377 lines
13 KiB
C
377 lines
13 KiB
C
#include "app_config.h"
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#include "system/includes.h"
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#include "device/device.h"
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#include "asm/spi.h"
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#include "camera.h"
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#include "device/gpio.h"
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#ifdef CONFIG_SPI_VIDEO_ENABLE
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/********************************************************************************************
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*当SPI需要接收不固定数据量时，系统打开不可屏蔽方式，详情example的不可屏蔽中断使用方法
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*1.首先系统打开不可屏蔽中断方式，SPI中断优先级设为7
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*2.中断函数定义在内部sram方式
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*3.中断函数用户自行处理
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*4.注意：使用不可屏蔽方式，接收区间，禁止对flash进行写操作，读操作只能非代码区（除非系统程序代码跑sdram模式）
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*********************************************************************************************/
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/******************************以下为例子****************************************************/
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//比如按照协议，对方主机SPI协议为如下,头4字节为信息，读取size可知道连续数据有多少字节。
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//对方主机SPI协议发送为：先发4字节头信息，延时几个微秒就发送实际数据量，延时10几个毫秒，继续发送下一次数据，以此类推。
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//注意结构体需要1字节对齐
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struct spi_heads {
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u8 init;
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u8 reinit;
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u8 kill;
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u8 state;
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u32 err;
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volatile u32 fcnt;
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void *camera_hdl;
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};
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#define JL_SPI JL_SPI2 //与spi设备对应：JL_SPI0 JL_SPI1 JL_SPI2
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#define JL_SPI_NAME "spi2" //与spi设备对应："spi1", "spi2"
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//使用单线数据D0 接 spi口DO
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/* SPI1_PLATFORM_DATA_BEGIN(spi1_data) */
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/* .clk = 80000000, */
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/*.mode = SPI_STD_MODE,*/
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/* .attr = SPI_MODE_SLAVE | SPI_SCLK_L_UPH_SMPH | SPI_UNIDIR_MODE,//从机，CLK高 更新数据高，单向模式(SPI_DO单线) */
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/* .port = 'B', */
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/* SPI1_PLATFORM_DATA_END() */
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/**********SPI state ************/
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#define SPI_VIDEO_IDEL 0x0
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#define SPI_VIDEO_OPEN 0x1
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#define SPI_VIDEO_OPENING 0x2
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#define SPI_VIDEO_CLOSE 0x3
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#define SPI_VIDEO_CLOSEING 0x4
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#define SPI_VIDEO_RESEST 0x5
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/**********SPI video ************/
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#define SPI_LSTART ntohl(0xff000080)
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#define SPI_LEND ntohl(0xff00009d)
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#define SPI_FSTART ntohl(0xff0000ab)
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#define SPI_FEND ntohl(0xff0000b6)
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#define SPI_FHEAD_SIZE 4
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#define SPI_FEND_SIZE 4
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#define SPI_LHEAD_SIZE 4
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#define SPI_LEND_SIZE 4
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#define SPI_CAMERA_W 176
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#define SPI_CAMERA_H 128
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#define SPI_CAMERA_ONLINE_SIZE (SPI_CAMERA_W + SPI_LHEAD_SIZE + SPI_LEND_SIZE)//y
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#define SPI_CAMERA_ONFRAM_ONLY_Y_SIZE (SPI_CAMERA_ONLINE_SIZE * SPI_CAMERA_H + SPI_FHEAD_SIZE + SPI_FEND_SIZE)
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/**********SPI video ************/
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#define SPI_FIRST_DMA_SIZE (SPI_CAMERA_ONFRAM_ONLY_Y_SIZE + SPI_FHEAD_SIZE)//第一帧加第二帧的头部
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#define SPI_DMA_SIZE (SPI_CAMERA_ONFRAM_ONLY_Y_SIZE)//第一帧加第二帧的头部
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#define RECV_SIZE_MAX (SPI_CAMERA_ONFRAM_ONLY_Y_SIZE + SPI_FHEAD_SIZE + SPI_FEND_SIZE) //先了解协议1帧的最大字节数在多少再配置该值
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#define RECV_FPS 5 //硬件缓冲帧切换使用，务必>=2帧
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#define SPI_XCLK_PORT IO_PORTC_00
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#define SPI_BUF_USE_SRAM 1 //使用内部sram，静态
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#define RECV_BUF_SIZE (RECV_SIZE_MAX * RECV_FPS)
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#if SPI_BUF_USE_SRAM
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static volatile char recv_buf[RECV_BUF_SIZE] sec(.sram) ALIGNED(32);//spi硬件使用接收buf
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#else
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static volatile char *recv_buf = NULL;//spi硬件使用接收buf
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#endif
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static volatile char recv_read_cnt = 0;
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static volatile char recv_write_cnt = 0;
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static char *app_recv_buf = NULL;//应用层使用的buf
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static volatile int app_recv_len = 0;
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static struct spi_heads spi_head_info sec(.sram) = {0};
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#define IRQ_USE_SEM_POST 0 //中断使用信号量通知
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#if IRQ_USE_SEM_POST
