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C6412Compact DCAM Video Processing Kit User's Guide

1. The structure params is described in detail in the Tconf User s Guide chapter Tconf Platform Files The Guide SPRU007G is located in the xdctools doc directory var params clockRate 600 catalogName ti catalog c6000 deviceName 6412 regs device regs mem mem_ext 4 4 3 Cache Setup By default the application example uses the entire DSP on chip memory as L2 cache var device regs The property 12Mode specifies the L2 cache setting The valid values are 4 way cache 0k 4 way cache 32k 4 way cache 64k 4 way cache 128k 4 way cache 256k 12Mode 4 way cache 256k i For some applications it may be better to have parts of code and or data in DSP on chip memory and to reduce the size of L2 cache accordingly This can be done with a text editor as shown below loading the generic platform var mem ext Il mem ext 0 comment DSP on chip memory name IRAM base 0x00000000 len 0x00040000 space code data mem_ext 1 comment on board SDRAM lower 32MB name ERAM APP base 0x80000000 len 0x02000000 space code data mem ext 2 comment on board SDRAM upper 32MB name ERAM BUFFERS base 0x82000000 len 0x02000000 space code data ks var device regs The property 12Mode specifies the L2 cache setting The valid values are A way cache 0k 4 way cache 32k 4 way cache 64
2. Message output is done over RS 232 using the stream interface of the runtime library Below is the code for setting up and doing stream based output initialize the stdio interface to use on board UART StdioifInit open Uart device for debug output and input and configure for line buffered output with default buffer size fid_write fopen UART DummyName w fid_read fopen UART DummyName r setvbuf fid_write NULL _IOLBF BUFSIZ display startup message fprintf fid_write r n r n s r n acVersion fprintf fid_write Connect camera to IEEE1394 interface 1 connector next to ethernet connector r n fprintf fid_write Connect host PC to IEEE1394 interface 2 connector next to EGND connector r n fprintf fid_write Note the camera must support 640x480 YUV4 2 2 30 fps r n StdioifFlush only required allowed in main The application example uses the micro line busmaster BSP for IEEE1394 operation Therefore the FPGA must be loaded with the appropriate code Make sure the FPGA is configured correctly We need ML busmaster type v2 x or higher if C6412CPT FPGAVER amp C6412CPT FPGAVER_TYPE MASK C6412CPT FPGAVER_TYPE ML BM C6412CPT FPGAVER amp C6412CPT FPGAVER_VER_MASK lt 2 lt lt C6412CPT_FPGAVER_VER_SHIFT try to configure the FPGA from flash memory if FpgaLoadOnboardFromFlash ML_ BM NULL FPGA_OK no FPGA a
3. Status dcaminIsolInit if Status DCAMIN_ SUCCESS fprintf fid_write dcaminIsoInit failed with code 04Xh r n Status StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1 initialize 1394 interface 2 as output to a camera controller PC DCAM camera side soutCameraInit pBusResetCompleteCallback soutCameralInit pErrorDetectedCallback NULL soutCameraInit ulChipIdLow sinCameraInit ulChipIdLow if FfsDescrQueryDec 1394 2 ChipIdHigh amp u32Tmp PES DESCR_OK appoutBusResetCallback fprintf fid_write Can t get 1394 IDs from FFS r n StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1 soutCameraInit ucChipIdHigh u32Tmp soutCameraInit pcVendorName acVendor soutCameraInit pcModelName acModel Status dcamoutInitialize amp soutCameralInit if Status DCAMOUT_SUCCESS fprintf fid_write dcamoutInitialize failed with code 04Xh r n Status StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1 Status dcamoutIsoInit if Status DCAMOUT_SUCCESS fprintf fid_write dcamoutIsoInit failed with code 04xXh r n Status StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1 After initialization of the APls the registers and callback functions for the output side are set up This step requires a number of funct
4. TSK_setpri amp TSK_frame_xfer XFER_TASK PRIO mark event as being processed Status Z orsys Page 32 USER S GUIDE Date 26 February 2009 l l Doc no DAN VB Deet UG DCAM Video Processing Development Kit Je me 11 TTP Ee bStartEvent FALSE When a stop event is encountered incoming streaming is stopped at the next frame boundary The camera still sends data but this data is ignored Then the camera is stopped dcaminStopCamera and isochronous resources are de allocated dcaminlsoDeallocateResources Before outgoing streaming is also stopped dcamoutlsoStop the software waits until all buffers have been transmitted to ensure that the last frame is complete Finally transfer statistics are being displayed bStopEvent TRUE fprintf fid_write d frames processed r n u32FramesProcessed bStopInProgress TRUE stop incoming streaming at the next frame boundary this is done first to support cameras that stop outside of frame boundaries Status dcaminIsoStop STOP TIMEOUT if Status DCAMIN SUCCESS fprintf fid_write dcaminIsoStop failed 04Xh r n Status Stop camera Status dcaminStopCamera hCamera if Status DCAMIN_ SUCCESS fprintf fid_write dcaminStopCamera failed 04Xh r n Status de allocate isochronous resources Status dcaminIsoDeallocateResources sCurIso usIsoChannel if Status DCA
5. NT32U u32Received INT32U u32Released INT32U u32Runs error statistics INT32U u32BufErrors INT32U u32BufLastBuf INT32U u32RestartErrors INT32U u32RestartLastBuf INT32U u320vErrors INT32U u320vLastBuf INT32U u32UnErrors INT32U u32UnLastBuf INT32U u32DmErrors INT32U u32DmLastBuf INT32U u32ApiErrors INT32U u32ApiLastError INT32U u32SyncErrors INT32U u32SyncLastBuf L S_DCAMIN STATISTICS 6 2 Outgoing Streaming Statistics This data type is the same as S_STR_TX_STATISTICS described in 5 It is defined as transfer and error statistics for each error the buffer number where the last error occured is stored except for IEEE1394 API errors where the last error code is stored typedef struct transfer statistics Uint32 u32Submitted Uint32 u32Transmitted Uint32 u32Runs error statistics Uint32 u32BufErrors Uint32 u32BufLastBuf Uint32 u32RestartErrors Uint32 u32RestartLastBuf Uint32 u32O0vErrors Uint32 u320vLastBuf Uint32 u32UnErrors Uint32 u32UnLastBuf Uint32 u32DmErrors Uint32 u32DmLastBuf Uint32 u32ApiErrors Uint32 u32ApiLastError S_DCAMOUT_STATISTICS Ge USER S GUIDE Date 26 February 2009 x l Doc no DCAM_VP_DevKit_UG hi DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page A0 7 System specific Functions Some functions of the DCAM frame capture and the DCAM camera APIs are specific to the
6. Chapter 6 documents data types that are not covered by 3 and 4 Chapter 7 documents functions that are not covered by 3 and 4 Chapter 8 introduces the FPGA development option Chapter 9 explains the abbreviations that are used throughout this document Chapter 10 lists documents that contain further information 1 2 Documentation Overview This chapter lists the documentation from Orsys that is shipped together with the DCAM Video Processing Development Kit Further documents from other vendors are listed in chapter 10 and are referenced throughout the document in square brackets micro line Power Supply Kit power supply par Describes the power supply board C6412Compact Hardware Reference Guide 8 ce412cpT_hrg pat Describes the hardware and the basic features of the C6412Compact Use this manual to get an overview of the board hardware and as a reference for technical details of the board C6412Compact micro line busmaster BSP User s Guide 6 c6412cPT_m1_bm ug pa Describes the micro line busmaster Board Support Package BSP which is used for operation of the IEEE1394 interfaces Use this manual to check for additional functions and signals DCAM Frame Capture API Users Guide 1 pcam_rc_apt_ug pdf Describes the DCAM Frame Capture API which is used on the input side for controlling connected cameras and getting image data DCAM Camera API User s Guide 4 DCAM _Camera_API_ug pdf Describes the DCAM Ca
