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uvc.c
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/*
Author: Aviv Greenberg - www.linkedin.com/in/avivgr/
*/
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdint.h>
#include <stdio.h>
#include "uart.h"
#include "uvc.h"
#define DBG(x) uart_print(x)
#define DBG_ONCE(x) { \
static uint8_t __cnt = 0;\
if(__cnt == 0) {uart_print(x);__cnt++;} \
}
char _buff[64];
#define DBGV(format, ...) \
snprintf_P(_buff, sizeof(_buff)-1, PSTR(format), __VA_ARGS__);\
uart_print_S(_buff);
#define STR_MANUFACTURER L"Acme"
#define STR_MANUFACTURER_I 1
#define STR_PRODUCT L"Teensy UVC Camera"
#define STR_PRODUCT_I 2
#define VENDOR_ID 0x046e
#define PRODUCT_ID 0x375d
// Endpoint config
#define ENDPOINT0_SIZE 16
#define UVC_INTERFACE 0
#define UVC_TX_ENDPOINT 1
#define UVC_TX_BUFFER EP_DOUBLE_BUFFER
#define UVC_TX_SIZE 256
#define BPP 12
#define HEIGHT 120L
#define WIDTH 160L
#define FRAME_SIZE (HEIGHT*WIDTH*BPP/8)
static const uint8_t PROGMEM endpoint_config_table[] = {
1, EP_TYPE_ISOCHRONOUS_IN, EP_SIZE(UVC_TX_SIZE) | UVC_TX_BUFFER,
0,
0,
0
};
static const uint8_t PROGMEM device_descriptor[] = {
18, // bLength
USB_DT_DEVICE, // bDescriptorType
W_TO_B(0x0200), // bcdUSB
0xef, // bDeviceClass = Miscellaneous Device Class
0x02, // bDeviceSubClass = Common Class
0x01, // bDeviceProtocol = Interface Association Descriptor
ENDPOINT0_SIZE, // bMaxPacketSize0
W_TO_B(VENDOR_ID), // idVendor
W_TO_B(PRODUCT_ID), // idProduct
W_TO_B(0x0100), // bcdDevice
STR_MANUFACTURER_I, // iManufacturer
STR_PRODUCT_I, // iProduct
0, // iSerialNumber
1 // bNumConfigurations
};
#define CONFIG1_DESC_SIZE (9+8+9+13+17+9+7+12+9+14+27+46+9+7)
#define VC_DESC_SIZE (13+17+9+7+12)
#define VS_DESC_SIZE (14+27+46)
/* Terminal IDs */
#define INPUT_TERMINAL_ID 0x01
#define OUTPUT_TERMINAL_ID 0x02
#define SU_TERMINAL_ID 0x03
#define PU_TERMINAL_ID 0x04
#define VIDEOC_IFACE 0x00
#define VIDEOS_IFACE 0x01
static const uint8_t PROGMEM config1_descriptor[] = {
// configuration descriptor, USB spec 9.6.3, page 264-266, Table 9-10
9, // bLength;
USB_DT_CONFIG, // bDescriptorType;
W_TO_B(CONFIG1_DESC_SIZE), // wTotalLength
2, // bNumInterfaces
1, // bConfigurationValue
0, // iConfiguration
0x80, // bmAttributes = Bus-powered device, no remote wakeup capability
0xFA, // bMaxPower
// Interface Association Descriptor
8, // bLength
USB_DT_IAD, // bDescriptorType
0x00, // bFirstInterface = Interface number of the VideoControl interface for this function
0x02, // bInterfaceCount = Number of contiguous Video interfaces that are for this function
CC_VIDEO, // bFunctionClass = CC_VIDEO
UVC_SC_VIDEO_INTERFACE_COLLECTION,// bFunctionSubClass = SC_VIDEO_INTERFACE_COLLECTION
0x00, // bFunctionProtocol = Not used. Must be set to PC_PROTOCOL_UNDEFINED.
STR_PRODUCT_I, // iFunction = Index to product string descriptor
// Standard VideoControl Interface Descriptor
9, // bLength = Size of this descriptor, in bytes.
USB_DT_INTERFACE, // bDescriptorType = INTERFACE descriptor type
VIDEOC_IFACE, // bInterfaceNumber = Index of this interface
0x00, // bAlternateSetting = Index of this setting
0x00, // bNumEndpoints = 0 endpoints (NO interrupt endpoint)
CC_VIDEO, // bInterfaceClass = CC_VIDEO
UVC_SC_VIDEOCONTROL,// bInterfaceSubClass = SC_VIDEOCONTROL
0x00, // bInterfaceProtocol = Not used. Must be set to PC_PROTOCOL_UNDEFINED.
