mavcap_main.c
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#pragma arm section code = "SECONDARY_ROCODE", rodata = "SECONDARY_RODATA"
#include "mavcap_if.h"
#include "mm_comm_def.h"
#include "pp_comm_def.h"
#if defined(__MULTIPLE_ANGLE_VIEW_SUPPORT__)||defined(__3D_IMAGE_SUPPORT__)||defined(__CAMERA_GYRO_SUPPORT__)
#include "autocap_core.h"
#include "MavMotionCore.h"
#include "utility_core.h"
#include "pp_if.h"
/*******************************************************************************
* Global Define
********************************************************************************/
//== AutoCap ==//
static MAVCAP_STATE_ENUM gMavCapState = MAVCAP_IDLE_STATE;
static MAVCAP_SET_MEM_INFO_STRUCT gMavCapSetMemInfo;
static MAVCAP_SET_ENV_INFO_STRUCT gMavCapSetEnvInfo;
static MAVCAP_GET_ENV_INFO_STRUCT gMavCapGetEnvInfo;
static MAVCAP_RESULT_STRUCT gMavCapResult;
static MAVCAP_TUNING_PARA_STRUCT gMavTuningPara;
static MAVCAP_CORE_MOTION_TUNING_PARA_STRUCT g_mav_core_motion_tuning_para;
static MAVCAP_CORE_SET_MEM_INFO_STRUCT g_mav_core_set_mem_struct;
static MAVCAP_CORE_SET_ENV_INFO_STRUCT g_mav_core_set_info_struct;
//== MavMotion ==//
static MUINT32 gMavCapCurrProcNum;
static kal_uint32 gMavCapSrcImageWidth;
static kal_uint32 gMavCapSrcImageHeight;
static MTKMotionResultInfo gMavMotionResultStruct;
static kal_bool gMavForceToShotFlag;
static kal_uint8 gMavForceToShotCnt;
MM_ERROR_CODE_ENUM (* pfPpMavCapCb) (PP_CALLBACK_ID_ENUM CbId, void *pCallbackPara, kal_uint16 CallbackParaLen);
//enter preview called
MM_ERROR_CODE_ENUM MavCapOpen(void)
{
gMavCapState = MAVCAP_IDLE_STATE;
gMavForceToShotFlag = KAL_FALSE;
gMavForceToShotCnt = 0;
return MM_ERROR_NONE;
} /* MavCapOpen() */
//leave preview called
MM_ERROR_CODE_ENUM MavCapClose(void)
{
gMavCapState = MAVCAP_IDLE_STATE;
gMavForceToShotFlag = KAL_FALSE;
AutoCapCoreExit();
return MM_ERROR_NONE;
} /* MavCapClose() */
camera_autocap_init_struct autocap_init_struct;
#if defined(__CAMERA_GYRO_SUPPORT__)
#define GYRO_RANGE_RATIO 1 // range = min|max dist * this ratio
kal_bool gyroEnable;
kal_int16 gyroMinDist, gyroMaxDist;
kal_int16 gyroDiffX, gyroDiffY;
kal_int16 gyroAccuX, gyroAccuY;
//#define CAMERA_GYRO_DEBUG
#ifdef CAMERA_GYRO_DEBUG
kal_int16 logDiffX[100];
kal_int16 logDiffY[100];
kal_int16 logAccuX[100];
kal_int16 logAccuY[100];
kal_uint32 logCounter = 0;
#include "fsal.h"
static kal_wchar gyro_img_filename[128];
static STFSAL gyro_rWriteFile;
static FSAL_Status gyro_rWriteStatus;
static int gyro_log_file_count = 0;
static char gyro_log_buffer[300];
kal_bool gyro_is_fileopen = KAL_FALSE;
#endif
kal_int16 gyro_range(kal_int16 x, kal_int16 min, kal_int16 max)
