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fix bugs camera buff unstable

This commit is contained in:
WuZheng 2022-12-15 10:36:56 +08:00
parent 1864f39dd2
commit 186790f5ec
4 changed files with 103 additions and 62 deletions
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160
APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/k210_yolov2_detect.c
View File

@ -8,7 +8,7 @@
#include "region_layer.h"
#define STACK_SIZE (128 * 1024)
static dmac_channel_number_t dma_ch = DMAC_CHANNEL_MAX-1;
static dmac_channel_number_t dma_ch = DMAC_CHANNEL_MAX - 1;
static _ioctl_shoot_para shoot_para_t = {0};
#define THREAD_PRIORITY_D (11)
@ -19,9 +19,10 @@ static int kmodel_fd = 0;
static int if_exit = 0;
static unsigned char *showbuffer = NULL;
static unsigned char *kpurgbbuffer = NULL;
static int image_width = IMAGE_WIDTH;
static int image_height = IMAGE_HEIGHT;
unsigned char *model_data = NULL; // kpu data load memory
unsigned char *model_data = NULL; // kpu data load memory
unsigned char *model_data_align = NULL;
kpu_model_context_t detect_task;
@ -42,18 +43,20 @@ void k210_detect(char *json_file_path)
// open and parse from json file
yolov2_params_t detect_params = param_parse(json_file_path);
if (!detect_params.is_valid) {
if (!detect_params.is_valid)
{
return;
}
printf("select camera device name:%s\n",CAMERA_DEV_DRIVER);
printf("select camera device name:%s\n", CAMERA_DEV_DRIVER);
camera_fd = PrivOpen(CAMERA_DEV_DRIVER, O_RDONLY);
if (camera_fd < 0) {
printf("open %s fail !!",CAMERA_DEV_DRIVER);
if (camera_fd < 0)
{
printf("open %s fail !!", CAMERA_DEV_DRIVER);
return;
}
struct PrivIoctlCfg ioctl_cfg;
ioctl_cfg.ioctl_driver_type = CAMERA_TYPE;
struct CameraCfg camera_init_cfg ={
struct CameraCfg camera_init_cfg = {
.gain_manu_enable = 0,
.gain = 0xFF,
.window_w = 800,
@ -61,39 +64,43 @@ void k210_detect(char *json_file_path)
.output_w = IMAGE_WIDTH,
.output_h = IMAGE_HEIGHT,
.window_xoffset = 0,
.window_yoffset = 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);
}
// 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;
camera_cfg.args = &set_dvp_reso;
camera_cfg.ioctl_driver_type = CAMERA_TYPE;
PrivIoctl(camera_fd, IOCTRL_CAMERA_OUT_SIZE_RESO, &camera_cfg);
image_height = set_dvp_reso.height;
image_width = set_dvp_reso.width;
model_data = (unsigned char *)malloc(detect_params.kmodel_size + 255);
// alloc the memory for camera and kpu running
showbuffer = (unsigned char *)malloc(detect_params.sensor_output_size[0] * detect_params.sensor_output_size[1] * 2);
if (NULL == showbuffer) {
if (NULL == showbuffer)
{
close(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) {
if (NULL == kpurgbbuffer)
{
close(camera_fd);
free(showbuffer);
printf("kpurgbbuffer apply memory fail !!");
return;
}
model_data = (unsigned char *)malloc(detect_params.kmodel_size + 255);
printf("model address:%x->%x\n",model_data_align,model_data_align + detect_params.kmodel_size);
if (NULL == model_data) {
if (NULL == model_data)
{
free(showbuffer);
free(kpurgbbuffer);
close(camera_fd);
@ -115,24 +122,30 @@ void k210_detect(char *json_file_path)
int idx_suffix_start = strlen(json_file_path) - 4;
const char kmodel_suffix[7] = "kmodel";
int kmodel_suffix_len = 6;
while (kmodel_suffix_len--) {
while (kmodel_suffix_len--)
{
kmodel_path[idx_suffix_start + 5 - kmodel_suffix_len] = kmodel_suffix[5 - kmodel_suffix_len];
}
printf("kmodel path: %s\n", kmodel_path);
unsigned char *model_data_align = (unsigned char *)(((uintptr_t)model_data + 255) & (~255));
printf("model address:%x->%x\n", model_data_align, model_data_align + detect_params.kmodel_size);
kmodel_fd = PrivOpen(kmodel_path, O_RDONLY);
memset(model_data,0,sizeof(model_data));
if (kmodel_fd < 0) {
if (kmodel_fd < 0)
{
printf("open kmodel fail");
close(camera_fd);
free(showbuffer);
free(kpurgbbuffer);
free(model_data);
return;
} else {
}
else
{
size = read(kmodel_fd, model_data_align, detect_params.kmodel_size);
if (size != detect_params.kmodel_size) {
if (size != detect_params.kmodel_size)
{
printf("read kmodel error size %d\n", size);
close(camera_fd);
close(kmodel_fd);
@ -140,7 +153,9 @@ void k210_detect(char *json_file_path)
free(kpurgbbuffer);
free(model_data);
return;
} else {
}
else
{
close(kmodel_fd);
printf("read kmodel success \n");
}
@ -149,24 +164,25 @@ void k210_detect(char *json_file_path)
#ifdef ADD_RTTHREAD_FETURES
dvp_set_ai_addr(
(uintptr_t)(kpurgbbuffer +
detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0])),
detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0])),
(uintptr_t)(kpurgbbuffer +
detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0]) +
detect_params.net_input_size[0] * detect_params.net_input_size[1]),
detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0]) +
detect_params.net_input_size[0] * detect_params.net_input_size[1]),
(uintptr_t)(kpurgbbuffer +
detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0]) +
detect_params.net_input_size[0] * detect_params.net_input_size[1] * 2));
detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0]) +
detect_params.net_input_size[0] * detect_params.net_input_size[1] * 2));
#endif
// Set AI buff address of Camera
RgbAddress ai_address_preset;
ai_address_preset.r_addr = (uintptr_t)kpurgbbuffer + detect_params.net_input_size[1] * (detect_params.net_input_size[0] - detect_params.sensor_output_size[0]);
ai_address_preset.r_addr = (uintptr_t)kpurgbbuffer + detect_params.net_input_size[1];
ai_address_preset.g_addr = ai_address_preset.r_addr + detect_params.net_input_size[0] * detect_params.net_input_size[1];
ai_address_preset.b_addr = ai_address_preset.g_addr + detect_params.net_input_size[0] * detect_params.net_input_size[1];
