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raspiraw.c
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raspiraw.c
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/*
Copyright (c) 2015, Raspberry Pi Foundation
Copyright (c) 2015, Dave Stevenson
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#define VERSION_STRING "0.0.2"
#define _GNU_SOURCE
#include <ctype.h>
#include <fcntl.h>
#include <libgen.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#define I2C_SLAVE_FORCE 0x0706
#include "interface/vcos/vcos.h"
#include "bcm_host.h"
#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/mmal_logging.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_connection.h"
#include "RaspiCLI.h"
#include <sys/ioctl.h>
#include "raw_header.h"
#define DEFAULT_I2C_DEVICE 0
#define I2C_DEVICE_NAME_LEN 13 // "/dev/i2c-XXX"+NULL
static char i2c_device_name[I2C_DEVICE_NAME_LEN];
struct brcm_raw_header *brcm_header = NULL;
enum bayer_order {
//Carefully ordered so that an hflip is ^1,
//and a vflip is ^2.
BAYER_ORDER_BGGR,
BAYER_ORDER_GBRG,
BAYER_ORDER_GRBG,
BAYER_ORDER_RGGB
};
struct sensor_regs {
uint16_t reg;
uint16_t data;
};
struct mode_def
{
struct sensor_regs *regs;
int num_regs;
int width;
int height;
MMAL_FOURCC_T encoding;
enum bayer_order order;
int native_bit_depth;
uint8_t image_id;
uint8_t data_lanes;
unsigned int min_vts;
int line_time_ns;
uint32_t timing1;
uint32_t timing2;
uint32_t timing3;
uint32_t timing4;
uint32_t timing5;
uint32_t term1;
uint32_t term2;
int black_level;
};
struct sensor_def
{
char *name;
struct mode_def *modes;
int num_modes;
struct sensor_regs *stop;
int num_stop_regs;
uint8_t i2c_addr; // Device I2C slave address
int i2c_addressing; // Length of register address values
int i2c_data_size; // Length of register data to write
// Detecting the device
int i2c_ident_length; // Length of I2C ID register
uint16_t i2c_ident_reg; // ID register address
uint16_t i2c_ident_value; // ID register value
// Flip configuration
uint16_t vflip_reg; // Register for VFlip
int vflip_reg_bit; // Bit in that register for VFlip
uint16_t hflip_reg; // Register for HFlip
int hflip_reg_bit; // Bit in that register for HFlip
int flips_dont_change_bayer_order; // Some sensors do not change the
// Bayer order by adjusting X/Y starts
// to compensate.
uint16_t exposure_reg;
int exposure_reg_num_bits;
uint16_t vts_reg;
int vts_reg_num_bits;
uint16_t gain_reg;
int gain_reg_num_bits;
};
#define NUM_ELEMENTS(a) (sizeof(a) / sizeof(a[0]))
#include "ov5647_modes.h"
#include "imx219_modes.h"
#include "adv7282m_modes.h"
const struct sensor_def *sensors[] = {
&ov5647,
&imx219,
&adv7282,
NULL
};
enum {
CommandHelp,
CommandMode,
CommandHFlip,
CommandVFlip,
CommandExposure,
CommandGain,
CommandOutput,
CommandWriteHeader,
CommandTimeout,
CommandSaveRate,
CommandBitDepth,
CommandCameraNum,
CommandExposureus,
CommandI2cBus,
CommandAwbGains,
CommandRegs,
CommandHinc,
CommandVinc,
CommandFps,
CommandWidth,
CommandHeight,
CommandLeft,
CommandTop,
CommandVts,
CommandLine,
CommandWriteHeader0,
CommandWriteHeaderG,
CommandWriteTimestamps,
CommandWriteEmpty,
};
static COMMAND_LIST cmdline_commands[] =
{
{ CommandHelp, "-help", "?", "This help information", 0 },
{ CommandMode, "-mode", "md", "Set sensor mode <mode>", 1 },
{ CommandHFlip, "-hflip", "hf", "Set horizontal flip", 0},
{ CommandVFlip, "-vflip", "vf", "Set vertical flip", 0},
{ CommandExposure, "-ss", "e", "Set the sensor exposure time (not calibrated units)", 0 },
