4412 fimc to hdmi

4412 开发板

usb摄像头 C270

odroid linux-3.8.13.29

FIMC 直接使用framebuffer数据存放解码数据

C270(/dev/video0 YUV422 640X480) -----------> memcpy) --------->FIMC OUTPUT（/dev/video10 MMAP）---------->FIMC CAPTURE（USERPTR 1920x1080）--------> HDMI（/dev/fb5 1920x1080）

15FPS时，单核cpu 占用44% 左右

root@odroid:~# top -d1
top - 23:18:17 up  1:49,  5 users,  load average: 0.41, 0.33, 0.48
Tasks: 163 total,   1 running, 162 sleeping,   0 stopped,   0 zombie
%Cpu(s):  1.1 us, 12.4 sy,  0.0 ni, 85.9 id,  0.0 wa,  0.0 hi,  0.5 si,  0.0 st
KiB Mem:   1030856 total,   840408 used,   190448 free,    31456 buffers
KiB Swap:        0 total,        0 used,        0 free.   382816 cached MemPID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND3018 odroid    20   0   29448   2320    404 S  43.3  0.2   0:06.10 fimc_cam_hdmi1441 odroid    20   0  275448  11576   8548 S   3.0  1.1   2:19.10 indicator-multi928 avahi     20   0    3748   2256   1072 S   1.0  0.2   1:57.16 avahi-daemon1316 odroid    20   0    5212    400    248 S   1.0  0.0   0:02.69 upstart-dbus-br2596 odroid    20   0  628188 127008  71672 S   1.0 12.3   1:10.52 chromium-browse2683 odroid    20   0  420316 134080  58220 S   1.0 13.0   1:05.20 chromium-browse3020 root      20   0    5824   1224    848 R   1.0  0.1   0:00.16 top1 root      20   0    3668   2284   1104 S   0.0  0.2   0:06.16 init2 root      20   0       0      0      0 S   0.0  0.0   0:00.00 kthreadd3 root      20   0       0      0      0 S   0.0  0.0   0:00.00 ksoftirqd/05 root       0 -20       0      0      0 S   0.0  0.0   0:00.00 kworker/0:0H7 root       0 -20       0      0      0 S   0.0  0.0   0:00.00 kworker/u:0H8 root      rt   0       0      0      0 S   0.0  0.0   0:00.01 migration/09 root      20   0       0      0      0 S   0.0  0.0   0:02.01 rcu_preempt10 root      20   0       0      0      0 S   0.0  0.0   0:00.00 rcu_bh11 root      20   0       0      0      0 S   0.0  0.0   0:00.00 rcu_sched12 root      20   0       0      0      0 S   0.0  0.0   0:00.01 ksoftirqd/113 root      rt   0       0      0      0 S   0.0  0.0   0:00.01 migration/115 root       0 -20       0      0      0 S   0.0  0.0   0:00.00 kworker/1:0H

#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include <errno.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <time.h>
#include <sys/mman.h>
#include <assert.h>
#include <linux/videodev2.h>
#include <linux/fb.h>
#include <pthread.h>
#include <poll.h>
#include <semaphore.h>#define TimeOut 5 #define CapNum 10#define CapWidth 640
#define CapHeight 480#define ReqButNum 3#define IsRearCamera 0#define  FPS 10#define PIXELFMT V4L2_PIX_FMT_YUYV#define CapDelay 0*1000#define CLEAR(x)    memset(&(x), 0, sizeof(x))#define MIN(x,y) ((x) < (y) ? (x) : (y))