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static OS_SEM spi_sem;
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#endif
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/*#define SPI_IO_DBG*/
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#ifdef SPI_IO_DBG
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#define DBG_PORT_BIT BIT(3)
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#define DBG_PORT JL_PORTB
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#endif
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//定义中断回调函数，注意：中断函数不能调用系统API（调试期间可加打印printf函数），调用函数需要用户自写，调用其他API也需要指定到指定在内部sram，即sec(.volatile_ram_code)
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static ___interrupt void spi_irq_cb(void) //sec(.volatile_ram_code) //中断函数，指定在内部sram
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{
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JL_SPI->CON |= BIT(14);//清除中断标记
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asm volatile("csync;");
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#ifdef SPI_IO_DBG
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DBG_PORT->OUT ^= DBG_PORT_BIT;
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#endif
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if (recv_buf) {
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char *next_head_buf;
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char *next_buf;
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next_head_buf = (char *)(recv_buf + recv_write_cnt * RECV_SIZE_MAX + SPI_CAMERA_ONFRAM_ONLY_Y_SIZE);
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if (((recv_write_cnt + 1) == RECV_FPS && !recv_read_cnt) || (recv_read_cnt && (recv_write_cnt + 1) == recv_read_cnt)) {
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goto next_recv;
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} else {
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recv_write_cnt = (++recv_write_cnt) >= RECV_FPS ? 0 : recv_write_cnt;
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}
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next_recv:
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next_buf = (char *)(recv_buf + recv_write_cnt * RECV_SIZE_MAX);
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for (int i = 0; i < SPI_FHEAD_SIZE; i++) {
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*next_buf++ = *next_head_buf++;
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}
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JL_SPI->ADR = (u32)next_buf;//偏移地址
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JL_SPI->CNT = (u32)SPI_DMA_SIZE;//继续接收数据头
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spi_head_info.fcnt++;
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#if IRQ_USE_SEM_POST
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os_sem_post(&spi_sem);//不可屏蔽不能使用2
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#endif
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}
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#ifdef SPI_IO_DBG
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DBG_PORT->OUT ^= DBG_PORT_BIT;
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#endif
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asm volatile("csync;");
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}
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static int spi_camera_open(void)
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{
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int err = 0;
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if (spi_head_info.state == SPI_VIDEO_OPEN || spi_head_info.state == SPI_VIDEO_OPENING) {
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puts("spi video is open \n");
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return 0;
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}
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spi_head_info.state = SPI_VIDEO_OPENING;
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/*------SPI摄像头的CLK，OUP_CH2 24M-----*/
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gpio_output_channle(SPI_XCLK_PORT, CH1_PLL_24M);
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if (spi_head_info.state == SPI_VIDEO_RESEST) {
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printf("--->SPI_VIDEO_RESEST\n");
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spi_head_info.state = SPI_VIDEO_OPENING;
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if (spi_head_info.camera_hdl) {
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dev_ioctl(spi_head_info.camera_hdl, CAMERA_SET_SENSOR_RESET, 0);
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spi_head_info.state = SPI_VIDEO_OPEN;
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}
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} else {
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spi_head_info.camera_hdl = dev_open("video1.0", NULL);
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if (!spi_head_info.camera_hdl) {
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printf("camera open err\n");
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err = -EINVAL;
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goto error;
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}
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}
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spi_head_info.state = SPI_VIDEO_OPEN;
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spi_head_info.init = 1;
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printf("camera open ok\n");
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return 0;
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error:
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spi_head_info.state = SPI_VIDEO_CLOSE;
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return err;
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}
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static int spi_camera_close(void)
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{
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if (!spi_head_info.init) {
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printf("spi_video no init \n");
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return -EINVAL;
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}
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if (spi_head_info.state == SPI_VIDEO_CLOSE || spi_head_info.state == SPI_VIDEO_CLOSEING) {
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puts("spi video is close \n");
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return 0;
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}
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spi_head_info.state = SPI_VIDEO_CLOSEING;
