mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
470 lines
14 KiB
C
470 lines
14 KiB
C
/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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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 "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 CONSERVATIVE_JPEG_BUF_SIZE (OMV_JPEG_BUF_SIZE-64)
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extern char _fb_base;
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framebuffer_t *framebuffer = (framebuffer_t *) &_fb_base;
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extern char _jpeg_buf;
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jpegbuffer_t *jpeg_framebuffer = (jpegbuffer_t *) &_jpeg_buf;
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void fb_set_streaming_enabled(bool enable)
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{
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framebuffer->streaming_enabled = enable;
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}
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bool fb_get_streaming_enabled()
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{
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return framebuffer->streaming_enabled;
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}
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int fb_encode_for_ide_new_size(image_t *img)
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{
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return (((img->bpp * 8) + 5) / 6) + 2;
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}
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void fb_encode_for_ide(uint8_t *ptr, image_t *img)
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{
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*ptr++ = 0xFE;
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for(int i = 0, j = (img->bpp / 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->bpp % 3) == 2) { // 2 bytes -> 16-bits -> 24-bits sent
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int x = 0;
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x |= img->data[img->bpp - 2] << 0;
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x |= img->data[img->bpp - 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->bpp % 3) == 1) { // 1 byte -> 8-bits -> 16-bits sent
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int x = 0;
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x |= img->data[img->bpp - 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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void framebuffer_init0()
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{
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// Save fb_enabled flag state
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int fb_enabled = JPEG_FB()->enabled;
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// Clear framebuffers
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memset(MAIN_FB(), 0, sizeof(*MAIN_FB()));
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memset(JPEG_FB(), 0, sizeof(*JPEG_FB()));
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// Enable streaming.
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MAIN_FB()->streaming_enabled = true; // controlled by the OpenMV Cam.
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// Set default quality
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JPEG_FB()->quality = ((JPEG_QUALITY_HIGH - JPEG_QUALITY_LOW) / 2) + JPEG_QUALITY_LOW;
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// Set fb_enabled
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JPEG_FB()->enabled = fb_enabled; // controlled by the IDE.
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// Setup buffering.
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framebuffer_set_buffers(1);
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}
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void framebuffer_initialize_image(image_t *img)
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{
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img->w = framebuffer->w;
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img->h = framebuffer->h;
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img->bpp = framebuffer->bpp;
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img->data = framebuffer_get_buffer(framebuffer->head)->data;
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}
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static void initialize_jpeg_buf_from_image(image_t *img)
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{
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if (!img) {
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jpeg_framebuffer->w = 0;
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jpeg_framebuffer->h = 0;
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jpeg_framebuffer->size = 0;
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} else {
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jpeg_framebuffer->w = img->w;
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jpeg_framebuffer->h = img->h;
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jpeg_framebuffer->size = img->bpp;
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}
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}
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void framebuffer_update_jpeg_buffer()
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{
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static int overflow_count = 0;
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image_t main_fb_src;
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framebuffer_initialize_image(&main_fb_src);
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image_t *src = &main_fb_src;
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if (framebuffer->streaming_enabled && jpeg_framebuffer->enabled) {
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if (src->bpp > 3) {
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bool does_not_fit = false;
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if (mutex_try_lock_alternate(&jpeg_framebuffer->lock, MUTEX_TID_OMV)) {
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if(CONSERVATIVE_JPEG_BUF_SIZE < src->bpp) {
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initialize_jpeg_buf_from_image(NULL);
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does_not_fit = true;
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} else {
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initialize_jpeg_buf_from_image(src);
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memcpy(jpeg_framebuffer->pixels, src->pixels, src->bpp);
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}
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mutex_unlock(&jpeg_framebuffer->lock, MUTEX_TID_OMV);
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}
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if (does_not_fit) {
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printf("Warning: JPEG too big! Trying framebuffer transfer using fallback method!\n");
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int new_size = fb_encode_for_ide_new_size(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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fb_encode_for_ide(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->bpp >= 0) {
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if (mutex_try_lock_alternate(&jpeg_framebuffer->lock, MUTEX_TID_OMV)) {
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image_t dst = {.w=src->w, .h=src->h, .bpp=CONSERVATIVE_JPEG_BUF_SIZE, .pixels=jpeg_framebuffer->pixels};
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// Note: lower quality saves USB bandwidth and results in a faster IDE FPS.
