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authorDiego Ismirlian <dismirlian (at) google's mail.com>2017-06-06 15:21:37 -0300
committerDiego Ismirlian <dismirlian (at) google's mail.com>2017-06-06 15:21:37 -0300
commit50dda7cff22574816f415d5c5003240badcf3d32 (patch)
treeb41587ef38aba1b2962ab57d5079760fb908142a /os/hal/src
parenta6898a525f645a8a24e1c73440f93e192ae028ed (diff)
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Add UVC driver and test/example
Diffstat (limited to 'os/hal/src')
-rw-r--r--os/hal/src/hal_usbh.c12
-rw-r--r--os/hal/src/usbh/hal_usbh_uvc.c679
2 files changed, 669 insertions, 22 deletions
diff --git a/os/hal/src/hal_usbh.c b/os/hal/src/hal_usbh.c
index 457abba..d242086 100644
--- a/os/hal/src/hal_usbh.c
+++ b/os/hal/src/hal_usbh.c
@@ -28,6 +28,7 @@
#include "usbh/dev/ftdi.h"
#include "usbh/dev/msd.h"
#include "usbh/dev/hid.h"
+#include "usbh/dev/uvc.h"
#if USBH_DEBUG_ENABLE_TRACE
#define udbgf(f, ...) usbDbgPrintf(f, ##__VA_ARGS__)
@@ -125,6 +126,9 @@ void usbhInit(void) {
#if HAL_USBH_USE_HID
usbhhidInit();
#endif
+#if HAL_USBH_USE_UVC
+ usbhuvcInit();
+#endif
#if HAL_USBH_USE_HUB
usbhhubInit();
#endif
@@ -421,7 +425,8 @@ usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,
uint32_t *actual_len,
systime_t timeout) {
- _check_dev(dev);
+ if (!dev) return USBH_URBSTATUS_DISCONNECTED;
+
osalDbgCheck(req != NULL);
usbh_urb_t urb;
@@ -1310,6 +1315,9 @@ static const usbh_classdriverinfo_t *usbh_classdrivers_lookup[] = {
#if HAL_USBH_USE_HID
&usbhhidClassDriverInfo,
#endif
+#if HAL_USBH_USE_UVC
+ &usbhuvcClassDriverInfo,
+#endif
#if HAL_USBH_USE_HUB
&usbhhubClassDriverInfo,
#endif
@@ -1341,7 +1349,7 @@ static bool _classdriver_load(usbh_device_t *dev, uint8_t class,
#if HAL_USBH_USE_IAD
/* special case: */
if (info == &usbhiadClassDriverInfo)
- return HAL_SUCCESS;
+ goto success; //return HAL_SUCCESS;
#endif
if (drv != NULL)
diff --git a/os/hal/src/usbh/hal_usbh_uvc.c b/os/hal/src/usbh/hal_usbh_uvc.c
index 025fbee..72c15c0 100644
--- a/os/hal/src/usbh/hal_usbh_uvc.c
+++ b/os/hal/src/usbh/hal_usbh_uvc.c
@@ -1,22 +1,17 @@
/*
- ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
- Copyright (C) 2015..2017 Diego Ismirlian, (dismirlian (at) google's mail)
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
- http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
-*/
+ * usbh_uvc.c
+ *
+ * Created on: 14 de set. de 2015
+ * Author: Diego Ismirlian (dismirlian (at) google's mail (dot) com)
+ *
+ * License:
+ *
+ * This file is free for non-commercial use until the company I work for decides what to do.
+ * If in doubt, please contact me.