{
if(x < min)
return min;
else if(x > max)
return max;
else
return x;
}
kal_uint16 gyro_abs(kal_int16 x)
{
if(x < 0)
return (-1)*x;
else
return x;
}
#endif
MM_ERROR_CODE_ENUM MavCapFeatureCtrl(MAVCAP_FEATURE_ENUM FeatureId,
void* pParaIn, void* pParaOut,kal_uint16 ParaOutLen)
{
P_MAVCAP_SET_ENV_INFO_STRUCT pMavCapSetEnvInfo = (P_MAVCAP_SET_ENV_INFO_STRUCT)pParaIn;
P_MAVCAP_SET_MEM_INFO_STRUCT pMavCapSetMemInfo = (P_MAVCAP_SET_MEM_INFO_STRUCT)pParaIn;
P_MAVCAP_GET_ENV_INFO_STRUCT pMavCapGetEnvInfo = (P_MAVCAP_GET_ENV_INFO_STRUCT)pParaOut;
P_MAVCAP_RESULT_STRUCT pMavCapResult = (P_MAVCAP_RESULT_STRUCT) pParaOut;
PP_STATE_ENUM* pMavCapCheckState = (PP_STATE_ENUM*) pParaOut;
switch (FeatureId)
{
case MAVCAP_FEATURE_GET_ENV_INFO:
pMavCapGetEnvInfo->ImageWidth = MAVCAP_IMAGE_XS;
pMavCapGetEnvInfo->ImageHeight = MAVCAP_IMAGE_YS;
// Get working buffer size
pMavCapGetEnvInfo->WorkingBufSize = (kal_uint32)MAVCAP_WORKING_BUFFER_SIZE;
pMavCapGetEnvInfo->SrcImgFormat= MM_IMAGE_FORMAT_YUV420;
break;
case MAVCAP_FEATURE_SET_ENV_INFO:
//-- AutoCap --//
kal_mem_cpy(&gMavCapSetEnvInfo, pMavCapSetEnvInfo, sizeof(MAVCAP_SET_ENV_INFO_STRUCT) );
autocap_init_struct.image_width = MAVCAP_IMAGE_XS;
autocap_init_struct.image_height = MAVCAP_IMAGE_YS;
autocap_init_struct.lcd_width = pMavCapSetEnvInfo->target_width;
autocap_init_struct.lcd_height = pMavCapSetEnvInfo->target_height;
autocap_init_struct.log_enable = KAL_FALSE;
autocap_init_struct.tolerance_x = pMavCapSetEnvInfo->p_tuning_data->tolerance_x;
autocap_init_struct.tolerance_y = pMavCapSetEnvInfo->p_tuning_data->tolerance_y;
autocap_init_struct.image_format = AUTOCAP_IMAGE_FORMAT_YUV420;
AutoCapCoreSetInfo(&autocap_init_struct);
gMavCapSrcImageWidth=pMavCapSetEnvInfo->target_width;
gMavCapSrcImageHeight=pMavCapSetEnvInfo->target_height;
//-- MavMotion --//
gMavCapCurrProcNum = 0;
gMavCapSetEnvInfo.p_tuning_data = &gMavTuningPara;
if(pMavCapSetEnvInfo->p_tuning_data==NULL)
{
gMavCapSetEnvInfo.p_tuning_data->tolerance_x = 8;
gMavCapSetEnvInfo.p_tuning_data->tolerance_y = 8;
gMavCapSetEnvInfo.p_tuning_data->MaxMV = 8;
gMavCapSetEnvInfo.p_tuning_data->StepLB = 5;
gMavCapSetEnvInfo.p_tuning_data->StepUB = 10;
}
else
{
memcpy(gMavCapSetEnvInfo.p_tuning_data, pMavCapSetEnvInfo->p_tuning_data, sizeof(MAVCAP_TUNING_PARA_STRUCT));
}
#if defined(__CAMERA_GYRO_SUPPORT__)
gyroEnable = KAL_FALSE;
if( -1 == gMavCapSetEnvInfo.p_tuning_data->MaxMV )
gyroEnable = KAL_TRUE;
gyroMinDist = gMavCapSetEnvInfo.p_tuning_data->StepLB;
gyroMaxDist = gMavCapSetEnvInfo.p_tuning_data->StepUB;
gyroDiffX = gyroDiffY = 0;
gyroAccuX = gyroAccuY = 0;
#ifdef CAMERA_GYRO_DEBUG
logCounter = 0;
if(gyro_is_fileopen)
