460 lines
14 KiB
C
460 lines
14 KiB
C
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/*
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ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
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Copyright (C) 2015..2019 Diego Ismirlian, (dismirlian(at)google's mail)
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#ifndef USBH_INCLUDE_USBH_UVC_H_
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#define USBH_INCLUDE_USBH_UVC_H_
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#include "hal_usbh.h"
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#if HAL_USE_USBH && HAL_USBH_USE_UVC
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#include "usbh/desciter.h"
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#define USBHUVC_MAX_STATUS_PACKET_SZ 16
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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typedef enum {
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UVC_CS_INTERFACE = 0x24,
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UVC_CS_ENDPOINT = 0x25
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} usbh_uvc_cstype_t;
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typedef enum {
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UVC_CC_VIDEO = 0x0e
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} usbh_uvc_cctype_t;
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typedef enum {
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UVC_SC_UNKNOWN = 0x00,
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UVC_SC_VIDEOCONTROL,
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UVC_SC_VIDEOSTREAMING,
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UVC_SC_VIDEO_INTERFACE_COLLECTION
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} usbh_uvc_sctype_t;
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typedef enum {
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UVC_VC_UNDEF = 0x00,
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UVC_VC_HEADER,
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UVC_VC_INPUT_TERMINAL,
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UVC_VC_OUTPUT_TERMINAL,
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UVC_VC_SELECTOR_UNIT,
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UVC_VC_PROCESSING_UNIT,
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UVC_VC_EXTENSION_UNIT
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} usbh_uvc_vctype_t;
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typedef enum {
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UVC_VS_UNDEF = 0x00,
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UVC_VS_INPUT_HEADER,
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UVC_VS_OUTPUT_HEADER,
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UVC_VS_STILL_IMAGE_FRAME,
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UVC_VS_FORMAT_UNCOMPRESSED,
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UVC_VS_FRAME_UNCOMPRESSED,
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UVC_VS_FORMAT_MJPEG,
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UVC_VS_FRAME_MJPEG,
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UVC_VS_RESERVED_0,
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UVC_VS_RESERVED_1,
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UVC_VS_FORMAT_MPEG2TS,
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UVC_VS_RESERVED_2,
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UVC_VS_FORMAT_DV,
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UVC_VS_COLOR_FORMAT,
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UVC_VS_RESERVED_3,
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UVC_VS_RESERVED_4,
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UVC_VS_FORMAT_FRAME_BASED,
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UVC_VS_FRAME_FRAME_BASED,
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UVC_VS_FORMAT_STREAM_BASED
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} usbh_uvc_vstype_t;
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typedef enum {
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UVC_TT_VENDOR_SPECIFIC = 0x0100,
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UVC_TT_STREAMING = 0x0101,
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UVC_ITT_VENDOR_SPECIFIC = 0x0200,
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UVC_ITT_CAMERA = 0x0201,
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UVC_ITT_MEDIA_TRANSPORT_INPUT = 0x0202,
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UVC_OTT_VENDOR_SPECIFIC = 0x0300,
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UVC_OTT_DISPLAY = 0x0301,
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UVC_OTT_MEDIA_TRANSPORT = 0x0302
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} usbh_uvc_tttype_t;
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typedef enum {
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UVC_SET_CUR = 0x01,
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UVC_GET_CUR = 0x81,
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UVC_GET_MIN = 0x82,
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UVC_GET_MAX = 0x83,
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UVC_GET_RES = 0x84,
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UVC_GET_LEN = 0x85,
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UVC_GET_INFO = 0x86,
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UVC_GET_DEF = 0x87
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} usbh_uvc_ctrlops_t;
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typedef enum {
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UVC_CTRL_VC_CONTROL_UNDEFINED = 0x00,
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UVC_CTRL_VC_VIDEO_POWER_MODE_CONTROL = 0x01,
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UVC_CTRL_VC_REQUEST_ERROR_CODE_CONTROL = 0x02,
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} usbh_uvc_ctrl_vc_interface_controls_t;
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typedef enum {
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UVC_CTRL_SU_CONTROL_UNDEFINED = 0x00,
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UVC_CTRL_SU_INPUT_SELECT_CONTROL = 0x01,
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} usbh_uvc_ctrl_vc_selectorunit_controls_t;
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typedef enum {