STR_PRODUCT_I, // iInterface = Index to string descriptor that contains the product string
// Class-specific VideoControl Interface Descriptor
13, // bLength = Size of this descriptor, in bytes.
UVC_DT_CS_INTERFACE,// bDescriptorType = UVC_DT_CS_INTERFACE
UVC_VC_HEADER, // bDescriptorSubType = VC_HEADER subtype
W_TO_B(0x0110), // bcdUVC = 0x0110 version 1.1.
W_TO_B(VC_DESC_SIZE),// wTotalLength = Total size of class-specific descriptors
DW_TO_B(0x005B8D80),// dwClockFrequency = deprecated. 0x005B8D80 This device will provide timestamps and a device clock reference based on a 6MHz clock.
0x01, // bInCollection = Number of streaming interfaces.
0x01, // baInterfaceNr(1) = VideoStreaming interface 1 belongs to this VideoControl interface.
// Input Terminal Descriptor (Camera)
17, // bLength = Size of this descriptor, in bytes.
UVC_DT_CS_INTERFACE,// bDescriptorType = UVC_DT_CS_INTERFACE
UVC_VC_INPUT_TERMINAL,// bDescriptorSubtype = VC_INPUT_TERMINAL subtype
INPUT_TERMINAL_ID, // bTerminalID = ID of this input terminal
W_TO_B(UVC_ITT_CAMERA),// wTerminalType = ITT_CAMERA type. This terminal is a camera terminal representing the CCD sensor.
0x00, // bAssocTerminal = No association
0x00, // iTerminal = Unused
W_TO_B(0x0000), // wObjectiveFocalLengthMin = No optical zoom supported
W_TO_B(0x0000), // wObjectiveFocalLengthMax = No optical zoom supported
W_TO_B(0x0000), // wOcularFocalLength = No optical zoom supported
0x02, // bControlSize = The size of the bmControls is 2 bytes (this terminal doesn’t implement any controls).
W_TO_B(0x0000), // bmControls = No controls are supported.
// Output Terminal Descriptor
9, // bLength = Size of this descriptor, in bytes.
UVC_DT_CS_INTERFACE,// bDescriptorType = UVC_DT_CS_INTERFACE
UVC_VC_OUTPUT_TERMINAL, // bDescriptorSubtype = VC_OUTPUT_TERMINAL
OUTPUT_TERMINAL_ID, // bTerminalID = ID of this terminal
W_TO_B(UVC_TT_STREAMING),// wTerminalType = TT_STREAMING type. This terminal is a USB streaming terminal.
0x00, // bAssocTerminal = No association
PU_TERMINAL_ID, // bSourceID = The input pin of this unit is connected to the output pin of this unit.
0x00, // iTerminal = Unused
// Selector Unit Terminal Descriptor
7, // bLength
UVC_DT_CS_INTERFACE,// bDescriptorType
UVC_VC_SELECTOR_UNIT,// bDescriptorSubtype (SELECTOR_UNIT)
SU_TERMINAL_ID, // bUnitID
1, // bNrInPins
INPUT_TERMINAL_ID, // baSource( 0)
0, // iSelector
// Processing Unit Descriptor
12, // bLength = Size of this descriptor, in bytes.
UVC_DT_CS_INTERFACE, // bDescriptorType = UVC_DT_CS_INTERFACE
UVC_VC_PROCESSING_UNIT,// bDescriptorSubtype = VC_PROCESSING_UNIT
PU_TERMINAL_ID, // bUnitID = ID of this unit
SU_TERMINAL_ID, // bSourceID = This input pin of this unit is connected to the output pin of other unit.
0x00, 0x00, // wMaxMultiplier = unused
0x02, // bControlSize = Size of the bmControls field, in bytes.
0x01, 0x00, // bmControls = Brightness control supported
0x00, // iProcessing = Unused
0x00, // bmVideoStandards
// Standard VideoStreaming Interface Descriptor - - Operational Alternate Setting 0
9, // bLength = Size of this descriptor, in bytes.
USB_DT_INTERFACE, // bDescriptorType = INTERFACE descriptor type
VIDEOS_IFACE, // bInterfaceNumber = Index of this interface
0x00, // bAlternateSetting = Index of this alternate setting
0x00, // bNumEndpoints = 0 endpoints – no bandwidth used
CC_VIDEO, // bInterfaceClass = CC_VIDEO
UVC_SC_VIDEOSTREAMING,// bInterfaceSubClass = SC_VIDEOSTREAMING
0x00, // bInterfaceProtocol = PC_PROTOCOL_UNDEFINED
0x00, // iInterface = Unused
// Class-specific VideoStreaming Header Descriptor (Input)
14, // bLength = Size of this descriptor, in bytes.