#define MAX(x,y) ((x) > (y) ? (x) : (y))
#define CLAMP(x,l,h) ((x) < (l) ? (l) : ((x) > (h) ? (h) : (x)))
#define ERRSTR strerror(errno)#define LOG(...) fprintf(stderr, __VA_ARGS__)#define ERR(...) __info("Error", __FILE__, __LINE__, __VA_ARGS__)
#define ERR_ON(cond, ...) ((cond) ? ERR(__VA_ARGS__) : 0)#define CRIT(...) \do { \__info("Critical", __FILE__, __LINE__, __VA_ARGS__); \exit(EXIT_FAILURE); \} while(0)
#define CRIT_ON(cond, ...) do { if (cond) CRIT(__VA_ARGS__); } while(0)typedef struct
{void *start;int length;int bytesused;
}BUFTYPE;char lcd_path[] = "/dev/fb5";
char fimc0_path[] = "/dev/video10";
char cam_path[] = "/dev/video0";static sem_t lcd_sem;BUFTYPE *fimc0_out_buf;
BUFTYPE *buffers;
static int n_buffer = 0;
void *fimc_in = NULL;
void *fimc_out = NULL;int fimc0_out_buf_length;
int fimc0_cap_buf_length;
void *fimc0_out[16];
void *fimc0_cap[16];static struct fb_var_screeninfo vinfo;
static struct fb_fix_screeninfo finfo;
static int lcd_buf_size;
static char *fb_buf = NULL;
static int tsp_fd;
static int fimc0_fd;
static pthread_t capture_tid;
static pthread_t display_tid; int lcd_fd;int cam_fd;
int display_x = 0;
int display_y = 0;int lcd_x = 0;
int lcd_y = 0;
static int fimc0_cap_index = 0;
char *temp_buf=NULL;
int display_format(int pixelformat)
{printf("{pixelformat = %c%c%c%c}\n",pixelformat & 0xff,(pixelformat >> 8)&0xff,(pixelformat >> 16) & 0xff,(pixelformat >> 24)&0xff);
}
static inline int __info(const char *prefix, const char *file, int line,const char *fmt, ...)
{int errsv = errno;va_list va;va_start(va, fmt);fprintf(stderr, "%s(%s:%d): ", prefix, file, line);vfprintf(stderr, fmt, va);va_end(va);errno = errsv;return 1;
}struct format {unsigned long fourcc;unsigned long width;unsigned long height;
};
void dump_format(char *str, struct v4l2_format *fmt)
{if (V4L2_TYPE_IS_MULTIPLANAR(fmt->type)) {struct v4l2_pix_format_mplane *pix = &fmt->fmt.pix_mp;LOG("%s: width=%u height=%u format=%.4s bpl=%u\n", str,pix->width, pix->height, (char*)&pix->pixelformat,pix->plane_fmt[0].bytesperline);} else {struct v4l2_pix_format *pix = &fmt->fmt.pix;LOG("%s: width=%u height=%u format=%.4s bpl=%u\n", str,pix->width, pix->height, (char*)&pix->pixelformat,pix->bytesperline);}
}
int open_camera_device()
{int fd;if((fd = open(cam_path,O_RDWR | O_NONBLOCK)) < 0){perror("Fail to open");exit(EXIT_FAILURE);} cam_fd = fd;if((fimc0_fd = open(fimc0_path,O_RDWR | O_NONBLOCK)) < 0){perror("Fail to open");exit(EXIT_FAILURE);} printf("open cam success %d\n",fd);return fd;
}//¡ä¨°?a¨¦???¨ª¡¤¨¦¨¨¡À?