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gpio_clear_output_channle(SPI_XCLK_PORT, CH1_PLL_24M);
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if (spi_head_info.camera_hdl) {
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dev_close(spi_head_info.camera_hdl);
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spi_head_info.camera_hdl = NULL;
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}
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spi_head_info.state = SPI_VIDEO_CLOSE;
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return 0;
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}
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static void spi_recv_task(void *p)
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{
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void *spi_hdl = NULL;
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int ret;
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int wlen, offset, online_data_size, sline_cnt;
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int *head, *end;
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char *read_buf;
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int now = 0, last = 0, last_fp = 0;
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int msg[4];
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u32 timer_get_ms(void);
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//1.打开spi设备
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spi_hdl = dev_open(JL_SPI_NAME, NULL);
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if (!spi_hdl) {
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printf("spi open err \n");
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goto exit;
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}
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//2.注册中断函数
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dev_ioctl(spi_hdl, IOCTL_SPI_SET_IRQ_FUNC, (u32)spi_irq_cb);
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#if IRQ_USE_SEM_POST
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os_sem_create(&spi_sem, 0);
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#endif
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#if !SPI_BUF_USE_SRAM
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recv_buf = malloc(RECV_BUF_SIZE);
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if (!recv_buf) {
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printf("err spi no buf \n");
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goto exit;
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}
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#endif // SPI_BUF_USE_SRAM
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reinit:
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ret = spi_camera_open();
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if (ret) {
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printf("spi_camera_open err \n\n");
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goto exit;
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}
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/*for(int i = 0; i<32;i++){*/
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/*recv_buf[RECV_BUF_SIZE + i] = (u8)i;*/
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/*}*/
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//3.配置接收模式，开启中断，开启SPI
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JL_SPI->CON &= ~(BIT(10) | BIT(11) | BIT(2)); //1bit模式
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JL_SPI->CON |= BIT(12);//接收模式
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JL_SPI->CON |= BIT(13);//开启中断
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JL_SPI->CON |= BIT(0);//开启SPI
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#ifdef SPI_IO_DBG
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DBG_PORT->DIR &= ~DBG_PORT_BIT;
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DBG_PORT->PU &= ~DBG_PORT_BIT;
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DBG_PORT->PD &= ~DBG_PORT_BIT;
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DBG_PORT->OUT &= ~DBG_PORT_BIT;
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#endif
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spi_head_info.fcnt = 0;
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spi_head_info.err = 0;
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recv_write_cnt = 0;
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recv_read_cnt = 0;
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app_recv_buf = NULL;
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//4.配置接收地址，如对方主机SPI协议为如下，注意：写JL_SPI->CNT之前需保证此时对方SPI还没有发送数据，否则中途接收数据会出错
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JL_SPI->ADR = (u32)recv_buf;//配置硬件接收地址
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//此处根据实际应用选择接收字节数，比如收到4字节数据头，在数据头解析后可知下次应该收多少字节
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JL_SPI->CNT = (u32)SPI_FIRST_DMA_SIZE;//写该寄存器则正式启动硬件接收，例如此处先接收4字节，接收 SPI_DMA_FISRT_SIZE 字节完就进spi_irq_cb中断解析
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printf("---> SPI_FIRST_DMA_SIZE = %d ,SPI_DMA_SIZE = %d\n", SPI_FIRST_DMA_SIZE, SPI_DMA_SIZE);
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printf("---> spi_head_info.kill = %d \n", spi_head_info.kill);
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while (1) {
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//5.接收数据查询
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#if IRQ_USE_SEM_POST
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ret = os_sem_pend(&spi_sem, 10);
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#else
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// os_time_dly(1);//延时1个tick，防止看门狗。不允许丢帧则注释这行：当注释掉这个行代码时，该任务优先级需要8以下（否则影响系统其他任务调度）。
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taskYIELD();//可以使用空闲时候调度任务一次
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#endif
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if (spi_head_info.kill) {
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spi_head_info.reinit = 0;
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printf("---> kill req \n");
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break;
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}
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#if 1
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now = timer_get_ms();
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if (last && (now - last) >= 1000) {
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printf("---> camera fp = %d \n", spi_head_info.fcnt - last_fp);
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last_fp = spi_head_info.fcnt;
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last = now;
