[FEATURE] Mira220 (Arducam pivariety) camera support + calibration fixes

Software/LMSourceCode/ImageProcessing/CameraTools/v4l2_trigger

@@ -0,0 +1,20 @@
+#!/bin/bash
+#
+# PiTrac External Trigger Utility for Mira220 (arducam-pivariety)
+#
+# Usage: v4l2_trigger <subdev_index> <mode>
+#   subdev_index: v4l-subdev index (e.g., 2 for /dev/v4l-subdev2 on Pi 5)
+#   mode: 0 = disable external trigger, 1 = enable external trigger
+#
+# Example: v4l2_trigger 2 1   # Enable external trigger on /dev/v4l-subdev2
+#
+# This uses the Arducam pivariety driver's v4l2 control 'trigger_mode':
+#   - trigger_mode=0: normal streaming (internal trigger)
+#   - trigger_mode=1: external trigger via FSIN pin, camera waits for signal
+#
+
+SUBDEV="${1:-2}"
+MODE="${2:-1}"
+
+v4l2-ctl -d "/dev/v4l-subdev${SUBDEV}" -c "trigger_mode=${MODE}"
+exit $?

Software/LMSourceCode/ImageProcessing/camera_hardware.cpp

@@ -88,6 +88,7 @@ namespace golf_sim {
             { "3", CameraModel::PiHQ },
             { "4", CameraModel::PiGS },
             { "5", CameraModel::InnoMakerIMX296GS_Mono },
+            { "6", CameraModel::Mira220_Mono },
             { "100", CameraModel::kCameraUnknown },
         };
         if (camera_table.count(model_enum_value_string) == 0)
@@ -133,7 +134,7 @@ namespace golf_sim {
 
 
     bool CameraHardware::camera_is_mono() const {
-        return (camera_model_ == CameraModel::InnoMakerIMX296GS_Mono);
+        return (camera_model_ == CameraModel::InnoMakerIMX296GS_Mono || camera_model_ == CameraModel::Mira220_Mono);
     }
 
 
@@ -236,17 +237,17 @@ namespace golf_sim {
         }
 
         // This section deals with the common characteristics of some of the cameras
-        if (model == PiGS || 
+        if (model == PiGS ||
             model == InnoMakerIMX296GS_Mono) {
 
-        GS_LOG_TRACE_MSG(trace, "Initializing with a PiGS or InnoMakerIMX296GS_Mono camera." );
+            GS_LOG_TRACE_MSG(trace, "Initializing with a PiGS or InnoMakerIMX296GS_Mono camera.");
             // Sensor pixel width is 3.45uM square?  No - 6.33mm diagonal.  It appears that
             // the actual width is the full resolution (1456)  * 3.4uM = 4.95mm,
             // Not simply the diagonal sensor width
 
             sensor_width_ = (float)5.077365371;   // 4.45;   // (1456.0 * 3.4) / 1000;   // = 4.95; //  In mm 6.3 / sqrt(2.0);  // TBD - Confirm math from diagonal measurement
             sensor_height_ = (float)3.789078635;    // 4.45; //(1088.0 * 3.4) / 1000;   //  In mm 6.3 / sqrt(2.0);
-            
+
             if (resolution_x_override_ > 0 && resolution_y_override_ > 0) {
                 resolution_x_ = resolution_x_override_;
                 resolution_y_ = resolution_y_override_;
@@ -263,6 +264,43 @@ namespace golf_sim {
             video_resolution_y_ = 1080;
 