int open_lcd_device()
{int fd;int err;int ret;if((fd = open(lcd_path, O_RDWR | O_NONBLOCK)) < 0){perror("Fail to open");exit(EXIT_FAILURE);} printf("open lcd success %d\n",fd);if(-1 == ioctl(fd, FBIOGET_FSCREENINFO,&finfo)){perror("Fail to ioctl:FBIOGET_FSCREENINFO\n");exit(EXIT_FAILURE);}if (-1==ioctl(fd, FBIOGET_VSCREENINFO, &vinfo)) {perror("Fail to ioctl:FBIOGET_VSCREENINFO\n");exit(EXIT_FAILURE);}lcd_buf_size = vinfo.xres * vinfo.yres * vinfo.bits_per_pixel / 8;  printf("vinfo.xres:%d, vinfo.yres:%d, vinfo.bits_per_pixel:%d, lcd_buf_size:%d, finfo.line_length:%d\n",vinfo.xres, vinfo.yres, vinfo.bits_per_pixel, lcd_buf_size, finfo.line_length); lcd_fd = fd;vinfo.activate = FB_ACTIVATE_FORCE;vinfo.yres_virtual = vinfo.yres;ret = ioctl(fd, FBIOPUT_VSCREENINFO, &vinfo );if( ret < 0 ){printf( "ioctl FBIOPUT_VSCREENINFO failed\n");return -1;}lcd_x=vinfo.xres;lcd_y=vinfo.yres;//mmap framebuffer    fb_buf = (char *)mmap(NULL,lcd_buf_size,PROT_READ | PROT_WRITE,MAP_SHARED ,lcd_fd, 0);    if(NULL == fb_buf){perror("Fail to mmap fb_buf");exit(EXIT_FAILURE);}ret = ioctl( lcd_fd, FBIOBLANK, FB_BLANK_UNBLANK );if( ret < 0 ){printf( "ioctl FBIOBLANK failed\n");return -1;}return fd;
}
int fb_wait_for_vsync(int lcd_fd)
{int ret;unsigned long temp;ret = ioctl(lcd_fd, FBIO_WAITFORVSYNC, &temp);if (ret < 0) {err("Wait for vsync failed");return -1;}return 0;
}
int cam_reqbufs()
{struct v4l2_requestbuffers req;int i;printf("%s: +\n", __func__);int n_buffers = 0;CLEAR(req);req.count  = ReqButNum;req.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;req.memory = V4L2_MEMORY_USERPTR;if (-1 == ioctl(cam_fd, VIDIOC_REQBUFS, &req)) {if (EINVAL == errno) {fprintf(stderr, "%s does not support ""user pointer i/o\n", "campture");exit(EXIT_FAILURE);} else {printf("VIDIOC_REQBUFS");exit(EXIT_FAILURE);}}buffers = calloc(ReqButNum, sizeof(*buffers));if (!buffers) {fprintf(stderr, "Out of memory\n");exit(EXIT_FAILURE);}for (n_buffers = 0; n_buffers < ReqButNum; ++n_buffers) {buffers[n_buffers].length = fimc0_out_buf_length;buffers[n_buffers].start = malloc(fimc0_out_buf_length);if (!buffers[n_buffers].start) {fprintf(stderr, "Out of memory\n");exit(EXIT_FAILURE);}}
/*for (i = 0; i < 3; ++i) {fimc0_out_buf[i].length = fimc0_out_buf_length;fimc0_out_buf[i].start = fimc0_out[i];if (!fimc0_out_buf[i].start) {fprintf(stderr, "Out of memory\n");exit(EXIT_FAILURE);}}*/printf("%s: -\n", __func__);
}void fimc0_reqbufs()
{int i = 0;int err;int ret;struct v4l2_control ctrl;struct v4l2_requestbuffers reqbuf;struct v4l2_requestbuffers rb;CLEAR(rb);/* enqueue the dmabuf to vivi */struct v4l2_buffer b;CLEAR(b);printf("%s: +\n", __func__);/* request buffers for FIMC0 */rb.count = ReqButNum;rb.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;rb.memory = V4L2_MEMORY_MMAP;ret = ioctl(fimc0_fd, VIDIOC_REQBUFS, &rb);if (ERR_ON(ret < 0, "fimc0: VIDIOC_REQBUFS: %s\n", ERRSTR))return -errno;printf("fimc0 output_buf_num:%d\n",rb.count);int n;n_buffer = rb.count;fimc0_out_buf = calloc(rb.count,sizeof(*fimc0_out_buf));if(fimc0_out_buf == NULL){fprintf(stderr,"Out of memory\n");exit(EXIT_FAILURE);}/* mmap DMABUF */struct v4l2_plane plane[2];