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UVC_CTRL_CT_CONTROL_UNDEFINED = 0x00,
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UVC_CTRL_CT_SCANNING_MODE_CONTROL = 0x01,
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UVC_CTRL_CT_AE_MODE_CONTROL = 0x02,
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UVC_CTRL_CT_AE_PRIORITY_CONTROL = 0x03,
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UVC_CTRL_CT_EXPOSURE_TIME_ABSOLUTE_CONTROL = 0x04,
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UVC_CTRL_CT_EXPOSURE_TIME_RELATIVE_CONTROL = 0x05,
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UVC_CTRL_CT_FOCUS_ABSOLUTE_CONTROL = 0x06,
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UVC_CTRL_CT_FOCUS_RELATIVE_CONTROL = 0x07,
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UVC_CTRL_CT_FOCUS_AUTO_CONTROL = 0x08,
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UVC_CTRL_CT_IRIS_ABSOLUTE_CONTROL = 0x09,
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UVC_CTRL_CT_IRIS_RELATIVE_CONTROL = 0x0A,
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UVC_CTRL_CT_ZOOM_ABSOLUTE_CONTROL = 0x0B,
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UVC_CTRL_CT_ZOOM_RELATIVE_CONTROL = 0x0C,
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UVC_CTRL_CT_PANTILT_ABSOLUTE_CONTROL = 0x0D,
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UVC_CTRL_CT_PANTILT_RELATIVE_CONTROL = 0x0E,
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UVC_CTRL_CT_ROLL_ABSOLUTE_CONTROL = 0x0F,
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UVC_CTRL_CT_ROLL_RELATIVE_CONTROL = 0x10,
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UVC_CTRL_CT_PRIVACY_CONTROL = 0x11
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} usbh_uvc_ctrl_vc_cameraterminal_controls_t;
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typedef enum {
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UVC_CTRL_PU_CONTROL_UNDEFINED = 0x00,
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UVC_CTRL_PU_BACKLIGHT_COMPENSATION_CONTROL = 0x01,
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UVC_CTRL_PU_BRIGHTNESS_CONTROL = 0x02,
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UVC_CTRL_PU_CONTRAST_CONTROL = 0x03,
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UVC_CTRL_PU_GAIN_CONTROL = 0x04,
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UVC_CTRL_PU_POWER_LINE_FREQUENCY_CONTROL = 0x05,
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UVC_CTRL_PU_HUE_CONTROL = 0x06,
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UVC_CTRL_PU_SATURATION_CONTROL = 0x07,
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UVC_CTRL_PU_SHARPNESS_CONTROL = 0x08,
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UVC_CTRL_PU_GAMMA_CONTROL = 0x09,
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UVC_CTRL_PU_WHITE_BALANCE_TEMPERATURE_CONTROL = 0x0A,
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UVC_CTRL_PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL = 0x0B,
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UVC_CTRL_PU_WHITE_BALANCE_COMPONENT_CONTROL = 0x0C,
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UVC_CTRL_PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL = 0x0D,
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UVC_CTRL_PU_DIGITAL_MULTIPLIER_CONTROL = 0x0E,
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UVC_CTRL_PU_DIGITAL_MULTIPLIER_LIMIT_CONTROL = 0x0F,
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UVC_CTRL_PU_HUE_AUTO_CONTROL = 0x10,
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UVC_CTRL_PU_ANALOG_VIDEO_STANDARD_CONTROL = 0x11,
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UVC_CTRL_PU_ANALOG_LOCK_STATUS_CONTROL = 0x12,
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} usbh_uvc_ctrl_vc_processingunit_controls_t;
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typedef enum {
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UVC_CTRL_VS_CONTROL_UNDEFINED = 0x00,
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UVC_CTRL_VS_PROBE_CONTROL = 0x01,
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UVC_CTRL_VS_COMMIT_CONTROL = 0x02,
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UVC_CTRL_VS_STILL_PROBE_CONTROL = 0x03,
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UVC_CTRL_VS_STILL_COMMIT_CONTROL = 0x04,
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UVC_CTRL_VS_STILL_IMAGE_TRIGGER_CONTROL = 0x05,
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UVC_CTRL_VS_STREAM_ERROR_CODE_CONTROL = 0x06,
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UVC_CTRL_VS_GENERATE_KEY_FRAME_CONTROL = 0x07,
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UVC_CTRL_VS_UPDATE_FRAME_SEGMENT_CONTROL = 0x08,
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UVC_CTRL_VS_SYNCH_DELAY_CONTROL = 0x09
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} usbh_uvc_ctrl_vs_interface_controls_t;
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typedef PACKED_STRUCT {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bFormatIndex;
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uint8_t bNumFrameDescriptors;
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uint8_t bmFlags;
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uint8_t bDefaultFrameIndex;
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uint8_t bAspectRatioX;
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uint8_t bAspectRatioY;
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uint8_t bmInterfaceFlags;
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uint8_t bCopyProtect;
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} usbh_uvc_format_mjpeg_t;
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typedef PACKED_STRUCT {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bFrameIndex;
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uint8_t bmCapabilities;
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uint16_t wWidth;
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uint16_t wHeight;
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uint32_t dwMinBitRate;
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uint32_t dwMaxBitRate;
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uint32_t dwMaxVideoFrameBufferSize;
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uint32_t dwDefaultFrameInterval;
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uint8_t bFrameIntervalType;
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uint32_t dwFrameInterval[0];