{
FSAL_Close(&gyro_rWriteFile);
gyro_is_fileopen = KAL_FALSE;
}
kal_wsprintf(gyro_img_filename, "C:\\Gyro_log%02d.txt",gyro_log_file_count);
gyro_img_filename[0] = FS_GetDrive(FS_DRIVE_V_REMOVABLE, 1, FS_NO_ALT_DRIVE);
if ( FSAL_OPEN_ERROR != FSAL_Open(&gyro_rWriteFile, gyro_img_filename, FSAL_WRITE) )
{
gyro_is_fileopen = KAL_TRUE;
gyro_log_file_count++;
}
#endif
#endif
gMavCapState = MAVCAP_CONFIG_STATE;
break;
case MAVCAP_FEATURE_SET_PROC_INFO:
gMavCapState = MAVCAP_MEM_PROCESS_STATE;//MAVCAP_READY_STATE;
kal_mem_cpy(&gMavCapSetMemInfo, pMavCapSetMemInfo, sizeof(MAVCAP_SET_MEM_INFO_STRUCT));
gMavCapSetMemInfo.PpProcFmt = MM_IMAGE_FORMAT_YUV422;
break;
case MAVCAP_FEATURE_GET_STATE:
if((gMavCapState == MAVCAP_READY_STATE)||(gMavCapState == MAVCAP_CONFIG_STATE))
{
*pMavCapCheckState=PP_STATE_READY;
}
else
{
*pMavCapCheckState=PP_STATE_BUSY;
}
break;
case MAVCAP_FEATURE_GET_RESULT:
kal_mem_cpy(pMavCapResult, &gMavCapResult, sizeof(MAVCAP_RESULT_STRUCT));
break;
case MAVCAP_FEATURE_SET_LOG_INFO:
break;
default:
break;
}
return MM_ERROR_NONE;
} /* MavCapFeatureCtrl() */
MM_ERROR_CODE_ENUM MavCapCtrl(PP_SCENARIO_ENUM ScenarioId, PP_SCENARIO_CTRL_ENUM CtrlCode,
void* pParaIn, void* pParaOut,kal_uint16 ParaOutLen)
{
int i;
P_MAVCAP_RESULT_STRUCT pMavCapResult = &gMavCapResult;
P_MAVCAP_SET_MEM_INFO_STRUCT pMavCapSetMemInfo = &gMavCapSetMemInfo;
UTL_SWITCH_CACHE_STRUCT MemSwitch;
UTL_BILINEAR_RESIZER_STRUCT UtlRisizerInfo;
camera_autocap_set_mem_struct autocap_set_mem_struct;
camera_autocap_init_struct autocap_reset_struct;
camera_autocap_result_struct AutoCapResultStruct;
ASSERT(gMavCapState!=MAVCAP_IDLE_STATE);
if(PP_CTRL_CODE_START == CtrlCode)
{
/*-------------- MEM--------------*/
gMavCapState = MAVCAP_MEM_PROCESS_STATE;
//=================== To Cacheable ===================//
MemSwitch.pMemAddr=&(gMavCapSetMemInfo.PpProcBufAddr);
MemSwitch.Size=(kal_uint32)gMavCapSetMemInfo.PpProcBufSize;
MemSwitch.CacheableFlag=KAL_TRUE;
UtlFeatureCtrl(UTL_FEATURE_EXT_MEM_SWITCH_CACHE,&MemSwitch,NULL,NULL);
MemSwitch.pMemAddr=&(gMavCapSetMemInfo.PpSrcBufAddr);
MemSwitch.Size=(kal_uint32)gMavCapSetMemInfo.PpSrcBufSize;
MemSwitch.CacheableFlag=KAL_TRUE;
UtlFeatureCtrl(UTL_FEATURE_EXT_MEM_SWITCH_CACHE,&MemSwitch,NULL,NULL);
//================= AutoCap Set Working Buffer ===================//
autocap_set_mem_struct.ext_mem_start_addr = (kal_uint32)pMavCapSetMemInfo->PpProcBufAddr;
autocap_set_mem_struct.ext_mem_size = (kal_uint32)pMavCapSetMemInfo->PpProcBufSize;
AutoCapCoreSetProcInfo(&autocap_set_mem_struct);
// copy source image form MDP to MavCap working memory
if(PP_MEM_OP_COPY_TO_PROC_BUF == gMavCapSetMemInfo.PpMemOpType)
