diff options
Diffstat (limited to 'os/hal/src/usbh/hal_usbh_uvc.c')
| -rw-r--r-- | os/hal/src/usbh/hal_usbh_uvc.c | 678 |
1 files changed, 663 insertions, 15 deletions
diff --git a/os/hal/src/usbh/hal_usbh_uvc.c b/os/hal/src/usbh/hal_usbh_uvc.c index 09a0f1d..a795cd8 100644 --- a/os/hal/src/usbh/hal_usbh_uvc.c +++ b/os/hal/src/usbh/hal_usbh_uvc.c @@ -1,6 +1,6 @@ /* - ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio - Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail) + 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. @@ -13,10 +13,9 @@ 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. -*/ + */ #include "hal.h" -#include "hal_usbh.h" #if HAL_USBH_USE_UVC @@ -28,6 +27,10 @@ #error "USBHUVC needs HAL_USBH_USE_IAD" #endif +#include <string.h> +#include "usbh/dev/uvc.h" +#include "usbh/internal.h" + #if USBHUVC_DEBUG_ENABLE_TRACE #define udbgf(f, ...) usbDbgPrintf(f, ##__VA_ARGS__) #define udbg(f, ...) usbDbgPuts(f, ##__VA_ARGS__) @@ -61,28 +64,673 @@ #endif -static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev, +USBHUVCDriver USBHUVCD[HAL_USBHUVC_MAX_INSTANCES]; + +static void _uvc_init(void); +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); +static void _uvc_unload(usbh_baseclassdriver_t *drv); static const usbh_classdriver_vmt_t class_driver_vmt = { - uvc_load, - uvc_unload + _uvc_init, + _uvc_load, + _uvc_unload }; const usbh_classdriverinfo_t usbhuvcClassDriverInfo = { - 0x0e, 0x03, 0x00, "UVC", &class_driver_vmt + "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 *)((uint8_t *)urb->buff - offsetof(usbhuvc_message_data_t, data)); + 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 = ((usbhuvc_message_data_t *)new_msg)->data; + } 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(); + + uint32_t workramsz; + const uint8_t *elem; + uint32_t datapackets; + uint32_t data_sz; + + //set the alternate setting + if (_set_vs_alternate(uvcdp, min_ep_sz) != HAL_SUCCESS) + goto exit; + + //reserve working RAM + 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; + } + + 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 + chPoolObjectInit(&uvcdp->mp_data, data_sz, NULL); + elem = (const uint8_t *)uvcdp->mp_data_buffer; + 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); + } + + usbhURBSubmit(&uvcdp->urb_iso); + + 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; -static usbh_baseclassdriver_t *uvc_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) { - (void)dev; - (void)descriptor; - (void)rem; + //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; +} + +static usbh_baseclassdriver_t *_uvc_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) { + + USBHUVCDriver *uvcdp; + uint8_t i; + + if (_usbh_match_descriptor(descriptor, rem, USBH_DT_INTERFACE_ASSOCIATION, + 0x0e, 0x03, 0x00) != HAL_SUCCESS) + 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(); /* because of usbhURBSubmitI */ + osalSysUnlock(); + + dev->keepFullCfgDesc++; + return (usbh_baseclassdriver_t *)uvcdp; +} + +static void _uvc_unload(usbh_baseclassdriver_t *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(); +} + +static void _object_init(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 void uvc_unload(usbh_baseclassdriver_t *drv) { - (void)drv; +static void _uvc_init(void) { + uint8_t i; + for (i = 0; i < HAL_USBHUVC_MAX_INSTANCES; i++) { + _object_init(&USBHUVCD[i]); + } } #endif |