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https://github.com/openmv/openmv.git
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513 lines
17 KiB
C
513 lines
17 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* Copyright (C) 2013-2024 OpenMV, LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* Framebuffer functions.
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*/
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#include <stdio.h>
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#include "mpprint.h"
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#include "fmath.h"
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#include "framebuffer.h"
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#include "omv_boardconfig.h"
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#define FB_ALIGN_SIZE_ROUND_DOWN(x) (((x) / FRAMEBUFFER_ALIGNMENT) * FRAMEBUFFER_ALIGNMENT)
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#define FB_ALIGN_SIZE_ROUND_UP(x) FB_ALIGN_SIZE_ROUND_DOWN(((x) + FRAMEBUFFER_ALIGNMENT - 1))
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#define OMV_JPEG_BUFFER_SIZE_MAX ((&_jpeg_memory_end - &_jpeg_memory_start) - sizeof(jpegbuffer_t))
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extern char _fb_memory_start[];
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extern char _fb_memory_end[];
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static framebuffer_t *framebuffer = (framebuffer_t *) &_fb_memory_start;
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extern char _jpeg_memory_start;
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extern char _jpeg_memory_end;
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jpegbuffer_t *jpegbuffer = (jpegbuffer_t *) &_jpeg_memory_start;
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void framebuffer_init0() {
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// Save enable flag.
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int fb_enabled = jpegbuffer->enabled;
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uint32_t fb_size = (char *) &_fb_memory_end - (char *) framebuffer->data;
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// Initialize frame buffer.
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framebuffer_init_fb(framebuffer, fb_size, false);
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// Initialize jpeg buffer.
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memset(jpegbuffer, 0, sizeof(*jpegbuffer));
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mutex_init0(&jpegbuffer->lock);
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jpegbuffer->enabled = fb_enabled;
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jpegbuffer->quality = ((OMV_JPEG_QUALITY_HIGH - OMV_JPEG_QUALITY_LOW) / 2) + OMV_JPEG_QUALITY_LOW;
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}
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void framebuffer_init_fb(framebuffer_t *fb, size_t size, bool dynamic) {
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// Clear framebuffers
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memset(fb, 0, sizeof(*fb));
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fb->raw_size = size;
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fb->streaming_enabled = true;
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fb->dynamic = dynamic;
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framebuffer_set_buffers(fb, 1);
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}
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void framebuffer_init_image(framebuffer_t *fb, image_t *img) {
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if (img != NULL) {
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img->w = fb->w;
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img->h = fb->h;
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img->size = fb->size;
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img->pixfmt = fb->pixfmt;
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img->pixels = framebuffer_get_buffer(fb, fb->head)->data;
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}
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}
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void framebuffer_init_from_image(framebuffer_t *fb, image_t *img) {
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fb->w = img->w;
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fb->h = img->h;
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fb->size = img->size;
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fb->pixfmt = img->pixfmt;
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}
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static void jpegbuffer_init_from_image(framebuffer_t *fb, image_t *img) {
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if (img == NULL) {
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jpegbuffer->w = 0;
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jpegbuffer->h = 0;
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jpegbuffer->size = 0;
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} else {
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jpegbuffer->w = img->w;
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jpegbuffer->h = img->h;
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jpegbuffer->size = img->size;
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}
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}
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void framebuffer_update_jpeg_buffer(framebuffer_t *fb) {
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static int overflow_count = 0;
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image_t main_fb_src;
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framebuffer_init_image(fb, &main_fb_src);
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image_t *src = &main_fb_src;
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if (src->pixfmt != PIXFORMAT_INVALID &&
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fb->streaming_enabled && jpegbuffer->enabled) {
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if (src->is_compressed) {
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bool does_not_fit = false;
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if (mutex_try_lock_alternate(&jpegbuffer->lock, MUTEX_TID_OMV)) {
