?? 張昆修改.c
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/****************************************Copyright (c)**************************************************
** cc.c
** 功能：在英蓓特實驗箱STN LCD上顯示兩個ov511攝像頭測距數字的程序
**
**
**--------------File Info-------------------------------------------------------------------------------
** Created By:陳超 刪掉試試編譯，，程序能編譯成功，，在試驗箱能運行就行了
** Created date: 2008-03-07 ，，估計是宏定義和頭文件+子函數一起配套的，，少了的話可能有的子函數不能工作，
** Version: v1.0
** Descriptions:
********************************************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <linux/videodev.h>
#include <sys/ioctl.h>
#include<string.h>
#include <fcntl.h>
#include <linux/fb.h>
#include <sys/mman.h>
#include <math.h>
#define ERR_FRAME_BUFFER 1
#define ERR_VIDEO_OPEN 2
#define ERR_VIDEO_GCAP 3
#define ERR_VIDEO_GPIC 4
#define ERR_VIDEO_SPIC 5
#define ERR_SYNC 6
#define ERR_FRAME_USING 7
#define ERR_GET_FRAME 8
typedef struct _fb_v4l
{
// FrameBuffer 信息
int fbfd ; // FrameBuffer設備句柄
struct fb_var_screeninfo vinfo; // FrameBuffer屏幕可變的信息
struct fb_fix_screeninfo finfo; // FrameBuffer固定不變的信息
char *fbp; // FrameBuffer 內存指針
// video4linux信息
int fd; //
struct video_capability capability; //
struct video_buffer buffer; //
struct video_window window; //
struct video_channel channel[8]; //
struct video_picture picture; //
struct video_tuner tuner; //
struct video_audio audio[8]; //
struct video_mmap mmap; //
struct video_mbuf mbuf; //
unsigned char *map; //mmap方式獲取數據時，數據的首地址
int frame_current;
int frame_using[VIDEO_MAX_FRAME];
}fb_v4l1,fb_v4l2; //定義新類型名fb_v4l，它代表上面定義的結構體類型
#define DEFAULT_PALETTE VIDEO_PALETTE_RGB24
#define FB_FILE "/dev/fb/0" //設備路徑和設備名 device/framebuffer/設備號0
#define V4L_FILE0 "/dev/v4l/video0"
#define V4L_FILE1 "/dev/v4l/video1"
#define X_SIZE 960
#define Y_SIZE 240
/*********************************************************************************************************
** Function name: get_grab_frame
** Descriptions: 獲取圖像幀，該函數調用了VIDIOCMCAPTURE的ioctl，獲取一幀圖片
** Input: *vd1， 參數指針
** frame, 幀號
** Output : 無
** Created by:函數名: ioctl
功 能: 控制I/O設備
用 法: int ioctl(int handle, int cmd,[int *argdx, int argcx]);
** Created Date:
**-------------------------------------------------------------------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
int get_grab_frame1(fb_v4l1 *vd1, int frame) //vd1是一個指向fb_v4l類型結構體的指針變量
{
if (vd1->frame_using[frame]) {
fprintf(stderr, "get_grab_frame: frame %d is already used.\n", frame);
return ERR_FRAME_USING;
}
vd1->mmap.frame = frame;
if (ioctl(vd1->fd, VIDIOCMCAPTURE, &(vd1->mmap)) < 0)
{
perror("v4l_grab_frame");
return ERR_GET_FRAME;
}
vd1->frame_using[frame] = 1;