7. Date 26 February 2009 Doc no DCAM_VP_DevkKit_UG Iss Rev 1 1 orsys Page EK D User s Guide DCAM Video Processing Development Kit using micro line C6412Compact Orsys Orth System GmbH Am Stadtgraben 25 88677 Markdorf Germany http www orsys de USER S GUIDE Date 26 February 2009 ky DCAM Video Processing Development Kit GE SCENE Page E orsys Contents Mc WP Re e EE 6 1 1 DOCUMENT Organization josicneiimcassivetpnrteareteasseacinncnsienaatecddeimbatnesndredeendatisietestadunecdsinbinneettnedodius 6 1 2 Documentation OVEIVICW iscccsiceccicscieiecestveciiencedivcosiecnedenccseucseteseetvocesuocecerssatsverseccsecesetencstvnces 6 1 3 Notational CONVENTIONS visiccsiceccecestscersecevceieesevensceriverieessnonessteneetessenountenesvsnnvedsueedecnydonersenesverens 6 kA Trademarks EE 7 WW TEE 8 2 tee AT E 9 KN ie UE 10 21 10 c x P e l eT To ere 10 2 1 2 Power Supply Board 10 2 2 TH 11 2 2 1 Application Examples eee eee 11 2 2 2 DCAM Frame Capture Abt eee 11 2 2 9 DCAM e Tle ET 11 2 2 4 Software Streaming Libraries E 12 2 2 5 Board ME E E 12 220 Fl sh EE 12 2 2 7 FPGA Configuration TU 12 3 GETTING STARTED EE 13 4 SOFTWARE DEVELOPMENT enee eege gees 16 AN Stal ACM BEE 16 4 2 Reguired TOOIS sissies ccsscensessccenssseceencesscesnscecuscvessicesassuvevansesurvexendsescevecnenseesesteaunesiaesdneeideanienss 16 4 2 1 Code Composer Studio Getmp sss sese 16 43 Development egen
8. Input frame buffers bufSeg prog get ERAM BUFFERS a align 8 BUF Out size 153600 BUF _Out comment Output frame buffers BUF Out bufSeg prog get ERAM BUFFERS BUF Out bufCount 2 Ly USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Re orsys Page 133 Two semaphores synchronize the frame processing task with incoming and outgoing streaming For the input side SEM_FrameRx is posted whenever a complete frame has been received For the output side SEM_FrameRx is posted whenever a buffer has been completely transmitted This step is optional because outgoing streaming must be manually started on a per buffer basis The task waits for both semaphores and then checks the state of the current buffer to make sure that it contains new data The outgoing buffer is locked to make sure it is not transmitted before it is filled Only then the image processing function is called After image processing the input buffer is released so that it can be filled again The output buffer is submitted for transmit which actually starts transmit operation Finally transfer statistics are updated bios SEM create SEM FrameRx bios SEM instance SEM FrameRx comment Triggers image processing whenever a new frame was received bios SEM create SEM FrameTx bios SEM instance SEM FrameTx comment
9. Triggered whenever a frame has been sent int FXN_frame_xfer void while 1 BOOL bFilled BOOL bEmpty DCAM STATUS Status return status of DCAM API calls wait for incoming frame SEM pend amp SEM FrameRx SYS FOREVER wait for a free output buffer should always be the case SEM pend amp SEM FrameTx SYS FOREVER To be absolutely sure check the buffer states Status dcaminIsoGetBufferState u32CurBuf amp bFilled if Status DCAMIN SUCCESS bFilled FALSE fprintf fid_write Input buffer error r n Status dcamoutIsoGetBufferState u32CurBuf amp bEmpty if Status DCAMOUT_SUCCESS bEmpty FALSE fprintf fid_write Output buffer error r n lock output buffer for image processing Status dcamoutIsoLockBuf fer u32CurBuf if Status DCAMOUT_SUCCESS fprintf fid_write Can t lock output buffer r n call image processing ProcessImage amp BUF_In amp BUF Out u32CurBuf release input buffer to be filled again Status dcaminIsoReleaseBuf fer u32CurBuf if Status DCAMOUT_SUCCESS amp amp bStopInProgress FALSE fprintf fid_write Can t release input buffer r n submit output buffer for transmit Status dcamoutIsoSubmitBuf fer u32CurBuf if Status DCAMOUT_SUCCESS fprintf fid_write Can t submit output buffer r n select next buffers u32CurBuf u32FramesProcessed
10. s source code Usage of SEM_acr_timeout is mandatory Date 26 February 2009 Ge USER S GUIDE d e 3 Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit lt jrey 1 1 orsys Page WEN 4 4 9 Resource Locks The software streaming library uses two lock objects to lock against multiple accesses to the both IEEE1394 interfaces These lock handles must be used whenever the software streaming library is used for isochronous data transfer bios LCK create LCK In bios LCK instance LCK_ In comment Lock handle for IEEE1394 interface input side bios LCK create LCK Out bios LCK instance LCK Out comment Lock handle for IEEE1394 interface output side 4 4 10 Frame Buffers The application implements its frame buffers as buffer objects with separate buffers for input and output and two buffers per direction bios BUF create BUF In bios BUF instance BUF_In align 8 bios BUF instance BUF_In size 153600 bios BUF instance BUF_In comment Input frame buffers bios BUF instance BUF_In bufSeg prog get ERAM BUFFERS bios BUF instance BUF_In bufCount 2 bios BUF create BUF Out bios BUF instance BUF Out align 8 bios BUF instance BUF Out size 153600 bios BUF instance 1 Jo BUF_Out comment Output frame buffers bios BUF instance BUF_Out bufSeg prog get ERAM BUFFERS bios BUF instance BUF
11. ss jrey 1 1 Page 9 2 Kit Overview The DCAM Video Processing Kit consists of the following components e amicro line C6412Compact DSP FPGA board with two IEEE1394 interfaces e a _micro line power supply carrier board for convenient operation on the desk during development a Unibrain Fire i camera IEEE1394 and RS 232 cables an AC adapter a distribution CD with o C6412Compact board library OO 0 Oo OO C6412Compact micro line busmaster BSP Software streaming libraries DCAM frame capture API input side of video processing DCAM camera API output side of video processing an application example documentation of the above listed components IEEE1394 interface 1 of the C6412Compact is used as an image input and is connected to an IIDC camera User defined image processing takes the incoming image data processes it and sends it to the second IEEE1394 interface which is used as image output A camera controller typically a PC connected to the second IEEE1394 interface recognizes the C6412Compact as an IIDC compliant camera and receives the processed images Both input and output are compliant to the IIDC 1394 based Digital Camera Specification V1 30 For the input side multiple cameras are supported whereas the output side can only implement a single image data stream IEEE1394a Chipset 1 ER a 3 SS Si CH sect v SS E HS 58 lt 9 RE Q ER 2 3 a Gei a Oe z455 KR SE E wo 53 O wW hai a E O Q o
12. transfer speed in bits per second 1Mbps 1000kbps 10 bps peripheral device transfer a special EDMA transfer method the of the TMS320C6412DSP synchronous dynamic random access memory to be changed value not 100 tested and may change in future to be defined value is not yet specified Texas Instruments universal asynchronous receiver transmitter Video graphics adapter used in this document to refer to a specific set of image resolutions a specific color coding scheme with separate intensity Y and color U V information Ay orsys USER S GUIDE DCAM Video Processing Development Kit Date 26 February 2009 Doc no DCAM_VP_Devkit_UG Iss Rev 1 1 Page 58 10 Literature references Further information that is not covered in this user s guide can be found in the documents listed below References to this list are given in square brackets throughout this document The documents are listed by title author and literature number or file name Additionally a reference about DSP related documents and other components of the C6412Compact can be found in 8 1 Power Supply Board Orsys power supply 2 Flash File System User s Guide Orsys Frs_ug 3 DCAM Frame Capture API User s Guide Orsys pcam_Fc_aAPI_ug 4 DCAM Camera API User s Guide Orsys DCAM_Camera_API_ug 5 C6412Compact Software Streaming Package User s Guide Orsys ce412cpT_sw_str_UG pdf 6 _C6412Compact mi
