UVC 摄像头驱动(三)配置摄像头,实时数据采集
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前面分析了 UVC 摄像头的硬件模型和描述符,对于一个 usb 摄像头来说,内部大概分为一个 VC 接口和一个 VS 接口,VC 接口内部有许多 unit 和 terminal 用来“控制”摄像头,比如我们可以通过 Process unit 设置白平衡、曝光等等。对于 VS 接口来说,标准 VS 接口往往含有许多个设置,每一个设置都包含一个实时传输端点,虽然它们的端点地址可能相同,但是它们的最大传输包大小不同,在 Class specific VS 接口中,包含多个 Format ,每一个 Format 包含多个 Frame ,Format 指的 YUYV MJPG 等等,Frame 就是各种分辨率 480*320 640 * 480 等等。以上这些信息,都是通过分析描述符来获得。
VideoStreaming Requests
参考 UVC 1.5 Class specification 4.3 节
我们需要使用控制传输来和VS通信,Probe and commit 设置,请求格式参考上图。
- bmRequestType 请求类型,参考标准USB协议
- bRequest 子类,定义在 Table A-8
- CS ,Control Selector ,定义在 Table A-16 ,例如是probe 还是 commit
- wIndex 高字节为0,低字节为接口号
- wLength 和 Data 和标准USB协议一样,为数据长度和数据
参数设置的过程需要主机和USB设备进行协商, 协商的过程大致如下图所示:
- Host 先将期望的设置发送给USB设备(PROBE)
- 设备将Host期望设置在自身能力范围之内进行修改,返回给Host(PROBE)
- Host 认为设置可行的话,Commit 提交(COMMIT)
- 设置接口的当前设置为某一个设置
那么协商哪些数据?这些数据在哪里定义?参考Table 4-75 ,里面包含了使用哪一个Frame 哪一个 Frame 帧频率,一次传输包大小等等的信息。
参考代码:
static int myuvc_try_streaming_params(struct myuvc_streaming_control *ctrl){ __u8 *data; __u16 size; int ret; __u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE; unsigned int pipe; memset(ctrl, 0, sizeof *ctrl); ctrl->bmHint = 1; /* dwFrameInterval */ ctrl->bFormatIndex = 1; ctrl->bFrameIndex = 1; ctrl->dwFrameInterval = 333333; ctrl->dwClockFrequency = 48000000; ctrl->wCompQuality = 61; size = 34; data = kzalloc(size, GFP_KERNEL); if (data == NULL) return -ENOMEM; *(__le16 *)&data[0] = cpu_to_le16(ctrl->bmHint); data[2] = ctrl->bFormatIndex; data[3] = ctrl->bFrameIndex; *(__le32 *)&data[4] = cpu_to_le32(ctrl->dwFrameInterval); *(__le16 *)&data[8] = cpu_to_le16(ctrl->wKeyFrameRate); *(__le16 *)&data[10] = cpu_to_le16(ctrl->wPFrameRate); *(__le16 *)&data[12] = cpu_to_le16(ctrl->wCompQuality); *(__le16 *)&data[14] = cpu_to_le16(ctrl->wCompWindowSize); *(__le16 *)&data[16] = cpu_to_le16(ctrl->wDelay); put_unaligned_le32(ctrl->dwMaxVideoFrameSize, &data[18]); put_unaligned_le32(ctrl->dwMaxPayloadTransferSize, &data[22]); if (size == 34) { put_unaligned_le32(ctrl->dwClockFrequency, &data[26]); data[30] = ctrl->bmFramingInfo; data[31] = ctrl->bPreferedVersion; data[32] = ctrl->bMinVersion; data[33] = ctrl->bMaxVersion; } pipe = usb_sndctrlpipe(myuvc_udev, 0); type |= USB_DIR_OUT; ret = usb_control_msg(myuvc_udev, pipe, 0x01, type, 0x01 << 8, 0 << 8 | myuvc_streaming_intf, data, size, 5000); kfree(data); return (ret < 0) ? ret : 0;}static int myuvc_get_streaming_params(struct myuvc_streaming_control *ctrl){ __u8 *data; __u16 size; int ret; __u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE; unsigned int pipe; size = 34; data = kmalloc(size, GFP_KERNEL); if (data == NULL) return -ENOMEM; pipe = usb_rcvctrlpipe(myuvc_udev, 0); type |= USB_DIR_IN; ret = usb_control_msg(myuvc_udev, pipe, 0x81, type, 0x01 << 8, 0 << 8 | myuvc_streaming_intf, data, size, 5000); if (ret < 0) goto done; ctrl->bmHint = le16_to_cpup((__le16 *)&data[0]); ctrl->bFormatIndex = data[2]; ctrl->bFrameIndex = data[3]; ctrl->dwFrameInterval = le32_to_cpup((__le32 *)&data[4]); ctrl->wKeyFrameRate = le16_to_cpup((__le16 *)&data[8]); ctrl->wPFrameRate = le16_to_cpup((__le16 *)&data[10]); ctrl->wCompQuality = le16_to_cpup((__le16 *)&data[12]); ctrl->wCompWindowSize = le16_to_cpup((__le16 *)&data[14]); ctrl->wDelay = le16_to_cpup((__le16 *)&data[16]); ctrl->dwMaxVideoFrameSize = get_unaligned_le32(&data[18]); ctrl->dwMaxPayloadTransferSize = get_unaligned_le32(&data[22]); if (size == 34) { ctrl->dwClockFrequency = get_unaligned_le32(&data[26]); ctrl->bmFramingInfo = data[30]; ctrl->bPreferedVersion = data[31]; ctrl->bMinVersion = data[32]; ctrl->bMaxVersion = data[33]; } else { //ctrl->dwClockFrequency = video->dev->clock_frequency; ctrl->bmFramingInfo = 0; ctrl->bPreferedVersion = 0; ctrl->bMinVersion = 0; ctrl->bMaxVersion = 0; }done: kfree(data); return (ret < 0) ? ret : 0;}static int myuvc_set_streaming_params(struct myuvc_streaming_control *ctrl){ __u8 *data; __u16 size; int ret; __u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE; unsigned int pipe; size = 34; data = kzalloc(size, GFP_KERNEL); if (data == NULL) return -ENOMEM; *(__le16 *)&data[0] = cpu_to_le16(ctrl->bmHint); data[2] = ctrl->bFormatIndex; data[3] = ctrl->bFrameIndex; *(__le32 *)&data[4] = cpu_to_le32(ctrl->dwFrameInterval); *(__le16 *)&data[8] = cpu_to_le16(ctrl->wKeyFrameRate); *(__le16 *)&data[10] = cpu_to_le16(ctrl->wPFrameRate); *(__le16 *)&data[12] = cpu_to_le16(ctrl->wCompQuality); *(__le16 *)&data[14] = cpu_to_le16(ctrl->wCompWindowSize); *(__le16 *)&data[16] = cpu_to_le16(ctrl->wDelay); put_unaligned_le32(ctrl->dwMaxVideoFrameSize, &data[18]); put_unaligned_le32(ctrl->dwMaxPayloadTransferSize, &data[22]); if (size == 34) { put_unaligned_le32(ctrl->dwClockFrequency, &data[26]); data[30] = ctrl->bmFramingInfo; data[31] = ctrl->bPreferedVersion; data[32] = ctrl->bMinVersion; data[33] = ctrl->bMaxVersion; } pipe = usb_sndctrlpipe(myuvc_udev, 0); type |= USB_DIR_OUT; ret = usb_control_msg(myuvc_udev, pipe, 0x01, type, 0x02 << 8, 0 << 8 | myuvc_streaming_intf, data, size, 5000); kfree(data); return (ret < 0) ? ret : 0;}
VideoControl Requests
这里我们主要分析 VC 接口里的 Processing Unit Control Requests 以亮度为例:
static void myuvc_set_le_value(__s32 value, __u8 *data){ int bits = 16; int offset = 0; __u8 mask; data += offset / 8; offset &= 7; for (; bits > 0; data++) { mask = ((1LL << bits) - 1) << offset; *data = (*data & ~mask) | ((value << offset) & mask); value >>= offset ? offset : 8; bits -= 8 - offset; offset = 0; }}static __s32 myuvc_get_le_value(const __u8 *data){ int bits = 16; int offset = 0; __s32 value = 0; __u8 mask; data += offset / 8; offset &= 7; mask = ((1LL << bits) - 1) << offset; for (; bits > 0; data++) { __u8 byte = *data & mask; value |= offset > 0 ? (byte >> offset) : (byte << (-offset)); bits -= 8 - (offset > 0 ? offset : 0); offset -= 8; mask = (1 << bits) - 1; } /* Sign-extend