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add KPU driver and resource in XiZi for edu-riscv64

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This commit is contained in:
WuZheng
2022-12-19 14:13:54 +08:00
parent 4e1bc3bf04
commit 38c4419ef9
19 changed files with 870 additions and 48 deletions
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4
APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/Kconfig
View File

@@ -3,6 +3,10 @@ menuconfig USING_K210_YOLOV2_DETECT
depends on USING_KPU_PROCESSING
default n
config KPU_DEV_DRIVER
string "Set kpu dev path"
default "/dev/kpu_dev"
config CAMERA_DEV_DRIVER
string "Set camera dev path for kpu"
default "/dev/ov2640"

113
APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/k210_yolov2_detect.c
View File

@@ -16,6 +16,7 @@ static pthread_t tid = 0;
static void *thread_detect_entry(void *parameter);
static int camera_fd = 0;
static int kmodel_fd = 0;
static int kpu_fd = 0;
static int if_exit = 0;
static unsigned char *showbuffer = NULL;
static unsigned char *kpurgbbuffer = NULL;
@@ -46,7 +47,16 @@ void k210_detect(char *json_file_path)
{
return;
}
#ifdef ADD_XIZI_FETURES
kpu_fd = PrivOpen(KPU_DEV_DRIVER, O_RDONLY);
if (camera_fd < 0)
{
printf("open %s fail !!", KPU_DEV_DRIVER);
return;
}
#endif
printf("select camera device name:%s\n", CAMERA_DEV_DRIVER);
camera_fd = PrivOpen(CAMERA_DEV_DRIVER, O_RDONLY);
if (camera_fd < 0)
@@ -55,26 +65,6 @@ void k210_detect(char *json_file_path)
return;
}
#ifdef ADD_XIZI_FETURES
struct PrivIoctlCfg ioctl_cfg;
ioctl_cfg.ioctl_driver_type = CAMERA_TYPE;
struct CameraCfg camera_init_cfg = {
.gain_manu_enable = 0,
.gain = 0xFF,
.window_w = 800,
.window_h = 600,
.output_w = IMAGE_WIDTH,
.output_h = IMAGE_HEIGHT,
.window_xoffset = 0,
.window_yoffset = 0};
ioctl_cfg.args = &camera_init_cfg;
if (0 != PrivIoctl(camera_fd, OPE_CFG, &ioctl_cfg))
{
printf("camera pin fd error %d\n", camera_fd);
PrivClose(camera_fd);
}
#endif
// configure the resolution of camera
_ioctl_set_reso set_dvp_reso = {detect_params.sensor_output_size[1], detect_params.sensor_output_size[0]};
struct PrivIoctlCfg camera_cfg;
@@ -90,21 +80,21 @@ void k210_detect(char *json_file_path)
{
free(showbuffer);
free(kpurgbbuffer);
close(camera_fd);
PrivClose(camera_fd);
printf("model_data apply memory fail !!");
return;
}
showbuffer = (unsigned char *)malloc(detect_params.sensor_output_size[0] * detect_params.sensor_output_size[1] * 2);
if (NULL == showbuffer)
{
close(camera_fd);
PrivClose(camera_fd);
printf("showbuffer apply memory fail !!");
return;
}
kpurgbbuffer = (unsigned char *)malloc(detect_params.net_input_size[0] * detect_params.net_input_size[1] * 3);
if (NULL == kpurgbbuffer)
{
close(camera_fd);
PrivClose(camera_fd);
free(showbuffer);
printf("kpurgbbuffer apply memory fail !!");
return;
@@ -122,7 +112,6 @@ void k210_detect(char *json_file_path)
*/
// kmodel path generate from json file path, *.json -> *.kmodel
memcpy(kmodel_path, json_file_path, strlen(json_file_path));
int idx_suffix_start = strlen(json_file_path) - 4;
const char kmodel_suffix[7] = "kmodel";
int kmodel_suffix_len = 6;
@@ -139,7 +128,7 @@ void k210_detect(char *json_file_path)
if (kmodel_fd < 0)
{
printf("open kmodel fail");
close(camera_fd);
PrivClose(camera_fd);
free(showbuffer);
free(kpurgbbuffer);
free(model_data);
@@ -147,12 +136,12 @@ void k210_detect(char *json_file_path)
}
else
{
size = read(kmodel_fd, model_data_align, detect_params.kmodel_size);
size = PrivRead(kmodel_fd, model_data_align, detect_params.kmodel_size);
if (size != detect_params.kmodel_size)
{
printf("read kmodel error size %d\n", size);
close(camera_fd);
close(kmodel_fd);
PrivClose(camera_fd);
PrivClose(kmodel_fd);
free(showbuffer);
free(kpurgbbuffer);
free(model_data);
@@ -160,7 +149,7 @@ void k210_detect(char *json_file_path)
}
else
{
close(kmodel_fd);
