Ryo Hagimoto
GR-MANGO sample using mbed-os library from my repository.
Diff: sample_programs/sample_20_drp_dynamic_loading.cpp
- Revision:
- 0:b4c1e32627f2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sample_programs/sample_20_drp_dynamic_loading.cpp Mon Oct 12 02:25:49 2020 +0000
@@ -0,0 +1,406 @@
+/*******************************************************************************
+* DISCLAIMER
+* This software is supplied by Renesas Electronics Corporation and is only
+* intended for use with Renesas products. No other uses are authorized. This
+* software is owned by Renesas Electronics Corporation and is protected under
+* all applicable laws, including copyright laws.
+* THIS SOFTWARE IS PROVIDED "AS IS" AND RENESAS MAKES NO WARRANTIES REGARDING
+* THIS SOFTWARE, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING BUT NOT
+* LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
+* AND NON-INFRINGEMENT. ALL SUCH WARRANTIES ARE EXPRESSLY DISCLAIMED.
+* TO THE MAXIMUM EXTENT PERMITTED NOT PROHIBITED BY LAW, NEITHER RENESAS
+* ELECTRONICS CORPORATION NOR ANY OF ITS AFFILIATED COMPANIES SHALL BE LIABLE
+* FOR ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR
+* ANY REASON RELATED TO THIS SOFTWARE, EVEN IF RENESAS OR ITS AFFILIATES HAVE
+* BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+* Renesas reserves the right, without notice, to make changes to this software
+* and to discontinue the availability of this software. By using this software,
+* you agree to the additional terms and conditions found by accessing the
+* following link:
+* http://www.renesas.com/disclaimer
+*
+* Copyright (C) 2019 Renesas Electronics Corporation. All rights reserved.
+*******************************************************************************/
+#include "sample_select.h"
+
+#if (SAMPLE_PROGRAM_NO == 20)
+// SAMPLE_PROGRAM_NO 20 : DRP Dynamic Loading Sample
+//
+// Detects the edges of the input image from MIPI camera by Canny method using DRP and outputs to display.
+// Please refer to the document for details. (RZ_A2M_Mbed\drp-for-mbed\r_drp\doc)
+//
+// Please set the value of "camera-type" in "mbed_app.json" to null or "CAMERA_RASPBERRY_PI".
+//
+// "camera-type":{
+// "help": "Please see EasyAttach_CameraAndLCD/README.md",
+// "value": null
+// },
+//
+// or
+//
+// "camera-type":{
+// "help": "Please see EasyAttach_CameraAndLCD/README.md",
+// "value": "CAMERA_RASPBERRY_PI"
+// },
+//
+// Requirements
+// RZ/A2M Evaluation Board Kit : Display Output Board
+// SBEV-RZ/A2M : LVDS To HDMI Board
+// SEMB1402 : LVDS To HDMI Board
+
+#if !defined(TARGET_RZ_A2XX)
+#error "DRP and MIPI are not supported."
+#endif
+#if MBED_CONF_APP_CAMERA_TYPE != CAMERA_RASPBERRY_PI
+#error Please set the value of "camera-type" in "mbed_app.json" to "CAMERA_RASPBERRY_PI" and build.