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if (OMV_JPEG_BUFFER_SIZE_MAX < src->size) {
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jpegbuffer_init_from_image(fb, NULL);
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does_not_fit = true;
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} else {
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jpegbuffer_init_from_image(fb, src);
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memcpy(jpegbuffer->pixels, src->pixels, src->size);
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}
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mutex_unlock(&jpegbuffer->lock, MUTEX_TID_OMV);
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}
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if (does_not_fit) {
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printf("Warning: JPEG/PNG too big! Trying framebuffer transfer using fallback method!\n");
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int new_size = framebuffer_encoded_size(fb, src);
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fb_alloc_mark();
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uint8_t *temp = fb_alloc(new_size, FB_ALLOC_NO_HINT);
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framebuffer_encode(fb, temp, src);
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(MP_PYTHON_PRINTER)->print_strn((MP_PYTHON_PRINTER)->data, (const char *) temp, new_size);
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fb_alloc_free_till_mark();
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}
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} else if (src->pixfmt != PIXFORMAT_INVALID) {
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if (mutex_try_lock_alternate(&jpegbuffer->lock, MUTEX_TID_OMV)) {
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image_t dst = {
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.w = src->w,
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.h = src->h,
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.pixfmt = PIXFORMAT_JPEG,
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.size = OMV_JPEG_BUFFER_SIZE_MAX,
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.pixels = jpegbuffer->pixels
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};
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bool compress = true;
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bool overflow = false;
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#if OMV_RAW_PREVIEW_ENABLE
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if (src->is_mutable) {
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// Down-scale the frame (if necessary) and send the raw frame.
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dst.size = src->bpp;
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dst.pixfmt = src->pixfmt;
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if (src->w <= OMV_RAW_PREVIEW_WIDTH && src->h <= OMV_RAW_PREVIEW_HEIGHT) {
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if (image_size(&dst) <= OMV_JPEG_BUFFER_SIZE_MAX) {
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memcpy(dst.pixels, src->pixels, image_size(src));
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compress = false;
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}
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} else {
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float x_scale = OMV_RAW_PREVIEW_WIDTH / (float) src->w;
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float y_scale = OMV_RAW_PREVIEW_HEIGHT / (float) src->h;
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float scale = IM_MIN(x_scale, y_scale);
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dst.w = fast_floorf(src->w * scale);
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dst.h = fast_floorf(src->h * scale);
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if (image_size(&dst) <= OMV_JPEG_BUFFER_SIZE_MAX) {
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imlib_draw_image(&dst, src, 0, 0, scale, scale, NULL, -1, 255, NULL, NULL,
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IMAGE_HINT_BILINEAR | IMAGE_HINT_BLACK_BACKGROUND, NULL, NULL, NULL);
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compress = false;
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}
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}
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}
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#endif
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if (compress) {
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// For all other formats, send a compressed frame.
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overflow = jpeg_compress(src, &dst, jpegbuffer->quality, false, JPEG_SUBSAMPLING_AUTO);
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}
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if (overflow) {
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// JPEG buffer overflowed, reduce JPEG quality for the next frame
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// and skip the current frame. The IDE doesn't receive this frame.
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if (jpegbuffer->quality > 1) {
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// Keep this quality for the next n frames
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overflow_count = 60;
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jpegbuffer->quality = IM_MAX(1, (jpegbuffer->quality / 2));
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}
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jpegbuffer_init_from_image(fb, NULL);
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} else {
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if (overflow_count) {
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overflow_count--;
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}
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// Dynamically adjust our quality if the image is huge.
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bool big_frame_buffer = image_size(src) > OMV_JPEG_QUALITY_THRESHOLD;
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int jpeg_quality_max = big_frame_buffer ? OMV_JPEG_QUALITY_LOW : OMV_JPEG_QUALITY_HIGH;
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// No buffer overflow, increase quality up to max quality based on frame size...
