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-rw-r--r--os/hal/include/usbh/dev/uvc.h471
-rw-r--r--os/hal/src/hal_usbh.c12
-rw-r--r--os/hal/src/usbh/hal_usbh_uvc.c679
-rw-r--r--testhal/STM32/STM32F4xx/USB_HOST/halconf_community.h20
-rw-r--r--testhal/STM32/STM32F4xx/USB_HOST/main.c345
5 files changed, 1493 insertions, 34 deletions
diff --git a/os/hal/include/usbh/dev/uvc.h b/os/hal/include/usbh/dev/uvc.h
new file mode 100644
index 0000000..845b93e
--- /dev/null
+++ b/os/hal/include/usbh/dev/uvc.h
@@ -0,0 +1,471 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+ Copyright (C) 2015..2016 Diego Ismirlian, TISA, (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.
+ */
+
+#ifndef USBH_INCLUDE_USBH_UVC_H_
+#define USBH_INCLUDE_USBH_UVC_H_
+
+#include "hal_usbh.h"
+
+#if HAL_USE_USBH && HAL_USBH_USE_UVC
+
+/* TODO:
+ *
+ *
+ */
+
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+#define USBHUVC_MAX_STATUS_PACKET_SZ 16
+
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+
+typedef enum {
+ UVC_CS_INTERFACE = 0x24,
+ UVC_CS_ENDPOINT = 0x25
+} usbh_uvc_cstype_t;
+
+typedef enum {
+ UVC_CC_VIDEO = 0x0e
+} usbh_uvc_cctype_t;
+
+typedef enum {
+ UVC_SC_UNKNOWN = 0x00,
+ UVC_SC_VIDEOCONTROL,
+ UVC_SC_VIDEOSTREAMING,
+ UVC_SC_VIDEO_INTERFACE_COLLECTION
+} usbh_uvc_sctype_t;
+
+typedef enum {
+ UVC_VC_UNDEF = 0x00,
+ UVC_VC_HEADER,
+ UVC_VC_INPUT_TERMINAL,
+ UVC_VC_OUTPUT_TERMINAL,
+ UVC_VC_SELECTOR_UNIT,
+ UVC_VC_PROCESSING_UNIT,
+ UVC_VC_EXTENSION_UNIT
+} usbh_uvc_vctype_t;
+
+typedef enum {
+ UVC_VS_UNDEF = 0x00,
+ UVC_VS_INPUT_HEADER,
+ UVC_VS_OUTPUT_HEADER,
+ UVC_VS_STILL_IMAGE_FRAME,
+ UVC_VS_FORMAT_UNCOMPRESSED,
+ UVC_VS_FRAME_UNCOMPRESSED,
+ UVC_VS_FORMAT_MJPEG,
+ UVC_VS_FRAME_MJPEG,
+ UVC_VS_RESERVED_0,
+ UVC_VS_RESERVED_1,
+ UVC_VS_FORMAT_MPEG2TS,
+ UVC_VS_RESERVED_2,
+ UVC_VS_FORMAT_DV,
+ UVC_VS_COLOR_FORMAT,
+ UVC_VS_RESERVED_3,
+ UVC_VS_RESERVED_4,
+ UVC_VS_FORMAT_FRAME_BASED,
+ UVC_VS_FRAME_FRAME_BASED,
+ UVC_VS_FORMAT_STREAM_BASED
+} usbh_uvc_vstype_t;
+
+typedef enum {
+ UVC_TT_VENDOR_SPECIFIC = 0x0100,
+ UVC_TT_STREAMING = 0x0101,
+ UVC_ITT_VENDOR_SPECIFIC = 0x0200,
+ UVC_ITT_CAMERA = 0x0201,
+ UVC_ITT_MEDIA_TRANSPORT_INPUT = 0x0202,
+ UVC_OTT_VENDOR_SPECIFIC = 0x0300,
+ UVC_OTT_DISPLAY = 0x0301,
+ UVC_OTT_MEDIA_TRANSPORT = 0x0302
+} usbh_uvc_tttype_t;
+
+typedef enum {
+ UVC_SET_CUR = 0x01,
+ UVC_GET_CUR = 0x81,
+ UVC_GET_MIN = 0x82,
+ UVC_GET_MAX = 0x83,
+ UVC_GET_RES = 0x84,
+ UVC_GET_LEN = 0x85,
+ UVC_GET_INFO = 0x86,
+ UVC_GET_DEF = 0x87
+} usbh_uvc_ctrlops_t;
+
+typedef enum {
+ UVC_CTRL_VC_CONTROL_UNDEFINED = 0x00,
+ UVC_CTRL_VC_VIDEO_POWER_MODE_CONTROL = 0x01,
+ UVC_CTRL_VC_REQUEST_ERROR_CODE_CONTROL = 0x02,
+} usbh_uvc_ctrl_vc_interface_controls_t;
+
