add freertos build support for video_capture example
This commit is contained in:
4
examples/device/video_capture/src/CMakeLists.txt
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4
examples/device/video_capture/src/CMakeLists.txt
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@@ -0,0 +1,4 @@
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# This file is for ESP-IDF only
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idf_component_register(SRCS "main.c" "usb_descriptors.c"
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INCLUDE_DIRS "."
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REQUIRES boards tinyusb_src)
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@@ -48,13 +48,25 @@ enum {
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static uint32_t blink_interval_ms = BLINK_NOT_MOUNTED;
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static uint32_t blink_interval_ms = BLINK_NOT_MOUNTED;
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void led_blinking_task(void);
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void led_blinking_task(void* param);
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void video_task(void);
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void usb_device_task(void *param);
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void video_task(void* param);
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/*------------- MAIN -------------*/
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#if CFG_TUSB_OS == OPT_OS_FREERTOS
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void freertos_init_task(void);
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#endif
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//--------------------------------------------------------------------+
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// Main
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//--------------------------------------------------------------------+
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int main(void) {
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int main(void) {
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board_init();
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board_init();
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// If using FreeRTOS: create blinky, tinyusb device, video task
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#if CFG_TUSB_OS == OPT_OS_FREERTOS
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freertos_init_task();
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#else
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// init device stack on configured roothub port
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// init device stack on configured roothub port
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tud_init(BOARD_TUD_RHPORT);
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tud_init(BOARD_TUD_RHPORT);
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@@ -64,10 +76,10 @@ int main(void) {
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while (1) {
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while (1) {
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tud_task(); // tinyusb device task
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tud_task(); // tinyusb device task
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led_blinking_task();
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led_blinking_task(NULL);
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video_task(NULL);
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video_task();
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}
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}
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#endif
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}
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}
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//--------------------------------------------------------------------+
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//--------------------------------------------------------------------+
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@@ -169,7 +181,7 @@ static void fill_color_bar(uint8_t* buffer, unsigned start_position) {
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#endif
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#endif
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void video_task(void) {
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void video_send_frame(void) {
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static unsigned start_ms = 0;
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static unsigned start_ms = 0;
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static unsigned already_sent = 0;
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static unsigned already_sent = 0;
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@@ -213,6 +225,21 @@ void video_task(void) {
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#endif
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#endif
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}
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}
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void video_task(void* param) {
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(void) param;
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while(1) {
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video_send_frame();
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#if CFG_TUSB_OS == OPT_OS_FREERTOS
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vTaskDelay(interval_ms / portTICK_PERIOD_MS);
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#else
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return;
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#endif
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}
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}
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void tud_video_frame_xfer_complete_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx) {
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void tud_video_frame_xfer_complete_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx) {
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(void) ctl_idx;
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(void) ctl_idx;
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(void) stm_idx;
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(void) stm_idx;
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@@ -231,16 +258,92 @@ int tud_video_commit_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx,
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}
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}
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//--------------------------------------------------------------------+
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//--------------------------------------------------------------------+
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// BLINKING TASK
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// Blinking Task
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//--------------------------------------------------------------------+
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//--------------------------------------------------------------------+
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void led_blinking_task(void) {
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void led_blinking_task(void* param) {
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(void) param;
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static uint32_t start_ms = 0;
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static uint32_t start_ms = 0;
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static bool led_state = false;
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static bool led_state = false;
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// Blink every interval ms
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while (1) {
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#if CFG_TUSB_OS == OPT_OS_FREERTOS
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vTaskDelay(blink_interval_ms / portTICK_PERIOD_MS);
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#else
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if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
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if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
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start_ms += blink_interval_ms;
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#endif
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start_ms += blink_interval_ms;
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board_led_write(led_state);
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board_led_write(led_state);
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led_state = 1 - led_state; // toggle
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led_state = 1 - led_state; // toggle
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}
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}
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}
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//--------------------------------------------------------------------+
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// FreeRTOS
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//--------------------------------------------------------------------+
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#if CFG_TUSB_OS == OPT_OS_FREERTOS
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#define BLINKY_STACK_SIZE configMINIMAL_STACK_SIZE
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#define VIDEO_STACK_SIZE (configMINIMAL_STACK_SIZE*4)
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#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
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#define USBD_STACK_SIZE 4096
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int main(void);
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void app_main(void) {
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main();
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}
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#else
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// Increase stack size when debug log is enabled
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#define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1)
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#endif
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// static task
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#if configSUPPORT_STATIC_ALLOCATION
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StackType_t blinky_stack[BLINKY_STACK_SIZE];
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StaticTask_t blinky_taskdef;
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StackType_t usb_device_stack[USBD_STACK_SIZE];
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StaticTask_t usb_device_taskdef;
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StackType_t video_stack[VIDEO_STACK_SIZE];
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StaticTask_t video_taskdef;
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#endif
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// USB Device Driver task
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// This top level thread process all usb events and invoke callbacks
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void usb_device_task(void *param) {
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(void) param;
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// init device stack on configured roothub port
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// This should be called after scheduler/kernel is started.