13. DCAMIN_ SUCCESS fprintf fid_write can t open first camera 04Xh r n hCamera NULL else fprintf fid write Connecting to Sa Sa S W v 08Xh r n hCamera gt csVendorName hCamera gt csModelName hCamera gt ulSoftwareVersion open first camera 77 hCamera NULL check if the desired format is available DCAMINs SUPPORTED VIDEO sCaps Status dcaminQueryVideoCapabilities hCamera amp sCaps if Status DCAMIN_ SUCCESS fprintf fid_write Can t get supported settings r ndcaminQueryVideoCapabilities Ge USER S GUIDE Date 26 February 2009 l l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 30 returned 04Xh r n Status dcaminCloseCameraHandle hCamera hCamera NULL else if sCaps ulFormat amp 0x80000000 0 sCaps sSupMode 0 ulMode amp 0x40000000 0 sCaps sSupMode 0 ulFrameRate 1 amp 0x08000000 0 fprintf fid_write Camera doesn t supported desired format mode rate r n dcaminCloseCameraHandle hCamera hCamera NULL if hCamera NULL set up format mode frame rate set video settings to 320x240 YUV 4 2 2 30 fps sCurVideo eVideoFormat Format_0 VGA sCurVideo eVideoMode Mode_1 320x240 YUV 4 2 2 sCurVideo eFrameRate FrameRate 4 30 fps Status dcaminSetVideoData hCamera amp sCurVideo if Stat
14. E IE as lt IEEE1394a Chipset 2 oO 2 30 a xt OE 5 Se SO r Ra eG U S Sr Ss D wa a Q oO a cc VS H F E g 3 GES S Sts S wA Q w a Isochronous streaming C6412Compact FPGA Xilinx Spartan 3 configured with ML busmaster BSP Rx streaming core Optional User defined FIFO 4 image 8 8kByte ES processing LLC register access FIFO R AkByte sl User defined FIFO Image 7 i 8kByte D processing Video processing application DCAM Frame DCAM Capture API Camera API Orsys libraries software streaming board library TI libraries DSP BIOS chip support library image processing library DSP TMS320C6412 Figure 1 DCAM Video Processsing Development Kit block diagram without camera Ge USER s GUIDE Date 26 February 2009 4 Doc no DCAM_VP_DevKit_UG euer DCAM Video Processing Development Kit IG me 371 Page 10 2 1 Hardware The hardware of the DCAM Video Processing Development Kit comprises a C6412Compact board mounted on a power supply board and an IIDC 1394 compliant digital camera C6412Compact Power Supply JTA
15. if u32CurBuf gt BUF_In totalbuffers u32CurBuf 0 Incoming streaming is configured to run autonomously as a set of linked EDMA transfers Only a transfer complete handler is called when a frame is complete Overruns are detected by this transfer handler and are displayed by the main control task when operation is stopped Camera stop command received 1609 frames processed Operation stopped transfer statistics Date 26 February 2009 Le USER S GUIDE lt e 3 Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit lt jrey 1 1 orsys Page 34 Buffers received transmitted 1610 1610 Buffers released submitted 1609 1610 Double buffer runs in out Buffer errors in out Last error in buf Restart errors in out Last error in buf Overflow errors in out Last overflow in buf Underflow errors in out Last underflow in buf DM port errors in out Last DM port error in buf 1394 ApiErrors in out Last 1394 Api error code Synchronization errors Last sync error in buf Checking for errors during operation can be done by calling dcaminisoGetStatistics and dcamoutlsoGetStatistics and checking the error counters CH ou bad CH ou OO OO OO OO oo coco BR e OOG Using common buffers for image processing is also possible for some algorithms and may give better performance due to the fact that the cache does not need to hold input and output locations separa
16. stop event handling buffer loop that waits for all buffers to get sent e Adda separate buffer index for the output side 00000 static Uint32 u32CurBuf static Uint32 u32CurBufRelease initialize working variables u32CurBut 0 u32CurBufRelease u32FramesProcessed OF 0 e Modify the frame processing task as follows o Remove the call to SEM_pend for the output buffer o Remove the call to dcaminlsoReleaseBuffer s Add a separate task in the DSP BIOS configuration file and in main c int FXN_frame_release void nou while 1 DCAM STATUS Status return status of DCAM API calls wait for incoming frame SEM pend amp SEM FrameTx SYS FOREVER release buffer so that it can be filled again if bStopInProgress FALSE amp amp u32FramesProcessed gt 0 Status dcaminIsoReleaseBuf fer u32CurBufRelease if Status DCAMOUT_SUCCESS fprintf fid_write Can t release input buffer r n u32CurBufRelease if u32CurBufRelease gt BUF_Frame totalbuffers u32CurBufRelease 0 5 1 11 Control and Data Flow When the VP_example is used as described in chapter 3 the following sequence of events and actions occurs e The camera controller looks for available IIDC devices and finds the C6412Compact e The camera controller sends some commands to the C6412Compact to adjust some settings These commands are reported by the associated callback functions e The C6412Compact looks for av
17. transfer statistics are collected These can be queried during or after operation to determine the number of processed frames or to check for errors defined in dcaminApi h synopsis DCAM_STATUS dcaminIsoGetStatistics S_DCAMIN_STATISTICS psStat parameters psStat pointer to statistics structure which is initialized by dcaminlsoGetStatistics For a description of this structure see chapter 6 1 return value DCAMIN_SUCCESS Successful completion DCAMIN_ERROR_ISO_STATISTICS See chapter 7 4 7 2 10 dcaminlsoGetLastError Internally the isochronous functions call functions of the IEEE1394 API of the software streaming library Error codes returned by these functions are stored and can be retrieved by dcaminGetLastError for more detailed information about an error The return value is the status code of the last called internal API function defined in dcaminApi h synopsis DCAM STATUS dcaminIsoGetLastError void parameters none return value DCAMIN_SUCCESS Successful completion 0000 OFFFh Error code from IEEE1394 API F000 FFFFh Error code from software streaming library see 5 7 3 Outgoing Isochronous Streaming Functions The functions for outgoing isochronous streaming handle transmission of the processed image data stream on IEEE1394 interface 2 The data is transferred to the transmit FIFO of the streaming core 7 in the FPGA using EDMA transfers Application software must trigger transmit operation manua
18. a PC e camera_setup initializes the output side with the desired features and settings 5 1 2 System initialization System initialization is located in function main in module main c This includes all steps that do not require DSP BIOS First step is to initialize the chip support library This must be done by application code starting with DSP BIOS v5 x void main void INT32U ulTmp DCAM STATUS Status return status of DCAM API calls initialize CSL CSL init After CSL initialization interrupts are set up Interrupts from the FPGA are mapped to CPU interrupts all interrupts used by this example are cleared and finally interrupts are enabled map LLC interrupts to DSP interrupts in PLD for operation of both 1394 APIs C6412CPT_INTCFG1 C6412CPT_INTCFG1 LC EXTINT4 C6412CPT INTCFG1 LLC2 EXTINTS5 clear interrupts used by this example This may be useful if when rvre starting during a debug session IRQ clear IRQ EVT_EXTINT4 IRQ clear TRO Eur EXTINTS IRQ clear IRQ EVT_EDMAINT enable interrupts globally IRQ _globalEnable enable EDMA end of transfer interrupts IRQ enable IRQ _EVT_EDMAINT Then the call queue for the IEEE1394 APIs is initialized Currently the API uses its own callback queue This may be replaced by DSP BIOS mechanisms in future versions initialize callback queue for IEEE1394 API InitCallQ j
19. automatic restart continuous receive operation without software intervention required e endian swapping fits the little endian architecture of the C6412Compact e automatic block size determination use minimum number of EDMA transfers with maximum size e EDMA transfer trigger on GPO 11 which is available on pin B23 for measurements e PDT transfers disabled not yet qualified e cache management after a frame buffer has been received an L2 block invalidate is performed on the frame buffer before the buffer received event is posted All other settings are user definable or have fixed settings required by the IIDC standard 15 The functions are declared in a separate header file dcamin so h which is included by dcaminApi h This allows hardware specific implementation Applications should not include dcaminI so h directly but include dcaminApi h instead When using multithreading care must be taken where the functions can be called from Functions that can cause IEEE1394 transactions must be called in the main application thread where all other DCAM API functions are called whereas all other functions can be called from a different thread The table below shows where each function can be called from Table 1 Function callability table for incoming isochronous streaming 7 2 1 Incoming Isochronous Streaming Data Types typedef struct transfer statistics INT32U u32Received INT32U u32Released INT32U u32Runs error statisti