{ CommandGain, "-gain", "g", "Set the sensor gain code (not calibrated units)", 0 },
{ CommandOutput, "-output", "o", "Set the output filename", 0 },
{ CommandWriteHeader, "-header", "hd", "Write the BRCM header to the output file", 0 },
{ CommandTimeout, "-timeout", "t", "Time (in ms) before shutting down (if not specified, set to 5s)", 1 },
{ CommandSaveRate, "-saverate", "sr", "Save every Nth frame", 1 },
{ CommandBitDepth, "-bitdepth", "b", "Set output raw bit depth (8, 10, 12 or 16, if not specified, set to sensor native)", 1 },
{ CommandCameraNum, "-cameranum", "c", "Set camera number to use (0=CAM0, 1=CAM1).", 1 },
{ CommandExposureus, "-expus", "eus", "Set the sensor exposure time in micro seconds.", -1 },
{ CommandI2cBus, "-i2c", "y", "Set the I2C bus to use.", -1 },
{ CommandAwbGains, "-awbgains", "awbg", "Set the AWB gains to use.", 1 },
{ CommandRegs, "-regs", "r", "Change (current mode) regs", 0 },
{ CommandHinc, "-hinc", "hi", "Set horizontal odd/even inc reg", -1},
{ CommandVinc, "-vinc", "vi", "Set vertical odd/even inc reg", -1},
{ CommandFps, "-fps", "f", "Set framerate regs", -1},
{ CommandWidth, "-width", "w", "Set current mode width", -1},
{ CommandHeight, "-height", "h", "Set current mode height", -1},
{ CommandLeft, "-left", "lt", "Set current mode left", -1},
{ CommandTop, "-top", "tp", "Set current mode top", -1},
{ CommandWriteHeader0, "-header0", "hd0","Sets filename to write the BRCM header to", 0 },
{ CommandWriteHeaderG, "-headerg", "hdg","Sets filename to write the .pgm header to", 0 },
{ CommandWriteTimestamps,"-tstamps", "ts", "Sets filename to write timestamps to", 0 },
{ CommandWriteEmpty, "-empty", "emp","Write empty output files", 0 },
};
static int cmdline_commands_size = sizeof(cmdline_commands) / sizeof(cmdline_commands[0]);
typedef struct pts_node {
int idx;
int64_t pts;
struct pts_node *nxt;
} *PTS_NODE_T;
typedef struct {
int mode;
int hflip;
int vflip;
int exposure;
int gain;
char *output;
int capture;
int write_header;
int timeout;
int saverate;
int bit_depth;
int camera_num;
int exposure_us;
int i2c_bus;
double awb_gains_r;
double awb_gains_b;
char *regs;
int hinc;
int vinc;
double fps;
int width;
int height;
int left;
int top;
char *write_header0;
char *write_headerg;
char *write_timestamps;
int write_empty;
PTS_NODE_T ptsa;
PTS_NODE_T ptso;
} RASPIRAW_PARAMS_T;
void update_regs(const struct sensor_def *sensor, struct mode_def *mode, int hflip, int vflip, int exposure, int gain);
static int i2c_rd(int fd, uint8_t i2c_addr, uint16_t reg, uint8_t *values, uint32_t n, const struct sensor_def *sensor)
{
int err;
uint8_t buf[2] = { reg >> 8, reg & 0xff };
struct i2c_rdwr_ioctl_data msgset;
struct i2c_msg msgs[2] = {
{
.addr = i2c_addr,
.flags = 0,
.len = 2,
.buf = buf,
},
{
.addr = i2c_addr,
.flags = I2C_M_RD,
.len = n,
.buf = values,
},
};
if (sensor->i2c_addressing == 1)
{
msgs[0].len = 1;
}
msgset.msgs = msgs;
msgset.nmsgs = 2;
err = ioctl(fd, I2C_RDWR, &msgset);
//vcos_log_error("Read i2c addr %02X, reg %04X (len %d), value %02X, err %d", i2c_addr, msgs[0].buf[0], msgs[0].len, values[0], err);
if (err != msgset.nmsgs)
return -1;
return 0;
}
const struct sensor_def * probe_sensor(void)
{
int fd;
const struct sensor_def **sensor_list = &sensors[0];
const struct sensor_def *sensor = NULL;
fd = open(i2c_device_name, O_RDWR);
if (!fd)
{
vcos_log_error("Couldn't open I2C device");
return NULL;
}
while(*sensor_list != NULL)