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} usbh_uvc_frame_mjpeg_t;
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typedef PACKED_STRUCT {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bFrameIndex;
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uint8_t bmCapabilities;
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uint16_t wWidth;
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uint16_t wHeight;
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uint32_t dwMinBitRate;
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uint32_t dwMaxBitRate;
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uint32_t dwMaxVideoFrameBufferSize;
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uint32_t dwDefaultFrameInterval;
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uint8_t bFrameIntervalType;
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uint32_t dwFrameInterval[0];
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} usbh_uvc_frame_uncompressed_t;
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typedef PACKED_STRUCT {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bFormatIndex;
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uint8_t bNumFrameDescriptors;
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uint8_t guidFormat[16];
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uint8_t bBitsPerPixel;
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uint8_t bDefaultFrameIndex;
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uint8_t bAspectRatioX;
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uint8_t bAspectRatioY;
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uint8_t bmInterfaceFlags;
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uint8_t bCopyProtect;
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} usbh_uvc_format_uncompressed;
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typedef PACKED_STRUCT {
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uint16_t bmHint;
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uint8_t bFormatIndex;
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uint8_t bFrameIndex;
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uint32_t dwFrameInterval;
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uint16_t wKeyFrameRate;
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uint16_t wPFrameRate;
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uint16_t wCompQuality;
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uint16_t wCompWindowSize;
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uint16_t wDelay;
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uint32_t dwMaxVideoFrameSize;
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uint32_t dwMaxPayloadTransferSize;
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// uint32_t dwClockFrequency;
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// uint8_t bmFramingInfo;
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// uint8_t bPreferedVersion;
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// uint8_t bMinVersion;
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// uint8_t bMaxVersion;
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} usbh_uvc_ctrl_vs_probecommit_data_t;
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/* D0: Frame ID.
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* For frame-based formats, this bit toggles between 0 and 1 every time a new video frame begins.
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* For stream-based formats, this bit toggles between 0 and 1 at the start of each new codec-specific
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* segment. This behavior is required for frame-based payload formats (e.g., DV) and is optional
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* for stream-based payload formats (e.g., MPEG-2 TS). For stream-based formats, support for this
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* bit must be indicated via the bmFramingInfofield of the Video Probe and Commitcontrols
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* (see section 4.3.1.1, <EFBFBD>Video Probe and Commit Controls<EFBFBD>).
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*
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* D1: End of Frame.
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* This bit is set if the following payload data marks the end of the current video or still image
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* frame (for framebased formats), or to indicate the end of a codec-specific segment
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* (for stream-based formats). This behavior is optional for all payload formats.
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* For stream-based formats, support for this bit must be indicated via the bmFramingInfofield
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* of the Video Probe and CommitControls (see section 4.3.1.1, <EFBFBD>Video Probe and Commit Controls<EFBFBD>).
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*
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* D2: Presentation Time.
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* This bit is set if the dwPresentationTimefield is being sent as part of the header.
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*
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* D3: Source Clock Reference
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* This bit is set if the dwSourceClockfield is being sent as part of the header.
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*
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* D4: Reserved
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*
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* D5: Still Image
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* This bit is set ifthe following data is part of a still image frame, and is only used for
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* methods 2 and 3 of still image capture.
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*
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* D6: Error
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* This bit is set ifthere was an error in the video or still image transmission
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* for this payload. The StreamError Code control would reflect the cause of the error.