20. called from within a callback function or an interrupt handler If multithreading is used YieldToCal lQ as well as API functions must be called from within a single thread only unless otherwise noted During operation YieldToCallQ must be called at least every 20ms to avoid timeouts defined in callq h synopsis void InitCallQ void parameters none M USER S GUIDE Date 26 February 2009 l f Doc no DCAM_VP_DevKit_UG orsys DCAM Video Processing Development Kit IG m S T R Page 41 return value none 7 2 Incoming Isochronous Streaming Functions The functions for incoming isochronous streaming handle the incoming data stream from one or more cameras The incoming data is first buffered by the streaming cores 7 in the FPGA and then transferred to the frame buffers using EDMA transfers For each transferred frame buffer an event is generated that can be used to synchronize an image processing task The functions can be grouped into the following categories e Initialization dcaminlsolInit e Resource management dcaminlsoAllocateResources dcaminlsoDeallocateResources e Transfer control dcaminlsoListen dcaminlsoStop e Buffer management dcamin lsoGetBufferState dcaminlsoReleaseBuffer e Statistics dcaminlsoGetStatistics dcaminlsoGetLastError Internally the incoming isochronous functions use the software streaming libraries see 5 for a description with the following settings e
21. failed because of one of the following reasons e Number of resource allocations exceeds MAX_NO_OF_CAMERAS e Total bus bandwidth has been exceeded e Nomore free channels Ge USER S GUIDE Date 26 February 2009 x l Doc no DCAM_VP_DevKit_UG hi DCAM Video Processing Development Kit IG m S 07 OS orsys Page 54 e Requested channel is already occupied Resource de allocation failed because of one of the following reasons e The specified channel was not found in the resource list may have been de allocated previously e An error was returned by the streaming software package 7 4 3 DCAMIN_ERROR_ISO_START Opening or starting streaming returned an error This should never happen 7 4 4 DCAMIN_ERROR_ISO_STOP Stopping streaming failed Most probable reasons are e Streaming was already stopped e Streaming didn t stop in time e g when the camera aborted image data transmit 7 4 5 DCAMIN_ERROR_ISO_BUFSTAT An error was returned by the streaming software package while querying a frame buffer status Possible reasons are e buffer index is out of range e Streaming operation was not started is already stopped 7 4 66 DCAMIN_ERROR_ISO_BUFFER An error was returned by the streaming software package while releasing a frame buffer Possible reasons are s Buffer index is out of range e Streaming operation was not started is already stopped 7 4 7 DCAMIN_ERROR_ISO_STATISTICS An error was returned by the streaming s
22. features of the respective hardware These functions are described in this chapter They include e API callback queue s incoming isochronous streaming e outgoing isochronous streaming 7 1 API Callback Queue Functions The DCAM Camera API and the DCAM Frame Capture API are based on an IEEE1394 embedded API each The IEEE1394 embedded APIs use for historical reasons a common callback queue where requests from the 1394 buses are queued in form of callback functions Requests can result from either user calls to API functions or from events such as incoming transactions or bus resets The functions described in this section handle the call queue and are defined in callg h The function nitCallQ must be called at startup to initialize the call queue After start of 1394 processing on the input or output bus the application software should call the function YieldToCallQ at least every 20 ms 7 1 1 InitCallQ InitCallQ initializes the callback queue that is used by the IEEE1394 APIs This function must be called once during system initialization before the DCAM APIs are initialized defined in Gallo Ph synopsis void InitCallQ void parameters none return value none 7 1 2 YieldToCallQ Processing of the callback queue YieldToCallQ processes one callback from the queue if present by removing it from the queue and calling it The DCAM APIs and the underlying IEEE1394 APIs are not reentrant therefore this function must not be
23. function the red LED is switched on as an optical activity indicator void ProcessImage BUF Handle hSrc BUF _Handle hDst Uint32 u32BufIdx if 0 direct route through for testing memcpy void Uint32 hDst gt startaddr u32BufIdx hDst gt size void Uint32 hSre gt startaddr u32BufIdx X hSrc gt size hSrc gt size else check if there is a significant intensity change between previous and current frame If there is no significant change dim the intensity by 50 This should have the effect of highlighting changes Uint32 u32PrevBuflIdx Uint16 pul 6Cur pointer to current input frame s data Uint16 pul Prev pointer to last frame Uint16 pul Dst pointer to output frame s data Uint16 ul6Pix1 UY pixel Uint16 ul6Pix2 VY pixel Uint8 u8Deltal u8Delta2 int K switch on red LED during processing as optical load indicator C6412CPT RED LED ON calculate buffer index for previous frame if u32BufIdx gt 0 u32PrevBufIdx u32BufIdx 1 Ge USER s GUIDE Date 26 February 2009 l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 235 else u32PrevBufIdx hSrc stotalbuffers 1 set up pointers to the image buffers pul 6Cur Uint16 Uint32 hSrce gt startaddr u32BufIdx X hSrc gt size pul Prev Uint16 Uint32 hSrc gt startaddr u32PrevB
24. is kept alive by processing the API callbacks When a start event is encountered while a camera is connected operation is started as follows The frame transfer task is disabled to ensure that command processing is finished first Then the isochronous resources on the input side are allocated dcamin lsoAllocateResources This is necessary to ensure interoperability with other devices on this IEEE1394 interface and is required Z orsys DCAM Video Processing Development Kit lt 5 jrey 1 1 Page 31 USER S GUIDE Date 26 February 2009 Doc no DCAM_VP_DevkKit_UG by the IIDC standard After resource allocation outgoing streaming is set up by calling dcamoutlsoTalk Then incoming streaming is set up by calling dcamin soListen Finally the camera is started by calling dcaminStartCamera and the frame transfer task is enabled to run The latter causes a task switch to the frame transfer task as soon as a complete frame came in if bStartEvent TRUE BOOL bError FALSE initialize buffer index u32CurBuft 0 u32FramesProcessed 0 disable frame transfer task until this command has been processed completely TSK_setpri amp TSK_frame_xfer 1 allocate isochronous resources Status dcaminIsoAllocateResources iPacketSize sCurIso eTransmitSpeed sCurIso usIsoChannel if Status DCAMIN_ SUCCESS fprintf fid_write can t allocate isochronous resources dcaminIsoAllocate
