(六)UVC基本框架代码分析 --转

(六)UVC基本框架代码分析 --转
转载地址:https://www.cnblogs.com/blogs-of-lxl/p/5118384.html

仿照内核的自带UVC(usb video class)驱动程序写的一版简化驱动,仅供学习,实际项目开发中应该尽量使用内核自带的驱动,除非内核自带的驱动不支持此款硬件才需要自己写驱动。

下面就直接上代码了,要根据自己的设备信息修改相关配置参数。
#include <linux/kernel.h>
#include <linux/list.h>
#include <linux/module.h>
#include <linux/usb.h>
#include <linux/videodev2.h>
#include <linux/vmalloc.h>
#include <linux/wait.h>
#include <linux/mm.h>
#include <asm/atomic.h>
#include <asm/unaligned.h>

#include <media/v4l2-common.h>
#include <media/v4l2-ioctl.h>
#include <media/videobuf-core.h>

#include “uvcvideo.h”

#define sheldon_UVC_URBS 3

/* Values for bmHeaderInfo (Video and Still Image Payload Headers, 2.4.3.3) */
#define UVC_STREAM_EOH (1 << 7)
#define UVC_STREAM_ERR (1 << 6)
#define UVC_STREAM_STI (1 << 5)
#define UVC_STREAM_RES (1 << 4)
#define UVC_STREAM_SCR (1 << 3)
#define UVC_STREAM_PTS (1 << 2)
#define UVC_STREAM_EOF (1 << 1)
#define UVC_STREAM_FID (1 << 0)

struct sheldon_uvc_streaming_control {
__u16 bmHint;
__u8 bFormatIndex;
__u8 bFrameIndex;
__u32 dwFrameInterval;
__u16 wKeyFrameRate;
__u16 wPFrameRate;
__u16 wCompQuality;
__u16 wCompWindowSize;
__u16 wDelay;
__u32 dwMaxVideoFrameSize;
__u32 dwMaxPayloadTransferSize;
__u32 dwClockFrequency;
__u8 bmFramingInfo;
__u8 bPreferedVersion;
__u8 bMinVersion;
__u8 bMaxVersion;
};

/参考 drivers/media/video/uvc 下一系列代码/

struct frame_desc {
int width;
int height;
};

/* 参考uvc_video_queue定义一些结构体 /
struct sheldon_uvc_buffer {
struct v4l2_buffer buf;
int state;
int vma_use_count; /
表示是否已经被mmap /
wait_queue_head_t wait; /
APP要读某个缓冲区,如果无数据,在此休眠 */
struct list_head stream;
struct list_head irq;
};

struct sheldon_uvc_queue {
void *mem;
int count;
int buf_size;
struct sheldon_uvc_buffer buffer[32];

struct urb *urb[32];
char *urb_buffer[32];
dma_addr_t urb_dma[32];
unsigned int urb_size;

struct list_head mainqueue;   /* 供APP消费用 */
struct list_head irqqueue;    /* 供底层驱动生产用 */

};

static struct sheldon_uvc_queue sheldon_uvc_queue;

static struct video_device *sheldon_uvc_vdev;
static struct usb_device sheldon_uvc_udev;
static int sheldon_uvc_bEndpointAddress = 0x82; //lsusb - 人工确定参数
static int sheldon_uvc_streaming_intf;
static int sheldon_uvc_control_intf;
static int sheldon_uvc_streaming_bAlternateSetting = 1;
static struct v4l2_format sheldon_uvc_format;
static struct frame_desc framdesc[] = {{640,480},{320,240},{160,120}};//{{640, 480}, {352, 288}, {320, 240}, {176, 144}, {160, 120}};
static int frame_idx = 1;
static int bBitsPerPixel = 16; /
lsusb -v -d 0x1e4e: “bBitsPerPixel” /
static int uvc_version = 0x0100; /
lsusb -v -d 0x1e4e: bcdUVC */
static int wMaxPacketSize = 128;
static int ProcessingUnitID = 5;

static struct sheldon_uvc_streaming_control sheldon_uvc_params;

/* A2 参考 uvc_v4l2_do_ioctl */

/* sheldonUV_vidioc_querycap :用于判断是否为视频设备*/
static int sheldonUV_vidioc_querycap(struct file *file, void *priv,
struct v4l2_capability *cap)
{
//strcpy(cap->driver, “sheldonUV”);
//strcpy(cap->card, “sheldonUV”);
//cap->version = 0x0001;
//cap->capabilities = V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING;

    memset(cap, 0, sizeof *cap);
    strcpy(cap->driver, "sheldonUV");
    strcpy(cap->card, "sheldonUV");

    cap->version = 1;
    cap->capabilities = V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING;

     return 0;

}

/* A3 列举支持哪种格式

  • 参考: uvc_fmts 数组
    */
    static int sheldonUV_vidioc_enum_fmt_vid_cap(struct file *file, void *priv,
    struct v4l2_fmtdesc f)
    {
    /
    人工查看描述符可知我们用的摄像头只支持1种格式 */
    if (f->index >= 1)
    return -EINVAL;

    /* 支持什么格式呢?

    • 查看VideoStreaming Interface的描述符,
    •        'Y''U''Y''V'
      
    • 得到GUID为"59 55 59 32 00 00 10 00 80 00 00 aa 00 38 9b 71"
      */
      strcpy(f->description, “4:2:2, packed, YUYV”);
      f->pixelformat = V4L2_PIX_FMT_YUYV;

    return 0;
    }

/* A4 返回当前所使用的格式 */
static int sheldonUV_vidioc_get_fmt_vid_cap(struct file *file, void *priv,
struct v4l2_format *f)
{
memcpy(f, &sheldon_uvc_format, sizeof(sheldon_uvc_format));
return (0);
}