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if ((!overflow_count) && (jpegbuffer->quality < jpeg_quality_max)) {
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jpegbuffer->quality++;
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}
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jpegbuffer_init_from_image(fb, &dst);
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}
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mutex_unlock(&jpegbuffer->lock, MUTEX_TID_OMV);
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}
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}
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}
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}
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framebuffer_t *framebuffer_get(size_t id) {
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return framebuffer;
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}
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int32_t framebuffer_get_x(framebuffer_t *fb) {
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return fb->x;
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}
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int32_t framebuffer_get_y(framebuffer_t *fb) {
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return fb->y;
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}
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int32_t framebuffer_get_u(framebuffer_t *fb) {
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return fb->u;
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}
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int32_t framebuffer_get_v(framebuffer_t *fb) {
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return fb->v;
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}
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int32_t framebuffer_get_width(framebuffer_t *fb) {
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return fb->w;
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}
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int32_t framebuffer_get_height(framebuffer_t *fb) {
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return fb->h;
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}
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int32_t framebuffer_get_depth(framebuffer_t *fb) {
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return fb->bpp;
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}
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void framebuffer_set_streaming(framebuffer_t *fb, bool enable) {
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fb->streaming_enabled = enable;
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}
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bool framebuffer_get_streaming(framebuffer_t *fb) {
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return fb->streaming_enabled;
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}
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void framebuffer_encode(framebuffer_t *fb, uint8_t *ptr, image_t *img) {
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*ptr++ = 0xFE;
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for (int i = 0, j = (img->size / 3) * 3; i < j; i += 3) {
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int x = 0;
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x |= img->data[i + 0] << 0;
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x |= img->data[i + 1] << 8;
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x |= img->data[i + 2] << 16;
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*ptr++ = 0x80 | ((x >> 0) & 0x3F);
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*ptr++ = 0x80 | ((x >> 6) & 0x3F);
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*ptr++ = 0x80 | ((x >> 12) & 0x3F);
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*ptr++ = 0x80 | ((x >> 18) & 0x3F);
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}
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if ((img->size % 3) == 2) {
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// 2 bytes -> 16-bits -> 24-bits sent
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int x = 0;
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x |= img->data[img->size - 2] << 0;
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x |= img->data[img->size - 1] << 8;
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*ptr++ = 0x80 | ((x >> 0) & 0x3F);
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*ptr++ = 0x80 | ((x >> 6) & 0x3F);
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*ptr++ = 0x80 | ((x >> 12) & 0x3F);
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}
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if ((img->size % 3) == 1) {
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// 1 byte -> 8-bits -> 16-bits sent
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int x = 0;
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x |= img->data[img->size - 1] << 0;
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*ptr++ = 0x80 | ((x >> 0) & 0x3F);
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*ptr++ = 0x80 | ((x >> 6) & 0x3F);
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}
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*ptr++ = 0xFE;
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}
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int framebuffer_encoded_size(framebuffer_t *fb, image_t *img) {
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return (((img->size * 8) + 5) / 6) + 2;
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}
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// Returns the current frame buffer size, factoring in the space taken by fb_alloc.
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static uint32_t framebuffer_max_buffer_size(framebuffer_t *fb) {
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uint32_t fb_total_size = FB_ALIGN_SIZE_ROUND_DOWN(fb->raw_size);
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uint32_t fb_avail_size = FB_ALIGN_SIZE_ROUND_DOWN(fb_alloc_stack_pointer() - (char *) fb->data);
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// No fb_alloc on dynamic FBs.
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if (fb->dynamic) {
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fb_avail_size = fb_total_size;
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}
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return IM_MIN(fb_total_size, fb_avail_size);
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}
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uint32_t framebuffer_get_buffer_size(framebuffer_t *fb) {
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uint32_t size;
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if (fb->n_buffers == 1) {
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// With only 1 vbuffer the frame buffer size can change given fb_alloc().
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size = framebuffer_max_buffer_size(fb);
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} else {
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// Whatever the raw size was when the number of buffers were set is locked in.
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size = fb->buff_size;
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}
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// Remove the size of the state header plus alignment padding.
