linux 在线调试摄像头驱动

版权声明:本文为博主原创文章,转载请注明出处。 https://blog.csdn.net/li_wen01/article/details/54630815

    在使用嵌入式linux设备做点到点之间的图像传输,比如linux平台采集摄像头数据,然后通过wifi或是蓝牙等设备将图像数据发送到手机端,最后使用手机显示出图像。图像处理和图像传输是在应用层完成,在应用层写代码和调试代码都是比较容易的。但是如果需要调试摄像头驱动的一些参数,涉及到驱动层的东西就会比较的麻烦。在我使用的这个平台,假如我要调试摄像头驱动gc0308的寄存器,它需要每改一次寄存器值然后重现烧如一次固件,最后再看图像效果,这样的调试方法是在会让人奔溃。

    其实,在linux的驱动中,它已经提供了一个调试v4l2 设备的接口。在linux源代码中,我们可以看到如下的定义:

 

struct v4l2_subdev_core_ops {
	int (*g_chip_ident)(struct v4l2_subdev *sd, struct v4l2_dbg_chip_ident *chip);
	int (*log_status)(struct v4l2_subdev *sd);
	int (*s_io_pin_config)(struct v4l2_subdev *sd, size_t n,
				      struct v4l2_subdev_io_pin_config *pincfg);
	int (*init)(struct v4l2_subdev *sd, u32 val);
	int (*load_fw)(struct v4l2_subdev *sd);
	int (*reset)(struct v4l2_subdev *sd, u32 val);
	int (*s_gpio)(struct v4l2_subdev *sd, u32 val);
	int (*queryctrl)(struct v4l2_subdev *sd, struct v4l2_queryctrl *qc);
	int (*g_ctrl)(struct v4l2_subdev *sd, struct v4l2_control *ctrl);
	int (*s_ctrl)(struct v4l2_subdev *sd, struct v4l2_control *ctrl);
	int (*g_ext_ctrls)(struct v4l2_subdev *sd, struct v4l2_ext_controls *ctrls);
	int (*s_ext_ctrls)(struct v4l2_subdev *sd, struct v4l2_ext_controls *ctrls);
	int (*try_ext_ctrls)(struct v4l2_subdev *sd, struct v4l2_ext_controls *ctrls);
	int (*querymenu)(struct v4l2_subdev *sd, struct v4l2_querymenu *qm);
	int (*g_std)(struct v4l2_subdev *sd, v4l2_std_id *norm);
	int (*s_std)(struct v4l2_subdev *sd, v4l2_std_id norm);
	long (*ioctl)(struct v4l2_subdev *sd, unsigned int cmd, void *arg);
#ifdef CONFIG_VIDEO_ADV_DEBUG
	int (*g_register)(struct v4l2_subdev *sd, struct v4l2_dbg_register *reg);
	int (*s_register)(struct v4l2_subdev *sd, const struct v4l2_dbg_register *reg);
#endif
	int (*s_power)(struct v4l2_subdev *sd, int on);
	int (*interrupt_service_routine)(struct v4l2_subdev *sd,
						u32 status, bool *handled);
	int (*subscribe_event)(struct v4l2_subdev *sd, struct v4l2_fh *fh,
			       struct v4l2_event_subscription *sub);
	int (*unsubscribe_event)(struct v4l2_subdev *sd, struct v4l2_fh *fh,
				 struct v4l2_event_subscription *sub);
};

    在v4l2_subdev_core_ops中已经为我们提供了直接操作v4l2 设备寄存器的接口,只需要我们定义了宏CONFIG_VIDEO_ADV_DEBUG 就可以了。下面就直接介绍该如何配置和设计在线调试。

 

(1)打开CONFIG_VIDEO_ADV_DEBUG 宏,该宏直接在linux的配置文件中配置就可以了,入下图:

使能debug选项就可以了。

    (2)驱动设备添加操作接口

    在初始化struct v4l2_subdev_core_ops 结构体的时候,添加一个直接读寄存器和一个写寄存器的接口,如下:

 

static const struct v4l2_subdev_core_ops sensor_core_ops = {
	.g_chip_ident = sensor_g_chip_ident,
	.g_ctrl = sensor_g_ctrl,
	.s_ctrl = sensor_s_ctrl,
	.queryctrl = sensor_queryctrl,
	.reset = sensor_reset,
	.init = sensor_init,
	.s_power = sensor_power,
	.ioctl = sensor_ioctl,
#ifdef CONFIG_VIDEO_ADV_DEBUG
	.g_register = sensor_g_register,
	.s_register = sensor_s_register,
#endif
};

sensor_g_register 是读取寄存器的值,sensor_s_register 是写入寄存器的值,这两个函数的定义如下:

 

 

#ifdef CONFIG_VIDEO_ADV_DEBUG
static int sensor_g_register(struct v4l2_subdev *sd,  struct v4l2_dbg_register *para)
{
	int ret;
	unsigned short reg_addr  = 0;
	unsigned short reg_value = 0;
	
	reg_addr  = para->size;
	ret = sensor_read(sd,reg_addr,&reg_value);

	if(ret < 0)
	{
		printk("sensor_g_register ret=%d; reg_addr=%d; reg_value=%d\n ",ret, reg_addr, reg_value);
		return ret;
	}

	return reg_value;
}

static int sensor_s_register(struct v4l2_subdev *sd, const struct v4l2_dbg_register *para)
{
	int ret;
	unsigned short reg_addr;
	unsigned short reg_val;
	__u32 size;
	__u64 reg;
	 
	size = para->size;
	reg  = para->reg; 

	reg_addr = (unsigned short)size;
	reg_val  = (unsigned short)reg;
	
	ret = sensor_write(sd, reg_addr, reg_val);
	if(ret < 0)
	{
		printk("sensor_s_register ret = %d, reg_addr=%d, reg_val=%d\n",ret,reg_addr,reg_val);
	}
	return ret;
}
#endif

上面的代码需要注意,在数据类型中struct v4l2_dbg_register  除了设备配对之外,它定义了三个变量,size,reg,val 。在我的平台上val 的值是怎么都传输不到这里,还有一个问题就是在内核的参数不能够返回到应用层,具体的原因没有去做更深入的分析。在这里,为了实现可以调试的功能,我使用了一种投机取巧的方法来实现。我使用size 参数来传递地址,使用reg参数来传递需要设置的寄存器的值,最后使用函数的返回值来实现读取的寄存器值返回到应用层。

 

    (3)应用层直接操作寄存器

      下面写了一个测试小程序,通过ioctl 直接访问上面驱动中实现的接口

 

/*=============================================================================
#     FileName: test.c
#         Desc: ioctl to set/get vedio driver register
#       Author: licaibiao
#      Version: 
=============================================================================*/
#include <stdio.h>
#include <fcntl.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <linux/types.h>
#include <linux/videodev2.h>
#define FILE_VIDEO  "/dev/video0"


int open_camera(void)
{
	int fd;
	struct v4l2_input inp;

	fd = open(FILE_VIDEO, O_RDWR | O_NONBLOCK,0);
	if(fd < 0)
	{	
		fprintf(stderr, "%s open err \n", FILE_VIDEO);
		exit(EXIT_FAILURE);
	};

	inp.index = 0;
	if (-1 == ioctl (fd, VIDIOC_S_INPUT, &inp))
	{
		fprintf(stderr, "VIDIOC_S_INPUT \n");
	}

	return fd;
}

//dbg.match.type = V4L2_CHIP_MATCH_I2C_DRIVER;
//strcpy(dbg.match.name,"gc0308");
//dbg.match.type = V4L2_CHIP_MATCH_I2C_ADDR;
//dbg.match.addr = 0x21;