/* A5 测试驱动程序是否支持某种格式 ,强制设置为第一种格式

  • 参考: uvc_v4l2_try_format
  •   sheldon_vivi_vidioc_try_fmt_vid_cap
    

*/

static int sheldonUV_vidioc_try_fmt_vid_cap(struct file *file, void *priv,
struct v4l2_format *f)
{
if (f->type != V4L2_BUF_TYPE_VIDEO_CAPTURE)
{
return -EINVAL;
}

if (f->fmt.pix.pixelformat != V4L2_PIX_FMT_YUYV)
    return -EINVAL;

/* 调整format的width, height,
 * 计算bytesperline, sizeimage
 */

/* 人工查看描述符, 确定支持哪几种分辨率 */
f->fmt.pix.width  = framdesc[frame_idx].width;
f->fmt.pix.height = framdesc[frame_idx].height;
f->fmt.pix.bytesperline =
    (f->fmt.pix.width * bBitsPerPixel) >> 3;
f->fmt.pix.sizeimage =
    f->fmt.pix.height * f->fmt.pix.bytesperline;


return 0;

}

/* A6 如果支持这种格式,则进行设置-参考 vivi_vidioc_s_fmt_vid_cap*/
static int sheldonUV_vidioc_set_fmt_vid_cap(struct file *file, void *priv,
struct v4l2_format *f)
{
int ret = sheldonUV_vidioc_try_fmt_vid_cap(file, NULL, f);
if (ret < 0)
return ret;

memcpy(&sheldon_uvc_format, f, sizeof(sheldon_uvc_format));

return 0;// ret;
}

static int sheldon_uvc_free_buffers(void)
{
if (sheldon_uvc_queue.mem)
{
vfree(sheldon_uvc_queue.mem);
memset(&sheldon_uvc_queue, 0, sizeof(sheldon_uvc_queue));
sheldon_uvc_queue.mem = NULL;
}
return 0;
}

/* A7 APP 调用该ioctl让驱动程分配若干个缓存,APP将从这些缓存中读到视频数据

  • 参考: uvc_alloc_buffers
    */
    static int sheldonUV_vidioc_reqbufs(struct file *file, void *priv,
    struct v4l2_requestbuffers *p)
    {
    int nbuffers = p->count;
    int bufsize = PAGE_ALIGN(sheldon_uvc_format.fmt.pix.sizeimage);
    unsigned int i;
    void *mem = NULL;
    int ret;

      if ((ret = sheldon_uvc_free_buffers()) < 0)
          goto done;
    
      /* Bail out if no buffers should be allocated. */
      if (nbuffers == 0)
          goto done;
    
      /* Decrement the number of buffers until allocation succeeds. */
      for (; nbuffers > 0; --nbuffers) {
          mem = vmalloc_32(nbuffers * bufsize);
          if (mem != NULL)
              break;
      }
    
      if (mem == NULL) {
          ret = -ENOMEM;
          goto done;
      }
    
      /* 这些缓存是一次性作为一个整体来分配的 */
      memset(&sheldon_uvc_queue, 0, sizeof(sheldon_uvc_queue));
    
      INIT_LIST_HEAD(&sheldon_uvc_queue.mainqueue);
      INIT_LIST_HEAD(&sheldon_uvc_queue.irqqueue);
    
      for (i = 0; i < nbuffers; ++i) {
          sheldon_uvc_queue.buffer[i].buf.index = i;
          sheldon_uvc_queue.buffer[i].buf.m.offset = i * bufsize;
          sheldon_uvc_queue.buffer[i].buf.length = sheldon_uvc_format.fmt.pix.sizeimage;
          sheldon_uvc_queue.buffer[i].buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
          sheldon_uvc_queue.buffer[i].buf.sequence = 0;
          sheldon_uvc_queue.buffer[i].buf.field = V4L2_FIELD_NONE;
          sheldon_uvc_queue.buffer[i].buf.memory = V4L2_MEMORY_MMAP;
          sheldon_uvc_queue.buffer[i].buf.flags = 0;
          sheldon_uvc_queue.buffer[i].state    = VIDEOBUF_IDLE; //分配好后为空闲状态
          init_waitqueue_head(&sheldon_uvc_queue.buffer[i].wait);
      }
    
      sheldon_uvc_queue.mem = mem;
      sheldon_uvc_queue.count = nbuffers;
      sheldon_uvc_queue.buf_size = bufsize;
      ret = nbuffers;
    

    done:
    return ret;
    }

/A8 查询buffer状态,获得偏移值,app可以调用mmap/
static int sheldonUV_vidioc_querybuf(struct file *file, void *priv, struct v4l2_buffer *v4l2_buf)
{
int ret = 0;

if (v4l2_buf->index >= sheldon_uvc_queue.count) {
    ret = -EINVAL;
    goto done;
}

memcpy(v4l2_buf, &sheldon_uvc_queue.buffer[v4l2_buf->index].buf, sizeof(*v4l2_buf));

/* 更新flags */
if (sheldon_uvc_queue.buffer[v4l2_buf->index].vma_use_count)
    v4l2_buf->flags |= V4L2_BUF_FLAG_MAPPED;


switch (sheldon_uvc_queue.buffer[v4l2_buf->index].state) {
    case VIDEOBUF_ERROR:
    case VIDEOBUF_DONE:
        v4l2_buf->flags |= V4L2_BUF_FLAG_DONE;
        break;
    case VIDEOBUF_QUEUED:
    case VIDEOBUF_ACTIVE:
        v4l2_buf->flags |= V4L2_BUF_FLAG_QUEUED;
        break;
    case VIDEOBUF_IDLE:
    default:
        break;
}

done:
return ret;
}

/* A10 把缓冲区放入队列, 底层的硬件操作函数将会把数据放入这个队列的缓存

  • 参考: uvc_queue_buffer
    */
    static int sheldonUV_vidioc_qbuf(struct file *file, void *priv, struct v4l2_buffer *v4l2_buf)
    {
    struct sheldon_uvc_buffer *buf;