{
uint16_t reg = 0;
sensor = *sensor_list;
vcos_log_error("Probing sensor %s on addr %02X", sensor->name, sensor->i2c_addr);
if (sensor->i2c_ident_length <= 2)
{
if (!i2c_rd(fd, sensor->i2c_addr, sensor->i2c_ident_reg, (uint8_t*)®, sensor->i2c_ident_length, sensor))
{
if (reg == sensor->i2c_ident_value)
{
vcos_log_error("Found sensor %s at address %02X", sensor->name, sensor->i2c_addr);
break;
}
}
}
sensor_list++;
sensor = NULL;
}
return sensor;
}
void send_regs(int fd, const struct sensor_def *sensor, const struct sensor_regs *regs, int num_regs)
{
int i;
for (i=0; i<num_regs; i++)
{
if (regs[i].reg == 0xFFFF)
{
if (ioctl(fd, I2C_SLAVE_FORCE, regs[i].data) < 0)
{
vcos_log_error("Failed to set I2C address to %02X", regs[i].data);
}
}
else if (regs[i].reg == 0xFFFE)
{
vcos_sleep(regs[i].data);
}
else
{
if (sensor->i2c_addressing == 1)
{
unsigned char msg[3] = {regs[i].reg, regs[i].data & 0xFF };
int len = 2;
if (sensor->i2c_data_size == 2)
{
msg[1] = (regs[i].data>>8) & 0xFF;
msg[2] = regs[i].data & 0xFF;
len = 3;
}
if (write(fd, msg, len) != len)
{
vcos_log_error("Failed to write register index %d (%02X val %02X)", i, regs[i].reg, regs[i].data);
}
}
else
{
unsigned char msg[4] = {regs[i].reg>>8, regs[i].reg, regs[i].data};
int len = 3;
if (sensor->i2c_data_size == 2)
{
msg[2] = regs[i].data >> 8;
msg[3] = regs[i].data;
len = 4;
}
if (write(fd, msg, len) != len)
{
vcos_log_error("Failed to write register index %d", i);
}
}
}
}
}
void start_camera_streaming(const struct sensor_def *sensor, struct mode_def *mode)
{
int fd;
fd = open(i2c_device_name, O_RDWR);
if (!fd)
{
vcos_log_error("Couldn't open I2C device");
return;
}
if (ioctl(fd, I2C_SLAVE_FORCE, sensor->i2c_addr) < 0)
{
vcos_log_error("Failed to set I2C address");
return;
}
send_regs(fd, sensor, mode->regs, mode->num_regs);
close(fd);
vcos_log_error("Now streaming...");
}
void stop_camera_streaming(const struct sensor_def *sensor)
{
int fd;
fd = open(i2c_device_name, O_RDWR);
if (!fd)
{
vcos_log_error("Couldn't open I2C device");
return;
}
if (ioctl(fd, I2C_SLAVE_FORCE, sensor->i2c_addr) < 0)
{
vcos_log_error("Failed to set I2C address");
return;
}
send_regs(fd, sensor, sensor->stop, sensor->num_stop_regs);
close(fd);
}
/**
* Allocates and generates a filename based on the
* user-supplied pattern and the frame number.
* On successful return, finalName and tempName point to malloc()ed strings
* which must be freed externally. (On failure, returns nulls that
* don't need free()ing.)
*
* @param finalName pointer receives an
* @param pattern sprintf pattern with %d to be replaced by frame
* @param frame for timelapse, the frame number
* @return Returns a MMAL_STATUS_T giving result of operation
*/
MMAL_STATUS_T create_filenames(char** finalName, char * pattern, int frame)
{
*finalName = NULL;
if (0 > asprintf(finalName, pattern, frame))
{
return MMAL_ENOMEM; // It may be some other error, but it is not worth getting it right
}
return MMAL_SUCCESS;
}
int running = 0;
static void callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
static int count = 0;
vcos_log_error("Buffer %p returned, filled %d, timestamp %llu, flags %04X", buffer, buffer->length, buffer->pts, buffer->flags);
if (running)
{
RASPIRAW_PARAMS_T *cfg = (RASPIRAW_PARAMS_T *)port->userdata;
if (!(buffer->flags&MMAL_BUFFER_HEADER_FLAG_CODECSIDEINFO) &&
(((count++)%cfg->saverate)==0))
{
// Save every Nth frame
// SD card access is too slow to do much more.