PrivClose(kmodel_fd);
printf("read kmodel success \n");
}
}
@@ -186,16 +175,32 @@ void k210_detect(char *json_file_path)
#endif
// Load kmodel into kpu task
#ifdef ADD_RTTHREAD_FETURES
if (kpu_load_kmodel(&detect_task, model_data_align) != 0)
{
printf("\nmodel init error\n");
close(camera_fd);
close(kmodel_fd);
PrivClose(camera_fd);
PrivClose(kmodel_fd);
free(showbuffer);
free(kpurgbbuffer);
free(model_data);
return;
}
#else
struct PrivIoctlCfg kpu_cfg;
kpu_cfg.args = model_data_align;
kpu_cfg.ioctl_driver_type = KPU_TYPE;
if (PrivIoctl(kpu_fd,LOAD_KMODEL,&kpu_cfg) != 0)
{
printf("\nmodel init error\n");
PrivClose(camera_fd);
PrivClose(kmodel_fd);
free(showbuffer);
free(kpurgbbuffer);
free(model_data);
return;
}
#endif
detect_rl.anchor_number = ANCHOR_NUM;
detect_rl.anchor = detect_params.anchor;
@@ -226,7 +231,7 @@ void k210_detect(char *json_file_path)
else
{
printf("thread_detect_entry failed! error code is %d\n", result);
close(camera_fd);
PrivClose(camera_fd);
}
}
// #ifdef __RT_THREAD_H__
@@ -243,6 +248,15 @@ static void *thread_detect_entry(void *parameter)
}
LcdWriteParam graph_param;
graph_param.type = LCD_DOT_TYPE;
for (int i = 0; i < LCD_SIZE; i++)
{
graph_param.pixel_info.pixel_color = (uint16_t *)showbuffer;
graph_param.pixel_info.x_startpos = 0;
graph_param.pixel_info.y_startpos = i;
graph_param.pixel_info.x_endpos = LCD_SIZE - 1;
graph_param.pixel_info.y_endpos = graph_param.pixel_info.y_startpos;
PrivWrite(lcd_fd, &graph_param, NULL_PARAMETER);
}
#endif
yolov2_params_t detect_params = *(yolov2_params_t *)parameter;
@@ -262,7 +276,7 @@ static void *thread_detect_entry(void *parameter)
{
printf("ov2640 can't wait event flag");
free(showbuffer);
close(camera_fd);
PrivClose(camera_fd);
pthread_exit(NULL);
return NULL;
}
@@ -283,15 +297,29 @@ static void *thread_detect_entry(void *parameter)
;
dmalock_release(dma_ch);
#elif defined ADD_XIZI_FETURES
kpu_run_kmodel(&detect_task, kpurgbbuffer, dma_ch, ai_done, NULL);
while (!g_ai_done_flag)
;
struct PrivIoctlCfg kpu_cfg;
kpu_cfg.args = kpurgbbuffer;
kpu_cfg.ioctl_driver_type = KPU_TYPE;
PrivIoctl(kpu_fd,RUN_KMODEL,&kpu_cfg);
int wait_flag=0;
kpu_cfg.args = &wait_flag;
while (0==wait_flag){
PrivIoctl(kpu_fd,WAIT_FLAG,&kpu_cfg);
}
#endif
#ifdef ADD_RTTHREAD_FETURES
float *output;
size_t output_size;
kpu_get_output(&detect_task, 0, (uint8_t **)&output, &output_size);
detect_rl.input = output;
#else
KpuOutputBuffer output_buffer;
kpu_cfg.args = &output_buffer;
PrivIoctl(kpu_fd,GET_OUTPUT,&kpu_cfg);
detect_rl.input = (float*)(output_buffer.buffer);
#endif
region_layer_run(&detect_rl, &detect_info);
printf("detect_info.obj_number:%d\n", detect_info.obj_number);
/* display result */
@@ -317,16 +345,11 @@ static void *thread_detect_entry(void *parameter)
// refresh the LCD using photo of camera
for (int i = 0; i < image_height; i++)
{
graph_param.pixel_info.pixel_color = (uint16_t *)showbuffer + i * image_width;
graph_param.pixel_info.pixel_color = (uint16_t *)showbuffer + (image_height-i-1) * image_width;
graph_param.pixel_info.x_startpos = (LCD_SIZE - image_width) / 2;
graph_param.pixel_info.y_startpos = i + (LCD_SIZE - image_height) / 2;
graph_param.pixel_info.x_endpos = LCD_SIZE - 1 - (LCD_SIZE - image_width) / 2;
graph_param.pixel_info.y_endpos = graph_param.pixel_info.y_startpos;
// printf("refreshing screen: address[%08X] at row in %d\n",graph_param.pixel_info.pixel_color, graph_param.pixel_info.y_startpos);
// for(int j=0;j<image_width;j++){
// printf("%04X ",((uint16_t*)graph_param.pixel_info.pixel_color)[j]);
// }
// printf("\n");
PrivWrite(lcd_fd, &graph_param, NULL_PARAMETER);
}
#endif
@@ -346,8 +369,8 @@ void detect_delete()
if (showbuffer != NULL)
{
int ret = 0;
close(camera_fd);
close(kmodel_fd);
PrivClose(camera_fd);
PrivClose(kmodel_fd);
free(showbuffer);
free(kpurgbbuffer);
free(model_data);