+#endif
+
+#include "mbed.h"
+#include "EasyAttach_CameraAndLCD.h"
+#include "dcache-control.h"
+#include "AsciiFont.h"
+#include "r_dk2_if.h"
+#include "r_drp_bayer2grayscale.h"
+#include "r_drp_median_blur.h"
+#include "r_drp_canny_calculate.h"
+#include "r_drp_canny_hysterisis.h"
+
+#define RAM_TABLE_DYNAMIC_LOADING 1
+
+/*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
+ in accordance with the frame buffer burst transfer mode. */
+#define VIDEO_PIXEL_HW (640)
+#define VIDEO_PIXEL_VW (480)
+
+#define DATA_SIZE_PER_PIC (1u)
+#define FRAME_BUFFER_STRIDE (((VIDEO_PIXEL_HW * DATA_SIZE_PER_PIC) + 31u) & ~31u)
+#define FRAME_BUFFER_HEIGHT (VIDEO_PIXEL_VW)
+
+#define DRP_FLG_TILE_ALL (R_DK2_TILE_0 | R_DK2_TILE_1 | R_DK2_TILE_2 | R_DK2_TILE_3 | R_DK2_TILE_4 | R_DK2_TILE_5)
+#define DRP_FLG_CAMER_IN (0x00000100)
+
+static DisplayBase Display;
+static uint8_t fbuf_bayer[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((aligned(128)));
+static uint8_t fbuf_work0[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((aligned(32)));
+static uint8_t fbuf_work1[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((aligned(32)));
+static uint8_t fbuf_clat8[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((aligned(32)));
+static uint8_t fbuf_overlay[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(32)));
+static uint8_t drp_work_buf[((FRAME_BUFFER_STRIDE * ((FRAME_BUFFER_HEIGHT / 3) + 2)) * 2) * 3]__attribute((section("NC_BSS")));
+static uint8_t nc_memory[512] __attribute((section("NC_BSS")));
+static uint8_t drp_lib_id[R_DK2_TILE_NUM] = {0};
+static Thread drpTask(osPriorityHigh);
+
+#if RAM_TABLE_DYNAMIC_LOADING
+static uint8_t ram_drp_lib_bayer2grayscale[sizeof(g_drp_lib_bayer2grayscale)]__attribute((aligned(32)));
+static uint8_t ram_drp_lib_median_blur[sizeof(g_drp_lib_median_blur)]__attribute((aligned(32)));
+static uint8_t ram_drp_lib_canny_calculate[sizeof(g_drp_lib_canny_calculate)]__attribute((aligned(32)));
+static uint8_t ram_drp_lib_canny_hysterisis[sizeof(g_drp_lib_canny_hysterisis)]__attribute((aligned(32)));
+#endif
+
+static const uint32_t clut_data_resut[] = {0x00000000, 0xff00ff00}; // ARGB8888
+
+static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type) {
+ drpTask.flags_set(DRP_FLG_CAMER_IN);
+}
+
+static void cb_drp_finish(uint8_t id) {
+ uint32_t tile_no;
+ uint32_t set_flgs = 0;
+
+ // Change the operation state of the DRP library notified by the argument to finish
+ for (tile_no = 0; tile_no < R_DK2_TILE_NUM; tile_no++) {
+ if (drp_lib_id[tile_no] == id) {
+ set_flgs |= (1 << tile_no);
+ }
+ }
+ drpTask.flags_set(set_flgs);
+}
+
+static void Start_Video_Camera(void) {
+ // Video capture setting (progressive form fixed)
+ Display.Video_Write_Setting(
+ DisplayBase::VIDEO_INPUT_CHANNEL_0,
+ DisplayBase::COL_SYS_NTSC_358,
+ (void *)fbuf_bayer,
+ FRAME_BUFFER_STRIDE,
+ DisplayBase::VIDEO_FORMAT_RAW8,
+ DisplayBase::WR_RD_WRSWA_NON,
+ VIDEO_PIXEL_VW,
+ VIDEO_PIXEL_HW
+ );
+ EasyAttach_CameraStart(Display, DisplayBase::VIDEO_INPUT_CHANNEL_0);
+}
+
+static void Start_LCD_Display(void) {
+ DisplayBase::rect_t rect;
+ DisplayBase::clut_t clut_param;
+
+ rect.vs = 0;
+ rect.vw = VIDEO_PIXEL_VW;
+ rect.hs = 0;
+ rect.hw = VIDEO_PIXEL_HW;
+ Display.Graphics_Read_Setting(
+ DisplayBase::GRAPHICS_LAYER_0,
+ (void *)fbuf_clat8,
+ FRAME_BUFFER_STRIDE,
+ DisplayBase::GRAPHICS_FORMAT_CLUT8,
+ DisplayBase::WR_RD_WRSWA_32_16_8BIT,
+ &rect
+ );
+ Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_0);
+
+ memset(fbuf_overlay, 0, sizeof(fbuf_overlay));
+ clut_param.color_num = sizeof(clut_data_resut) / sizeof(uint32_t);
+ clut_param.clut = clut_data_resut;
+
+ rect.vs = 0;
+ rect.vw = VIDEO_PIXEL_VW;
+ rect.hs = 0;
+ rect.hw = VIDEO_PIXEL_HW;
+ Display.Graphics_Read_Setting(
+ DisplayBase::GRAPHICS_LAYER_2,
+ (void *)fbuf_overlay,
+ FRAME_BUFFER_STRIDE,
+ DisplayBase::GRAPHICS_FORMAT_CLUT8,
+ DisplayBase::WR_RD_WRSWA_32_16_8BIT,
+ &rect,
+ &clut_param
+ );
+ Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_2);
+
+ ThisThread::sleep_for(50);
+ EasyAttach_LcdBacklight(true);
+}
+
+static void drp_task(void) {
+ uint32_t idx;
+ uint32_t drp_time[8];
+ char str[64];
+ Timer t;
+ AsciiFont ascii_font(fbuf_overlay, VIDEO_PIXEL_HW, VIDEO_PIXEL_VW, FRAME_BUFFER_STRIDE, DATA_SIZE_PER_PIC);
+
+ EasyAttach_Init(Display);
+ Start_LCD_Display();
+ // Interrupt callback function setting (Field end signal for recording function in scaler 0)
+ Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VFIELD, 0, IntCallbackFunc_Vfield);
+ Start_Video_Camera();
+
+#if RAM_TABLE_DYNAMIC_LOADING
+ // Copy to RAM to increase the speed of dynamic loading.
