src/mmap_v4l.h

   1 /*
   2  * nao-ulib
   3  * Copyright 2011 Daniel Borkmann <dborkma@tik.ee.ethz.ch>
   4  * Subject to the GPL.
   5  * Nao-Team HTWK,
   6  * Faculty of Computer Science, Mathematics and Natural Sciences,
   7  * Leipzig University of Applied Sciences (HTWK Leipzig)
   8  */
   9
  10 #ifndef NAONET_H
  11 #define NAONET_H
  12
  13 #include <stdint.h>
  14 #include <stdio.h>
  15 #include <asm/types.h>
  16 #include <linux/videodev2.h>
  17
  18 #ifndef V4L2_CID_AUTOEXPOSURE
  19 # define V4L2_CID_AUTOEXPOSURE              (V4L2_CID_BASE + 32)
  20 #endif
  21 #ifndef V4L2_CID_CAM_INIT
  22 # define V4L2_CID_CAM_INIT                  (V4L2_CID_BASE + 33)
  23 #endif
  24 #ifndef V4L2_CID_AUDIO_MUTE
  25 # define V4L2_CID_AUDIO_MUTE                (V4L2_CID_BASE + 9)
  26 #endif
  27 #ifndef V4L2_CID_POWER_LINE_FREQUENCY
  28 # define V4L2_CID_POWER_LINE_FREQUENCY      (V4L2_CID_BASE + 24)
  29 enum v4l2_power_line_frequency {
  30         V4L2_CID_POWER_LINE_FREQUENCY_DISABLED = 0,
  31         V4L2_CID_POWER_LINE_FREQUENCY_50HZ     = 1,
  32         V4L2_CID_POWER_LINE_FREQUENCY_60HZ     = 2,
  33 };
  34 #endif
  35 #ifndef V4L2_CID_HUE_AUTO
  36 # define V4L2_CID_HUE_AUTO                  (V4L2_CID_BASE + 25)
  37 #endif
  38 #ifndef V4L2_CID_WHITE_BALANCE_TEMPERATURE
  39 # define V4L2_CID_WHITE_BALANCE_TEMPERATURE (V4L2_CID_BASE + 26)
  40 #endif
  41 #ifndef V4L2_CID_SHARPNESS
  42 # define V4L2_CID_SHARPNESS                 (V4L2_CID_BASE + 27)
  43 #endif
  44 #ifndef V4L2_CID_BACKLIGHT_COMPENSATION
  45 # define V4L2_CID_BACKLIGHT_COMPENSATION    (V4L2_CID_BASE + 28)
  46 #endif
  47 #ifndef V4L2_CID_CAMERA_CLASS_BASE
  48 # define V4L2_CID_CAMERA_CLASS_BASE         (V4L2_CTRL_CLASS_CAMERA | 0x900)
  49 #endif
  50 #ifndef V4L2_CID_CAMERA_CLASS
  51 # define V4L2_CID_CAMERA_CLASS              (V4L2_CTRL_CLASS_CAMERA | 1)
  52 #endif
  53 #ifndef V4L2_CID_EXPOSURE_AUTO
  54 # define V4L2_CID_EXPOSURE_AUTO             (V4L2_CID_CAMERA_CLASS_BASE + 1)
  55 enum  v4l2_exposure_auto_type {
  56         V4L2_EXPOSURE_MANUAL            = 0,
  57         V4L2_EXPOSURE_AUTO              = 1,
  58         V4L2_EXPOSURE_SHUTTER_PRIORITY  = 2,
  59         V4L2_EXPOSURE_APERTURE_PRIORITY = 3
  60 };
  61 #endif
  62 #ifndef V4L2_CID_EXPOSURE_ABSOLUTE
  63 # define V4L2_CID_EXPOSURE_ABSOLUTE         (V4L2_CID_CAMERA_CLASS_BASE + 2)
  64 #endif
  65 #ifndef V4L2_CID_EXPOSURE_AUTO_PRIORITY
  66 # define V4L2_CID_EXPOSURE_AUTO_PRIORITY    (V4L2_CID_CAMERA_CLASS_BASE + 3)
  67 #endif
  68 #ifndef V4L2_CID_PAN_RELATIVE