UVC_DT_CS_INTERFACE,// bDescriptorType = UVC_DT_CS_INTERFACE
UVC_VS_INPUT_HEADER,// bDescriptorSubtype = VS_INPUT_HEADER.
0x01, // bNumFormats = One format descriptor follows.
W_TO_B(VS_DESC_SIZE),// wTotalLength = Total size of class-specific VideoStreaming interface descriptors
UVC_TX_ENDPOINT|0x80, // bEndpointAddress = Address of the isochronous endpoint used for video data
0x00, // bmInfo = No dynamic format change supported
OUTPUT_TERMINAL_ID, // bTerminalLink = This VideoStreaming interface supplies terminal ID 2 (Output Terminal).
0x01, // bStillCaptureMethod = Device supports still image capture method 1.
0x00, // bTriggerSupport = Hardware trigger supported for still image capture
0x00, // bTriggerUsage = Hardware trigger should initiate a still image capture.
0x01, // bControlSize = Size of the bmaControls field
0x00, // bmaControls = No VideoStreaming specific controls are supported.
// Class-specific VideoStreaming Format Descriptor
27, // bLength = Size of this descriptor, in bytes.
UVC_DT_CS_INTERFACE, // bDescriptorType = UVC_DT_CS_INTERFACE
UVC_VS_FORMAT_UNCOMPRESSED, // bDescriptorSubtype = UVC_VS_FORMAT_UNCOMPRESSED
1, // bFormatIndex
1, // bNumFrameDescriptors
'Y', 'V', '1', '2', // guidFormat
0x00, 0x00, 0x10, 0x00,
0x80, 0x00, 0x00, 0xaa,
0x00, 0x38, 0x9b, 0x71,
BPP, // bBitsPerPixel
1, // bDefaultFrameIndex
0, // bAspectRatioX
0, // bAspectRatioY
0x00, // bmInterlaceFlags
0, // bCopyProtect
// Class-specific VideoStreaming Frame Descriptor
46, // bLength
UVC_DT_CS_INTERFACE,// bDescriptorType
UVC_VS_FRAME_UNCOMPRESSED,// bDescriptorSubtype
1, // bFrameIndex
0x01, // bmCapabilities
W_TO_B(WIDTH), // wWidth
W_TO_B(HEIGHT), // wHeight
DW_TO_B(((FRAME_SIZE)*8*1)),// dwMinBitRate
DW_TO_B(((FRAME_SIZE)*8*30)),// dwMaxBitRate
DW_TO_B((FRAME_SIZE)),// dwMaxVideoFrameBufferSize
DW_TO_B(1333333), // dwDefaultFrameInterval
5, // bFrameIntervalType
DW_TO_B(333333), // dwFrameInterval( 0)
DW_TO_B(500000), // dwFrameInterval( 1)
DW_TO_B(666666), // dwFrameInterval( 2)
DW_TO_B(1000000), // dwFrameInterval( 3)
DW_TO_B(1333333), // dwFrameInterval( 4)
// Standard VS Interface Descriptor - Operational Alternate Setting 1
9, // bLength = Size of this descriptor, in bytes.
USB_DT_INTERFACE, // bDescriptorType = INTERFACE descriptor type
VIDEOS_IFACE, // bInterfaceNumber = Index of this interface
0x01, // bAlternateSetting = Index of this alternate setting
0x01, // bNumEndpoints = 0 endpoints – no bandwidth used
CC_VIDEO, // bInterfaceClass = CC_VIDEO
UVC_SC_VIDEOSTREAMING,// bInterfaceSubClass = SC_VIDEOSTREAMING
0x00, // bInterfaceProtocol = PC_PROTOCOL_UNDEFINED
0x00, // iInterface = Unused
// Standard VS Isochronous Video Data Endpoint Descriptor
7, // bLength = Size of this descriptor, in bytes.
USB_DT_ENDPOINT, // bDescriptorType = ENDPOINT
UVC_TX_ENDPOINT|0x80,// bEndpointAddress = IN endpoint 2
0x01 | 12, // bmAttributes = Isochronous transfer type, Async sync type.
