void init_robot()
{
unsigned char Init_Buffer[10] = {0,};
Init_Buffer[0] = 0xff;
Init_Buffer[1] = 0xff;
Init_Buffer[2] = 0x0a;
Init_Buffer[3] = 0xfe;
Init_Buffer[4] = 0x03;
Init_Buffer[5] = 0xa2;
Init_Buffer[6] = 0x5c;
Init_Buffer[7] = 0x34;
Init_Buffer[8] = 0x01;
Init_Buffer[9] = 0x60;
uart1_buffer_write(Init_Buffer, 10);
}
void Send_Command(unsigned char CS1, unsigned char CS2, unsigned char DATA0)
{
int i;
unsigned char Command_Buffer[9] = {0,};
Command_Buffer[0] = 0xff;
Command_Buffer[1] = 0xff;
Command_Buffer[2] = 0x09;
Command_Buffer[3] = 0xfd;
Command_Buffer[4] = 0x16;
Command_Buffer[5] = CS1;
Command_Buffer[6] = CS2;
Command_Buffer[7] = DATA0;
Command_Buffer[8] = 0x00;
uart1_buffer_write(Command_Buffer, 9);
}
void Test()
{
//로봇에게 메모리의 일정 부분을 읽어오라는 명령을 보냄
unsigned char Command_Buffer[7] = {0,};
Command_Buffer[0] = 0xff;
Command_Buffer[1] = 0xff;
Command_Buffer[2] = 0x07;
Command_Buffer[3] = 0xfd;
Command_Buffer[4] = 0x19;
Command_Buffer[5] = 0xE2;
Command_Buffer[6] = 0x1C;
uart1_buffer_write(Command_Buffer, 7);
//UART통신을 이용해 메모리를 읽어옴
char buf[9];
uart1_buffer_read(buf,9);
}
int main(int argc, char **argv)
{
char ch;
int ret;
int decfd1, decfd2;
volatile int x, y;
// int img_addr=0;
struct saa7111_data_info video_dec;
struct disp_coordinate disp_xy;
unsigned char buff[5] = {0,};
// RGB(565) Setting
unsigned char RGB565_Buff[0x18] = {
0x00, //sub_addr00 : chip version
0x00, //sub_addr01 : not used
0xc0, //sub_addr02
0x23, //sub_addr03
0x00, //sub_addr04
0x00, //sub_addr05
0xde, //sub_addr06
0xdc, //sub_addr07
0x40, //sub_addr08
0x01, //sub_addr09
0x80, //sub_addr0a
0x47, //sub_addr0b
0x40, //sub_addr0c
0x00, //sub_addr0d
0x01, //sub_addr0e
0x00, //sub_addr0f
0x00, //sub_addr10
0x0c, //sub_addr11
0x01, //sub_addr12
0x00, //sub_addr13
0x00, //sub_addr14
0x00, //sub_addr15
0x00, //sub_addr16
0x00 //sub_addr17
};
if(argc <= 1) {
printf("Usage 1 : imgproc_test -rd <Read Image Data>\n");
printf("Usage 2 : imgproc_test -dp <Display to Monitor>\n");
printf("Usage 3 : imgproc_test -xy [x coordinate] [y coordinate]\n");
exit(1);
}
ret = uart_open();
if (ret < 0) return EXIT_FAILURE;
uart_config(UART1, 115200, 8, UART_PARNONE, 1);
decfd1 = open("/dev/saa7111", O_RDWR);
if(decfd1 < 0) {
fprintf(stderr, "/dev/saa7111 open failed!!\n");
exit(1);
}
video_dec.addr = 0x2;
video_dec.buf = RGB565_Buff;
video_dec.len = sizeof(RGB565_Buff) - 2;
if ( ioctl(decfd1, SAA7111_WR_REGS, &video_dec) ) {
fprintf(stderr, "ioctl write error\n");
exit(1);
}
printf("Video Output : <RGB565 Format> Complete!\n");
close(decfd1);
