mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
450 lines
13 KiB
C
450 lines
13 KiB
C
#include <stdlib.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <errno.h>
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#include <libusb.h>
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#include <getopt.h>
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#include <signal.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <sys/time.h>
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#include <SDL/SDL.h>
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#include <SDL/SDL_ttf.h>
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#include <stdarg.h>
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#include "sensor.h"
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#include "ov9650_regs.h"
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#define USB_VID (0x0483) /* vendor id */
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#define USB_PID (0x5740) /* product id */
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#define EP_IN (0x81) /* IN endpoint */
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#define EP_OUT (0x01) /* OUT endpoint */
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#define TIMEOUT (1000) /* I/O transfer timeout */
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#define DEBUG_LEVEL (1) /* libusb debug level */
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#define LOCK_SURFACE(surface) \
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if (SDL_LockSurface(surface) < 0 ) { \
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fprintf(stderr, "failed to lock surface - %s\n", SDL_GetError());\
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return -1;\
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}\
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const char *optstring = "f:r:s:c:p:h";
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const char *usage = "usage: openmv <args>\n" \
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"-f set pixel format yuv422/rgb565/grayscale\n"\
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"-r set frame rate 2/8/15/30/60\n"\
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"-s set frame size QQVGA\n"\
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"-c send command to camera SNAPSHOT/COLOR_TRACK\n"\
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"-p probe register, pass reg addr in hex and use -/+ to change value\n"\
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"-h print this message and exit\n";
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libusb_device_handle *dev = NULL;
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SDL_Surface *surface, *screen;
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int stop = 0;
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static void sig_hdlr(int signum, siginfo_t *siginfo, void *user)
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{
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switch (signum) {
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case SIGINT:
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stop =1;
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}
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}
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const char *err_str(int err)
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{
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switch (err) {
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case 0:
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return "Success";
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case LIBUSB_ERROR_TIMEOUT:
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return "transfer timed out";
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case LIBUSB_ERROR_PIPE:
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return "endpoint halted";
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case LIBUSB_ERROR_OVERFLOW:
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return "overflow";
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case LIBUSB_ERROR_NO_DEVICE:
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return "device has been disconnected";
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case LIBUSB_ERROR_NOT_FOUND:
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return "the requested interface does not exist";
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default:
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return "other";
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};
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}
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void cleanup(void)
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{
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libusb_close(dev);
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libusb_exit(NULL);
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SDL_FreeSurface(screen);
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SDL_FreeSurface(surface);
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SDL_Quit();
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}
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int bulk_xfr(int ep, uint8_t *buf, int len)
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{
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int ret;
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if ((ret = libusb_bulk_transfer(dev, ep, buf, len, &len, TIMEOUT)) != 0) {
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fprintf(stderr, "I/O error: %s offset: %d\n", err_str(ret), len);
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return ret;
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}
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return len;
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}
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long get_time_ms()
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{
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static struct timeval timeval;
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gettimeofday(&timeval, NULL);
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return timeval.tv_sec * 1000 + (long) (timeval.tv_usec * 0.001f);
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}
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int write_image(char *path, struct frame_buffer *image)
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{
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int i;
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FILE *fp = fopen(path, "w");
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if (fp == NULL) {
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printf("Unable to open file %s\n", path);
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return -1;
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}
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/* write header */
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fprintf(fp, "P5\n%d %d\n%d\n", image->width, image->height, 255);
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/* write pixels */
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for (i = 0; i < (image->width * image->height); i++) {
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fprintf(fp, "%c", image->pixels[i]);
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}
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fclose(fp);
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return 0;
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}
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void send_command(enum sensor_command cmd, int n, ...)