             GS_LOG_TRACE_MSG(trace, "Video resolution (x,y) is: " + std::to_string(video_resolution_x_) + "/" + std::to_string(video_resolution_y_) + ".");
+        }
+
+        if (model == Mira220_Mono) {
+
+            // See https://look.ams-osram.com/m/7591efdbe4af32dc/original/Mira220-1-2-7-2-2-MP-NIR-enhanced-global-shutter-image-sensor.pdf for details
+
+            GS_LOG_TRACE_MSG(trace, "Initializing with a Mira220_Mono - based camera.");
+            // Sensor pixel width is 3.45uM square?  No - 6.33mm diagonal.  It appears that
+            // the actual width is the full resolution (1456)  * 3.4uM = 4.95mm,
+            // Not simply the diagonal sensor width
+
+            sensor_width_ = (float)4.464;   // 2.79um pixel size * 1600
+            sensor_height_ = (float)3.906;  // 2.79um pixel size * 1400
+
+            if (resolution_x_override_ > 0 && resolution_y_override_ > 0) {
+                resolution_x_ = resolution_x_override_;
+                resolution_y_ = resolution_y_override_;
+            }
+            else {
+                //  Defaults
+                resolution_x_ = 1600;
+                resolution_y_ = 1400;
+            }
+
+            // We ahve not tested .
+            video_resolution_x_ = resolution_x_;
+            video_resolution_y_ = resolution_y_;
+
+            GS_LOG_TRACE_MSG(trace, "Video resolution (x,y) is: " + std::to_string(video_resolution_x_) + "/" + std::to_string(video_resolution_y_) + ".");
+        }
+
+
+        // Ball radius parameters are common to most all of our potential cameras
+        if (model == PiGS ||
+            model == InnoMakerIMX296GS_Mono ||
+            model == Mira220_Mono) {
+
 
             // Attempt to get the expected ball radius from the .json file
             std::string ball_radius_pixels_at_40cm_name = "kExpectedBallRadiusPixelsAt40cmCamera" + std::string(camera_number == GsCameraNumber::kGsCamera1 ? "1" : "2");

Software/LMSourceCode/ImageProcessing/camera_hardware.h

@@ -36,6 +36,7 @@ namespace golf_sim {
             PiHQ = 3,
             PiGS = 4,
             InnoMakerIMX296GS_Mono = 5,
+            Mira220_Mono = 6,
             kCameraUnknown = 100
         };
 

Software/LMSourceCode/ImageProcessing/core/rpicam_app.cpp

@@ -59,35 +59,9 @@ static libcamera::PixelFormat mode_to_pixel_format(Mode const &mode)
 
 static void set_pipeline_configuration(Platform platform)
 {
-        GS_LOG_TRACE_MSG(trace, "Setting pipeline configuration file..");
-
-	// Respect any pre-existing value in the environment variable.
-	char const *existing_config = getenv("LIBCAMERA_RPI_CONFIG_FILE");
-	if (existing_config && existing_config[0]) {
-                GS_LOG_TRACE_MSG(trace, "LIBCAMERA_RPI_CONFIG_FILE already set.");
-		return;
-	}
-
-
-	// JPMOD - Added PISP options
-	// Otherwise point it at whichever of these we find first (if any) for the given platform.
-	static const std::vector<std::pair<Platform, std::string>> config_files = {
-		{ Platform::VC4, "/usr/local/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" },
-		{ Platform::VC4, "/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" },
-                { Platform::PISP, "/usr/local/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" },
-                { Platform::PISP, "/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" },
-	};
-
-	for (auto &config_file : config_files)
-	{
-		struct stat info;
-		if (config_file.first == platform && stat(config_file.second.c_str(), &info) == 0)
-		{
-                	GS_LOG_TRACE_MSG(trace, "LIBCAMERA_RPI_CONFIG_FILE = " + config_file.second);
-			setenv("LIBCAMERA_RPI_CONFIG_FILE", config_file.second.c_str(), 1);
-			break;
-		}
-	}
+	// Let libcamera auto-detect the pipeline config — the hardcoded
+	// rpi_apps.yaml causes a segfault with Mira220 (Arducam pivariety).
+	(void)platform;
 }
 
 RPiCamApp::RPiCamApp(std::unique_ptr<Options> opts)

Software/LMSourceCode/ImageProcessing/libcamera_interface.cpp

@@ -982,7 +982,13 @@ bool SetLibcameraTuningFileEnvVariable(const GolfSimCamera& camera) {
 
     std::string tuning_file;
 