void v4l2_write_reg(int fd, int reg_addr, int reg_val)
{
	int ret;
	struct v4l2_dbg_register dbg;
	
	dbg.match.type = 4;
	dbg.match.addr = 1;
	dbg.size = (__u32)reg_addr;
	dbg.reg  = (__u64)reg_val;
	dbg.val = 0;

	ret = ioctl(fd, VIDIOC_DBG_S_REGISTER, &dbg);
	if(ret < 0)
	{
		printf("sensor IOCTL data ERR ret = %d\n",ret);
	}
}

int v4l2_read_reg(int fd, int reg_addr)
{
	int ret;
	struct v4l2_dbg_register dbg;
	
	dbg.match.type = 4;
	dbg.match.addr = 1;
	dbg.size = (__u32)reg_addr;
	dbg.reg  = 0;
	dbg.val  = 0;
	ret = ioctl(fd, VIDIOC_DBG_G_REGISTER, &dbg);
	if(ret < 0)
	{ 
		printf("sensor IOCTL data ERR reg_addr= %x ret = %d\n",reg_addr,ret);
	}

	return ret;
}

void main(void)
{
	int fd;
	int reg_addr= 0;
	int reg_val = 0;

	fd = open_camera();
	printf("fd = %d\n ",fd);
	reg_addr = 0x00;
	reg_val  = v4l2_read_reg(fd,reg_addr);
	printf(" v4l2 read reg %x value = %x\n",reg_addr,reg_val);


	reg_addr = 0x0f;
	reg_val  = v4l2_read_reg(fd,reg_addr);
	printf(" v4l2 read reg %x value = %x\n",reg_addr,reg_val);
	
	reg_addr = 0x0f;
	reg_val  = 0x00;
	v4l2_write_reg(fd, reg_addr, reg_val);
	
	usleep(10000);
	reg_addr = 0x0f;
	reg_val  = v4l2_read_reg(fd,reg_addr);
	printf(" v4l2 read reg %x value = %x\n",reg_addr,reg_val);
	
	close(fd);

}

上面的代码需要注意一下的是struct v4l2_dbg_register 的初始化。我的是linux3.10.65 版本,在videodev2.h中有如下的定义:

 

 

/* VIDIOC_DBG_G_REGISTER and VIDIOC_DBG_S_REGISTER */

#define V4L2_CHIP_MATCH_BRIDGE      0  /* Match against chip ID on the bridge (0 for the bridge) */
#define V4L2_CHIP_MATCH_HOST V4L2_CHIP_MATCH_BRIDGE
#define V4L2_CHIP_MATCH_I2C_DRIVER  1  /* Match against I2C driver name */
#define V4L2_CHIP_MATCH_I2C_ADDR    2  /* Match against I2C 7-bit address */
#define V4L2_CHIP_MATCH_AC97        3  /* Match against anciliary AC97 chip */
#define V4L2_CHIP_MATCH_SUBDEV      4  /* Match against subdev index */

struct v4l2_dbg_match {
	__u32 type; /* Match type */
	union {     /* Match this chip, meaning determined by type */
		__u32 addr;
		char name[32];
	};
} __attribute__ ((packed));

struct v4l2_dbg_register {
	struct v4l2_dbg_match match;
	__u32 size;	/* register size in bytes */
	__u64 reg;
	__u64 val;
} __attribute__ ((packed));

它这里需要做设备的匹配,在我的平台,我分别使用过chip ID,I2C driver name,I2C address来匹配,都没能实现设备的匹配匹配,只能使用V4L2_CHIP_MATCH_SUBDEV 来匹配,但是在我的交叉编译工具链中,前面三种方法它都定义了,唯独V4L2_CHIP_MATCH_SUBDEV没有定义,所以在上面的测试程序中我直接将   dbg.match.type = 4;

 

测试小程序的执行结果如下:

 

/tmp # ./test 
 v4l2 read reg 0 value = 9b
 v4l2 read reg f value = 10
 v4l2 read reg f value = 0
/tmp # 
/tmp # 