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// Otherwise, it could cause kernel issue since USB IRQ handler does use RTOS queue API.
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tud_init(BOARD_TUD_RHPORT);
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if (board_init_after_tusb) {
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board_init_after_tusb();
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}
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// RTOS forever loop
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while (1) {
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// put this thread to waiting state until there is new events
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tud_task();
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}
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}
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void freertos_init_task(void) {
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#if configSUPPORT_STATIC_ALLOCATION
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xTaskCreateStatic(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, blinky_stack, &blinky_taskdef);
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xTaskCreateStatic(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef);
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xTaskCreateStatic(video_task, "cdc", VIDEO_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, video_stack, &video_taskdef);
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#else
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xTaskCreate(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, NULL);
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xTaskCreate(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
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xTaskCreate(video_task, "video", VIDEO_STACK_SZIE, NULL, configMAX_PRIORITIES - 2, NULL);
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#endif
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// skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
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#if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
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vTaskStartScheduler();
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#endif
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}
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#endif
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@@ -57,6 +57,11 @@
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#define CFG_TUSB_OS OPT_OS_NONE
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#define CFG_TUSB_OS OPT_OS_NONE
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#endif
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#endif
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// Espressif IDF requires "freertos/" prefix in include path
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#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
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#define CFG_TUSB_OS_INC_PATH freertos/
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#endif
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#ifndef CFG_TUSB_DEBUG
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#ifndef CFG_TUSB_DEBUG
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#define CFG_TUSB_DEBUG 0
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#define CFG_TUSB_DEBUG 0
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#endif
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#endif
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@@ -103,6 +108,9 @@
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// use bulk endpoint for streaming interface
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// use bulk endpoint for streaming interface
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#define CFG_TUD_VIDEO_STREAMING_BULK 1
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#define CFG_TUD_VIDEO_STREAMING_BULK 1
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//#define CFG_EXAMPLE_VIDEO_READONLY
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//#define CFG_EXAMPLE_VIDEO_DISABLE_MJPEG
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#ifdef __cplusplus
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#ifdef __cplusplus
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}
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}
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#endif
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#endif
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@@ -364,7 +364,22 @@ const uvc_cfg_desc_t desc_fs_configuration = {
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};
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};
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#if TUD_OPT_HIGH_SPEED
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#if TUD_OPT_HIGH_SPEED
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uvc_cfg_desc_t desc_hs_configuration = desc_fs_configuration;
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uvc_cfg_desc_t desc_hs_configuration;
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static uint8_t * get_hs_configuration_desc(void) {
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static bool init = false;
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if (!init) {
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desc_hs_configuration = desc_fs_configuration;
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// change endpoint bulk size to 512 if bulk streaming
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if (CFG_TUD_VIDEO_STREAMING_BULK) {
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desc_hs_configuration.video_streaming.ep.wMaxPacketSize = 512;
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}
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}
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init = true;
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return (uint8_t *) &desc_hs_configuration;
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}
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// device qualifier is mostly similar to device descriptor since we don't change configuration based on speed
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// device qualifier is mostly similar to device descriptor since we don't change configuration based on speed
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tusb_desc_device_qualifier_t const desc_device_qualifier = {