the value if needed. */ value |= -(value & (1 << (16 - 1))); return value;}/* 参考:uvc_query_v4l2_ctrl */ int myuvc_vidioc_queryctrl (struct file *file, void *fh, struct v4l2_queryctrl *ctrl){ __u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE; unsigned int pipe; int ret; u8 data[2]; if (ctrl->id != V4L2_CID_BRIGHTNESS) return -EINVAL; memset(ctrl, 0, sizeof *ctrl); ctrl->id = V4L2_CID_BRIGHTNESS; ctrl->type = V4L2_CTRL_TYPE_INTEGER; strcpy(ctrl->name, "MyUVC_BRIGHTNESS"); ctrl->flags = 0; pipe = usb_rcvctrlpipe(udev, 0); type |= USB_DIR_IN; /* 发起USB传输确定这些值 */ ret = usb_control_msg(udev, pipe, GET_MIN, type, PU_BRIGHTNESS_CONTROL << 8, ProcessingUnitID << 8 | myuvc_control_intf, data, 2, 5000); if (ret != 2) return -EIO; ctrl->minimum = myuvc_get_le_value(data); /* Note signedness */ ret = usb_control_msg(udev, pipe, GET_MAX, type, PU_BRIGHTNESS_CONTROL << 8, ProcessingUnitID << 8 | myuvc_control_intf, data, 2, 5000); if (ret != 2) return -EIO; ctrl->maximum = myuvc_get_le_value(data); /* Note signedness */ ret = usb_control_msg(udev, pipe, GET_RES, type, PU_BRIGHTNESS_CONTROL << 8, ProcessingUnitID << 8 | myuvc_control_intf, data, 2, 5000); if (ret != 2) return -EIO; ctrl->step = myuvc_get_le_value(data); /* Note signedness */ ret = usb_control_msg(udev, pipe, GET_DEF, type, PU_BRIGHTNESS_CONTROL << 8, ProcessingUnitID << 8 | myuvc_control_intf, data, 2, 5000); if (ret != 2) return -EIO; ctrl->default_value = myuvc_get_le_value(data); /* Note signedness */ printk("Brightness: min =%d, max = %d, step = %d, default = %d\n", ctrl->minimum, ctrl->maximum, ctrl->step, ctrl->default_value); return 0;}/* 参考 : uvc_ctrl_get */int myuvc_vidioc_g_ctrl (struct file *file, void *fh, struct v4l2_control *ctrl){ __u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE; unsigned int pipe; int ret; u8 data[2]; if (ctrl->id != V4L2_CID_BRIGHTNESS) return -EINVAL; pipe = usb_rcvctrlpipe(udev, 0); type |= USB_DIR_IN; ret = usb_control_msg(udev, pipe, GET_CUR, type, PU_BRIGHTNESS_CONTROL << 8, ProcessingUnitID << 8 | myuvc_control_intf, data, 2, 5000); if (ret != 2) return -EIO; ctrl->value = myuvc_get_le_value(data); /* Note signedness */ return 0;}/* 参考: uvc_ctrl_set/uvc_ctrl_commit */int myuvc_vidioc_s_ctrl (struct file *file, void *fh, struct v4l2_control *ctrl){ __u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE; unsigned int pipe; int ret; u8 data[2]; if (ctrl->id != V4L2_CID_BRIGHTNESS) return -EINVAL; myuvc_set_le_value(ctrl->value, data); pipe = usb_sndctrlpipe(udev, 0); type |= USB_DIR_OUT; ret = usb_control_msg(udev, pipe, SET_CUR, type, PU_BRIGHTNESS_CONTROL << 8, ProcessingUnitID << 8 | myuvc_control_intf, data, 2, 5000); if (ret != 2) return -EIO; return 0;}
数据采集
数据采集时,我们需要和标准VS接口设置里的实时端点通信获取数据,分配、设置、提交URB。
以 640*320 分辨率的图像为例,每一个像素16bit,因此一帧图像占用空间 640*320*2字节 ,对于我的摄像头一次传输,3060字节。需要注意的是,标准UVC摄像头驱动中限制了一个URB的Buffer数量最大为32个,因此一个URB能承载的数据为 3060 * 32 ,经过计算,一帧图像数据需要多个 URB 来传输。因此在将图像数据拷贝到用户空间Buffer时候,可能在某一个URB包含两帧图像的数据,需要不要处理完前一帧就把第二帧图像数据丢弃了,那样会造成图像数据丢失。