decfd2 = open("/dev/imgproc", O_RDWR);
if(decfd2 < 0) {
printf("/dev/imgproc open failed!!\n");
exit(1);
}
Delay(0xffffff);
if(strcmp("-rd", argv[1]) == 0) {
// if ( ioctl(decfd2, RD_IMG_DATA, buff) ) {
if ( ioctl(decfd2, RD_IMG_DATA, &bf) ) {
printf("ioctl RD_IMG_DATA error\n");
exit(1);
}
// memcpy(&img_addr, buff, 4);
// printf("img_addr=0x%x\n", img_addr);
for(y=0; y<120; y++) {
for(x=0; x<180; x++) {
// sprintf((char *)buff, "%04x", *(unsigned short *)(img_addr+(y*360)+(x*2)));
sprintf((char *)buff, "%04x", bf[y][x]);
uart1_buffer_write(buff, 4);
// printf("%s", buff);
// Delay(10000);
}
}
printf("\t read 1 frame imgae data completely\n");
}
else if(strcmp("-dp", argv[1]) == 0) {
if ( ioctl(decfd2, DISPLAY_IMG_DATA, 0) ) {
printf("ioctl DISPLAY_IMG_DATA error\n");
exit(1);
}
printf("\nPress Enter Key to STOP the test !!!");
ch = getchar();
ioctl(decfd2, DISABLE_IMG_IRQ, 0);
printf("\nTest is Stopped\n");
}
else if(strcmp("-xy", argv[1]) == 0) {
if(argc < 4) {
printf("Usage : imgproc_test -xy [x coordinate] [y coordinate]\n");
exit(1);
}
if ( ioctl(decfd2, RD_IMG_DATA, &bf) ) {
printf("ioctl RD_IMG_DATA error\n");
exit(1);
}
// Delay(1000);
printf("Image Load from FPGA!\n");
if ( ioctl(decfd2, DISPLAY_RESOLUTION, SCREEN_640_480) ) {
printf("Resolution set fail!!!\n");
exit(1);
}
printf("Resolution set complete!\n");
if ( ioctl(decfd2, CLEAR_SCREEN, 0) ) {
printf("Clear Screen fail!!!\n");
exit(1);
}
printf("Clear Screen!\n");
disp_xy.x = atoi(argv[2]);
disp_xy.y = atoi(argv[3]);
disp_xy.img_buf = (unsigned short *)&bf[0][0];
if( ioctl(decfd2, DISPLAY_IMG_DRAW, &disp_xy) ) {
printf("Draw Image to Monitor -> fail!!!\n");
exit(1);
}
printf("1. Draw Image to Monitor!\n");
printf("\nPress Enter Key to load image again !!!");
ch = getchar();
if ( ioctl(decfd2, RD_IMG_DATA, &bf) ) {
printf("ioctl RD_IMG_DATA error\n");
exit(1);
}
printf("Image Load from FPGA!\n");
if ( ioctl(decfd2, DISPLAY_RESOLUTION, SCREEN_640_480) ) {
printf("Resolution set fail!!!\n");
exit(1);
}
printf("Resolution set complete!\n");
disp_xy.x = atoi(argv[2])+180;
disp_xy.y = atoi(argv[3]);
disp_xy.img_buf = (unsigned short *)&bf[0][0];
if( ioctl(decfd2, DISPLAY_IMG_DRAW, &disp_xy) ) {
printf("Draw Image to Monitor -> fail!!!\n");
exit(1);
}
printf("2. Draw Image to Monitor!\n");
}
else {
printf("Usage 1 : imgproc_test -rd <Read Image Data>\n");
printf("Usage 2 : saa7111_test -dp <Display to Monitor>\n");
printf("Usage 3 : imgproc_test -xy [x coordinate] [y coordinate]\n");
exit(-1);
}
uart_close();
close(decfd2);
return(0);
}
