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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" #include "region_layer.h"
#define STACK_SIZE (128 * 1024) #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}; static _ioctl_shoot_para shoot_para_t = {0};
#define THREAD_PRIORITY_D (11) #define THREAD_PRIORITY_D (11)
@ -19,9 +19,10 @@ static int kmodel_fd = 0;
static int if_exit = 0; static int if_exit = 0;
static unsigned char *showbuffer = NULL; static unsigned char *showbuffer = NULL;
static unsigned char *kpurgbbuffer = 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; unsigned char *model_data_align = NULL;
kpu_model_context_t detect_task; kpu_model_context_t detect_task;
@ -42,18 +43,20 @@ void k210_detect(char *json_file_path)
// open and parse from json file // open and parse from json file
yolov2_params_t detect_params = param_parse(json_file_path); yolov2_params_t detect_params = param_parse(json_file_path);
if (!detect_params.is_valid) { if (!detect_params.is_valid)
{
return; 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); camera_fd = PrivOpen(CAMERA_DEV_DRIVER, O_RDONLY);
if (camera_fd < 0) { if (camera_fd < 0)
printf("open %s fail !!",CAMERA_DEV_DRIVER); {
printf("open %s fail !!", CAMERA_DEV_DRIVER);
return; return;
} }
struct PrivIoctlCfg ioctl_cfg; struct PrivIoctlCfg ioctl_cfg;
ioctl_cfg.ioctl_driver_type = CAMERA_TYPE; ioctl_cfg.ioctl_driver_type = CAMERA_TYPE;
struct CameraCfg camera_init_cfg ={ struct CameraCfg camera_init_cfg = {
.gain_manu_enable = 0, .gain_manu_enable = 0,
.gain = 0xFF, .gain = 0xFF,
.window_w = 800, .window_w = 800,
@ -61,39 +64,43 @@ void k210_detect(char *json_file_path)
.output_w = IMAGE_WIDTH, .output_w = IMAGE_WIDTH,
.output_h = IMAGE_HEIGHT, .output_h = IMAGE_HEIGHT,
.window_xoffset = 0, .window_xoffset = 0,
.window_yoffset = 0 .window_yoffset = 0};
};
ioctl_cfg.args = &camera_init_cfg; ioctl_cfg.args = &camera_init_cfg;
if (0 != PrivIoctl(camera_fd, OPE_CFG, &ioctl_cfg)) if (0 != PrivIoctl(camera_fd, OPE_CFG, &ioctl_cfg))
{ {
printf("camera pin fd error %d\n", camera_fd); printf("camera pin fd error %d\n", camera_fd);
PrivClose(camera_fd); PrivClose(camera_fd);
} }
// configure the resolution of camera // configure the resolution of camera
_ioctl_set_reso set_dvp_reso = {detect_params.sensor_output_size[1], detect_params.sensor_output_size[0]}; _ioctl_set_reso set_dvp_reso = {detect_params.sensor_output_size[1], detect_params.sensor_output_size[0]};
struct PrivIoctlCfg camera_cfg; struct PrivIoctlCfg camera_cfg;
camera_cfg.args = &set_dvp_reso; camera_cfg.args = &set_dvp_reso;
camera_cfg.ioctl_driver_type = CAMERA_TYPE; camera_cfg.ioctl_driver_type = CAMERA_TYPE;
PrivIoctl(camera_fd, IOCTRL_CAMERA_OUT_SIZE_RESO, &camera_cfg); 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 // 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); 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); close(camera_fd);
printf("showbuffer apply memory fail !!"); printf("showbuffer apply memory fail !!");
return; return;
} }
kpurgbbuffer = (unsigned char *)malloc(detect_params.net_input_size[0] * detect_params.net_input_size[1] * 3); 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); close(camera_fd);
free(showbuffer); free(showbuffer);
printf("kpurgbbuffer apply memory fail !!"); printf("kpurgbbuffer apply memory fail !!");
return; 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(showbuffer);
free(kpurgbbuffer); free(kpurgbbuffer);
close(camera_fd); close(camera_fd);
@ -115,24 +122,30 @@ void k210_detect(char *json_file_path)
int idx_suffix_start = strlen(json_file_path) - 4; int idx_suffix_start = strlen(json_file_path) - 4;
const char kmodel_suffix[7] = "kmodel"; const char kmodel_suffix[7] = "kmodel";
int kmodel_suffix_len = 6; 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]; kmodel_path[idx_suffix_start + 5 - kmodel_suffix_len] = kmodel_suffix[5 - kmodel_suffix_len];
} }
