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1174 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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10 | * |
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11 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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12 | * |
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13 | * http://www.sssup.it |
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14 | * http://retis.sssup.it |
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15 | * http://shark.sssup.it |
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16 | */ |
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17 | |||
18 | /* |
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19 | * Copyright (C) 2003 Giacomo Guidi |
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20 | * |
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21 | * This program is free software; you can redistribute it and/or modify |
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22 | * it under the terms of the GNU General Public License as published by |
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23 | * the Free Software Foundation; either version 2 of the License, or |
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24 | * (at your option) any later version. |
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25 | * |
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26 | * This program is distributed in the hope that it will be useful, |
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27 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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28 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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29 | * GNU General Public License for more details. |
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30 | * |
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31 | * You should have received a copy of the GNU General Public License |
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32 | * along with this program; if not, write to the Free Software |
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33 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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34 | */ |
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35 | |||
36 | #include "kernel/kern.h" |
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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" |
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1424 | giacomo | 42 | #include "drivers/shark_fb26.h" |
1423 | giacomo | 43 | |
1474 | giacomo | 44 | #include "tracer.h" |
45 | |||
1174 | giacomo | 46 | #define WIDTH 640 |
47 | #define HEIGHT 480 |
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48 | #define BYTES_PP 2 |
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49 | |||
1443 | giacomo | 50 | //#define COLOR |
51 | |||
1444 | giacomo | 52 | #define FRAME_GRABBER_NUMBER 0 |
53 | |||
1174 | giacomo | 54 | #define FG_PERIOD 40000 |
55 | #define FG_WCET 30000 |
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56 | #define FG_W 320 |
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1474 | giacomo | 57 | #define FG_H 240 |
1174 | giacomo | 58 | |
1423 | giacomo | 59 | void program_end(void *arg) |
60 | { |
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1174 | giacomo | 61 | |
1423 | giacomo | 62 | sys_end(); |
63 | |||
64 | } |
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1174 | giacomo | 65 | |
1424 | giacomo | 66 | void elaborate_image(void *imageptr); |
67 | |||
1470 | giacomo | 68 | void start_frame_grabber(PID elaborate_task_PID, int channel, struct video_buffer *fbuf) { |
1174 | giacomo | 69 | |
1423 | giacomo | 70 | struct video_window win; |
71 | struct video_channel chan; |
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1443 | giacomo | 72 | struct video_tuner tuner; |
1470 | giacomo | 73 | struct video_picture vpic; |
1474 | giacomo | 74 | int res; |
1174 | giacomo | 75 | |
1432 | giacomo | 76 | /* Init videodev driver */ |
1444 | giacomo | 77 | VIDEODEV26_open(FRAME_GRABBER_NUMBER); |
1432 | giacomo | 78 | |
1444 | giacomo | 79 | /* Select the input channel */ |
1474 | giacomo | 80 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGCHAN,(unsigned long)&chan); |
81 | //cprintf("res = %d\n",res); |
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1443 | giacomo | 82 | |
1470 | giacomo | 83 | chan.channel = channel; |
1443 | giacomo | 84 | chan.type = VIDEO_VC_TUNER; |
1432 | giacomo | 85 | chan.norm = VIDEO_TYPE_CAMERA; |
1423 | giacomo | 86 | |
1474 | giacomo | 87 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSCHAN,(unsigned long)&chan); |
88 | //cprintf("res = %d\n",res); |
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1432 | giacomo | 89 | |
1444 | giacomo | 90 | /* Enable the tuner */ |
1443 | giacomo | 91 | |
1474 | giacomo | 92 | tuner.tuner = 0; |
1443 | giacomo | 93 | tuner.mode = VIDEO_MODE_PAL; |
94 | |||
1474 | giacomo | 95 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSTUNER,(unsigned long)&tuner); |
96 | //cprintf("res = %d\n",res); |
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1443 | giacomo | 97 | |
1427 | giacomo | 98 | /* Select palette and depth */ |
1474 | giacomo | 99 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGPICT,(unsigned long)&vpic); |
100 | //cprintf("res = %d\n",res); |
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101 | |||
1443 | giacomo | 102 | #ifdef COLOR |
103 | vpic.palette = VIDEO_PALETTE_RGB24; |