+typedef enum {
+ UVC_CTRL_SU_CONTROL_UNDEFINED = 0x00,
+ UVC_CTRL_SU_INPUT_SELECT_CONTROL = 0x01,
+} usbh_uvc_ctrl_vc_selectorunit_controls_t;
+
+typedef enum {
+ UVC_CTRL_CT_CONTROL_UNDEFINED = 0x00,
+ UVC_CTRL_CT_SCANNING_MODE_CONTROL = 0x01,
+ UVC_CTRL_CT_AE_MODE_CONTROL = 0x02,
+ UVC_CTRL_CT_AE_PRIORITY_CONTROL = 0x03,
+ UVC_CTRL_CT_EXPOSURE_TIME_ABSOLUTE_CONTROL = 0x04,
+ UVC_CTRL_CT_EXPOSURE_TIME_RELATIVE_CONTROL = 0x05,
+ UVC_CTRL_CT_FOCUS_ABSOLUTE_CONTROL = 0x06,
+ UVC_CTRL_CT_FOCUS_RELATIVE_CONTROL = 0x07,
+ UVC_CTRL_CT_FOCUS_AUTO_CONTROL = 0x08,
+ UVC_CTRL_CT_IRIS_ABSOLUTE_CONTROL = 0x09,
+ UVC_CTRL_CT_IRIS_RELATIVE_CONTROL = 0x0A,
+ UVC_CTRL_CT_ZOOM_ABSOLUTE_CONTROL = 0x0B,
+ UVC_CTRL_CT_ZOOM_RELATIVE_CONTROL = 0x0C,
+ UVC_CTRL_CT_PANTILT_ABSOLUTE_CONTROL = 0x0D,
+ UVC_CTRL_CT_PANTILT_RELATIVE_CONTROL = 0x0E,
+ UVC_CTRL_CT_ROLL_ABSOLUTE_CONTROL = 0x0F,
+ UVC_CTRL_CT_ROLL_RELATIVE_CONTROL = 0x10,
+ UVC_CTRL_CT_PRIVACY_CONTROL = 0x11
+} usbh_uvc_ctrl_vc_cameraterminal_controls_t;
+
+typedef enum {
+ UVC_CTRL_PU_CONTROL_UNDEFINED = 0x00,
+ UVC_CTRL_PU_BACKLIGHT_COMPENSATION_CONTROL = 0x01,
+ UVC_CTRL_PU_BRIGHTNESS_CONTROL = 0x02,
+ UVC_CTRL_PU_CONTRAST_CONTROL = 0x03,
+ UVC_CTRL_PU_GAIN_CONTROL = 0x04,
+ UVC_CTRL_PU_POWER_LINE_FREQUENCY_CONTROL = 0x05,
+ UVC_CTRL_PU_HUE_CONTROL = 0x06,
+ UVC_CTRL_PU_SATURATION_CONTROL = 0x07,
+ UVC_CTRL_PU_SHARPNESS_CONTROL = 0x08,
+ UVC_CTRL_PU_GAMMA_CONTROL = 0x09,
+ UVC_CTRL_PU_WHITE_BALANCE_TEMPERATURE_CONTROL = 0x0A,
+ UVC_CTRL_PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL = 0x0B,
+ UVC_CTRL_PU_WHITE_BALANCE_COMPONENT_CONTROL = 0x0C,
+ UVC_CTRL_PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL = 0x0D,
+ UVC_CTRL_PU_DIGITAL_MULTIPLIER_CONTROL = 0x0E,
+ UVC_CTRL_PU_DIGITAL_MULTIPLIER_LIMIT_CONTROL = 0x0F,
+ UVC_CTRL_PU_HUE_AUTO_CONTROL = 0x10,
+ UVC_CTRL_PU_ANALOG_VIDEO_STANDARD_CONTROL = 0x11,
+ UVC_CTRL_PU_ANALOG_LOCK_STATUS_CONTROL = 0x12,
+} usbh_uvc_ctrl_vc_processingunit_controls_t;
+
+typedef enum {
+ UVC_CTRL_VS_CONTROL_UNDEFINED = 0x00,
+ UVC_CTRL_VS_PROBE_CONTROL = 0x01,
+ UVC_CTRL_VS_COMMIT_CONTROL = 0x02,
+ UVC_CTRL_VS_STILL_PROBE_CONTROL = 0x03,
+ UVC_CTRL_VS_STILL_COMMIT_CONTROL = 0x04,
+ UVC_CTRL_VS_STILL_IMAGE_TRIGGER_CONTROL = 0x05,
+ UVC_CTRL_VS_STREAM_ERROR_CODE_CONTROL = 0x06,
+ UVC_CTRL_VS_GENERATE_KEY_FRAME_CONTROL = 0x07,
+ UVC_CTRL_VS_UPDATE_FRAME_SEGMENT_CONTROL = 0x08,
+ UVC_CTRL_VS_SYNCH_DELAY_CONTROL = 0x09
+} usbh_uvc_ctrl_vs_interface_controls_t;
+
+
+typedef struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint8_t bDescriptorSubType;
+ uint8_t bFormatIndex;
+ uint8_t bNumFrameDescriptors;
+ uint8_t bmFlags;
+ uint8_t bDefaultFrameIndex;
+ uint8_t bAspectRatioX;
+ uint8_t bAspectRatioY;