+ *
+ */
#include "hal.h"
-#include "hal_usbh.h"
#if HAL_USBH_USE_UVC
@@ -28,6 +23,10 @@
#error "USBHUVC needs HAL_USBH_USE_IAD"
#endif
+#include "usbh/dev/uvc.h"
+#include "usbh/internal.h"
+#include <string.h>
+
#if USBHUVC_DEBUG_ENABLE_TRACE
#define udbgf(f, ...) usbDbgPrintf(f, ##__VA_ARGS__)
#define udbg(f, ...) usbDbgPuts(f, ##__VA_ARGS__)
@@ -61,6 +60,9 @@
#endif
+USBHUVCDriver USBHUVCD[HAL_USBHUVC_MAX_INSTANCES];
+
+
static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev,
const uint8_t *descriptor, uint16_t rem);
static void uvc_unload(usbh_baseclassdriver_t *drv);
@@ -73,16 +75,653 @@ const usbh_classdriverinfo_t usbhuvcClassDriverInfo = {
0x0e, 0x03, 0x00, "UVC", &class_driver_vmt
};
+static bool _request(USBHUVCDriver *uvcdp,
+ uint8_t bRequest, uint8_t entity, uint8_t control,
+ uint16_t wLength, uint8_t *data, uint8_t interf) {
+
+ usbh_urbstatus_t res;
+
+ if (bRequest & 0x80) {
+ res = usbhControlRequest(uvcdp->dev,
+ USBH_REQTYPE_CLASSIN(USBH_REQTYPE_RECIP_INTERFACE),
+ bRequest,
+ ((control) << 8),
+ (interf) | ((entity) << 8),
+ wLength, data);
+ } else {
+ res = usbhControlRequest(uvcdp->dev,
+ USBH_REQTYPE_CLASSOUT(USBH_REQTYPE_RECIP_INTERFACE),
+ bRequest,
+ ((control) << 8),
+ (interf) | ((entity) << 8),
+ wLength, data);
+ }
+
+ if (res != USBH_URBSTATUS_OK)
+ return HAL_FAILED;
+
+ return HAL_SUCCESS;
+}
+
+bool usbhuvcVCRequest(USBHUVCDriver *uvcdp,
+ uint8_t bRequest, uint8_t entity, uint8_t control,
+ uint16_t wLength, uint8_t *data) {
+ return _request(uvcdp, bRequest, entity, control, wLength, data, if_get(&uvcdp->ivc)->bInterfaceNumber);
+}
+
+bool usbhuvcVSRequest(USBHUVCDriver *uvcdp,
+ uint8_t bRequest, uint8_t control,
+ uint16_t wLength, uint8_t *data) {
+
+ return _request(uvcdp, bRequest, 0, control, wLength, data, if_get(&uvcdp->ivs)->bInterfaceNumber);
+}
+
+static bool _set_vs_alternate(USBHUVCDriver *uvcdp, uint16_t min_ep_size) {
+
+ if (min_ep_size == 0) {
+ uinfo("Selecting Alternate setting 0");
+ return usbhStdReqSetInterface(uvcdp->dev, if_get(&uvcdp->ivs)->bInterfaceNumber, 0);
+ }
+
+ if_iterator_t iif = uvcdp->ivs;
+ generic_iterator_t iep;
+ const usbh_endpoint_descriptor_t *ep = NULL;
+ uint8_t alt = 0;
+ uint16_t sz = 0xffff;
+
+ uinfof("Searching alternate setting with min_ep_size=%d", min_ep_size);
+
+ for (; iif.valid; if_iter_next(&iif)) {
+ const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+
+ if ((ifdesc->bInterfaceClass != UVC_CC_VIDEO)
+ || (ifdesc->bInterfaceSubClass != UVC_SC_VIDEOSTREAMING))
+ continue;
+
+ uinfof("\tScanning alternate setting=%d", ifdesc->bAlternateSetting);
+
+ if (ifdesc->bNumEndpoints == 0)
+ continue;
+
+ for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {
+ const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+ if (((epdesc->bmAttributes & 0x03) == USBH_EPTYPE_ISO)
+ && ((epdesc->bEndpointAddress & 0x80) == USBH_EPDIR_IN)) {
+
+ uinfof("\t Endpoint wMaxPacketSize = %d", epdesc->wMaxPacketSize);