25. le CN E 34 5 1 6 Output side Setup eee 35 5 1 7 Output side Callbacks sss sees 36 LR Resource Deech ee 36 Se EEGEN 36 5 1 10 Modifying for In place Processing sss sees 37 5 1 11 Control and Data Elow 37 6 SYSTEM SPECIFIC DATA CES 39 6 1 Incoming Streaming Statistics sss sssssssss esse esse esse esse esse esse sese ennenen nnn nnn 39 6 2 Outgoing Streaming Statistics sss ss ssss sss ss sss ss esse esse sse en nenen nnn 39 7 SYSTEM SPECIPIC FUNG LIENEueeeesuegeauugege ege 40 7 1 API Callback Queue Functions ege eckiscccsasencaisnssnnieaicnnanssasaswcnnisinerrexanteniadennunenpanaennnincnens 40 TVD ANCA EE 40 n YieldToCallQ EE 40 7 2 Incoming Isochronous Streaming Functions ssssseeeeeeeessseeeeee eee s sse eeee eee essere eee 41 7 2 1 Incoming Isochronous Streaming Data Types c cccccceeeeeeeeeeeeeecceseeeeeeenssseeeneeeeeeees 41 7 22 ACAMINISOINM esie Eege A ee ee ad 42 7 2 3 ACAMINISOAIIOCATE RESOUICES see 42 7 2 4 dcaminlsoListen eee 43 7 2 5 dcaminlsoGetBufferState ee 45 7 2 6 dGaminisoReieasebufer ee 45 P21 AGAMINISO SOD EEN 46 7 2 8 dcaminisoDeallocateResourCes eee 46 7 2 9 dcaminlsoGetStatistics 0 eee ccccccce eee 47 7 2 10 dcaminlsoGetLastError see 47 7 3 Outgoing Isochronous Streaming FUNCTIONS ccceceeeeeee cece eers sese eee eee 47 7 3 1 Outgoing Isochronous Streaming Data Types sese eee eee 48 7 3 2 dGamoutisolniit see 49 7 3 9 e e Taare 10 e E iaai a E An EE aE Eae AEEA 49
26. lib must be added to the project as source file or as linker option Ge USER s GUIDE Date 26 February 2009 f f Doc no DCAM_VP_DevKit_UG rays DCAM Video Processing Development Kit Je me 11 T OS Page 18 4 4 Required DSP BIOS Settings and Objects Creating a video processing application requires a number of settings and DSP BIOS objects to be defined in a DSP BIOS configuration script a file with tct suffix DSP BIOS configuration files can be created with Code Composer Studio using File gt New DSP BIOS configuration However in most cases it is more effective to use the configuration file of the application example VP_example_720MHz_64MB tcf as a template and to modify it Most settings can be modified by the DSP BIOS Configuration Tool as described in 11 whereas some settings require editing the configuration file with a text editor where noted 4 4 1 Memory Layout The application example divides the available SDRAM into two halves for usage by application code and as frame buffers loading the generic platform var mem_ext mem ext 0 comment on board SDRAM lower 32MB name ERAM APP base 0x80000000 len 0x02000000 space code data mem_ext 1 comment on board SDRAM upper 32MB name ERAM BUFFERS base 0x82000000 len 0x02000000 space code data T This was done to have a strict separation of application and frame buffers F
27. operation Must be set to the channel number that was used as parameter for dcaminSetlsoData Isochronous channel number for dual camera operation Ignored for single camera and multiple 3 or more camera operation Must be set to the channel number that was used as parameter for dcaminSetlsoData Synchronization pattern for frame start Must be set to 1 This parameter may be removed in future versions Controls whether packet header information data_length tg channel tCode and sy fields are included in the data stream For single camera operation bHeader should be set to FALSE For operation with more than one camera bHeader should be set to TRUE so that the incoming data packets can be associated with a specific camera by the channel field of the packet header DSP BIOS resource lock handle for IEEE1394 interface 1 Typically hLck refers to a LCK object which is defined in the DSP BIOS configuration script tcf file of the video processing application hLck is used internally by the API to lock against multiple accesses to the hardware DSP BIOS semaphore handle for generating incoming frame buffer events hSem will be posted whenever a frame has been received and is ready for processing Typically hSem refers to a SEM object which is defined in the DSP BIOS configuration script cf file of the video processing application If frame buffer events are not required hSem can be set to NULL Ge USER S GUIDE Date 2
28. prompt Change to the folder where the FPGA code for the micro line busmaster BSP resides e g c Orsys DCAM_VP_Devkit_v1 0 C6412Compact fpga_binaries ML_Busmaster_v2 1 Store the FPGA code to flash memory using the fpgaload utility To store the FPGA code but preventing auto configuration at startup option NO must be specified fpgaload NO ml Im 4m If auto configuration is desired N7 must be specified or the N option must be omitted fpgaload ml Im 4m USER S GUIDE Date 26 February 2009 e i i an Doc no DCAM_VP_DevKit_UG orsys DCAM Video Processing Development Kit lt s peu 11 7 S Page 24 For detailed information about fogaload and its parameters please refer to 2 s If fpgaload is continuously displaying asterisks TL press the reset button on the power supply board In some rare cases if there is already an application in flash memory it may be necessary to hold the reset button start fogaload and then release the reset button e fpgaload first loads a target executable to the C6412Compact and then the FPGA code which is programmed to flash memory After execution has finished the C6412Compact is automatically reset starts up and if NO was not specified configures the FPGA e Please note that the application examples use a default name of ML_BM when accessing the FFS for FPGA code Therefore the file just uploaded must be renamed as follows renml ml_bm 4
29. was returned by the streaming software package Possible reasons are an invalid buffer number or an unopened already closed interface 7 4 13 DCAMOUT_ERROR_ISO_STATISTICS An error was returned by the streaming software package This happens only if the interface was not yet opened or psStat is a nullpointer 7 4 14 DCAMOUT_ERROR_UNSUPPORTED_ISO_CHANNEL When setting up isochronous transmission the specified channel number exceeds the allowed range of 0 63 Please note that the allowed range may further be limited by the DCAM Camera API 7 4 15 DCAMOUT_ERROR_INVALID_ISO_PACKET_SIZE When setting up isochronous transmission the specified packet size exceeds the allowed range of 0 4096 bytes Please note that the allowed range may further be limited by the DCAM Camera API 7 4 16 DCAMOUT_ERROR_UNSUPPORTED_ISO_SPEED When setting up isochronous transmission the specified transmit speed exceeds the allowed range of 400Mbps Please note that the allowed range may further be limited by the DCAM Camera API Date 26 February 2009 altars Doc no DCAM VP Devit UG e orsys DCAM Video Processing Development Kit eu 11 T a Page 56 8 FPGA Development Support Development of FPGA based image processing is supported by an optional FPGD development package Besides other features it includes the micro line busmaster FPGA as a project so that it can be modified and expanded by the customer This allows addi
30. 26 February 2009 4 Doc no DCAM_VP Devkit_UG arava DCAM Video Processing Development Kit Le ei 271 Page 123 fload6x C1 TC6412CPT V4 0 vp_example The settings above are saved therefore for subsequent use of this utility a simpler command line can be used floadsx vp_example For detailed information about fload6x and its parameters please refer to 2 If fload6x is continuously displaying asterisks press the reset button on the power supply board In some rare cases if there is already an application in flash memory it may be necessary to hold the reset button start fload6x and then release the reset button fload6x first loads a target executable to the C6412Compact and then the application code which is programmed to flash memory After execution has finished the C6412Compact is automatically reset starts up and loads vp example If the terminal is started or connected again the startup message is displayed and the example can be used cx Command Prompt Jo wl icrosoft Windows XP Version 5 1 26001 lt C gt Copyright 1985 2061 Microsoft Corp Documents and Settings Default User gt cd C Orsys DCAM_UP_DevKit_C6412Compact_v C6412Compact examples UP_example debug Ors ys DCAM_UP_DevKit_C6412Compact_vi C6412Compact examples UP_Example Debug gt fload6x Ci TC6412CPT U4 6 vp_example icro Line C6 x DSP Family Flash Loader U 4 6 For WIN NT 2K RP lt C 2005 ORSYS oading oading oadi