-    if (camera.camera_hardware_.camera_is_mono()) {
+    // Mira220 (Arducam pivariety) — no matching tuning file exists.
+    // Let libcamera auto-detect the best fallback.
+    if (camera.camera_hardware_.camera_model_ == CameraHardware::CameraModel::Mira220_Mono) {
+        unsetenv("LIBCAMERA_RPI_TUNING_FILE");
+        return true;
+    }
+    else if (camera.camera_hardware_.camera_is_mono()) {
         // If this is a mono camera, than we must use the "mono" tuning file, regardless of whether
         // the camera is camera 1 or camera 2
 
@@ -1012,7 +1018,9 @@ bool SetLibcameraTuningFileEnvVariable(const GolfSimCamera& camera) {
         }
     }
 
-    setenv("LIBCAMERA_RPI_TUNING_FILE", tuning_file.c_str(), 1);
+    if (!tuning_file.empty()) {
+        setenv("LIBCAMERA_RPI_TUNING_FILE", tuning_file.c_str(), 1);
+    }
 
     return true;
 }

Software/LMSourceCode/ImageProcessing/libcamera_jpeg.cpp

@@ -82,6 +82,22 @@ void SetExternalTrigger(bool& flag) {
 			return;
 		}
 	}
+
+	if (!flag && camera_model == gs::CameraHardware::CameraModel::Mira220_Mono) {
+
+		flag = true;
+
+		std::string trigger_mode_command = "$PITRAC_ROOT/ImageProcessing/CameraTools/v4l2_trigger 2 1";
+
+		GS_LOG_TRACE_MSG(trace, "ball_flight_camera_event_loop - Camera 2 trigger_mode_command = " + trigger_mode_command);
+		int command_result = system(trigger_mode_command.c_str());
+
+		if (command_result != 0) {
+			GS_LOG_TRACE_MSG(trace, "system(trigger_mode_command) failed.");
+			return;
+		}
+	}
+
 }
 
 // Run the triggered capture event loop on an already-opened camera.
@@ -178,11 +194,9 @@ bool cam2_run_event_loop(LibcameraJpegApp& app, cv::Mat& returnImg, bool send_pr
 		RPiCamApp::Msg msg = app.Wait();
 		if (msg.type == RPiCamApp::MsgType::Timeout)
 		{
-			GS_LOG_MSG(error, "ERROR: Device timeout detected, attempting a restart!!!");
-			app.StopCamera();
-			uint flags = RPiCamApp::FLAG_STILL_RGB;
-			app.ConfigureViewfinder(flags);
-			app.StartCamera();
+			// In external trigger mode, timeouts are expected while waiting
+			// for FSIN pulses. Just ignore and keep waiting for the trigger.
+			GS_LOG_TRACE_MSG(trace, "Device timeout (expected in external trigger mode) — continuing to wait.");
 			continue;
 		}
 

Software/LMSourceCode/ImageProcessing/pulse_strobe.cpp

@@ -585,7 +585,21 @@ namespace golf_sim {
 	void PulseStrobe::SendOnOffPulse(long length_us) {
 #ifdef __unix__  // Ignore in Windows environment
 
-		if (kUsingActiveHighTriggerCamera) {
+		const CameraHardware::CameraModel camera_model = GolfSimCamera::kSystemSlot2CameraType;
+
+		// The Mira220 external trigger (trigger_mode=1) requires a longer
+		// HIGH pulse on FSIN than the IMX296.  The Connector Board inverts
+		// GPIO→XTR, so we swap the on/off durations: the normally-short
+		// LOW pulse becomes a long LOW (XTR HIGH for ~66ms at 15fps),
+		// which Mira220 detects reliably.
+		if (camera_model == CameraHardware::CameraModel::Mira220_Mono) {
+			int kOnTimeUs = (int)((1.0 / kPrimingPulseFPS) * 1000000. - length_us);
+			lgGpioWrite(lggpio_chip_handle_, kPulseTriggerOutputPin, kON);
+			usleep(length_us);
+			lgGpioWrite(lggpio_chip_handle_, kPulseTriggerOutputPin, kOFF);
+			usleep(kOnTimeUs);
+			lgGpioWrite(lggpio_chip_handle_, kPulseTriggerOutputPin, kON);
+		} else if (kUsingActiveHighTriggerCamera) {
 			lgGpioWrite(lggpio_chip_handle_, kPulseTriggerOutputPin, kOFF);
 			usleep(length_us);
 			lgGpioWrite(lggpio_chip_handle_, kPulseTriggerOutputPin, kON);
@@ -649,6 +663,8 @@ namespace golf_sim {
 			}
 		}
 