+ uint8_t bmInterfaceFlags;
+ uint8_t bCopyProtect;
+} __attribute__((__packed__)) usbh_uvc_format_mjpeg_t;
+
+typedef struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint8_t bDescriptorSubType;
+ uint8_t bFrameIndex;
+ uint8_t bmCapabilities;
+ uint16_t wWidth;
+ uint16_t wHeight;
+ uint32_t dwMinBitRate;
+ uint32_t dwMaxBitRate;
+ uint32_t dwMaxVideoFrameBufferSize;
+ uint32_t dwDefaultFrameInterval;
+ uint8_t bFrameIntervalType;
+ uint32_t dwFrameInterval[0];
+} __attribute__((__packed__)) usbh_uvc_frame_mjpeg_t;
+
+
+typedef struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint8_t bDescriptorSubType;
+ uint8_t bFrameIndex;
+ uint8_t bmCapabilities;
+ uint16_t wWidth;
+ uint16_t wHeight;
+ uint32_t dwMinBitRate;
+ uint32_t dwMaxBitRate;
+ uint32_t dwMaxVideoFrameBufferSize;
+ uint32_t dwDefaultFrameInterval;
+ uint8_t bFrameIntervalType;
+ uint32_t dwFrameInterval[0];
+} __attribute__((__packed__)) usbh_uvc_frame_uncompressed_t;
+
+typedef struct {
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint8_t bDescriptorSubType;
+ uint8_t bFormatIndex;
+ uint8_t bNumFrameDescriptors;
+ uint8_t guidFormat[16];
+ uint8_t bBitsPerPixel;
+ uint8_t bDefaultFrameIndex;
+ uint8_t bAspectRatioX;
+ uint8_t bAspectRatioY;
+ uint8_t bmInterfaceFlags;
+ uint8_t bCopyProtect;
+} __attribute__((__packed__)) usbh_uvc_format_uncompressed;
+
+typedef struct {
+ uint16_t bmHint;
+ uint8_t bFormatIndex;
+ uint8_t bFrameIndex;
+ uint32_t dwFrameInterval;
+ uint16_t wKeyFrameRate;
+ uint16_t wPFrameRate;
+ uint16_t wCompQuality;
+ uint16_t wCompWindowSize;
+ uint16_t wDelay;
+ uint32_t dwMaxVideoFrameSize;
+ uint32_t dwMaxPayloadTransferSize;
+// uint32_t dwClockFrequency;
+// uint8_t bmFramingInfo;
+// uint8_t bPreferedVersion;
+// uint8_t bMinVersion;
+// uint8_t bMaxVersion;
+} __attribute__((__packed__)) usbh_uvc_ctrl_vs_probecommit_data_t;
+
+
+
+/* D0: Frame ID.
+ * For frame-based formats, this bit toggles between 0 and 1 every time a new video frame begins.
+ * For stream-based formats, this bit toggles between 0 and 1 at the start of each new codec-specific
+ * segment. This behavior is required for frame-based payload formats (e.g., DV) and is optional
+ * for stream-based payload formats (e.g., MPEG-2 TS). For stream-based formats, support for this
+ * bit must be indicated via the bmFramingInfofield of the Video Probe and Commitcontrols
+ * (see section 4.3.1.1, “Video Probe and Commit Controls”).
+ *
+ * D1: End of Frame.
+ * This bit is set if the following payload data marks the end of the current video or still image
+ * frame (for framebased formats), or to indicate the end of a codec-specific segment
+ * (for stream-based formats). This behavior is optional for all payload formats.