W_TO_B(UVC_TX_SIZE),// wMaxPacketSize = Max packet size
1, // bInterval = One frame interval
};
static const uint8_t PROGMEM device_qualifier_desc[] = {
10, // bLength
USB_DT_DEVICE_QUALIFIER, // bDescriptorType
W_TO_B(0x0200), // bcdUSB
239, // bDeviceClass 239 Miscellaneous Device
2, // bDeviceSubClass
1, // bDeviceProtocol Interface Association
ENDPOINT0_SIZE, // bMaxPacketSize0
1, // bNumConfigurations
0 // Device Status: 0x0000(Bus Powered)
};
static const uint8_t PROGMEM other_speed_descriptor[] = {
9, // bLength;
USB_DT_OTHER_SPEED_CONFIGURATION, // bDescriptorType;
W_TO_B(CONFIG1_DESC_SIZE), // wTotalLength
2, // bNumInterfaces
1, // bConfigurationValue
0, // iConfiguration
0x80, // bmAttributes = Bus-powered device, no remote wakeup capability
0xFA, // bMaxPower
};
struct usb_string_descriptor_struct {
uint8_t bLength;
uint8_t bDescriptorType;
int16_t wString[];
};
static const struct usb_string_descriptor_struct PROGMEM string0 = {
4,
USB_DT_STRING,
{0x0409}
};
static const struct usb_string_descriptor_struct PROGMEM string1 = {
sizeof(STR_MANUFACTURER),
USB_DT_STRING,
STR_MANUFACTURER
};
static const struct usb_string_descriptor_struct PROGMEM string2 = {
sizeof(STR_PRODUCT),
USB_DT_STRING,
STR_PRODUCT
};
// This table defines which descriptor data is sent for each specific
// request from the host (in wValue and wIndex).
static const struct descriptor_list_struct {
uint16_t wValue;
uint16_t wIndex;
const uint8_t *addr;
uint8_t length;
} PROGMEM descriptor_list[] = {
{MKWORD(USB_DT_DEVICE, 0x00), 0x0000, device_descriptor, sizeof(device_descriptor)},
{MKWORD(USB_DT_CONFIG, 0x00), 0x0000, config1_descriptor, sizeof(config1_descriptor)},
{MKWORD(USB_DT_DEVICE_QUALIFIER, 0x00), 0x0000, device_qualifier_desc, sizeof(device_qualifier_desc)},
{MKWORD(USB_DT_OTHER_SPEED_CONFIGURATION, 0x00), 0x0000, other_speed_descriptor, /* size ok */ sizeof(config1_descriptor)},
{MKWORD(USB_DT_STRING, 0x00), 0x0000, (const uint8_t *)&string0, 4},
{MKWORD(USB_DT_STRING, STR_MANUFACTURER_I), 0x0409, (const uint8_t *)&string1, sizeof(STR_MANUFACTURER)},
{MKWORD(USB_DT_STRING, STR_PRODUCT_I), 0x0409, (const uint8_t *)&string2, sizeof(STR_PRODUCT)}
};
#define NUM_DESC_LIST (sizeof(descriptor_list)/sizeof(struct descriptor_list_struct))
#define VSPC_HINT_dwFrameInterval (1<<0)
#define VSPC_HINT_wKeyFrameRate (1<<1)
#define VSPC_HINT_wPFrameRate (1<<2)
#define VSPC_HINT_wCompQuality (1<<3)
#define VSPC_HINT_wCompWindowSize (1<<4)
#define VSPC_FINFO_FID_REQUIRED (1<<0)
#define VSPC_FINFO_EOF (1<<1)
/* 34 bytes */
struct vs_probe_commit
{
uint16_t bmHint; // Bitfield indicating what fields shall be kept fixed
uint8_t bFormatIndex; // Video format index from a format descriptor.
uint8_t bFrameIndex; // Video frame index from a frame descriptor.
uint32_t dwFrameInterval; // Frame interval in 100 ns units.
uint16_t wKeyFrameRate; // Key frame rate in key-frame per video-frame units.
uint16_t wPFrameRate; // PFrame rate in PFrame/key frame units.
uint16_t wCompQuality; // Compression quality control in abstract units 0-10000 (highest).
uint16_t wCompWindowSize; // Window size for average bit rate control.
uint16_t wDelay; // Internal interface latency (ms) from data capture to presentation on USB.
uint32_t dwMaxVideoFrameSize;// Maximum video frame or codec-specific segment size in bytes.
uint32_t dwMaxPayloadTransferSize;// maximum number of i/o bytes the device handle in a single payload
uint32_t dwClockFrequency; // The device clock frequency in Hz
uint8_t bmFramingInfo; // Bitfield control
uint8_t bPreferedVersion; // The preferred payload format version
uint8_t bMinVersion; // The min payload format version
uint8_t bMaxVersion; // The max payload format version
};
#define PC_INIT(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11, p12, p13, p14, p15, p16)\
{p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11, p12, p13, p14, p15, p16}
// zero when we are not configured, non-zero when enumerated
static volatile uint8_t usb_configuration = 0;
static volatile uint8_t transmit_flush_timer = 0;
static uint8_t last_error = UVC_ERR_SUCCESS;
static volatile uint16_t videos_alt_setting = 0;
static volatile uint8_t streaming = 0;
static volatile uint8_t fid = 0;
/* Helper macros for UVC controls.