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104 | vpic.depth = 24; |
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105 | #else |
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106 | vpic.palette = VIDEO_PALETTE_GREY; |
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107 | vpic.depth = 8; |
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108 | #endif |
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109 | |||
110 | vpic.brightness = 35000; |
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111 | vpic.hue = 32000; |
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112 | vpic.contrast = 32000; |
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113 | vpic.colour = 32000; |
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1424 | giacomo | 114 | |
1474 | giacomo | 115 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSPICT,(unsigned long)&vpic); |
116 | //cprintf("res = %d\n",res); |
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1424 | giacomo | 117 | |
1474 | giacomo | 118 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGWIN,(unsigned long)&win); |
119 | //cprintf("res = %d\n",res); |
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120 | |||
1423 | giacomo | 121 | win.x = 0; |
122 | win.y = 0; |
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1432 | giacomo | 123 | win.width = FG_W; |
124 | win.height = FG_H; |
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1424 | giacomo | 125 | |
1474 | giacomo | 126 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSWIN,(unsigned long)&win); |
127 | //cprintf("res = %d\n",res); |
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128 | |||
1471 | giacomo | 129 | /* Set the buffer */ |
1474 | giacomo | 130 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSFBUF,(unsigned long)(fbuf)); |
131 | //cprintf("res = %d\n",res); |
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1471 | giacomo | 132 | |
1470 | giacomo | 133 | /* IMPORTANT: Set the aperiodic elaboration task |
134 | * This is a SHARK change on VIDIOCSYNC. When the |
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135 | * new frame is ready, the task elaborate_task_PID |
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136 | * is activated. Elabortate_task must be aperiodic !! |
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137 | * To link the task to BTTV use this function: */ |
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138 | |||
139 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSYNC,(unsigned long)(elaborate_task_PID)); |
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140 | |||
141 | } |
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142 | |||
1471 | giacomo | 143 | /* Check if the frame grabber is ready */ |
1473 | giacomo | 144 | volatile int ready_to_grab = 1; |
1470 | giacomo | 145 | |
146 | /* Elaboration task, it is called when the frame |
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147 | grabber buffer is ready */ |
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148 | TASK elaborate_task(void *arg) { |
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149 | |||
150 | struct video_buffer *fbuf = (struct video_buffer *)(arg); |
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151 | |||
1423 | giacomo | 152 | while(1) { |
1443 | giacomo | 153 | |
1470 | giacomo | 154 | elaborate_image(fbuf->base); |
1472 | giacomo | 155 | //cprintf("E"); |
156 | |||
157 | //Text version |
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158 | //printf_xy(1,20,WHITE,"%08x", |
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159 | // *(unsigned int *)(fbuf->base+50*320*3+50*3)); |
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1443 | giacomo | 160 | |
1471 | giacomo | 161 | ready_to_grab = 1; |
162 | |||
1432 | giacomo | 163 | task_testcancel(); |
1424 | giacomo | 164 | task_endcycle(); |
165 | |||
1423 | giacomo | 166 | } |
167 | |||
1424 | giacomo | 168 | return NULL; |
169 | |||
1174 | giacomo | 170 | } |
171 | |||
1470 | giacomo | 172 | /* Send the grab command */ |
173 | TASK grab_task(void *arg) { |
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174 | |||
175 | int on; |
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176 | |||
177 | while(1) { |
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1471 | giacomo | 178 | |
179 | if (ready_to_grab) { |
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1473 | giacomo | 180 | |
181 | task_nopreempt(); |
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182 | |||
1471 | giacomo | 183 | /* Grab */ |
184 | on = 1; |
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185 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCCAPTURE,(unsigned long)&on); |
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1470 | giacomo | 186 | |
1473 | giacomo | 187 | task_preempt(); |
188 | |||
1472 | giacomo | 189 | //cprintf("G"); |
190 | |||
1471 | giacomo | 191 | ready_to_grab = 0; |
192 | |||
193 | } else { |
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194 | |||
1472 | giacomo | 195 | //cprintf("S"); |
1471 | giacomo | 196 | /* Frame skipped */ |
197 | |||
198 | } |
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199 | |||
1470 | giacomo | 200 | task_testcancel(); |
201 | task_endcycle(); |
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202 | |||
203 | } |
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204 | |||
205 | return NULL; |
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206 | |||
207 | } |
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208 | |||
1424 | giacomo | 209 | extern void *video_memory; |
210 | |||