FILE *file;
char *filename = NULL;
if (create_filenames(&filename, cfg->output, count) == MMAL_SUCCESS)
{
file = fopen(filename, "wb");
if (file)
{
if (cfg->ptso) // make sure previous malloc() was successful
{
cfg->ptso->idx = count;
cfg->ptso->pts = buffer->pts;
cfg->ptso->nxt = malloc(sizeof(*cfg->ptso->nxt));
cfg->ptso = cfg->ptso->nxt;
}
if (!cfg->write_empty)
{
if (cfg->write_header)
fwrite(brcm_header, BRCM_RAW_HEADER_LENGTH, 1, file);
fwrite(buffer->data, buffer->length, 1, file);
}
fclose(file);
}
free(filename);
}
}
buffer->length = 0;
mmal_port_send_buffer(port, buffer);
}
else
mmal_buffer_header_release(buffer);
}
uint32_t order_and_bit_depth_to_encoding(enum bayer_order order, int bit_depth)
{
//BAYER_ORDER_BGGR,
//BAYER_ORDER_GBRG,
//BAYER_ORDER_GRBG,
//BAYER_ORDER_RGGB
const uint32_t depth8[] = {
MMAL_ENCODING_BAYER_SBGGR8,
MMAL_ENCODING_BAYER_SGBRG8,
MMAL_ENCODING_BAYER_SGRBG8,
MMAL_ENCODING_BAYER_SRGGB8
};
const uint32_t depth10[] = {
MMAL_ENCODING_BAYER_SBGGR10P,
MMAL_ENCODING_BAYER_SGBRG10P,
MMAL_ENCODING_BAYER_SGRBG10P,
MMAL_ENCODING_BAYER_SRGGB10P
};
const uint32_t depth12[] = {
MMAL_ENCODING_BAYER_SBGGR12P,
MMAL_ENCODING_BAYER_SGBRG12P,
MMAL_ENCODING_BAYER_SGRBG12P,
MMAL_ENCODING_BAYER_SRGGB12P,
};
const uint32_t depth16[] = {
MMAL_ENCODING_BAYER_SBGGR16,
MMAL_ENCODING_BAYER_SGBRG16,
MMAL_ENCODING_BAYER_SGRBG16,
MMAL_ENCODING_BAYER_SRGGB16,
};
if (order < 0 || order > 3)
{
vcos_log_error("order out of range - %d", order);
return 0;
}
switch(bit_depth)
{
case 8:
return depth8[order];
case 10:
return depth10[order];
case 12:
return depth12[order];
case 16:
return depth16[order];
}
vcos_log_error("%d not one of the handled bit depths", bit_depth);
return 0;
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return non-0 if failed for some reason, 0 otherwise
*/
static int parse_cmdline(int argc, char **argv, RASPIRAW_PARAMS_T *cfg)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abbreviation of something>
int valid = 1;
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters, len;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
raspicli_display_help(cmdline_commands, cmdline_commands_size);
// exit straight away if help requested
return -1;
case CommandMode:
if (sscanf(argv[i + 1], "%d", &cfg->mode) != 1)
valid = 0;
else
i++;
break;
case CommandHFlip:
cfg->hflip = 1;
break;
case CommandVFlip:
cfg->vflip = 1;
break;
case CommandExposure:
if (sscanf(argv[i + 1], "%d", &cfg->exposure) != 1)
valid = 0;
else
i++;
break;
case CommandGain:
if (sscanf(argv[i + 1], "%d", &cfg->gain) != 1)
valid = 0;
else
i++;
break;
case CommandOutput: // output filename
{
len = strlen(argv[i + 1]);
if (len)
{
//We use sprintf to append the frame number for timelapse mode
//Ensure that any %<char> is either %% or %d.
const char *percent = argv[i+1];
while(valid && *percent && (percent=strchr(percent, '%')) != NULL)
{
int digits=0;
percent++;
while(isdigit(*percent))
{
percent++;
digits++;
}
if (!((*percent == '%' && !digits) || *percent == 'd'))
{
valid = 0;
fprintf(stderr, "Filename contains %% characters, but not %%d or %%%% - sorry, will fail\n");
}
percent++;
}
cfg->output = malloc(len + 10); // leave enough space for any timelapse generated changes to filename
vcos_assert(cfg->output);
if (cfg->output)
strncpy(cfg->output, argv[i + 1], len+1);
i++;
cfg->capture = 1;
}
else
valid = 0;
break;
}
case CommandWriteHeader:
cfg->write_header = 1;
break;
case CommandTimeout: // Time to run for in milliseconds
if (sscanf(argv[i + 1], "%u", &cfg->timeout) == 1)
{
i++;
}
else
valid = 0;
break;
case CommandSaveRate:
if (sscanf(argv[i + 1], "%u", &cfg->saverate) == 1)
{
i++;
}
else
valid = 0;
break;
case CommandBitDepth:
if (sscanf(argv[i + 1], "%u", &cfg->bit_depth) == 1)
{
i++;
}
else
valid = 0;
break;
case CommandCameraNum:
if (sscanf(argv[i + 1], "%u", &cfg->camera_num) == 1)
{
i++;
if (cfg->camera_num !=0 && cfg->camera_num != 1)
{
fprintf(stderr, "Invalid camera number specified (%d)."