vd1->frame_current = frame;
return 0;
}
int get_grab_frame2(fb_v4l2 *vd2, int frame) //vd2是一個指向fb_v4l類型結構體的指針變量
{
if (vd2->frame_using[frame]) {
fprintf(stderr, "get_grab_frame: frame %d is already used.\n", frame);
return ERR_FRAME_USING;
}
vd2->mmap.frame = frame;
if (ioctl(vd2->fd, VIDIOCMCAPTURE, &(vd2->mmap)) < 0)
{
perror("v4l_grab_frame");
return ERR_GET_FRAME;
}
vd2->frame_using[frame] = 1;
vd2->frame_current = frame;
return 0;
}
/*********************************************************************************************************
** Function name: get_next_frame
** Descriptions: 獲取下一幀的圖像
** Input: *vd1 ,參數指針函數名: ioctl
功 能: 控制I/O設備
用 法: int ioctl(int handle, int cmd,[int *argdx, int argcx]);
** Output : 無
** Created by:
** Created Date:
**-------------------------------------------------------------------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
int get_first_frame1(fb_v4l1 *vd1)
{
int ret;
vd1->frame_current = 0;
ret = get_grab_frame1( vd1, 0 );
if ( ret<0 )
return ret;
// 等待幀同步
if (ioctl(vd1->fd, VIDIOCSYNC, &(vd1->frame_current)) < 0)
{ perror("v4l1_grab_sync");
return ERR_SYNC;
}
vd1->frame_using[vd1->frame_current] = 0 ;
return (0);
}
int get_first_frame2(fb_v4l2 *vd2)
{
int ret;
vd2->frame_current = 0;
ret = get_grab_frame2( vd2, 0 );
if ( ret<0 )
return ret;
// 等待幀同步
if (ioctl(vd2->fd, VIDIOCSYNC, &(vd2->frame_current)) < 0)
{ perror("v4l2_grab_sync");
return ERR_SYNC;
}
vd2->frame_using[vd2->frame_current] = 0 ;
return (0);
}
/*********************************************************************************************************
** Function name: get_next_frame
** Descriptions: 獲取下一幀的圖像
** Input: *vd ,參數指針
** Output : 返回0表示正常完成返回。
** Created by:
** Created Date:
**----------------------------------------------------------- 123123123123123-------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
int get_next_frame1(fb_v4l1 *vd1)
{
int ret;
vd1->frame_current ^= 1; // ^為位 異或算式運算符
ret = get_grab_frame1( vd1,vd1->frame_current); // 獲取圖像數據
//if( ret < 0 )
// return ret;
if (ioctl(vd1->fd, VIDIOCSYNC, &(vd1->frame_current)) < 0) // 等待幀同步
{ perror("v4l1_grab_sync");
return ERR_SYNC;
}
vd1->frame_using[vd1->frame_current] = 0 ;
return 0;
}
int get_next_frame2(fb_v4l2 *vd2)
{
int ret;
vd2->frame_current ^= 1; // ^為位 異或算式運算符
ret = get_grab_frame2( vd2,vd2->frame_current); // 獲取圖像數據
//if( ret < 0 )
// return ret;
if (ioctl(vd2->fd, VIDIOCSYNC, &(vd2->frame_current)) < 0) // 等待幀同步
{ perror("v4l2_grab_sync");
return ERR_SYNC;
}
vd2->frame_using[vd2->frame_current] = 0 ;
return 0;
}
/*********************************************************************************************************