31. 6 February 2009 l Doc no DCAM_VP_DevKit_UG M DCAM Video Processing Development Kit Je me 11 T OS orsys Page 145 return value DCAMIN_SUCCESS Successful completion DCAMIN ERROR INVALID PARAMETER eMode iFirstChannelNo or iSecondChannelNo are out of range DCAMIN_ERROR_ISO_START See chapter 7 4 7 2 5 dcaminlsoGetBufferState While isochronous receive is active dcaminGetBufferState can be used to check the state of a specific frame buffer Typically this is only used for diagnostic purposes and image processing is triggered using a semaphore defined in dcaminlso h synopsis DCAM STATUS dcaminIsoGetBufferState INT32U u32Buffer BOOL bFilled parameters u32buffer Number of the buffer to be queried Valid range is 0 to u32BufferCount 1 where u32BufferCount was used as parameter for dcaminlsoListen bFilled State of the specified buffer set by dcaminisoGetBufferState after return TRUE indicates that the buffer is filled and ready for image processing After image processing buffer state should be updated by calling dcaminisoReleaseBuffer FALSE indicates that the buffer has not yet been completely filled return value DCAMIN_SUCCESS Successful completion bFilled contains valid information DCAMIN_ERROR_ISO_BUFSTAT Status query returned an error and bFilled is set to FALSE See chapter 7 4 for a list of possible reasons 7 2 6 dcaminlsoReleaseBuffer After an input buffer has been processed
32. 7 3 4 dGamoutisoGetbBuTerSiate sese 50 7 3 5 ACAMOUTISOLOCKBUTFES ccc cecccneccnecceecceecceecueecueecueecucecucecueececeueeeeeeeueesueeeeneseeeseeeaeeeaneeaeeeas 51 Ge USER S GUIDE Date 26 February 2009 hei DCAM Video Processing Development Kit gE Her ue orsys Page A 7 3 6 dCamoutisoSsubmibBuier see 51 7 3 7 dcamoutlsoStop eee 52 F H H lt Iez Tas e TT T eT erT eT 52 7 3 9 dcamoutlsoGetLastError eeeeeeecceeceeceeecuceeueceuceceecececeeeneeeeeeeeeeeeeeeeeeeeeeseeeseeeseeeaeeeas 52 7 4 Status e TEEN 53 7 4 14 DCAMIN_ERROR_INVALID DPARAMETER sese eee 53 7 4 2 DCAMIN ERROR 150 RESSOURCEN 53 7 4 3 DCAMIN ERROR_ISO_ GIANT 54 7 4 4 DCAMIN ERROR IO GTOb 54 7 4 5 DCAMIN ERROR 150 BUESTAT 54 7 4 6 DCAMIN ERROR_ISO_ BUEFER ss 54 7 4 7 DCAMIN ERROR 150 GIATIGTICR 54 7 4 8 DCAMOUT ERROR ISO NIT 54 7 4 9 DCAMOUT ERROR IGO START 54 7 4 10 DCAMOUT ERROR 150 STOP 54 7 4 11 DCAMOUT ERROR_ISO_ BUESTAT 54 7 4 12 DCAMOUT ERROR ISO BUFFER cece ccccccccceseseeecceeeceseaeaeeeeeeceeeesseaeeeseceseeseseaeaaes 55 7 4 13 DCAMOUT ERROR_ISO_ GTATISGTICS 55 7 4 14 DCAMOUT_ERROR_UNSUPPORTED_ISO_ CHANNEL 55 7 4 15 DCAMOUT_ERROR_INVALID_ISO_PACKET SIZE 55 7 4 16 DCAMOUT ERROR_UNSUPPORTED_ISO_SPEED 20 0 eee ee 55 8 FPGA DEVELOPMENT SUPPORTEREN 56 9 LIST OF ABBREVIATIONS USED IN THIS DOCUMENT 0 ceecesceceeceeceeeeeeeees 57 10 LITERATURE REFERENCES see ssssssree eree eesnnnne ereenn ennen
33. API subsystem u32SyncErrors treaming core FIFO not empty at end of frame u32SyncLastBuf umber of the buffer starts at 0 where the above error occurred 7 2 2 dcaminlsolnit dcamlisolnit clears internal variables and initializes the streaming subsystem This function must be called once during system startup defined in dcaminApi h synopsis DCAM STATUS dcaminIsoInit void parameters none return value DCAMIN_SUCCESS Successful completion DCAMIN_ERROR_ISO_INIT See chapter 7 4 7 2 3 dcaminlsoAllocateResources The IIDC specification 15 requires that a camera controller allocates the required isochronous resources occupied by the data stream from the camera These are a specific amount of bus 7 There is currently no way to check for an empty buffer at the beginning of a frame there fore the check must be done at the end Ge USER s GUIDE Date 26 February 2009 4 Doc no DCAM_VP DevKit_UG euer DCAM Video Processing Development Kit IG me 371 Page 243 bandwidth and a channel number Bus bandwidth depends on the packet size and the transmit speed A packet transferred at S100 uses 4x the bandwidth as the same packet transmitted at 400 dcaminIlsoAllocateResources must be called before isochronous receive operation is started before calling dcamlsoListen lf more than one camera is connected resource allocation must be done separately for each camera The DCAM Frame Capture API internally ke
34. Compact is configured for cable power supply output on interface 1 This allows to supply a camera connected to IEEE1394 interface 1 over the IEEE1394 cable The hardware of the C6412Compact and its interfaces are described in the C6412Compact Hardware Reference Guide 8 2 1 2 Power Supply Board The power supply board acts as a mechanical carrier for the C6412Compact to be operated on the desk during development It provides all necessary power supply and connectors The power T For multiple cameras the maximum data rate is determined by available bus bandwidth which is up to 20 higher but depends on system topology Ge USER S GUIDE Date 26 February 2009 x l Doc no DCAM_VP_DevKit_UG hi DCAM Video Processing Development Kit IG m S O orsys Page 211 supply board provides a main power supply of 3 3 V for the C6412Compact as well as optionally two galvanically isolated voltages to be used by peripheral boards e g A D converter boards The power supply board is described in 1 For use with the DCAM Video Processing Kit the power supply board is configured provide IEEE1394 cable power to the C6412Compact This allows connected cameras to be supplied from the kit 2 2 Software The software of the DCAM Video Processing Development Kit consists of application examples the DCAM Frame Capture API the DCAM Camera API Software streaming libraries the board library Flash File System utilities e F
35. DL instance IDL DebugOut Caen prog extern StdioifDevWrite 4 5 Loading Software Using a JTAG Emulator These are the required steps for loading application example VP_example to the C6412Compact e CCS must be already installed e Start a terminal program such as HyperTerminal on the PC e Setup the terminal program to 115200 bits per second 8 data bits no parity 1 stop bit and hardware flow control e Connect the kit to the PC using the RS 232 cable e Connect the digital camera to IEEE1394 interface 1 of the C6412Compact using an IEEE1394 cable e Connect IEEE1394 interface 2 of the C6412Compact to the PC using an IEEE1394 cable Ge USER S GUIDE Date 26 February 2009 x l Doc no DCAM_VP_DevKit_UG hi DCAM Video Processing Development Kit IG m S T R orsys Page 22 e Connect your C6412Compact with your development PC by using the JTAG emulator and the JTAG adapter which is delivered together with the kit e Supply the kit with power e Start CCS e Select Load Gel from the File menu The Load GEL File dialog box appears Load the GEL file from the C6412Compacti gel folder within your distribution copy Click on Open to load this GEL file e Select the Reset and Init command from the GEL Reset menu This will reset the DSP and set up the EMIF correctly so that the DSP is ready to start This also clears interrupts that may be still pending from previous d
36. EE1394 interface 2 connector next to EGND connector Note the camera must support 646x486 YUU4 2 2 36 fps IIDC 1394 Camera video registers can be accessed now on output bus IIDC 1394 Camera feature registers can be accessed now on output bus Bus reset on input side Connecting to Unibrain Fire I 466 1 2 S W v66666166h Frame Size 153666 Byte Packet Size 640 Byte Packets Per Frame 246 Bus reset on output side verbunden 02 56 41 115200 8 N 1 If no terminal program is available or message output is not desired the RS 232 interface of the C6412Compact must have a handshake loopback with pins 7 and 8 connected together ky orsys USER S GUIDE DCAM Video Processing Development Kit Date 26 February 2009 Doc no DCAM_VP_DevkKit_UG Iss Rev 1 1 Page 114 The PC recognizes the C6412Compact Video Processing Development Kit as an IIDC 1394 compliant camera loads a high level driver for the IIDC device class and then initializes the camera This is indicated by the last two lines in the figure below aox COM4_115200_8_N_1_HW HyperTerminal Datei Bearbeiten Ansicht Anrufen bertragung 7 C6412Compact Video Processing Example Ur 1 0 Oct 15 2008 11 49 56 Connect camera to IEEE1394 interface 1 connector next to ethernet connector Connect host PC to IEEE1394 interface 2 connector next to EGND connector Note the camera must support 646x486 YUU4 2 2 36 fps IIDC 1394 Camera v