     /* 0. APP传入的v4l2_buf可能有问题, 要做判断 */
    
     if (v4l2_buf->type != V4L2_BUF_TYPE_VIDEO_CAPTURE ||
         v4l2_buf->memory != V4L2_MEMORY_MMAP) {
         return -EINVAL;
     }
    
     if (v4l2_buf->index >= sheldon_uvc_queue.count) {
         return -EINVAL;
     }
    
     buf = &sheldon_uvc_queue.buffer[v4l2_buf->index];
    
     if (buf->state != VIDEOBUF_IDLE) {
         return -EINVAL;
     }
    
    
     /* 1. 修改状态 */
     buf->state = VIDEOBUF_QUEUED;
     buf->buf.bytesused = 0;
    
     /* 2. 放入2个队列 */
     /* 队列1: 供APP使用
      * 当缓冲区没有数据时,放入mainqueue队列
      * 当缓冲区有数据时, APP从mainqueue队列中取出
      */
     list_add_tail(&buf->stream, &sheldon_uvc_queue.mainqueue);
    
     /* 队列2: 供产生数据的函数使用
      * 当采集到数据时,从irqqueue队列中取出第1个缓冲区,存入数据
      */
     list_add_tail(&buf->irq, &sheldon_uvc_queue.irqqueue);
    
     return 0;
    

}

static void sheldon_uvc_print_streaming_params(struct sheldon_uvc_streaming_control *ctrl)
{
printk(“video params:\n”);
printk(“bmHint = %d\n”, ctrl->bmHint);
printk(“bFormatIndex = %d\n”, ctrl->bFormatIndex);
printk(“bFrameIndex = %d\n”, ctrl->bFrameIndex);
printk(“dwFrameInterval = %d\n”, ctrl->dwFrameInterval);
printk(“wKeyFrameRate = %d\n”, ctrl->wKeyFrameRate);
printk(“wPFrameRate = %d\n”, ctrl->wPFrameRate);
printk(“wCompQuality = %d\n”, ctrl->wCompQuality);
printk(“wCompWindowSize = %d\n”, ctrl->wCompWindowSize);
printk(“wDelay = %d\n”, ctrl->wDelay);
printk(“dwMaxVideoFrameSize = %d\n”, ctrl->dwMaxVideoFrameSize);
printk(“dwMaxPayloadTransferSize = %d\n”, ctrl->dwMaxPayloadTransferSize);
printk(“dwClockFrequency = %d\n”, ctrl->dwClockFrequency);
printk(“bmFramingInfo = %d\n”, ctrl->bmFramingInfo);
printk(“bPreferedVersion = %d\n”, ctrl->bPreferedVersion);
printk(“bMinVersion = %d\n”, ctrl->bMinVersion);
printk(“bMinVersion = %d\n”, ctrl->bMinVersion);
}

/* 参考: uvc_get_video_ctrl
(ret = uvc_get_video_ctrl(video, probe, 1, GET_CUR))
static int uvc_get_video_ctrl(struct uvc_video_device *video,
struct uvc_streaming_control *ctrl, int probe, __u8 query)
*/
static int sheldon_uvc_get_streaming_params(struct sheldon_uvc_streaming_control *ctrl)
{
__u8 *data;
__u16 size;
int ret;
__u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE;
unsigned int pipe;

size = uvc_version >= 0x0110 ? 34 : 26;
data = kmalloc(size, GFP_KERNEL);
if (data == NULL)
    return -ENOMEM;

pipe = (GET_CUR & 0x80) ? usb_rcvctrlpipe(sheldon_uvc_udev, 0)
              : usb_sndctrlpipe(sheldon_uvc_udev, 0);
type |= (GET_CUR & 0x80) ? USB_DIR_IN : USB_DIR_OUT;

ret = usb_control_msg(sheldon_uvc_udev, pipe, GET_CUR, type, VS_PROBE_CONTROL << 8,
        0 << 8 | sheldon_uvc_streaming_intf, data, size, 5000);

if (ret < 0)
    goto done;

ctrl->bmHint = le16_to_cpup((__le16 *)&data[0]);
ctrl->bFormatIndex = data[2];
ctrl->bFrameIndex = data[3];
ctrl->dwFrameInterval = le32_to_cpup((__le32 *)&data[4]);
ctrl->wKeyFrameRate = le16_to_cpup((__le16 *)&data[8]);
ctrl->wPFrameRate = le16_to_cpup((__le16 *)&data[10]);
ctrl->wCompQuality = le16_to_cpup((__le16 *)&data[12]);
ctrl->wCompWindowSize = le16_to_cpup((__le16 *)&data[14]);
ctrl->wDelay = le16_to_cpup((__le16 *)&data[16]);
ctrl->dwMaxVideoFrameSize = get_unaligned_le32(&data[18]);
ctrl->dwMaxPayloadTransferSize = get_unaligned_le32(&data[22]);

if (size == 34) {
    ctrl->dwClockFrequency = get_unaligned_le32(&data[26]);
    ctrl->bmFramingInfo = data[30];
    ctrl->bPreferedVersion = data[31];
    ctrl->bMinVersion = data[32];
    ctrl->bMaxVersion = data[33];
} else {
    //ctrl->dwClockFrequency = video->dev->clock_frequency;
    ctrl->bmFramingInfo = 0;
    ctrl->bPreferedVersion = 0;
    ctrl->bMinVersion = 0;
    ctrl->bMaxVersion = 0;
}

done:
kfree(data);

return (ret < 0) ? ret : 0;

}

/* 参考: uvc_v4l2_try_format ∕uvc_probe_video

  •   uvc_set_video_ctrl(video, probe, 1)
    

*/
static int sheldon_uvc_try_streaming_params(struct sheldon_uvc_streaming_control *ctrl)
{
__u8 *data;
__u16 size;
int ret;
__u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE;
unsigned int pipe;

memset(ctrl, 0, sizeof *ctrl);

ctrl->bmHint = 1;    /* dwFrameInterval */
ctrl->bFormatIndex = 1;
ctrl->bFrameIndex  = frame_idx + 1;
ctrl->dwFrameInterval = 333333;


size = uvc_version >= 0x0110 ? 34 : 26;
data = kzalloc(size, GFP_KERNEL);


if (data == NULL)
    return -ENOMEM;


