[video] main idea

sw/airborne/boards/ardrone/board.c

@@ -34,6 +34,27 @@
 #warning No battery voltage measurement available! Please add <load name="bat_voltage_ardrone2.xml"/> to your modules.
 #endif
 
+#include "peripherals/video_device.h"
+
+struct video_device_t front_camera = {
+  .w = 1280,
+  .h = 720,
+  .dev_name = "/dev/video1",
+  .subdev_name = NULL,
+  .format = V4L2_PIX_FMT_UYVY,
+  .filters = NULL
+};
+
+struct video_device_t bottom_camera = {
+  .w = 320,
+  .h = 240,
+  .dev_name = "/dev/video2",
+  .subdev_name = NULL,
+  .format = V4L2_PIX_FMT_UYVY,
+  .filters = NULL
+};
+
+
 void board_init(void)
 {
   // First we try to kill the program.elf and its respawner if it is running

sw/airborne/boards/ardrone2.h

@@ -3,10 +3,16 @@
 
 #define BOARD_ARDRONE2
 
+#include "peripherals/video_device.h"
+
 #ifndef UART1_DEV
 #define UART1_DEV /dev/ttyUSB0
 #endif
 
+/* Cameras */
+extern struct video_device_t bottom_camera;
+extern struct video_device_t front_camera;
+
 /* Default actuators driver */
 #define DEFAULT_ACTUATORS "boards/ardrone/actuators.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorArdroneSet(_x,_y)

sw/airborne/boards/bebop.h

@@ -25,6 +25,8 @@
 
 #define BOARD_BEBOP
 
+#include "peripherals/video_device.h"
+
 /** uart connected to GPS internally */
 #define UART1_DEV /dev/ttyPA1
 
@@ -34,6 +36,9 @@
 #define ActuatorsDefaultInit() ActuatorsBebopInit()
 #define ActuatorsDefaultCommit() ActuatorsBebopCommit()
 
+/* Cameras */
+extern struct video_device_t bottom_camera;
+extern struct video_device_t front_camera;
 
 /* by default activate onboard baro */
 #ifndef USE_BARO_BOARD

sw/airborne/boards/bebop/video.c

@@ -37,6 +37,26 @@
 #include <linux/i2c-dev.h>
 #include <linux/types.h>
 
+#include "boards/bebop.h"
+
+struct video_device_t bottom_camera = {
+  .w = 640,
+  .h = 480,
+  .dev_name = "/dev/video0",
+  .subdev_name = NULL,
+  .format = V4L2_PIX_FMT_UYVY,
+  .filters = NULL
+};
+
+struct video_device_t front_camera = {
+  .w = 1408,
+  .h = 2112,
+  .dev_name = "/dev/video1",
+  .subdev_name = "/dev/v4l-subdev1",
+  .format = V4L2_PIX_FMT_SGBRG10,
+  .filters = NULL //{DeMosaic, AEC, ABW}
+};
+
 static bool_t write_reg(int fd, char *addr_val, uint8_t cnt)
 {
   char resp[cnt - 2];

sw/airborne/modules/computer_vision/lib/v4l/v4l2.h

@@ -33,7 +33,7 @@
 #include <sys/time.h>
 
 #include "std.h"
-#include "lib/vision/image.h"
+#include "modules/computer_vision/lib/vision/image.h"
 
 #define V4L2_IMG_NONE 255  ///< There currently no image available
 

sw/airborne/peripherals/video_device.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2015
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file peripherals/video_device.h
+ * @brief v4l2 video device settings interface
+ * Works on Linux platforms
+ */
+
+#ifndef VIDEO_DEVICE_H
+#define VIDEO_DEVICE_H
+
+#include "std.h"
+#include "modules/computer_vision/lib/v4l/v4l2.h"
+
+/** V4L2 device settings */
+struct video_device_t {
+  int w;              ///< Width
+  int h;              ///< Height
+  char* dev_name;     ///< path to device
+  char* subdev_name;  ///< path to sub device
+  uint32_t format;    ///< Video format
+  void* filters;      ///< filters to use
+};
+
+
+#endif /* VIDEO_DEVICE_H */