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size -= sizeof(vbuffer_t);
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// Needs to be a multiple of FRAMEBUFFER_ALIGNMENT for DMA transfers.
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return FB_ALIGN_SIZE_ROUND_DOWN(size);
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}
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// Each raw frame buffer is split into two parts. The vbuffer_t struct followed by
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// padding and then the pixel array starting at the next 32-byte offset.
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vbuffer_t *framebuffer_get_buffer(framebuffer_t *fb, int32_t index) {
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uint32_t fbsize = framebuffer_get_buffer_size(fb);
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uint32_t offset = (sizeof(vbuffer_t) + fbsize) * index;
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return (vbuffer_t *) (fb->data + offset);
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}
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void framebuffer_flush_buffers(framebuffer_t *fb, bool fifo_flush) {
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if (fifo_flush) {
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// Drop all frame buffers.
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for (uint32_t i = 0; i < fb->n_buffers; i++) {
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memset(framebuffer_get_buffer(fb, i), 0, sizeof(vbuffer_t));
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}
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}
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// Move the tail pointer to the head which empties the virtual fifo while keeping the same
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// position of the current frame for the rest of the code.
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fb->tail = fb->head;
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fb->check_head = true;
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fb->sampled_head = 0;
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}
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int framebuffer_set_buffers(framebuffer_t *fb, int32_t n_buffers) {
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uint32_t avail_size = FB_ALIGN_SIZE_ROUND_DOWN(framebuffer_max_buffer_size(fb));
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uint32_t frame_size = FB_ALIGN_SIZE_ROUND_UP(fb->frame_size + sizeof(vbuffer_t));
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uint32_t vbuff_size = (n_buffers == 1) ? avail_size : frame_size;
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uint32_t vbuff_count = IM_MIN((avail_size / vbuff_size), (n_buffers == -1) ? 3 : (uint32_t) n_buffers);
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if (vbuff_count == 0 || vbuff_size < sizeof(vbuffer_t)) {
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return -1;
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}
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fb->head = 0;
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fb->buff_size = vbuff_size;
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fb->n_buffers = vbuff_count;
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fb->pixfmt = PIXFORMAT_INVALID;
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framebuffer_flush_buffers(fb, true);
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return 0;
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}
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// Returns the real size of bytes in the frame buffer.
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static uint32_t framebuffer_total_buffer_size(framebuffer_t *fb) {
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if (fb->n_buffers == 1) {
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// Allow fb_alloc to use frame buffer space up until the image size.
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image_t img;
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framebuffer_init_image(fb, &img);
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return sizeof(vbuffer_t) + FB_ALIGN_SIZE_ROUND_UP(image_size(&img));
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} else {
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// fb_alloc may only use up to the size of all the virtual buffers.
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uint32_t fbsize = framebuffer_get_buffer_size(fb);
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return (sizeof(vbuffer_t) + fbsize) * fb->n_buffers;
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}
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}
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void framebuffer_free_current_buffer(framebuffer_t *fb) {
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vbuffer_t *buffer = framebuffer_get_buffer(fb, fb->head);
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#ifdef __DCACHE_PRESENT
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// Make sure all cached CPU writes are discarded before returning the buffer.
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SCB_InvalidateDCache_by_Addr(buffer->data, framebuffer_get_buffer_size(fb));
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#endif
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// Invalidate frame.
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fb->pixfmt = PIXFORMAT_INVALID;
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// Allow frame to be updated in single buffer mode...
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if (fb->n_buffers == 1) {
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buffer->waiting_for_data = true;
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}
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}
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void framebuffer_setup_buffers(framebuffer_t *fb) {
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#ifdef __DCACHE_PRESENT
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for (int32_t i = 0; i < fb->n_buffers; i++) {
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if (i != fb->head) {
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vbuffer_t *buffer = framebuffer_get_buffer(fb, i);
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// Make sure all cached CPU writes are discarded before returning the buffer.
