From 4832db38b75b2f34a91c63f02a7ed6de9edb1622 Mon Sep 17 00:00:00 2001 From: Laurent Pinchart Date: Fri, 15 Apr 2011 01:17:09 +0200 Subject: omap3-isp-dsp sample application initial import Signed-off-by: Laurent Pinchart --- LICENSE | 340 ++++++++++++++ Makefile | 31 ++ README | 144 ++++++ bridge/LICENSE | 502 +++++++++++++++++++++ bridge/Makefile | 19 + bridge/dmm_buffer.h | 171 +++++++ bridge/dsp_bridge.c | 1225 +++++++++++++++++++++++++++++++++++++++++++++++++++ bridge/dsp_bridge.h | 441 +++++++++++++++++++ bridge/log.h | 40 ++ dsp/Makefile | 27 ++ dsp/bridge.s | 59 +++ dsp/node.h | 38 ++ dsp/threshold.c | 71 +++ isp-dsp.c | 588 +++++++++++++++++++++++++ list.h | 74 ++++ tools.h | 26 ++ v4l2.c | 614 ++++++++++++++++++++++++++ v4l2.h | 250 +++++++++++ 18 files changed, 4660 insertions(+) create mode 100644 LICENSE create mode 100644 Makefile create mode 100644 README create mode 100644 bridge/LICENSE create mode 100644 bridge/Makefile create mode 100644 bridge/dmm_buffer.h create mode 100644 bridge/dsp_bridge.c create mode 100644 bridge/dsp_bridge.h create mode 100644 bridge/log.h create mode 100644 dsp/Makefile create mode 100644 dsp/bridge.s create mode 100644 dsp/node.h create mode 100644 dsp/threshold.c create mode 100644 isp-dsp.c create mode 100644 list.h create mode 100644 tools.h create mode 100644 v4l2.c create mode 100644 v4l2.h diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..3912109 --- /dev/null +++ b/LICENSE @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc. + 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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If this is what you want to do, use the GNU Library General +Public License instead of this License. diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..9385dde --- /dev/null +++ b/Makefile @@ -0,0 +1,31 @@ +CROSS_COMPILE ?= +KDIR ?= +MEDIACTL_DIR ?= /home/laurent/src/iob/arm + +CC := $(CROSS_COMPILE)gcc +CFLAGS := -O2 -W -Wall -I$(KDIR)/usr/include -I$(MEDIACTL_DIR)/include +LDFLAGS := -Lbridge -L$(MEDIA_CTL_DIR)/lib +LIBS := -lmediactl -lv4l2subdev -ldspbridge -lrt + +OBJECTS := isp-dsp.o v4l2.o + +%.o : %.c + $(CC) $(CFLAGS) -c -o $@ $< + +all: __bridge __dsp isp-dsp + +isp-dsp: $(OBJECTS) + $(CC) $(LDFLAGS) -o $@ $^ $(LIBS) + +__bridge: + $(MAKE) -C bridge CROSS_COMPILE=$(CROSS_COMPILE) + +__dsp: + $(MAKE) -C dsp + +clean: + $(MAKE) -C dsp clean + $(MAKE) -C bridge clean + -$(RM) *.o + -$(RM) isp-dsp + diff --git a/README b/README new file mode 100644 index 0000000..d40f7bf --- /dev/null +++ b/README @@ -0,0 +1,144 @@ +Pre-requisites +============== + +ARM toolchain +------------- + +The ARM development toolchain is based on the CodeSourcery version of GCC. This +document is based on the hard floating point 2009q3 1.0.18-4 release from the +scratchbox project, available from + +http://scratchbox.org/download/files/sbox-releases/hathor/tarball/scratchbox-toolchain-cs2009q3-eglibc2.10-armv7-hard-1.0.18-4-i386.tar.gz + +Other versions should work as well. + +Hard floating point is not a requirement but provides better floating point +performances. Mixing soft floating point and hard floating point applications +and libraries is *not* supported. Compiling the whole system with the same +compiler is thus highly advisable. + +To install the toolchain, extract the tarball (this document assumes that the +tarball will be extracted to /opt, but any location can be used) and add the +compiler bin directory to the PATH environment variable. This can be automated +by adding + +export PATH=/opt/scratchbox/compilers/cs2009q3-eglibc2.10-armv7-hard/bin:$PATH + +to ~/.bashrc (when using the bash shell). + +DSP toolchain +------------- + +Compiling applications for the C64 DSP embedded in the OMAP3 processor requires +two development tools, both proprietary and available from Texas Instrument. + +Those tools are made to be invoked from the command line, either directly, +through a script/makefile or from an integrated development environment (IDE). +TI provides an Eclipse-based IDE called Code Composer Studio (CCS). CCS is not +free of charge (although a 30-days evaluation version is available), so this +project will use the command line tools directly. + +Switching to CCS at a later time will be possible if required, as CCS is based +on the same command line tools. + +* Code Generation Tools + +The TI Code Generation Tools (CGT) include a C/C++ compiler, an assembly +compiler and a linker. A version for the OMAP3 DSP is available from + +https://www-a.ti.com/downloads/sds_support/TICodegenerationTools/download.htm + +This documentation is based on version 7.0.3. Later versions, especially minor +releases, should work as well. + +Download the installer from the above URL and install the tools in +/opt/ti/cgt6x-7.0.3. + +* doffbuild + +The doffbuild tools are used to create a relocatable DSP dll64P object. +They can be found in the git repository located at + +git://gitorious.org/ti-dspbridge/userspace.git + +Clone the repository with + +git clone git://gitorious.org/ti-dspbridge/userspace.git + +and copy the DLLcreate utility to /opt/ti/doffbuild/bin/ + +mkdir -p /opt/ti/doffbuild/bin +cp source/dsp/bdsptools/packages/ti/dspbridge/dsp/doffbuild/bin/DLLcreate /opt/ti/doffbuild/bin/ + +* baseimage.dof + +baseimage.dof is the TI DSP operating system (DSP/BIOS) image to be loaded in +the DSP. TI released several versions with no clear versioning scheme. While +DSP/BIOS itself is maintained, the location of the most recent baseimage.dof +version is unclear. + +A working baseimage.dof version can be found in the TI DSP Binaries v3.09, +available at. + +https://gforge.ti.com/gf/download/frsrelease/285/3260/DSPbinaries-3.09-Linux-x86-Install + +After downloading and running the installer, copy the baseimage.dof file from +the Binaries directory to the /lib/dsp directory on the target system. + +Kernel headers +-------------- + +Recent kernel headers (>= 2.6.39) are required to compile both the application +and its dependencies. The headers can be installed locally in the kernel tree +usr/ subdirectory by running + +make headers_install + +The remainder of this document assumes that kernel headers have been installed +in the kernel tree usr/ subdirectory. + +Media Controller library +------------------------ + +The sample application requires the libmediactl and libv4l2subdev libraries. +They can be found in a git repository at + +http://git.ideasonboard.org/?p=media-ctl.git;a=summary + +To configure the library, run + +./configure CC=arm-none-linux-gnueabi-gcc --host=arm-none-linux-gnueabi \ + --with-kernel-headers=/path/to/kernel/usr \ + --prefix=/path/to/libmediactl/installation + +Compile and install the library and its headers with + +make +make install + + +Compilation +=========== + +The DSP Makefile relies on environment variables to locate the TI Code +Generation Tools and doffbuild tools. The following two lines will set the +required environment variables and can be added to ~/.bashrc. + +export DSP_CGT=/opt/ti/cgt6x-7.0.3 +export DSP_DOFFBUILD=/opt/ti/doffbuild + +To compile the DSP and ARM software, run + +make KDIR=/path/to/kernel/usr \ + MEDIACTL_DIR=/path/to/libmediactl/installation \ + CROSS_COMPILE=arm-none-linux-gnueabi- + +This will create two executables, dsp/threshold.dll64P for the DSP and +isp-dsp for the ARM. + + +Installation +============ + +Copy the threshold.dll64P DSP executable to the /lib/dsp/ directory on the +target system. 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Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random Hacker. + + , 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! diff --git a/bridge/Makefile b/bridge/Makefile new file mode 100644 index 0000000..5d1fb0c --- /dev/null +++ b/bridge/Makefile @@ -0,0 +1,19 @@ +AR := $(CROSS_COMPILE)ar +CC := $(CROSS_COMPILE)gcc +CFLAGS := -O2 -W -Wall -DDSP_API=2 -fPIC +LDFLAGS := -shared + +OBJECTS := dsp_bridge.o + +%.o : %.c + $(CC) $(CFLAGS) -c -o $@ $< + +all: libdspbridge.a + +libdspbridge.a: $(OBJECTS) + $(AR) r $@ $^ + +clean: + -$(RM) *.o + -$(RM) libdspbridge.a + diff --git a/bridge/dmm_buffer.h b/bridge/dmm_buffer.h new file mode 100644 index 0000000..f86df7e --- /dev/null +++ b/bridge/dmm_buffer.h @@ -0,0 +1,171 @@ +/* + * Copyright (C) 2009-2010 Felipe Contreras + * Copyright (C) 2008-2010 Nokia Corporation + * + * Authors: + * Felipe Contreras + * Marco Ballesio + * + * This file may be used under the terms of the GNU Lesser General Public + * License version 2.1, a copy of which is found in LICENSE included in the + * packaging of this file. + */ + +#ifndef DMM_BUFFER_H +#define DMM_BUFFER_H + +#include /* for calloc, free */ +#include /* for memset */ + +#include "dsp_bridge.h" +#include "log.h" + +#define ROUND_UP(num, scale) (((num) + ((scale) - 1)) & ~((scale) - 1)) +#define PAGE_SIZE 0x1000 + +enum dma_data_direction { + DMA_BIDIRECTIONAL, + DMA_TO_DEVICE, + DMA_FROM_DEVICE, +}; + +typedef struct { + int handle; + void *proc; + void *data; + void *allocated_data; + size_t size; + size_t len; + void *reserve; + void *map; + bool need_copy; + size_t alignment; + void *user_data; + bool used; + bool keyframe; + int dir; +} dmm_buffer_t; + +static inline dmm_buffer_t * +dmm_buffer_new(int handle, + void *proc, + int dir) +{ + dmm_buffer_t *b; + b = calloc(1, sizeof(*b)); + + pr_debug("%p", b); + b->handle = handle; + b->proc = proc; + b->alignment = 128; + b->dir = dir; + + return b; +} + +static inline void +dmm_buffer_free(dmm_buffer_t *b) +{ + pr_debug("%p", b); + if (!b) + return; + if (b->map) + dsp_unmap(b->handle, b->proc, b->map); + if (b->reserve) + dsp_unreserve(b->handle, b->proc, b->reserve); + free(b->allocated_data); + free(b); +} + +static inline void +dmm_buffer_begin(dmm_buffer_t *b, + size_t len) +{ + pr_debug("%p", b); + if (b->dir == DMA_FROM_DEVICE) + dsp_invalidate(b->handle, b->proc, b->data, len); + else + dsp_flush(b->handle, b->proc, b->data, len, 1); +} + +static inline void +dmm_buffer_end(dmm_buffer_t *b, + size_t len) +{ + pr_debug("%p", b); + if (b->dir != DMA_TO_DEVICE) + dsp_invalidate(b->handle, b->proc, b->data, len); +} + +static inline int +dmm_buffer_map(dmm_buffer_t *b) +{ + size_t to_reserve; + pr_debug("%p", b); + if (b->map) + dsp_unmap(b->handle, b->proc, b->map); + if (b->reserve) + dsp_unreserve(b->handle, b->proc, b->reserve); + /** + * @todo What exactly do we want to do here? Shouldn't the driver + * calculate this? + */ + to_reserve = ROUND_UP(b->size, PAGE_SIZE) + PAGE_SIZE; + dsp_reserve(b->handle, b->proc, to_reserve, &b->reserve); + return dsp_map(b->handle, b->proc, b->data, b->size, b->reserve, &b->map, 0); +} + +static inline void +dmm_buffer_unmap(dmm_buffer_t *b) +{ + pr_debug("%p", b); + if (b->map) { + dsp_unmap(b->handle, b->proc, b->map); + b->map = NULL; + } + if (b->reserve) { + dsp_unreserve(b->handle, b->proc, b->reserve); + b->reserve = NULL; + } +} + +static inline void +dmm_buffer_allocate(dmm_buffer_t *b, + size_t size) +{ + pr_debug("%p", b); + free(b->allocated_data); + if (b->alignment != 0) { + if (posix_memalign(&b->allocated_data, b->alignment, ROUND_UP(size, b->alignment)) != 0) + b->allocated_data = NULL; + b->data = b->allocated_data; + } + else + b->data = b->allocated_data = malloc(size); + b->size = size; +} + +static inline void +dmm_buffer_use(dmm_buffer_t *b, + void *data, + size_t size) +{ + pr_debug("%p", b); + b->data = data; + b->size = size; +} + +static inline dmm_buffer_t * +dmm_buffer_calloc(int handle, + void *proc, + size_t size, + int dir) +{ + dmm_buffer_t *tmp; + tmp = dmm_buffer_new(handle, proc, dir); + dmm_buffer_allocate(tmp, size); + memset(tmp->data, 0, size); + return tmp; +} + +#endif /* DMM_BUFFER_H */ diff --git a/bridge/dsp_bridge.c b/bridge/dsp_bridge.c new file mode 100644 index 0000000..e5affb3 --- /dev/null +++ b/bridge/dsp_bridge.c @@ -0,0 +1,1225 @@ +/* + * Copyright (C) 2009-2010 Felipe Contreras + * Copyright (C) 2009-2010 Nokia Corporation + * Copyright (C) 2007 Texas Instruments, Incorporated + * + * Author: Felipe Contreras + * + * This file may be used under the terms of the GNU Lesser General Public + * License version 2.1, a copy of which is found in LICENSE included in the + * packaging of this file. + */ + +#include "dsp_bridge.h" + +/* for open */ +#include +#include +#include + +#include /* for close */ +#include /* for ioctl */ +#include /* for free */ + +#include /* for memalign */ + +#define ALLOCATE_SM + +#ifdef ALLOCATE_SM +#include /* for memalign */ +#include /* for mmap */ +#endif + +#if DSP_API < 2 +#include +#endif + +/* + * Dspbridge ioctl numbering scheme + * + * 7 0 + * --------------------------------- + * | Module | ioctl Number | + * --------------------------------- + * | x | x | x | 0 | 0 | 0 | 0 | 0 | + * --------------------------------- + */ + +/* ioctl driver identifier */ +#define DB 0xDB + +/* + * Following are used to distinguish between module ioctls, this is needed + * in case new ioctls are introduced. + */ +#define DB_MODULE_MASK 0xE0 +#define DB_IOC_MASK 0x1F + +#if DSP_API >= 1 + +#include + +/* ioctl module masks */ +#define DB_MGR 0x0 +#define DB_PROC 0x20 +#define DB_NODE 0x40 +#define DB_STRM 0x60 +#define DB_CMM 0x80 + +/* Used to calculate the ioctl per dspbridge module */ +#define DB_IOC(module, num) \ + (((module) & DB_MODULE_MASK) | ((num) & DB_IOC_MASK)) + +#else + +#define DB_MGR 1 +#define DB_PROC 7 +#define DB_NODE 24 +#define DB_STRM 39 +#define DB_CMM 50 + +#define DB_IOC(module, num) ((module) + (num)) + +#undef _IOR +#undef _IOW +#undef _IOWR + +#define _IOR(type, nr, size) (nr) +#define _IOW(type, nr, size) (nr) +#define _IOWR(type, nr, size) (nr) + +#endif /* DSP_API */ + +/* MGR Module */ +#define MGR_WAIT _IOWR(DB, DB_IOC(DB_MGR, 4), unsigned long) +#define MGR_ENUMNODE_INFO _IOWR(DB, DB_IOC(DB_MGR, 0), unsigned long) +#define MGR_REGISTEROBJECT _IOWR(DB, DB_IOC(DB_MGR, 2), unsigned long) +#define MGR_UNREGISTEROBJECT _IOWR(DB, DB_IOC(DB_MGR, 3), unsigned long) + +/* PROC Module */ +#define PROC_ATTACH _IOWR(DB, DB_IOC(DB_PROC, 0), unsigned long) +/* PROC_DETACH Deprecated */ +#define PROC_DETACH _IOR(DB, DB_IOC(DB_PROC, 2), unsigned long) +#define PROC_REGISTERNOTIFY _IOWR(DB, DB_IOC(DB_PROC, 8), unsigned long) +#define PROC_RSVMEM _IOWR(DB, DB_IOC(DB_PROC, 10), unsigned long) +#define PROC_UNRSVMEM _IOW(DB, DB_IOC(DB_PROC, 11), unsigned long) +#define PROC_MAPMEM _IOWR(DB, DB_IOC(DB_PROC, 12), unsigned long) +#define PROC_UNMAPMEM _IOR(DB, DB_IOC(DB_PROC, 13), unsigned long) +#define PROC_FLUSHMEMORY _IOW(DB, DB_IOC(DB_PROC, 14), unsigned long) +#define PROC_INVALIDATEMEMORY _IOW(DB, DB_IOC(DB_PROC, 16), unsigned long) +#define PROC_GET_STATE _IOWR(DB, DB_IOC(DB_PROC, 5), unsigned long) +#define PROC_ENUMRESOURCES _IOWR(DB, DB_IOC(DB_PROC, 4), unsigned long) +#define PROC_ENUMNODE _IOWR(DB, DB_IOC(DB_PROC, 3), unsigned long) +#define PROC_STOP _IOWR(DB, DB_IOC(DB_PROC, 15), unsigned long) +#define PROC_LOAD _IOW(DB, DB_IOC(DB_PROC, 7), unsigned long) +#define PROC_START _IOW(DB, DB_IOC(DB_PROC, 9), unsigned long) + +/* NODE Module */ +#define NODE_REGISTERNOTIFY _IOWR(DB, DB_IOC(DB_NODE, 11), unsigned long) +#define NODE_CREATE _IOW(DB, DB_IOC(DB_NODE, 4), unsigned long) +#define NODE_RUN _IOW(DB, DB_IOC(DB_NODE, 12), unsigned long) +#define NODE_TERMINATE _IOWR(DB, DB_IOC(DB_NODE, 13), unsigned long) +#define NODE_PUTMESSAGE _IOW(DB, DB_IOC(DB_NODE, 10), unsigned long) +#define NODE_GETMESSAGE _IOWR(DB, DB_IOC(DB_NODE, 8), unsigned long) +#define NODE_DELETE _IOW(DB, DB_IOC(DB_NODE, 5), unsigned long) +#define NODE_GETATTR _IOWR(DB, DB_IOC(DB_NODE, 7), unsigned long) +#define NODE_ALLOCMSGBUF _IOWR(DB, DB_IOC(DB_NODE, 1), unsigned long) +#define NODE_GETUUIDPROPS _IOWR(DB, DB_IOC(DB_NODE, 14), unsigned long) +#define NODE_ALLOCATE _IOWR(DB, DB_IOC(DB_NODE, 0), unsigned long) +#define NODE_CONNECT _IOW(DB, DB_IOC(DB_NODE, 3), unsigned long) + +/* CMM Module */ +#define CMM_GETHANDLE _IOR(DB, DB_IOC(DB_CMM, 2), unsigned long) +#define CMM_GETINFO _IOR(DB, DB_IOC(DB_CMM, 3), unsigned long) + +/* STRM Module */ +#define STRM_OPEN _IOWR(DB, DB_IOC(DB_STRM, 7), unsigned long) +#define STRM_CLOSE _IOW(DB, DB_IOC(DB_STRM, 1), unsigned long) +#define STRM_GETINFO _IOWR(DB, DB_IOC(DB_STRM, 4), unsigned long) +#define STRM_ALLOCATEBUFFER _IOWR(DB, DB_IOC(DB_STRM, 0), unsigned long) +#define STRM_IDLE _IOW(DB, DB_IOC(DB_STRM, 5), unsigned long) +#define STRM_RECLAIM _IOWR(DB, DB_IOC(DB_STRM, 8), unsigned long) +#define STRM_FREEBUFFER _IOWR(DB, DB_IOC(DB_STRM, 2), unsigned long) +#define STRM_ISSUE _IOW(DB, DB_IOC(DB_STRM, 6), unsigned long) + +#if DSP_API < 2 +static inline int real_ioctl(int fd, int r, void *arg) +{ + return ioctl(fd, r, arg); +} +#endif + +/* will not be needed when tidspbridge uses proper error codes */ +#define ioctl(...) (ioctl(__VA_ARGS__) < 0) + +int dsp_open(void) +{ + return open("/dev/DspBridge", O_RDWR); +} + +int dsp_close(int handle) +{ + return close(handle); +} + +struct proc_attach { + unsigned int num; + const void *info; /* not used */ + void **ret_handle; +}; + +bool dsp_attach(int handle, + unsigned int num, + const void *info, + void **ret_handle) +{ + struct proc_attach arg = { + .num = num, + .info = info, + .ret_handle = ret_handle, + }; + + return !ioctl(handle, PROC_ATTACH, &arg); +} + +struct proc_detach { + void *proc_handle; +}; + +bool dsp_detach(int handle, + void *proc_handle) +{ + struct proc_detach arg = { + .proc_handle = proc_handle, + }; + + return !ioctl(handle, PROC_DETACH, &arg); +} + +struct register_notify { + void *proc_handle; + unsigned int event_mask; + unsigned int notify_type; + struct dsp_notification *info; +}; + +bool dsp_register_notify(int handle, + void *proc_handle, + unsigned int event_mask, + unsigned int notify_type, + struct dsp_notification *info) +{ + struct register_notify arg = { + .proc_handle = proc_handle, + .event_mask = event_mask, + .notify_type = notify_type, + .info = info, + }; + + return !ioctl(handle, PROC_REGISTERNOTIFY, &arg); +} + +struct proc_start { + void *proc_handle; +}; + +bool dsp_start(int handle, + void *proc_handle) +{ + struct proc_start arg = { + .proc_handle = proc_handle, + }; + + return !ioctl(handle, PROC_START, &arg); +} + +bool dsp_stop(int handle, + void *proc_handle) +{ + struct proc_start arg = { + .proc_handle = proc_handle, + }; + + return !ioctl(handle, PROC_STOP, &arg); +} + +struct proc_load { + void *proc_handle; + int argc; + char **argv; + char **env; +}; + +bool dsp_load(int handle, + void *proc_handle, + int argc, char **argv, + char **env) +{ + struct proc_load arg = { + .proc_handle = proc_handle, + .argc = argc, + .argv = argv, + .env = env, + }; + + return !ioctl(handle, PROC_LOAD, &arg); +} + +struct node_register_notify { + void *node_handle; + unsigned int event_mask; + unsigned int notify_type; + struct dsp_notification *info; +}; + +bool dsp_node_register_notify(int handle, + struct dsp_node *node, + unsigned int event_mask, + unsigned int notify_type, + struct dsp_notification *info) +{ + struct node_register_notify arg = { + .node_handle = node->handle, + .event_mask = event_mask, + .notify_type = notify_type, + .info = info, + }; + + return !ioctl(handle, NODE_REGISTERNOTIFY, &arg); +} + +struct wait_for_events { + struct dsp_notification **notifications; + unsigned int count; + unsigned int *ret_index; + unsigned int timeout; +}; + +bool dsp_wait_for_events(int handle, + struct dsp_notification **notifications, + unsigned int count, + unsigned int *ret_index, + unsigned int timeout) +{ + struct wait_for_events arg = { + .notifications = notifications, + .count = count, + .ret_index = ret_index, + .timeout = timeout, + }; + +#if DSP_API >= 2 + return !ioctl(handle, MGR_WAIT, &arg); +#else + /* + * Temporary hack since libc only saves errors -1 to -4095; 0x80008017 + * is not stored. + */ + int r; + r = real_ioctl(handle, MGR_WAIT, &arg); + if (r == (int)0x80008017) + errno = ETIME; + return r >= 0; +#endif +} + +struct enum_node { + unsigned int num; + struct dsp_ndb_props *info; + unsigned int info_size; + unsigned int *ret_num; +}; + +bool dsp_enum(int handle, + unsigned int num, + struct dsp_ndb_props *info, + size_t info_size, + unsigned int *ret_num) +{ + struct enum_node arg = { + .num = num, + .info = info, + .info_size = info_size, + .ret_num = ret_num, + }; + + return !ioctl(handle, MGR_ENUMNODE_INFO, &arg); +} + +struct register_object { + const struct dsp_uuid *uuid; + enum dsp_dcd_object_type type; + const char *path; +}; + +bool dsp_register(int handle, + const struct dsp_uuid *uuid, + enum dsp_dcd_object_type type, + const char *path) +{ + struct register_object arg = { + .uuid = uuid, + .type = type, + .path = path, + }; + + return !ioctl(handle, MGR_REGISTEROBJECT, &arg); +} + +struct unregister_object { + const struct dsp_uuid *uuid; + enum dsp_dcd_object_type type; +}; + +bool dsp_unregister(int handle, + const struct dsp_uuid *uuid, + enum dsp_dcd_object_type type) +{ + struct unregister_object arg = { + .uuid = uuid, + .type = type, + }; + + return !ioctl(handle, MGR_UNREGISTEROBJECT, &arg); +} + +struct node_create { + void *node_handle; +}; + +bool dsp_node_create(int handle, + struct dsp_node *node) +{ + struct node_create arg = { + .node_handle = node->handle, + }; + + return !ioctl(handle, NODE_CREATE, &arg); +} + +struct node_run { + void *node_handle; +}; + +bool dsp_node_run(int handle, + struct dsp_node *node) +{ + struct node_run arg = { + .node_handle = node->handle, + }; + + return !ioctl(handle, NODE_RUN, &arg); +} + +struct node_terminate { + void *node_handle; + unsigned long *status; +}; + +bool dsp_node_terminate(int handle, + struct dsp_node *node, + unsigned long *status) +{ + struct node_terminate arg = { + .node_handle = node->handle, + .status = status, + }; + + return !ioctl(handle, NODE_TERMINATE, &arg); +} + +struct node_put_message { + void *node_handle; + const struct dsp_msg *message; + unsigned int timeout; +}; + +bool dsp_node_put_message(int handle, + struct dsp_node *node, + const struct dsp_msg *message, + unsigned int timeout) +{ + struct node_put_message arg = { + .node_handle = node->handle, + .message = message, + .timeout = timeout, + }; + + return !ioctl(handle, NODE_PUTMESSAGE, &arg); +} + +struct node_get_message { + void *node_handle; + struct dsp_msg *message; + unsigned int timeout; +}; + +bool dsp_node_get_message(int