+/*
+ * Copyright (c) 2013, ETH Zurich.
+ * All rights reserved.
+ *
+ * This file is distributed under the terms in the attached LICENSE file.
+ * If you do not find this file, copies can be found by writing to:
+ * ETH Zurich D-INFK, CAB F.78, Universitaetstr 6, CH-8092 Zurich.
+ */
+
#include <stdio.h>
#include <stdlib.h>
#include <barrelfish/barrelfish.h>
+#include <driverkit/driverkit.h>
#include <dev/omap/omap44xx_cam_prm_dev.h>
#include <dev/omap/omap44xx_cam_cm2_dev.h>
extern struct gimage lena_image;
// XXX: you need to have this functions in user space...
-lvaddr_t paging_map_device(lpaddr_t base, size_t size);
-lpaddr_t bsp_alloc_phys(size_t);
// not sure about these two, tough
//void cp15_invalidate_tlb(void);
//void cp15_invalidate_i_and_d_caches(void);
+static lpaddr_t* vbase_glbl;
+
static void manage_clocks(void)
{
printf("Enable the clocks in domain CD_CAM\n");
// Clock domain CAM
- lvaddr_t vbase = paging_map_device(0x4A000000, 4096);
- uint32_t offset = (0x4A009000 & ARM_L1_SECTION_MASK);
+ lvaddr_t* vbase;
+ errval_t err;
+ err = map_device_register(0x4A009000, 4096, &vbase);
+ assert(err_is_ok(err));
+ FDIF_DEBUG("vbase points to %p\n", vbase);
- omap44xx_cam_cm2_initialize(&devclk, (mackerel_addr_t)vbase+offset);
+ omap44xx_cam_cm2_initialize(&devclk, (mackerel_addr_t)vbase);
//omap44xx_cam_cm2_pm_cam_pwrstctrl_powerstate_wrf(&dev, omap44xx_cam_prm_POWERSTATE_2);
omap44xx_cam_cm2_cm_cam_clkstctrl_clktrctrl_wrf(&devclk, 0x2);
omap44xx_cam_cm2_cm_cam_fdif_clkctrl_modulemode_wrf(&devclk, 0x2);
//omap44xx_cam_cm2_cm_cam_staticdep_memif_statdep_wrf(&devclk, 0x1);
//omap44xx_cam_cm2_cm_cam_staticdep_ivahd_statdep_wrf(&devclk, 0x1);
- omap44xx_cam_cm2_pr(printbuf, PRINT_BUFFER_SIZE, &devclk);
- printf("%s\n", printbuf);
+ //omap44xx_cam_cm2_pr(printbuf, PRINT_BUFFER_SIZE, &devclk);
+ //printf("%s\n", printbuf);
printf("Handle voltage for domain: VDD_CORE_L\n");
//omap44xx_sr_mpu_srstatus_pr(printbuf, PRINT_BUFFER_SIZE-1, &devvolt);
//printf("%s\n", printbuf);
- vbase = paging_map_device(0x4A307B00, 4096);
- offset = (0x4A307B00 & ARM_L1_SECTION_MASK);
- omap44xx_device_prm_initialize(&devprm, (mackerel_addr_t)vbase+offset);
- omap44xx_device_prm_pr(printbuf, PRINT_BUFFER_SIZE, &devprm);
- printf("%s\n", printbuf);
+ err = map_device_register(0x4A307000, 4096, &vbase_glbl);
+ assert(err_is_ok(err));
+ lpaddr_t offset = (0x4A307B00 & 0xFFF);
+ omap44xx_device_prm_initialize(&devprm, (mackerel_addr_t)vbase_glbl+offset);
+ //omap44xx_device_prm_pr(printbuf, PRINT_BUFFER_SIZE, &devprm);
+ //printf("%s\n", printbuf);
// Init voltage controller
-
-
printf("Done handling voltage\n");
}
printf("Power-on the PD_CAM domain for fdif\n");
// Power domain CAM
- lvaddr_t vbase = paging_map_device(0x4A307000, 4096);
- uint32_t offset = (0x4A307000 & ARM_L1_SECTION_MASK);
+ lvaddr_t* vbase;
+ errval_t err;
+ err = map_device_register(0x4A307000, 4096, &vbase);
+ assert(err_is_ok(err));
- omap44xx_cam_prm_initialize(&dev, (mackerel_addr_t)vbase+offset);
+ omap44xx_cam_prm_initialize(&dev, (mackerel_addr_t)vbase);
omap44xx_cam_prm_pm_cam_pwrstctrl_powerstate_wrf(&dev, omap44xx_cam_prm_POWERSTATE_3);