ai_address_preset.b_addr = ai_address_preset.g_addr + detect_params.net_input_size[0] * detect_params.net_input_size[1];
camera_cfg.args = &ai_address_preset;
PrivIoctl(camera_fd,SET_AI_ADDR,&camera_cfg);
PrivIoctl(camera_fd, SET_AI_ADDR, &camera_cfg);
// Load kmodel into kpu task
if (kpu_load_kmodel(&detect_task, model_data_align) != 0) {
if (kpu_load_kmodel(&detect_task, model_data_align) != 0)
{
printf("\nmodel init error\n");
close(camera_fd);
close(kmodel_fd);
@ -180,10 +196,11 @@ void k210_detect(char *json_file_path)
detect_rl.anchor = detect_params.anchor;
detect_rl.nms_value = detect_params.nms_thresh;
detect_rl.classes = detect_params.class_num;
result =region_layer_init(&detect_rl, detect_params.net_output_shape[0], detect_params.net_output_shape[1],
detect_params.net_output_shape[2], detect_params.net_input_size[1], detect_params.net_input_size[0]);
result = region_layer_init(&detect_rl, detect_params.net_output_shape[0], detect_params.net_output_shape[1],
detect_params.net_output_shape[2], detect_params.net_input_size[1], detect_params.net_input_size[0]);
printf("region_layer_init result %d \n\r", result);
for (int idx = 0; idx < detect_params.class_num; idx++) {
for (int idx = 0; idx < detect_params.class_num; idx++)
{
detect_rl.threshold[idx] = detect_params.obj_thresh[idx];
}
@ -197,9 +214,12 @@ void k210_detect(char *json_file_path)
/* 创建线程 1, 属性为 attr，入口函数是 thread_entry，入口函数参数是 1 */
result = pthread_create(&tid, &attr, thread_detect_entry, &detect_params);
if (0 == result) {
if (0 == result)
{
printf("thread_detect_entry successfully!\n");
} else {
}
else
{
printf("thread_detect_entry failed! error code is %d\n", result);
close(camera_fd);
}
@ -226,13 +246,15 @@ static void *thread_detect_entry(void *parameter)
printf("thread_detect_entry start!\n");
int ret = 0;
while (1) {
while (1)
{
g_ai_done_flag = 0;
//get a graph map from camera
// get a graph map from camera
camera_cfg.args = &shoot_para_t;
ret = PrivIoctl(camera_fd, IOCTRL_CAMERA_START_SHOT, &camera_cfg);
if (ERROR_FLAG == ret) {
if (ERROR_FLAG == ret)
{
printf("ov2640 can't wait event flag");
free(showbuffer);
close(camera_fd);
@ -240,9 +262,15 @@ static void *thread_detect_entry(void *parameter)
return NULL;
}
int shoot_flag = 0;
camera_cfg.args = (int *)&shoot_flag;
PrivIoctl(camera_fd, FLAG_CHECK, &camera_cfg);
while (shoot_flag == 2)
PrivIoctl(camera_fd, FLAG_CHECK, &camera_cfg);
#ifdef ADD_RTTHREAD_FETURES
if (dmalock_sync_take(&dma_ch, 2000)) {
if (dmalock_sync_take(&dma_ch, 2000))
{
printf("Fail to take DMA channel");
}
kpu_run_kmodel(&detect_task, kpurgbbuffer, DMAC_CHANNEL5, ai_done, NULL);
@ -252,7 +280,7 @@ static void *thread_detect_entry(void *parameter)
#elif defined ADD_XIZI_FETURES
kpu_run_kmodel(&detect_task, kpurgbbuffer, dma_ch, ai_done, NULL);
while (!g_ai_done_flag)
;
;
#endif
float *output;
@ -260,11 +288,12 @@ static void *thread_detect_entry(void *parameter)
kpu_get_output(&detect_task, 0, (uint8_t **)&output, &output_size);
detect_rl.input = output;
region_layer_run(&detect_rl, &detect_info);
printf("detect_info.obj_number:%d\n",detect_info.obj_number);
printf("detect_info.obj_number:%d\n", detect_info.obj_number);
/* display result */
for (int cnt = 0; cnt < detect_info.obj_number; cnt++) {
detect_info.obj[cnt].y1 += (detect_params.sensor_output_size[0] - detect_params.net_input_size[0])/2;
detect_info.obj[cnt].y2 += (detect_params.sensor_output_size[0] - detect_params.net_input_size[0])/2;
for (int cnt = 0; cnt < detect_info.obj_number; cnt++)
{
detect_info.obj[cnt].y1 += (detect_params.sensor_output_size[0] - detect_params.net_input_size[0]) / 2;
detect_info.obj[cnt].y2 += (detect_params.sensor_output_size[0] - detect_params.net_input_size[0]) / 2;
draw_edge((uint32_t *)showbuffer, &detect_info, cnt, 0xF800, (uint16_t)detect_params.sensor_output_size[1],
(uint16_t)detect_params.sensor_output_size[0]);
printf("%d: (%d, %d, %d, %d) cls: %s conf: %f\t", cnt, detect_info.obj[cnt].x1, detect_info.obj[cnt].y1,
@ -274,26 +303,32 @@ static void *thread_detect_entry(void *parameter)
#ifdef BSP_USING_LCD
#ifdef ADD_RTTHREAD_FETURES
extern void lcd_draw_picture(uint16_t x1, uint16_t y1, uint16_t width, uint16_t height, uint32_t * ptr);
lcd_draw_picture(0, 0, (uint16_t)detect_params.sensor_output_size[1] - 1,
(uint16_t)detect_params.sensor_output_size[0] - 1, (uint32_t *)showbuffer);
// lcd_show_image(0, 0, (uint16_t)detect_params.sensor_output_size[1], (uint16_t)detect_params.sensor_output_size[0],
// (unsigned int *)showbuffer);
extern void lcd_draw_picture(uint16_t x1, uint16_t y1, uint16_t width, uint16_t height, uint32_t * ptr);
lcd_draw_picture(0, 0, (uint16_t)detect_params.sensor_output_size[1] - 1,
(uint16_t)detect_params.sensor_output_size[0] - 1, (uint32_t *)showbuffer);
// lcd_show_image(0, 0, (uint16_t)detect_params.sensor_output_size[1], (uint16_t)detect_params.sensor_output_size[0],
// (unsigned int *)showbuffer);
#else
//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.x_startpos = 0;
graph_param.pixel_info.y_startpos = i + (LCD_SIZE - IMAGE_HEIGHT) / 2;
graph_param.pixel_info.x_endpos = IMAGE_WIDTH - 1;
graph_param.pixel_info.y_endpos = i + (LCD_SIZE - IMAGE_HEIGHT) / 2;
PrivWrite(lcd_fd, &graph_param, NULL_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.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
#endif
if (1 == if_exit) {
if (1 == if_exit)
{
if_exit = 0;
printf("thread_detect_entry exit");
pthread_exit(NULL);
@ -303,7 +338,8 @@ static void *thread_detect_entry(void *parameter)
void detect_delete()
{
if (showbuffer != NULL) {
if (showbuffer != NULL)
{
int ret = 0;
close(camera_fd);
close(kmodel_fd);