handle, + struct dsp_node *node, + struct dsp_msg *message, + unsigned int timeout) +{ + struct node_get_message arg = { + .node_handle = node->handle, + .message = message, + .timeout = timeout, + }; + + return !ioctl(handle, NODE_GETMESSAGE, &arg); +} + +struct node_delete { + void *node_handle; +}; + +static inline bool dsp_node_delete(int handle, + struct dsp_node *node) +{ + struct node_delete arg = { + .node_handle = node->handle, + }; + + return !ioctl(handle, NODE_DELETE, &arg); +} + +#ifdef ALLOCATE_SM +struct node_get_attr { + void *node_handle; + struct dsp_node_attr *attr; + unsigned int attr_size; +}; + +bool dsp_node_get_attr(int handle, + struct dsp_node *node, + struct dsp_node_attr *attr, + size_t attr_size) +{ + struct node_get_attr arg = { + .node_handle = node->handle, + .attr = attr, + .attr_size = attr_size, + }; + + return !ioctl(handle, NODE_GETATTR, &arg); +} + +struct dsp_buffer_attr { + unsigned long cb; + unsigned int segment; + unsigned int alignment; +}; + +struct node_alloc_buf { + void *node_handle; + unsigned int size; + struct dsp_buffer_attr *attr; + void **buffer; +}; + +static inline bool dsp_node_alloc_buf(int handle, + struct dsp_node *node, + size_t size, + struct dsp_buffer_attr *attr, + void **buffer) +{ + struct node_alloc_buf arg = { + .node_handle = node->handle, + .size = size, + .attr = attr, + .buffer = buffer, + }; + + if (ioctl(handle, NODE_ALLOCMSGBUF, &arg)) { + *buffer = NULL; + return false; + } + + return true; +} + +struct dsp_cmm_seg_info { + unsigned long base_pa; + unsigned long size; + unsigned long gpp_base_pa; + unsigned long gpp_size; + unsigned long dsp_base_va; + unsigned long dsp_size; + unsigned long use_count; + unsigned long base_va; +}; + +struct dsp_cmm_info { + unsigned long segments; + unsigned long use_count; + unsigned long min_block_size; + struct dsp_cmm_seg_info info[1]; +}; + +struct cmm_get_handle { + void *proc_handle; + struct cmm_object **cmm; +}; + +struct cmm_get_info { + struct cmm_object *cmm; + struct dsp_cmm_info *info; +}; + +static inline bool get_cmm_info(int handle, + void *proc_handle, + struct dsp_cmm_info *cmm_info) +{ + struct cmm_object *cmm; + struct cmm_get_handle cmm_arg = { + .proc_handle = proc_handle, + .cmm = &cmm, + }; + struct cmm_get_info cmm_info_arg = { + .info = cmm_info, + }; + + if (ioctl(handle, CMM_GETHANDLE, &cmm_arg)) + return false; + + cmm_info_arg.cmm = cmm; + if (ioctl(handle, CMM_GETINFO, &cmm_info_arg)) + return false; + + return true; +} + +static inline bool allocate_segments(int handle, + void *proc_handle, + struct dsp_node *node) +{ + struct dsp_cmm_info cmm_info; + struct dsp_node_attr attr; + enum dsp_node_type node_type; + + if (!get_cmm_info(handle, proc_handle, &cmm_info)) + return false; + + if (!dsp_node_get_attr(handle, node, &attr, sizeof(attr))) + return false; + + node_type = attr.info.props.ntype; + + if ((node_type != DSP_NODE_DEVICE) && (cmm_info.segments > 0)) { + struct dsp_cmm_seg_info *seg; + + seg = &cmm_info.info[0]; + + if (seg->base_pa != 0 && seg->size > 0) { + void *base; + struct dsp_buffer_attr buffer_attr; + + base = mmap(NULL, seg->size, + PROT_READ | PROT_WRITE, MAP_SHARED | 0x2000 /* MAP_LOCKED */, + handle, seg->base_pa); + + if (!base) + return false; + + buffer_attr.alignment = 0; + buffer_attr.segment = 1 | 0x10000000; + buffer_attr.cb = 0; + if (!dsp_node_alloc_buf(handle, node, seg->size, + &buffer_attr, &base)) + { + munmap(base, seg->size); + return false; + } + + node->msgbuf_addr = base; + node->msgbuf_size = seg->size; + } + } + + return true; +} +#endif + +#ifdef ALLOCATE_HEAP +struct get_uuid_props { + void *proc_handle; + const struct dsp_uuid *node_uuid; + struct dsp_ndb_props *props; +}; + +static inline bool get_uuid_props(int handle, + void *proc_handle, + const struct dsp_uuid *node_uuid, + struct dsp_ndb_props *props) +{ + struct get_uuid_props arg = { + .proc_handle = proc_handle, + .node_uuid = node_uuid, + .props = props, + }; + + return !ioctl(handle, NODE_GETUUIDPROPS, &arg); +} + +#define PG_SIZE_4K 4096 +#define PG_MASK(pg_size) (~((pg_size)-1)) +#define PG_ALIGN_LOW(addr, pg_size) ((addr) & PG_MASK(pg_size)) +#define PG_ALIGN_HIGH(addr, pg_size) (((addr)+(pg_size)-1) & PG_MASK(pg_size)) +#endif + +struct node_allocate { + void *proc_handle; + const struct dsp_uuid *node_id; + const void *cb_data; + struct dsp_node_attr_in *attrs; + void **ret_node; +}; + +bool dsp_node_allocate(int handle, + void *proc_handle, + const struct dsp_uuid *node_uuid, + const void *cb_data, + struct dsp_node_attr_in *attrs, + struct dsp_node **ret_node) +{ + struct dsp_node *node; + void *node_handle = NULL; + struct node_allocate arg = { + .proc_handle = proc_handle, + .node_id = node_uuid, + .cb_data = cb_data, + .attrs = attrs, + .ret_node = &node_handle, + }; + +#ifdef ALLOCATE_HEAP + if (attrs) { + struct dsp_ndb_props props; + + if (!get_uuid_props(handle, proc_handle, node_uuid, &props)) { + attrs->gpp_va = NULL; + return false; + } + + if (attrs->profile_id < props.count_profiles) { + unsigned int heap_size = 0; + + heap_size = props.node_profiles[attrs->profile_id].heap_size; + if (heap_size) { + void *virtual = NULL; + + heap_size = PG_ALIGN_HIGH(heap_size, PG_SIZE_4K); + virtual = memalign(128, heap_size); + if (!virtual) + return false; + attrs->heap_size = heap_size; + attrs->gpp_va = virtual; + } + } + } +#endif + + if (ioctl(handle, NODE_ALLOCATE, &arg)) { + if (attrs) { + free(attrs->gpp_va); + attrs->gpp_va = NULL; + } + return false; + } + + node = calloc(1, sizeof(*node)); + node->handle = node_handle; + if (attrs) + node->heap = attrs->gpp_va; + +#ifdef ALLOCATE_SM + if (!allocate_segments(handle, proc_handle, node)) { + dsp_node_delete(handle, node); + free(node->heap); + free(node); + return false; + } +#endif + + *ret_node = node; + + return true; +} + +struct node_connect { + void *node_handle; + unsigned int stream; + void *other_node_handle; + unsigned int other_stream; + struct dsp_stream_attr *attrs; + void *params; +}; + +bool dsp_node_connect(int handle, + struct dsp_node *node, + unsigned int stream, + struct dsp_node *other_node, + unsigned int other_stream, + struct dsp_stream_attr *attrs, + void *params) +{ + struct node_connect arg = { + .node_handle = node->handle, + .stream = stream, + .other_node_handle = other_node->handle, + .other_stream = other_stream, + .attrs = attrs, + .params = params, + }; + + return !ioctl(handle, NODE_CONNECT, &arg); +} + +bool dsp_node_free(int handle, + struct dsp_node *node) +{ +#ifdef ALLOCATE_SM + munmap(node->msgbuf_addr, node->msgbuf_size); +#endif + dsp_node_delete(handle, node); + free(node->heap); + free(node); + + return true; +} + +struct reserve_mem { + void *proc_handle; + unsigned long size; + void **addr; +}; + +bool dsp_reserve(int handle, + void *proc_handle, + unsigned long size, + void **addr) +{ + struct reserve_mem arg = { + .proc_handle = proc_handle, + .size = size, + .addr = addr, + }; + + return !ioctl(handle, PROC_RSVMEM, &arg); +} + +struct unreserve_mem { + void *proc_handle; + unsigned long size; + void *addr; +}; + +bool dsp_unreserve(int handle, + void *proc_handle, + void *addr) +{ + struct unreserve_mem arg = { + .proc_handle = proc_handle, + .addr = addr, + }; + + return !ioctl(handle, PROC_UNRSVMEM, &arg); +} + +struct map_mem { + void *proc_handle; + void *mpu_addr; + unsigned long size; + void *req_addr; + void **ret_map_addr; + unsigned long attr; +}; + +bool dsp_map(int handle, + void *proc_handle, + void *mpu_addr, + unsigned long size, + void *req_addr, + void *ret_map_addr, + unsigned long attr) +{ + struct map_mem arg = { + .proc_handle = proc_handle, + .mpu_addr = mpu_addr, + .size = size, + .req_addr = req_addr, + .ret_map_addr = ret_map_addr, + .attr = attr, + }; + + return !ioctl(handle, PROC_MAPMEM, &arg); +} + +struct unmap_mem { + void *proc_handle; + unsigned long size; + void *map_addr; +}; + +bool dsp_unmap(int handle, + void *proc_handle, + void *map_addr) +{ + struct unmap_mem arg = { + .proc_handle = proc_handle, + .map_addr = map_addr, + }; + + return !ioctl(handle, PROC_UNMAPMEM, &arg); +} + +struct flush_mem { + void *proc_handle; + void *mpu_addr; + unsigned long size; + unsigned long flags; +}; + +bool dsp_flush(int handle, + void *proc_handle, + void *mpu_addr, + unsigned long size, + unsigned long flags) +{ + struct flush_mem arg = { + .proc_handle = proc_handle, + .mpu_addr = mpu_addr, + .size = size, + .flags = flags, + }; + + return !ioctl(handle, PROC_FLUSHMEMORY, &arg); +} + +struct invalidate_mem { + void *proc_handle; + void *mpu_addr; + unsigned long size; +}; + +bool dsp_invalidate(int handle, + void *proc_handle, + void *mpu_addr, + unsigned long size) +{ + struct invalidate_mem arg = { + .proc_handle = proc_handle, + .mpu_addr = mpu_addr, + .size = size, + }; + + return !ioctl(handle, PROC_INVALIDATEMEMORY, &arg); +} + +struct proc_get_info { + void *proc_handle; + unsigned type; + struct dsp_info *info; + unsigned size; +}; + +bool dsp_proc_get_info(int handle, + void *proc_handle, + unsigned type, + struct dsp_info *info, + unsigned size) +{ + struct proc_get_info arg = { + .proc_handle = proc_handle, + .type = type, + .info = info, + .size = size, + }; + + return !ioctl(handle, PROC_ENUMRESOURCES, &arg); +} + +struct enum_nodes { + void *proc_handle; + void **node_table; + unsigned node_table_size; + unsigned *num_nodes; + unsigned *allocated; +}; + +bool dsp_enum_nodes(int handle, + void *proc_handle, + void **node_table, + unsigned node_table_size, + unsigned *num_nodes, + unsigned *allocated) +{ + struct enum_nodes arg = { + .proc_handle = proc_handle, + .node_table = node_table, + .node_table_size = node_table_size, + .num_nodes = num_nodes, + .allocated = allocated, + }; + + return !ioctl(handle, PROC_ENUMNODE, &arg); +} + +struct stream_attr { + void *event; + char *name; + void *base; + unsigned long size; + struct dsp_stream_attr_in *attrin; +}; + +struct stream_open { + void *node_handle; + unsigned int direction; + unsigned int index; + struct stream_attr *attr; + void *stream; +}; + +bool dsp_stream_open(int handle, + struct dsp_node *node, + unsigned int direction, + unsigned int index, + struct dsp_stream_attr_in *attrin, + void *stream) +{ + struct stream_attr strm_attr = { + .attrin = attrin, + }; + struct stream_open stream_arg = { + .node_handle = node->handle, + .direction = direction, + .index = index, + .attr = &strm_attr, + .stream = stream, + }; + + if (attrin && (attrin->mode == STRMMODE_ZEROCOPY || + attrin->mode == STRMMODE_RDMA)) { + struct dsp_cmm_info cmm_info; + + if (!get_cmm_info(handle, NULL, &cmm_info)) + return false; + + if (cmm_info.segments > 0) { + void *base; + struct dsp_cmm_seg_info *seg; + + seg = &cmm_info.info[0]; + base = mmap(NULL, seg->size, + PROT_READ | PROT_WRITE, + MAP_SHARED | 0x2000 /* MAP_LOCKED */, + handle, seg->base_pa); + + if (!base) + return false; + + strm_attr.base = base; + strm_attr.size = seg->size; + } + } + + return !ioctl(handle, STRM_OPEN, &stream_arg); +} + +struct stream_info { + enum dsp_stream_mode mode; + unsigned int segment; + void *base; + struct dsp_stream_info *info; +}; + +struct stream_get_info { + void *stream; + struct stream_info *info; + unsigned int size; +}; + +static inline bool get_stream_info(int handle, + void *stream, + struct stream_info *info, + unsigned int size) +{ + struct stream_get_info arg = { + .stream = stream, + .info = info, + .size = size, + }; + + return !ioctl(handle, STRM_GETINFO, &arg); +} + +bool dsp_stream_close(int handle, + void *stream) +{ + struct stream_info info; + if (!get_stream_info(handle, stream, &info, sizeof(struct stream_info))) + return false; + + if (info.base) { + struct dsp_cmm_info cmm_info; + + if (!get_cmm_info(handle, NULL, &cmm_info)) + return false; + + if (cmm_info.segments > 0) { + struct dsp_cmm_seg_info *seg; + seg = &cmm_info.info[0]; + if (munmap(info.base, seg->size)) + return false; + } + } + + return !ioctl(handle, STRM_CLOSE, &stream); +} + +struct stream_idle { + void *stream; + bool flush; +}; + +bool dsp_stream_idle(int handle, + void *stream, + bool flush) +{ + struct stream_idle arg = { + .stream = stream, + .flush = flush, + }; + return !ioctl(handle, STRM_IDLE, &arg); +} + +struct stream_reclaim { + void *stream; + unsigned char **buff; + unsigned long *data_size; + unsigned long *buff_size; + unsigned long *flag; +}; + +bool dsp_stream_reclaim(int handle, + void *stream, + unsigned char **buff, + unsigned long *data_size, + unsigned long *buff_size, + unsigned long *flag) +{ + struct stream_reclaim arg = { + .stream = stream, + .buff = buff, + .data_size = data_size, + .buff_size = buff_size, + .flag = flag, + }; + return !ioctl(handle, STRM_RECLAIM, &arg); +} + +struct stream_issue { + void *stream; + unsigned char *buff; + unsigned long data_size; + unsigned long buff_size; + unsigned long flag; +}; + +bool dsp_stream_issue(int handle, + void *stream, + unsigned char *buff, + unsigned long data_size, + unsigned long buff_size, + unsigned long flag) +{ + struct stream_issue arg = { + .stream = stream, + .buff = buff, + .data_size = data_size, + .buff_size = buff_size, + .flag = flag, + }; + return !ioctl(handle, STRM_ISSUE, &arg); +} + +bool dsp_stream_get_info(int handle, + void *stream, + struct dsp_stream_info *info, + unsigned int size) +{ + struct stream_info stream_info = { + .info = info + }; + + return get_stream_info(handle, stream, &stream_info, size); +} + + +struct stream_allocate_buffer { + void *stream; + unsigned int size; + unsigned char **buff; + unsigned int num_buf; +}; + +bool dsp_stream_allocate_buffers(int handle, + void *stream, + unsigned int size, + unsigned char **buff, + unsigned int num_buf) +{ + unsigned int i; + struct stream_info info; + if (!get_stream_info(handle, stream, &info, sizeof(struct stream_info))) + return false; + + if (info.segment > 0) { + struct stream_allocate_buffer arg = { + .stream = stream, + .size = size, + .buff = buff, + .num_buf = num_buf, + }; + + return !ioctl(handle, STRM_ALLOCATEBUFFER, &arg); + } + + for (i = 0; i < num_buf; i++) + buff[i] = (unsigned char *) malloc(size); + + return true; +} + +struct stream_free_buffers { + void *stream; + unsigned char **buff; + unsigned int num_buf; +}; + +bool dsp_stream_free_buffers(int handle, + void *stream, + unsigned char **buff, + unsigned int num_buf) +{ + unsigned int i; + struct stream_info info; + if (!get_stream_info(handle, stream, &info, sizeof(struct stream_info))) + return false; + + if (info.segment) { + struct stream_free_buffers arg = { + .stream = stream, + .buff = buff, + .num_buf = num_buf, + }; + return !ioctl(handle, STRM_FREEBUFFER, &arg); + } + + for (i = 0; i < num_buf; i++) { + free(buff[i]); + buff[i] = NULL; + } + + return true; +} diff --git a/bridge/dsp_bridge.h b/bridge/dsp_bridge.h new file mode 100644 index 0000000..c5acaa4 --- /dev/null +++ b/bridge/dsp_bridge.h @@ -0,0 +1,441 @@ +/* + * Copyright (C) 2009-2010 Felipe Contreras + * + * Author: Felipe Contreras + * + * This file may be used under the terms of the GNU Lesser General Public + * License version 2.1, a copy of which is found in LICENSE included in the + * packaging of this file. + */ + +#ifndef DSP_BRIDGE_H +#define DSP_BRIDGE_H + +#include +#include +#include + +#define ALLOCATE_HEAP + +#define DSP_MMUFAULT 0x00000010 +#define DSP_SYSERROR 0x00000020 +#define DSP_NODEMESSAGEREADY 0x00000200 + +#define MAX_PROFILES 16 +#define DSP_MAXNAMELEN 32 + +struct dsp_uuid { + uint32_t field_1; + uint16_t field_2; + uint16_t field_3; + uint8_t field_4; + uint8_t field_5; + uint8_t field_6[6]; +}; + +struct dsp_node { + void *handle; + void *heap; + void *msgbuf_addr; + size_t msgbuf_size; +}; + +/* note: cmd = 0x20000000 has special handling */ +struct dsp_msg { + uint32_t cmd; + uint32_t arg_1; + uint32_t arg_2; +}; + +struct dsp_notification { + char *name; + void *handle; +}; + +struct dsp_node_attr_in { + unsigned long cb; + int priority; + unsigned int timeout; + unsigned int profile_id; + unsigned int heap_size; + void *gpp_va; +}; + +enum dsp_dcd_object_type { + DSP_DCD_NODETYPE, + DSP_DCD_PROCESSORTYPE, + DSP_DCD_LIBRARYTYPE, + DSP_DCD_CREATELIBTYPE, + DSP_DCD_EXECUTELIBTYPE, + DSP_DCD_DELETELIBTYPE, +}; + +enum dsp_node_type { + DSP_NODE_DEVICE, + DSP_NODE_TASK, + DSP_NODE_DAISSOCKET, + DSP_NODE_MESSAGE, +}; + +#ifdef ALLOCATE_HEAP +/* The dsp_resourcereqmts structure for node's resource requirements */ +struct dsp_resourcereqmts { + uint32_t cb_struct; + uint32_t static_data_size; + uint32_t global_data_size; + uint32_t program_mem_size; + uint32_t uwc_execution_time; + uint32_t uwc_period; + uint32_t uwc_deadline; + uint32_t avg_exection_time; + uint32_t minimum_period; +}; + +struct dsp_nodeprofs { + uint32_t heap_size; +}; + +/* The dsp_ndb_props structure reports the attributes of a node */ +struct dsp_ndb_props { + uint32_t cb_struct; + struct dsp_uuid node_id; + char ac_name[DSP_MAXNAMELEN]; + enum dsp_node_type ntype; + uint32_t cache_on_gpp; + struct dsp_resourcereqmts dsp_resource_reqmts; + int32_t prio; + uint32_t stack_size; + uint32_t sys_stack_size; + uint32_t stack_seg; + uint32_t message_depth; + uint32_t num_input_streams; + uint32_t num_output_streams; + uint32_t timeout; + uint32_t count_profiles; /* Number of supported profiles */ + struct dsp_nodeprofs node_profiles[MAX_PROFILES]; /* Array of profiles */ + uint32_t stack_seg_name; /* Stack Segment Name */ +}; +#endif + +enum dsp_resource { + DSP_RESOURCE_DYNDARAM = 0, + DSP_RESOURCE_DYNSARAM, + DSP_RESOURCE_DYNEXTERNAL, + DSP_RESOURCE_DYNSRAM, + DSP_RESOURCE_PROCLOAD, +}; + +struct dsp_info { + unsigned long cb; + enum dsp_resource type; + union { + unsigned long resource; + struct { + unsigned long size; + unsigned long total_free_size; + unsigned long len_max_free_block; + unsigned long free_blocks; + unsigned long alloc_blocks; + } mem; + struct { + unsigned long load; + unsigned long pred_load; + unsigned long freq; + unsigned long pred_freq; + } proc; + } result; +}; + +enum dsp_connect_type { + CONNECTTYPE_NODEOUTPUT, + CONNECTTYPE_GPPOUTPUT, + CONNECTTYPE_NODEINPUT, + CONNECTTYPE_GPPINPUT +}; + +struct dsp_stream_connect { + unsigned long cb; + enum dsp_connect_type type; + unsigned int index; + void *node_handle; + struct dsp_uuid node_id; + unsigned int stream_index; +}; + +enum dsp_stream_mode { + STRMMODE_PROCCOPY, + STRMMODE_ZEROCOPY, + STRMMODE_LDMA, + STRMMODE_RDMA +}; + +struct dsp_stream_attr { + unsigned int seg_id; + unsigned int buf_size; + unsigned int num_bufs; + unsigned int alignment; + unsigned int timeout; + enum dsp_stream_mode mode; + unsigned int dma_chnl_id; + unsigned int dma_priority; +}; + +struct dsp_stream_attr_in { + unsigned long cb; + unsigned int timeout; + unsigned int segment; + unsigned int alignment; + unsigned int num_bufs; + enum dsp_stream_mode mode; + unsigned int dma_chnl_id; + unsigned int dma_priority; +}; + +enum dsp_stream_state { + STREAM_IDLE, + STREAM_READY, + STREAM_PENDING, + STREAM_DONE +}; + +struct dsp_stream_info { + unsigned long cb; + unsigned int num_bufs_allowed; + unsigned int num_bufs_in_stream; + unsigned long num_bytes; + void *sync_handle; + enum dsp_stream_state state; +}; + +enum dsp_node_state { + NODE_ALLOCATED, + NODE_CREATED, + NODE_RUNNING, + NODE_PAUSED, + NODE_DONE +}; + +struct dsp_node_info { + unsigned long cb; + struct dsp_ndb_props props; + unsigned int priority; + enum dsp_node_state state; + void *owner; + unsigned int num_streams; + struct dsp_stream_connect streams[16]; + unsigned int node_env; +}; + +struct dsp_node_attr { + unsigned long cb; + struct dsp_node_attr_in attr_in; + unsigned long inputs; + unsigned long outputs; + struct dsp_node_info info; +}; + +int dsp_open(void); + +int dsp_close(int handle); + +bool dsp_attach(int handle, + unsigned int num, + const void *info, + void **ret_handle); + +bool dsp_detach(int handle, + void *proc_handle); + +bool dsp_start(int handle, + void *proc_handle); + +bool dsp_stop(int handle, + void *proc_handle); + +bool dsp_load(int handle, + void *proc_handle, + int argc, char **argv, + char **env); + +bool dsp_node_allocate(int handle, + void *proc_handle, + const struct dsp_uuid *node_uuid, + const void *cb_data, + struct dsp_node_attr_in *attrs, + struct dsp_node **ret_node); + +bool dsp_node_free(int handle, + struct dsp_node *node); + +bool dsp_node_connect(int handle, + struct dsp_node *node, + unsigned int stream, + struct dsp_node *other_node, + unsigned int other_stream, + struct dsp_stream_attr *attrs, + void *params); + +bool dsp_node_create(int handle, + struct dsp_node *node); + +bool dsp_node_run(int handle, + struct dsp_node *node); + +bool dsp_node_terminate(int handle, + struct dsp_node *node, + unsigned long *status); + +bool dsp_node_put_message(int handle, + struct dsp_node *node, + const struct dsp_msg *message, + unsigned int timeout); + +bool dsp_node_get_message(int handle, + struct dsp_node *node, + struct dsp_msg *message, + unsigned int timeout); + +bool dsp_reserve(int handle, + void *proc_handle, + unsigned long size, + void **addr); + +bool dsp_unreserve(int handle, + void *proc_handle, + void *addr); + +bool dsp_map(int handle, + void *proc_handle, + void *mpu_addr, + unsigned long size, + void *req_addr, + void *ret_map_addr, + unsigned long attr); + +bool dsp_unmap(int handle, + void *proc_handle, + void *map_addr); + +bool dsp_flush(int handle, + void *proc_handle, + void *mpu_addr, + unsigned long size, + unsigned long flags); + +bool dsp_invalidate(int handle, + void *proc_handle, + void *mpu_addr, + unsigned long size); + +bool dsp_register_notify(int handle, + void *proc_handle, + unsigned int event_mask, + unsigned int notify_type, + struct dsp_notification *info); + +bool dsp_node_register_notify(int handle, + struct dsp_node *node, + unsigned int event_mask, + unsigned int notify_type, + struct dsp_notification *info); + +bool dsp_wait_for_events(int handle, + struct dsp_notification **notifications, + unsigned int count, + unsigned int *ret_index, + unsigned int timeout); + +bool dsp_enum(int handle, + unsigned int num, + struct dsp_ndb_props *info, + size_t info_size, + unsigned int *ret_num); + +bool dsp_register(int handle, + const struct dsp_uuid *uuid, + enum dsp_dcd_object_type type, + const char *path); + +bool dsp_unregister(int handle, + const struct dsp_uuid *uuid, + enum dsp_dcd_object_type type); + +bool dsp_proc_get_info(int handle, + void *proc_handle, + enum dsp_resource type, + struct dsp_info *info, + unsigned size); + +static inline bool +dsp_send_message(int handle, + struct dsp_node *node, + uint32_t cmd, + uint32_t arg_1, + uint32_t arg_2) +{ + struct dsp_msg msg; + + msg.cmd = cmd; + msg.arg_1 = arg_1; + msg.arg_2 = arg_2; + + return dsp_node_put_message(handle, node, &msg, -1); +} + +bool dsp_node_get_attr(int handle, + struct dsp_node *node, + struct dsp_node_attr *attr, + size_t attr_size); + +bool dsp_enum_nodes(int handle, + void *proc_handle, + void **node_table, + unsigned node_table_size, + unsigned *num_nodes, + unsigned *allocated); + +bool dsp_stream_open(int handle, + struct dsp_node *node, + unsigned int direction, + unsigned int index, + struct dsp_stream_attr_in *attrin, + void *stream); + +bool dsp_stream_close(int handle, + void *stream); + +bool dsp_stream_idle(int handle, + void *stream, + bool flush); + +bool dsp_stream_reclaim(int handle, + void *stream, + unsigned char **buff, + unsigned long *data_size, + unsigned long *buff_size, + unsigned long *args); + +bool dsp_stream_issue(int handle, + void *stream, + unsigned char *buff, + unsigned long data_size, + unsigned long buff_size, + unsigned long arg); + +bool dsp_stream_get_info(int handle, + void *stream, + struct dsp_stream_info *info, + unsigned int size); + +bool dsp_stream_allocate_buffers(int handle, + void *stream, + unsigned int size, + unsigned char **buff, + unsigned int num_buf); + +bool dsp_stream_free_buffers(int handle, + void *stream, + unsigned char **buff, + unsigned int num_buf); + +#endif /* DSP_BRIDGE_H */ diff --git a/bridge/log.h b/bridge/log.h new file mode 100644 index 0000000..55378ed --- /dev/null +++ b/bridge/log.h @@ -0,0 +1,40 @@ +/* + * Copyright (C) 2009-2010 Felipe Contreras + * Copyright (C) 2009-2010 Nokia Corporation + * + * Author: Felipe Contreras + * + * This file may be used under the terms of the GNU Lesser General Public + * License version 2.1, a copy of which is found in LICENSE included in the + * packaging of this file. + */ + +#ifndef LOG_H +#define LOG_H + +#ifdef DEBUG +extern unsigned debug_level; +#endif + +void pr_helper(unsigned int level, + const char *file, + const char *function, + unsigned int line, + const char *fmt, + ...) __attribute__((format(printf, 5, 6))); + +#define pr_base(level, ...) pr_helper(level, __FILE__, __func__, __LINE__, __VA_ARGS__) + +#define pr_err(...) pr_base(0, __VA_ARGS__) +#define pr_warning(...) pr_base(1, __VA_ARGS__) +#define pr_test(...) pr_base(2, __VA_ARGS__) + +#ifdef DEBUG +#define pr_info(...) pr_base(3, __VA_ARGS__) +#define pr_debug(...) pr_base(4, __VA_ARGS__) +#else +#define pr_info(...) ({ if (0) pr_base(3, __VA_ARGS__); }) +#define pr_debug(...) ({ if (0) pr_base(4, __VA_ARGS__); }) +#endif + +#endif /* LOG_H */ diff --git a/dsp/Makefile b/dsp/Makefile new file mode 100644 index 0000000..2828921 --- /dev/null +++ b/dsp/Makefile @@ -0,0 +1,27 @@ +CL6X := $(DSP_CGT)/bin/cl6x +LNK6X := $(DSP_CGT)/bin/lnk6x +DLLCREATE := $(DSP_DOFFBUILD)/bin/DLLcreate + +CFLAGS := -O3 -I$(DSP_CGT)/include +OBJECTS := bridge.o64P threshold.o64P + +all: threshold.dll64P + +threshold.x64P: $(OBJECTS) + +# pretty print +%.o64P: %.s + $(CL6X) $(CFLAGS) -mv=64p -eo.o64P -c $< + +%.o64P: %.c + $(CL6X) $(CFLAGS) -mv=64p -eo.o64P -c $< + +%.x64P: + $(LNK6X) -r -cr --localize='$$bss' -o $@ $+ + +%.dll64P: %.x64P + $(DLLCREATE) $< -o=$@ + +clean: + $(RM) *.o64P *.x64P *.dll64P + diff --git a/dsp/bridge.s b/dsp/bridge.s new file mode 100644 index 0000000..0564c0d --- /dev/null +++ b/dsp/bridge.s @@ -0,0 +1,59 @@ + .sect ".3DAC26D0_6D4B_11DD_AD8B_0800200C9A66" + .string "1024," ; cbstruct (NOT USED); + .string "3DAC26D0_6D4B_11DD_AD8B_0800200C9A66," ; uuid; + .string "threshold," ; name; + .string "1," ; type; + + .string "0," ; (NOT USED); + .string "1024," ; (NOT USED); + .string "512," ; (NOT USED); + .string "128," ; (NOT USED); + .string "3072," ; (NOT USED); + .string "5," ; (NOT USED); + .string "3," ; (NOT USED); + .string "1000," ; (NOT USED); + .string "100," ; (NOT USED); + .string "10," ; (NOT USED); + .string "1," ; priority; + .string "1024," ; stack size; + .string "16," ; system stack size (arbitrary) + + .string "0," ; stack segment; + .string "3," ; max message depth queued to node; + .string "1," ; # of input streams; + .string "1," ; # of output streams; + .string "3e8H," ; timeout value of GPP blocking calls; + + .string "threshold_create," ; create phase name; + .string "threshold_execute," ; execute phase name; + .string "threshold_delete," ; delete phase name; + + .string "0," ; message segment; + .string "32768," ; (NOT USED); + + .string "none," ; XDAIS algorithm structure name; + .string "1," ; dynamic loading flag; + + .string "ff3f3f3fH," ; dynamic load data mem seg mask; + .string "ff3f3f3fH," ; dynamic load code mem seg mask; + .string "16," ; max # of node profiles supported; + .string "0," ; node profile 0; + .string "0," ; node profile 1; + .string "0," ; node profile 2; + .string "0," ; node profile 3; + .string "0," ; node profile 4; + .string "0," ; node profile 5; + .string "0," ; node profile 6; + .string "0," ; node profile 7; + .string "0," ; node profile 8; + .string "0," ; node profile 9; + .string "0," ; node profile 10; + .string "0," ; node profile 11; + .string "0," ; node profile 12; + .string "0," ; node profile 13; + .string "0," ; node profile 14; + .string "0," ; node profile 15; + .string "none," ; stackSegName segment; + + .sect ".dcd_register"; + .string "3DAC26D0_6D4B_11DD_AD8B_0800200C9A66:0,"; diff --git a/dsp/node.h b/dsp/node.h new file mode 100644 index 0000000..94f7c1e --- /dev/null +++ b/dsp/node.h @@ -0,0 +1,38 @@ +/* + * Copyright (C) 2008 Texas Instruments, Incorporated + * Copyright (C) 2008-2009 Nokia Corporation. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation + * version 2.1 of the License. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + +#ifndef NODE_H +#define NODE_H + +#include + +typedef struct { + uint32_t cmd; + uint32_t arg_1; + uint32_t arg_2; +} dsp_msg_t; + +extern unsigned short NODE_getMsg(void *node, dsp_msg_t *msg, unsigned int timeout); +extern unsigned short NODE_putMsg(void *node, void *dest, dsp_msg_t *msg, unsigned int timeout); + +extern void BCACHE_inv(void *ptr, size_t size, unsigned short wait); +extern void BCACHE_wbInv(void *ptr, size_t size, unsigned short wait); + +#endif /* NODE_H */ diff --git a/dsp/threshold.c b/dsp/threshold.c new file mode 100644 index 0000000..f5eb7f1 --- /dev/null +++ b/dsp/threshold.c @@ -0,0 +1,71 @@ +/* + * OMAP3 DSP sample image threshold algorithm + * + * Copyright (C) 2010-2011 Laurent Pinchart + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#include +#include "node.h" + +unsigned int threshold_create(void) +{ + return 0x8000; +} + +unsigned int threshold_delete(void) +{ + return 0x8000; +} + +static void threshold_process(uint16_t *data, unsigned int size) +{ + unsigned int i; + + for (i = 0; i < size / 2; ++i) + data[i] = data[i] >= 512 ? 1023 : 0; +} + +unsigned int threshold_execute(void *env) +{ + unsigned char done = 0; + unsigned int size; + dsp_msg_t msg; + void *buffer; + + while (!done) { + NODE_getMsg(env, &msg, (unsigned) -1); + + switch (msg.cmd) { + case 0: + buffer = (void *)msg.arg_1; + size = (unsigned int)msg.arg_2; + + BCACHE_inv(buffer, size, 1); + threshold_process(buffer, size); + BCACHE_wb(buffer, size, 1); + + NODE_putMsg(env, NULL, &msg, 0); + break; + + case 0x80000000: + done = 1; + break; + } + } + + return 0x8000; +} diff --git a/isp-dsp.c b/isp-dsp.c new file mode 100644 index 0000000..441be50 --- /dev/null +++ b/isp-dsp.c @@ -0,0 +1,588 @@ +/* + * Sample ISP & DSP application + * + * Copyright (C) 2010-2011 Laurent Pinchart + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "bridge/dmm_buffer.h" +#include "bridge/dsp_bridge.h" +#include "v4l2.h" + +#define BUFFERS_COUNT 4 + +/* ----------------------------------------------------------------------------- + * DSP + */ + +#define DSP_LIBRARY "/lib/dsp/threshold.dll64P" + +struct omap3_dsp_device { + int handle; + void *proc; + struct dsp_uuid uuid; + struct dsp_node *node; + + dmm_buffer_t *buffers[BUFFERS_COUNT]; +}; + +static int omap3dsp_setup(struct omap3_dsp_device *dsp, struct v4l2_video_buffer *vbufs) +{ + /* Dummy UUID, must be identical to the one used in the DSP dll64P library */ + static const struct dsp_uuid uuid = { 0x3dac26d0, 0x6d4b, 0x11dd, 0xad, 0x8b, + { 0x08, 0x00, 0x20, 0x0c, 0x9a, 0x66 } }; + unsigned int i; + int ret; + + /* Open the DSP, attach, register library and node and create the + * node. + */ + dsp->handle = dsp_open(); + if (dsp->handle < 0) { + printf("error: failed to open DSP.\n"); + return dsp->handle; + } + + ret = dsp_attach(dsp->handle, 0, NULL, &dsp->proc); + if (!ret) { + printf("error: DSP attach failed.\n"); + return -1; + } + + dsp->uuid = uuid; + + ret = dsp_register(dsp->handle, &dsp->uuid, DSP_DCD_LIBRARYTYPE, + DSP_LIBRARY); + if (!ret) { + printf("error: DSP library registration failed.\n"); + return -1; + } + + ret = dsp_register(dsp->handle, &dsp->uuid, DSP_DCD_NODETYPE, + DSP_LIBRARY); + if (!ret) { + printf("error: DSP library registration failed.\n"); + return -1; + } + + ret = dsp_node_allocate(dsp->handle, dsp->proc, &dsp->uuid, NULL, NULL, + &dsp->node); + if (!ret) { + printf("error: DSP node allocation failed.\n"); + return -1; + } + + ret = dsp_node_create(dsp->handle, dsp->node); + if (!ret) { + printf("error: DSP node creation failed.\n"); + return -1; + } + + /* Allocate and map the buffers. The threshold algorithm performs + * in-place processing, so we can use the same buffer for both the + * CPU-DSP and DSP-CPU direction. + * + * Use the V4L2 buffers memory for the DSP buffers, avoiding a costly + * memcpy() operation. An alternative with similar efficiency would be + * to allocated DSP buffers memory here and use it as USERPTR for video + * capture. + */ + for (i = 0; i < BUFFERS_COUNT; ++i) { + dmm_buffer_t *buffer; + + buffer = dmm_buffer_new(dsp->handle, dsp->proc, + DMA_BIDIRECTIONAL); + if (buffer == NULL) { + printf("error: DSP buffer new failed.