+		// NOTE - We're not yet sure if a Mira220-based sensor will need any priming pulses.  However, it should probably work similar to the IMX296
+
 		GS_LOG_TRACE_MSG(trace, "Sent " + std::to_string(kNumberPrimingPulses) + " initial priming pulses.  About to pause for " + 
 				std::to_string(kPauseBeforeReadyForFinalPrimingPulseMs) + " milliSeconds before sending penultimate priming pulse.");
 

Software/web-server/camera_detector.py

@@ -28,25 +28,29 @@ class CameraDetector:
         "imx477": "Pi HQ Camera",
         "imx296": "Global Shutter Camera",
         "imx708": "Pi Camera v3",
+        "arducam-pivariety": "Arducam Mira220 (Mono)",
     }
 
-    PITRAC_TYPES = {"ov5647": 1, "imx219": 2, "imx477": 3, "imx296": 4, "imx708": 0}
+    PITRAC_TYPES = {"ov5647": 1, "imx219": 2, "imx477": 3, "imx296": 4, "imx708": 0, "arducam-pivariety": 6}
 
     CAMERA_STATUS = {
         "ov5647": "DEPRECATED",
         "imx219": "DEPRECATED",
         "imx477": "DEPRECATED",
         "imx296": "SUPPORTED",
         "imx708": "UNSUPPORTED",
+        "arducam-pivariety": "EXPERIMENTAL",
     }
 
     PITRAC_TYPE_PI_GS = 4
     PITRAC_TYPE_INNOMAKER = 5
+    PITRAC_TYPE_MIRA220 = 6
 
     DT_ROOT = "/sys/firmware/devicetree/base"
     DT_ROOT_ALT = "/proc/device-tree"
 
     INNOMAKER_TRIGGER = "/usr/lib/pitrac/ImageProcessing/CameraTools/imx296_trigger"
+    MIRA220_TRIGGER = "/usr/lib/pitrac/ImageProcessing/CameraTools/v4l2_trigger"
 
     def __init__(self):
         self.pi_model = self._detect_pi_model()
@@ -194,7 +198,7 @@ def _parse_camera_info(self, output: str) -> List[Dict]:
         """Parse camera information from libcamera output"""
         cameras = []
 
-        camera_pattern = r"^(\d+)\s*:\s*(\w+)\s*\[([^\]]+)\](?:\s*\(([^)]+)\))?"
+        camera_pattern = r"^(\d+)\s*:\s*([\w-]+)\s*\[([^\]]+)\](?:\s*\(([^)]+)\))?"
 
         for match in re.finditer(camera_pattern, output, re.MULTILINE):
             idx = int(match.group(1))
@@ -224,6 +228,9 @@ def _parse_camera_info(self, output: str) -> List[Dict]:
                 else:
                     pitrac_type = self.PITRAC_TYPE_PI_GS
                     description = "IMX296 (assumed color)"
+            elif sensor == "arducam-pivariety":
+                pitrac_type = self.PITRAC_TYPE_MIRA220
+                description = "Arducam Mira220 (Mono)"
             else:
                 description = model_name
 