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{
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int i;
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va_list args;
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uint8_t cmd_buf[64];
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/* first byte is the command */
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cmd_buf[0] = cmd;
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/* process var args */
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va_start(args, n);
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for (i=0; i<n; i++) {
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cmd_buf[i+1] = (uint8_t) va_arg(args, int);
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}
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va_end(args);
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bulk_xfr(EP_OUT, cmd_buf, n+1);
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}
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int main (int argc, char **argv)
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{
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char opt;
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uint8_t cmd_buf[32];
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/*sigaction struct*/
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struct sigaction act = {
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.sa_sigaction = sig_hdlr,
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.sa_flags = SA_SIGINFO|SA_NOCLDSTOP,
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};
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enum sensor_command sensor_cmd = CMD_SNAPSHOT;
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struct sensor_dev sensor = {
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.pixformat = PIXFORMAT_RGB565,
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.framesize = FRAMESIZE_QQVGA,
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.framerate = FRAMERATE_30FPS,
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.frame_buffer = {160, 120, 2, {0}},
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};
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uint8_t enable_probe=0;
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uint8_t reg_addr=0;
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uint8_t reg_val=0; /* register value */
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struct frame_buffer *fb = &sensor.frame_buffer;
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/*parse command line args*/
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while ((opt = getopt(argc, argv, optstring)) > 0) {
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switch (opt) {
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case 'c':
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if (strcmp(optarg, "SNAPSHOT")==0) {
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sensor_cmd = CMD_SNAPSHOT;
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} else if (strcmp(optarg, "COLOR_TRACK")==0) {
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sensor_cmd = CMD_COLOR_TRACK;
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} else if (strcmp(optarg, "FACE_DETECTION")==0) {
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sensor_cmd = CMD_FACE_DETECTION;
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} else {
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fprintf(stderr, "unsupported command <%s>\n%s\n", optarg, usage);
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exit(1);
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}
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break;
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case 'f':
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if (strcmp(optarg, "yuv422")==0) {
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fb->bpp =2;
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sensor.pixformat = PIXFORMAT_YUV422;
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} else if (strcmp(optarg, "rgb565")==0) {
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fb->bpp =2;
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sensor.pixformat = PIXFORMAT_RGB565;
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} else if (strcmp(optarg, "grayscale")==0) {
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fb->bpp =1;
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sensor.pixformat = PIXFORMAT_GRAYSCALE;
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} else {
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fprintf(stderr, "unsupported pixformat <%s>\n%s\n", optarg, usage);
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exit(1);
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}
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break;
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case 's':
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if (strcmp(optarg, "QQCIF")==0) {
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fb->width = 88;
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fb->height = 72;
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sensor.framesize = FRAMESIZE_QQCIF;
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} else if (strcmp(optarg, "QQVGA")==0) {
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fb->width = 160;
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fb->height = 120;
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sensor.framesize = FRAMESIZE_QQVGA;
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} else if (strcmp(optarg, "QCIF")==0) {
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fb->width = 176;
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fb->height = 144;
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sensor.framesize = FRAMESIZE_QCIF;
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} else {
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fprintf(stderr, "unsupported framesize <%s>\n%s\n", optarg, usage);
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exit(1);
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}
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break;
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case 'r':
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switch (atoi(optarg)) {
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case 2:
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sensor.framerate=FRAMERATE_2FPS;
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break;
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case 8:
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sensor.framerate=FRAMERATE_8FPS;
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break;
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case 15:
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sensor.framerate=FRAMERATE_15FPS;
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break;
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case 30:
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sensor.framerate=FRAMERATE_30FPS;
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break;
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case 60:
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sensor.framerate=FRAMERATE_60FPS;
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break;
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default:
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fprintf(stderr, "unsupported framerate <%s>\n%s\n", optarg, usage);
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exit(1);
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}
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break;
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case 'p':
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enable_probe = 1;
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reg_addr = (uint8_t) strtol(optarg, NULL, 16);
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break;
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case '?':
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case 'h':
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fprintf(stderr, "%s\n", usage);
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exit(1);
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}
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}
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/*init libusb*/
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libusb_init(NULL);
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/*set cleanup to be called at exit*/
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atexit(cleanup);
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/*install signal handlers*/
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sigaction(SIGINT, &act, NULL);
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/*set debugging level*/
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libusb_set_debug(NULL, DEBUG_LEVEL);
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if ((dev = libusb_open_device_with_vid_pid(NULL, USB_VID, USB_PID)) == NULL){
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fprintf(stderr, "Device could not be found.\n");
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exit(1);
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}
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/* reset device */
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libusb_reset_device(dev);
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/* claim interace zero */
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if (libusb_claim_interface(dev, 0) != 0) {
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fprintf(stderr, "Failed to claim interface\n");
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exit(1);
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}
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Uint32 rmask, gmask, bmask, amask;
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#if (SDL_BYTEORDER == SDL_BIG_ENDIAN)
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rmask = 0xFF000000; gmask = 0x00FF0000; bmask = 0x0000FF00; amask = 0x00000000;
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#else
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rmask = 0x000000FF; gmask = 0x0000FF00; bmask = 0x00FF0000; amask = 0x00000000;
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#endif
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/* Init SDL library */
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if (SDL_Init(SDL_INIT_VIDEO)){
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fprintf(stderr, "failed to initialize SDL_VIDEO - %s\n", SDL_GetError());