\n"); + return -1; + } + + dmm_buffer_use(buffer, vbufs[i].mem, vbufs[i].size); + ret = dmm_buffer_map(buffer); + printf("DSP buffer %u mapped: %d\n", i, ret); + dsp->buffers[i] = buffer; + } + + return 0; +} + +static int omap3dsp_start(struct omap3_dsp_device *dsp) +{ + int ret; + + ret = dsp_node_run(dsp->handle, dsp->node); + if (!ret) { + printf("error: failed to start DSP node\n"); + return -1; + } + + printf("DSP node running\n"); + return 0; +} + +static int omap3dsp_stop(struct omap3_dsp_device *dsp) +{ + unsigned long status; + int ret; + + ret = dsp_node_terminate(dsp->handle, dsp->node, &status); + if (!ret) { + printf("error: failed to stop DSP node\n"); + return -1; + } + + printf("DSP node stopped\n"); + return 0; +} + +static void omap3dsp_cleanup(struct omap3_dsp_device *dsp) +{ + unsigned int i; + + for (i = 0; i < BUFFERS_COUNT; ++i) { + if (dsp->buffers[i]) { + dmm_buffer_unmap(dsp->buffers[i]); + dmm_buffer_free(dsp->buffers[i]); + } + } + + if (dsp->node) + dsp_node_free(dsp->handle, dsp->node); + if (dsp->proc) + dsp_detach(dsp->handle, dsp->proc); + if (dsp->handle > 0) + dsp_close(dsp->handle); +} + +/* ----------------------------------------------------------------------------- + * Video acquisition + */ + +#define MEDIA_DEVICE "/dev/media0" +#define ENTITY_CCDC "OMAP3 ISP CCDC" +#define ENTITY_SENSOR "mt9v032 2-005c" + +struct omap3_isp_device { + struct media_device *mdev; + + struct media_entity *ccdc; + struct media_entity *sensor; + struct media_entity *video; + + struct v4l2_mbus_framefmt format; + struct v4l2_device *vdev; + + fd_set fds; +}; + +static int omap3isp_pipeline_setup(struct omap3_isp_device *isp) +{ + struct v4l2_mbus_framefmt format; + struct media_entity *entity; + unsigned int i; + int ret; + + /* Reset all links to make sure we're in a consistent, known state. */ + ret = media_reset_links(isp->mdev); + if (ret < 0) { + printf("error: unable to reset links.\n"); + return ret; + } + + /* Setup a Sensor -> CCDC -> memory pipeline. + * + * Start by locating the three entities. The output video node is + * located by looking for a devnode connected to the CCDC. + */ + isp->ccdc = media_get_entity_by_name(isp->mdev, ENTITY_CCDC, + strlen(ENTITY_CCDC)); + if (isp->ccdc == NULL) { + printf("error: unable to locate CCDC.\n"); + return -ENOENT; + } + + isp->sensor = media_get_entity_by_name(isp->mdev, ENTITY_SENSOR, + strlen(ENTITY_CCDC)); + if (isp->sensor == NULL) { + printf("error: unable to locate sensor.\n"); + return -ENOENT; + } + + for (i = 0; i < isp->ccdc->info.links; ++i) { + entity = isp->ccdc->links[i].sink->entity; + if (media_entity_type(entity) == MEDIA_ENT_T_DEVNODE) + break; + } + + if (i == isp->ccdc->info.links) { + printf("error: unable to locate CCDC output video node.\n"); + return -ENOENT; + } + + isp->video = entity; + + /* Enable the Sensor -> CCDC and CCDC -> memory links. */ + ret = media_setup_link(isp->mdev, &isp->sensor->pads[0], + &isp->ccdc->pads[0], MEDIA_LNK_FL_ENABLED); + if (ret < 0) { + printf("error: unable to setup sensor -> CCDC link.\n"); + return ret; + } + + ret = media_setup_link(isp->mdev, &isp->ccdc->pads[1], + &isp->video->pads[0], MEDIA_LNK_FL_ENABLED); + if (ret < 0) { + printf("error: unable to setup CCDC -> devnode link.\n"); + return ret; + } + + /* Configure formats. Retrieve the default format at the sensor output + * and propagate it through the pipeline. As the CCDC will not perform + * any cropping we can just apply the same format on all pads. + */ + ret = v4l2_subdev_get_format(isp->sensor, &format, 0, + V4L2_SUBDEV_FORMAT_TRY); + if (ret < 0) { + printf("error: get format on sensor output failed.\n"); + return ret; + } + + ret = v4l2_subdev_set_format(isp->sensor, &format, 0, + V4L2_SUBDEV_FORMAT_ACTIVE); + if (ret < 0) { + printf("error: set format failed on %s:%u.\n", + isp->sensor->info.name, 0); + return ret; + } + + ret = v4l2_subdev_set_format(isp->ccdc, &format, 0, + V4L2_SUBDEV_FORMAT_ACTIVE); + if (ret < 0) { + printf("error: set format failed on %s:%u.\n", + isp->ccdc->info.name, 1); + return ret; + } + + ret = v4l2_subdev_set_format(isp->ccdc, &format, 1, + V4L2_SUBDEV_FORMAT_ACTIVE); + if (ret < 0) { + printf("error: set format failed on %s:%u.\n", + isp->ccdc->info.name, 1); + return ret; + } + + isp->format = format; + + return 0; +} + +static int omap3isp_video_setup(struct omap3_isp_device *isp) +{ + struct v4l2_pix_format format; + int ret; + + /* Set the capture format on the CCDC output video node. */ + memset(&format, 0, sizeof format); + format.pixelformat = V4L2_PIX_FMT_SGRBG10; + format.width = isp->format.width; + format.height = isp->format.height; + + ret = v4l2_set_format(isp->vdev, &format); + if (ret < 0) + return ret; + + /* Allocate video buffers. */ + ret = v4l2_alloc_buffers(isp->vdev, V4L2_MEMORY_MMAP, BUFFERS_COUNT); + if (ret < 0) + return ret; + + /* Store the CCDC output device node file handle in the file descriptors + * set, to be used by select() in the main loop. + */ + FD_ZERO(&isp->fds); + FD_SET(isp->vdev->fd, &isp->fds); + + return 0; +} + +static int omap3isp_video_start(struct omap3_isp_device *isp) +{ + struct v4l2_video_buffer buffer; + unsigned int i; + int ret; + + /* Queue all buffers for video capture. */ + for (i = 0; i < isp->vdev->nbufs; ++i) { + buffer.index = i; + + ret = v4l2_queue_buffer(isp->vdev, &buffer); + if (ret < 0) { + printf("error: unable to queue buffer %u\n", i); + return -errno; + } + } + + /* Start video streaming. */ + ret = v4l2_stream_on(isp->vdev); + if (ret < 0) { + printf("error: failed to start video stream: %s (%d)\n", + strerror(-ret), ret); + return ret; + } + + return 0; +} + +static int omap3isp_video_stop(struct omap3_isp_device *isp) +{ + int ret; + + /* Stop video streaming. */ + ret = v4l2_stream_off(isp->vdev); + if (ret < 0) { + printf("error: failed to stop video stream: %s (%d)\n", + strerror(-ret), ret); + return ret; + } + + return 0; +} + +static void omap3isp_video_cleanup(struct omap3_isp_device *isp) +{ + if (isp->vdev) { + v4l2_free_buffers(isp->vdev); + v4l2_close(isp->vdev); + } +} + +/* -------------------------------------------------------------------------- */ + +#define SELECT_TIMEOUT 2000 /* in milliseconds */ + +static bool done = false; + +static void sigint_handler(int signal __attribute__((__unused__))) +{ + /* Set the done flag to true when the user presses CTRL-C to interrupt + * the main loop. + */ + done = true; +} + +static int process_image(struct omap3_isp_device *isp, + struct omap3_dsp_device *dsp) +{ + struct v4l2_video_buffer buffer; + dmm_buffer_t *dsp_buffer; + struct dsp_msg msg; + int ret; + + /* Dequeue the buffer */ + ret = v4l2_dequeue_buffer(isp->vdev, &buffer); + if (ret < 0) { + printf("error: unable to dequeue buffer: %s (%d)\n", + strerror(-ret), ret); + return ret; + } + + if (buffer.error) { + printf("warning: error in dequeued buffer, skipping\n"); + return 0; + } + + /* Send the data to the DSP and wait for the answer. + * + * Cache is cleaned first with dmm_buffer_begin() before passing it to + * the DSP, to make sure that all data has hit memory. Similarly + * dmm_buffer_end() makes sure that the CPU won't read stale data back + * from the cache. As the data isn't touched by the CPU between captured + * by the ISP and processing by the DSP this could be optimized. + */ + dsp_buffer = dsp->buffers[buffer.index]; + dmm_buffer_begin(dsp_buffer, buffer.bytesused); + + msg.cmd = 0; + msg.arg_1 = (uint32_t)dsp_buffer->map; + msg.arg_2 = buffer.bytesused; + dsp_node_put_message(dsp->handle, dsp->node, &msg, -1); + dsp_node_get_message(dsp->handle, dsp->node, &msg, -1); + + dmm_buffer_end(dsp_buffer, buffer.bytesused); + + /* Requeue the buffer */ + ret = v4l2_queue_buffer(isp->vdev, &buffer); + if (ret < 0) { + printf("error: unable to requeue buffer: %s (%d)\n", + strerror(-ret), ret); + return ret; + } + + return 0; +} + +int main(int argc __attribute__((__unused__)), char *argv[] __attribute__((__unused__))) +{ + struct omap3_dsp_device dsp; + struct omap3_isp_device isp; + struct timespec start, end; + unsigned int count = 0; + int exit_code = EXIT_FAILURE; + float fps; + int ret; + + /* Register a signal handler for SIGINT, received when the user presses + * CTRL-C. This will allow the main loop to be interrupted, and resources + * to be freed cleanly. + */ + signal(SIGINT, sigint_handler); + + memset(&dsp, 0, sizeof dsp); + memset(&isp, 0, sizeof isp); + + /* Open the media device and setup the capture pipeline. The pipeline + * topology is hardcoded to sensor -> CCDC -> CCDC output. + */ + isp.mdev = media_open(MEDIA_DEVICE, 0); + if (isp.mdev == NULL) { + printf("error: unable to open media device %s\n", MEDIA_DEVICE); + goto cleanup; + } + + ret = omap3isp_pipeline_setup(&isp); + if (ret < 0) { + printf("error: unable to setup pipeline\n"); + goto cleanup; + } + + /* Open the video capture device, setup the format and allocate the + * buffers. + */ + isp.vdev = v4l2_open(isp.video->devname); + if (isp.vdev == NULL) { + printf("error: unable to open video capture device %s\n", + isp.video->devname); + goto cleanup; + } + + ret = omap3isp_video_setup(&isp); + if (ret < 0) { + printf("error: unable to setup video capture\n"); + goto cleanup; + } + + /* Initialize the DSP. */ + ret = omap3dsp_setup(&dsp, isp.vdev->buffers); + if (ret < 0) { + printf("error: unable to setup DSP\n"); + goto cleanup; + } + + /* Start the DSP and ISP. */ + ret = omap3dsp_start(&dsp); + if (ret < 0) + goto cleanup; + + ret = omap3isp_video_start(&isp); + if (ret < 0) + goto cleanup; + + clock_gettime(CLOCK_MONOTONIC, &start); + + /* Main capture loop. Wait for a video buffer using select() and process + * it. + */ + while (!done) { + struct timeval timeout; + fd_set rfds; + + timeout.tv_sec = SELECT_TIMEOUT / 1000; + timeout.tv_usec = (SELECT_TIMEOUT % 1000) * 1000; + rfds = isp.fds; + + ret = select(isp.vdev->fd + 1, &rfds, NULL, NULL, &timeout); + if (ret < 0) { + /* EINTR means that a signal has been received, continue + * to the next iteration in that case. + */ + if (errno == EINTR) + continue; + + printf("error: select failed with %d\n", errno); + goto cleanup; + } + if (ret == 0) { + /* select() should never time out as the ISP is supposed + * to capture images continuously. A timeout is thus + * considered as a fatal error. + */ + printf("error: select timeout\n"); + goto cleanup; + } + + process_image(&isp, &dsp); + count++; + } + + clock_gettime(CLOCK_MONOTONIC, &end); + + /* Stop the DSP and ISP. */ + omap3isp_video_stop(&isp); + omap3dsp_stop(&dsp); + + /* Print some statistics. */ + end.tv_sec -= start.tv_sec; + end.tv_nsec -= start.tv_nsec; + if (end.tv_nsec < 0) { + end.tv_sec--; + end.tv_nsec += 1000000000; + } + + fps = count / (end.tv_sec + end.tv_nsec / 1000000000.0); + + printf("%u images processed in %lu.