+ * For stream-based formats, support for this bit must be indicated via the bmFramingInfofield
+ * of the Video Probe and CommitControls (see section 4.3.1.1, “Video Probe and Commit Controls”).
+ *
+ * D2: Presentation Time.
+ * This bit is set if the dwPresentationTimefield is being sent as part of the header.
+ *
+ * D3: Source Clock Reference
+ * This bit is set if the dwSourceClockfield is being sent as part of the header.
+ *
+ * D4: Reserved
+ *
+ * D5: Still Image
+ * This bit is set ifthe following data is part of a still image frame, and is only used for
+ * methods 2 and 3 of still image capture.
+ *
+ * D6: Error
+ * This bit is set ifthere was an error in the video or still image transmission
+ * for this payload. The StreamError Code control would reflect the cause of the error.
+ *
+ * D7: End of header
+ * This bit is set if this is the last header group in the packet, where the
+ * header group refers to this field and any optional fields identified by the bits in this
+ * field (Defined for future extension)
+*/
+
+#define UVC_HDR_EOH (1 << 7) /* End of header */
+#define UVC_HDR_ERR (1 << 6) /* Error */
+#define UVC_HDR_STILL (1 << 5) /* Still Image */
+#define UVC_HDR_SCR (1 << 3) /* Source Clock Reference */
+#define UVC_HDR_PT (1 << 2) /* Presentation Time */
+#define UVC_HDR_EOF (1 << 1) /* End of Frame */
+#define UVC_HDR_FID (1 << 0) /* Frame ID */
+
+
+
+typedef struct USBHUVCDriver USBHUVCDriver;
+
+#define USBHUVC_MESSAGETYPE_STATUS 1
+#define USBHUVC_MESSAGETYPE_DATA 2
+
+
+#define _usbhuvc_message_base_data \
+ uint16_t type; \
+ 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
+
+ void usbhuvcObjectInit(USBHUVCDriver *uvcd);
+
+ 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(const usbh_uvc_ctrl_vs_probecommit_data_t *pc);
+#else
+# define usbhuvcPrintProbeCommit(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 = chMBFetchS(&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);
+ }
+
+
+ /* global initializer */
+ void usbhuvcInit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif /* USBH_INCLUDE_USBH_UVC_H_ */
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
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/halconf_community.h b/testhal/STM32/STM32F4xx/USB_HOST/halconf_community.h
index edb2a02..51e9a8d 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/halconf_community.h
+++ b/testhal/STM32/STM32F4xx/USB_HOST/halconf_community.h
@@ -107,14 +107,6 @@
#define HAL_USBHFTDI_DEFAULT_XON 0x11
#define HAL_USBHFTDI_DEFAULT_XOFF 0x13
-/* UVC */
-#define HAL_USBH_USE_UVC FALSE
-
-#define HAL_USBHUVC_MAX_INSTANCES 1
-#define HAL_USBHUVC_MAX_MAILBOX_SZ 70
-#define HAL_USBHUVC_WORK_RAM_SIZE 20000
-#define HAL_USBHUVC_STATUS_PACKETS_COUNT 10
-
/* AOA */
#define HAL_USBH_USE_AOA TRUE
@@ -130,19 +122,25 @@
#define HAL_USBHAOA_DEFAULT_SERIAL NULL
#define HAL_USBHAOA_DEFAULT_AUDIO_MODE USBHAOA_AUDIO_MODE_DISABLED
+/* UVC */
+#define HAL_USBH_USE_UVC TRUE
+
+#define HAL_USBHUVC_MAX_INSTANCES 1
+#define HAL_USBHUVC_MAX_MAILBOX_SZ 70
+#define HAL_USBHUVC_WORK_RAM_SIZE 20000
+#define HAL_USBHUVC_STATUS_PACKETS_COUNT 10
+
/* HID */
#define HAL_USBH_USE_HID TRUE
#define HAL_USBHHID_MAX_INSTANCES 2
#define HAL_USBHHID_USE_INTERRUPT_OUT FALSE
-
/* HUB */
#define HAL_USBH_USE_HUB TRUE
#define HAL_USBHHUB_MAX_INSTANCES 1