1174 | giacomo | 211 | void elaborate_image(void *imageptr) |
212 | { |
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1424 | giacomo | 213 | |
1174 | giacomo | 214 | WORD x,y; |
215 | BYTE *col; |
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216 | |||
1443 | giacomo | 217 | #ifdef COLOR |
218 | |||
1174 | giacomo | 219 | for(y = 0; y < FG_H; y++) |
220 | for(x = 0; x < FG_W; x++) { |
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221 | |||
1443 | giacomo | 222 | col = (BYTE *)(imageptr + y * FG_W * 3 + x * 3); |
223 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col+2),*(BYTE *)(col+1),*(BYTE *)(col+0)); |
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1174 | giacomo | 224 | |
225 | } |
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226 | |||
1443 | giacomo | 227 | #else |
228 | |||
229 | for(y = 0; y < FG_H; y++) |
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230 | for(x = 0; x < FG_W; x++) { |
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231 | |||
232 | col = (BYTE *)(imageptr + y * FG_W + x); |
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233 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col),*(BYTE *)(col),*(BYTE *)(col)); |
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234 | |||
235 | } |
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236 | |||
237 | #endif |
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238 | |||
1174 | giacomo | 239 | } |
240 | |||
241 | int main(int argc, char **argv) |
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242 | { |
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243 | |||
1470 | giacomo | 244 | HARD_TASK_MODEL gt; |
245 | SOFT_TASK_MODEL et; |
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246 | PID grab_task_pid,elaborate_task_pid; |
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1174 | giacomo | 247 | |
1470 | giacomo | 248 | struct video_buffer fbuf; |
249 | int channel = 0; |
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250 | |||
1444 | giacomo | 251 | if (argc < 2) { |
1445 | giacomo | 252 | sys_shutdown_message("ERROR: Enter the input channel [ex> %s 0]\n",argv[0]); |
1444 | giacomo | 253 | sys_end(); |
254 | } |
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1432 | giacomo | 255 | |
1470 | giacomo | 256 | channel = atoi(argv[1]); |
257 | |||
258 | soft_task_default_model(et); |
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259 | soft_task_def_period(et,40000); |
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260 | soft_task_def_arg(et,(void *)(&fbuf)); |
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1472 | giacomo | 261 | soft_task_def_met(et,20000); |
1470 | giacomo | 262 | soft_task_def_aperiodic(et); |
263 | soft_task_def_ctrl_jet(et); |
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264 | |||
265 | hard_task_default_model(gt); |
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266 | hard_task_def_mit(gt,40000); |
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1473 | giacomo | 267 | hard_task_def_wcet(gt,5000); |
1470 | giacomo | 268 | hard_task_def_ctrl_jet(gt); |
269 | |||
270 | grab_task_pid = task_create("GrabTask",grab_task,>,NULL); |
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1423 | giacomo | 271 | if (grab_task_pid == NIL) { |
1444 | giacomo | 272 | sys_shutdown_message("ERROR: Cannot create grab task\n"); |
1423 | giacomo | 273 | sys_end(); |
274 | } |
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1174 | giacomo | 275 | |
1470 | giacomo | 276 | elaborate_task_pid = task_create("ElaborateTask",elaborate_task,&et,NULL); |
277 | if (grab_task_pid == NIL) { |
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278 | sys_shutdown_message("ERROR: Cannot create elaborate task\n"); |
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279 | sys_end(); |
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280 | } |
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281 | |||
282 | #ifdef COLOR |
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283 | |||
284 | fbuf.base = malloc(FG_W*FG_H*3); |
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285 | fbuf.height = FG_H; |
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286 | fbuf.width = FG_W; |
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287 | fbuf.bytesperline = FG_W*3; |
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288 | fbuf.depth = 24; |
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289 | |||
290 | #else |
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291 | |||
292 | fbuf.base = malloc(FG_W*FG_H); |
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293 | fbuf.height = FG_H; |
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294 | fbuf.width = FG_W; |
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295 | fbuf.bytesperline = FG_W; |
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296 | fbuf.depth = 8; |
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297 | |||
298 | #endif |
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299 | |||
300 | start_frame_grabber(elaborate_task_pid,channel,&fbuf); |
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301 | |||
1471 | giacomo | 302 | /* Activate periodic grabbing */ |
1423 | giacomo | 303 | task_activate(grab_task_pid); |
1174 | giacomo | 304 | |
1189 | giacomo | 305 | while(keyb_getch(BLOCK) != ESC); |
306 | |||
1432 | giacomo | 307 | task_kill(grab_task_pid); |
308 | |||
309 | sleep(1); |
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310 | |||
1423 | giacomo | 311 | sys_end(); |
1189 | giacomo | 312 | |
1174 | giacomo | 313 | return 0; |
314 | |||
315 | } |