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*
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* D7: End of header
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* This bit is set if this is the last header group in the packet, where the
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* header group refers to this field and any optional fields identified by the bits in this
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* field (Defined for future extension)
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*/
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#define UVC_HDR_EOH (1 << 7) /* End of header */
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#define UVC_HDR_ERR (1 << 6) /* Error */
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#define UVC_HDR_STILL (1 << 5) /* Still Image */
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#define UVC_HDR_SCR (1 << 3) /* Source Clock Reference */
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#define UVC_HDR_PT (1 << 2) /* Presentation Time */
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#define UVC_HDR_EOF (1 << 1) /* End of Frame */
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#define UVC_HDR_FID (1 << 0) /* Frame ID */
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typedef struct USBHUVCDriver USBHUVCDriver;
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#define USBHUVC_MESSAGETYPE_STATUS 1
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#define USBHUVC_MESSAGETYPE_DATA 2
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#define _usbhuvc_message_base_data \
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uint16_t type; \
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|
uint16_t length; \
|
|||
|
|
systime_t timestamp;
|
|||
|
|
|
|||
|
|
typedef struct {
|
|||
|
|
_usbhuvc_message_base_data
|
|||
|
|
} usbhuvc_message_base_t;
|
|||
|
|
|
|||
|
|
typedef struct {
|
|||
|
|
_usbhuvc_message_base_data
|
|||
|
|
USBH_DECLARE_STRUCT_MEMBER(uint8_t data[0]);
|
|||
|
|
} usbhuvc_message_data_t;
|
|||
|
|
|
|||
|
|
typedef struct {
|
|||
|
|
_usbhuvc_message_base_data
|
|||
|
|
USBH_DECLARE_STRUCT_MEMBER(uint8_t data[USBHUVC_MAX_STATUS_PACKET_SZ]);
|
|||
|
|
} usbhuvc_message_status_t;
|
|||
|
|
|
|||
|
|
|
|||
|
|
typedef enum {
|
|||
|
|
USBHUVC_STATE_UNINITIALIZED = 0, //must call usbhuvcObjectInit
|
|||
|
|
USBHUVC_STATE_STOP = 1, //the device is disconnected
|
|||
|
|
USBHUVC_STATE_ACTIVE = 2, //the device is connected
|
|||
|
|
USBHUVC_STATE_READY = 3, //the device has negotiated the parameters
|
|||
|
|
USBHUVC_STATE_STREAMING = 4, //the device is streaming data
|
|||
|
|
USBHUVC_STATE_BUSY = 5 //the driver is busy performing some action
|
|||
|
|
} usbhuvc_state_t;
|
|||
|
|
|
|||
|
|
|
|||
|
|
struct USBHUVCDriver {
|
|||
|
|
/* inherited from abstract class driver */
|
|||
|
|
_usbh_base_classdriver_data
|
|||
|
|
|
|||
|
|
usbhuvc_state_t state;
|
|||
|
|
|
|||
|
|
usbh_ep_t ep_int;
|
|||
|
|
usbh_ep_t ep_iso;
|
|||
|
|
|
|||
|
|
usbh_urb_t urb_iso;
|
|||
|
|
usbh_urb_t urb_int;
|
|||
|
|
|
|||
|
|
if_iterator_t ivc;
|
|||
|
|
if_iterator_t ivs;
|
|||
|
|
|
|||
|
|
USBH_DECLARE_STRUCT_MEMBER(usbh_uvc_ctrl_vs_probecommit_data_t pc);
|
|||
|
|
USBH_DECLARE_STRUCT_MEMBER(usbh_uvc_ctrl_vs_probecommit_data_t pc_min);
|
|||
|
|
USBH_DECLARE_STRUCT_MEMBER(usbh_uvc_ctrl_vs_probecommit_data_t pc_max);
|
|||
|
|
|
|||
|
|
mailbox_t mb;
|
|||
|
|
msg_t mb_buff[HAL_USBHUVC_MAX_MAILBOX_SZ];
|
|||
|
|
|
|||
|
