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authorLaurent Pinchart <laurent.pinchart@ideasonboard.com>2011-04-15 01:17:09 +0200
committerLaurent Pinchart <laurent.pinchart@ideasonboard.com>2011-04-15 01:17:09 +0200
commit4832db38b75b2f34a91c63f02a7ed6de9edb1622 (patch)
tree618cf66ad2df48a0577eaf40305c1b2edaa57e00
omap3-isp-dsp sample application initial importHEADmaster
Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
-rw-r--r--LICENSE340
-rw-r--r--Makefile31
-rw-r--r--README144
-rw-r--r--bridge/LICENSE502
-rw-r--r--bridge/Makefile19
-rw-r--r--bridge/dmm_buffer.h171
-rw-r--r--bridge/dsp_bridge.c1225
-rw-r--r--bridge/dsp_bridge.h441
-rw-r--r--bridge/log.h40
-rw-r--r--dsp/Makefile27
-rw-r--r--dsp/bridge.s59
-rw-r--r--dsp/node.h38
-rw-r--r--dsp/threshold.c71
-rw-r--r--isp-dsp.c588
-rw-r--r--list.h74
-rw-r--r--tools.h26
-rw-r--r--v4l2.c614
-rw-r--r--v4l2.h250
18 files changed, 4660 insertions, 0 deletions
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
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+
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+License is intended to guarantee your freedom to share and change free
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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. The isp-dsp ARM executable can be run from any directory.
diff --git a/bridge/LICENSE b/bridge/LICENSE
new file mode 100644
index 0000000..4362b49
--- /dev/null
+++ b/bridge/LICENSE
@@ -0,0 +1,502 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 2.1, February 1999
+
+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.
+ 51 Franklin Street, 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.
+
+[This is the first released version of the Lesser GPL. It also counts
+ as the successor of the GNU Library Public License, version 2, hence
+ the version number 2.1.]
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+Licenses are intended to guarantee your freedom to share and change
+free software--to make sure the software is free for all its users.
+
+ This license, the Lesser General Public License, applies to some
+specially designated software packages--typically libraries--of the
+Free Software Foundation and other authors who decide to use it. You
+can use it too, but we suggest you first think carefully about whether
+this license or the ordinary General Public License is the better
+strategy to use in any particular case, based on the explanations below.
+
+ When we speak of free software, we are referring to freedom of use,
+not price. Our General Public Licenses are designed to make sure that
+you have the freedom to distribute copies of free software (and charge
+for this service if you wish); that you receive source code or can get
+it if you want it; that you can change the software and use pieces of
+it in new free programs; and that you are informed that you can do
+these things.
+
+ To protect your rights, we need to make restrictions that forbid
+distributors to deny you these rights or to ask you to surrender these
+rights. These restrictions translate to certain responsibilities for
+you if you distribute copies of the library or if you modify it.
+
+ For example, if you distribute copies of the library, whether gratis
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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 <felipe.contreras@nokia.com>
+ * Marco Ballesio <marco.ballesio@nokia.com>
+ *
+ * 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 <stdlib.h> /* for calloc, free */
+#include <string.h> /* 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 <felipe.contreras@gmail.com>
+ *
+ * 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 <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+#include <unistd.h> /* for close */
+#include <sys/ioctl.h> /* for ioctl */
+#include <stdlib.h> /* for free */
+
+#include <malloc.h> /* for memalign */
+
+#define ALLOCATE_SM
+
+#ifdef ALLOCATE_SM
+#include <malloc.h> /* for memalign */
+#include <sys/mman.h> /* for mmap */
+#endif
+
+#if DSP_API < 2
+#include <errno.h>
+#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 <linux/ioctl.h>
+
+/* 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 <felipe.contreras@gmail.com>
+ *
+ * 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 <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#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 <felipe.contreras@gmail.com>
+ *
+ * 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 <stdint.h>
+
+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 <laurent.pinchart@ideasonboard.com>
+ *
+ * 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 <stddef.h>
+#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 <laurent.pinchart@ideasonboard.com>
+ *
+ * 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 <errno.h>
+#include <fcntl.h>
+#include <getopt.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/select.h>
+#include <sys/time.h>
+
+#include <mediactl/media.h>
+#include <mediactl/subdev.h>
+
+#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 <laurent.pinchart@ideasonboard.com>
+ *
+ * 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 <stddef.h>
+
+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 <laurent.pinchart@ideasonboard.com>
+ *
+ * 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 <laurent.pinchart@ideasonboard.com>
+ *
+ * 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 <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <getopt.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/select.h>
+#include <sys/time.h>
+
+#include <linux/videodev2.h>
+
+#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 <laurent.pinchart@ideasonboard.com>
+ *
+ * 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 <linux/videodev2.h>
+#include <stdbool.h>
+
+#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