+ memcpy(ram_drp_lib_bayer2grayscale, g_drp_lib_bayer2grayscale, sizeof(ram_drp_lib_bayer2grayscale));
+ memcpy(ram_drp_lib_median_blur, g_drp_lib_median_blur, sizeof(ram_drp_lib_median_blur));
+ memcpy(ram_drp_lib_canny_calculate, g_drp_lib_canny_calculate, sizeof(ram_drp_lib_canny_calculate));
+ memcpy(ram_drp_lib_canny_hysterisis, g_drp_lib_canny_hysterisis, sizeof(ram_drp_lib_canny_hysterisis));
+#endif
+
+ R_DK2_Initialize();
+
+ t.start();
+
+ while (true) {
+ ThisThread::flags_wait_all(DRP_FLG_CAMER_IN);
+
+ /* Load DRP Library */
+ /* +------------------+ */
+ /* tile 0 | Bayer2Grayscale | */
+ /* +------------------+ */
+ /* tile 1 | Bayer2Grayscale | */
+ /* +------------------+ */
+ /* tile 2 | Bayer2Grayscale | */
+ /* +------------------+ */
+ /* tile 3 | Bayer2Grayscale | */
+ /* +------------------+ */
+ /* tile 4 | Bayer2Grayscale | */
+ /* +------------------+ */
+ /* tile 5 | Bayer2Grayscale | */
+ /* +------------------+ */
+ /* fbuf_bayer -> fbuf_work0 */
+ t.reset();
+ R_DK2_Load(
+#if RAM_TABLE_DYNAMIC_LOADING
+ ram_drp_lib_bayer2grayscale,
+#else
+ g_drp_lib_bayer2grayscale,
+#endif
+ R_DK2_TILE_0 | R_DK2_TILE_1 | R_DK2_TILE_2 | R_DK2_TILE_3 | R_DK2_TILE_4 | R_DK2_TILE_5,
+ R_DK2_TILE_PATTERN_1_1_1_1_1_1, NULL, &cb_drp_finish, drp_lib_id);
+ R_DK2_Activate(0, 0);
+ drp_time[0] = t.read_us();
+
+ t.reset();
+ r_drp_bayer2grayscale_t * param_b2g = (r_drp_bayer2grayscale_t *)nc_memory;
+ for (idx = 0; idx < R_DK2_TILE_NUM; idx++) {
+ param_b2g[idx].src = (uint32_t)fbuf_bayer + (VIDEO_PIXEL_HW * (VIDEO_PIXEL_VW / R_DK2_TILE_NUM) * idx);
+ param_b2g[idx].dst = (uint32_t)fbuf_work0 + (VIDEO_PIXEL_HW * (VIDEO_PIXEL_VW / R_DK2_TILE_NUM) * idx);
+ param_b2g[idx].width = VIDEO_PIXEL_HW;
+ param_b2g[idx].height = VIDEO_PIXEL_VW / R_DK2_TILE_NUM;
+ param_b2g[idx].top = (idx == 0) ? 1 : 0;
+ param_b2g[idx].bottom = (idx == 5) ? 1 : 0;
+ R_DK2_Start(drp_lib_id[idx], (void *)¶m_b2g[idx], sizeof(r_drp_bayer2grayscale_t));
+ }
+ ThisThread::flags_wait_all(DRP_FLG_TILE_ALL);
+ R_DK2_Unload(0, drp_lib_id);
+ drp_time[1] = t.read_us();
+
+
+ /* Load DRP Library */
+ /* +------------------+ */
+ /* tile 0 | MedianBlur | */
+ /* +------------------+ */
+ /* tile 1 | MedianBlur | */
+ /* +------------------+ */
+ /* tile 2 | MedianBlur | */
+ /* +------------------+ */
+ /* tile 3 | MedianBlur | */
+ /* +------------------+ */
+ /* tile 4 | MedianBlur | */
+ /* +------------------+ */
+ /* tile 5 | MedianBlur | */
+ /* +------------------+ */
+ /* fbuf_work0 -> fbuf_work1 */
+ t.reset();