{
//kal_mem_cpy((kal_uint8*)(gMavCapSetMemInfo.PpProcBufAddr), (kal_uint8*)gMavCapSetMemInfo.PpSrcBufAddr, gMavCapSetMemInfo.PpSrcBufSize);
}
else if(PP_MEM_OP_RESIZE_TO_PROC_BUF== gMavCapSetMemInfo.PpMemOpType)
{
UtlRisizerInfo.srcAddr = (kal_uint16*) gMavCapSetMemInfo.PpSrcBufAddr;
UtlRisizerInfo.srcWidth= gMavCapSrcImageWidth;
UtlRisizerInfo.srcHeight= gMavCapSrcImageHeight;
UtlRisizerInfo.dstAddr = (kal_uint16*) gMavCapSetMemInfo.PpSrcBufAddr;
UtlRisizerInfo.dstWidth = MAVCAP_IMAGE_XS;
UtlRisizerInfo.dstHeight = MAVCAP_IMAGE_YS;
UtlBilinearResizer(&UtlRisizerInfo);
}
else
{
return MM_ERROR_INVALID_PARAMETER;
}
gMavCapState = MAVCAP_PROCESS_STATE;
//===================== AutoCap Process ===================//
AutoCapCoreProcess(gMavCapSetMemInfo.PpSrcBufAddr, &AutoCapResultStruct);
#if defined(__CAMERA_GYRO_SUPPORT__)
if(gyroEnable) // camera gyro mode
{
gyroDiffX = AutoCapResultStruct.mv_x;
gyroDiffY = AutoCapResultStruct.mv_y;
//pMavCapResult->MV_X = gyro_range(gyroAccuX+gyroDiffX, gyroMinDist, gyroMaxDist);
//gyroAccuX = gyro_range(gyroAccuX+gyroDiffX, gyroMinDist*GYRO_RANGE_RATIO, gyroMaxDist*GYRO_RANGE_RATIO);
//pMavCapResult->MV_Y = gyro_range(gyroAccuY+gyroDiffY, gyroMinDist, gyroMaxDist);
//gyroAccuY = gyro_range(gyroAccuY+gyroDiffY, gyroMinDist*GYRO_RANGE_RATIO, gyroMaxDist*GYRO_RANGE_RATIO);
pMavCapResult->MV_X = gyro_range(AutoCapResultStruct.mv_x, gyroMinDist, gyroMaxDist);
pMavCapResult->MV_Y = gyro_range(AutoCapResultStruct.mv_y, gyroMinDist, gyroMaxDist);
pMavCapResult->ReadyToShot = KAL_FALSE;
pMavCapResult->OverlapRatio = gyroMaxDist;
// log
#ifdef CAMERA_GYRO_DEBUG
logDiffX[logCounter]=gyroDiffX;
logDiffY[logCounter]=gyroDiffY;
logAccuX[logCounter]=gyroAccuX;
logAccuY[logCounter]=gyroAccuY;
logCounter++;
if(logCounter >= 100)
logCounter = 0;
if(gyro_is_fileopen)
{
memset(gyro_log_buffer,0,sizeof(gyro_log_buffer));
sprintf(gyro_log_buffer, "Cb:(%d,%d), Diff:(%d,%d), Accu:(%d, %d)",
pMavCapResult->MV_X, pMavCapResult->MV_Y,
gyroDiffX, gyroDiffY,
gyroAccuX, gyroAccuY);
gyro_log_buffer[299] = '\n';
gyro_rWriteStatus = FSAL_Write(&gyro_rWriteFile, (kal_uint8*)gyro_log_buffer, sizeof(gyro_log_buffer));
}
#endif
// callback
gMavCapState = MAVCAP_READY_STATE;
//AutoCapCoreResetAllMV();
pfPpMavCapCb(PP_CBID_MAVCAP_RESULT, pMavCapResult, sizeof(MAVCAP_RESULT_STRUCT));
return MM_ERROR_NONE;
}
#endif
// [Note]: Mav mv = - AutoCap mv
pMavCapResult->MV_X = -AutoCapResultStruct.mv_x;
pMavCapResult->MV_Y = -AutoCapResultStruct.mv_y;
pMavCapResult->ImageWidth = MAVCAP_IMAGE_XS;
pMavCapResult->ImageHeight = MAVCAP_IMAGE_YS;
pMavCapResult->OverlapRatio = OVERLAP_RATIO;