printf("kmodel path: %s\n", kmodel_path); printf("kmodel path: %s\n", kmodel_path);
unsigned char *model_data_align = (unsigned char *)(((uintptr_t)model_data + 255) & (~255)); 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); 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"); printf("open kmodel fail");
close(camera_fd); close(camera_fd);
free(showbuffer); free(showbuffer);
free(kpurgbbuffer); free(kpurgbbuffer);
free(model_data); free(model_data);
return; return;
} else { }
else
{
size = read(kmodel_fd, model_data_align, detect_params.kmodel_size); 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); printf("read kmodel error size %d\n", size);
close(camera_fd); close(camera_fd);
close(kmodel_fd); close(kmodel_fd);
@ -140,7 +153,9 @@ void k210_detect(char *json_file_path)
free(kpurgbbuffer); free(kpurgbbuffer);
free(model_data); free(model_data);
return; return;
} else { }
else
{
close(kmodel_fd); close(kmodel_fd);
printf("read kmodel success \n"); printf("read kmodel success \n");
} }
@ -149,24 +164,25 @@ void k210_detect(char *json_file_path)
#ifdef ADD_RTTHREAD_FETURES #ifdef ADD_RTTHREAD_FETURES
dvp_set_ai_addr( dvp_set_ai_addr(
(uintptr_t)(kpurgbbuffer + (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 + (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]) +
detect_params.net_input_size[0] * detect_params.net_input_size[1]), detect_params.net_input_size[0] * detect_params.net_input_size[1]),
(uintptr_t)(kpurgbbuffer + (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]) +
detect_params.net_input_size[0] * detect_params.net_input_size[1] * 2)); detect_params.net_input_size[0] * detect_params.net_input_size[1] * 2));
#endif #endif
// Set AI buff address of Camera // Set AI buff address of Camera
RgbAddress ai_address_preset; 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.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; 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 // 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"); printf("\nmodel init error\n");
close(camera_fd); close(camera_fd);
close(kmodel_fd); close(kmodel_fd);
@ -180,10 +196,11 @@ void k210_detect(char *json_file_path)
detect_rl.anchor = detect_params.anchor; detect_rl.anchor = detect_params.anchor;
detect_rl.nms_value = detect_params.nms_thresh; detect_rl.nms_value = detect_params.nms_thresh;
detect_rl.classes = detect_params.class_num; 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], 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]); 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); 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]; 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 */ /* 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); result = pthread_create(&tid, &attr, thread_detect_entry, &detect_params);
if (0 == result) { if (0 == result)
{
printf("thread_detect_entry successfully!\n"); printf("thread_detect_entry successfully!\n");
} else { }
else
{
printf("thread_detect_entry failed! error code is %d\n", result); printf("thread_detect_entry failed! error code is %d\n", result);
close(camera_fd); close(camera_fd);
} }
@ -226,13 +246,15 @@ static void *thread_detect_entry(void *parameter)
printf("thread_detect_entry start!\n"); printf("thread_detect_entry start!\n");
int ret = 0; int ret = 0;
while (1) { while (1)
{
g_ai_done_flag = 0; g_ai_done_flag = 0;
//get a graph map from camera // get a graph map from camera
camera_cfg.args = &shoot_para_t; camera_cfg.args = &shoot_para_t;
ret = PrivIoctl(camera_fd, IOCTRL_CAMERA_START_SHOT, &camera_cfg); 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"); printf("ov2640 can't wait event flag");
free(showbuffer); free(showbuffer);
close(camera_fd); close(camera_fd);
@ -240,9 +262,15 @@ static void *thread_detect_entry(void *parameter)
return NULL; 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 #ifdef ADD_RTTHREAD_FETURES
if (dmalock_sync_take(&dma_ch, 2000)) { if (dmalock_sync_take(&dma_ch, 2000))