You can use DEFINE_UVC_CONTROL to define a uvc control and greatly simplify
access through needed GET_XXX / SET_CUR uvc requests. The read-only fields
(.e.g MIN/MAX etc) will be stored in program memory to save RAM.
Use CTL_CALL to dispatch uvc requests for the control.
*/
#define DEFINE_UVC_CONTROL(name, type, _min, _max, _res, _def, __len, _info_flags) \
type name = _def;\
const uint8_t PROGMEM name##_len = __len;\
static const struct name##_ctl_info_ {\
type min;\
type max;\
type res;\
type def;\
uint8_t info_flags;\
} PROGMEM name##_ctl_info = {\
_min, _max, _res, _def, _info_flags \
}
#define CTL_CALL(name, _bRequest, _wLength)\
ctl_req(_bRequest, (uint8_t *)&name, (const uint8_t *)& name##_ctl_info, \
name##_len, _wLength)
/* Control definitions */
DEFINE_UVC_CONTROL(brightness, int16_t, 0, 100, 1, 0, 2, GINFO_SUPPORT_GET | GINFO_SUPPORT_SET);
DEFINE_UVC_CONTROL(probe_commit, struct vs_probe_commit,
/* min */ PC_INIT(0,1,1, 333333,0,0,0,0,0,FRAME_SIZE,UVC_TX_SIZE,16000000L,0,0,0,0),
/* max */ PC_INIT(0,1,1,1333333,0,0,0,0,0,FRAME_SIZE,UVC_TX_SIZE,16000000L,0,0,0,0),
/* res */ PC_INIT(0,1,1, 333333,0,0,0,0,0, 0, 0, 0,0,0,0,0),
/* def */ PC_INIT(0,1,1, 333333,0,0,0,0,0,FRAME_SIZE,UVC_TX_SIZE,16000000L,0,0,0,0),
34,
GINFO_SUPPORT_GET | GINFO_SUPPORT_SET
);
// initialize USB
void usb_init(void)
{
HW_CONFIG();
USB_CONFIG(); // enable USB
PLL_CONFIG(); // config PLL
while (!(PLLCSR & (1<<PLOCK)))
; // wait for PLL lock
USB_CONFIG(); // start USB clock
UDCON = 0; // enable attach resistor
usb_configuration = 0;
UDIEN = (1<<EORSTE);
sei();
}
static inline uint8_t usb_configured(void)
{
return usb_configuration;
}
// Misc functions to wait for ready and send/receive packets
static inline void usb_wait_in_ready(void)
{
while (!(UEINTX & (1<<TXINI))) ;
}
static inline uint16_t usb_fnum(void)
{
return UDFNUM;
}
static inline int usb_wait_in_ready_timeo(uint8_t ms)
{
uint16_t last_fnum = usb_fnum();
uint16_t fnum;
while (1) {
if((UEINTX & (1<<TXINI)))
return 0;
fnum = usb_fnum();
/* frame advances every 1ms in full speed */
if(fnum != last_fnum) {
if(--ms == 0)
return -1;
last_fnum = fnum;
}
}
}
static inline void usb_ack_in(void)
{
UEINTX &= ~(1<<TXINI);
}
/* Cuases hw to switch banks */
static inline void usb_ack_bank(void)
{
//UEINTX = ~((int8_t)(1<<FIFOCON));
UEINTX &= (uint8_t)~((1 << FIFOCON));
}
static inline uint8_t usb_rw_allowed(void)
{
return UEINTX & (1<<RWAL);
}
static inline uint16_t usb_available(void)
{
uint16_t ret = UEBCHX;
ret = (ret << 8) | UEBCLX;
return UVC_TX_SIZE-ret;
}
static inline void usb_wait_receive_out(void)
{
while (!(UEINTX & (1<<RXOUTI))) ;
}
static inline void usb_ack_out(void)
{
UEINTX = ~(1<<RXOUTI);
}
static inline void usb_stall(void)
{
UECONX = (1<<STALLRQ)|(1<<EPEN);
}
#define NUM_COLORS 5