@@ -536,6 +543,12 @@ def get_camera_types(self) -> List[Dict]:
                 "description": "IMX296 Mono",
                 "status": "supported",
             },
+            {
+                "value": 6,
+                "label": "Arducam Mira220",
+                "description": "Mira220 Mono Global Shutter",
+                "status": "experimental",
+            },
         ]
 
     def get_lens_types(self) -> List[Dict]:

Software/web-server/configurations.json

@@ -329,7 +329,8 @@
         "2": "Pi Camera v2 - IMX219 sensor (DEPRECATED)",
         "3": "Pi HQ Camera - IMX477 sensor (DEPRECATED)",
         "4": "Pi Global Shutter - IMX296 Color",
-        "5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)"
+        "5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)",
+        "6": "Osram Mira220 - Mono sensor (EXPERIMENTAL)"
       },
       "default": "5",
       "requiresRestart": true,
@@ -391,7 +392,8 @@
         "2": "Pi Camera v2 - IMX219 sensor (DEPRECATED)",
         "3": "Pi HQ Camera - IMX477 sensor (DEPRECATED)",
         "4": "Pi Global Shutter - IMX296 Color",
-        "5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)"
+        "5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)",
+        "6": "Osram Mira220 - Mono sensor (EXPERIMENTAL)"
       },
       "default": "5",
       "requiresRestart": true,

Software/web-server/server.py

@@ -38,7 +38,7 @@
 # Locked to defeat AE/AWB/tuning drift across calibration frames (sub-pixel
 # corner bias). Tuning file matches production rcPi5GS.sh; shutter is shorter
 # than production (11 vs 20 ms) to limit hand-tremor blur.
-RPICAM_TUNING_FILE = "/usr/share/libcamera/ipa/rpi/pisp/imx296_noir.json"
+RPICAM_TUNING_FILE = "/usr/share/libcamera/ipa/rpi/pisp/imx296_noir.json"  # NOTE - Mira220 will need a different tuning file.  For now, folks can just put the Mira220 file in this file
 RPICAM_CAL_SHUTTER_US = 11000
 RPICAM_CAL_GAIN = 1.3
 

detect_pi_cameras.sh

@@ -43,6 +43,7 @@ declare -A CAMERA_MODELS=(
     ["imx477"]="Pi HQ Camera"
     ["imx296"]="Global Shutter Camera"
     ["imx708"]="Pi Camera v3"
+    ["arducam-pivariety"]="Arducam Mira220 (Mono)"
 )
 
 # PiTrac type mappings (from camera_hardware.h)
@@ -52,6 +53,7 @@ declare -A PITRAC_TYPES=(
     ["imx477"]=3    # Deprecated - not recommended
     ["imx296"]=4    # Default for IMX296 (Pi GS)
     ["imx708"]=0    # Unsupported
+    ["arducam-pivariety"]=6  # Arducam Mira220 Mono
 )
 
 # Camera support status
@@ -61,11 +63,13 @@ declare -A CAMERA_STATUS=(
     ["imx477"]="DEPRECATED"
     ["imx296"]="SUPPORTED"
     ["imx708"]="UNSUPPORTED"
+    ["arducam-pivariety"]="EXPERIMENTAL"
 )
 
 # IMX296 specific types
 PITRAC_TYPE_PI_GS=4           # Raspberry Pi Global Shutter (color)
 PITRAC_TYPE_INNOMAKER=5       # InnoMaker IMX296 (mono)
+PITRAC_TYPE_MIRA220=6         # Arducam Mira220 Mono
 
 # Device tree root paths
 DT_ROOT="/sys/firmware/devicetree/base"
@@ -440,6 +444,12 @@ detect_cameras() {
                 fi
             fi
 
+            # Special handling for Arducam Mira220 (arducam-pivariety driver)
+            if [[ "$sensor" == "arducam-pivariety" ]]; then
+                pitrac_type=$PITRAC_TYPE_MIRA220
+                description="Arducam Mira220 (Mono)"
+            fi
+
             CAMERA_PITRAC_TYPE["$idx"]="$pitrac_type"
             CAMERA_DESCRIPTION["$idx"]="$description"