diff options
Diffstat (limited to 'video-ps3eye/PS3EYEDriver/ps3eye.cpp')
| -rw-r--r-- | video-ps3eye/PS3EYEDriver/ps3eye.cpp | 572 |
1 files changed, 0 insertions, 572 deletions
diff --git a/video-ps3eye/PS3EYEDriver/ps3eye.cpp b/video-ps3eye/PS3EYEDriver/ps3eye.cpp deleted file mode 100644 index 32a4a1b9..00000000 --- a/video-ps3eye/PS3EYEDriver/ps3eye.cpp +++ /dev/null @@ -1,572 +0,0 @@ -#include "ps3eye.hpp" -#include "compat/macros1.h" -#include "internal.hpp" - -#include "urb.hpp" -#include "frame-queue.hpp" -#include "singleton.hpp" -#include "constants.hpp" - -#include <memory> -#include <thread> -#include <mutex> -#include <condition_variable> -#include <chrono> -#include <atomic> -#include <optional> -#include <iterator> -#include <algorithm> - -#include <cstdio> -#include <cstdlib> -#include <cstring> -#include <cstdint> - -using namespace std::chrono_literals; - -#define OV534_REG_ADDRESS 0xf1 /* sensor address */ -#define OV534_REG_SUBADDR 0xf2 -#define OV534_REG_WRITE 0xf3 -#define OV534_REG_READ 0xf4 -#define OV534_REG_OPERATION 0xf5 -#define OV534_REG_STATUS 0xf6 - -#define OV534_OP_WRITE_3 0x37 -#define OV534_OP_WRITE_2 0x33 -#define OV534_OP_READ_2 0xf9 - -bool ps3eye_camera::devicesEnumerated = false; -std::vector<ps3eye_camera::device> ps3eye_camera::devices; - -const std::vector<ps3eye_camera::device>& ps3eye_camera::get_devices(bool force_refresh) -{ - if (devicesEnumerated && !force_refresh) - return devices; - - devices.clear(); - - (void) USBMgr::instance().list_devices(devices); - - devicesEnumerated = true; - return devices; -} - -ps3eye_camera::ps3eye_camera(libusb_device *device) : - device_(device), - urb(std::make_shared<URBDesc>()) -{ -} - -ps3eye_camera::~ps3eye_camera() -{ - release(); -} - -void ps3eye_camera::release() -{ - stop(); - close_usb(); -} - -bool ps3eye_camera::init(uint32_t width, uint32_t height, uint16_t desiredFrameRate, format outputFormat) -{ - uint16_t sensor_id; - - // open usb device so we can setup and go - if(handle_ == nullptr && !open_usb()) - return false; - - // find best cam mode - if((width == 0 && height == 0) || width > 320 || height > 240) - { - frame_width = 640; - frame_height = 480; - } else { - frame_width = 320; - frame_height = 240; - } - frame_rate = ov534_set_frame_rate(desiredFrameRate, true); - frame_output_format = outputFormat; - - /* reset bridge */ - ov534_reg_write(0xe7, 0x3a); - ov534_reg_write(0xe0, 0x08); - - std::this_thread::sleep_for(100ms); - - /* initialize the sensor address */ - ov534_reg_write(OV534_REG_ADDRESS, 0x42); - - /* reset sensor */ - sccb_reg_write(0x12, 0x80); - - std::this_thread::sleep_for(100ms); - - /* probe the sensor */ - sccb_reg_read(0x0a); - sensor_id = (uint16_t)(sccb_reg_read(0x0a) << 8); - sccb_reg_read(0x0b); - sensor_id |= sccb_reg_read(0x0b); - debug("sensor id: %04x\n", sensor_id); - - /* initialize */ - reg_w_array(ov534_reg_initdata, std::size(ov534_reg_initdata)); - ov534_set_led(1); - sccb_w_array(ov772x_reg_initdata, std::size(ov772x_reg_initdata)); - ov534_reg_write(0xe0, 0x09); - ov534_set_led(0); - - return