#if 1CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;b.memory = V4L2_MEMORY_MMAP;b.index = 0;b.m.planes = plane;b.length = 1;for (n = 0; n < ReqButNum; ++n) {b.index = n;ret = ioctl(fimc0_fd, VIDIOC_QUERYBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_REQBUFS: %s\n", ERRSTR))exit(EXIT_FAILURE);//    printf("fimc0 querybuf:%d,%d\n", b.m.planes[0].length, b.m.planes[0].m.mem_offset);fimc0_out_buf[n].start = mmap(NULL,b.m.planes[0].length,PROT_READ | PROT_WRITE,MAP_SHARED, fimc0_fd,b.m.planes[0].m.mem_offset);//    fimc0_out_buf[n].start = fimc0_out[n];fimc0_out_buf[n].length = b.m.planes[0].length;if (fimc0_out[n] == MAP_FAILED) {printf("Failed mmap buffer %d for %d\n", n,fimc0_fd);return -1;}fimc0_out_buf_length = b.m.planes[0].length;printf("fimc0 querybuf:0x%08lx,%d,%d\n", fimc0_out_buf[n], fimc0_out_buf_length, b.m.planes[0].m.mem_offset);//  printf("fimc0 output:plane.length:%d\n",fimc0_out_buf_length);}
#endifCLEAR(plane);CLEAR(b);rb.count = ReqButNum;rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;rb.memory = V4L2_MEMORY_USERPTR;ret = ioctl(fimc0_fd, VIDIOC_REQBUFS, &rb);if (ERR_ON(ret < 0, "fimc0: VIDIOC_REQBUFS: %s\n", ERRSTR))return -errno;#if 0CLEAR(plane);CLEAR(b);rb.count = 1;rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;rb.memory = V4L2_MEMORY_USERPTR;ret = ioctl(fimc0_fd, VIDIOC_REQBUFS, &rb);if (ERR_ON(ret < 0, "fimc0: VIDIOC_REQBUFS: %s\n", ERRSTR))return -errno;for (n = 0; n < ReqButNum; ++n) {b.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;b.memory = V4L2_MEMORY_MMAP;b.index = n;b.m.planes = plane;b.length = 1;b.index = n;ret = ioctl(fimc0_fd, VIDIOC_QUERYBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_QUERYBUF: %s\n", ERRSTR))return -errno;fimc0_cap[n] = mmap(NULL,b.m.planes[0].length,PROT_READ | PROT_WRITE,MAP_SHARED, fimc0_fd,b.m.planes[0].m.mem_offset);if (fimc0_cap[n] == MAP_FAILED) {printf("Failed mmap buffer %d for %d\n", n,fimc0_fd);return -1;}fimc0_cap_buf_length = b.m.planes[0].length;printf("fimc0 capture:plane.length:%d\n",fimc0_cap_buf_length); }
#endifprintf("%s -\n", __func__);
}
int cam_setfmt()
{int err;int ret;struct v4l2_fmtdesc fmt;struct v4l2_capability cap;struct v4l2_format stream_fmt;struct v4l2_input input;struct v4l2_control ctrl;struct v4l2_streamparm stream;memset(&fmt,0,sizeof(fmt));fmt.index = 0;fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;while((ret = ioctl(cam_fd,VIDIOC_ENUM_FMT,&fmt)) == 0){fmt.index ++ ;printf("{pixelformat = %c%c%c%c},description = '%s'\n",fmt.pixelformat & 0xff,(fmt.pixelformat >> 8)&0xff,(fmt.pixelformat >> 16) & 0xff,(fmt.pixelformat >> 24)&0xff,fmt.description);}ret = ioctl(cam_fd,VIDIOC_QUERYCAP,&cap);if(ret < 0){perror("FAIL to ioctl VIDIOC_QUERYCAP");exit(EXIT_FAILURE);}if(!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)){printf("The Current device is not a video capture device\n");exit(EXIT_FAILURE);}if(!(cap.capabilities & V4L2_CAP_STREAMING)){printf("The Current device does not support streaming i/o\n");exit(EXIT_FAILURE);}CLEAR(stream_fmt);stream_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;stream_fmt.fmt.pix.width = CapWidth;stream_fmt.fmt.pix.height = CapHeight;stream_fmt.fmt.pix.pixelformat = PIXELFMT;stream_fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;if(-1 == ioctl(cam_fd,VIDIOC_S_FMT,&stream_fmt)){printf("Can't set the fmt\n");perror("Fail to ioctl\n");exit(EXIT_FAILURE);}printf("VIDIOC_S_FMT successfully\n");printf("%s: -\n", __func__);return 0;