%06lu seconds (%f fps)\n", count, + end.tv_sec, end.tv_nsec / 1000, fps); + + exit_code = EXIT_SUCCESS; + +cleanup: + /* Cleanup the DSP and ISP resources. */ + omap3dsp_cleanup(&dsp); + omap3isp_video_cleanup(&isp); + if (isp.mdev) + media_close(isp.mdev); + + return exit_code; +} diff --git a/list.h b/list.h new file mode 100644 index 0000000..b9366c0 --- /dev/null +++ b/list.h @@ -0,0 +1,74 @@ +/* + * OMAP3 ISP library - Double linked lists + * + * Copyright (C) 2010-2011 Laurent Pinchart + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#ifndef __LIST_H +#define __LIST_H + +#include + +struct list_entry { + struct list_entry *prev; + struct list_entry *next; +}; + +static inline void list_init(struct list_entry *list) +{ + list->next = list; + list->prev = list; +} + +static inline void list_append(struct list_entry *entry, struct list_entry *list) +{ + entry->next = list; + entry->prev = list->prev; + list->prev->next = entry; + list->prev = entry; +} + +static inline void list_prepend(struct list_entry *entry, struct list_entry *list) +{ + entry->next = list->next; + entry->prev = list; + list->next->prev = entry; + list->next = entry; +} + +#define list_entry(entry, type, member) \ + (type *)((char *)(entry) - offsetof(type, member)) + +#define list_for_each(entry, list) \ + for (entry = (list)->next; entry != (list); entry = entry->next) + +#define list_for_each_entry(entry, list, member) \ + for (entry = list_entry((list)->next, typeof(*entry), member); \ + &entry->member != (list); \ + entry = list_entry(entry->member.next, typeof(*entry), member)) + +#define list_for_each_safe(entry, __next, list) \ + for (entry = (list)->next, __next = entry->next; entry != (list); \ + entry = __next, __next = entry->next) + +#define list_for_each_entry_safe(entry, __next, list, member) \ + for (entry = list_entry((list)->next, typeof(*entry), member), \ + __next = list_entry(entry->member.next, typeof(*entry), member); \ + &entry->member != (list); \ + entry = __next, __next = list_entry(entry->member.next, typeof(*entry), member)) + +#endif /* __LIST_H */ diff --git a/tools.h b/tools.h new file mode 100644 index 0000000..1b47459 --- /dev/null +++ b/tools.h @@ -0,0 +1,26 @@ +/* + * OMAP3 ISP library - Tools + * + * Copyright (C) 2010-2011 Laurent Pinchart + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#ifndef __TOOLS_H__ +#define __TOOLS_H__ + +#define ARRAY_SIZE(array) (sizeof(array) / sizeof((array)[0])) + +#endif /* __TOOLS_H__ */ diff --git a/v4l2.c b/v4l2.c new file mode 100644 index 0000000..464bee7 --- /dev/null +++ b/v4l2.c @@ -0,0 +1,614 @@ +/* + * OMAP3 ISP library - V4L2 devices + * + * Copyright (C) 2005-2011 Laurent Pinchart + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "list.h" +#include "tools.h" +#include "v4l2.h" + +#ifndef V4L2_BUF_FLAG_ERROR +#define V4L2_BUF_FLAG_ERROR 0x0040 +#endif + +struct v4l2_ival_desc { + struct v4l2_fract min; + struct v4l2_fract max; + struct v4l2_fract step; + + struct list_entry list; +}; + +struct v4l2_frame_desc { + unsigned int min_width; + unsigned int min_height; + unsigned int max_width; + unsigned int max_height; + unsigned int step_width; + unsigned int step_height; + + struct list_entry list; + struct list_entry ivals; +}; + +struct v4l2_format_desc { + unsigned int pixelformat; + + struct list_entry list; + struct list_entry frames; +}; + +/* ----------------------------------------------------------------------------- + * Formats enumeration + */ + +static int +v4l2_enum_frame_intervals(struct v4l2_device *dev, struct v4l2_format_desc *format, + struct v4l2_frame_desc *frame) +{ + struct v4l2_ival_desc *ival; + unsigned int i; + int ret; + + for (i = 0; ; ++i) { + struct v4l2_frmivalenum ivalenum; + + memset(&ivalenum, 0, sizeof ivalenum); + ivalenum.index = i; + ivalenum.pixel_format = format->pixelformat; + ivalenum.width = frame->min_width; + ivalenum.height = frame->min_height; + ret = ioctl(dev->fd, VIDIOC_ENUM_FRAMEINTERVALS, &ivalenum); + if (ret < 0) + break; + + if (i != ivalenum.index) + printf("Warning: driver returned wrong ival index " + "%u.\n", ivalenum.index); + if (format->pixelformat != ivalenum.pixel_format) + printf("Warning: driver returned wrong ival pixel " + "format %08x.\n", ivalenum.pixel_format); + if (frame->min_width != ivalenum.width) + printf("Warning: driver returned wrong ival width " + "%u.\n", ivalenum.width); + if (frame->min_height != ivalenum.height) + printf("Warning: driver returned wrong ival height " + "%u.\n", ivalenum.height); + + ival = malloc(sizeof *ival); + if (ival == NULL) + return -ENOMEM; + + memset(ival, 0, sizeof *ival); + + switch (ivalenum.type) { + case V4L2_FRMIVAL_TYPE_DISCRETE: + ival->min = ivalenum.discrete; + ival->max = ivalenum.discrete; + ival->step.numerator = 1; + ival->step.denominator = 1; + break; + + case V4L2_FRMIVAL_TYPE_STEPWISE: + ival->min = ivalenum.stepwise.min; + ival->max = ivalenum.stepwise.max; + ival->step = ivalenum.stepwise.step; + break; + + default: + printf("Error: driver returned invalid frame ival " + "type %u\n", ivalenum.type); + return -EINVAL; + } + + list_append(&frame->ivals, &ival->list); + } + + return 0; +} + +static int +v4l2_enum_frame_sizes(struct v4l2_device *dev, struct v4l2_format_desc *format) +{ + struct v4l2_frame_desc *frame; + unsigned int i; + int ret; + + for (i = 0; ; ++i) { + struct v4l2_frmsizeenum frmenum; + + memset(&frmenum, 0, sizeof frmenum); + frmenum.index = i; + frmenum.pixel_format = format->pixelformat; + + ret = ioctl(dev->fd, VIDIOC_ENUM_FRAMESIZES, &frmenum); + if (ret < 0) + break; + + if (i != frmenum.index) + printf("Warning: driver returned wrong frame index " + "%u.\n", frmenum.index); + if (format->pixelformat != frmenum.pixel_format) + printf("Warning: driver returned wrong frame pixel " + "format %08x.\n", frmenum.pixel_format); + + frame = malloc(sizeof *frame); + if (frame == NULL) + return -ENOMEM; + + memset(frame, 0, sizeof *frame); + + list_init(&frame->ivals); + frame->step_width = 1; + frame->step_height = 1; + + switch (frmenum.type) { + case V4L2_FRMSIZE_TYPE_DISCRETE: + frame->min_width = frmenum.discrete.width; + frame->min_height = frmenum.discrete.height; + frame->max_width = frmenum.discrete.width; + frame->max_height = frmenum.discrete.height; + break; + + case V4L2_FRMSIZE_TYPE_STEPWISE: + frame->step_width = frmenum.stepwise.step_width; + frame->step_height = frmenum.stepwise.step_height; + case V4L2_FRMSIZE_TYPE_CONTINUOUS: + frame->min_width = frmenum.stepwise.min_width; + frame->min_height = frmenum.stepwise.min_height; + frame->max_width = frmenum.stepwise.max_width; + frame->max_height = frmenum.stepwise.max_height; + break; + + default: + printf("Error: driver returned invalid frame size " + "type %u\n", frmenum.type); + return -EINVAL; + } + + list_append(&format->frames, &frame->list); + + ret = v4l2_enum_frame_intervals(dev, format, frame); + if (ret < 0) + return ret; + } + + return 0; +} +static int v4l2_enum_formats(struct v4l2_device *dev) +{ + struct v4l2_format_desc *format; + unsigned int i; + int ret; + + for (i = 0; ; ++i) { + struct v4l2_fmtdesc fmtenum; + + memset(&fmtenum, 0, sizeof fmtenum); + fmtenum.index = i; + fmtenum.type = dev->type; + + ret = ioctl(dev->fd, VIDIOC_ENUM_FMT, &fmtenum); + if (ret < 0) + break; + + if (i != fmtenum.index) + printf("Warning: driver returned wrong format index " + "%u.\n", fmtenum.index); + if (dev->type != fmtenum.type) + printf("Warning: driver returned wrong format type " + "%u.\n", fmtenum.type); + + format = malloc(sizeof *format); + if (format == NULL) + return -ENOMEM; + + memset(format, 0, sizeof *format); + + list_init(&format->frames); + format->pixelformat = fmtenum.pixelformat; + + list_append(&dev->formats, &format->list); + + ret = v4l2_enum_frame_sizes(dev, format); + if (ret < 0) + return ret; + } + + return 0; +} + +/* ----------------------------------------------------------------------------- + * Open/close + */ + +struct v4l2_device *v4l2_open(const char *devname) +{ + struct v4l2_device *dev; + struct v4l2_capability cap; + int ret; + + dev = malloc(sizeof *dev); + if (dev == NULL) + return NULL; + + memset(dev, 0, sizeof *dev); + dev->fd = -1; + dev->buffers = NULL; + list_init(&dev->formats); + + dev->fd = open(devname, O_RDWR | O_NONBLOCK); + if (dev->fd < 0) { + printf("Error opening device %s: %d.\n", devname, errno); + v4l2_close(dev); + return NULL; + } + + memset(&cap, 0, sizeof cap); + ret = ioctl(dev->fd, VIDIOC_QUERYCAP, &cap); + if (ret < 0) { + printf("Error opening device %s: unable to query " + "device.\n", devname); + v4l2_close(dev); + return NULL; + } + + if (cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) + dev->type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + else if (cap.capabilities & V4L2_CAP_VIDEO_OUTPUT) + dev->type = V4L2_BUF_TYPE_VIDEO_OUTPUT; + else { + printf("Error opening device %s: neither video capture " + "nor video output supported.\n", devname); + v4l2_close(dev); + return NULL; + } + + ret = v4l2_enum_formats(dev); + if (ret < 0) { + printf("Error opening device %s: unable to enumerate " + "formats.\n", devname); + v4l2_close(dev); + return NULL; + } + + printf("Device %s opened: %s (%s).\n", devname, cap.card, cap.bus_info); + + return dev; +} + +void v4l2_close(struct v4l2_device *dev) +{ + struct v4l2_format_desc *format, *next_fmt; + struct v4l2_frame_desc *frame, *next_frm; + struct v4l2_ival_desc *ival, *next_ival; + + if (dev == NULL) + return; + + list_for_each_entry_safe(format, next_fmt, &dev->formats, list) { + list_for_each_entry_safe(frame, next_frm, &format->frames, list) { + list_for_each_entry_safe(ival, next_ival, &frame->ivals, list) { + free(ival); + } + free(frame); + } + free(format); + } + + free(dev->buffers); + close(dev->fd); +} + +/* ----------------------------------------------------------------------------- + * Controls + */ + +int v4l2_get_control(struct v4l2_device *dev, unsigned int id, int32_t *value) +{ + struct v4l2_control ctrl; + int ret; + + ctrl.id = id; + + ret = ioctl(dev->fd, VIDIOC_G_CTRL, &ctrl); + if (ret < 0) { + printf("unable to get control: %s (%d).\n", + strerror(errno), errno); + return -errno; + } + + *value = ctrl.value; + return 0; +} + +int v4l2_set_control(struct v4l2_device *dev, unsigned int id, int32_t *value) +{ + struct v4l2_control ctrl; + int ret; + + ctrl.id = id; + ctrl.value = *value; + + ret = ioctl(dev->fd, VIDIOC_S_CTRL, &ctrl); + if (ret < 0) { + printf("unable to set control: %s (%d).\n", + strerror(errno), errno); + return -errno; + } + + *value = ctrl.value; + return 0; +} + +/* ----------------------------------------------------------------------------- + * Formats and frame rates + */ + +int v4l2_get_format(struct v4l2_device *dev, struct v4l2_pix_format *format) +{ + struct v4l2_format fmt; + int ret; + + memset(&fmt, 0, sizeof fmt); + fmt.type = dev->type; + + ret = ioctl(dev->fd, VIDIOC_G_FMT, &fmt); + if (ret < 0) { + printf("Unable to get format: %s (%d).\n", strerror(errno), + errno); + return -errno; + } + + dev->format = fmt.fmt.pix; + *format = fmt.fmt.pix; + + return 0; +} + +int v4l2_set_format(struct v4l2_device *dev, struct v4l2_pix_format *format) +{ + struct v4l2_format fmt; + int ret; + + memset(&fmt, 0, sizeof fmt); + fmt.type = dev->type; + fmt.fmt.pix.width = format->width; + fmt.fmt.pix.height = format->height; + fmt.fmt.pix.pixelformat = format->pixelformat; + fmt.fmt.pix.field = V4L2_FIELD_ANY; + + ret = ioctl(dev->fd, VIDIOC_S_FMT, &fmt); + if (ret < 0) { + printf("Unable to set format: %s (%d).\n", strerror(errno), + errno); + return -errno; + } + + dev->format = fmt.fmt.pix; + *format = fmt.fmt.pix; + + return 0; +} + +/* ----------------------------------------------------------------------------- + * Buffers management + */ + +int v4l2_alloc_buffers(struct v4l2_device *dev, enum v4l2_memory memtype, + unsigned int nbufs) +{ + struct v4l2_requestbuffers rb; + struct v4l2_buffer buf; + struct v4l2_video_buffer *buffers; + unsigned int i; + int ret; + + dev->memtype = memtype; + + memset(&rb, 0, sizeof rb); + rb.count = nbufs; + rb.type = dev->type; + rb.memory = dev->memtype; + + ret = ioctl(dev->fd, VIDIOC_REQBUFS, &rb); + if (ret < 0) { + printf("Unable to request buffers: %d.\n", errno); + return -errno; + } + + printf("%u buffers requested.