*(__le16 *)&data[0] = cpu_to_le16(ctrl->bmHint);
data[2] = ctrl->bFormatIndex;
data[3] = ctrl->bFrameIndex;
*(__le32 *)&data[4] = cpu_to_le32(ctrl->dwFrameInterval);
*(__le16 *)&data[8] = cpu_to_le16(ctrl->wKeyFrameRate);
*(__le16 *)&data[10] = cpu_to_le16(ctrl->wPFrameRate);
*(__le16 *)&data[12] = cpu_to_le16(ctrl->wCompQuality);
*(__le16 *)&data[14] = cpu_to_le16(ctrl->wCompWindowSize);
*(__le16 *)&data[16] = cpu_to_le16(ctrl->wDelay);
put_unaligned_le32(ctrl->dwMaxVideoFrameSize, &data[18]);
put_unaligned_le32(ctrl->dwMaxPayloadTransferSize, &data[22]);


if (size == 34) {
    put_unaligned_le32(ctrl->dwClockFrequency, &data[26]);
    data[30] = ctrl->bmFramingInfo;
    data[31] = ctrl->bPreferedVersion;
    data[32] = ctrl->bMinVersion;
    data[33] = ctrl->bMaxVersion;
}


pipe = (SET_CUR & 0x80) ? usb_rcvctrlpipe(sheldon_uvc_udev, 0)
              : usb_sndctrlpipe(sheldon_uvc_udev, 0);


type |= (SET_CUR & 0x80) ? USB_DIR_IN : USB_DIR_OUT;

ret = usb_control_msg(sheldon_uvc_udev, pipe, SET_CUR, type, VS_PROBE_CONTROL << 8,
        0 << 8 | sheldon_uvc_streaming_intf, data, size, 5000);


kfree(data);

return (ret < 0) ? ret : 0;

}

/* 参考: uvc_v4l2_try_format ∕uvc_probe_video

  •   uvc_set_video_ctrl(video, probe, 1)
    

*/
static int sheldon_uvc_set_streaming_params(struct sheldon_uvc_streaming_control *ctrl)
{
__u8 *data;
__u16 size;
int ret;
__u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE;
unsigned int pipe;

size = uvc_version >= 0x0110 ? 34 : 26;
data = kzalloc(size, GFP_KERNEL);
if (data == NULL)
    return -ENOMEM;

*(__le16 *)&data[0] = cpu_to_le16(ctrl->bmHint);
data[2] = ctrl->bFormatIndex;
data[3] = ctrl->bFrameIndex;
*(__le32 *)&data[4] = cpu_to_le32(ctrl->dwFrameInterval);
*(__le16 *)&data[8] = cpu_to_le16(ctrl->wKeyFrameRate);
*(__le16 *)&data[10] = cpu_to_le16(ctrl->wPFrameRate);
*(__le16 *)&data[12] = cpu_to_le16(ctrl->wCompQuality);
*(__le16 *)&data[14] = cpu_to_le16(ctrl->wCompWindowSize);
*(__le16 *)&data[16] = cpu_to_le16(ctrl->wDelay);
put_unaligned_le32(ctrl->dwMaxVideoFrameSize, &data[18]);
put_unaligned_le32(ctrl->dwMaxPayloadTransferSize, &data[22]);

if (size == 34) {
    put_unaligned_le32(ctrl->dwClockFrequency, &data[26]);
    data[30] = ctrl->bmFramingInfo;
    data[31] = ctrl->bPreferedVersion;
    data[32] = ctrl->bMinVersion;
    data[33] = ctrl->bMaxVersion;
}

pipe = (SET_CUR & 0x80) ? usb_rcvctrlpipe(sheldon_uvc_udev, 0)
              : usb_sndctrlpipe(sheldon_uvc_udev, 0);
type |= (SET_CUR & 0x80) ? USB_DIR_IN : USB_DIR_OUT;

ret = usb_control_msg(sheldon_uvc_udev, pipe, SET_CUR, type, VS_COMMIT_CONTROL << 8,
        0 << 8 | sheldon_uvc_streaming_intf, data, size, 5000);

kfree(data);

return (ret < 0) ? ret : 0;

}

static void sheldon_uvc_uninit_urbs(void)
{
int i;
for (i = 0; i < sheldon_UVC_URBS; ++i) {
if (sheldon_uvc_queue.urb_buffer[i])
{
usb_buffer_free(sheldon_uvc_udev, sheldon_uvc_queue.urb_size, sheldon_uvc_queue.urb_buffer[i], sheldon_uvc_queue.urb_dma[i]);
sheldon_uvc_queue.urb_buffer[i] = NULL;
}

    if (sheldon_uvc_queue.urb[i])
    {
        usb_free_urb(sheldon_uvc_queue.urb[i]);
        sheldon_uvc_queue.urb[i] = NULL;
    }
}

}

/* 参考: uvc_video_complete / uvc_video_decode_isoc */
static void sheldon_uvc_video_complete(struct urb *urb)
{
u8 *src;
u8 *dest;
int ret, i;
int len;
int maxlen;
int nbytes;
struct sheldon_uvc_buffer *buf;

switch (urb->status) {
case 0:
    break;

default:
    printk("Non-zero status (%d) in video "
        "completion handler.\n", urb->status);
    return;
}

/* 从irqqueue队列中取出第1个缓冲区 */
if (!list_empty(&sheldon_uvc_queue.irqqueue)) //如果队列不空
{
    buf = list_first_entry(&sheldon_uvc_queue.irqqueue, struct sheldon_uvc_buffer, irq);


    for (i = 0; i < urb->number_of_packets; ++i) {
        if (urb->iso_frame_desc[i].status < 0) {
            printk("USB isochronous frame "
                "lost (%d).\n", urb->iso_frame_desc[i].status);
            continue;
        }

        src  = urb->transfer_buffer + urb->iso_frame_desc[i].offset; //源

        dest = sheldon_uvc_queue.mem + buf->buf.m.offset + buf->buf.bytesused; //目的

        len = urb->iso_frame_desc[i].actual_length; //整个数据长度
        /* 判断数据是否有效 */
        /* URB数据含义:
         * data[0] : 头部长度
         * data[1] : 错误状态
         */
        if (len < 2 || src[0] < 2 || src[0] > len)
            continue;

