Merged in alinjerpelea/nuttx (pull request #1060)

Master

* boards: cxd56xx: spresense: add Spresense Image Processor

     Enable support for accelerated format convertor, rotation and so on.
    using the CXD5602 image processing accelerator.

    Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>

* boards:cxd56xx:spresense: initalize GNSS and GEOFENCE at boot

    Add the optional initialization of  GNSS and GEOFENCE at boot
    if the drivers are enabled

    Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>

Approved-by: Gregory Nutt <gnutt@nuttx.org>

boards/arm/cxd56xx/common/src/Make.defs

@@ -151,6 +151,10 @@ ifeq ($(CONFIG_VIDEO_ISX012),y)
 CSRCS += cxd56_isx012.c
 endif
 
+ifeq ($(CONFIG_CXD56_IMAGEPROC),y)
+  CSRCS += cxd56_imageproc.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += $(shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)

boards/arm/cxd56xx/spresense/Kconfig

@@ -68,6 +68,14 @@ config LCD_ON_MAIN_BOARD
 
 endchoice
 endif
+config CXD56_IMAGEPROC
+	bool "Spresense Image Processor"
+	default n
+	select CXD56_GE2D
+	---help---
+		Enable support for accelerated format convertor, rotation and so on.
+		using the CXD5602 image processing accelerator.
+
 comment "LTE Options"
 
 menuconfig CXD56_LTE

boards/arm/cxd56xx/spresense/include/cxd56_imageproc.h

@@ -0,0 +1,151 @@
+/***************************************************************************
+ * boards/arm/cxd56xx/include/cxd56_imageproc.h
+ *
+ *   Copyright 2018 Sony Semiconductor Solutions Corporation
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name of Sony Corporation nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_CXD56XX_INCLUDE_CXD56_IMAGEPROC_H__
+#define __BOARDS_ARM_CXD56XX_INCLUDE_CXD56_IMAGEPROC_H__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/* Structure of rectangle coordinates from left top point to
+ * right buttom point.
+ */
+
+  struct imageproc_rect_s
+    {
+      uint16_t x1;               /* X coordinate of left top point */
+      uint16_t y1;               /* Y coordinate of left top point */
+      uint16_t x2;               /* X coordinate of rignt bottom point */
+      uint16_t y2;               /* Y coordinate of rignt bottom point */
+    };
+  typedef struct imageproc_rect_s imageproc_rect_t;
+
+/* Initialize imageproc library
+ */
+
+  void imageproc_initialize(void);
+
+/* Finalize imageproc library
+ */
+
+  void imageproc_finalize(void);
+
+/* Convert color format (YUV to RGB)
+ *
+ * TODO: need more description here
+ *
+ *  [in,out] ibuf: image
+ *  [in] hsize: Horizontal size
+ *  [in] vsize: Vertical size
+ */
+
+  void imageproc_convert_yuv2rgb(uint8_t * ibuf, uint32_t hsize,
+                                 uint32_t vsize);
+
+/* Convert color format (YUV to grayscale)
+ *
+ * TODO: need more description here
+ *
+ *  [in] ibuf: Input image
+ *  [out] obuf: Output buffer
+ *  [in] hsize: Horizontal size
+ *  [in] vsize: Vertical size
+ */
+
+  void imageproc_convert_yuv2gray(uint8_t * ibuf, uint8_t * obuf,
+                                  size_t hsize, size_t vsize);
+
+/* Resize image
+ *
+ * Resize image specified by ibuf to ohsize, ovsize. Processed
+ * image will be stored to obuf.
+ *
+ * For ohsize and ovsize, specify output size calculated by multiply
+ * in range 1/2^n to 2^n (n=0..5) against ihsize and ivsize.
+ *
+ * This function can be processing for YUV422 color format.
+ *  So all of specified sizes must be multiple of 2.
+ *
+ * And there is limitation about output size below.
+ *
+ * * Shrink
+ *   + Horizontal size least 12 pixels
+ *   + Vertical size least 12 pixels
+ * * Enlarge
+ *   + Horizontal size up to 768 pixels
+ *   + Vertical size up to 1024 pixels
+ *
+ *  [in] ibuf: Input image
+ *  [in] ihsize: Input horizontal size
+ *  [in] ivsize: Input vertical size
+ *  [out] obuf: Output buffer
+ *  [in] ohsize: Output horizontal size
+ *  [in] ovsize: Output vertical size
+ *  [in] bpp: Bits per pixel (16 or 8)
+ *
+ * return 0 on success, otherwise error code.
+ */
+
+  int imageproc_resize(uint8_t * ibuf, uint16_t ihsize, uint16_t ivsize,
+                       uint8_t * obuf, uint16_t ohsize, uint16_t ovsize,
+                       int bpp);
+
+/* Clip and Resize image
+ *
+ *  [in] ibuf: Input image
+ *  [in] ihsize: Input horizontal size
+ *  [in] ivsize: Input vertical size
+ *  [out] obuf: Output buffer
+ *  [in] ohsize: Output horizontal size
+ *  [in] ovsize: Output vertical size
+ *  [in] bpp: Bits per pixel (16 or 8)
+ *  [in] clip_rect: Clipping rectangle on input image.
+ *
+ * return 0 on success, otherwise error code.
+ */
+
+  int imageproc_clip_and_resize(uint8_t * ibuf, uint16_t ihsize,
+                                uint16_t ivsize, uint8_t * obuf,
+                                uint16_t ohsize, uint16_t ovsize, int bpp,
+                                imageproc_rect_t * clip_rect);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __BOARDS_ARM_CXD56XX_INCLUDE_CXD56_IMAGEPROC_H__ */

boards/arm/cxd56xx/spresense/src/cxd56_bringup.c

@@ -113,6 +113,14 @@
 #  include <arch/chip/scu.h>
 #endif
 
+#ifdef CONFIG_CXD56_GNSS
+#  include "cxd56_gnss.h"
+#endif
+
+#ifdef CONFIG_CXD56_GEOFENCE
+#  include "cxd56_geofence.h"
+#endif
+
 #include "spresense.h"
 
 /****************************************************************************
@@ -405,6 +413,22 @@ int cxd56_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_CXD56_GNSS
+  ret = cxd56_gnssinitialize("/dev/gps");
+  if (ret < 0)
+    {
+      _err("ERROR: Failed to initialze gnss. \n");
+    }
+#endif
+
+#ifdef CONFIG_CXD56_GEOFENCE
+  ret = cxd56_geofenceinitialize("/dev/geofence");
+  if (ret < 0)
+    {
+      _err("ERROR: Failed to initialze geofence. \n");
+    }
+#endif
+
 #ifdef CONFIG_SENSORS_BMI160_I2C
   ret = board_bmi160_initialize(0);
   if (ret < 0)