\n", rb.count); + + buffers = malloc(rb.count * sizeof buffers[0]); + if (buffers == NULL) + return -ENOMEM; + + /* Map the buffers. */ + for (i = 0; i < rb.count; ++i) { + memset(&buf, 0, sizeof buf); + buf.index = i; + buf.type = dev->type; + buf.memory = dev->memtype; + ret = ioctl(dev->fd, VIDIOC_QUERYBUF, &buf); + if (ret < 0) { + printf("Unable to query buffer %u (%d).\n", i, errno); + return -errno; + } + + switch (dev->memtype) { + case V4L2_MEMORY_MMAP: + buffers[i].mem = mmap(0, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, dev->fd, buf.m.offset); + if (buffers[i].mem == MAP_FAILED) { + printf("Unable to map buffer %u (%d)\n", i, errno); + return -errno; + } + buffers[i].size = buf.length; + printf("Buffer %u mapped at address %p.\n", i, buffers[i].mem); + break; + + case V4L2_MEMORY_USERPTR: + buffers[i].mem = NULL; + buffers[i].size = buf.length; + printf("Buffer %u allocated with no memory.\n", i); + break; + + default: + break; + } + } + + dev->buffers = buffers; + dev->nbufs = rb.count; + return 0; +} + +int v4l2_free_buffers(struct v4l2_device *dev) +{ + struct v4l2_requestbuffers rb; + unsigned int i; + int ret; + + if (dev->nbufs == 0) + return 0; + + if (dev->memtype == V4L2_MEMORY_MMAP) { + for (i = 0; i < dev->nbufs; ++i) { + ret = munmap(dev->buffers[i].mem, dev->buffers[i].size); + if (ret < 0) { + printf("Unable to unmap buffer %u (%d)\n", i, errno); + return -errno; + } + } + } + + memset(&rb, 0, sizeof rb); + rb.count = 0; + rb.type = dev->type; + rb.memory = dev->memtype; + + ret = ioctl(dev->fd, VIDIOC_REQBUFS, &rb); + if (ret < 0) { + printf("Unable to release buffers: %d.\n", errno); + return -errno; + } + + free(dev->buffers); + dev->nbufs = 0; + dev->buffers = NULL; + + return 0; +} + +int v4l2_dequeue_buffer(struct v4l2_device *dev, struct v4l2_video_buffer *buffer) +{ + struct v4l2_buffer buf; + int ret; + + memset(&buf, 0, sizeof buf); + buf.type = dev->type; + buf.memory = dev->memtype; + + ret = ioctl(dev->fd, VIDIOC_DQBUF, &buf); + if (ret < 0) { + printf("Unable to dequeue buffer (%d).\n", errno); + return -errno; + } + + *buffer = dev->buffers[buf.index]; + buffer->index = buf.index; + buffer->bytesused = buf.bytesused; + buffer->error = !!(buf.flags & V4L2_BUF_FLAG_ERROR); + + return 0; +} + +int v4l2_queue_buffer(struct v4l2_device *dev, struct v4l2_video_buffer *buffer) +{ + struct v4l2_buffer buf; + int ret; + + if (buffer->index >= dev->nbufs) + return -EINVAL; + + memset(&buf, 0, sizeof buf); + buf.index = buffer->index; + buf.type = dev->type; + buf.memory = dev->memtype; + + if (dev->memtype == V4L2_MEMORY_USERPTR) { + buf.m.userptr = (unsigned long)buffer->mem; + buf.length = buffer->size; + } else { + buf.length = dev->buffers[buffer->index].size; + } + + if (dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT) + buf.bytesused = buffer->bytesused; + + ret = ioctl(dev->fd, VIDIOC_QBUF, &buf); + if (ret < 0) { + printf("Unable to queue buffer (%d).\n", errno); + return -errno; + } + + return 0; +} + +/* ----------------------------------------------------------------------------- + * Stream management + */ + +int v4l2_stream_on(struct v4l2_device *dev) +{ + int type = dev->type; + int ret; + + ret = ioctl(dev->fd, VIDIOC_STREAMON, &type); + if (ret < 0) + return -errno; + + return 0; +} + +int v4l2_stream_off(struct v4l2_device *dev) +{ + int type = dev->type; + int ret; + + ret = ioctl(dev->fd, VIDIOC_STREAMOFF, &type); + if (ret < 0) + return -errno; + + return 0; +} diff --git a/v4l2.h b/v4l2.h new file mode 100644 index 0000000..daf9dc3 --- /dev/null +++ b/v4l2.h @@ -0,0 +1,250 @@ +/* + * OMAP3 ISP library - V4L2 devices + * + * Copyright (C) 2005-2011 Laurent Pinchart + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + */ +#ifndef __V4L2_H +#define __V4L2_H + +#include +#include + +#include "list.h" + +/* + * struct v4l2_video_buffer - Video buffer information + * @index: Zero-based buffer index, limited to the number of buffers minus one + * @size: Size of the video memory, in bytes + * @bytesused: Number of bytes used by video data, smaller or equal to @size + * @error: True if an error occured while capturing video data for the buffer + * @mem: Video data memory + */ +struct v4l2_video_buffer +{ + unsigned int index; + unsigned int size; + unsigned int bytesused; + bool error; + void *mem; +}; + +struct v4l2_device +{ + int fd; + + enum v4l2_buf_type type; + enum v4l2_memory memtype; + + struct list_entry formats; + struct v4l2_pix_format format; + + unsigned int nbufs; + struct v4l2_video_buffer *buffers; +}; + +/* + * v4l2_open - Open a V4L2 device + * @devname: Name (including path) of the device node + * + * Open the V4L2 device referenced by @devname for video capture or display in + * non-blocking mode. + * + * If the device can be opened, query its capabilities and enumerates frame + * formats, sizes and intervals. + * + * Return a pointer to a newly allocated v4l2_device structure instance on + * success and NULL on failure. The returned pointer must be freed with + * v4l2_close when the device isn't needed anymore. + */ +struct v4l2_device *v4l2_open(const char *devname); + +/* + * v4l2_close - Close a V4L2 device + * @dev: Device instance + * + * Close the device instance given as argument and free allocated resources. + * Access to the device instance is forbidden after this function returns. + */ +void v4l2_close(struct v4l2_device *dev); + +/* + * v4l2_get_format - Retrieve the current pixel format + * @dev: Device instance + * @format: Pixel format structure to be filled + * + * Query the device to retrieve the current pixel format and frame size and fill + * the @format structure. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_get_format(struct v4l2_device *dev, struct v4l2_pix_format *format); + +/* + * v4l2_set_format - Set the pixel format + * @dev: Device instance + * @format: Pixel format structure to be set + * + * Set the pixel format and frame size stored in @format. The device can modify + * the requested format and size, in which case the @format structure will be + * updated to reflect the modified settings. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_set_format(struct v4l2_device *dev, struct v4l2_pix_format *format); + +/* + * v4l2_alloc_buffers - Allocate buffers for video frames + * @dev: Device instance + * @memtype: Type of buffers + * @nbufs: Requested number of buffers + * + * Allocate @nbufs buffers to store video frames. The device can modify the + * number of buffers depending on its needs. The number of allocated buffers + * will be stored in the @dev::nbufs field. + * + * When @memtype is set to V4L2_MEMORY_MMAP the buffers are allocated by the + * driver and mapped to userspace. When @memtype is set to V4L2_MEMORY_USERPTR + * the driver only allocates buffer objects and relies on the application to + * provide memory storage for video frames. + * + * Upon successful allocation the @dev::buffers field points to an array of + * allocated buffers. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_alloc_buffers(struct v4l2_device *dev, enum v4l2_memory memtype, + unsigned int nbufs); + +/* + * v4l2_free_buffers - Free buffers + * @dev: Device instance + * + * Free buffers previously allocated by v4l2_alloc_buffers(). If the buffers + * have been allocated with the V4L2_MEMORY_USERPTR memory type only the buffer + * objects are freed, and the caller is responsible for freeing the video frames + * memory if required. + * + * When successful this function sets the @dev::nbufs field to zero and the + * @dev::buffers field to NULL. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_free_buffers(struct v4l2_device *dev); + +/* + * v4l2_queue_buffer - Queue a buffer for video capture/output + * @dev: Device instance + * @buffer: Buffer to be queued + * + * Queue the buffer identified by @buffer for video capture or output, depending + * on the device type. + * + * The caller must initialize the @buffer::index field with the index of the + * buffer to be queued. The index is zero-based and must be lower than the + * number of allocated buffers. + * + * For V4L2_MEMORY_USERPTR buffers, the caller must initialize the @buffer::mem + * field with the address of the video frame memory, and the @buffer:length + * field with its size in bytes. For optimal performances the address and length + * should be identical between v4l2_queue_buffer() calls for a given buffer + * index. + * + * For video output, the caller must initialize the @buffer::bytesused field + * with the size of video data. The value should differ from the buffer length + * for variable-size video formats only. + * + * Upon successful return the buffer ownership is transferred to the driver. The + * caller must not touch video memory for that buffer before calling + * v4l2_dequeue_buffer(). Attempting to queue an already queued buffer will + * fail. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_queue_buffer(struct v4l2_device *dev, struct v4l2_video_buffer *buffer); + +/* + * v4l2_dequeue_buffer - Dequeue the next buffer + * @dev: Device instance + * @buffer: Dequeued buffer data to be filled + * + * Dequeue the next buffer processed by the driver and fill all fields in + * @buffer. + * + * This function does not block. If no buffer is ready it will return + * immediately with -EAGAIN. + * + * If an error occured during video capture or display, the @buffer::error field + * is set to true. Depending on the device the video data can be partly + * corrupted or complete garbage. + * + * Once dequeued the buffer ownership is transferred to the caller. Video memory + * for that buffer can be safely read from and written to. + * + * Return 0 on success or a negative error code on failure. An error that + * results in @buffer:error being set is not considered as a failure condition + * for the purpose of the return value. + */ +int v4l2_dequeue_buffer(struct v4l2_device *dev, struct v4l2_video_buffer *buffer); + +/* + * v4l2_stream_on - Start video streaming + * @dev: Device instance + * + * Start video capture or output on the device. For video output devices at + * least one buffer must be queued before starting the stream. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_stream_on(struct v4l2_device *dev); + +/* + * v4l2_stream_off - Stop video streaming + * @dev: Device instance + * + * Stop video capture or output on the device. Upon successful return ownership + * of all buffers is returned to the caller. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_stream_off(struct v4l2_device *dev); + +/* + * v4l2_get_control - Read the value of a control + * @dev: Device instance + * @id: Control ID + * @value: Control value to be filled + * + * Retrieve the current value of control @id and store it in @value. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_get_control(struct v4l2_device *dev, unsigned int id, int32_t *value); + +/* + * v4l2_set_control - Write the value of a control + * @dev: Device instance + * @id: Control ID + * @value: Control value + * + * Set control @id to @value. The device is allowed to modify the requested + * value, in which case @value is updated to the modified value. + * + * Return 0 on success or a negative error code on failure. + */ +int v4l2_set_control(struct v4l2_device *dev, unsigned int id, int32_t *value); + +#endif -- cgit v1.2.3