+
+ if (epdesc->wMaxPacketSize >= min_ep_size) {
+ if (epdesc->wMaxPacketSize < sz) {
+ uinfo("\t Found new optimal alternate setting");
+ sz = epdesc->wMaxPacketSize;
+ alt = ifdesc->bAlternateSetting;
+ ep = epdesc;
+ }
+ }
+ }
+ }
+ }
+
+ if (ep && alt) {
+ uinfof("\tSelecting Alternate setting %d", alt);
+ if (usbhStdReqSetInterface(uvcdp->dev, if_get(&uvcdp->ivs)->bInterfaceNumber, alt) == HAL_SUCCESS) {
+ usbhEPObjectInit(&uvcdp->ep_iso, uvcdp->dev, ep);
+ usbhEPSetName(&uvcdp->ep_iso, "UVC[ISO ]");
+ return HAL_SUCCESS;
+ }
+ }
+
+ return HAL_FAILED;
+}
+
+#if USBH_DEBUG_ENABLE && USBHUVC_DEBUG_ENABLE_INFO
+void usbhuvcPrintProbeCommit(const usbh_uvc_ctrl_vs_probecommit_data_t *pc) {
+
+ //uinfof("UVC: probe/commit data:");
+ uinfof("\tbmHint=%04x", pc->bmHint);
+ uinfof("\tbFormatIndex=%d, bFrameIndex=%d, dwFrameInterval=%u",
+ pc->bFormatIndex, pc->bFrameIndex, pc->dwFrameInterval);
+ uinfof("\twKeyFrameRate=%d, wPFrameRate=%d, wCompQuality=%u, wCompWindowSize=%u",
+ pc->wKeyFrameRate, pc->wPFrameRate, pc->wCompQuality, pc->wCompWindowSize);
+ uinfof("\twDelay=%d", pc->wDelay);
+ uinfof("\tdwMaxVideoFrameSize=%u", pc->dwMaxVideoFrameSize);
+ uinfof("\tdwMaxPayloadTransferSize=%u", pc->dwMaxPayloadTransferSize);
+/* uinfof("\tdwClockFrequency=%u", pc->dwClockFrequency);
+ uinfof("\tbmFramingInfo=%02x", pc->bmFramingInfo);
+ uinfof("\tbPreferedVersion=%d, bMinVersion=%d, bMaxVersion=%d",
+ pc->bPreferedVersion, pc->bMinVersion, pc->bMaxVersion); */
+}
+#endif
+
+static void _post(USBHUVCDriver *uvcdp, usbh_urb_t *urb, memory_pool_t *mp, uint16_t type) {
+ usbhuvc_message_base_t *const msg = (usbhuvc_message_base_t *)urb->buff - 1;
+ msg->timestamp = osalOsGetSystemTimeX();
+
+ usbhuvc_message_base_t *const new_msg = (usbhuvc_message_base_t *)chPoolAllocI(mp);
+ if (new_msg != NULL) {
+ /* allocated the new buffer, now try to post the message to the mailbox */
+ if (chMBPostI(&uvcdp->mb, (msg_t)msg) == MSG_OK) {
+ /* everything OK, complete the missing fields */
+ msg->type = type;
+ msg->length = urb->actualLength;
+
+ /* change the URB's buffer to the newly allocated one */
+ urb->buff = (uint8_t *)(new_msg + 1);
+ } else {
+ /* couldn't post the message, free the newly allocated buffer */
+ uerr("UVC: error, mailbox overrun");
+ chPoolFreeI(&uvcdp->mp_status, new_msg);
+ }
+ } else {
+ uerrf("UVC: error, %s pool overrun", mp == &uvcdp->mp_data ? "data" : "status");
+ }
+}
+
+static void _cb_int(usbh_urb_t *urb) {
+ USBHUVCDriver *uvcdp = (USBHUVCDriver *)urb->userData;
+
+ switch (urb->status) {
+ case USBH_URBSTATUS_OK:
+ if (urb->actualLength >= 2) {
+ _post(uvcdp, urb, &uvcdp->mp_status, USBHUVC_MESSAGETYPE_STATUS);
+ } else {
+ uerrf("UVC: INT IN, actualLength=%d", urb->actualLength);
+ }
+ break;
+ case USBH_URBSTATUS_TIMEOUT: /* the device NAKed */
+ udbg("UVC: INT IN no info");
+ break;
+ case USBH_URBSTATUS_DISCONNECTED:
+ case USBH_URBSTATUS_CANCELLED:
+ uwarn("UVC: INT IN status = DISCONNECTED/CANCELLED, aborting");
+ return;
+ default:
+ uerrf("UVC: INT IN error, unexpected status = %d", urb->status);
+ break;
+ }
+
+ usbhURBObjectResetI(urb);
+ usbhURBSubmitI(urb);
+}
+
+static void _cb_iso(usbh_urb_t *urb) {
+ USBHUVCDriver *uvcdp = (USBHUVCDriver *)urb->userData;
+
+ if ((urb->status == USBH_URBSTATUS_DISCONNECTED)
+ || (urb->status == USBH_URBSTATUS_CANCELLED)) {
+ uwarn("UVC: ISO IN status = DISCONNECTED/CANCELLED, aborting");
+ return;
+ }
+
+ if (urb->status != USBH_URBSTATUS_OK) {
+ uerrf("UVC: ISO IN error, unexpected status = %d", urb->status);
+ } else if (urb->actualLength >= 2) {
+ const uint8_t *const buff = (const uint8_t *)urb->buff;
+ if (buff[0] < 2) {
+ uerrf("UVC: ISO IN, bHeaderLength=%d", buff[0]);
+ } else if (buff[0] > urb->actualLength) {
+ uerrf("UVC: ISO IN, bHeaderLength=%d > actualLength=%d", buff[0], urb->actualLength);
+ } else {
+ udbgf("UVC: ISO IN len=%d, hdr=%d, FID=%d, EOF=%d, ERR=%d, EOH=%d",
+ urb->actualLength,
+ buff[0],
+ buff[1] & UVC_HDR_FID,
+ buff[1] & UVC_HDR_EOF,
+ buff[1] & UVC_HDR_ERR,
+ buff[1] & UVC_HDR_EOH);
+
+ if ((urb->actualLength > buff[0])
+ || (buff[1] & (UVC_HDR_EOF | UVC_HDR_ERR))) {
+ _post(uvcdp, urb, &uvcdp->mp_data, USBHUVC_MESSAGETYPE_DATA);
+ } else {
+ udbgf("UVC: ISO IN skip: len=%d, hdr=%d, FID=%d, EOF=%d, ERR=%d, EOH=%d",
+ urb->actualLength,
+ buff[0],
+ buff[1] & UVC_HDR_FID,
+ buff[1] & UVC_HDR_EOF,
+ buff[1] & UVC_HDR_ERR,
+ buff[1] & UVC_HDR_EOH);
+ }
+ }
+ } else if (urb->actualLength > 0) {
+ uerrf("UVC: ISO IN, actualLength=%d", urb->actualLength);
+ }
+
+ usbhURBObjectResetI(urb);
+ usbhURBSubmitI(urb);
+}
+
+
+bool usbhuvcStreamStart(USBHUVCDriver *uvcdp, uint16_t min_ep_sz) {
+ bool ret = HAL_FAILED;
+ osalSysLock();
+ osalDbgCheck(uvcdp && (uvcdp->state != USBHUVC_STATE_UNINITIALIZED) &&
+ (uvcdp->state != USBHUVC_STATE_BUSY));
+ if (uvcdp->state == USBHUVC_STATE_STREAMING) {
+ osalSysUnlock();
+ return HAL_SUCCESS;
+ }
+ if (uvcdp->state != USBHUVC_STATE_READY) {
+ osalSysUnlock();
+ return HAL_FAILED;
+ }
+ uvcdp->state = USBHUVC_STATE_BUSY;
+ osalSysUnlock();
+
+ //set the alternate setting
+ if (_set_vs_alternate(uvcdp, min_ep_sz) != HAL_SUCCESS)
+ goto exit;
+
+ //reserve working RAM
+ uint32_t datapackets;
+ uint32_t data_sz = (uvcdp->ep_iso.wMaxPacketSize + sizeof(usbhuvc_message_data_t) + 3) & ~3;
+
+ datapackets = HAL_USBHUVC_WORK_RAM_SIZE / data_sz;
+ if (datapackets == 0) {
+ uerr("Not enough work RAM");
+ goto failed;
+ }
+
+ uint32_t workramsz = datapackets * data_sz;
+ uinfof("Reserving %u bytes of RAM (%d data packets of %d bytes)", workramsz, datapackets, data_sz);
+ if (datapackets > (HAL_USBHUVC_MAX_MAILBOX_SZ - HAL_USBHUVC_STATUS_PACKETS_COUNT)) {
+ uwarn("Mailbox may overflow, use a larger HAL_USBHUVC_MAX_MAILBOX_SZ. UVC will under-utilize the assigned work RAM.");
+ }
+ chMBResumeX(&uvcdp->mb);
+