        /* Skip payloads marked with the error bit ("error frames"). */
        if (src[1] & UVC_STREAM_ERR) {
            printk("Dropping payload (error bit set).\n");
            continue;
        }

        /* 除去头部后的数据长度 */
        len -= src[0];

        /* 缓冲区最多还能存多少数据 */
        maxlen = buf->buf.length - buf->buf.bytesused;
        nbytes = min(len, maxlen);

        /* 复制数据 */
        memcpy(dest, src + src[0], nbytes);
        buf->buf.bytesused += nbytes;

        /* 判断一帧数据是否已经全部接收到 */
        if (len > maxlen) {
            buf->state = VIDEOBUF_DONE;
        }

        /* Mark the buffer as done if the EOF marker is set. */
        if (src[1] & UVC_STREAM_EOF && buf->buf.bytesused != 0) {
            printk("Frame complete (EOF found).\n");
            if (len == 0)
                printk("EOF in empty payload.\n");
            buf->state = VIDEOBUF_DONE;
        }

    }

    /* 当接收完一帧数据,
     * 从irqqueue中删除这个缓冲区
     * 唤醒等待数据的进程
     */
    if (buf->state == VIDEOBUF_DONE ||
        buf->state == VIDEOBUF_ERROR)
    {
        list_del(&buf->irq);
        wake_up(&buf->wait);
    }
}

/* 再次提交URB */
if ((ret = usb_submit_urb(urb, GFP_ATOMIC)) < 0) {
    printk("Failed to resubmit video URB (%d).\n", ret);
}

}

/* 参考: uvc_init_video_isoc */
static int sheldon_uvc_alloc_init_urbs(void)
{
u16 psize;
u32 size;
int npackets;
int i;
int j;

struct urb *urb;

psize = wMaxPacketSize; /* 实时传输端点一次能传输的最大字节数 */
size  = sheldon_uvc_params.dwMaxVideoFrameSize;  /* 一帧数据的最大长度 */
npackets = DIV_ROUND_UP(size, psize);
if (npackets > 32)
    npackets = 32;

size = sheldon_uvc_queue.urb_size = psize * npackets;

for (i = 0; i < sheldon_UVC_URBS; ++i) {
    /* 1. 分配usb_buffers */

    sheldon_uvc_queue.urb_buffer[i] = usb_buffer_alloc(
        sheldon_uvc_udev, size,
        GFP_KERNEL | __GFP_NOWARN, &sheldon_uvc_queue.urb_dma[i]); //sheldon_uvc_queue.urb_dma[i]存放分配的物理地址

    /* 2. 分配urb */
    sheldon_uvc_queue.urb[i] = usb_alloc_urb(npackets, GFP_KERNEL);

    if (!sheldon_uvc_queue.urb_buffer[i] || !sheldon_uvc_queue.urb[i])
    {
        sheldon_uvc_uninit_urbs();
        return -ENOMEM;
    }

}

/* 3. 设置urb */
for (i = 0; i < sheldon_UVC_URBS; ++i) {
    urb = sheldon_uvc_queue.urb[i];

    urb->dev = sheldon_uvc_udev;
    urb->context = NULL;
    urb->pipe = usb_rcvisocpipe(sheldon_uvc_udev,sheldon_uvc_bEndpointAddress);
    urb->transfer_flags = URB_ISO_ASAP | URB_NO_TRANSFER_DMA_MAP;
    urb->interval = 1;
    urb->transfer_buffer = sheldon_uvc_queue.urb_buffer[i]; //分配的urb buffer
    urb->transfer_dma = sheldon_uvc_queue.urb_dma[i]; //分配的urb 物理地址
    urb->complete = sheldon_uvc_video_complete; //收完数据的中断处理函数
    urb->number_of_packets = npackets; //要传输的数据次数
    urb->transfer_buffer_length = size; //总共的数据量

    for (j = 0; j < npackets; ++j) {
        urb->iso_frame_desc[j].offset = j * psize;  //存放每次传输的数据
        urb->iso_frame_desc[j].length = psize;
    }

}

return 0;

}

/*打开视频流

  • 参考: uvc_video_enable(video, 1):
  •       uvc_commit_video
    
  •       uvc_init_video
    

*/
static int sheldonUV_vidioc_streamon(struct file *file, void *priv, enum v4l2_buf_type i)
{
int ret;

   /* 1. 向USB摄像头设置参数: 比如使用哪个format, 使用这个format下的哪个frame(分辨率)
    * 参考: uvc_set_video_ctrl / uvc_get_video_ctrl
    * 1.1 根据一个结构体uvc_streaming_control设置数据包: 可以手工设置,也可以读出后再修改
    * 1.2 调用usb_control_msg发出数据包
    */



   /* a. 测试参数 */
   ret = sheldon_uvc_try_streaming_params(&sheldon_uvc_params);
   printk("sheldon_uvc_try_streaming_params ret = %d\n", ret);



   /* b. 取出参数 */
   ret = sheldon_uvc_get_streaming_params(&sheldon_uvc_params);
   printk("sheldon_uvc_get_streaming_params ret = %d\n", ret);

   /* c. 设置参数 */
   ret = sheldon_uvc_set_streaming_params(&sheldon_uvc_params);
   printk("sheldon_uvc_set_streaming_params ret = %d\n", ret);

   sheldon_uvc_print_streaming_params(&sheldon_uvc_params);

   /* d. 设置VideoStreaming Interface所使用的setting
    * d.1 从sheldon_uvc_params确定带宽
    * d.2 根据setting的endpoint能传输的wMaxPacketSize
    *      找到能满足该带宽的setting
    */
   /* 手工确定:
    * bandwidth = sheldon_uvc_params.dwMaxPayloadTransferSize = 64
    * 观察lsusb -v -d 0x1e4e:的结果:
    *                 wMaxPacketSize     0x0080    1x128 bytes
    * bAlternateSetting       6
    */
   usb_set_interface(sheldon_uvc_udev, sheldon_uvc_streaming_intf, sheldon_uvc_streaming_bAlternateSetting);