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

@ -278,6 +278,7 @@ enum TCP_OPTION {
#define SET_DISPLAY_ADDR (21)
#define SET_AI_ADDR (22)
#define IOCTRL_CAMERA_OUT_SIZE_RESO (23)
#define FLAG_CHECK (24)
/*********************shell***********************/
//for int func(int argc, char *agrv[])

3
Ubiquitous/XiZi_IIoT/board/edu-riscv64/third_party_driver/dvp/connect_dvp.c
View File

@ -151,6 +151,9 @@ static uint32 DvpDrvConfigure(void *drv, struct BusConfigureInfo *args)
dvp_config_interrupt(DVP_CFG_START_INT_ENABLE | DVP_CFG_FINISH_INT_ENABLE, 1);
shoot_flag=ONLY_ONE_SHOOT;
break;
case FLAG_CHECK:
*((int*)args->private_data) = shoot_flag;
break;
case SET_AI_ADDR:
kpu_rgb_address = (RgbAddress*)args->private_data;
dvp_set_output_enable(DVP_OUTPUT_AI, 1);

1
Ubiquitous/XiZi_IIoT/board/edu-riscv64/third_party_driver/include/connect_dvp.h
View File

@ -32,6 +32,7 @@ extern "C" {
#define SET_DISPLAY_ADDR (21)
#define SET_AI_ADDR (22)
#define IOCTRL_CAMERA_OUT_SIZE_RESO (23)
#define FLAG_CHECK (24)
typedef struct