}
int cam_setrate()
{int err;int ret;struct v4l2_streamparm stream;CLEAR(stream);stream.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;stream.parm.capture.capturemode = 0;stream.parm.capture.timeperframe.numerator = 1;stream.parm.capture.timeperframe.denominator = FPS;err = ioctl(cam_fd, VIDIOC_S_PARM, &stream);if(err < 0)printf("FimcV4l2 start: error %d, VIDIOC_S_PARM", err);return 0;}
int fimc0_setfmt()
{int err;int ret;struct v4l2_fmtdesc fmt;struct v4l2_capability cap;struct v4l2_format stream_fmt;struct v4l2_input input;struct v4l2_control ctrl;struct v4l2_streamparm stream;printf("%s: +\n", __func__);CLEAR(stream_fmt);stream_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;stream_fmt.fmt.pix.width = CapWidth;stream_fmt.fmt.pix.height = CapHeight;stream_fmt.fmt.pix.pixelformat = PIXELFMT;stream_fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;/* get format from VIVI */ret = ioctl(cam_fd, VIDIOC_G_FMT, &stream_fmt);if (ERR_ON(ret < 0, "vivi: VIDIOC_G_FMT: %s\n", ERRSTR))return -errno;dump_format("cam_fd-capture", &stream_fmt);/* setup format for FIMC 0 *//* keep copy of format for to-mplane conversion */struct v4l2_pix_format pix = stream_fmt.fmt.pix;CLEAR(stream_fmt);stream_fmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;struct v4l2_pix_format_mplane *pix_mp = &stream_fmt.fmt.pix_mp;pix_mp->width = pix.width;pix_mp->height = pix.height;pix_mp->pixelformat = pix.pixelformat;pix_mp->num_planes = 1;pix_mp->plane_fmt[0].bytesperline = pix.bytesperline;dump_format("fimc0-output", &stream_fmt);ret = ioctl(fimc0_fd, VIDIOC_S_FMT, &stream_fmt);if (ERR_ON(ret < 0, "fimc0: VIDIOC_S_FMT: %s\n", ERRSTR))return -errno;dump_format("fimc0-output", &stream_fmt);/* set format on fimc0 capture */stream_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;/* try cmdline format, or use fimc0-output instead */struct v4l2_pix_format_mplane *pix_mp_f = &stream_fmt.fmt.pix_mp;CLEAR(*pix_mp_f);pix_mp_f->pixelformat = V4L2_PIX_FMT_BGR32;pix_mp_f->width = lcd_x;pix_mp_f->height = lcd_y;pix_mp_f->plane_fmt[0].bytesperline = 0;dump_format("pre-fimc0-capture", &stream_fmt);ret = ioctl(fimc0_fd, VIDIOC_S_FMT, &stream_fmt);if (ERR_ON(ret < 0, "fimc0: VIDIOC_S_FMT: %s\n", ERRSTR))return -errno;printf("%s -\n", __func__);}
int init_device()
{cam_setfmt();fimc0_setfmt();fimc0_reqbufs();cam_reqbufs();cam_setrate();printf("%s -\n", __func__);}int start_capturing(int cam_fd)
{unsigned int i;enum v4l2_buf_type type;int ret;struct v4l2_buffer b;struct v4l2_plane plane;printf("%s +\n", __func__);for(i = 0;i < n_buffer;i ++){struct v4l2_buffer buf;CLEAR(buf);    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;    buf.memory = V4L2_MEMORY_USERPTR;  buf.index = i; buf.m.userptr = (unsigned long)buffers[i].start;buf.length = buffers[i].length;printf("cam qbuf:%d,userptr:0x%08x,length:%d\n",i, buf.m.userptr, buf.length);if(-1 == ioctl(cam_fd,VIDIOC_QBUF,&buf)){perror("cam Fail to ioctl 'VIDIOC_QBUF'");exit(EXIT_FAILURE);}}for(i = 0;i < n_buffer;i ++){CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;b.memory = V4L2_MEMORY_USERPTR;b.index = i;b.m.planes = &plane;b.length = 1;b.index = i;plane.bytesused =  lcd_x * lcd_y * 4;plane.length =  lcd_x * lcd_y * 4;plane.m.userptr = (unsigned long)fb_buf;ret = ioctl(fimc0_fd, VIDIOC_QBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_QBUF: %s\n", ERRSTR))return -errno; }type = V4L2_BUF_TYPE_VIDEO_CAPTURE;if(-1 == ioctl(cam_fd,VIDIOC_STREAMON,&type)){printf("i = %d.