1
APP_Framework/Framework/transform_layer/xizi/transform.c
View File

@@ -171,6 +171,7 @@ int PrivIoctl(int fd, int cmd, void *args)
case DAC_TYPE:
case WDT_TYPE:
case CAMERA_TYPE:
case KPU_TYPE:
ret = ioctl(fd, cmd, ioctl_cfg->args);
break;
default:

16
APP_Framework/Framework/transform_layer/xizi/transform.h
View File

@@ -151,6 +151,7 @@ enum IoctlDriverType
WDT_TYPE,
RTC_TYPE,
CAMERA_TYPE,
KPU_TYPE,
DEFAULT_TYPE,
};
@@ -247,10 +248,16 @@ typedef struct
}RgbAddress;
enum TCP_OPTION {
SEND_DATA = 0,
RECV_DATA,
SEND_DATA = 0,
RECV_DATA,
};
typedef struct
{
uint8_t *buffer;
size_t length;
}KpuOutputBuffer;
#define PRIV_SYSTICK_GET (CurrentTicksGain())
#define PRIV_LCD_DEV "/dev/lcd_dev"
#define MY_DISP_HOR_RES BSP_LCD_Y_MAX
@@ -275,6 +282,11 @@ enum TCP_OPTION {
#define SET_AI_ADDR (0xD2)
#define FLAG_CHECK (0xD4)
#define LOAD_KMODEL 0xA0
#define RUN_KMODEL 0xA1
#define GET_OUTPUT 0xA2
#define WAIT_FLAG 0xA3
#define IOCTRL_CAMERA_START_SHOT (22) // start shoot
#define IOCTRL_CAMERA_OUT_SIZE_RESO (23)
#define IOCTRL_CAMERA_SET_WINDOWS_SIZE (21) // user set specific windows outsize