37. G board connector Power D indicator S a i LED D e EI S H i H oo B d or ae S IEEE1394 2 S S E interface 1 H Es 6755 a Siep IEEE1394 81 interface2 S Ei DD Reset G button E SR w e LI ee eee se oes e connector DC input g 0 2 jack es e eg see ee eege Figure 2 DCAM Video Processing Kit connectors and control elements 2 1 1 C6412Compact The C6412Compact is a high performance DSP FPGA board suitable for high speed data processing Key features for video processing are e 720 MHz CPU clock 600 MHz available for low cost versions s 64 MB or 128 MB SDRAM allow implementation of large image buffers e Two independent IEEE1394 interfaces allow operation at the full isochronous data rate of 32 768 000 bytes s for a single camera e FPGA based FlFO buffered isochronous streaming minimizes CPU overhead for data transfers e A 120 MHz 64 bit wide bus interface between DSP FPGA and SDRAM provides high bandwidth data transfers with minimum overhead e The FPGA development option provides the possibility of FRGA based image processing e Direct access to the DSP over the JTAG connector for code upload debugging and real time data exchange using standard development tools e On board Flash File System for non volatile storage of application code and FPGA code For use with the DCAM Video Processing Kit the C6412
38. IEEE1394 interface 1 The incoming image data is processed and the results are sent to the PC connected to IEEE1394 interface 2 The red led of the C6412Compact indicates image processing activity The resulting message output is shown below USER S GUIDE Date 26 February 2009 f c Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 15 D COM4_115200_8_N_1_HW HyperTerminal Datei Bearbeiten Ansicht Anrufen bertragung 7 Dae S3 08 IIDC 1394 Camera video registers can be accessed now on output bus IIDC 1394 Camera feature registers can be accessed now on output bus Bus reset on input side Connecting to Unibrain Fire I 466 1 2 S W v66666166h Frame Size 153666 Byte Packet Size 646 Byte Packets Per Frame 246 Bus reset on output side Bus reset on output side Camera Initialize Register Callback FeatureStatCtriCallback Id 6 FeatureStatCtriCallback Id 2 Video Settings Callback Video Format 6 Video Mode 1 Frame Rate 4 Iso Channel 6 Transmit Speed 2 Camera start command received Operation started verbunden 03 04 32 115200 8 N 1 e If the camera is closed again the camera is stopped and transfer statistics are displayed c COM4_115200_8 N_1_HW HyperTerminal Datei Bearbeiten Ansicht Anrufen bertragung 7 D Z Z Da Camera start command received Operation started Camera stop command received 6792 frames processed O
39. INT32U u32BufferSize INT32U u32BufferCount DCAMINe ISO LISTENMODE eMode INT16S iFirstChannelNo INT16S iSecondChannelNo INT16S iSyncBits BOOL bHeader LCK Handle hLck SEM Handle hSem Ay orsys USER S GUIDE Date 26 February 2009 Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit lt 5 jrey 1 1 Page 44 parameters u32BufferBase u32BufferSize u32BufferCount eMode iFirstChannelNo iSecondChannelNo iSyncBits bHeader hLck hSem Start address of the input frame buffers The input frame buffers must be located completely within SDRAM or in internal DSP memory Typically buffers are located in SDRAM Start address must be aligned on an 8 byte boundary Size of one frame buffer in bytes Frame size can be determined by dcaminQueryFrameSize for formats 0 1 and 2 For format 7 frame size depends on the parameters passed to dcaminSetCameraFormat7Image Number of input frame buffers The number of buffers is limited by SDRAM size and the number of available EDMA channels around 70 per direction Receive mode Possible settings are OneChannel TwoChannel AllChannel according to the number of cameras used For 3 and more cameras AllChannel must be used and no other isochronous data streams must be active Isochronous channel number for single camera operation or channel number for first camera for dual camera operation Ignored for multiple 3 or more camera
40. M IIDC 1394 digital camera functionality to the C6412Compact so that the C6412Compact is recognized as a digital camera by a camera controller such as a PC running Windows XP The DCAM Camera API handles all IEEE1394 communication and IIDC 1394 protocol handling The application sets up the digital camera according to the video modes and features that are supported The video modes and features can then be queried and controlled over the IEEE1394 bus IEEE1394 accesses to the mapped register sets are transformed into user callback functions With help of these callback functions the specific behavior of the system is implemented by an application Normally frame capture software running on a PC such as Generic 1394 Desktop Camera starts the camera The application is informed by a user callback The application then starts the connected digital camera s with the Frame Capture API The received image data is processed by the DSP and the resulting images are sent with the Camera API to the PC The DCAM camera API is described in 4 Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG MS DCAM Video Processing Development Kit Je me 11 T T OS orsys Page 212 2 2 4 Software Streaming Libraries Both the DCAM Frame Capture API and the DCAM Camera API use the software streaming libraries for image data transfer This software package implements EDMA based transfers between the frame buffers and t
41. MIN_ SUCCESS fprintf fid_write dcaminDeallocateResources failed 04Xh r n Status wait until all output buffers are free This is necessary to ensure all buffers get completely transmitted while 1 BOOL bEmpty Uint32 u32Idx for u32Idx 0 u32Idx lt BUF _In totalbuffers u32Idx dcamout IsoGetBufferState u32Idx amp bEmpty if bEmpty FALSE break if bEmpty TRUE break stop outgoing streaming at the next frame boundary Status dcamoutIsoStop if Status DCAMIN_ SUCCESS fprintf fid_write dcamoutIsoStop failed 04Xh r n Status fprintf fid_write Operation stopped r n bStopInProgress FALSE bStopEvent FALSE DisplayTransferStatistics 5 1 4 Frame Processing Task The frame processing task manages incoming and outgoing transfers on a buffer basis Buffers are implemented as a DSP BIOS BUF objects in VP_example_720MHz_64MB tcf with separate buffer objects for input and output and double buffering for each direction bios bios bios bios bios bios bios bios bios bios bios bios BUF BUF BUF BUF BUF BUF BUF DUR BUF BUF BUF BUF instance BUF In instance BUF In instance BUF In bufCount 2 create BUF Out instance BUF Out instance instance instance instance create BUF Toni instance BUF In instance BUF In size 153600 align 8 comment
42. Out bufCount 2 This buffer scheme is not mandatory and can be changed freely Examples for possible implementations are e No buffer objects manual calculation of frame buffer address and size e Single section memory layout ERAM_APP and ERAM_BUFFERS replaced by ERAM as implemented with the board library s configuration files with buffer objects placed in same memory section as application code data e Common buffers for both input and output in place image processing only one buffer object needed This is recommended because it can reduce the number of SDRAM accesses by up to 50 if the cache can buffer the accesses However many image processing algorithms do not allow in place processing Examples for in place image processing are histogram calculation or overlaying fixed images into the camera s image If multiple video settings must be supported the size of a buffer must be set to the maximum possible frame size and the buffer start addresses for smaller frame size must be calculated manually 4 4 11 Idle Tasks VP_example uses a background task for debug message output This background task is a function from the board library that transmits one character to the UART per call if possible Applications that do not need message output can omit this part bios IDL create IDL DebugOut bios IDL instance IDL DebugOut order 1 bios IDL instance IDL DebugOut comment Debug messages character output bios I