\n",i);perror("cam_fd Fail to ioctl 'VIDIOC_STREAMON'");exit(EXIT_FAILURE);}/* start processing */type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;ret = ioctl(fimc0_fd, VIDIOC_STREAMON, &type);if (ERR_ON(ret < 0, "fimc0: VIDIOC_STREAMON: %s\n", ERRSTR))return -errno;
/*type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;ret = ioctl(fimc0_fd, VIDIOC_STREAMON, &type);if (ERR_ON(ret < 0, "fimc0: VIDIOC_STREAMON: %s\n", ERRSTR))return -errno;
*/type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;ret = ioctl(fimc0_fd, VIDIOC_STREAMON, &type);if (ERR_ON(ret < 0, "fimc0: VIDIOC_STREAMON: %s\n", ERRSTR))return -errno;printf("%s -\n", __func__);return 0;
}
int cam_cap_dbuf(int *index)
{unsigned int i;enum v4l2_buf_type type;int ret;struct v4l2_buffer buf;bzero(&buf,sizeof(buf));buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;buf.memory = V4L2_MEMORY_USERPTR;if(-1 == ioctl(cam_fd,VIDIOC_DQBUF,&buf)){perror("Fail to ioctl 'VIDIOC_DQBUF'");exit(EXIT_FAILURE);}buffers[buf.index].bytesused = buf.bytesused;*index = buf.index;//    printf("%s -\n", __func__);return 0;}
int cam_cap_qbuf(int index)
{struct v4l2_buffer buf;bzero(&buf,sizeof(buf));buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;buf.memory = V4L2_MEMORY_USERPTR;buf.index = index;buf.m.userptr = (unsigned long)buffers[index].start;buf.length = buffers[index].length;//    printf("cam qbuf:%d,userptr:0x%08x,length:%d\n",i, buf.m.userptr, buf.length);if(-1 == ioctl(cam_fd,VIDIOC_QBUF,&buf)){perror("cam Fail to ioctl 'VIDIOC_QBUF'");exit(EXIT_FAILURE);}
//      printf("%s -\n", __func__);return 0;
}
int process_image(void *addr,int length);
int fimc0_out_qbuf(int index)
{unsigned int i;enum v4l2_buf_type type;int ret;struct v4l2_buffer b, buf;struct v4l2_plane plane;/* enqueue buffer to fimc0 output */CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;b.memory = V4L2_MEMORY_MMAP;b.index = index;b.m.planes = &plane;b.length = 1;if(b.memory == V4L2_MEMORY_USERPTR){plane.m.userptr = (unsigned long)fimc0_out_buf[index].start;plane.length = (unsigned long)fimc0_out_buf[index].length;plane.bytesused = fimc0_out_buf[index].length;}else{memcpy(fimc0_out_buf[index].start, buffers[index].start, buffers[index].length);}// printf("fimc0_out_buf:0x%08lx,length:%d,byteused:%d\n",fimc0_out_buf[index].start,    fimc0_out_buf[index].length, fimc0_out_buf[index].bytesused);//process_image(fimc0_out_buf[index].start,0); ret = ioctl(fimc0_fd, VIDIOC_QBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_QBUF: %s\n", ERRSTR))return -errno;
//  printf("%s -\n", __func__);
}int fimc0_out_dbuf(int *index)
{unsigned int i;enum v4l2_buf_type type;int ret;struct v4l2_buffer b, buf;struct v4l2_plane plane[3];/* enqueue buffer to fimc0 output */CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;b.memory = V4L2_MEMORY_MMAP;
//  b.index = index;b.m.planes = plane;b.length = 1;
//  plane[0].m.userptr = (unsigned long)fimc0_out_buf[index].start;
