main.cpp

00001 #include "mbed.h"
00002 #include "EasyAttach_CameraAndLCD.h"
00003 #include "JPEG_Converter.h"
00004 #include "dcache-control.h"
00005 #include "DisplayApp.h"
00006 #include "FATFileSystem.h"
00007 
00008 /**** User Selection *********/
00009 /** JPEG out setting **/
00010 #define JPEG_ENCODE_QUALITY    (55)    /* JPEG encode quality (min:1, max:75 (Considering the size of JpegBuffer, about 75 is the upper limit.)) */
00011 #define VFIELD_INT_SKIP_CNT    (1)     /* A guide for GR-LYCHEE.  0:60fps, 1:30fps, 2:20fps, 3:15fps, 4:12fps, 5:10fps */
00012 /*****************************/
00013 
00014 /*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
00015     in accordance with the frame buffer burst transfer mode. */
00016 #define VIDEO_PIXEL_HW         (640u)  /* VGA */
00017 #define VIDEO_PIXEL_VW         (480u)  /* VGA */
00018 
00019 #define FRAME_BUFFER_STRIDE    (((VIDEO_PIXEL_HW * 2) + 31u) & ~31u)
00020 #define FRAME_BUFFER_HEIGHT    (VIDEO_PIXEL_VW)
00021 
00022 DisplayBase Display;
00023 
00024 #if defined(__ICCARM__)
00025 #pragma data_alignment=32
00026 static uint8_t user_frame_buffer0[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]@ ".mirrorram";
00027 #pragma data_alignment=32
00028 static uint8_t JpegBuffer[2][1024 * 64];
00029 static uint8_t JpegBuffer_Send[1024 * 64];
00030 #else
00031 static uint8_t user_frame_buffer0[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(32)));
00032 static uint8_t JpegBuffer[2][1024 * 64]__attribute((aligned(32)));
00033 static uint8_t JpegBuffer_Send[1024 * 64]__attribute((aligned(32)));
00034 #endif
00035 static size_t jcu_encode_size[2];
00036 static JPEG_Converter Jcu;
00037 static int jcu_buf_index_write = 0;
00038 static int jcu_buf_index_write_done = 0;
00039 static int jcu_buf_index_read = 0;
00040 static volatile int jcu_encoding = 0;
00041 static volatile int image_change = 0;
00042 static DisplayApp  display_app;
00043 static int Vfield_Int_Cnt = 0;
00044 
00045 static void JcuEncodeCallBackFunc(JPEG_Converter::jpeg_conv_error_t err_code)
00046 {
00047     if (err_code == JPEG_Converter::JPEG_CONV_OK) {
00048         jcu_buf_index_write_done = jcu_buf_index_write;
00049         image_change = 1;
00050     }
00051     jcu_encoding = 0;
00052 }
00053 
00054 static void snapshot(void)
00055 {
00056 
00057     while ((jcu_encoding == 1) || (image_change == 0)) {
00058         Thread::wait(1);
00059     }
00060     jcu_buf_index_read = jcu_buf_index_write_done;
00061     memcpy(JpegBuffer_Send, JpegBuffer[jcu_buf_index_read],1024 * 64);
00062     image_change = 0;
00063 
00064     display_app.SendJpeg(JpegBuffer_Send, (uint32_t)jcu_encode_size[jcu_buf_index_read]);
00065 }
00066 
00067 static void WaitGetCommand(void)
00068 {
00069     int flag;   
00070     bool blink_on = 0;
00071     bool blink_flag = 0;
00072     char command;
00073     DigitalOut led1(LED1);
00074     DigitalOut led2(LED2);
00075     DigitalOut led3(LED3);
00076     DigitalOut led4(LED4);    
00077     command = display_app.Getgetc();
00078            
00079     if(command=='1'){
00080         snapshot();     //撮影処理
00081     }
00082     
00083     else if(command == '4' or command == '5')
00084     {
00085         flag = 1;       //走行処理
00086         blink_on = true;
00087     }
00088     
00089     /*走行処理*/
00090             if(command == '4'){
00091                     led1 = 1;
00092             }else if (command == '5'){
00093                     blink_flag = !blink_flag;
00094                     led1 = 0;
00095                 if(blink_on == true and blink_flag == true){