   /* 2. 分配设置URB */
   ret = sheldon_uvc_alloc_init_urbs();
   if (ret)
       printk("sheldon_uvc_alloc_init_urbs err : ret = %d\n", ret);

   /* 3. 提交URB以接收数据 */
   for (i = 0; i < sheldon_UVC_URBS; ++i) {
       if ((ret = usb_submit_urb(sheldon_uvc_queue.urb[i], GFP_KERNEL)) < 0) {
           printk("Failed to submit URB %u (%d).\n", i, ret);
           sheldon_uvc_uninit_urbs();
           return ret;
       }
   }

   return 0;

}

/底层的硬件操作函数取出队列的缓存/
static int sheldonUV_vidioc_dqbuf(struct file *file, void *priv, struct v4l2_buffer v4l2_buf)
{
/
APP发现数据就绪后, 从mainqueue里取出这个buffer */

struct sheldon_uvc_buffer *buf;
int ret = 0;

if (list_empty(&sheldon_uvc_queue.mainqueue)) {
    ret = -EINVAL;
    goto done;
}

buf = list_first_entry(&sheldon_uvc_queue.mainqueue, struct sheldon_uvc_buffer, stream);

switch (buf->state) {
case VIDEOBUF_ERROR:
    ret = -EIO;
case VIDEOBUF_DONE:
    buf->state = VIDEOBUF_IDLE;
    break;

case VIDEOBUF_IDLE:
case VIDEOBUF_QUEUED:
case VIDEOBUF_ACTIVE:
default:
    ret = -EINVAL;
    goto done;
}

list_del(&buf->stream);

done:
return ret;
}

/*

  • A14 之前已经通过mmap映射了缓存, APP可以直接读数据
  • A15 再次调用sheldonUV_vidioc_qbuf把缓存放入队列
  • A16 poll…
    */

/* A17 停止-关闭视频流

  • 参考 : uvc_video_enable(video, 0)
    */

static int sheldonUV_vidioc_streamoff(struct file *file, void *priv, enum v4l2_buf_type t)
{
struct urb *urb;
unsigned int i;

/* 1. kill URB */
for (i = 0; i < sheldon_UVC_URBS; ++i) {
    if ((urb = sheldon_uvc_queue.urb[i]) == NULL)
        continue;
    usb_kill_urb(urb);
}

/* 2. free URB */
sheldon_uvc_uninit_urbs();

/* 3. 设置VideoStreaming Interface为setting 0 */
usb_set_interface(sheldon_uvc_udev, sheldon_uvc_streaming_intf, 0);

return 0;

}

/[下面几个函数实现属性设置]/

/*
*Extract the bit string specified by mapping->offset and mapping->size

  • from the little-endian data stored at ‘data’ and return the result as

  • a signed 32bit integer. Sign extension will be performed if the mapping

  • references a signed data type.
    */
    static __s32 sheldonUV_get_le_value(const __u8 *data)
    {
    int bits = 16;
    int offset = 0;
    __s32 value = 0;
    __u8 mask;

    data += offset / 8;
    offset &= 7;
    mask = ((1LL << bits) - 1) << offset;

    for (; bits > 0; data++) {
    __u8 byte = *data & mask;
    value |= offset > 0 ? (byte >> offset) : (byte << (-offset));
    bits -= 8 - (offset > 0 ? offset : 0);
    offset -= 8;
    mask = (1 << bits) - 1;
    }

    /* Sign-extend the value if needed. */
    value |= -(value & (1 << (16 - 1)));

    return value;
    }

/* Set the bit string specified by mapping->offset and mapping->size

  • in the little-endian data stored at ‘data’ to the value ‘value’.
    */
    static void sheldonUV_set_le_value(__s32 value, __u8 *data)
    {
    int bits = 16;
    int offset = 0;
    __u8 mask;

    data += offset / 8;
    offset &= 7;

    for (; bits > 0; data++) {
    mask = ((1LL << bits) - 1) << offset;
    *data = (*data & ~mask) | ((value << offset) & mask);
    value >>= offset ? offset : 8;
    bits -= 8 - offset;
    offset = 0;
    }
    }

/* 参考:uvc_query_v4l2_ctrl:调用VIDIOC_QUERYCTRL ioctl确定是否支持某个属性 */
int sheldonUV_vidioc_queryctrl (struct file *file, void *fh,
struct v4l2_queryctrl *ctrl)
{
__u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE;
unsigned int pipe;
int ret;
u8 data[2];

if (ctrl->id != V4L2_CID_BRIGHTNESS)
    return -EINVAL;

memset(ctrl, 0, sizeof *ctrl);
ctrl->id   = V4L2_CID_BRIGHTNESS;
ctrl->type = V4L2_CTRL_TYPE_INTEGER;
strcpy(ctrl->name, "sheldonUV_BRIGHTNESS");
ctrl->flags = 0;

pipe = usb_rcvctrlpipe(sheldon_uvc_udev, 0);
type |= USB_DIR_IN;

/* 发起USB传输确定这些值 */
ret = usb_control_msg(sheldon_uvc_udev, pipe, GET_MIN, type, PU_BRIGHTNESS_CONTROL << 8,
        ProcessingUnitID << 8 | sheldon_uvc_control_intf, data, 2, 5000);
if (ret != 2)
    return -EIO;
ctrl->minimum = sheldonUV_get_le_value(data);    /* Note signedness */


ret = usb_control_msg(sheldon_uvc_udev, pipe, GET_MAX, type,  PU_BRIGHTNESS_CONTROL << 8,
        ProcessingUnitID << 8 | sheldon_uvc_control_intf, data, 2, 5000);
if (ret != 2)
    return -EIO;
ctrl->maximum = sheldonUV_get_le_value(data);    /* Note signedness */

ret = usb_control_msg(sheldon_uvc_udev, pipe, GET_RES, type, PU_BRIGHTNESS_CONTROL << 8,
         ProcessingUnitID << 8 | sheldon_uvc_control_intf, data, 2, 5000);
if (ret != 2)
    return -EIO;
ctrl->step = sheldonUV_get_le_value(data);    /* Note signedness */

ret = usb_control_msg(sheldon_uvc_udev, pipe, GET_DEF, type, PU_BRIGHTNESS_CONTROL << 8,
        ProcessingUnitID << 8 | sheldon_uvc_control_intf, data, 2, 5000);
if (ret != 2)
    return -EIO;
ctrl->default_value = sheldonUV_get_le_value(data);    /* Note signedness */

printk("Brightness: min =%d, max = %d, step = %d, default = %d\n", ctrl->minimum, ctrl->maximum, ctrl->step, ctrl->default_value);

return 0;