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tusb_desc_device_qualifier_t const desc_device_qualifier = {
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@@ -395,7 +410,11 @@ uint8_t const* tud_descriptor_device_qualifier_cb(void) {
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uint8_t const* tud_descriptor_other_speed_configuration_cb(uint8_t index) {
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uint8_t const* tud_descriptor_other_speed_configuration_cb(uint8_t index) {
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(void) index; // for multiple configurations
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(void) index; // for multiple configurations
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// if link speed is high return fullspeed config, and vice versa
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// if link speed is high return fullspeed config, and vice versa
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return (uint8_t const*) ((tud_speed_get() == TUSB_SPEED_HIGH) ? &desc_fs_configuration : &desc_hs_configuration);
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if (tud_speed_get() == TUSB_SPEED_HIGH) {
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return (uint8_t const*) &desc_fs_configuration;
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} else {
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return get_hs_configuration_desc();
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}
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}
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}
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#endif // highspeed
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#endif // highspeed
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@@ -408,11 +427,7 @@ uint8_t const* tud_descriptor_configuration_cb(uint8_t index) {
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#if TUD_OPT_HIGH_SPEED
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#if TUD_OPT_HIGH_SPEED
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// Although we are highspeed, host may be fullspeed.
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// Although we are highspeed, host may be fullspeed.
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if (tud_speed_get() == TUSB_SPEED_HIGH) {
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if (tud_speed_get() == TUSB_SPEED_HIGH) {
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// change endpoint bulk size to 512 if bulk streaming
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return get_hs_configuration_desc();
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if (CFG_TUD_VIDEO_STREAMING_BULK) {
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desc_hs_configuration.video_streaming.ep.wMaxPacketSize = 512;
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}
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return (uint8_t const*) &desc_hs_configuration;
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} else
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} else
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#endif
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#endif
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{
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{
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@@ -33,9 +33,26 @@ extern "C" {
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#include <stdint.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdbool.h>
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#include "tusb.h"
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#include "tusb.h"
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#if CFG_TUSB_OS == OPT_OS_FREERTOS
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#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
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// ESP-IDF need "freertos/" prefix in include path.
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// CFG_TUSB_OS_INC_PATH should be defined accordingly.
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/task.h"
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#include "freertos/timers.h"
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#else
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#include "FreeRTOS.h"
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#include "semphr.h"
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#include "queue.h"
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#include "task.h"
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#include "timers.h"
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#endif
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#endif
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// Define the default baudrate
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// Define the default baudrate
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#ifndef CFG_BOARD_UART_BAUDRATE
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#ifndef CFG_BOARD_UART_BAUDRATE
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#define CFG_BOARD_UART_BAUDRATE 115200 ///< Default baud rate
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#define CFG_BOARD_UART_BAUDRATE 115200 ///< Default baud rate
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@@ -398,7 +398,7 @@ typedef tusb_desc_video_frame_uncompressed_3int_t tusb_desc_video_frame_uncompre
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TU_VERIFY_STATIC(sizeof(tusb_desc_video_frame_uncompressed_continuous_t) == 38, "size is not correct");
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TU_VERIFY_STATIC(sizeof(tusb_desc_video_frame_uncompressed_continuous_t) == 38, "size is not correct");
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//------------- MJPEG -------------//
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//------------- MJPEG -------------//
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// MJPEG payload specs: 3.1.1 formatt descriptor
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// MJPEG payload specs: 3.1.1 format descriptor
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typedef struct TU_ATTR_PACKED {
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typedef struct TU_ATTR_PACKED {
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uint8_t bLength;
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorType;
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