#define COLUMN_WIDTH (WIDTH/NUM_COLORS)
struct color_info {
uint8_t c[NUM_COLORS][3];
};
const struct color_info colors =
{{
/* Y U V */
/* white */ {235, 128, 128},
/* red */ { 81, 90, 240},
/* green */ {145, 54, 34},
/* blue */ { 41, 240, 110},
/* black */ { 16, 128, 128}
}};
uint8_t cur_col_offset = 0;
uint8_t cur_start_col = 0;
static inline uint8_t next_color(uint8_t col)
{
if(col >= NUM_COLORS-1)
return 0;
else
return col+1;
}
static inline void send_yv12_frame(void)
{
uint16_t h,w,lastw;
uint8_t write_hdr = 1;
uint8_t hdr;
uint8_t color, colcnt;
uint8_t br = LSB(brightness);
usb_wait_in_ready();
/* Y plane (h*w bytes) */
for(h=0; h < HEIGHT; h++) {
w = lastw = WIDTH;
color = cur_start_col;
colcnt = COLUMN_WIDTH - cur_col_offset;
do {
if(!usb_rw_allowed()) {
usb_ack_bank();
if(usb_wait_in_ready_timeo(10) < 0)
return;
usb_ack_in();
lastw = w;
write_hdr = 1;
} else {
if(write_hdr) {
/* Write header */
hdr = UVC_PHI_EOH | (fid&1);
UEDATX = 2; // write header len
UEDATX = hdr;
write_hdr = 0;
}
UEDATX=colors.c[color][0] + br; // Y
w--;
if(--colcnt == 0) {
color = next_color(color);
colcnt = COLUMN_WIDTH;
}
}
} while(w > 0);
}
/* U plane (h/2*w/2 bytes) */
for(h=0; h < HEIGHT/2; h++) {
w = lastw = WIDTH/2;
color = cur_start_col;
colcnt = COLUMN_WIDTH - cur_col_offset;
do {
if(!usb_rw_allowed()) {
usb_ack_bank();
if(usb_wait_in_ready_timeo(10) < 0)
return;
usb_ack_in();
lastw = w;
write_hdr = 1;
} else {
if(write_hdr) {
/* Write header */
hdr = UVC_PHI_EOH | (fid&1);
UEDATX = 2; // write header len
UEDATX = hdr;
write_hdr = 0;
}
UEDATX=colors.c[color][1]; // U
w--;
if(colcnt <= 2) {
color = next_color(color);
colcnt = COLUMN_WIDTH;
} else {
colcnt -= 2;
}
}
} while(w > 0);
}
/* V plane (h/2*w/2 bytes) */
for(h=0; h < HEIGHT/2; h++) {
w = lastw = WIDTH/2;
color = cur_start_col;
colcnt = COLUMN_WIDTH - cur_col_offset;
do {
if(!usb_rw_allowed()) {
usb_ack_bank();
if(usb_wait_in_ready_timeo(10) < 0)
return;
usb_ack_in();
lastw = w;
write_hdr = 1;
} else {
if(write_hdr) {
/* Write header */
hdr = UVC_PHI_EOH | (fid&1);
if(h==HEIGHT/2-1 && w < UVC_TX_SIZE)
hdr |= UVC_PHI_EOF;
UEDATX = 2; // write header len
UEDATX = hdr;
write_hdr = 0;
}
UEDATX=colors.c[color][2]; // V
w--;
if(colcnt <= 2) {
color = next_color(color);
colcnt = COLUMN_WIDTH;
} else {
colcnt-=2;
}
}
} while(w > 0);
}
if(lastw != w) {
usb_ack_bank();
}
fid = ~fid; // flip frame id bit
cur_col_offset += 10;
if(cur_col_offset >= COLUMN_WIDTH) {
cur_start_col = next_color(cur_start_col);
cur_col_offset = 0;
}
}
void send_frame(void)
{
uint8_t intr_state;
intr_state = SREG;
cli();
UENUM = UVC_TX_ENDPOINT;
send_yv12_frame();
SREG = intr_state;
sei();
}
int main(void)
{
CPU_PRESCALE(0); // run at 16 MHz
LED_CONFIG;
uart_init(BAUD_RATE);
// Initialize the USB, and then wait for the host to set configuration.