true; -} - -bool ps3eye_camera::start() -{ - if (is_streaming_) - return true; - - if (!isInitialized()) - { - debug("call ps3eye_camera::init() first\n"); - return false; - } - - if (frame_width == 320) { /* 320x240 */ - reg_w_array(bridge_start_qvga, std::size(bridge_start_qvga)); - sccb_w_array(sensor_start_qvga, std::size(sensor_start_qvga)); - } else { /* 640x480 */ - reg_w_array(bridge_start_vga, std::size(bridge_start_vga)); - sccb_w_array(sensor_start_vga, std::size(sensor_start_vga)); - } - - ov534_set_frame_rate(frame_rate); - - set_auto_gain(autogain); - set_auto_white_balance(awb); - set_gain(gain); - set_hue(hue); - set_exposure(exposure); - set_brightness(brightness); - set_contrast(contrast); - set_sharpness(sharpness); - set_red_balance(redblc); - set_blue_balance(blueblc); - set_green_balance(greenblc); - set_flip(flip_h, flip_v); - - ov534_set_led(1); - ov534_reg_write(0xe0, 0x00); // start stream - - is_streaming_ = true; - // init and start urb - if (!urb->start_transfers(handle_, frame_width*frame_height)) - { - debug("failed to start\n"); - stop(); - return false; - } - return true; -} - -void ps3eye_camera::stop() -{ - if (!is_streaming_) - return; - - /* stop streaming data */ - ov534_reg_write(0xe0, 0x09); - ov534_set_led(0); - - // close urb - urb->close_transfers(); - urb->free_transfers(); - - is_streaming_ = false; -} - -#define MAX_USB_DEVICE_PORT_PATH 7 - -bool ps3eye_camera::getUSBPortPath(char *out_identifier, size_t max_identifier_length) const -{ - bool success = false; - - if (isInitialized()) - { - uint8_t port_numbers[MAX_USB_DEVICE_PORT_PATH]; - - memset(out_identifier, 0, max_identifier_length); - memset(port_numbers, 0, std::size(port_numbers)); - - int port_count = libusb_get_port_numbers(device_, port_numbers, MAX_USB_DEVICE_PORT_PATH); - int bus_id = libusb_get_bus_number(device_); - - snprintf(out_identifier, max_identifier_length, "b%d", bus_id); - if (port_count > 0) - { - success = true; - - for (int port_index = 0; port_index < port_count; ++port_index) - { - uint8_t port_number = port_numbers[port_index]; - char port_string[8]; - - snprintf(port_string, std::size(port_string), (port_index == 0) ? "_p%d" : ".%d", port_number); - - if (strlen(out_identifier)+std::size(port_string)+1 <= max_identifier_length) - std::strcat(out_identifier, port_string); - else - { - success = false; - break; - } - } - } - } - - return success; -} - -uint32_t ps3eye_camera::get_depth() const -{ - switch (frame_output_format) - { - case format_Bayer: - case format_Gray: - return 1; - case format_BGR: - case format_RGB: - return 3; - case format_BGRA: - case format_RGBA: - return 4; - default: - unreachable(); - } -} - -bool ps3eye_camera::get_frame(uint8_t* frame) -{ - return urb->queue().Dequeue(frame, frame_width, frame_height, frame_output_format, flip_v); -} - -bool ps3eye_camera::open_usb() -{ - // open, set first config and claim interface - int res = libusb_open(device_, &handle_); - if(res != 0) { - debug("device open error: %d\n", res); - return false; - } - - res = libusb_claim_interface(handle_, 0); - if(res != 0) { - debug("device claim interface error: %d\n", res); - return false; - } - - return true; -} - -void ps3eye_camera::close_usb() -{ - if (handle_) - { - libusb_release_interface(handle_, 0); - libusb_close(handle_); - } - if (device_) - libusb_unref_device(device_); - - handle_ = nullptr; - device_ = nullptr; -} - -/* Two bits control LED: 0x21 bit 7 and 0x23 bit 7. - * (direction and output)? */ -void ps3eye_camera::ov534_set_led(int status) -{ - uint8_t data; - - debug("led status: %d\n", status); - - data = ov534_reg_read(0x21); - data |= 0x80; - ov534_reg_write(0x21, data); - - data = ov534_reg_read(0x23); - if (status) - data |= 0x80; - else - data &= ~0x80; - - ov534_reg_write(0x23, data); - - if (!status) { - data = ov534_reg_read(0x21); - data &= ~0x80; - ov534_reg_write(0x21, data); - } -} - -/* validate frame rate and (if not dry run) set it */ -uint16_t ps3eye_camera::ov534_set_frame_rate(uint16_t fps, bool dry_run) -{ - const struct rate_s *r; - int i; - - if (frame_width == 640) { - r = rate_0; - i = std::size(rate_0); - } else { - r = rate_1; - i = std::size(rate_1); - } - while (--i > 0) { - if (fps >= r->fps) - break; - r++; - } - - if (!dry_run) { - sccb_reg_write(0x11, r->r11); - sccb_reg_write(0x0d, r->r0d); - ov534_reg_write(0xe5, r->re5); - } - - debug("frame_rate: %d\n", r->fps); - return r->fps; -} - -void ps3eye_camera::ov534_reg_write(uint16_t reg, uint8_t val) -{ - int ret; - - //debug("reg=0x%04x, val=0%02x", reg, val); - usb_buf[0] = val; - - constexpr int req_type = (int)LIBUSB_ENDPOINT_OUT | - (int)LIBUSB_REQUEST_TYPE_VENDOR | - (int)LIBUSB_RECIPIENT_DEVICE; - - ret = libusb_control_transfer(handle_, - req_type, - 0x01, 0x00, reg, - usb_buf, 1, 500); - if (ret < 0) { - debug("write failed\n"); - } -} - -uint8_t ps3eye_camera::ov534_reg_read(uint16_t reg) -{ - int ret; - - constexpr int req_type = (int)LIBUSB_ENDPOINT_IN | - (int)LIBUSB_REQUEST_TYPE_VENDOR | - (int)LIBUSB_RECIPIENT_DEVICE; - - ret = libusb_control_transfer(handle_, req_type, 0x01, 0x00, reg, usb_buf, 1, 500); - - //debug("reg=0x%04x, data=0x%02x", reg, usb_buf[0]); - if (ret < 0) - warn("read failed\n"); - return usb_buf[0]; -} - -int ps3eye_camera::sccb_check_status() -{ - uint8_t data; - int i; - - for (i = 0; i < 5; i++) { - data = ov534_reg_read(OV534_REG_STATUS); - - switch (data) { - case 0x00: - return 1; - case 0x04: - return 0; - case 0x03: - break; - default: - debug("sccb status 0x%02x, attempt %d/5\n", - data, i + 1); - } - } - return 0; -} - -void ps3eye_camera::sccb_reg_write(uint8_t reg, uint8_t val) -{ - //debug("reg: 0x%02x, val: 0x%02x", reg, val); - ov534_reg_write(OV534_REG_SUBADDR, reg); - ov534_reg_write(OV534_REG_WRITE, val); - ov534_reg_write(OV534_REG_OPERATION, OV534_OP_WRITE_3); - - if (!sccb_check_status()) { - debug("sccb_reg_write failed\n"); - } -} - - -uint8_t ps3eye_camera::sccb_reg_read(uint16_t reg) -{ - ov534_reg_write(OV534_REG_SUBADDR, (uint8_t)reg); - ov534_reg_write(OV534_REG_OPERATION, OV534_OP_WRITE_2); - if (!sccb_check_status()) { - debug("sccb_reg_read