+ R_DK2_Load(
+#if RAM_TABLE_DYNAMIC_LOADING
+ ram_drp_lib_median_blur,
+#else
+ g_drp_lib_median_blur,
+#endif
+ R_DK2_TILE_0 | R_DK2_TILE_1 | R_DK2_TILE_2 | R_DK2_TILE_3 | R_DK2_TILE_4 | R_DK2_TILE_5,
+ R_DK2_TILE_PATTERN_1_1_1_1_1_1, NULL, &cb_drp_finish, drp_lib_id);
+ R_DK2_Activate(0, 0);
+ drp_time[2] = t.read_us();
+
+ t.reset();
+ r_drp_median_blur_t * param_median = (r_drp_median_blur_t *)nc_memory;
+ for (idx = 0; idx < R_DK2_TILE_NUM; idx++) {
+ param_median[idx].src = (uint32_t)fbuf_work0 + (VIDEO_PIXEL_HW * (VIDEO_PIXEL_VW / R_DK2_TILE_NUM) * idx);
+ param_median[idx].dst = (uint32_t)fbuf_work1 + (VIDEO_PIXEL_HW * (VIDEO_PIXEL_VW / R_DK2_TILE_NUM) * idx);
+ param_median[idx].width = VIDEO_PIXEL_HW;
+ param_median[idx].height = VIDEO_PIXEL_VW / R_DK2_TILE_NUM;
+ param_median[idx].top = (idx == 0) ? 1 : 0;
+ param_median[idx].bottom = (idx == 5) ? 1 : 0;
+ R_DK2_Start(drp_lib_id[idx], (void *)¶m_median[idx], sizeof(r_drp_median_blur_t));
+ }
+ ThisThread::flags_wait_all(DRP_FLG_TILE_ALL);
+ R_DK2_Unload(0, drp_lib_id);
+ drp_time[3] = t.read_us();
+
+
+ /* Load DRP Library */
+ /* +------------------+ */
+ /* tile 0 | | */
+ /* + CannyCalculate + */
+ /* tile 1 | | */
+ /* +------------------+ */
+ /* tile 2 | | */
+ /* + CannyCalculate + */
+ /* tile 3 | | */
+ /* +------------------+ */
+ /* tile 4 | | */
+ /* + CannyCalculate + */
+ /* tile 5 | | */
+ /* +------------------+ */
+ /* fbuf_work1 -> fbuf_work0 */
+ t.reset();
+ R_DK2_Load(
+#if RAM_TABLE_DYNAMIC_LOADING
+ ram_drp_lib_canny_calculate,
+#else
+ g_drp_lib_canny_calculate,
+#endif
+ R_DK2_TILE_0 | R_DK2_TILE_2 | R_DK2_TILE_4,
+ R_DK2_TILE_PATTERN_2_2_2, NULL, &cb_drp_finish, drp_lib_id);
+ R_DK2_Activate(0, 0);
+ drp_time[4] = t.read_us();
+
+ t.reset();
+ r_drp_canny_calculate_t * param_canny_cal = (r_drp_canny_calculate_t *)nc_memory;
+ for (idx = 0; idx < 3; idx++) {
+ param_canny_cal[idx].src = (uint32_t)fbuf_work1 + (VIDEO_PIXEL_HW * (VIDEO_PIXEL_VW / 3) * idx);
+ param_canny_cal[idx].dst = (uint32_t)fbuf_work0 + (VIDEO_PIXEL_HW * (VIDEO_PIXEL_VW / 3) * idx);
+ param_canny_cal[idx].width = VIDEO_PIXEL_HW;
+ param_canny_cal[idx].height = (VIDEO_PIXEL_VW / 3);
+ param_canny_cal[idx].top = ((idx * 2) == 0) ? 1 : 0;
+ param_canny_cal[idx].bottom = ((idx * 2) == 4) ? 1 : 0;
+ param_canny_cal[idx].work = (uint32_t)&drp_work_buf[((VIDEO_PIXEL_HW * ((VIDEO_PIXEL_VW / 3) + 2)) * 2) * idx];
+ param_canny_cal[idx].threshold_high = 0x28;
+ param_canny_cal[idx].threshold_low = 0x18;