** Function name: get_frame_address
** Descriptions: 獲取幀地址.調用該函數可以獲取當前幀的緩沖地址
** Input: *vd ,參數指針
** Output : 返回幀圖像數據的指針地址.
** Created by:
** Created Date:
**-------------------------------------------------------------------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
unsigned char *get_frame_address1(fb_v4l1 *vd1)
{
return (vd1->map + vd1->mbuf.offsets[vd1->frame_current]); // 從MAP內存中找到當前幀的起始指針
}
unsigned char *get_frame_address2(fb_v4l1 *vd1)
{
return (vd1->map + vd1->mbuf.offsets[vd1->frame_current]); // 從MAP內存中找到當前幀的起始指針
}
unsigned char *get_frame_address3(fb_v4l2 *vd2)
{
return (vd2->map + vd2->mbuf.offsets[vd2->frame_current]); // 從MAP內存中找到當前幀的起始指針
}
unsigned char *get_frame_address4(fb_v4l2 *vd2)
{
return (vd2->map + vd2->mbuf.offsets[vd2->frame_current]); // 從MAP內存中找到當前幀的起始指針
}
/*******************************************************************************************************************
**把rgb顏色，，，填充到內存framebuffer1中
/**************************************** ****************************************************************************/
void rgb_to_framebuffer1( fb_v4l1 *vd1, //
int width,int height, // 圖像大小
int xoffset,int yoffset, // 圖像在Framebuffer偏移位置
unsigned char *img_ptr ) // 圖像數據指針
{
int x,y;
int location;
// Figure out where in memory to put the pixel
for ( y = 0; y < height; y++ ) // 縱掃描
{
for ( x = 0; x < width; x++ ) // 行掃描
{
location = (x + xoffset) +
(y + yoffset) * vd1->finfo.line_length;
*((unsigned short int*)(vd1->fbp + location )) = *img_ptr++;
}
}
}
void rgb_to_framebuffer2( fb_v4l2 *vd2, //
int width,int height, // 圖像大小
int xoffset,int yoffset, // 圖像在Framebuffer偏移位置
unsigned char *img_ptr ) // 圖像數據指針
{
int x,y;
int location;
// Figure out where in memory to put the pixel
for ( y = 0; y < height; y++ ) // 縱掃描
{
for ( x = 0; x < width; x++ ) // 行掃描
{
location = (x + xoffset) +
(y + yoffset) * vd2->finfo.line_length;
*((unsigned short int*)(vd2->fbp + location )) = *img_ptr++;
}
}
}
/*********************************************************************************************************
** Function name: open_framebuffer
** Descriptions: 該函數用于初始化FrameBuffer設備，在該函數中打開FrameBuffer設備，并將設備影射到內存
** Input: *ptr,打開Framebuffer設備路徑指針
** *vd ,參數指針
** Output : 返回非0值表示出錯
** Created by:
** Created Date:
**-------------------------------------------------------------------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
int open_framebuffer1(char *ptr,fb_v4l1 *vd1)
{
int fbfd,screensize;
// Open the file for reading and writing
fbfd = open( ptr, O_RDWR);
if (fbfd < 0)
{
printf("Error: cannot open framebuffer device.%x\n",fbfd);
return ERR_FRAME_BUFFER;
}
printf("The framebuffer device was opened successfully1.\n");
vd1->fbfd = fbfd; // 保存打開FrameBuffer設備的句柄
// Get fixed screen information 獲取FrameBuffer固定不變的信息
if (ioctl(fbfd, FBIOGET_FSCREENINFO, &vd1->finfo))
{
printf("Error: reading fixed information1.\n");
return ERR_FRAME_BUFFER;
}
// Get variable screen information 獲取FrameBuffer屏幕可變的信息
if (ioctl(fbfd, FBIOGET_VSCREENINFO, &vd1->vinfo))
{
printf("Error: reading variable information1.\n");
return ERR_FRAME_BUFFER;
}
printf("%dx%d, %dbpp, xoffset=%d ,yoffset=%d \n", vd1->vinfo.xres,
vd1->vinfo.yres, vd1->vinfo.bits_per_pixel,vd1->vinfo.xoffset,vd1->vinfo.yoffset );
// Figure out the size of the screen in bytes用字節
screensize = vd1->vinfo.xres * vd1->vinfo.yres * vd1->vinfo.bits_per_pixel / 8;
// Map the device to memory 映射設備到內存
vd1->fbp = (char *)mmap(0,screensize,PROT_READ|PROT_WRITE,MAP_SHARED,fbfd,0); // 影射Framebuffer設備到內存
if ((int)vd1->fbp == -1)
{
printf("Error: failed to map framebuffer device to memory1.\n");
return ERR_FRAME_BUFFER;
}