static int myuvc_alloc_init_urbs(void){ u16 psize; u32 size; int npackets; int i,j; struct urb *urb; //struct urb *urb; psize = 3060; /* 实时传输端点一次能传输的最大字节数 */ size = 614400; /* 一帧数据的最大长度 */ npackets = DIV_ROUND_UP(size, psize); if (npackets > 32) npackets = 32; myprintk("psize %d npackets %d\n",psize,npackets); size = psize * npackets; for (i = 0; i < 5; ++i) { /* 1. 分配usb_buffers */ urb_buffer[i] = usb_alloc_coherent( myuvc_udev, size, GFP_KERNEL | __GFP_NOWARN, &urb_dma[i]); /* 2. 分配urb */ myurb[i] = usb_alloc_urb(npackets, GFP_KERNEL); if (!urb_buffer[i] || !myurb[i]) { //myuvc_uninit_urbs(); myprintk("alloc buffer or urb failed\n"); return -ENOMEM; } } /* 3. 设置urb */ for (i = 0; i < 5; ++i) { urb = myurb[i]; urb->dev = myuvc_udev; urb->context = NULL; urb->pipe = usb_rcvisocpipe(myuvc_udev, 0x81); urb->transfer_flags = URB_ISO_ASAP | URB_NO_TRANSFER_DMA_MAP; urb->interval = 1; urb->transfer_buffer = urb_buffer[i]; urb->transfer_dma = urb_dma[i]; urb->complete = myuvc_video_complete; urb->number_of_packets = npackets; urb->transfer_buffer_length = size; for (j = 0; j < npackets; ++j) { urb->iso_frame_desc[j].offset = j * psize; urb->iso_frame_desc[j].length = psize; } } return 0;}
static void myuvc_video_complete(struct urb *urb){ u8 *src; //u8 *dest; int ret, i; int len; int maxlen;// int nbytes;// struct myuvc_buffer *buf; myprintk("video complete\n"); switch (urb->status) { case 0: break; default: myprintk("Non-zero status (%d) in video " "completion handler.\n", urb->status); return; } for (i = 0; i < urb->number_of_packets; ++i) { if (urb->iso_frame_desc[i].status < 0) { myprintk("USB isochronous frame " "lost (%d).\n", urb->iso_frame_desc[i].status); continue; } src = urb->transfer_buffer + urb->iso_frame_desc[i].offset; //dest = myuvc_queue.mem + buf->buf.m.offset + buf->buf.bytesused; len = urb->iso_frame_desc[i].actual_length; myprintk("len %d\n",urb->iso_frame_desc[i].actual_length); /* 判断数据是否有效 */ /* URB数据含义: * data[0] : 头部长度 * data[1] : 错误状态 */ if (len < 2 || src[0] < 2 || src[0] > len) continue; /* Skip payloads marked with the error bit ("error frames"). */ if (src[1] & UVC_STREAM_ERR) { myprintk("Dropping payload (error bit set).\n"); continue; } /* 除去头部后的数据长度 */ len -= src[0]; /* 缓冲区最多还能存多少数据 */ //maxlen = buf->buf.length - buf->buf.bytesused; //nbytes = min(len, maxlen); /* 复制数据 */ //memcpy(dest, src + src[0], nbytes); //buf->buf.bytesused += nbytes; /* 判断一帧数据是否已经全部接收到 */ if (len > maxlen) { //buf->state = VIDEOBUF_DONE; } /* Mark the buffer as done if the EOF marker is set. */ if (src[1] & UVC_STREAM_EOF) { myprintk("Frame complete (EOF found).\n"); if (len == 0) myprintk("EOF in empty payload.\n"); //buf->state = VIDEOBUF_DONE; } } /* 再次提交URB */ if ((ret = usb_submit_urb(urb, GFP_ATOMIC)) < 0) { myprintk("Failed to resubmit video URB (%d).\n", ret); }}
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