|
memory_pool_t mp_data;
|
|||
|
|
void *mp_data_buffer;
|
|||
|
|
|
|||
|
|
memory_pool_t mp_status;
|
|||
|
|
usbhuvc_message_status_t mp_status_buffer[HAL_USBHUVC_STATUS_PACKETS_COUNT];
|
|||
|
|
|
|||
|
|
mutex_t mtx;
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* Driver macros. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* External declarations. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
extern USBHUVCDriver USBHUVCD[HAL_USBHUVC_MAX_INSTANCES];
|
|||
|
|
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
extern "C" {
|
|||
|
|
#endif
|
|||
|
|
static inline usbhuvc_state_t usbhuvcGetState(USBHUVCDriver *uvcd) {
|
|||
|
|
return uvcd->state;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool usbhuvcVCRequest(USBHUVCDriver *uvcdp,
|
|||
|
|
uint8_t bRequest, uint8_t entity, uint8_t control,
|
|||
|
|
uint16_t wLength, uint8_t *data);
|
|||
|
|
bool usbhuvcVSRequest(USBHUVCDriver *uvcdp,
|
|||
|
|
uint8_t bRequest, uint8_t control,
|
|||
|
|
uint16_t wLength, uint8_t *data);
|
|||
|
|
bool usbhuvcFindVSDescriptor(USBHUVCDriver *uvcdp,
|
|||
|
|
generic_iterator_t *ics,
|
|||
|
|
uint8_t bDescriptorSubtype,
|
|||
|
|
bool start);
|
|||
|
|
uint32_t usbhuvcEstimateRequiredEPSize(USBHUVCDriver *uvcdp, const uint8_t *formatdesc,
|
|||
|
|
const uint8_t *framedesc, uint32_t dwFrameInterval);
|
|||
|
|
|
|||
|
|
#if USBH_DEBUG_ENABLE && USBHUVC_DEBUG_ENABLE_INFO
|
|||
|
|
void usbhuvcPrintProbeCommit(USBHUVCDriver *uvcdp, const usbh_uvc_ctrl_vs_probecommit_data_t *pc);
|
|||
|
|
#else
|
|||
|
|
# define usbhuvcPrintProbeCommit(uvcdp, pc) do {} while(0)
|
|||
|
|
#endif
|
|||
|
|
bool usbhuvcProbe(USBHUVCDriver *uvcdp);
|
|||
|
|
bool usbhuvcCommit(USBHUVCDriver *uvcdp);
|
|||
|
|
void usbhuvcResetPC(USBHUVCDriver *uvcdp);
|
|||
|
|
static inline const usbh_uvc_ctrl_vs_probecommit_data_t *usbhuvcGetPCMin(USBHUVCDriver *uvcdp) {
|
|||
|
|
return &uvcdp->pc_min;
|
|||
|
|
}
|
|||
|
|
static inline const usbh_uvc_ctrl_vs_probecommit_data_t *usbhuvcGetPCMax(USBHUVCDriver *uvcdp) {
|
|||
|
|
return &uvcdp->pc_min;
|
|||
|
|
}
|
|||
|
|
static inline usbh_uvc_ctrl_vs_probecommit_data_t *usbhuvcGetPC(USBHUVCDriver *uvcdp) {
|
|||
|
|
return &uvcdp->pc;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool usbhuvcStreamStart(USBHUVCDriver *uvcdp, uint16_t min_ep_sz);
|
|||
|
|
bool usbhuvcStreamStop(USBHUVCDriver *uvcdp);
|
|||
|
|
|
|||
|
|
static inline msg_t usbhuvcLockAndFetchS(USBHUVCDriver *uvcdp, msg_t *msg, systime_t timeout) {
|
|||
|
|
chMtxLockS(&uvcdp->mtx);
|
|||
|
|
msg_t ret = chMBFetchTimeoutS(&uvcdp->mb, msg, timeout);
|
|||
|
|
if (ret != MSG_OK)
|
|||
|
|
chMtxUnlockS(&uvcdp->mtx);
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
static inline msg_t usbhuvcLockAndFetch(USBHUVCDriver *uvcdp, msg_t *msg, systime_t timeout) {
|
|||
|
|
osalSysLock();
|
|||
|
|
msg_t ret = usbhuvcLockAndFetchS(uvcdp, msg, timeout);
|
|||
|
|
osalSysUnlock();
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
static inline void usbhuvcUnlock(USBHUVCDriver *uvcdp) {
|
|||
|
|
chMtxUnlock(&uvcdp->mtx);
|
|||
|
|
}
|
|||
|
|
static inline void usbhuvcFreeDataMessage(USBHUVCDriver *uvcdp, usbhuvc_message_data_t *msg) {
|
|||
|
|
chPoolFree(&uvcdp->mp_data, msg);
|
|||
|
|
}
|
|||
|
|
static inline void usbhuvcFreeStatusMessage(USBHUVCDriver *uvcdp, usbhuvc_message_status_t *msg) {
|
|||
|
|
chPoolFree(&uvcdp->mp_status, msg);
|
|||
|
|
}
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#endif /* USBH_INCLUDE_USBH_UVC_H_ */
|