pMavCapResult->Direction = AutoCapResultStruct.direction;
pMavCapResult->HintDirection = AutoCapResultStruct.hint_direction;
pMavCapResult->ReadyToShot = AutoCapResultStruct.ready_to_shot;
if(!gMavForceToShotFlag && gMavCapSetMemInfo.PpForceToShot)
{
gMavForceToShotFlag = gMavCapSetMemInfo.PpForceToShot;
pMavCapResult->ReadyToShot = KAL_TRUE;
printf("Force To Shot!!\n");
}
if(gMavForceToShotFlag) // force to capture and fix the framecount to minmum
{
if (gMavForceToShotCnt % gMavCapSetEnvInfo.p_tuning_data->StepLB == 0)
{
pMavCapResult->ReadyToShot = KAL_TRUE;
gMavForceToShotCnt = 0;
}
else
{
pMavCapResult->ReadyToShot = KAL_FALSE;
}
pMavCapResult->ErrPattern = 0;
pMavCapResult->FrameCount = gMavCapSetEnvInfo.p_tuning_data->StepLB;
gMavForceToShotCnt++;
}
else // Normal flow
{
//=================== Mav Motion input ====================//
// Duplicate the autocap result to mv/tv result
for (i = 0; i < MOTION_TOTAL_BN; i++)
{
pMavCapSetMemInfo->MotionValueXY[i*2] = pMavCapResult->MV_X;
pMavCapSetMemInfo->MotionValueXY[i*2+1] = pMavCapResult->MV_Y;
pMavCapSetMemInfo->TrustValueXY[i*2] = 50;
pMavCapSetMemInfo->TrustValueXY[i*2+1] = 50;
}
//================= MAV Motion Process ===================//
g_mav_core_set_info_struct.dir_decided = gMavCapSetEnvInfo.dir_decided;
g_mav_core_set_info_struct.target_height = gMavCapSetEnvInfo.target_height;
g_mav_core_set_info_struct.target_width = gMavCapSetEnvInfo.target_width;
g_mav_core_set_info_struct.p_mavmotion_tuning_data = &g_mav_core_motion_tuning_para;
g_mav_core_set_info_struct.p_mavmotion_tuning_data->MaxMV = gMavCapSetEnvInfo.p_tuning_data->MaxMV;
g_mav_core_set_info_struct.p_mavmotion_tuning_data->StepLB = gMavCapSetEnvInfo.p_tuning_data->StepLB;
g_mav_core_set_info_struct.p_mavmotion_tuning_data->StepUB = gMavCapSetEnvInfo.p_tuning_data->StepUB;
g_mav_core_set_info_struct.p_mavmotion_tuning_data->ToleranceX = 0;
g_mav_core_set_info_struct.p_mavmotion_tuning_data->ToleranceY = 0;
g_mav_core_set_info_struct.p_mavmotion_tuning_data->OverlapRatio = 0;
memcpy(g_mav_core_set_mem_struct.MotionValueXY, pMavCapSetMemInfo->MotionValueXY,sizeof(g_mav_core_set_mem_struct.MotionValueXY));
memcpy(g_mav_core_set_mem_struct.TrustValueXY, pMavCapSetMemInfo->TrustValueXY,sizeof(g_mav_core_set_mem_struct.TrustValueXY));
g_mav_core_set_mem_struct.PpProcBufAddr = pMavCapSetMemInfo->PpProcBufAddr;
g_mav_core_set_mem_struct.PpProcBufSize = pMavCapSetMemInfo->PpProcBufSize;
g_mav_core_set_mem_struct.PpProcFmt = pMavCapSetMemInfo->PpProcFmt;
if(gMavCapCurrProcNum==0)
{
MotionDetectInit(&g_mav_core_set_info_struct);
MotionDetect(&g_mav_core_set_mem_struct, &gMavMotionResultStruct);
}
else
{