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bool overflow = jpeg_compress(src, &dst, jpeg_framebuffer->quality, false);
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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 (jpeg_framebuffer->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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jpeg_framebuffer->quality = IM_MAX(1, (jpeg_framebuffer->quality/2));
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}
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initialize_jpeg_buf_from_image(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) > JPEG_QUALITY_THRESH;
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int jpeg_quality_max = big_frame_buffer ? JPEG_QUALITY_LOW : 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) && (jpeg_framebuffer->quality < jpeg_quality_max)) {
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jpeg_framebuffer->quality++;
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}
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initialize_jpeg_buf_from_image(&dst);
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}
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mutex_unlock(&jpeg_framebuffer->lock, MUTEX_TID_OMV);
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}
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}
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}
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}
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int32_t framebuffer_get_x()
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{
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return framebuffer->x;
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}
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int32_t framebuffer_get_y()
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{
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return framebuffer->y;
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}
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int32_t framebuffer_get_u()
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{
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return framebuffer->u;
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}
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int32_t framebuffer_get_v()
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{
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return framebuffer->v;
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}
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int32_t framebuffer_get_width()
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{
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return framebuffer->w;
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}
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int32_t framebuffer_get_height()
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{
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return framebuffer->h;
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}
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int32_t framebuffer_get_depth()
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{
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return framebuffer->bpp;
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}
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// Returns the number of bytes the frame buffer could be at the current moment it time.
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static uint32_t framebuffer_raw_buffer_size()
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{
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uint32_t size = (uint32_t) (fb_alloc_stack_pointer() - ((char *) framebuffer->data));
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// We don't want to give all of the frame buffer RAM to the frame buffer. So, we will limit
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// the maximum amount of RAM we return.
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return IM_MIN(size, OMV_RAW_BUF_SIZE);
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}
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uint32_t framebuffer_get_buffer_size()
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{
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uint32_t size;
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if (framebuffer->n_buffers == 1) {
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// With only 1 vbuffer it's fine to allow the frame buffer size to change given fb_alloc().
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size = framebuffer_raw_buffer_size();
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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 = framebuffer->raw_buffer_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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// Do we have an estimate on the frame size with mutliple buffers? If so, we can reduce the
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// RAM each buffer takes up giving some space back to fb_alloc().
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if ((framebuffer->n_buffers != 1) && framebuffer->u && framebuffer->v) {
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// Typically a framebuffer will not need more than u*v*2 bytes.
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uint32_t size_guess = framebuffer->u * framebuffer->v * 2;
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// Add in extra bytes to prevent round down from shrinking buffer too small.
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size_guess += FRAMEBUFFER_ALIGNMENT - 1;
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// Limit the frame buffer size.
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size = IM_MIN(size, size_guess);
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}
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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(int32_t index)
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{
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uint32_t offset = (sizeof(vbuffer_t) + framebuffer_get_buffer_size()) * index;
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return (vbuffer_t *) (framebuffer->data + offset);
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}
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void framebuffer_set(int32_t w, int32_t h, int32_t bpp)
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{
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framebuffer->w = w;
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framebuffer->h = h;
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framebuffer->bpp = bpp;
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}
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void framebuffer_flush_buffers()
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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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framebuffer->tail = framebuffer->head;
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framebuffer->check_head = true;
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framebuffer->sampled_head = 0;
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}
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void framebuffer_reset_buffers()
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{
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for (int32_t i = 0; i < framebuffer->n_buffers; i++) {
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memset(framebuffer_get_buffer(i), 0, sizeof(vbuffer_t));
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}
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framebuffer_flush_buffers();
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}
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int framebuffer_set_buffers(int32_t n_buffers)
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{
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uint32_t total_size = framebuffer_raw_buffer_size();
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uint32_t size = total_size / n_buffers;
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// Error out if frame buffers are smaller than this...
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if (size < (sizeof(vbuffer_t) + FRAMEBUFFER_ALIGNMENT)) {
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return -1;
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}
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// Invalidate frame.