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exit(1);
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}
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/* Init SDL TTF library */
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if(TTF_Init()==-1) {
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fprintf(stderr, "TTF_Init: %s\n", TTF_GetError());
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exit(1);
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}
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if ((screen = SDL_SetVideoMode(fb->width, fb->height, 32, SDL_SWSURFACE)) == NULL) {
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fprintf(stderr, "failed to set video mode - %s\n", SDL_GetError());
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exit(1);
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}
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if ((surface = SDL_CreateRGBSurface(SDL_SWSURFACE,
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fb->width, fb->height, 32, rmask, gmask, bmask, amask)) == NULL) {
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fprintf(stderr, "failed to create rgb surface - %s\n", SDL_GetError());
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exit(1);
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}
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// load font.ttf at size 16 into font
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TTF_Font *font;
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font=TTF_OpenFont("font.ttf", 12);
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if(!font) {
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fprintf(stderr, "TTF_OpenFontRW: %s\n", TTF_GetError());
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exit(1);
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}
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/* reset all registers to their default values */
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send_command(CMD_RESET_SENSOR, 0);
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/* set pixelformat */
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send_command(CMD_SET_PIXFORMAT, 1, sensor.pixformat);
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/* set framesize */
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send_command(CMD_SET_FRAMESIZE, 1, sensor.framesize);
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/* set framerate */
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send_command(CMD_SET_FRAMERATE, 1, sensor.framerate);
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/* set gain ceiling */
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send_command(CMD_SET_GAINCEILING, 1, GAINCEILING_8X);
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/* set brightness */
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send_command(CMD_SET_BRIGHTNESS, 1, 3);
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sleep(1);
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/* Controlled by AWB */
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/*Blue/Red Channels amplifiers*/
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// write_reg(REG_RED, 0x80);
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// write_reg(REG_BLUE, 0x80);
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SDL_Event event;
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long t_start, t_elapsed=0, t_total=0, frames=0;
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/* allocate frame buffer */
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fb->pixels = malloc(fb->width*fb->height*fb->bpp);
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char text_buf[64];
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while(1) {
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t_start = get_time_ms();
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/* request frame */
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cmd_buf[0] = sensor_cmd;
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bulk_xfr(EP_OUT, cmd_buf, 1);
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int ret, len = 0;
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int frame_size = (fb->width*fb->height*fb->bpp);
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while (len < frame_size) {
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ret = bulk_xfr(EP_IN, fb->pixels + len, frame_size-len);
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if (stop || ret == LIBUSB_ERROR_PIPE) {
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exit(0);
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}
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len += ret;
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}
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int i;
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uint8_t *pixels = surface->pixels;
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for (i=0; i<frame_size; i+=fb->bpp, pixels+=4) {
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if (fb->bpp == 1) {
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/* map grayscale to RGB888 */
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pixels[0]=fb->pixels[i];
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pixels[1]=fb->pixels[i];
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pixels[2]=fb->pixels[i];
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} else {
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uint8_t p0 = fb->pixels[i];
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uint8_t p1 = fb->pixels[i+1];
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/* map RGB565 to RGB888 */
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#if (SDL_BYTEORDER == SDL_BIG_ENDIAN)
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pixels[0] = (uint8_t) (p1&0x1F) * 255/31;
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pixels[1] = (uint8_t) (((p0&0x07)<<3) | (p1>>5)) * 255/63;
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pixels[2] = (uint8_t) (p0>>3) * 255/31;
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#else
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pixels[0] = (uint8_t) (p0>>3) * 255/31;
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pixels[1] = (uint8_t) (((p0&0x07)<<3) | (p1>>5)) * 255/63;
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pixels[2] = (uint8_t) (p1&0x1F) * 255/31;
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#endif
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}
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pixels[3]=0;
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}
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++frames;
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t_elapsed = get_time_ms() - t_start;
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t_total += t_elapsed;
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if (enable_probe) {
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char buf[9]={0};
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for (i=0; i<8; i++) {
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buf[i]=(((reg_val<<i)&0x80)>>7)+48;
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}
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send_command(CMD_WRITE_REGISTER, 2, reg_addr, reg_val);
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sprintf(text_buf, "REG 0x%.2X 0x%.2X %s", reg_addr, reg_val, buf);
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} else {
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sprintf(text_buf, "FPS %.2f", 1000/(float)(t_total / frames));
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}
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SDL_PollEvent(&event);
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switch (event.type) {
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case SDL_QUIT:
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exit(0);
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case SDL_KEYDOWN:
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switch (event.key.keysym.sym) {
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case SDLK_0:
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reg_val=0;
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break;
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case SDLK_KP_PLUS:
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reg_val++;
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break;
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case SDLK_KP_MINUS:
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reg_val--;
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break;
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case SDLK_LEFT:
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reg_val = reg_val<<1 | reg_val>>7;
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break;
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case SDLK_RIGHT:
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reg_val = reg_val>>1 | reg_val<<7;
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break;
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case SDLK_s:
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write_image("snapshot.pgm", fb);
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printf("snapshot saved...\n");
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break;
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case SDLK_ESCAPE:
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exit(0);
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default:
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break;
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}
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break;
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}
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SDL_Color fg = {255, 0, 0, 0};
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SDL_Surface *text = TTF_RenderText_Solid(font, text_buf, fg);
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SDL_Rect rect = {0, 0, 0, 0};
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SDL_BlitSurface(text, NULL, surface, &rect);
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SDL_BlitSurface(surface, NULL, screen, NULL);
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SDL_FreeSurface(text);
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/*flush*/
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SDL_UpdateRect(screen, 0, 0, fb->width, fb->height);
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}
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return 0;
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}
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