#define HAL_USBHHUB_MAX_PORTS 6
-
/* debug */
#define USBH_DEBUG_ENABLE TRUE
#define USBH_DEBUG_USBHD USBHD1
@@ -184,7 +182,7 @@
#define USBHAOA_DEBUG_ENABLE_WARNINGS TRUE
#define USBHAOA_DEBUG_ENABLE_ERRORS TRUE
-#define USBHHID_DEBUG_ENABLE_TRACE TRUE
+#define USBHHID_DEBUG_ENABLE_TRACE FALSE
#define USBHHID_DEBUG_ENABLE_INFO TRUE
#define USBHHID_DEBUG_ENABLE_WARNINGS TRUE
#define USBHHID_DEBUG_ENABLE_ERRORS TRUE
diff --git a/testhal/STM32/STM32F4xx/USB_HOST/main.c b/testhal/STM32/STM32F4xx/USB_HOST/main.c
index b54dffe..ece9fd5 100644
--- a/testhal/STM32/STM32F4xx/USB_HOST/main.c
+++ b/testhal/STM32/STM32F4xx/USB_HOST/main.c
@@ -19,6 +19,9 @@
#include "ff.h"
#include <string.h>
+#define UVC_TO_MSD_PHOTOS_CAPTURE TRUE
+
+
#if HAL_USBH_USE_FTDI || HAL_USBH_USE_AOA
static uint8_t buf[] =
"0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"
@@ -288,6 +291,8 @@ start:
#include "ff.h"
static FATFS MSDLUN0FS;
+
+#if !UVC_TO_MSD_PHOTOS_CAPTURE
static uint8_t fbuff[10240];
static FIL file;
@@ -326,6 +331,8 @@ static FRESULT scan_files(BaseSequentialStream *chp, char *path) {
}
return res;
}
+#endif
+
static THD_WORKING_AREA(waTestMSD, 1024);
static void ThreadTestMSD(void *p) {
(void)p;
@@ -333,10 +340,12 @@ static void ThreadTestMSD(void *p) {
FATFS *fsp;
DWORD clusters;
FRESULT res;
- BaseSequentialStream * const chp = (BaseSequentialStream *)&USBH_DEBUG_SD;
blkstate_t state;
+#if !UVC_TO_MSD_PHOTOS_CAPTURE
+ BaseSequentialStream * const chp = (BaseSequentialStream *)&USBH_DEBUG_SD;
systime_t st, et;
uint32_t j;
+#endif
start:
for(;;) {
@@ -348,6 +357,7 @@ start:
if (state != BLK_READY)
continue;
+#if !UVC_TO_MSD_PHOTOS_CAPTURE
//raw read test
if (1) {
#define RAW_READ_SZ_MB 1
@@ -367,6 +377,7 @@ start:
(RAW_READ_SZ_MB * 1024UL * 1000) / (et - st));
chThdSetPriority(NORMALPRIO);
}
+#endif
usbDbgPuts("FS: Block driver ready, try mount...");
@@ -390,6 +401,7 @@ start:
break;
}
+#if !UVC_TO_MSD_PHOTOS_CAPTURE
//FATFS test
if (1) {
UINT bw;
@@ -448,6 +460,7 @@ start:
scan_files(chp, (char *)fbuff);
}
}
+#endif
usbDbgPuts("FS: Tests done, restarting in 3s");
chThdSleepMilliseconds(3000);
@@ -527,6 +540,332 @@ static void ThreadTestHID(void *p) {
}
#endif
+#if HAL_USBH_USE_UVC
+#include "usbh/dev/uvc.h"
+
+static THD_WORKING_AREA(waTestUVC, 1024);
+
+#if UVC_TO_MSD_PHOTOS_CAPTURE
+static const uint8_t jpeg_header_plus_dht[] = {
+ 0xff, 0xd8, // SOI
+ 0xff, 0xe0, // APP0
+ 0x00, 0x10, // APP0 header size (including this field, but excluding preceding)
+ 0x4a, 0x46, 0x49, 0x46, 0x00, // ID string 'JFIF\0'
+ 0x01, 0x01, // version
+ 0x00, // bits per type
+ 0x00, 0x00, // X density
+ 0x00, 0x00, // Y density
+ 0x00, // X thumbnail size
+ 0x00, // Y thumbnail size
+ 0xFF, 0xC4, 0x01, 0xA2, 0x00,
+ 0, 1, 5, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0 ,
+ 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09,
+ 0x0a, 0x0b, 0x01, 0x00, 0x03, 0x01, 0x01, 0x01, 0x01, 0x01,
+ 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,
+ 0x10,
+ 0, 2, 1, 3, 3, 2, 4, 3, 5, 5, 4, 4, 0, 0, 1, 0x7d,
+ 0x01, 0x02, 0x03, 0x00, 0x04, 0x11, 0x05, 0x12,
+ 0x21, 0x31, 0x41, 0x06, 0x13, 0x51, 0x61, 0x07,
+ 0x22, 0x71, 0x14, 0x32, 0x81, 0x91, 0xa1, 0x08,
+ 0x23, 0x42, 0xb1, 0xc1, 0x15, 0x52, 0xd1, 0xf0,
+ 0x24, 0x33, 0x62, 0x72, 0x82, 0x09, 0x0a, 0x16,
+ 0x17, 0x18, 0x19, 0x1a, 0x25, 0x26, 0x27, 0x28,