+ uvcdp->mp_data_buffer = chHeapAlloc(NULL, workramsz);
+ if (uvcdp->mp_data_buffer == NULL) {
+ uerr("Couldn't reserve RAM");
+ goto failed;
+ }
+
+ //initialize the mempool
+ const uint8_t *elem = (const uint8_t *)uvcdp->mp_data_buffer;
+ chPoolObjectInit(&uvcdp->mp_data, data_sz, NULL);
+ while (datapackets--) {
+ chPoolFree(&uvcdp->mp_data, (void *)elem);
+ elem += data_sz;
+ }
+
+ //open the endpoint
+ usbhEPOpen(&uvcdp->ep_iso);
+
+ //allocate 1 buffer and submit the first transfer
+ usbhuvc_message_data_t *const msg = (usbhuvc_message_data_t *)chPoolAlloc(&uvcdp->mp_data);
+ osalDbgCheck(msg);
+ usbhURBObjectInit(&uvcdp->urb_iso, &uvcdp->ep_iso, _cb_iso, uvcdp, msg->data, uvcdp->ep_iso.wMaxPacketSize);
+ osalSysLock();
+ usbhURBSubmitI(&uvcdp->urb_iso);
+ osalOsRescheduleS();
+ osalSysUnlock();
+
+ ret = HAL_SUCCESS;
+ goto exit;
+
+failed:
+ _set_vs_alternate(uvcdp, 0);
+ if (uvcdp->mp_data_buffer)
+ chHeapFree(uvcdp->mp_data_buffer);
+
+exit:
+ osalSysLock();
+ if (ret == HAL_SUCCESS)
+ uvcdp->state = USBHUVC_STATE_STREAMING;
+ else
+ uvcdp->state = USBHUVC_STATE_READY;
+ osalSysUnlock();
+ return ret;
+}
+
+bool usbhuvcStreamStop(USBHUVCDriver *uvcdp) {
+ osalSysLock();
+ osalDbgCheck(uvcdp && (uvcdp->state != USBHUVC_STATE_UNINITIALIZED) &&
+ (uvcdp->state != USBHUVC_STATE_BUSY));
+ if (uvcdp->state != USBHUVC_STATE_STREAMING) {
+ osalSysUnlock();
+ return HAL_SUCCESS;
+ }
+ uvcdp->state = USBHUVC_STATE_BUSY;
+
+ //close the ISO endpoint
+ usbhEPCloseS(&uvcdp->ep_iso);
+
+ //purge the mailbox
+ chMBResetI(&uvcdp->mb); //TODO: the status messages are lost!!
+ chMtxLockS(&uvcdp->mtx);
+ osalSysUnlock();
+
+ //free the working memory
+ chHeapFree(uvcdp->mp_data_buffer);
+ uvcdp->mp_data_buffer = 0;
+
+ //set alternate setting to 0
+ _set_vs_alternate(uvcdp, 0);
+
+ osalSysLock();
+ uvcdp->state = USBHUVC_STATE_READY;
+ chMtxUnlockS(&uvcdp->mtx);
+ osalSysUnlock();
+ return HAL_SUCCESS;
+}
+
+bool usbhuvcFindVSDescriptor(USBHUVCDriver *uvcdp,
+ generic_iterator_t *ics,
+ uint8_t bDescriptorSubtype,
+ bool start) {
+
+ if (start)
+ cs_iter_init(ics, (generic_iterator_t *)&uvcdp->ivs);
+ else
+ cs_iter_next(ics);
+
+ for (; ics->valid; cs_iter_next(ics)) {
+ if (ics->curr[1] != UVC_CS_INTERFACE)
+ break;
+ if (ics->curr[2] == bDescriptorSubtype)
+ return HAL_SUCCESS;
+ if (!start)
+ break;
+ }
+ return HAL_FAILED;
+}
+
+void usbhuvcResetPC(USBHUVCDriver *uvcdp) {
+ memset(&uvcdp->pc, 0, sizeof(uvcdp->pc));
+}
+
+bool usbhuvcProbe(USBHUVCDriver *uvcdp) {
+// memset(&uvcdp->pc_min, 0, sizeof(uvcdp->pc_min));
+// memset(&uvcdp->pc_max, 0, sizeof(uvcdp->pc_max));
+
+ if (usbhuvcVSRequest(uvcdp, UVC_SET_CUR, UVC_CTRL_VS_PROBE_CONTROL, sizeof(uvcdp->pc), (uint8_t *)&uvcdp->pc) != HAL_SUCCESS)
+ return HAL_FAILED;
+ if (usbhuvcVSRequest(uvcdp, UVC_GET_CUR, UVC_CTRL_VS_PROBE_CONTROL, sizeof(uvcdp->pc), (uint8_t *)&uvcdp->pc) != HAL_SUCCESS)
+ return HAL_FAILED;