printf("The framebuffer device was mapped to memory successfully1.\n");
return 0;
}
/*********************************************************************************************************
** Function name: open_framebuffer
** Descriptions: 該函數用于初始化FrameBuffer設備，在該函數中打開FrameBuffer設備，并將設備影射到內存
** Input: *ptr,打開Framebuffer設備路徑指針
** *vd1 ,參數指針
** Output : 返回非0值表示出錯
** Created by:
** Created Date:
**-------------------------------------------------------------------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
int open_framebuffer2(char *ptr,fb_v4l2 *vd2)
{
int fbfd,screensize;
// Open the file for reading and writing
fbfd = open( ptr, O_RDWR);
if (fbfd < 0)
{
printf("Error: cannot open framebuffer device2.%x\n",fbfd);
return ERR_FRAME_BUFFER;
}
printf("The framebuffer device was opened successfully2.\n");
vd2->fbfd = fbfd; // 保存打開FrameBuffer設備的句柄
// Get fixed screen information 獲取FrameBuffer固定不變的信息
if (ioctl(fbfd, FBIOGET_FSCREENINFO, &vd2->finfo))
{
printf("Error: reading fixed information2.\n");
return ERR_FRAME_BUFFER;
}
// Get variable screen information 獲取FrameBuffer屏幕可變的信息
if (ioctl(fbfd, FBIOGET_VSCREENINFO, &vd2->vinfo))
{
printf("Error: reading variable information2.\n");
return ERR_FRAME_BUFFER;
}
printf("%dx%d, %dbpp, xoffset=%d ,yoffset=%d \n", vd2->vinfo.xres,
vd2->vinfo.yres, vd2->vinfo.bits_per_pixel,vd2->vinfo.xoffset,vd2->vinfo.yoffset );
// Figure out the size of the screen in bytes用字節
screensize = vd2->vinfo.xres * vd2->vinfo.yres * vd2->vinfo.bits_per_pixel / 8;
// Map the device to memory
vd2->fbp = (char *)mmap(0,screensize,PROT_READ|PROT_WRITE,MAP_SHARED,fbfd,0); // 影射Framebuffer設備到內存
if ((int)vd2->fbp == -1)
{
printf("Error: failed to map framebuffer device to memory2.\n");
return ERR_FRAME_BUFFER;
}
printf("The framebuffer device was mapped to memory successfully2.\n");
return 0;
}
/*********************************************************************************************************
** Function name: open_video
** Descriptions: 通過該函數初始化視頻設備
** Input: *fileptr，打開的文件名指針
** *vd， 參數指針
** dep， 像素深度
** pal， 調色板
** width， 寬度
** height， 高度
** Output : 無
** Created by:
** Created Date:
**-------------------------------------------------------------------------------------------------------
** Modified by:
** Modified Date:
**------------------------------------------------------------------------------------------------------
********************************************************************************************************/
int open_video1( char *fileptr,fb_v4l1 *vd1 ,int dep,int pal,int width,int height)
{
// 打開視頻設備
if ((vd1->fd = open(fileptr, O_RDWR)) < 0)
{
perror("v4l1_open:");
return ERR_VIDEO_OPEN;
}
// 獲取設備
if (ioctl(vd1->fd, VIDIOCGCAP, &(vd1->capability)) < 0)
{
perror("v4l1_get_capability:");
return ERR_VIDEO_GCAP;
}
// 獲取圖象
if (ioctl(vd1->fd, VIDIOCGPICT, &(vd1->picture)) < 0)
{
perror("v4l1_get_picture");
return ERR_VIDEO_GPIC;
}
// 設置圖象
vd1->picture.palette = pal; // 調色板
vd1->picture.depth = dep; // 像素深度
vd1->mmap.format =pal;
if (ioctl(vd1->fd, VIDIOCSPICT, &(vd1->picture)) < 0)
{
perror("v4l1_set_palette");
return ERR_VIDEO_SPIC;
}
//
vd1->mmap.width = width; // width;
vd1->mmap.height = height; // height;
vd1->mmap.format = vd1->picture.palette;
vd1->frame_current = 0;
vd1->frame_using[0] = 0;
vd1->frame_using[1] = 0;
// 獲取緩沖影射信息
if (ioctl(vd1->fd, VIDIOCGMBUF, &(vd1->mbuf)) < 0)
{
perror("v4l1_get_mbuf");
return -1;
}
// 建立設備內存影射
vd1->map = mmap(0, vd1->mbuf.size, PROT_READ|PROT_WRITE, MAP_SHARED, vd1->fd, 0);
if ( vd1->map < 0)
{
perror("v4l1_mmap_init:mmap");
return -1;
}
printf("The video device was opened successfully1.\n");
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