void bc_indication_mode(struct ecudata_t *d)
{
uint8_t i = 5;
if (!IOCFG_CHECK(IOP_BC_INPUT))
return; //normal program execution
//Check 5 times
do
{
if (IOCFG_GET(IOP_BC_INPUT))
return; //normal program execution
}while(--i);
//We are entered to the blink codes indication mode
_DISABLE_INTERRUPT();
ce_set_state(CE_STATE_OFF);
vent_turnoff(d); //turn off ventilator
starter_set_blocking_state(1); //block starter
IOCFG_INIT(IOP_FL_PUMP, 0); //turn off fuel pump
IOCFG_INIT(IOP_IE, 0); //turn off IE valve solenoid
IOCFG_INIT(IOP_FE, 0); //turn off power valve solenoid
wdt_reset_timer();
//delay 2 sec.
delay_hom(20);
//main loop
for(;;)
{
uint16_t errors = 0;
disp_start();
delay_hom(7);
//read errors
eeprom_read(&errors, EEPROM_ECUERRORS_START, sizeof(uint16_t));
for(i = 0; i < 16; ++i)
{
if (0 == PGM_GET_BYTE(&blink_codes[i]))
continue;
if (errors & (1 << i))
{
disp_code(PGM_GET_BYTE(&blink_codes[i]));
delay_hom(20);
}
}
delay_hom(20);
wdt_reset_timer();
}
}
/*
* Initialization for the display control structure and
* creating 'disp thread'.
*/
int
disp_init(void)
{
if (disp_ctl_init() != 0) {
return (-1);
}
if (disp_start() != 0) {
disp_ctl_fini();
return (-1);
}
return (0);
}
int main(int argc, char* argv[])
{
int i;
int key_fd = -1;
struct input_event data;
struct sigaction sigact;
memset(&sigact, 0, sizeof(sigact));
sigact.sa_handler = handle_int;
//format=V4L2_PIX_FMT_NV12; //V4L2_PIX_FMT_NV16
format = V4L2_PIX_FMT_NV12;
disp_format=DISP_FORMAT_YUV420; //DISP_FORMAT_YUV422
disp_seq=DISP_SEQ_UVUV;
struct v4l2_format fmt;
struct v4l2_format fmt_priv;
printf("*********************\n");
printf("TVD demo start!\n");
printf("Press KEY_ESC for exit\n");
printf("*********************\n");
/*if((key_fd = open("/dev/input/event0", O_RDONLY | O_NONBLOCK)) < 0){//key: linux=event0, android=event2
printf("open event fail!\n");
return -1;
}*/
fd = open ("/dev/video1", O_RDWR /* required */ | O_NONBLOCK, 0);
int ret = -1;
CLEAR (fmt_priv);
fmt_priv.type = V4L2_BUF_TYPE_PRIVATE;
fmt_priv.fmt.raw_data[0] =0;//interface
fmt_priv.fmt.raw_data[1] =0;//system
fmt_priv.fmt.raw_data[2] =0;//format 1=mb, for test only
fmt_priv.fmt.raw_data[8] =2;//row
fmt_priv.fmt.raw_data[9] =2;//column
fmt_priv.fmt.raw_data[10] =1;//channel_index
fmt_priv.fmt.raw_data[11] =2;//channel_index
fmt_priv.fmt.raw_data[12] =3;//channel_index
fmt_priv.fmt.raw_data[13] =4;//channel_index
if (-1 == ioctl (fd, VIDIOC_S_FMT, &fmt_priv)) //设置自定义
{
printf("VIDIOC_S_FMT error! a\n");
ret = -1;
return ret;
}
// CLEAR (fmt);
// fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
// fmt.fmt.pix.width = 720*fmt_priv.fmt.raw_data[8];//720;
// fmt.fmt.pix.height = 480*fmt_priv.fmt.raw_data[9];//576;//480;
// fmt.fmt.pix.pixelformat = format;//V4L2_PIX_FMT_YUV422P;//V4L2_PIX_FMT_NV12;//V4L2_PIX_FMT_YUYV;
// fmt.fmt.pix.field = V4L2_FIELD_NONE;
// if (-1 == ioctl (fd, VIDIOC_S_FMT, &fmt)) //设置图像格式
// {
// printf("VIDIOC_S_FMT error! b\n");
// ret = -1;
// return ret;
// }
disp_mode=fmt_priv.fmt.raw_data[2]?DISP_MOD_MB_UV_COMBINED:DISP_MOD_NON_MB_UV_COMBINED;//DISP_MOD_NON_MB_UV_COMBINED DISP_MOD_MB_UV_COMBINED
disp_size.width = fmt_priv.fmt.raw_data[8]*(fmt_priv.fmt.raw_data[2]?704:720);//width
disp_size.height = fmt_priv.fmt.raw_data[9]*(fmt_priv.fmt.raw_data[1]?576:480);//height
printf("disp_size.width=%d\n", disp_size.width);
printf("disp_size.height=%d\n", disp_size.height);