+ 0x29, 0x2a, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39,
+ 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49,
+ 0x4a, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59,
+ 0x5a, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69,
+ 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79,
+ 0x7a, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89,
+ 0x8a, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98,
+ 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7,
+ 0xa8, 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6,
+ 0xb7, 0xb8, 0xb9, 0xba, 0xc2, 0xc3, 0xc4, 0xc5,
+ 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4,
+ 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe1, 0xe2,
+ 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9, 0xea,
+ 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8,
+ 0xf9, 0xfa,
+ 0x11,
+ 0, 2, 1, 2, 4, 4, 3, 4, 7, 5, 4, 4, 0, 1, 2, 0x77,
+ 0x00, 0x01, 0x02, 0x03, 0x11, 0x04, 0x05, 0x21,
+ 0x31, 0x06, 0x12, 0x41, 0x51, 0x07, 0x61, 0x71,
+ 0x13, 0x22, 0x32, 0x81, 0x08, 0x14, 0x42, 0x91,
+ 0xa1, 0xb1, 0xc1, 0x09, 0x23, 0x33, 0x52, 0xf0,
+ 0x15, 0x62, 0x72, 0xd1, 0x0a, 0x16, 0x24, 0x34,
+ 0xe1, 0x25, 0xf1, 0x17, 0x18, 0x19, 0x1a, 0x26,
+ 0x27, 0x28, 0x29, 0x2a, 0x35, 0x36, 0x37, 0x38,
+ 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48,
+ 0x49, 0x4a, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58,
+ 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68,
+ 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78,
+ 0x79, 0x7a, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87,
+ 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, 0x95, 0x96,
+ 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5,
+ 0xa6, 0xa7, 0xa8, 0xa9, 0xaa, 0xb2, 0xb3, 0xb4,
+ 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xc2, 0xc3,
+ 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2,
+ 0xd3, 0xd4, 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda,
+ 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9,
+ 0xea, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8,
+ 0xf9, 0xfa
+};
+#endif
+
+static void ThreadTestUVC(void *p) {
+ (void)p;
+ USBHUVCDriver *const uvcdp = &USBHUVCD[0];
+
+ for(;;) {
+ chThdSleepMilliseconds(100);
+
+ //chSysLock();
+ //state = usbhuvcGetDriverState(&USBHUVCD[0]);
+ //chSysUnlock();
+ if (usbhuvcGetState(&USBHUVCD[0]) != USBHUVC_STATE_ACTIVE)
+ continue;
+
+ usbDbgPuts("UVC: Webcam connected");
+
+ /* ************************************ */
+ /* Find best configuration */
+ /* ************************************ */
+ usbDbgPuts("UVC: Find best configuration");
+
+ generic_iterator_t ics;
+ const usbh_uvc_format_mjpeg_t *format;
+
+ uint32_t max_frame_sz = 0;
+ uint16_t min_ep_sz;
+ uint8_t best_frame_interval_index;
+ const usbh_uvc_frame_mjpeg_t *best_frame = NULL;
+
+
+ //find format MJPEG
+ if (usbhuvcFindVSDescriptor(uvcdp, &ics, UVC_VS_FORMAT_MJPEG, TRUE) != HAL_SUCCESS)
+ goto failed;
+
+ format = (const usbh_uvc_format_mjpeg_t *)ics.curr;
+ usbDbgPrintf("\tSelect bFormatIndex=%d", format->bFormatIndex);
+
+ //find the most suitable frame (largest one within the bandwidth requirements)
+ if (usbhuvcFindVSDescriptor(uvcdp, &ics, UVC_VS_FRAME_MJPEG, TRUE) != HAL_SUCCESS)
+ goto failed;
+
+ do {
+ const usbh_uvc_frame_mjpeg_t *const frame = (usbh_uvc_frame_mjpeg_t *)ics.curr;