00096                     led2 = !led2;
00097                 }
00098                 wait(1);
00099         }
00100     
00101     /*if (PcApp.readable()) {
00102         command = PcApp.getc();*/
00103             
00104              
00105              /*   
00106                                 
00107             } else if (data == '3') {
00108                 flag = 4;   //音声出力処理
00109                                
00110             } else if (data == '2') {
00111                 flag = 5;   //ライト点灯処理                
00112             }
00113             */
00114             
00115 
00116 }
00117 
00118 static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type)
00119 {
00120     if (Vfield_Int_Cnt < VFIELD_INT_SKIP_CNT) {
00121         Vfield_Int_Cnt++;
00122         return;
00123     }
00124     Vfield_Int_Cnt = 0;
00125 
00126     //Interrupt callback function
00127     if (jcu_encoding == 0) {
00128         JPEG_Converter::bitmap_buff_info_t bitmap_buff_info;
00129         JPEG_Converter::encode_options_t   encode_options;
00130 
00131         bitmap_buff_info.width              = VIDEO_PIXEL_HW;
00132         bitmap_buff_info.height             = VIDEO_PIXEL_VW;
00133         bitmap_buff_info.format             = JPEG_Converter::WR_RD_YCbCr422;
00134         bitmap_buff_info.buffer_address     = (void *)user_frame_buffer0;
00135 
00136         encode_options.encode_buff_size     = sizeof(JpegBuffer[0]);
00137         encode_options.p_EncodeCallBackFunc = &JcuEncodeCallBackFunc;
00138         encode_options.input_swapsetting    = JPEG_Converter::WR_RD_WRSWA_32_16_8BIT;
00139 
00140         jcu_encoding = 1;
00141         if (jcu_buf_index_read == jcu_buf_index_write) {
00142             jcu_buf_index_write ^= 1;  // toggle
00143         }
00144         jcu_encode_size[jcu_buf_index_write] = 0;
00145         dcache_invalid(JpegBuffer[jcu_buf_index_write], sizeof(JpegBuffer[0]));
00146         if (Jcu.encode(&bitmap_buff_info, JpegBuffer[jcu_buf_index_write],
00147                        &jcu_encode_size[jcu_buf_index_write], &encode_options) != JPEG_Converter::JPEG_CONV_OK) {
00148             jcu_encode_size[jcu_buf_index_write] = 0;
00149             jcu_encoding = 0;
00150         }
00151     }
00152 }
00153 
00154 static void Start_Video_Camera(void)
00155 {
00156     // Initialize the background to black
00157     for (uint32_t i = 0; i < sizeof(user_frame_buffer0); i += 2) {
00158         user_frame_buffer0[i + 0] = 0x10;
00159         user_frame_buffer0[i + 1] = 0x80;
00160     }
00161 
00162     // Interrupt callback function setting (Field end signal for recording function in scaler 0)
00163     Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VFIELD, 0, IntCallbackFunc_Vfield);
00164 
00165     // Video capture setting (progressive form fixed)
00166     Display.Video_Write_Setting(
00167         DisplayBase::VIDEO_INPUT_CHANNEL_0,
00168         DisplayBase::COL_SYS_NTSC_358,
00169         (void *)user_frame_buffer0,
00170         FRAME_BUFFER_STRIDE,
00171         DisplayBase::VIDEO_FORMAT_YCBCR422,
00172         DisplayBase::WR_RD_WRSWA_32_16BIT,
00173         VIDEO_PIXEL_VW,
00174         VIDEO_PIXEL_HW
00175     );
00176     EasyAttach_CameraStart(Display, DisplayBase::VIDEO_INPUT_CHANNEL_0);
00177 }
00178 
00179 int main(void)
00180 {
00181     Jcu.SetQuality(JPEG_ENCODE_QUALITY);
00182 
00183     EasyAttach_Init(Display);
00184     Start_Video_Camera();
00185 
00186     while (1) {
00187         WaitGetCommand();  
00188     }
00189 }