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framebuffer->bpp = -1;
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// Cache the maximum size we can allocate for the frame buffer when vbuffers are greater than 1.
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framebuffer->raw_buffer_size = size;
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framebuffer->n_buffers = n_buffers;
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framebuffer->head = 0;
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framebuffer_reset_buffers();
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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()
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{
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if (framebuffer->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_initialize_image(&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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return (sizeof(vbuffer_t) + framebuffer_get_buffer_size()) * framebuffer->n_buffers;
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}
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}
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void framebuffer_auto_adjust_buffers()
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{
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// Keep same buffer count in video fifo mode but resize buffer sizes.
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if (framebuffer->n_buffers > 3) {
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framebuffer_set_buffers(framebuffer->n_buffers);
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return;
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}
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for (int i = 3; i > 0; i--) {
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framebuffer_set_buffers(i);
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// Find a buffering size automatically that doesn't use more than half.
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if (fb_avail() >= framebuffer_total_buffer_size()) {
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return;
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}
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}
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}
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void framebuffer_free_current_buffer()
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{
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// Invalidate frame.
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framebuffer->bpp = -1;
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// Allow frame to be updated in single buffer mode...
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if (framebuffer->n_buffers == 1) {
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framebuffer_get_buffer(framebuffer->head)->waiting_for_data = true;
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}
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}
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vbuffer_t *framebuffer_get_head(framebuffer_flags_t flags)
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{
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int32_t new_head = (framebuffer->head + 1) % framebuffer->n_buffers;
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// Single Buffer Mode.
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if (framebuffer->n_buffers == 1) {
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if (framebuffer_get_buffer(framebuffer->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 (framebuffer->n_buffers == 2) {
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if (framebuffer->head == framebuffer->tail) {
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return NULL;
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}
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// Triple Buffer Mode.
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} else if (framebuffer->n_buffers == 3) {
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int32_t sampled_tail = framebuffer->tail;
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if (framebuffer->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 (framebuffer->head == framebuffer->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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framebuffer->head = new_head;
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}
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return framebuffer_get_buffer(new_head);
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}
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vbuffer_t *framebuffer_get_tail(framebuffer_flags_t flags)
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{
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// Sample head on the first line of a new frame.
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if (framebuffer->check_head) {
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framebuffer->check_head = false;
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framebuffer->sampled_head = framebuffer->head;
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}
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int32_t new_tail = (framebuffer->tail + 1) % framebuffer->n_buffers;
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// Single Buffer Mode.
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if (framebuffer->n_buffers == 1) {
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if (!framebuffer_get_buffer(new_tail)->waiting_for_data) {
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// Setup to check head again.
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framebuffer->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 (framebuffer->n_buffers == 2) {
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if (new_tail == framebuffer->sampled_head) {
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// Setup to check head again.
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framebuffer->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 (framebuffer->n_buffers == 3) {
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// For triple buffering we are never writing where tail or head
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// (which may instantly update to be equal to tail) is.
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if (new_tail == framebuffer->sampled_head) {
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new_tail = (new_tail + 1) % framebuffer->n_buffers;
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}
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// Video FIFO Mode.
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} else {
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if (new_tail == framebuffer->sampled_head) {
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// Setup to check head again.
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framebuffer->check_head = true;
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return NULL;
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}
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}
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vbuffer_t *buffer = framebuffer_get_buffer(new_tail);
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// Reset on start versus the end so offset and jpeg_buffer_overflow are valid after FB_COMMIT.
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if (buffer->reset_state) {
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buffer->reset_state = false;
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buffer->offset = 0;
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buffer->jpeg_buffer_overflow = false;
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}
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if (!(flags & FB_PEEK)) {
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// Trigger reset on the frame buffer the next time it is used.
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buffer->reset_state = true;
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// Mark the frame buffer ready in single buffer mode.
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if (framebuffer->n_buffers == 1) {
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buffer->waiting_for_data = false;
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}
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framebuffer->tail = new_tail;
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// Setup to check head again.
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framebuffer->check_head = true;
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}
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return buffer;
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}
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char *framebuffer_get_buffers_end()
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{
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return (char *) (framebuffer->data + framebuffer_total_buffer_size());
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}
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