+ uint32_t frame_sz = frame->wWidth * frame->wHeight;
+
+ usbDbgPrintf("\t\tbFrameIndex=%d", frame->bFrameIndex);
+ usbDbgPrintf("\t\t\twWidth=%d, wHeight=%d", frame->wWidth, frame->wHeight);
+ usbDbgPrintf("\t\t\tdwMinBitRate=%u, dwMaxBitRate=%u", frame->dwMinBitRate, frame->dwMaxBitRate);
+ usbDbgPrintf("\t\t\tdwMaxVideoFrameBufferSize=%u", frame->dwMaxVideoFrameBufferSize);
+ usbDbgPrintf("\t\t\tdwDefaultFrameInterval=%u", frame->dwDefaultFrameInterval);
+
+ uint8_t j;
+ for (j = 0; j < frame->bFrameIntervalType; j++) {
+ uint32_t ep_sz =
+ usbhuvcEstimateRequiredEPSize(uvcdp, (const uint8_t *)format, (const uint8_t *)frame, frame->dwFrameInterval[j]);
+
+ usbDbgPrintf("\t\t\tdwFrameInterval=%u, estimated EP size=%u", frame->dwFrameInterval[j], ep_sz);
+
+ if (ep_sz > 310)
+ continue;
+
+ /* candidate found */
+
+ if (frame_sz >= max_frame_sz) {
+ /* new best frame size */
+ min_ep_sz = 0xffff;
+ max_frame_sz = frame_sz;
+ } else {
+ continue;
+ }
+
+ if (ep_sz < min_ep_sz) {
+ /* new best bitrate */
+ min_ep_sz = ep_sz;
+ usbDbgPuts("\t\t\tNew best candidate found");
+ best_frame_interval_index = j;
+ best_frame = frame;
+ }
+ }
+ } while (usbhuvcFindVSDescriptor(uvcdp, &ics, UVC_VS_FRAME_MJPEG, FALSE) == HAL_SUCCESS);
+
+failed:
+ if (best_frame == NULL) {
+ usbDbgPuts("\t\t\tCouldn't find suitable format/frame");
+ continue;
+ }
+
+ /* ************************************ */
+ /* NEGOTIATION */
+ /* ************************************ */
+ usbDbgPuts("UVC: Start negotiation");
+
+ usbhuvcResetPC(uvcdp);
+ usbh_uvc_ctrl_vs_probecommit_data_t *const pc = usbhuvcGetPC(uvcdp);
+
+ pc->bmHint = 0x0001;
+ pc->bFormatIndex = format->bFormatIndex;
+ pc->bFrameIndex = best_frame->bFrameIndex;
+ pc->dwFrameInterval = best_frame->dwFrameInterval[best_frame_interval_index];
+
+ usbDbgPrintf("\tFirst probe, selecting bFormatIndex=%d, bFrameIndex=%d, dwFrameInterval=%u",
+ pc->bFormatIndex, pc->bFrameIndex, pc->dwFrameInterval);
+
+ usbDbgPuts("SET_CUR (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc);
+ if (usbhuvcProbe(uvcdp) != HAL_SUCCESS) {
+ usbDbgPuts("\tFirst probe failed");
+ continue;
+ }
+ usbDbgPuts("GET_CUR (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc);
+ usbDbgPuts("GET_MIN (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc_min);
+ usbDbgPuts("GET_MAX (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc_max);
+
+ pc->bmHint = 0x0001;
+ pc->wCompQuality = uvcdp->pc_min.wCompQuality;
+
+ usbDbgPuts("SET_CUR (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc);
+ usbDbgPrintf("\tSecond probe, selecting wCompQuality=%d", pc->wCompQuality);
+ if (usbhuvcProbe(uvcdp) != HAL_SUCCESS) {
+ usbDbgPuts("\tSecond probe failed");
+ continue;
+ }
+ usbDbgPuts("GET_CUR (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc);
+ usbDbgPuts("GET_MIN (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc_min);
+ usbDbgPuts("GET_MAX (PROBE):"); usbhuvcPrintProbeCommit(&uvcdp->pc_max);
+
+ /* ************************************ */
+ /* Commit negotiated parameters */
+ /* ************************************ */
+ usbDbgPuts("UVC: Commit negotiated parameters");
+ usbDbgPuts("SET_CUR (COMMIT):"); usbhuvcPrintProbeCommit(&uvcdp->pc);
+ if (usbhuvcCommit(uvcdp) != HAL_SUCCESS) {
+ usbDbgPuts("\tCommit failed");
+ continue;