usb_init();
while (!usb_configured())
/* wait */ ;
// Wait an extra second for the PC's operating system to load drivers
// and do whatever it does to actually be ready for input
_delay_ms(1000);
while (1) {
if(streaming)
{
send_frame();
}
}
}
// USB Device Interrupt - handle all device events
ISR(USB_GEN_vect)
{
uint8_t intbits, t;
intbits = UDINT;
UDINT = 0;
if (intbits & (1<<EORSTI)) {
UENUM = 0;
UECONX = 1;
UECFG0X = EP_TYPE_CONTROL;
UECFG1X = EP_SIZE(ENDPOINT0_SIZE) | EP_SINGLE_BUFFER;
UEIENX = (1<<RXSTPE);
usb_configuration = 0;
LED_OFF;
}
if ((intbits & (1<<SOFI))) {
if (usb_configuration) {
t = transmit_flush_timer;
if (t) {
transmit_flush_timer = --t;
if (!t) {
UENUM = UVC_TX_ENDPOINT;
UEINTX = 0x3A;
}
}
}
}
}
static uint8_t ctl_req(uint8_t bRequest, uint8_t *ctl, const uint8_t *ctl_info, uint8_t ctl_len, uint16_t wLength)
{
uint8_t *wptr;
const uint8_t *rptr;
uint8_t len, i, n;
uint8_t write = 0;
uint8_t pgmem = 0;
uint16_t ctl_len16 = ctl_len;
len = (uint8_t)wLength;
switch(bRequest) {
case UVC_REQ_SET_CUR:
wptr = ctl;
write = 1;
break;
case UVC_REQ_GET_CUR:
rptr = ctl;
break;
case UVC_REQ_GET_MIN:
rptr = ctl_info;
pgmem = 1;
break;
case UVC_REQ_GET_MAX:
rptr = ctl_info + (1 * ctl_len);
pgmem = 1;
break;
case UVC_REQ_GET_RES:
rptr = ctl_info + (2 * ctl_len);
pgmem = 1;
break;
case UVC_REQ_GET_DEF:
rptr = ctl_info + (3 * ctl_len);
pgmem = 1;
break;
case UVC_REQ_GET_LEN:
switch(len) {
case 1:
rptr = &ctl_len;
break;
case 2:
rptr = (const uint8_t *)&ctl_len16;
break;
default:
return UVC_ERR_INVALID_REQUEST;
}
break;
case UVC_REQ_GET_INFO:
len = 1;
rptr = ctl_info + (4 * ctl_len);
pgmem = 1;
break;
default:
return UVC_ERR_INVALID_REQUEST;
}
if(write) {
//DBGV("\r\nwp=%p l=%x pg=%x\r\n", wptr, len, pgmem);
do {
usb_wait_receive_out();
n = len < ENDPOINT0_SIZE ? len : ENDPOINT0_SIZE;
for(i = 0; i < n; i++) {
*wptr = UEDATX;
wptr++;
}
len -= n;
usb_ack_out();
usb_ack_in();
} while (len || n == ENDPOINT0_SIZE);
} else {
//DBGV("\r\nrp=%p l=%x pg=%x\r\n", rptr, len, pgmem);
do {
usb_wait_in_ready();
n = len < ENDPOINT0_SIZE ? len : ENDPOINT0_SIZE;
for (i = n; i; i--) {
if(pgmem)
UEDATX = pgm_read_byte(rptr++);
else
UEDATX = *rptr++;
}
len -= n;
usb_ack_in();
} while (len || n == ENDPOINT0_SIZE);
}
return UVC_ERR_SUCCESS;
}
static inline uint8_t su_term_req(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint16_t wLength)
{
uint8_t cs = MSB(wValue);
uint8_t unit;
uint8_t ret = UVC_ERR_SUCCESS;
DBGV("su %x V=%x I=%x L=%x", bRequest, wValue, wIndex, wLength);
if(cs != UVC_SU_INPUT_SELECT_CONTROL || wLength != 1) {
return UVC_ERR_INVALID_CONTROL;
}
switch(bRequest) {
case UVC_REQ_SET_CUR:
usb_wait_receive_out();
unit = UEDATX;
if(unit != 1)
ret = UVC_ERR_OUT_OF_RANGE;
usb_ack_out();
usb_ack_in();
break;
case UVC_REQ_GET_CUR :
case UVC_REQ_GET_MIN :
case UVC_REQ_GET_MAX :
case UVC_REQ_GET_RES :
usb_wait_in_ready();
UEDATX = 1;
usb_ack_in();
break;
case UVC_REQ_GET_INFO:
usb_wait_in_ready();
UEDATX = GINFO_SUPPORT_GET | GINFO_SUPPORT_SET;
usb_ack_in();
break;
default:
ret = UVC_ERR_INVALID_REQUEST;
}
return ret;
}
static inline uint8_t pu_term_req(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint16_t wLength)
{
uint8_t cs = MSB(wValue);
uint8_t ret = UVC_ERR_SUCCESS;
DBGV("pu %x V=%x I=%x L=%x", bRequest, wValue, wIndex, wLength);
switch(cs) {
case UVC_PU_BRIGHTNESS_CONTROL:
ret = CTL_CALL(brightness, bRequest, wLength);
break;
default:
ret = UVC_ERR_INVALID_CONTROL;
}
return ret;
}
static inline uint8_t in_term_req(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint16_t wLength)
{
//uint8_t cs = MSB(wValue);
uint8_t ret = UVC_ERR_SUCCESS;