//  plane[0].length = (unsigned long)fimc0_out_buf[index].length;
//  planes[0].bytesused = fimc0_out_buf[buf.index].length;ret = ioctl(fimc0_fd, VIDIOC_DQBUF, &b);*index = b.index;if (ERR_ON(ret < 0, "fimc0: VIDIOC_DQBUF: %s\n", ERRSTR))return -errno;
}int fimc0_cap_dbuf(int *index)
{unsigned int i;enum v4l2_buf_type type;int ret;struct v4l2_buffer b, buf;struct v4l2_plane plane;static int count = 0;/* enqueue buffer to fimc0 output */CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;b.memory = V4L2_MEMORY_USERPTR;
//  b.index = index;b.m.planes = &plane;b.length = 1;
//  plane[0].m.userptr = (unsigned long)fimc0_out_buf[index].start;
//  plane[0].length = (unsigned long)fimc0_out_buf[index].length;
//  planes[0].bytesused = fimc0_out_buf[buf.index].length;ret = ioctl(fimc0_fd, VIDIOC_DQBUF, &b);*index = b.index;if (ERR_ON(ret < 0, "fimc0: VIDIOC_DQBUF: %s\n", ERRSTR))return -errno;  //  sem_post(&lcd_sem);fimc0_cap_index = b.index;count ++;
//  memcpy((void *)temp_buf, (void *)fimc0_cap[b.index], lcd_x*lcd_y*4);
//  printf("%s,%d\n",__func__, count);return 0;
}
#if 0
int fimc0_cap_qbuf(int index)
{unsigned int i;enum v4l2_buf_type type;int ret;struct v4l2_buffer b, buf;struct v4l2_plane plane[3];/* enqueue buffer to fimc0 output */CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;b.memory = V4L2_MEMORY_MMAP;b.index = index;b.m.planes = plane;b.length = 1;if(b.memory == V4L2_MEMORY_USERPTR){plane[0].m.userptr = (unsigned long)fimc0_out_buf[index].start;plane[0].length = (unsigned long)fimc0_out_buf[index].length;plane[0].bytesused = fimc0_out_buf[buf.index].length;}
//  printf("fimc0_out_buf:0x%08lx,length:%d,byteused:%d\n",fimc0_out_buf[index].start,    fimc0_out_buf[index].length, fimc0_out_buf[index].bytesused);
//  process_image(fimc0_out_buf[index].start,0);    ret = ioctl(fimc0_fd, VIDIOC_QBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_QBUF: %s\n", ERRSTR))return -errno;
//  printf("%s -\n", __func__);
}
#endif
int fimc0_cap_qbuf(int index)
{
//  int *pdata = (int *)addr;int ret;struct v4l2_buffer b;struct v4l2_plane plane;static unsigned int count = 0;//sleep(0);
//  printf("%s +\n", __func__);CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;b.memory = V4L2_MEMORY_USERPTR;b.m.planes = &plane;b.length = 1;b.index = index;plane.bytesused =  lcd_x * lcd_y * 4;plane.length =  lcd_x * lcd_y * 4;plane.m.userptr = (unsigned long)fb_buf;ret = ioctl(fimc0_fd, VIDIOC_QBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_QBUF: %s\n", ERRSTR))return -errno;
//  printf("%s -\n", __func__);
}
void process_cam_to_fimc0()
{int index;
//  printf("%s +\n", __func__);cam_cap_dbuf(&index);fimc0_out_qbuf(index);
//  printf("%s -,index:%d\n",__func__, index);
}
void process_fimc0_to_cam()
{int index;
//  printf("%s +\n", __func__);fimc0_out_dbuf(&index);cam_cap_qbuf(index);
//  printf("%s -,index:%d\n",__func__, index);
}int process_fimc0_capture()
{
//  int *pdata = (int *)addr;int ret;struct v4l2_buffer b;struct v4l2_plane plane;static unsigned int count = 0;//sleep(0);