    (4)将测试程序移植到图像传输工程中

 

    实现思路是这样的,在图像传输的进程中,创建一个线程,在线程中创建一个消息队列,用来接收操作指令。另外再写一个小程序,往消息队列中发送操作指令,这样就可以实时的看到图像的效果。接收端的程序代码如下:

 

 /*********************************************************************
*   licaibiao add interface to debug v4l2 camera
*********************************************************************/

void v4l2_write_reg(int fd, int reg_addr, int reg_val)
{
    int ret;
    struct v4l2_dbg_register dbg;
    
    dbg.match.type = 4;
    dbg.match.addr = 1;
    dbg.size = (__u32)reg_addr;
    dbg.reg  = (__u64)reg_val;
    dbg.val = 0;
 
     ret = ioctl(fd, VIDIOC_DBG_S_REGISTER, &dbg);
     if(ret < 0)
     {
         printf("!!!!! sensor write data ERR !!!!! ret = %d\n",ret);
     }
     else
     {
         printf("write register 0x%x value = 0x%x \n", reg_addr, reg_val);
     }
 }
 
 void v4l2_read_reg(int fd, int reg_addr)
 {
     int ret;
     struct v4l2_dbg_register dbg;
     
     dbg.match.type = 4;
     dbg.match.addr = 1;
     dbg.size = (__u32)reg_addr;
     dbg.reg  = 0;
     dbg.val  = 0;
     ret = ioctl(fd, VIDIOC_DBG_G_REGISTER, &dbg);
     if(ret < 0)
     { 
         printf("sensor IOCTL data ERR reg_addr= %x ret = %d\n",reg_addr,ret);
     }
     else
     {
         printf("read register 0x%x value = 0x%x \n", reg_addr, ret);
     }
 }
 
 
 struct msg_st
 {
     long int msg_type;
     char text[BUFSIZ];
 };
 
 void *main_v4l2_debug_camera(void* arg)
 {
     int running = 1;
     int msgid = -1;
     int reg_addr  = 0;
     int reg_val = 0;
     int len = 0;
     int i = 0;
     int fd;
     struct msg_st data;
     long int msgtype = 0; 
     
     fd = *(int*)arg;
     
     printf("\n\n\n enter main_v4l2_debug_camera thread \n\n\n");
     
     msgid = msgget((key_t)1234, 0666 | IPC_CREAT);
     if(msgid == -1)
     {
         fprintf(stderr, "msgget failed with error: %d\n", errno);
         //exit(EXIT_FAILURE);
     }
     while(running)
     {
         len = msgrcv(msgid, (void*)&data, BUFSIZ, msgtype, 0);
         if(len < 0)
         {
             fprintf(stderr, "msgrcv failed with errno: %d\n", errno);
             if(msgctl(msgid, IPC_RMID, 0))
             {
                 printf("remove msg ERR \n ");
             }
             pthread_exit(0);
             //exit(EXIT_FAILURE);
         }else
         {   
             if(strncmp(data.text, "end", 3) == 0)            
           {
                 running = 0;
                 if(msgctl(msgid, IPC_RMID, 0))
                 {
                     printf("remove msg ERR \n ");
                 }
                 pthread_exit(0);
             }
             
             for(i=1; i<len-1; i++)
             {
                 if(((data.text[i] >= '0')&&(data.text[i] <= '9'))
                     ||((data.text[i] >= 'A')&&(data.text[i] <= 'F'))
                         ||((data.text[i] >= 'a')&&(data.text[i] <= 'f'))
                             ||(data.text[i] == ' '))
                 {   
                 }else
                 {   
                     printf("1plase enter: read/write: reg_addr: reg_value e.g. w 12 34 \n");
                     goto err;
                 }
             }
         
         
             if((data.text[0]=='W')||(data.text[0]=='w'))
             {
             
                 if((data.text[1] != ' ')||(data.text[4] != ' '))
                 {
                     printf("2plase enter: read/write: reg_addr: reg_value e.g. w 12 34 \n");
                     goto err;
                 }
                 