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} else if (!last) {
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last = now;
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}
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#endif
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if (recv_read_cnt < recv_write_cnt || recv_read_cnt != recv_write_cnt) {
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app_recv_buf = (char *)(recv_buf + recv_read_cnt * RECV_SIZE_MAX);
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app_recv_len = SPI_CAMERA_ONFRAM_ONLY_Y_SIZE;
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head = (int *)app_recv_buf; //校验
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end = (int *)&app_recv_buf[app_recv_len - SPI_FEND_SIZE]; //校验
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if (*head == SPI_FSTART && *end == SPI_FEND) {
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read_buf = (char *)app_recv_buf;
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read_buf += SPI_FHEAD_SIZE;//偏移头
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wlen = 0;
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sline_cnt = 0;
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online_data_size = SPI_CAMERA_ONLINE_SIZE - SPI_LHEAD_SIZE - SPI_LEND_SIZE;
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while (wlen < SPI_CAMERA_ONFRAM_ONLY_Y_SIZE && read_buf < (read_buf + app_recv_len)) {
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head = (int *)read_buf;
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if (*head == SPI_LSTART) {
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sline_cnt++;
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memcpy((char *)app_recv_buf + wlen, (char *)((int)head + SPI_LHEAD_SIZE), online_data_size);
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wlen += online_data_size;
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read_buf += SPI_CAMERA_ONLINE_SIZE;
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continue;
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} else if (*head == SPI_FEND) {
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break;
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}
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read_buf += SPI_LHEAD_SIZE;
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}
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if (sline_cnt == SPI_CAMERA_H) {
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void send_yuv_data(char *buf, u16 len);
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send_yuv_data(app_recv_buf, wlen);
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//todo，数据处理
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}
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spi_head_info.err = 0;
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} else {
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spi_head_info.err++;
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printf("---> %d, %d \n", recv_read_cnt, recv_write_cnt);
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printf("--->recv err 0x%x, 0x%x \n", *head, *end);
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if (spi_head_info.err >= 5) {
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spi_head_info.reinit = TRUE;//需要重新打开摄像头
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spi_head_info.state = SPI_VIDEO_RESEST;
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break;
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}
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}
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//读取++
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recv_read_cnt = (++recv_read_cnt) >= RECV_FPS ? 0 : recv_read_cnt;
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}
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}
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exit:
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spi_camera_close();
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if (spi_hdl) { //关闭spi设备
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JL_SPI->CON &= ~BIT(0);
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dev_close(spi_hdl);
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}
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if (spi_head_info.reinit) {
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goto reinit;
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}
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#if !SPI_BUF_USE_SRAM
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if (recv_buf) { //释放内存
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free(recv_buf);
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recv_buf = NULL;
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}
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#endif
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spi_head_info.kill = 0;
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while (1) { //等待其他任务杀此任务
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os_time_dly(100);//延时100个tick，防止看门狗
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}
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}
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int spi_recv_task_init(void)
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{
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spi_head_info.kill = 0;
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os_task_create(spi_recv_task, NULL, 20, 2048, 0, "spi_recv_task");
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return 0;
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}
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int spi_recv_task_kill(void)
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{
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printf("---> spi_recv_task_kill\n");
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spi_head_info.kill = 1;
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#if IRQ_USE_SEM_POST
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os_sem_post(&spi_sem);
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#endif
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while (spi_head_info.kill) {
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os_time_dly(2);
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}
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task_kill("spi_recv_task");
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spi_head_info.kill = 0;
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return 0;
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}
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#endif
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