//  printf("%s +\n", __func__);CLEAR(plane);CLEAR(b);b.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;b.memory = V4L2_MEMORY_MMAP;b.m.planes = &plane;b.length = 1;/* grab processed buffers */ret = ioctl(fimc0_fd, VIDIOC_DQBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_DQBUF: %s\n", ERRSTR))return -errno;count ++;printf("%s,%d\n",__func__, count);//memcpy((void *)fb_buf, (void *)fimc0_cap[b.index], 800*480*4);//process_rgb32(fimc0_cap[b.index]);   //temp_buf = (char *)fimc0_cap[b.index];/* enqueue buffer to fimc0 capture */
//  CLEAR(plane);
//  CLEAR(b);
//  b.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
//  b.memory = V4L2_MEMORY_MMAP;
//  b.index = 0;
//  b.m.planes = &plane;
//  b.length = 1;ret = ioctl(fimc0_fd, VIDIOC_QBUF, &b);if (ERR_ON(ret < 0, "fimc0: VIDIOC_QBUF: %s\n", ERRSTR))return -errno;
//  printf("%s -\n", __func__);//memcpy(fb_buf, fimc_out, 640)    }int mainloop(int cam_fd)
{ int count = 1;//CapNum;clock_t startTime, finishTime;double selectTime, frameTime;struct pollfd fds[2];int nfds = 0;while(count++  > 0){{struct timeval tv;int r;struct timeval start;struct timeval end;int time_use=0;gettimeofday(&start,NULL);fds[0].events |= POLLIN | POLLPRI;fds[0].fd = cam_fd;fds[1].events |= POLLIN | POLLPRI | POLLOUT;fds[1].fd = fimc0_fd;//++nfds;r = poll(fds, 2, -1);if(-1 == r){if(EINTR == errno)continue;perror("Fail to select");exit(EXIT_FAILURE);}if(0 == r){fprintf(stderr,"select Timeout\n");exit(EXIT_FAILURE);}if (fds[0].revents & POLLIN){process_cam_to_fimc0();gettimeofday(&end,NULL);time_use=(end.tv_sec-start.tv_sec)*1000000+(end.tv_usec-start.tv_usec);//  printf("time_use is %dms\n",time_use/1000);}if (fds[1].revents & POLLIN){//   printf("fimc0 has data to read\n");int index;fimc0_cap_dbuf(&index);fimc0_cap_qbuf(fimc0_cap_index);}if (fds[1].revents & POLLOUT){int index;process_fimc0_to_cam();}}}return 0;
}void stop_capturing(int cam_fd)
{enum v4l2_buf_type type;type = V4L2_BUF_TYPE_VIDEO_CAPTURE;if(-1 == ioctl(cam_fd,VIDIOC_STREAMOFF,&type)){perror("Fail to ioctl 'VIDIOC_STREAMOFF'");exit(EXIT_FAILURE);}return;
}
void uninit_camer_device()
{unsigned int i;for(i = 0;i < n_buffer;i ++){if(-1 == munmap(fimc0_out_buf[i].start, fimc0_out_buf[i].length)){exit(EXIT_FAILURE);}}if (-1 == munmap(fb_buf, lcd_buf_size)) {          perror(" Error: framebuffer device munmap() failed.\n");          exit (EXIT_FAILURE) ;       }   free(fimc0_out_buf);return;
}void close_camer_device(int lcd_fd, int cam_fd)
{if(-1 == close(lcd_fd)){perror("Fail to close lcd_fd");exit(EXIT_FAILURE);}if(-1 == close(cam_fd)){perror("Fail to close cam_fd");exit(EXIT_FAILURE);}return;
}
static void *cam_thread(void *pVoid)
{mainloop(cam_fd);
}
static void *display_thread(void *pVoid)
{static unsigned int count = 0;printf("display_thread start\n");int num = lcd_x*lcd_y*4;while(1){sem_wait(&lcd_sem);count ++;memcpy((void *)fb_buf, (void *)fimc0_cap[fimc0_cap_index], num);
//      fb_wait_for_vsync(lcd_fd);fimc0_cap_qbuf(fimc0_cap_index);}
}
int main()
{sem_init(&lcd_sem, 0, 0);open_lcd_device();temp_buf =(char *)malloc(lcd_x*lcd_y*4);open_camera_device();init_device(lcd_fd, cam_fd);start_capturing(cam_fd);pthread_create(&capture_tid,NULL,cam_thread,(void *)NULL);  //pthread_create(&display_tid,NULL,display_thread,(void *)NULL); while(1){sleep(10);}stop_capturing(cam_fd);uninit_camer_device();close_camer_device(lcd_fd, cam_fd);return 0;
}

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