MotionDetect(&g_mav_core_set_mem_struct, &gMavMotionResultStruct);
}
gMavCapCurrProcNum++;
pMavCapResult->ReadyToShot = gMavMotionResultStruct.ReadyToShot;
pMavCapResult->ErrPattern = gMavMotionResultStruct.ErrPattern;
pMavCapResult->FrameCount = gMavMotionResultStruct.FrameCount;
// MV value should follow AutoCap result, not MavMotion result
}
//============ Reset the mv when ReadyToShot is true =============//
if (pMavCapResult->ReadyToShot == KAL_TRUE)
{
// Use AutoCapCoreSetInfo to reset mv_x and mv_y
autocap_reset_struct.image_width = MAVCAP_IMAGE_XS;
autocap_reset_struct.image_height = MAVCAP_IMAGE_YS;
autocap_reset_struct.lcd_width = gMavCapSetEnvInfo.target_width;
autocap_reset_struct.lcd_height = gMavCapSetEnvInfo.target_height;
autocap_reset_struct.log_enable = KAL_FALSE;
autocap_reset_struct.tolerance_x = gMavCapSetEnvInfo.p_tuning_data->tolerance_x;
autocap_reset_struct.tolerance_y = gMavCapSetEnvInfo.p_tuning_data->tolerance_y;
autocap_reset_struct.image_format = AUTOCAP_IMAGE_FORMAT_YUV420;
// For MavMotion, if ReadyToShot flag is true, reset both mv_x and mv_y
AutoCapCoreSetInfo(&autocap_reset_struct);
}
//=================== To Non Cacheable ===================//
MemSwitch.pMemAddr=&(gMavCapSetMemInfo.PpProcBufAddr);
MemSwitch.Size=(kal_uint32)gMavCapSetMemInfo.PpProcBufSize;
MemSwitch.CacheableFlag=KAL_FALSE;
UtlFeatureCtrl(UTL_FEATURE_EXT_MEM_SWITCH_CACHE,&MemSwitch,NULL,NULL);
MemSwitch.pMemAddr=&(gMavCapSetMemInfo.PpSrcBufAddr);
MemSwitch.Size=(kal_uint32)gMavCapSetMemInfo.PpSrcBufSize;
MemSwitch.CacheableFlag=KAL_FALSE;
UtlFeatureCtrl(UTL_FEATURE_EXT_MEM_SWITCH_CACHE,&MemSwitch,NULL,NULL);
gMavCapState = MAVCAP_READY_STATE;
//=================== cb to CAL ===================//
pfPpMavCapCb(PP_CBID_MAVCAP_RESULT, pMavCapResult, sizeof(MAVCAP_RESULT_STRUCT));
}
else if (PP_CTRL_CODE_RESET == CtrlCode)
{
AutoCapCoreExit();
gMavForceToShotFlag = KAL_FALSE;
}
return MM_ERROR_NONE;
} /* MavCapCtrl() */
MAVCAP_FUNCTION_STRUCT MavCapFuncMap=
{
MavCapOpen,
MavCapFeatureCtrl,
MavCapCtrl,
MavCapClose
};
MM_ERROR_CODE_ENUM MavCapInit(MM_ERROR_CODE_ENUM (* pfMavCapCallback) (PP_CALLBACK_ID_ENUM CbId,
void *pCallbackPara, kal_uint16 CallbackParaLen),
P_MAVCAP_FUNCTION_STRUCT *pfMavCapFunc)
{
pfPpMavCapCb = pfMavCapCallback;
*pfMavCapFunc=&MavCapFuncMap;
return MM_ERROR_NONE;
} /* MavCapInit() */
#else /*#if defined(__MULTIPLE_ANGLE_VIEW_SUPPORT__)*/
MM_ERROR_CODE_ENUM MavCapInit(MM_ERROR_CODE_ENUM (* pfMavCapCallback) (PP_CALLBACK_ID_ENUM CbId,
void *pCallbackPara, kal_uint16 CallbackParaLen),
P_MAVCAP_FUNCTION_STRUCT *pfMavCapFunc)
{
return MM_ERROR_NONE;
} /* MavCapInit() */
#endif
#pragma arm section code, rodata