}

/* 参考 : uvc_ctrl_get : 获得属性 */
int sheldonUV_vidioc_g_ctrl (struct file *file, void *fh,
struct v4l2_control *ctrl)
{
__u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE;
unsigned int pipe;
int ret;
u8 data[2];

if (ctrl->id != V4L2_CID_BRIGHTNESS)
    return -EINVAL;

pipe = usb_rcvctrlpipe(sheldon_uvc_udev, 0);
type |= USB_DIR_IN;

ret = usb_control_msg(sheldon_uvc_udev, pipe, GET_CUR, type, PU_BRIGHTNESS_CONTROL << 8,
        ProcessingUnitID << 8 | sheldon_uvc_control_intf, data, 2, 5000);
if (ret != 2)
    return -EIO;
ctrl->value = sheldonUV_get_le_value(data);    /* Note signedness */

return 0;

}

/* 参考: uvc_ctrl_set/uvc_ctrl_commit : 设置属性*/
int sheldonUV_vidioc_s_ctrl (struct file *file, void *fh,
struct v4l2_control *ctrl)
{
__u8 type = USB_TYPE_CLASS | USB_RECIP_INTERFACE;
unsigned int pipe;
int ret;
u8 data[2];

if (ctrl->id != V4L2_CID_BRIGHTNESS)
    return -EINVAL;

sheldonUV_set_le_value(ctrl->value, data);

pipe = usb_sndctrlpipe(sheldon_uvc_udev, 0);
type |= USB_DIR_OUT;

ret = usb_control_msg(sheldon_uvc_udev, pipe, SET_CUR, type, PU_BRIGHTNESS_CONTROL << 8,
        ProcessingUnitID  << 8 | sheldon_uvc_control_intf, data, 2, 5000);
if (ret != 2)
    return -EIO;

return 0;

}

static const struct v4l2_ioctl_ops sheldonUV_ioctl_ops = {
// 表示它是一个摄像头设备
.vidioc_querycap = sheldonUV_vidioc_querycap,

    /* 用于列举、获得、测试、设置摄像头的数据的格式 */
    .vidioc_enum_fmt_vid_cap  = sheldonUV_vidioc_enum_fmt_vid_cap,
    .vidioc_g_fmt_vid_cap     = sheldonUV_vidioc_get_fmt_vid_cap,
    .vidioc_try_fmt_vid_cap   = sheldonUV_vidioc_try_fmt_vid_cap,
    .vidioc_s_fmt_vid_cap     = sheldonUV_vidioc_set_fmt_vid_cap,

    /* 缓冲区操作: 申请/查询/放入队列/取出队列 */
    .vidioc_reqbufs       = sheldonUV_vidioc_reqbufs,
    .vidioc_querybuf      = sheldonUV_vidioc_querybuf,
    .vidioc_qbuf          = sheldonUV_vidioc_qbuf,
    .vidioc_dqbuf         = sheldonUV_vidioc_dqbuf,

     /* 查询/获得/设置属性 */
    .vidioc_queryctrl     = sheldonUV_vidioc_queryctrl,
    .vidioc_g_ctrl        = sheldonUV_vidioc_g_ctrl,
    .vidioc_s_ctrl        = sheldonUV_vidioc_s_ctrl,

    // 启动/停止
    .vidioc_streamon      = sheldonUV_vidioc_streamon,
    .vidioc_streamoff     = sheldonUV_vidioc_streamoff,

};

static int sheldonUV_open(struct file file)
{
/
队列操作2: 初始化 /
/
videobuf_queue_vmalloc_init(&sheldonUV_vb_vidqueue, &sheldonUV_video_qops,
NULL, &sheldonUV_queue_slock, V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_FIELD_INTERLACED,
sizeof(struct videobuf_buffer), NULL); // 倒数第2个参数是buffer的头部大小

sheldonUV_timer.expires = jiffies + 1;
add_timer(&sheldonUV_timer);

*/
return 0;
}

static void sheldon_uvc_vm_open(struct vm_area_struct *vma)
{
struct sheldon_uvc_buffer *buffer = vma->vm_private_data;
buffer->vma_use_count++;
}

static void sheldon_uvc_vm_close(struct vm_area_struct *vma)
{
struct sheldon_uvc_buffer *buffer = vma->vm_private_data;
buffer->vma_use_count–;
}

static struct vm_operations_struct sheldon_uvc_vm_ops = {
.open = sheldon_uvc_vm_open,
.close = sheldon_uvc_vm_close,
};

/*映射->应用程序空间,之后app可以直接操作这块

  • 参考: uvc_v4l2_mmap
    */
    static int sheldonUV_mmap(struct file *file, struct vm_area_struct *vma)
    {
    struct sheldon_uvc_buffer *buffer;
    struct page *page;
    unsigned long addr, start, size;
    unsigned int i;
    int ret = 0;

    start = vma->vm_start;
    size = vma->vm_end - vma->vm_start;

    /* 应用程序调用mmap函数时, 会传入offset参数

    • 根据这个offset找出指定的缓冲区
      */
      for (i = 0; i < sheldon_uvc_queue.count; ++i) {
      buffer = &sheldon_uvc_queue.buffer[i];
      if ((buffer->buf.m.offset >> PAGE_SHIFT) == vma->vm_pgoff)
      break;
      }

    if (i == sheldon_uvc_queue.count || size != sheldon_uvc_queue.buf_size) {
    ret = -EINVAL;
    goto done;
    }