" It should be 0 or 1.\n", cfg->camera_num);
valid = 0;
}
}
else
valid = 0;
break;
case CommandExposureus:
if (sscanf(argv[i + 1], "%d", &cfg->exposure_us) != 1)
valid = 0;
else
i++;
break;
case CommandI2cBus:
if (sscanf(argv[i + 1], "%d", &cfg->i2c_bus) != 1)
valid = 0;
else
i++;
break;
case CommandAwbGains:
{
double r,b;
int args;
args = sscanf(argv[i + 1], "%lf,%lf", &r,&b);
if (args != 2 || r > 8.0 || b > 8.0)
valid = 0;
cfg->awb_gains_r = r;
cfg->awb_gains_b = b;
i++;
break;
}
case CommandRegs: // register changes
{
len = strlen(argv[i + 1]);
cfg->regs = malloc(len+1);
vcos_assert(cfg->regs);
strncpy(cfg->regs, argv[i + 1], len+1);
i++;
break;
}
case CommandHinc:
if (strlen(argv[i+1]) != 2 ||
sscanf(argv[i + 1], "%x", &cfg->hinc) != 1)
valid = 0;
else
i++;
break;
case CommandVinc:
if (strlen(argv[i+1]) != 2 ||
sscanf(argv[i + 1], "%x", &cfg->vinc) != 1)
valid = 0;
else
i++;
break;
case CommandFps:
if (sscanf(argv[i + 1], "%lf", &cfg->fps) != 1)
valid = 0;
else
i++;
break;
case CommandWidth:
if (sscanf(argv[i + 1], "%d", &cfg->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight:
if (sscanf(argv[i + 1], "%d", &cfg->height) != 1)
valid = 0;
else
i++;
break;
case CommandLeft:
if (sscanf(argv[i + 1], "%d", &cfg->left) != 1)
valid = 0;
else
i++;
break;
case CommandTop:
if (sscanf(argv[i + 1], "%d", &cfg->top) != 1)
valid = 0;
else
i++;
break;
case CommandWriteHeader0:
len = strlen(argv[i + 1]);
cfg->write_header0 = malloc(len + 1);
vcos_assert(cfg->write_header0);
strncpy(cfg->write_header0, argv[i + 1], len+1);
i++;
break;
case CommandWriteHeaderG:
len = strlen(argv[i + 1]);
cfg->write_headerg = malloc(len + 1);
vcos_assert(cfg->write_headerg);
strncpy(cfg->write_headerg, argv[i + 1], len+1);
i++;
break;
case CommandWriteTimestamps:
len = strlen(argv[i + 1]);
cfg->write_timestamps = malloc(len + 1);
vcos_assert(cfg->write_timestamps);
strncpy(cfg->write_timestamps, argv[i + 1], len+1);
i++;
cfg->ptsa = malloc(sizeof(*cfg->ptsa));
cfg->ptso = cfg->ptsa;
break;
case CommandWriteEmpty:
cfg->write_empty = 1;
break;
default:
valid = 0;
break;
}
}
if (!valid)
{
fprintf(stderr, "Invalid command line option (%s)\n", argv[i-1]);
return 1;
}
return 0;
}
//The process first loads the cleaned up dump of the registers
//than updates the known registers to the proper values
//based on: http://www.seeedstudio.com/wiki/images/3/3c/Ov5647_full.pdf
enum operation {
EQUAL, //Set bit to value
SET, //Set bit
CLEAR, //Clear bit
XOR //Xor bit
};
void modReg(struct mode_def *mode, uint16_t reg, int startBit, int endBit, int value, enum operation op);
int main(int argc, char** argv) {
RASPIRAW_PARAMS_T cfg = {
.mode = 0,
.hflip = 0,
.vflip = 0,
.exposure = -1,
.gain = -1,
.output = NULL,
.capture = 0,
.write_header = 0,
.timeout = 5000,
.saverate = 20,
.bit_depth = -1,
.camera_num = -1,
.exposure_us = -1,
