diff --git a/APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/k210_yolov2_detect.c b/APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/k210_yolov2_detect.c index e2aa4d8ec..99c51f6dc 100644 --- a/APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/k210_yolov2_detect.c +++ b/APP_Framework/Framework/knowing/kpu/k210_yolov2_detect_procedure/k210_yolov2_detect.c @@ -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;jprivate_data) = shoot_flag; + break; case SET_AI_ADDR: kpu_rgb_address = (RgbAddress*)args->private_data; dvp_set_output_enable(DVP_OUTPUT_AI, 1); diff --git a/Ubiquitous/XiZi_IIoT/board/edu-riscv64/third_party_driver/include/connect_dvp.h b/Ubiquitous/XiZi_IIoT/board/edu-riscv64/third_party_driver/include/connect_dvp.h index 14695c659..9970920db 100644 --- a/Ubiquitous/XiZi_IIoT/board/edu-riscv64/third_party_driver/include/connect_dvp.h +++ b/Ubiquitous/XiZi_IIoT/board/edu-riscv64/third_party_driver/include/connect_dvp.h @@ -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