usleep(100000);//delay 100ms if you want to check the status after set fmt
CLEAR (fmt_priv);
fmt_priv.type = V4L2_BUF_TYPE_PRIVATE;
if (-1 == ioctl (fd, VIDIOC_G_FMT, &fmt_priv)) //设置自定义
{
printf("VIDIOC_G_FMT error! a\n");
ret = -1;
return ret;
}
printf("interface=%d\n", fmt_priv.fmt.raw_data[0]);
printf("system=%d\n", fmt_priv.fmt.raw_data[1]);
printf("format=%d\n", fmt_priv.fmt.raw_data[2]);
printf("row=%d\n", fmt_priv.fmt.raw_data[8]);
printf("column=%d\n", fmt_priv.fmt.raw_data[9]);
printf("channel_index[0]=%d\n", fmt_priv.fmt.raw_data[10]);
printf("channel_index[1]=%d\n", fmt_priv.fmt.raw_data[11]);
printf("channel_index[2]=%d\n", fmt_priv.fmt.raw_data[12]);
printf("channel_index[3]=%d\n", fmt_priv.fmt.raw_data[13]);
printf("status[0]=%d\n", fmt_priv.fmt.raw_data[16]);
printf("status[1]=%d\n", fmt_priv.fmt.raw_data[17]);
printf("status[2]=%d\n", fmt_priv.fmt.raw_data[18]);
printf("status[3]=%d\n", fmt_priv.fmt.raw_data[19]);
struct v4l2_requestbuffers req;
CLEAR (req);
req.count = 5;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
ioctl (fd, VIDIOC_REQBUFS, &req); //申请缓冲，count是申请的数量，注意，释放缓冲实际在VIDIOC_STREAMOFF内完成了。
buffers = calloc (req.count, sizeof (*buffers));//内存中建立对应空间
for (n_buffers = 0; n_buffers < req.count; ++n_buffers)
{
struct v4l2_buffer buf; //驱动中的一帧
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == ioctl (fd, VIDIOC_QUERYBUF, &buf)) //映射用户空间
printf ("VIDIOC_QUERYBUF error\n");
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = mmap (NULL /* start anywhere */, //通过mmap建立映射关系
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
fd, buf.m.offset);
printf("MMAP: %p OFF: %p\n", buffers[n_buffers].start, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start)
printf ("mmap failed\n");
}
for (i = 0; i < n_buffers; ++i)
{
struct v4l2_buffer buf;
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (-1 == ioctl (fd, VIDIOC_QBUF, &buf))//申请到的缓冲进入列队
printf ("VIDIOC_QBUF failed\n");
}
#ifdef DISPLAY
disp_init(disp_size.width,disp_size.height);
disp_start();
disp_on();
#endif
enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == ioctl (fd, VIDIOC_STREAMON, &type)) //开始捕捉图像数据
printf ("VIDIOC_STREAMON failed\n");
sigaction(SIGINT, &sigact, NULL);
while(!quit)
{
read(key_fd, &data, sizeof(data));
if( (data.type == EV_KEY)&&
(data.code == KEY_ESC)&&
(data.value == 1) ){
quit = 1;
}
CLEAR (fmt_priv);
fmt_priv.type = V4L2_BUF_TYPE_PRIVATE;
if (-1 == ioctl (fd, VIDIOC_G_FMT, &fmt_priv)) //监视状态
{
printf("VIDIOC_G_FMT error! a\n");
ret = -1;
return ret;
}
//printf("status=0x%02x\n", fmt_priv.fmt.raw_data[16]);
for (;;) //这一段涉及到异步IO
{
fd_set fds;
struct timeval tv;
int r;
FD_ZERO (&fds);//将指定的文件描述符集清空
FD_SET (fd, &fds);//在文件描述符集合中增加一个新的文件描述符
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select (fd + 1, &fds, NULL, NULL, &tv);//判断是否可读（即摄像头是否准备好），tv是定时
if (-1 == r) {
if (EINTR == errno)
continue;
printf ("select err\n");
}
if (0 == r) {
fprintf (stderr, "select timeout\n");
//exit (EXIT_FAILURE);
//goto close;
}
if (read_frame ())//如果可读，执行read_frame ()函数，并跳出循环
break;
}
}
close:
if (-1 == ioctl (fd, VIDIOC_STREAMOFF, &type)) //停止捕捉图像数据，注意，此动作同时会释放VIDIOC_REQBUFS申请的缓冲
printf ("VIDIOC_STREAMOFF failed\n");
unmap:
for (i = 0; i < n_buffers; ++i) {
if (-1 == munmap (buffers[i].start, buffers[i].length)) {
printf ("munmap error");
}
}
disp_stop();
disp_exit();
close (fd);
printf("TVD demo bye!\n");
return 0;
}