+ if (usbhuvcVSRequest(uvcdp, UVC_GET_MAX, UVC_CTRL_VS_PROBE_CONTROL, sizeof(uvcdp->pc_max), (uint8_t *)&uvcdp->pc_max) != HAL_SUCCESS)
+ return HAL_FAILED;
+ if (usbhuvcVSRequest(uvcdp, UVC_GET_MIN, UVC_CTRL_VS_PROBE_CONTROL, sizeof(uvcdp->pc_min), (uint8_t *)&uvcdp->pc_min) != HAL_SUCCESS)
+ return HAL_FAILED;
+ return HAL_SUCCESS;
+}
+
+bool usbhuvcCommit(USBHUVCDriver *uvcdp) {
+ if (usbhuvcVSRequest(uvcdp, UVC_SET_CUR, UVC_CTRL_VS_COMMIT_CONTROL, sizeof(uvcdp->pc), (uint8_t *)&uvcdp->pc) != HAL_SUCCESS)
+ return HAL_FAILED;
+
+ osalSysLock();
+ if (uvcdp->state == USBHUVC_STATE_ACTIVE)
+ uvcdp->state = USBHUVC_STATE_READY;
+ osalSysUnlock();
+ return HAL_SUCCESS;
+}
+
+uint32_t usbhuvcEstimateRequiredEPSize(USBHUVCDriver *uvcdp, const uint8_t *formatdesc,
+ const uint8_t *framedesc, uint32_t dwFrameInterval) {
+
+ osalDbgCheck(framedesc);
+ osalDbgCheck(framedesc[0] > 3);
+ osalDbgCheck(framedesc[1] == UVC_CS_INTERFACE);
+ osalDbgCheck(formatdesc);
+ osalDbgCheck(formatdesc[0] > 3);
+ osalDbgCheck(formatdesc[1] == UVC_CS_INTERFACE);
+
+ uint16_t w, h, div, mul;
+ uint8_t bpp;
+
+ switch (framedesc[2]) {
+ case UVC_VS_FRAME_MJPEG: {
+ const usbh_uvc_frame_mjpeg_t *frame = (const usbh_uvc_frame_mjpeg_t *)framedesc;
+ //const usbh_uvc_format_mjpeg_t *fmt = (const usbh_uvc_format_mjpeg_t *)formatdesc;
+ w = frame->wWidth;
+ h = frame->wHeight;
+ bpp = 16; //TODO: check this!!
+ mul = 1;
+ div = 5; //TODO: check this estimate
+ } break;
+ case UVC_VS_FRAME_UNCOMPRESSED: {
+ const usbh_uvc_frame_uncompressed_t *frame = (const usbh_uvc_frame_uncompressed_t *)framedesc;
+ const usbh_uvc_format_uncompressed *fmt = (const usbh_uvc_format_uncompressed *)formatdesc;
+ w = frame->wWidth;
+ h = frame->wHeight;
+ bpp = fmt->bBitsPerPixel;
+ mul = div = 1;
+ } break;
+ default:
+ uwarn("Unsupported format");
+ return 0xffffffff;
+ }
+
+ uint32_t sz = w * h / 8 * bpp;
+ sz *= 10000000UL / dwFrameInterval;
+ sz /= 1000;
+
+ if (uvcdp->dev->speed == USBH_DEVSPEED_HIGH)
+ div *= 8;
+
+ return (sz * mul) / div + 12;
+}
+
+void usbhuvcObjectInit(USBHUVCDriver *uvcdp) {
+ osalDbgCheck(uvcdp != NULL);
+ memset(uvcdp, 0, sizeof(*uvcdp));
+ uvcdp->info = &usbhuvcClassDriverInfo;
+ chMBObjectInit(&uvcdp->mb, uvcdp->mb_buff, HAL_USBHUVC_MAX_MAILBOX_SZ);
+ chMtxObjectInit(&uvcdp->mtx);
+ uvcdp->state = USBHUVC_STATE_STOP;
+}
+
static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {
- (void)dev;
- (void)descriptor;
- (void)rem;
+
+ USBHUVCDriver *uvcdp;
+ uint8_t i;
+
+ if (descriptor[1] != USBH_DT_INTERFACE_ASSOCIATION)
+ return NULL;
+
+ /* alloc driver */
+ for (i = 0; i < HAL_USBHUVC_MAX_INSTANCES; i++) {
+ if (USBHUVCD[i].dev == NULL) {
+ uvcdp = &USBHUVCD[i];
+ goto alloc_ok;
+ }
+ }
+
+ uwarn("Can't alloc UVC driver");
+
+ /* can't alloc */
return NULL;
+
+alloc_ok:
+ /* initialize the driver's variables */
+ uvcdp->ivc.curr = uvcdp->ivs.curr = NULL;
+
+ usbhEPSetName(&dev->ctrl, "UVC[CTRL]");
+
+ const usbh_ia_descriptor_t *iad = (const usbh_ia_descriptor_t *)descriptor;