    /*

    • VM_IO marks the area as being an mmaped region for I/O to a
    • device. It also prevents the region from being core dumped.
      */
      vma->vm_flags |= VM_IO;

    /* 根据虚拟地址找到缓冲区对应的page构体 */
    addr = (unsigned long)sheldon_uvc_queue.mem + buffer->buf.m.offset;
    while (size > 0) {
    page = vmalloc_to_page((void *)addr);

     /* 把此page映射到APP对应的虚拟地址上面 */
     if ((ret = vm_insert_page(vma, start, page)) < 0)
         goto done;
    
     start += PAGE_SIZE;
     addr += PAGE_SIZE;
     size -= PAGE_SIZE;
    

    }

    vma->vm_ops = &sheldon_uvc_vm_ops;
    vma->vm_private_data = buffer;
    sheldon_uvc_vm_open(vma);

done:
return ret;
}

/APP 调用POLL/select确定缓存数据是否就绪/
static unsigned int sheldonUV_poll(struct file *file, struct poll_table_struct *wait)
{
struct sheldon_uvc_buffer *buf;
unsigned int mask = 0;

    /* 从mainqueuq中取出第1个缓冲区 */

    /*判断它的状态, 如果未就绪, 休眠 */

    if (list_empty(&sheldon_uvc_queue.mainqueue)) {
        mask |= POLLERR;
        goto done;
    }

    buf = list_first_entry(&sheldon_uvc_queue.mainqueue, struct sheldon_uvc_buffer, stream);

    poll_wait(file, &buf->wait, wait);
    if (buf->state == VIDEOBUF_DONE ||
        buf->state == VIDEOBUF_ERROR)
        mask |= POLLIN | POLLRDNORM;

done:
    return mask;

}

static int sheldonUV_close(struct file *file)
{
//del_timer(&sheldonUV_timer);
//videobuf_stop(&sheldonUV_vb_vidqueue);
//videobuf_mmap_free(&sheldonUV_vb_vidqueue);

return 0;
}

static const struct v4l2_file_operations sheldonUV_fops = {
.owner = THIS_MODULE,
.open = sheldonUV_open,
.release = sheldonUV_close,
.mmap = sheldonUV_mmap,
.ioctl = video_ioctl2, /* V4L2 ioctl handler -> sheldonUV_ioctl_ops*/
.poll = sheldonUV_poll,
};

static void sheldonUV_release(struct video_device *vdev)
{
}

//probe处理函数,有匹配usb设备时调用
static int sheldon_uvc_probe(struct usb_interface *intf, const struct usb_device_id *id)
{
static int cnt;

//根据interface结构体获得usb_devce结构体,其中包含了设备描述符
struct usb_device *dev = interface_to_usbdev(intf);
//此处需要定义一个描述符结构体
struct usb_device_descriptor *descriptor = &dev->descriptor;
//从usb_device结构体中获得配置描述符相关信息
struct usb_host_config *host_config;
struct usb_config_descriptor *config;
//定义接口联合体描述符结构体,获得 IAD 接口
struct usb_interface_assoc_descriptor *assoc_desc;
//接口描述符
struct usb_interface_descriptor *interface;
//端点描述符
struct usb_endpoint_descriptor *endpoint;
//定义接口设置信息结构体
//struct usb_interface_descriptor *idesc;

int i, j ,k ,l ,m;
unsigned char *buffer;
int buflen;

int desc_len;
//int desc_cnt;

sheldon_uvc_udev = dev;

printk(“sheldn_uvc_probe : cnt = %d\n”, cnt++);

if (cnt == 1)
{
    sheldon_uvc_control_intf = intf->cur_altsetting->desc.bInterfaceNumber;
}
else if(cnt == 2)
{
    sheldon_uvc_streaming_intf = intf->cur_altsetting->desc.bInterfaceNumber;
}

if (cnt == 2)
{
    /*1.分配一个video_device结构体*/
    sheldon_uvc_vdev = video_device_alloc();
    /*2.设置*/
    /* 2.1 */
    sheldon_uvc_vdev->release = sheldonUV_release;

    /* 2.2 */
    sheldon_uvc_vdev->fops    = &sheldonUV_fops;

    /* 2.3 */
    sheldon_uvc_vdev->ioctl_ops = &sheldonUV_ioctl_ops;
    /*3.注册*/
    video_register_device(sheldon_uvc_vdev ,VFL_TYPE_GRABBER, -1);
}

return 0;
}

//disconnect函数,设备断开时调用
static void sheldon_uvc_disconnect(struct usb_interface *intf)
{
static int cnt;
printk(“sheldon_uvc_disconnect : cnt = %d\n”,cnt++);

if (cnt == 2)
{
    video_unregister_device(sheldon_uvc_vdev);
    video_device_release(sheldon_uvc_vdev);
}

}

//支持的设备类型信息
static struct usb_device_id sheldon_uvc_ids[] = {
/* Generic USB Video Class */
{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, 0) },/1-视频控制接口/
{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 2, 0) },/2-视频流控制接口(被1包含)/
{}
};

//1.分配usb_driver结构体
//2.设置

static struct usb_driver sheldon_uvc_driver = {
.name = “sheldon_UV”,
.probe = sheldon_uvc_probe,
.disconnect = sheldon_uvc_disconnect,
.id_table = sheldon_uvc_ids,
};

static int sheldon_uvc_init(void)
{
//3.注册
printk(“sheldon_uvc_init ~\n”);
usb_register(&sheldon_uvc_driver);
return 0;
}

static void sheldon_uvc_exit(void)
{
printk(“sheldon_uvc_exit ~\n”);
usb_deregister(&sheldon_uvc_driver);
}

module_init(sheldon_uvc_init);
module_exit(sheldon_uvc_exit);
MODULE_LICENSE(“GPL”);

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