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SCB_InvalidateDCache_by_Addr(buffer->data, framebuffer_get_buffer_size(fb));
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}
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}
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#endif
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}
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vbuffer_t *framebuffer_get_head(framebuffer_t *fb, framebuffer_flags_t flags) {
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int32_t new_head = (fb->head + 1) % fb->n_buffers;
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// Single Buffer Mode.
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if (fb->n_buffers == 1) {
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if (framebuffer_get_buffer(fb, fb->head)->waiting_for_data) {
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return NULL;
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}
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// Double Buffer Mode.
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} else if (fb->n_buffers == 2) {
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if (fb->head == fb->tail) {
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return NULL;
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}
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// Triple Buffer Mode.
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} else if (fb->n_buffers == 3) {
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int32_t sampled_tail = fb->tail;
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if (fb->head == sampled_tail) {
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return NULL;
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} else {
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new_head = sampled_tail;
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}
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// Video FIFO Mode.
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} else {
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if (fb->head == fb->tail) {
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return NULL;
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}
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}
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if (!(flags & FB_PEEK)) {
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fb->head = new_head;
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}
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vbuffer_t *buffer = framebuffer_get_buffer(fb, new_head);
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#ifdef __DCACHE_PRESENT
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if (flags & FB_INVALIDATE) {
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// Make sure any cached CPU reads are dropped before returning the buffer.
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SCB_InvalidateDCache_by_Addr(buffer->data, framebuffer_get_buffer_size(fb));
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}
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#endif
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return buffer;
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}
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vbuffer_t *framebuffer_get_tail(framebuffer_t *fb, framebuffer_flags_t flags) {
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// Sample head on the first line of a new frame.
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if (fb->check_head) {
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fb->check_head = false;
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fb->sampled_head = fb->head;
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}
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int32_t new_tail = (fb->tail + 1) % fb->n_buffers;
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// Single Buffer Mode.
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if (fb->n_buffers == 1) {
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if (!framebuffer_get_buffer(fb, new_tail)->waiting_for_data) {
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// Setup to check head again.
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fb->check_head = true;
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return NULL;
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}
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// Double Buffer Mode.
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} else if (fb->n_buffers == 2) {
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if (new_tail == fb->sampled_head) {
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// Setup to check head again.
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fb->check_head = true;
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return NULL;
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}
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// Triple Buffer Mode.
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|
} else if (fb->n_buffers == 3) {
|
|
// For triple buffering we are never writing where tail or head
|
|
// (which may instantly update to be equal to tail) is.
|
|
if (new_tail == fb->sampled_head) {
|
|
new_tail = (new_tail + 1) % fb->n_buffers;
|
|
}
|
|
// Video FIFO Mode.
|
|
} else {
|
|
if (new_tail == fb->sampled_head) {
|
|
// Setup to check head again.
|
|
fb->check_head = true;
|
|
return NULL;
|
|
}
|
|
}
|
|
|
|
vbuffer_t *buffer = framebuffer_get_buffer(fb, new_tail);
|
|
|
|
// Reset on start versus the end so offset and jpeg_buffer_overflow are valid after FB_COMMIT.
|
|
if (buffer->reset_state) {
|
|
buffer->reset_state = false;
|
|
buffer->offset = 0;
|
|
buffer->jpeg_buffer_overflow = false;
|
|
}
|
|
|
|
if (!(flags & FB_PEEK)) {
|
|
// Trigger reset on the frame buffer the next time it is used.
|
|
buffer->reset_state = true;
|
|
|
|
// Mark the frame buffer ready in single buffer mode.
|
|
if (fb->n_buffers == 1) {
|
|
buffer->waiting_for_data = false;
|
|
}
|
|
|
|
fb->tail = new_tail;
|
|
|
|
// Setup to check head again.
|
|
fb->check_head = true;
|
|
}
|
|
return buffer;
|
|
}
|
|
|
|
char *framebuffer_get_buffers_end(framebuffer_t *fb) {
|
|
return (char *) (fb->data + framebuffer_total_buffer_size(fb));
|
|
}
|