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[video] only add isp for bebop

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This commit is contained in:
Felix Ruess
2017-01-15 13:37:47 +01:00
parent f4c1025d5c
commit 312e366f4e
8 changed files with 12 additions and 14 deletions
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conf/boards/bebop.makefile
+1 -1
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@@ -36,7 +36,7 @@ $(TARGET).srcs += $(SRC_BOARD)/board.c
# Compile the video specific parts
$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
$(TARGET).srcs += $(SRC_BOARD)/mt9v117.c $(SRC_BOARD)/mt9f002.c
$(TARGET).srcs += $(SRC_BOARD)/mt9v117.c $(SRC_BOARD)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
# Link static (Done for GLIBC)
$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
conf/boards/bebop2.makefile
+1 -1
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@@ -39,7 +39,7 @@ $(TARGET).srcs += $(SRC_BOARD)/board.c
# Compile the video specific parts
$(TARGET).CFLAGS += -DI2C_BUF_LEN=56 -DUSE_I2C0
$(TARGET).srcs += $(SRC_BOARD)/mt9v117.c $(SRC_BOARD)/mt9f002.c
$(TARGET).srcs += $(SRC_BOARD)/mt9v117.c $(SRC_BOARD)/mt9f002.c modules/computer_vision/lib/isp/libisp.c modules/computer_vision/lib/isp/libisp_config.c
# Link static (Done for GLIBC)
$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
conf/modules/video_thread.xml
-1
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@@ -29,7 +29,6 @@
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
<file name="libisp.c" dir="modules/computer_vision/lib/isp"/>
<!-- Random flags -->
<!-- Does this influence the compilation of fast9? -->
sw/airborne/boards/bebop/mt9f002.c
-3
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@@ -30,7 +30,6 @@
#include "math/pprz_algebra_int.h"
#include "boards/bebop.h"
#include "modules/computer_vision/lib/isp/libisp.h"
#include "modules/computer_vision/lib/isp/libisp_config.h"
#include <stdio.h>
#include <unistd.h>
@@ -43,8 +42,6 @@
#define MT9F002_MAX_WIDTH 4608
#define MT9F002_MAX_HEIGHT 3288
extern struct libisp_config isp_config;
/* Camera structure */
struct video_config_t front_camera = {
.output_size = {
sw/airborne/modules/computer_vision/lib/isp/libisp.c
+1 -2
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@@ -8,8 +8,7 @@
#include <sys/mman.h>
#include <sys/ioctl.h>
//#include "libisp.h"
#include "libisp_config.h"
#include "libisp.h"
#define AVI_BASE 0x400000
#define AVI_SIZE 0x100000
sw/airborne/modules/computer_vision/lib/isp/libisp.h
+2
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@@ -100,6 +100,8 @@ struct isp_yuv_stats_t {
uint32_t ae_histogram_Y[256];
};
extern struct libisp_config isp_config;
int configure_isp(struct v4l2_device *dev);
int isp_get_statistics_yuv(struct isp_yuv_stats_t *yuv_stats);
sw/airborne/modules/computer_vision/lib/isp/libisp_config.h → sw/airborne/modules/computer_vision/lib/isp/libisp_config.c
-5
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@@ -1,6 +1,3 @@
#ifndef _LIBISP_CONFIG_H
#define _LIBISP_CONFIG_H
#include "boards/bebop/mt9f002.h"
#include "libisp.h"
@@ -496,5 +493,3 @@ struct libisp_config isp_config = {
},
};
#endif /* _LIBISP_CONFIG_H */
sw/airborne/modules/computer_vision/video_thread.c
+7 -1
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@@ -39,13 +39,17 @@
#include "lib/v4l/v4l2.h"
#include "lib/vision/image.h"
#include "lib/vision/bayer.h"
#include "lib/isp/libisp.h"
#include "mcu_periph/sys_time.h"
// include board for bottom_camera and front_camera on ARDrone2 and Bebop
#include BOARD_CONFIG
// Bebop uses ISP
#ifdef BOARD_BEBOP
#include "lib/isp/libisp.h"
#endif
// Threaded computer vision
#include <pthread.h>
#include "rt_priority.h"
@@ -102,10 +106,12 @@ static void *video_thread_function(void *data)
return 0;
}
#ifdef BOARD_BEBOP
// Configure ISP if needed
if (vid->filters & VIDEO_FILTER_ISP) {
configure_isp(vid->thread.dev);
}
#endif
// be nice to the more important stuff
set_nice_level(VIDEO_THREAD_NICE_LEVEL);