Rev 1445 | Rev 1471 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1174 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
||
3 | * |
||
4 | * Coordinators: |
||
5 | * Giorgio Buttazzo <giorgio@sssup.it> |
||
6 | * Paolo Gai <pj@gandalf.sssup.it> |
||
7 | * |
||
8 | * Authors : |
||
9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
||
10 | * |
||
11 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
||
12 | * |
||
13 | * http://www.sssup.it |
||
14 | * http://retis.sssup.it |
||
15 | * http://shark.sssup.it |
||
16 | */ |
||
17 | |||
18 | /* |
||
19 | * Copyright (C) 2003 Giacomo Guidi |
||
20 | * |
||
21 | * This program is free software; you can redistribute it and/or modify |
||
22 | * it under the terms of the GNU General Public License as published by |
||
23 | * the Free Software Foundation; either version 2 of the License, or |
||
24 | * (at your option) any later version. |
||
25 | * |
||
26 | * This program is distributed in the hope that it will be useful, |
||
27 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
||
28 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
29 | * GNU General Public License for more details. |
||
30 | * |
||
31 | * You should have received a copy of the GNU General Public License |
||
32 | * along with this program; if not, write to the Free Software |
||
33 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
||
34 | */ |
||
35 | |||
36 | #include "kernel/kern.h" |
||
1424 | giacomo | 37 | #include "stdlib.h" |
1432 | giacomo | 38 | #include "unistd.h" |
1174 | giacomo | 39 | |
1423 | giacomo | 40 | #include "drivers/shark_keyb26.h" |
41 | #include "drivers/shark_videodev26.h" |
||
1424 | giacomo | 42 | #include "drivers/shark_fb26.h" |
1423 | giacomo | 43 | |
1174 | giacomo | 44 | #define WIDTH 640 |
45 | #define HEIGHT 480 |
||
46 | #define BYTES_PP 2 |
||
47 | |||
1443 | giacomo | 48 | //#define COLOR |
49 | |||
1444 | giacomo | 50 | #define FRAME_GRABBER_NUMBER 0 |
51 | |||
1174 | giacomo | 52 | #define FG_PERIOD 40000 |
53 | #define FG_WCET 30000 |
||
54 | #define FG_W 320 |
||
55 | #define FG_H 200 |
||
56 | |||
1423 | giacomo | 57 | void program_end(void *arg) |
58 | { |
||
1174 | giacomo | 59 | |
1423 | giacomo | 60 | sys_end(); |
61 | |||
62 | } |
||
1174 | giacomo | 63 | |
1424 | giacomo | 64 | void elaborate_image(void *imageptr); |
65 | |||
1470 | giacomo | 66 | void start_frame_grabber(PID elaborate_task_PID, int channel, struct video_buffer *fbuf) { |
1174 | giacomo | 67 | |
1423 | giacomo | 68 | struct video_window win; |
69 | struct video_channel chan; |
||
1443 | giacomo | 70 | struct video_tuner tuner; |
1470 | giacomo | 71 | struct video_picture vpic; |
1174 | giacomo | 72 | |
1432 | giacomo | 73 | /* Init videodev driver */ |
1444 | giacomo | 74 | VIDEODEV26_open(FRAME_GRABBER_NUMBER); |
1432 | giacomo | 75 | |
1444 | giacomo | 76 | /* Select the input channel */ |
77 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGCHAN,(unsigned long)&chan); |
||
1443 | giacomo | 78 | |
1470 | giacomo | 79 | chan.channel = channel; |
1443 | giacomo | 80 | chan.type = VIDEO_VC_TUNER; |
1432 | giacomo | 81 | chan.norm = VIDEO_TYPE_CAMERA; |
1423 | giacomo | 82 | |
1444 | giacomo | 83 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSCHAN,(unsigned long)&chan); |
1432 | giacomo | 84 | |
1444 | giacomo | 85 | /* Enable the tuner */ |