+ R_DK2_Start(drp_lib_id[(idx * 2)], (void *)¶m_canny_cal[idx], sizeof(r_drp_canny_calculate_t));
+ }
+ ThisThread::flags_wait_all(DRP_FLG_TILE_ALL);
+ R_DK2_Unload(0, drp_lib_id);
+ drp_time[5] = t.read_us();
+
+
+ /* Load DRP Library */
+ /* +------------------+ */
+ /* tile 0 | | */
+ /* + + */
+ /* tile 1 | | */
+ /* + + */
+ /* tile 2 | | */
+ /* + CannyHysterisis + */
+ /* tile 3 | | */
+ /* + + */
+ /* tile 4 | | */
+ /* + + */
+ /* tile 5 | | */
+ /* +------------------+ */
+ /* fbuf_work0 -> fbuf_clat8 */
+ t.reset();
+ R_DK2_Load(
+#if RAM_TABLE_DYNAMIC_LOADING
+ ram_drp_lib_canny_hysterisis,
+#else
+ g_drp_lib_canny_hysterisis,
+#endif
+ R_DK2_TILE_0,
+ R_DK2_TILE_PATTERN_6, NULL, &cb_drp_finish, drp_lib_id);
+ R_DK2_Activate(0, 0);
+ drp_time[6] = t.read_us();
+
+ t.reset();
+ r_drp_canny_hysterisis_t * param_canny_hyst = (r_drp_canny_hysterisis_t *)nc_memory;
+ param_canny_hyst[0].src = (uint32_t)fbuf_work0;
+ param_canny_hyst[0].dst = (uint32_t)fbuf_clat8;
+ param_canny_hyst[0].width = VIDEO_PIXEL_HW;
+ param_canny_hyst[0].height = VIDEO_PIXEL_VW;
+ param_canny_hyst[0].work = (uint32_t)drp_work_buf;
+ param_canny_hyst[0].iterations = 2;
+ R_DK2_Start(drp_lib_id[0], (void *)¶m_canny_hyst[0], sizeof(r_drp_canny_hysterisis_t));
+ ThisThread::flags_wait_all(DRP_FLG_TILE_ALL);
+ R_DK2_Unload(0, drp_lib_id);
+ drp_time[7] = t.read_us();
+
+
+ // Display DRP time
+ sprintf(str, "Bayer2Grayscale : Load %2.1fms + Run %2.1fms",
+ (float_t)drp_time[0] / 1000, (float_t)drp_time[1] / 1000);
+ ascii_font.DrawStr(str, 5, 5 + (AsciiFont::CHAR_PIX_HEIGHT + 1) * 0, 1, 2);
+ sprintf(str, "MedianBlur : Load %2.1fms + Run %2.1fms",
+ (float_t)drp_time[2] / 1000, (float_t)drp_time[3] / 1000);
+ ascii_font.DrawStr(str, 5, 5 + (AsciiFont::CHAR_PIX_HEIGHT + 1) * 2, 1, 2);
+ sprintf(str, "CannyCalculate : Load %2.1fms + Run %2.1fms",
+ (float_t)drp_time[4] / 1000, (float_t)drp_time[5] / 1000);
+ ascii_font.DrawStr(str, 5, 5 + (AsciiFont::CHAR_PIX_HEIGHT + 1) * 4, 1, 2);
+ sprintf(str, "CannyHysterisis : Load %2.1fms + Run %2.1fms",
+ (float_t)drp_time[6] / 1000, (float_t)drp_time[7] / 1000);
+ ascii_font.DrawStr(str, 5, 5 + (AsciiFont::CHAR_PIX_HEIGHT + 1) * 6, 1, 2);
+
+ uint32_t time_sum = 0;
+ for (int i = 0; i < 8; i++) {
+ time_sum += drp_time[i];
+ }
+ sprintf(str, "Total : %2.1fms", (float_t)time_sum / 1000);
+ ascii_font.DrawStr(str, 5, 5 + (AsciiFont::CHAR_PIX_HEIGHT + 1) * 8, 1, 2);
+ }
+}
+
+int main(void) {
+ // Start DRP task
+ drpTask.start(callback(drp_task));
+
+ ThisThread::sleep_for(osWaitForever);
+}
+
+#endif