+ if_iterator_t iif;
+ generic_iterator_t ics;
+ generic_iterator_t iep;
+
+ iif.iad = iad;
+ iif.curr = descriptor;
+ iif.rem = rem;
+
+ for (if_iter_next(&iif); iif.valid; if_iter_next(&iif)) {
+ if (iif.iad != iad) break;
+
+ const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+ if (ifdesc->bInterfaceClass != UVC_CC_VIDEO) {
+ uwarnf("Skipping Interface %d (class != UVC_CC_VIDEO)",
+ ifdesc->bInterfaceNumber);
+ continue;
+ }
+
+ uinfof("Interface %d, Alt=%d, Class=UVC_CC_VIDEO, Subclass=%02x",
+ ifdesc->bInterfaceNumber,
+ ifdesc->bAlternateSetting,
+ ifdesc->bInterfaceSubClass);
+
+ switch (ifdesc->bInterfaceSubClass) {
+ case UVC_SC_VIDEOCONTROL:
+ if (uvcdp->ivc.curr == NULL) {
+ uvcdp->ivc = iif;
+ }
+ for (cs_iter_init(&ics, (generic_iterator_t *)&iif); ics.valid; cs_iter_next(&ics)) {
+ if (ics.curr[1] != UVC_CS_INTERFACE) {
+ uwarnf("Unknown descriptor=%02X", ics.curr[1]);
+ continue;
+ }
+ switch (ics.curr[2]) {
+ case UVC_VC_HEADER:
+ uinfo(" VC_HEADER"); break;
+ case UVC_VC_INPUT_TERMINAL:
+ uinfof(" VC_INPUT_TERMINAL, ID=%d", ics.curr[3]); break;
+ case UVC_VC_OUTPUT_TERMINAL:
+ uinfof(" VC_OUTPUT_TERMINAL, ID=%d", ics.curr[3]); break;
+ case UVC_VC_SELECTOR_UNIT:
+ uinfof(" VC_SELECTOR_UNIT, ID=%d", ics.curr[3]); break;
+ case UVC_VC_PROCESSING_UNIT:
+ uinfof(" VC_PROCESSING_UNIT, ID=%d", ics.curr[3]); break;
+ case UVC_VC_EXTENSION_UNIT:
+ uinfof(" VC_EXTENSION_UNIT, ID=%d", ics.curr[3]); break;
+ default:
+ uwarnf("Unknown video bDescriptorSubtype=%02x", ics.curr[2]);
+ break;
+ }
+ }
+ break;
+ case UVC_SC_VIDEOSTREAMING:
+ if (uvcdp->ivs.curr == NULL) {
+ uvcdp->ivs = iif;
+ }
+ for (cs_iter_init(&ics, (generic_iterator_t *)&iif); ics.valid; cs_iter_next(&ics)) {
+ if (ics.curr[1] != UVC_CS_INTERFACE) {
+ uwarnf("Unknown descriptor=%02X", ics.curr[1]);
+ continue;
+ }
+ switch (ics.curr[2]) {
+ case UVC_VS_INPUT_HEADER:
+ uinfo(" VS_INPUT_HEADER"); break;
+ case UVC_VS_OUTPUT_HEADER:
+ uinfo(" VS_OUTPUT_HEADER"); break;
+ case UVC_VS_STILL_IMAGE_FRAME:
+ uinfo(" VS_STILL_IMAGE_FRAME"); break;
+
+ case UVC_VS_FORMAT_UNCOMPRESSED:
+ uinfof(" VS_FORMAT_UNCOMPRESSED, bFormatIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FORMAT_MPEG2TS:
+ uinfof(" VS_FORMAT_MPEG2TS, bFormatIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FORMAT_DV:
+ uinfof(" VS_FORMAT_DV, bFormatIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FORMAT_MJPEG:
+ uinfof(" VS_FORMAT_MJPEG, bFormatIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FORMAT_FRAME_BASED:
+ uinfof(" VS_FORMAT_FRAME_BASED, bFormatIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FORMAT_STREAM_BASED:
+ uinfof(" VS_FORMAT_STREAM_BASED, bFormatIndex=%d", ics.curr[3]); break;
+
+ case UVC_VS_FRAME_UNCOMPRESSED:
+ uinfof(" VS_FRAME_UNCOMPRESSED, bFrameIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FRAME_MJPEG:
+ uinfof(" VS_FRAME_MJPEG, bFrameIndex=%d", ics.curr[3]); break;