86 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGTUNER,(unsigned long)&tuner); |
||
1443 | giacomo | 87 | |
88 | tuner.mode = VIDEO_MODE_PAL; |
||
89 | |||
1444 | giacomo | 90 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSTUNER,(unsigned long)&tuner); |
1443 | giacomo | 91 | |
1427 | giacomo | 92 | /* Select palette and depth */ |
1444 | giacomo | 93 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGPICT,(unsigned long)&vpic); |
1443 | giacomo | 94 | |
95 | #ifdef COLOR |
||
96 | vpic.palette = VIDEO_PALETTE_RGB24; |
||
97 | vpic.depth = 24; |
||
98 | #else |
||
99 | vpic.palette = VIDEO_PALETTE_GREY; |
||
100 | vpic.depth = 8; |
||
101 | #endif |
||
102 | |||
103 | vpic.brightness = 35000; |
||
104 | vpic.hue = 32000; |
||
105 | vpic.contrast = 32000; |
||
106 | vpic.colour = 32000; |
||
1424 | giacomo | 107 | |
1444 | giacomo | 108 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSPICT,(unsigned long)&vpic); |
1424 | giacomo | 109 | |
1427 | giacomo | 110 | /* Set grabbing window */ |
1444 | giacomo | 111 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGWIN,(unsigned long)&win); |
1424 | giacomo | 112 | |
1423 | giacomo | 113 | win.x = 0; |
114 | win.y = 0; |
||
1432 | giacomo | 115 | win.width = FG_W; |
116 | win.height = FG_H; |
||
1423 | giacomo | 117 | |
1444 | giacomo | 118 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSWIN,(unsigned long)&win); |
1424 | giacomo | 119 | |
1470 | giacomo | 120 | /* IMPORTANT: Set the aperiodic elaboration task |
121 | * This is a SHARK change on VIDIOCSYNC. When the |
||
122 | * new frame is ready, the task elaborate_task_PID |
||
123 | * is activated. Elabortate_task must be aperiodic !! |
||
124 | * To link the task to BTTV use this function: */ |
||
125 | |||
126 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSYNC,(unsigned long)(elaborate_task_PID)); |
||
127 | |||
128 | } |
||
129 | |||
130 | |||
131 | /* Elaboration task, it is called when the frame |
||
132 | grabber buffer is ready */ |
||
133 | TASK elaborate_task(void *arg) { |
||
134 | |||
135 | struct video_buffer *fbuf = (struct video_buffer *)(arg); |
||
136 | |||
1423 | giacomo | 137 | while(1) { |
1443 | giacomo | 138 | |
1470 | giacomo | 139 | elaborate_image(fbuf->base); |
1443 | giacomo | 140 | |
1470 | giacomo | 141 | /* Text version |
1443 | giacomo | 142 | printf_xy(1,20,WHITE,"%08x", |
1470 | giacomo | 143 | *(unsigned int *)(fbuf->base+50*320*3+50*3)); |
1428 | giacomo | 144 | */ |
1423 | giacomo | 145 | |
1432 | giacomo | 146 | task_testcancel(); |
1424 | giacomo | 147 | task_endcycle(); |
148 | |||
1423 | giacomo | 149 | } |
150 | |||
1424 | giacomo | 151 | return NULL; |
152 | |||
1174 | giacomo | 153 | } |
154 | |||
1470 | giacomo | 155 | /* Send the grab command */ |
156 | TASK grab_task(void *arg) { |
||
157 | |||
158 | struct video_buffer *fbuf = (struct video_buffer *)(arg); |
||
159 | int on; |
||
160 | |||
161 | while(1) { |
||
162 | |||
163 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSFBUF,(unsigned long)(fbuf)); |
||
164 | |||
165 | /* Grab */ |
||
166 | on = 1; |
||
167 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCCAPTURE,(unsigned long)&on); |
||
168 | |||
169 | task_testcancel(); |
||
170 | task_endcycle(); |
||
171 | |||
172 | } |
||
173 | |||
174 | return NULL; |
||
175 | |||
176 | } |
||
177 | |||
1424 | giacomo | 178 | extern void *video_memory; |
179 | |||