+ }
+
+ usbDbgPuts("UVC: Ready to start streaming");
+
+ uint32_t npackets = 0;
+ uint32_t payload = 0;
+ uint32_t total = 0;
+ uint32_t frame = 0;
+ systime_t last = 0;
+ usbhuvcStreamStart(uvcdp, 310);
+
+ uint8_t state = 0;
+ static FIL fp;
+
+ for (;;) {
+ msg_t msg, ret;
+ ret = usbhuvcLockAndFetch(uvcdp, &msg, TIME_INFINITE);
+ if (ret == MSG_RESET) {
+ usbDbgPuts("UVC: Driver is unloading");
+ break;
+ } else if (ret == MSG_TIMEOUT) {
+ continue;
+ }
+
+ if (((usbhuvc_message_base_t *)msg)->type == USBHUVC_MESSAGETYPE_DATA) {
+ usbhuvc_message_data_t *const data = (usbhuvc_message_data_t *)msg;
+
+ if (data->length < data->data[0]) {
+ usbDbgPrintf("UVC: Length error!");
+ goto free_data;
+ }
+
+ uint32_t message_payload = data->length - data->data[0];
+
+ total += data->length;
+ payload += message_payload;
+ npackets++;
+
+#if UVC_TO_MSD_PHOTOS_CAPTURE
+ char fn[20];
+ UINT bw;
+ bool with_dht = true;
+ uint8_t *message_data = data->data + data->data[0];
+ if (frame & 7) goto check_eof;
+
+ if (state == 1) {
+ if (message_payload < 12) goto check_eof;
+ if (strncmp("AVI1", (const char *)message_data + 6, 4)) {
+ with_dht = false;
+ } else {
+ uint16_t skip = (message_data[4] << 8) + message_data[5] + 4;
+ if (skip > message_payload) goto check_eof;
+ message_data += skip;
+ message_payload -= skip;
+ }
+
+ chsnprintf(fn, sizeof(fn), "/img%d.jpg", frame);
+ if (f_open(&fp, fn, FA_CREATE_ALWAYS | FA_WRITE) == FR_OK) {
+ if (with_dht && f_write(&fp, jpeg_header_plus_dht, sizeof(jpeg_header_plus_dht), &bw) != FR_OK) {
+ usbDbgPuts("UVC->MSD: File write error");
+ f_close(&fp);
+ state = 0;
+ }
+ state = 2;
+ } else {
+ usbDbgPuts("UVC->MSD: File open error");
+ state = 0;
+ }
+ }
+
+ if (state == 2) {
+ if (f_write(&fp, message_data, message_payload, &bw) != FR_OK) {
+ usbDbgPuts("UVC->MSD: File write error");
+ f_close(&fp);
+ state = 0;
+ }
+ }
+
+check_eof:
+#endif
+ if (data->data[1] & UVC_HDR_EOF) {
+ usbDbgPrintf("UVC: FRAME #%d, delta=%03dticks, #packets=%d, useful_payload=%dbytes, total=%dbytes",
+ frame, data->timestamp - last , npackets, payload, total);
+ last = data->timestamp;
+ npackets = 0;
+ payload = 0;
+ total = 0;
+ frame++;
+ if (state == 2) {
+ f_close(&fp);
+ }
+ state = 1;
+ }
+free_data:
+ usbhuvcFreeDataMessage(uvcdp, data);
+ } else {
+ usbhuvc_message_status_t *const status = (usbhuvc_message_status_t *)msg;
+ const uint8_t *const stat = status->data;
+ switch (stat[0] & 0x0f) {
+ case 1:
+ usbDbgPrintf("UVC: STATUS Control event, "
+ "bOriginator=%d, bEvent=%d, bSelector=%d, bAttribute=%d",
+ stat[1], stat[2], stat[3], stat[4]);
+ break;
+ case 2:
+ usbDbgPrintf("UVC: STATUS Streaming event, "
+ "bOriginator=%d, bEvent=%d, bValue=%d",
+ stat[1], stat[2], stat[3]);
+ break;
+ default:
+ usbDbgPrintf("UVC: STATUS unknown status report = %d", stat[0]);
+ break;
+ }
+ usbhuvcFreeStatusMessage(uvcdp, status);
+ }
+ usbhuvcUnlock(uvcdp);
+ }
+
+ }
+
+}
+#endif
int main(void) {
@@ -566,6 +905,10 @@ int main(void) {
chThdCreateStatic(waTestHID, sizeof(waTestHID), NORMALPRIO, ThreadTestHID, 0);
#endif
+#if HAL_USBH_USE_UVC
+ chThdCreateStatic(waTestUVC, sizeof(waTestUVC), NORMALPRIO + 1, ThreadTestUVC, 0);
+#endif
+
//turn on USB power
palClearPad(GPIOC, GPIOC_OTG_FS_POWER_ON);
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-29 06:04:26 +0000