                 sscanf(&data.text[2], "%x", &reg_addr); 
                 sscanf(&data.text[5], "%x", &reg_val);  
                 //printf("write: addr = %x val = %x\n",reg_addr, reg_val);
                 v4l2_write_reg(fd, reg_addr,reg_val);
             }
 
             if((data.text[0]=='R')||(data.text[0]=='r'))
             {
             
                 if(data.text[1] != ' ')
                 {
                     printf("3plase enter: read/write: reg_addr: reg_value e.g. w 12 34 \n");
                     goto err;
                 }
                 
              
                 sscanf(&data.text[2], "%x", &reg_addr); 
                 //printf("read : addr = %x \n",reg_addr);
                 v4l2_read_reg(fd, reg_addr);
             }
         }
 err:
     i = i;
     }

 }
 
 /********************************************************************/

    添加线程:

 

 

if(pthread_create(&V4L2_Contect->msg_id, NULL, main_v4l2_debug_camera, &V4L2_Contect->mCamFd))
{
    printf("V4L2 pthread create ERR !!!!\n");
} 


发送消息队列端的代码实现如下:

 

 

/*=============================================================================
#     FileName: msg_test.c
#         Desc: send message to camera process to ioctl v4l2
#       Author: Licaibiao
#      Version: 
#   LastChange: 2017-01-20 
#      History:
=============================================================================*/

#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sys/msg.h>
#include <errno.h>

#define MAX_TEXT 512
struct msg_st
{
	long int msg_type;
	char text[MAX_TEXT];
};

int main()
{
	int running = 1;
	struct msg_st data;
	char buffer[BUFSIZ];
	int msgid = -1;
	int len;

	msgid = msgget((key_t)1234, 0666 | IPC_CREAT);
	if(msgid == -1)
	{
		fprintf(stderr, "msgget failed with error: %d\n", errno);
		exit(EXIT_FAILURE);
	}

	printf("Enter cmd format,R/W,addr,val:  r/w 12 33 \n");
	while(running)
	{
		
		printf("Enter cmd : ");
		fgets(buffer, BUFSIZ, stdin);
		data.msg_type = 1;    
		strcpy(data.text, buffer);
	    len = strlen(data.text);	
		if(msgsnd(msgid, (void*)&data, len, 0) == -1)
		{
			fprintf(stderr, "msgsnd failed\n");
			exit(EXIT_FAILURE);
		}
		
		if(strncmp(buffer, "end", 3) == 0)
			running = 0;
		usleep(100000);
	}
	exit(EXIT_SUCCESS);
}

 

运行结果如下:

 

/tmp # ./send 
Enter cmd format,R/W,addr,val:  r/w 12 33 
Enter cmd : r 14
read register 0x14 value = 0x10 
Enter cmd : w 14 13
write register 0x14 value = 0x13 
Enter cmd : end
msgrcv failed with errno: 43

从上面的结果中,可以看出寄存器的读取和设置已经正常,但是在我的平台中执行:msgctl(msgid, IPC_RMID, 0) 删除消息队列的时候会出现问题,导致不能正常退出,该问题后续有时间再定位。

 

 

    综上,已经可以实现V4L2 点对点传输图像的在线调试了,还遗留几个问题后续定位。

    (一)struct v4l2_dbg_register 中的val变量值不能从应用层传输到驱动层。

    (二)struct v4l2_dbg_register 中的变量值不能从驱动层反馈回应用层。

    (三)应用层结束应用时删除消息队列出错。

 

    这就是最近在弄的调试接口,记录下来方便大家参考,同时对于遗留问题,如果有哪位朋友有解决方案,欢迎一起讨论。

                                                                                                                                                                                                         

                                                                                                                                                                                2017.01.20


 

 

 

 


 


 

 

 

 

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