1174 | giacomo | 180 | void elaborate_image(void *imageptr) |
181 | { |
||
1424 | giacomo | 182 | |
1174 | giacomo | 183 | WORD x,y; |
184 | BYTE *col; |
||
185 | |||
1443 | giacomo | 186 | #ifdef COLOR |
187 | |||
1174 | giacomo | 188 | for(y = 0; y < FG_H; y++) |
189 | for(x = 0; x < FG_W; x++) { |
||
190 | |||
1443 | giacomo | 191 | col = (BYTE *)(imageptr + y * FG_W * 3 + x * 3); |
192 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col+2),*(BYTE *)(col+1),*(BYTE *)(col+0)); |
||
1174 | giacomo | 193 | |
194 | } |
||
195 | |||
1443 | giacomo | 196 | #else |
197 | |||
198 | for(y = 0; y < FG_H; y++) |
||
199 | for(x = 0; x < FG_W; x++) { |
||
200 | |||
201 | col = (BYTE *)(imageptr + y * FG_W + x); |
||
202 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col),*(BYTE *)(col),*(BYTE *)(col)); |
||
203 | |||
204 | } |
||
205 | |||
206 | #endif |
||
207 | |||
1174 | giacomo | 208 | } |
209 | |||
210 | int main(int argc, char **argv) |
||
211 | { |
||
212 | |||
1470 | giacomo | 213 | HARD_TASK_MODEL gt; |
214 | SOFT_TASK_MODEL et; |
||
215 | PID grab_task_pid,elaborate_task_pid; |
||
1174 | giacomo | 216 | |
1470 | giacomo | 217 | struct video_buffer fbuf; |
218 | int channel = 0; |
||
219 | |||
1444 | giacomo | 220 | if (argc < 2) { |
1445 | giacomo | 221 | sys_shutdown_message("ERROR: Enter the input channel [ex> %s 0]\n",argv[0]); |
1444 | giacomo | 222 | sys_end(); |
223 | } |
||
1432 | giacomo | 224 | |
1470 | giacomo | 225 | channel = atoi(argv[1]); |
226 | |||
227 | soft_task_default_model(et); |
||
228 | soft_task_def_period(et,40000); |
||
229 | soft_task_def_arg(et,(void *)(&fbuf)); |
||
230 | soft_task_def_met(et,30000); |
||
231 | soft_task_def_aperiodic(et); |
||
232 | soft_task_def_ctrl_jet(et); |
||
233 | |||
234 | hard_task_default_model(gt); |
||
235 | hard_task_def_mit(gt,40000); |
||
236 | hard_task_def_arg(gt,(void *)(&fbuf)); |
||
237 | hard_task_def_wcet(gt,3000); |
||
238 | hard_task_def_ctrl_jet(gt); |
||
239 | |||
240 | grab_task_pid = task_create("GrabTask",grab_task,>,NULL); |
||
1423 | giacomo | 241 | if (grab_task_pid == NIL) { |
1444 | giacomo | 242 | sys_shutdown_message("ERROR: Cannot create grab task\n"); |
1423 | giacomo | 243 | sys_end(); |
244 | } |
||
1174 | giacomo | 245 | |
1470 | giacomo | 246 | elaborate_task_pid = task_create("ElaborateTask",elaborate_task,&et,NULL); |
247 | if (grab_task_pid == NIL) { |
||
248 | sys_shutdown_message("ERROR: Cannot create elaborate task\n"); |
||
249 | sys_end(); |
||
250 | } |
||
251 | |||
252 | #ifdef COLOR |
||
253 | |||
254 | fbuf.base = malloc(FG_W*FG_H*3); |
||
255 | fbuf.height = FG_H; |
||
256 | fbuf.width = FG_W; |
||
257 | fbuf.bytesperline = FG_W*3; |
||
258 | fbuf.depth = 24; |
||
259 | |||
260 | #else |
||
261 | |||
262 | fbuf.base = malloc(FG_W*FG_H); |
||
263 | fbuf.height = FG_H; |
||
264 | fbuf.width = FG_W; |
||
265 | fbuf.bytesperline = FG_W; |
||
266 | fbuf.depth = 8; |
||
267 | |||
268 | #endif |
||
269 | |||
270 | start_frame_grabber(elaborate_task_pid,channel,&fbuf); |
||
271 | |||
1423 | giacomo | 272 | task_activate(grab_task_pid); |
1174 | giacomo | 273 | |
1189 | giacomo | 274 | while(keyb_getch(BLOCK) != ESC); |
275 | |||
1432 | giacomo | 276 | task_kill(grab_task_pid); |
277 | |||
278 | sleep(1); |
||
279 | |||
1423 | giacomo | 280 | sys_end(); |
1189 | giacomo | 281 | |
1174 | giacomo | 282 | return 0; |
283 | |||
284 | } |