  69 # define V4L2_CID_PAN_RELATIVE              (V4L2_CID_CAMERA_CLASS_BASE + 4)
  70 #endif
  71 #ifndef V4L2_CID_TILT_RELATIVE
  72 # define V4L2_CID_TILT_RELATIVE             (V4L2_CID_CAMERA_CLASS_BASE + 5)
  73 #endif
  74 #ifndef V4L2_CID_PAN_RESET
  75 # define V4L2_CID_PAN_RESET                 (V4L2_CID_CAMERA_CLASS_BASE + 6)
  76 #endif
  77 #ifndef V4L2_CID_TILT_RESET
  78 # define V4L2_CID_TILT_RESET                (V4L2_CID_CAMERA_CLASS_BASE + 7)
  79 #endif
  80 #ifndef V4L2_CID_PAN_ABSOLUTE
  81 # define V4L2_CID_PAN_ABSOLUTE              (V4L2_CID_CAMERA_CLASS_BASE + 8)
  82 #endif
  83 #ifndef V4L2_CID_TILT_ABSOLUTE
  84 # define V4L2_CID_TILT_ABSOLUTE             (V4L2_CID_CAMERA_CLASS_BASE + 9)
  85 #endif
  86 #ifndef V4L2_CID_FOCUS_ABSOLUTE
  87 # define V4L2_CID_FOCUS_ABSOLUTE            (V4L2_CID_CAMERA_CLASS_BASE + 10)
  88 #endif
  89 #ifndef V4L2_CID_FOCUS_RELATIVE
  90 # define V4L2_CID_FOCUS_RELATIVE            (V4L2_CID_CAMERA_CLASS_BASE + 11)
  91 #endif
  92 #ifndef V4L2_CID_FOCUS_AUTO
  93 # define V4L2_CID_FOCUS_AUTO                (V4L2_CID_CAMERA_CLASS_BASE + 12)
  94 #endif
  95
  96 struct v4l_buff {
  97         void *start;
  98         size_t length;
  99 };
 100
 101 /*
 102  * 0) select cam
 103  * 1) open_v4l_device
 104  * 2) init_v4l_device
 105  * 3) init_mmap
 106  * 4) start_v4l_capturing
 107  * 5) while ... read_v4l_frame
 108  * 6) stop_v4l_capturing
 109  * 7) cleanup_v4l_device
 110  * 8) close_vl4_device
 111  */
 112
 113 extern void convert_v4l_yuyv_to_rgb24(const uint8_t *src,
 114                                       uint8_t *dest, int width, int height);
 115 extern int read_v4l_frame(int fd, unsigned int nbuffs,
 116                           struct v4l_buff *buffs,
 117                           int (*rx_v4l_cb)(uint8_t *frame, size_t len));
 118 extern int open_v4l_device(char *dev);
 119 extern void close_vl4_device(int fd);
 120 extern int start_v4l_capturing(int fd, unsigned int nbuffs);
 121 extern int stop_v4l_capturing(int fd);
 122 extern int init_mmap(int fd, const char *dev, unsigned int *nbuffs,
 123                      struct v4l_buff **buffs, int frames);
 124 extern int cleanup_v4l_device(int fd, unsigned int nbuffs,
 125                               struct v4l_buff *buffs);
 126 extern void set_v4l_ctl_or_die(int fd, unsigned int id, int value);
 127 extern int init_v4l_device(int fd, int width, int height);
 128 extern void debug_v4l_struct_buffer(struct v4l2_buffer *img);
 129 extern int i2c_select_lower_cam(void);
 130 extern int i2c_select_upper_cam(void);
 131
 132 #endif /* NAONET_H */