.i2c_bus = DEFAULT_I2C_DEVICE,
.regs = NULL,
.hinc = -1,
.vinc = -1,
.fps = -1,
.width = -1,
.height = -1,
.left = -1,
.top = -1,
.write_header0 = NULL,
.write_headerg = NULL,
.write_timestamps = NULL,
.write_empty = 0,
.ptsa = NULL,
.ptso = NULL,
};
uint32_t encoding;
const struct sensor_def *sensor;
struct mode_def *sensor_mode = NULL;
bcm_host_init();
vcos_log_register("RaspiRaw", VCOS_LOG_CATEGORY);
if (argc == 1)
{
fprintf(stdout, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
raspicli_display_help(cmdline_commands, cmdline_commands_size);
exit(-1);
}
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &cfg))
{
exit(-1);
}
snprintf(i2c_device_name, sizeof(i2c_device_name), "/dev/i2c-%d", cfg.i2c_bus);
printf("Using i2C device %s\n", i2c_device_name);
sensor = probe_sensor();
if (!sensor)
{
vcos_log_error("No sensor found. Aborting");
return -1;
}
if (cfg.mode >= 0 && cfg.mode < sensor->num_modes)
{
sensor_mode = &sensor->modes[cfg.mode];
}
if (!sensor_mode)
{
vcos_log_error("Invalid mode %d - aborting", cfg.mode);
return -2;
}
if (cfg.regs)
{
int r,b;
char *p,*q;
p=strtok(cfg.regs, ";");
while (p)
{
vcos_assert(strlen(p)>6);
vcos_assert(p[4]==',');
vcos_assert(strlen(p)%2);
p[4]='\0'; q=p+5;
sscanf(p,"%4x",&r);
while(*q)
{
vcos_assert(isxdigit(q[0]));
vcos_assert(isxdigit(q[1]));
sscanf(q,"%2x",&b);
vcos_log_error("%04x: %02x",r,b);
modReg(sensor_mode, r, 0, 7, b, EQUAL);
++r;
q+=2;
}
p=strtok(NULL,";");
}
}
if (cfg.hinc >= 0)
{
// TODO: handle modes different to ov5647 as well
modReg(sensor_mode, 0x3814, 0, 7, cfg.hinc, EQUAL);
}
if (cfg.vinc >= 0)
{
// TODO: handle modes different to ov5647 as well
modReg(sensor_mode, 0x3815, 0, 7, cfg.vinc, EQUAL);
}
if (cfg.fps > 0)
{
int n = 1000000000 / (sensor_mode->line_time_ns * cfg.fps);
modReg(sensor_mode, sensor->vts_reg+0, 0, 7, n>>8, EQUAL);
modReg(sensor_mode, sensor->vts_reg+1, 0, 7, n&0xFF, EQUAL);
}
if (cfg.width > 0)
{
sensor_mode->width = cfg.width;
// TODO: handle modes different to ov5647 as well
modReg(sensor_mode, 0x3808, 0, 3, cfg.width >>8, EQUAL);
modReg(sensor_mode, 0x3809, 0, 7, cfg.width &0xFF, EQUAL);
}
if (cfg.height > 0)
{
sensor_mode->height = cfg.height;
// TODO: handle modes different to ov5647 as well
modReg(sensor_mode, 0x380A, 0, 3, cfg.height >>8, EQUAL);
modReg(sensor_mode, 0x380B, 0, 7, cfg.height &0xFF, EQUAL);
}
if (cfg.left > 0)
{
// TODO: handle modes different to ov5647 as well
int val = cfg.left * (cfg.mode < 2 ? 1 : 1 << (cfg.mode / 2 - 1));
modReg(sensor_mode, 0x3800, 0, 3, val >>8, EQUAL);
modReg(sensor_mode, 0x3801, 0, 7, val &0xFF, EQUAL);
}
if (cfg.top > 0)
{
// TODO: handle modes different to ov5647 as well
int val = cfg.top * (cfg.mode < 2 ? 1 : 1 << (cfg.mode / 2 - 1));
modReg(sensor_mode, 0x3802, 0, 3, val >>8, EQUAL);
modReg(sensor_mode, 0x3803, 0, 7, val &0xFF, EQUAL);
}