failed 1\n"); - } - - ov534_reg_write(OV534_REG_OPERATION, OV534_OP_READ_2); - if (!sccb_check_status()) { - debug( "sccb_reg_read failed 2\n"); - } - - return ov534_reg_read(OV534_REG_READ); -} -/* output a bridge sequence (reg - val) */ -void ps3eye_camera::reg_w_array(const uint8_t (*data)[2], int len) -{ - while (--len >= 0) { - ov534_reg_write((*data)[0], (*data)[1]); - data++; - } -} - -/* output a sensor sequence (reg - val) */ -void ps3eye_camera::sccb_w_array(const uint8_t (*data)[2], int len) -{ - while (--len >= 0) { - if ((*data)[0] != 0xff) { - sccb_reg_write((*data)[0], (*data)[1]); - } else { - sccb_reg_read((*data)[1]); - sccb_reg_write(0xff, 0x00); - } - data++; - } -} - -void ps3eye_camera::set_auto_white_balance(bool val) -{ - awb = val; - if (val) { - sccb_reg_write(0x63, 0xe0); //AWB ON - }else{ - sccb_reg_write(0x63, 0xAA); //AWB OFF - } -} - -void ps3eye_camera::set_gain(uint8_t val) -{ - gain = val; - switch(val & 0x30){ - case 0x00: - val &=0x0F; - break; - case 0x10: - val &=0x0F; - val |=0x30; - break; - case 0x20: - val &=0x0F; - val |=0x70; - break; - case 0x30: - val &=0x0F; - val |=0xF0; - break; - } - sccb_reg_write(0x00, val); -} - -void ps3eye_camera::set_exposure(uint8_t val) -{ - exposure = val; - sccb_reg_write(0x08, val>>7); - sccb_reg_write(0x10, val<<1); -} - -void ps3eye_camera::set_sharpness(uint8_t val) -{ - sharpness = val; - sccb_reg_write(0x91, val); //vga noise - sccb_reg_write(0x8E, val); //qvga noise -} - -void ps3eye_camera::set_contrast(uint8_t val) -{ - contrast = val; - sccb_reg_write(0x9C, val); -} - -void ps3eye_camera::set_brightness(uint8_t val) -{ - brightness = val; - sccb_reg_write(0x9B, val); -} - -void ps3eye_camera::set_hue(uint8_t val) -{ - hue = val; - sccb_reg_write(0x01, val); -} - -void ps3eye_camera::set_red_balance(uint8_t val) -{ - redblc = val; - sccb_reg_write(0x43, val); -} - -void ps3eye_camera::set_blue_balance(uint8_t val) -{ - blueblc = val; - sccb_reg_write(0x42, val); -} - -void ps3eye_camera::set_green_balance(uint8_t val) -{ - greenblc = val; - sccb_reg_write(0x44, val); -} - -void ps3eye_camera::set_flip(bool horizontal, bool vertical) -{ - flip_h = horizontal; - flip_v = vertical; - uint8_t val = sccb_reg_read(0x0c); - val &= ~0xc0; - if (!horizontal) val |= 0x40; - if (!vertical) val |= 0x80; - sccb_reg_write(0x0c, val); -} - -void ps3eye_camera::set_test_pattern(bool enable) -{ - testPattern = enable; - uint8_t val = sccb_reg_read(0x0C); - val &= ~0b00000001; - if (testPattern) val |= 0b00000001; // 0x80; - sccb_reg_write(0x0C, val); -} - -bool ps3eye_camera::setFrameRate(uint8_t val) -{ - if (is_streaming_) return false; - frame_rate = ov534_set_frame_rate(val, true); - return true; -} - -void ps3eye_camera::set_auto_gain(bool val) -{ - autogain = val; - if (val) { - sccb_reg_write(0x13, 0xf7); //AGC,AEC,AWB ON - sccb_reg_write(0x64, sccb_reg_read(0x64)|0x03); - } else { - sccb_reg_write(0x13, 0xf0); //AGC,AEC,AWB OFF - sccb_reg_write(0x64, sccb_reg_read(0x64)&0xFC); - - set_gain(gain); - set_exposure(exposure); - } -} |