  action="store_true",   help="Enable SPI Flash (MMAPed).")
+    sdopts = target_group.add_mutually_exclusive_group()
+    sdopts.add_argument("--with-spi-sdcard", action="store_true",   help="Enable SPI-mode SDCard support.")
+    sdopts.add_argument("--with-sdcard",     action="store_true",   help="Enable SDCard support.")
+    target_group.add_argument("--with-oled",       action="store_true",   help="Enable SDD1331 OLED support.")
+    target_group.add_argument("--sdram-rate",      default="1:1",         help="SDRAM Rate (1:1 Full Rate or 1:2 Half Rate).")
+    viopts = target_group.add_mutually_exclusive_group()
+    viopts.add_argument("--with-video-terminal",    action="store_true", help="Enable Video Terminal (HDMI).")
+    viopts.add_argument("--with-video-framebuffer", action="store_true", help="Enable Video Framebuffer (HDMI).")
+    builder_args(parser)
+    soc_core_args(parser)
+    trellis_args(parser)
+    args = parser.parse_args()
+
+    soc = BaseSoC(
+        device                 = args.device,
+        revision               = args.revision,
+        toolchain              = args.toolchain,
+        sys_clk_freq           = int(float(args.sys_clk_freq)),
+        sdram_module_cls       = args.sdram_module,
+        sdram_rate             = args.sdram_rate,
+        with_video_terminal    = args.with_video_terminal,
+        with_video_framebuffer = args.with_video_framebuffer,
+        with_spi_flash         = args.with_spi_flash,
+        **soc_core_argdict(args))
+    if args.with_spi_sdcard:
+        soc.add_spi_sdcard()
+    if args.with_sdcard:
+        soc.add_sdcard()
+    if args.with_oled:
+        soc.add_oled()
+
+    builder = Builder(soc, **builder_argdict(args))
+    builder_kargs = trellis_argdict(args) if args.toolchain == "trellis" else {}
+    if args.build:
+        builder.build(**builder_kargs)
+
+    if args.load:
+        prog = soc.platform.create_programmer()
+        prog.load_bitstream(builder.get_bitstream_filename(mode="sram", ext=".svf")) # FIXME
+
+if __name__ == "__main__":
+    main()