while(omap44xx_cam_prm_pm_cam_pwrstst_powerstatest_rdf(&dev)
!= omap44xx_cam_prm_POWERSTATEST_3_r)
{}
- omap44xx_cam_prm_pr(printbuf, PRINT_BUFFER_SIZE, &dev);
- printf("%s\n", printbuf);
+ //omap44xx_cam_prm_pr(printbuf, PRINT_BUFFER_SIZE, &dev);
+ //printf("%s\n", printbuf);
// Face detect Module
- vbase = paging_map_device(0x4A10A000, 4096);
- offset = (0x4A10A000 & ARM_L1_SECTION_MASK);
+ err = map_device_register(0x4A10A000, 4096, &vbase);
+ assert(err_is_ok(err));
- omap44xx_fdif_initialize(&devfdif, (mackerel_addr_t)vbase+offset);
+ omap44xx_fdif_initialize(&devfdif, (mackerel_addr_t)vbase);
// Set this to 0x1 to force the device off the standby mode
omap44xx_fdif_fdif_sysconfig_standbymode_wrf(&devfdif, 0x2);
}
-void play_with_fdif(void) {
+int main(void) {
+ //init_memory_manager();
+
manage_clocks();
manage_power();
//manage_voltage();
size_t img_size = 320*240*8; // 75 KB
size_t working_size = img_size; // 51.25 KB is enough
- volatile uint8_t* image = (void*)bsp_alloc_phys(img_size);
- void* workarea = (void*)bsp_alloc_phys(working_size);
- assert (image != NULL && workarea != NULL);
+ size_t retbytes;
+ void* workarea;
+ uint8_t* image;
+ errval_t err;
+
+ struct capref img_cap;
+ struct capref workarea_cap;
+
+ err = frame_alloc(&img_cap, img_size, &retbytes);
+ assert(err_is_ok(err));
+ assert(retbytes >= img_size);
+
+ err = frame_alloc(&workarea_cap, working_size, &retbytes);
+ assert(err_is_ok(err));
+ assert(retbytes >= working_size);
+
+ err = vspace_map_one_frame((void**)&image, img_size, img_cap,
+ NULL, NULL);
+ assert(err_is_ok(err));
+ err = vspace_map_one_frame(&workarea, working_size, workarea_cap,
+ NULL, NULL);
+ assert(err_is_ok(err));
printf("Set up the image ...\n");
printf("RGB image type: width:%d height:%d bytes/pixel:%d\n", lena_image.width, lena_image.height, lena_image.bytes_per_pixel);
-
printf("Convert to grayscale, store in image buffer...\n");
for (int i=0; i<lena_image.width*lena_image.height; i+=1) {
// Does this do cache to mem writeback?
//cp15_invalidate_tlb();
//cp15_invalidate_i_and_d_caches();
-
- omap44xx_fdif_fdif_picaddr_wr(&devfdif, (uint32_t)image); // make sure 5 least significant bits are 0!
- omap44xx_fdif_fdif_wkaddr_wr(&devfdif, (uint32_t)workarea); // make sure 5 least significant bits are 0!
+ struct frame_identity ret;
+ err = invoke_frame_identify(img_cap, &ret);
+ assert (err_is_ok(err));
+ omap44xx_fdif_fdif_picaddr_wr(&devfdif, ret.base); // make sure 5 least significant bits are 0!
+
+ err = invoke_frame_identify(workarea_cap, &ret);
+ assert (err_is_ok(err));
+ omap44xx_fdif_fdif_wkaddr_wr(&devfdif, ret.base); // make sure 5 least significant bits are 0!
omap44xx_fdif_fd_dcond_min_wrf(&devfdif, 0x0); // 40 pixel
omap44xx_fdif_fd_dcond_dir_wrf(&devfdif, 0x0); // up?
omap44xx_fdif_fd_ctrl_run_wrf(&devfdif, 0x1);
+ printf("%s:%d: Waiting until fdif is done...\n", __FUNCTION__, __LINE__);
while(omap44xx_fdif_fd_ctrl_finish_rdf(&devfdif) != 0x1);
printf("Face detection completed:\n");
printf("Size: %d Confidence: %d Angle: %d\n", size, confidence, angle);
}
+ return 0;
}