DBGV("in %x V=%x I=%x L=%x", bRequest, wValue, wIndex, wLength);
switch(bRequest) {
case UVC_REQ_SET_CUR:
case UVC_REQ_GET_CUR :
case UVC_REQ_GET_MIN :
case UVC_REQ_GET_MAX :
case UVC_REQ_GET_RES :
case UVC_REQ_GET_LEN:
case UVC_REQ_GET_INFO:
case UVC_REQ_GET_DEF:
default:
ret = UVC_ERR_INVALID_REQUEST;
}
return ret;
}
static inline uint8_t out_term_req(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint16_t wLength)
{
//uint8_t cs = MSB(wValue);
uint8_t ret = UVC_ERR_SUCCESS;
DBGV("out %x V=%x I=%x L=%x", bRequest, wValue, wIndex, wLength);
switch(bRequest) {
case UVC_REQ_SET_CUR:
case UVC_REQ_GET_CUR :
case UVC_REQ_GET_MIN :
case UVC_REQ_GET_MAX :
case UVC_REQ_GET_RES :
case UVC_REQ_GET_LEN:
case UVC_REQ_GET_INFO:
case UVC_REQ_GET_DEF:
default:
ret = UVC_ERR_INVALID_REQUEST;
}
return ret;
}
static inline uint8_t videoc_req(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint16_t wLength)
{
uint8_t cs = MSB(wValue);
uint8_t ret = UVC_ERR_SUCCESS;
DBGV("vc %x V=%x I=%x L=%x", bRequest, wValue, wIndex, wLength);
switch(cs) {
case UVC_VC_REQUEST_ERROR_CODE_CONTROL:
switch(bRequest) {
case UVC_REQ_GET_CUR:
usb_wait_in_ready();
UEDATX = last_error;
usb_ack_in();
break;
case UVC_REQ_GET_INFO:
usb_wait_in_ready();
UEDATX = GINFO_SUPPORT_GET;
usb_ack_in();
break;
default:
ret = UVC_ERR_INVALID_REQUEST;
}
break;
default:
ret = UVC_ERR_INVALID_CONTROL;
}
return ret;
}
static void adjust_after_probe(void)
{
DBG("after probe\r\n");
}
static int verify_after_commit(void)
{
DBG("commit!\r\n");
return UVC_ERR_SUCCESS;
}
static inline uint8_t videos_req(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint16_t wLength)
{
uint8_t cs = MSB(wValue);
uint8_t ret = UVC_ERR_SUCCESS;
//DBGV("vs %x V=%x I=%x L=%x", bRequest, wValue, wIndex, wLength);
switch(cs) {
case UVC_VS_PROBE_CONTROL:
ret = CTL_CALL(probe_commit, bRequest, wLength);
if(bRequest == UVC_REQ_SET_CUR && ret == UVC_ERR_SUCCESS)
adjust_after_probe();
break;
case UVC_VS_COMMIT_CONTROL:
ret = CTL_CALL(probe_commit, bRequest, wLength);
if(bRequest == UVC_REQ_SET_CUR && ret == UVC_ERR_SUCCESS)
ret = verify_after_commit();
break;
default:
ret = UVC_ERR_INVALID_REQUEST;
}
return ret;
}
// USB Endpoint Interrupt - endpoint 0 is handled here. The
// other endpoints are manipulated by the user-callable
// functions, and the start-of-frame interrupt.
ISR(USB_COM_vect)
{
uint8_t intbits;
const uint8_t *list;
const uint8_t *cfg;
uint8_t i, n, len, en;
uint8_t bmRequestType;
uint8_t bRequest;
uint16_t wValue;
uint16_t wIndex;
uint16_t wLength;
uint16_t desc_val;
const uint8_t *desc_addr;
uint8_t desc_length;
UENUM = 0;
intbits = UEINTX;
if (intbits & (1<<RXSTPI)) {
bmRequestType = UEDATX;
bRequest = UEDATX;
wValue = UEDATX;
wValue |= (UEDATX << 8);
wIndex = UEDATX;
wIndex |= (UEDATX << 8);
wLength = UEDATX;
wLength |= (UEDATX << 8);
UEINTX = ~((1<<RXSTPI) | (1<<RXOUTI) | (1<<TXINI));
if (bRequest == USB_REQ_GET_DESCRIPTOR) {
list = (const uint8_t *)descriptor_list;
for (i=0; ; i++) {
if (i >= NUM_DESC_LIST) {
UECONX = (1<<STALLRQ)|(1<<EPEN); //stall
DBGV("Unk desc wV=%d wI=%d\r\n", wValue, wIndex);
return;
}
desc_val = pgm_read_word(list);
if (desc_val != wValue) {
list += sizeof(struct descriptor_list_struct);
continue;
}
list += 2;
desc_val = pgm_read_word(list);
if (desc_val != wIndex) {
list += sizeof(struct descriptor_list_struct)-2;
continue;
}
list += 2;
desc_addr = (const uint8_t *)pgm_read_word(list);
list += 2;
desc_length = pgm_read_byte(list);
break;
}
len = (wLength < 256) ? wLength : 255;
if (len > desc_length) len = desc_length;
do {
// wait for host ready for IN packet
do {
i = UEINTX;