{
printf("Fail to take DMA channel"); printf("Fail to take DMA channel");
} }
kpu_run_kmodel(&detect_task, kpurgbbuffer, DMAC_CHANNEL5, ai_done, NULL); 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 #elif defined ADD_XIZI_FETURES
kpu_run_kmodel(&detect_task, kpurgbbuffer, dma_ch, ai_done, NULL); kpu_run_kmodel(&detect_task, kpurgbbuffer, dma_ch, ai_done, NULL);
while (!g_ai_done_flag) while (!g_ai_done_flag)
; ;
#endif #endif
float *output; float *output;
@ -260,11 +288,12 @@ static void *thread_detect_entry(void *parameter)
kpu_get_output(&detect_task, 0, (uint8_t **)&output, &output_size); kpu_get_output(&detect_task, 0, (uint8_t **)&output, &output_size);
detect_rl.input = output; detect_rl.input = output;
region_layer_run(&detect_rl, &detect_info); 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 */ /* display result */
for (int cnt = 0; cnt < detect_info.obj_number; cnt++) { 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; 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], 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]); (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, 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 BSP_USING_LCD
#ifdef ADD_RTTHREAD_FETURES #ifdef ADD_RTTHREAD_FETURES
extern void lcd_draw_picture(uint16_t x1, uint16_t y1, uint16_t width, uint16_t height, uint32_t * ptr); 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, 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); (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], // lcd_show_image(0, 0, (uint16_t)detect_params.sensor_output_size[1], (uint16_t)detect_params.sensor_output_size[0],
// (unsigned int *)showbuffer); // (unsigned int *)showbuffer);
#else #else
//refresh the LCD using photo of camera // refresh the LCD using photo of camera
for (int i = 0; i < IMAGE_HEIGHT; i++) 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 + i * image_width;
graph_param.pixel_info.x_startpos = 0; 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.y_startpos = i + (LCD_SIZE - image_height) / 2;
graph_param.pixel_info.x_endpos = IMAGE_WIDTH - 1; graph_param.pixel_info.x_endpos = LCD_SIZE - 1 - (LCD_SIZE - image_width) / 2;
graph_param.pixel_info.y_endpos = i + (LCD_SIZE - IMAGE_HEIGHT) / 2; graph_param.pixel_info.y_endpos = graph_param.pixel_info.y_startpos;
PrivWrite(lcd_fd, &graph_param, NULL_PARAMETER); // 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
#endif #endif
if (1 == if_exit) { if (1 == if_exit)
{
if_exit = 0; if_exit = 0;
printf("thread_detect_entry exit"); printf("thread_detect_entry exit");
pthread_exit(NULL); pthread_exit(NULL);
@ -303,7 +338,8 @@ static void *thread_detect_entry(void *parameter)
void detect_delete() void detect_delete()
{ {
if (showbuffer != NULL) { if (showbuffer != NULL)
{
int ret = 0; int ret = 0;
close(camera_fd); close(camera_fd);
close(kmodel_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_DISPLAY_ADDR (21)
#define SET_AI_ADDR (22) #define SET_AI_ADDR (22)
#define IOCTRL_CAMERA_OUT_SIZE_RESO (23) #define IOCTRL_CAMERA_OUT_SIZE_RESO (23)
#define FLAG_CHECK (24)
/*********************shell***********************/ /*********************shell***********************/
//for int func(int argc, char *agrv[]) //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); dvp_config_interrupt(DVP_CFG_START_INT_ENABLE | DVP_CFG_FINISH_INT_ENABLE, 1);
shoot_flag=ONLY_ONE_SHOOT; shoot_flag=ONLY_ONE_SHOOT;
break; break;
case FLAG_CHECK:
*((int*)args->private_data) = shoot_flag;
break;
case SET_AI_ADDR: case SET_AI_ADDR:
kpu_rgb_address = (RgbAddress*)args->private_data; kpu_rgb_address = (RgbAddress*)args->private_data;
dvp_set_output_enable(DVP_OUTPUT_AI, 1); 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_DISPLAY_ADDR (21)
#define SET_AI_ADDR (22) #define SET_AI_ADDR (22)
#define IOCTRL_CAMERA_OUT_SIZE_RESO (23) #define IOCTRL_CAMERA_OUT_SIZE_RESO (23)
#define FLAG_CHECK (24)
typedef struct typedef struct