+ case UVC_VS_FRAME_FRAME_BASED:
+ uinfof(" VS_FRAME_FRAME_BASED, bFrameIndex=%d", ics.curr[3]); break;
+
+ case UVC_VS_COLOR_FORMAT:
+ uinfo(" VS_COLOR_FORMAT"); break;
+ default:
+ uwarnf("Unknown video bDescriptorSubtype=%02x", ics.curr[2]);
+ break;
+ }
+ }
+ break;
+ default:
+ uwarnf("Unknown video bInterfaceSubClass=%02x", ifdesc->bInterfaceSubClass);
+ break;
+ }
+
+ for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {
+ const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+
+ if ((ifdesc->bInterfaceSubClass == UVC_SC_VIDEOCONTROL)
+ && ((epdesc->bmAttributes & 0x03) == USBH_EPTYPE_INT)
+ && ((epdesc->bEndpointAddress & 0x80) == USBH_EPDIR_IN)) {
+ /* found VC interrupt endpoint */
+ uinfof(" VC Interrupt endpoint; %02x, bInterval=%d",
+ epdesc->bEndpointAddress, epdesc->bInterval);
+ usbhEPObjectInit(&uvcdp->ep_int, dev, epdesc);
+ usbhEPSetName(&uvcdp->ep_int, "UVC[INT ]");
+ } else if ((ifdesc->bInterfaceSubClass == UVC_SC_VIDEOSTREAMING)
+ && ((epdesc->bmAttributes & 0x03) == USBH_EPTYPE_ISO)
+ && ((epdesc->bEndpointAddress & 0x80) == USBH_EPDIR_IN)) {
+ /* found VS isochronous endpoint */
+ uinfof(" VS Isochronous endpoint; %02x, bInterval=%d, bmAttributes=%02x",
+ epdesc->bEndpointAddress, epdesc->bInterval, epdesc->bmAttributes);
+ } else {
+ /* unknown EP */
+ uwarnf(" <unknown endpoint>, bEndpointAddress=%02x, bmAttributes=%02x",
+ epdesc->bEndpointAddress, epdesc->bmAttributes);
+ }
+
+ for (cs_iter_init(&ics, &iep); ics.valid; cs_iter_next(&ics)) {
+ uinfof(" CS_ENDPOINT bLength=%d, bDescriptorType=%02X",
+ ics.curr[0], ics.curr[1]);
+ }
+ }
+ }
+
+ if ((uvcdp->ivc.curr == NULL) || (uvcdp->ivs.curr == NULL)) {
+ return NULL;
+ }
+
+// uvcdp->dev = dev;
+
+ _set_vs_alternate(uvcdp, 0);
+
+ /* initialize the INT endpoint */
+ chPoolObjectInit(&uvcdp->mp_status, sizeof(usbhuvc_message_status_t), NULL);
+ for(i = 0; i < HAL_USBHUVC_STATUS_PACKETS_COUNT; i++)
+ chPoolFree(&uvcdp->mp_status, &uvcdp->mp_status_buffer[i]);
+
+ usbhEPOpen(&uvcdp->ep_int);
+
+ usbhuvc_message_status_t *const msg = (usbhuvc_message_status_t *)chPoolAlloc(&uvcdp->mp_status);
+ osalDbgCheck(msg);
+ usbhURBObjectInit(&uvcdp->urb_int, &uvcdp->ep_int, _cb_int, uvcdp, msg->data, USBHUVC_MAX_STATUS_PACKET_SZ);
+ osalSysLock();
+ usbhURBSubmitI(&uvcdp->urb_int);
+ uvcdp->state = USBHUVC_STATE_ACTIVE;
+ osalOsRescheduleS();
+ osalSysUnlock();
+
+ dev->keepFullCfgDesc++;
+ return (usbh_baseclassdriver_t *)uvcdp;
}
static void uvc_unload(usbh_baseclassdriver_t *drv) {
- (void)drv;
+ USBHUVCDriver *const uvcdp = (USBHUVCDriver *)drv;
+
+ usbhuvcStreamStop(uvcdp);
+
+ usbhEPClose(&uvcdp->ep_int);
+
+ //TODO: free
+
+ if (drv->dev->keepFullCfgDesc)
+ drv->dev->keepFullCfgDesc--;
+
+ osalSysLock();
+ uvcdp->state = USBHUVC_STATE_STOP;
+ osalSysUnlock();
+}
+
+void usbhuvcInit(void) {
+ uint8_t i;
+ for (i = 0; i < HAL_USBHUVC_MAX_INSTANCES; i++) {
+ usbhuvcObjectInit(&USBHUVCD[i]);
+ }
}
#endif