43. PGA configuration files Usage of the DCAM libraries requires DSP BIOS see 11 version 5 31 02 or higher for system timing and interprocess synchronization If a non BIOS version is required please contact Orsys Accesses to DSP on chip hardware are done using TTS chip support library see 13 2 2 1 Application Examples The DCAM Video Processing Development Kit contains one application example of a video processing application and some examples that illustrate the programming of the C6412Compact using the board library These application examples can be used as starting points for own applications The video processing example is described in chapter 5 whereas the board library examples are described in 8 2 2 2 DCAM Frame Capture API The DCAM Frame Capture API supports digital cameras that are compliant to the 1394 based Digital Camera Specification Version 1 30 It provides the required functionality to control the digital cameras and capture isochronous image data transmitted by them The captured image data can then be processed by application software The API locates digital cameras connected to the IEEE1394 bus A handle to the camera is assigned when opening a specific camera Then the camera is accessed using this handle Typically video modes and features of the camera are queried and modified and then the camera is started The DCAM frame capture API is described in 3 2 2 3 DCAM Camera API The DCAM Camera API adds DCA
44. RS 232 interface During image processing the red LED is turned on as an optical activity indicator Below is a procedure for doing the first steps with the DCAM Video Processing Development Kit Required items e the C6412Compact DCAM Video Processing Development Kit e aPCwith Windows XP an IEEE1394 interface a terminal program such as HyperTerminal Steps to be performed e For viewing the debug messages start a terminal program such as HyperTerminal on the PC and set up the terminal program to 115200 bits per second 8 data bits no parity 1 stop bit and hardware flow control e Connect the kit to the PC using the RS 232 cable Please note that RS 232 output must be enabled to run this example In case of problems please refer to the RS 232 wiring in 9 e Connect the digital camera to the C6412Compact IEEE1394 interface 1 using an IEEE1394 cable Connector location is shown in Figure 2 e Connect the C6412Compact IEEE1394 interface 2 to the PC using an IEEE1394 cable e Supply the kit with power i e connect the AC adapter to the power supply board and plug it in to a wall socket The application example starts up and display some messages e COM4_115200_8_N_1_HW HyperTerminal Datei Bearbeiten Ansicht Anrufen bertragung 7 De E ah e amp C6412Compact Video Processing Example Ur 1 6 Oct 15 2608 11 49 56 Connect camera to IEEE1394 interface 1 connector next to ethernet connector Connect host PC to IE
45. Resources returned 04Xh r n Status bError TRUE if bError FALSE start streaming on output side Status dcamoutIsoTalk Uint32 BUF_Out startaddr if BUF_Out size BUF Out totalbuffers soutVideoData usIsoChannel iPacketSize same as input side soutVideoData usTransmitSpeed amp LCK Out amp SEM FrameTx Status DCAMOUT_SUCCESS clean up dcaminIsoDeallocateResources sCurIso usIsoChannel fprintf fid_write dcamoutIsoTalk failed 04Xh r n Status bError TRUE start streaming on input side if bError FALSE Status dcaminIsoListen Uint32 BUF_In startaddr if BUF_In size BUF _In totalbuffers OneChannel sCurIso usIsoChannel 0 1 FALSE amp LCK_In amp SEM_ FrameRx Status DCAMIN_ SUCCESS clean up Status dcamoutIsoStop dcaminIsoDeallocateResources sCurIso usIsoChannel fprintf fid_write dcaminIsoListen failed 04Xh r n Status bError TRUE start camera on input side if bError FALSE Status dcaminStartCamera hCamera if Status DCAMIN_ SUCCESS clean up Status dcaminIsoStop STOP TIMEOUT Status dcamoutIsoStop dcaminIsoDeallocateResources sCurIso usIsoChannel fprintf fid_write dcaminStartCamera failed 04Xh r n bError TRUE else fprintf fid_write Operation started r n re enable frame transfer task
46. STAT See chapter 7 4 7 3 5 dcamoutlsoLockBuffer Before image processing write to a frame buffer dcamoutlsoLockBuffer must be called to mark the current buffer as locked If a buffer was transmitted while its state is set to locked an error is generated defined in dcamoutApi h synopsis DCAM STATUS dcamoutIsoLockBuffer INT32U u32Buffer parameters u32Buffer Number of the buffer to be locked Valid range is 0 to u32BufferCount 1 where u32BufferCount was used as parameter for dcamoutlsoListen return value DCAMOUT_SUCCESS Successful completion DCAMOUT_ERROR_ISO_BUFFER See chapter 7 4 7 3 6 dcamoutlsoSubmitBuffer dcamoutlsoSubmitBuffer must be called for each frame buffer after image processing for this frame buffer has been completed This causes the buffer to be marked as filled and to be transmitted defined in dcamoutApi h synopsis DCAM STATUS dcamoutIsoSubmitBuffer INT32U u32Buffer parameters u32Buffer Number of the buffer to be submitted Valid range is 0 to u32BufferCount 1 where u32BufferCount was used as parameter for dcamoutlsoListen Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG M DCAM Video Processing Development Kit Je me 11 T T OS orsys Page 52 return value DCAMOUT_SUCCESS Successful completion DCAMOUT_ERROR_ISO_BUFFER See chapter 7 4 7 3 7 dcamoutlsoStop dcamoutlsoStop stops outgoing streaming at the next possible frame boundar
47. TSK create TSK AcrTimeout bios TSK instance TSK AcrTimeout order 3 bios TSK instance TSK AcrTimeout fxn prog extern FXN AcrTimeout bios TSK instance TSK AcrTimeout comment Timeout for advanced feature access control register ACR 4 4 8 Semaphores For interprocess communication VP_example uses three semaphores Two of them synchronize between the software streaming library and the application s tasks SEM_FrameRx is posted each time an incoming frame was completely received This semaphore wakes up the image processing task As a second condition for image processing to start SEM_FrameTx is posted whenever an outgoing frame has been completely sent A third semaphore SEM_acr_timeout is used internally by the DCAM Camera API for handling advanced feature access timeouts For bios SEM create SEM FrameRx bios SEM instance SEM FrameRx comment Triggers image processing whenever a new frame was received bios SEM create SEM FrameTx bios SEM instance SEM FrameTx comment Triggered whenever a frame has been sent bios SEM create SEM AcrTimeout bios SEM instance SEM AcrTimeout comment Timeout for advanced feature access control register ACR n Video processing applications should use SEM_FrameRx for synchronization whereas usage of SEM_FrameTx is optional Name of the semaphores can be changed but must correspond with the object names used in the application
48. Two objects that are defined in main c must be referenced the file pointer for debug message output and the video settings structure for debug output extern FILE fid_ write output side settings are in main c extern DCAMOUTs_ VIDEO DATA soutVideoData The function SetupDigitalCamera performs all necessary setup Parts of the setup have been moved to separate functions to keep this function straightforward First part is to set up the supported video settings format mode and frame rate with function Setup Video nquiryRegs The example implements only one single combination of video settings to avoid switching between different settings The supported settings are 320x200 YUV 4 2 2 30fps This setting is compatible with the built in drivers of Windows XP Next part is setting up the supported basic functions with function SetupBasicFunclnquiryReg The only basic function implemented by the example is the video mode error status register This register allows the camera controller to check for errors after setting up the video settings but before starting operation The video mode error status register is handled internally by the DCAM Camera API Please note that the IIDC standard implicitly requires to have memory channel 0 implemented which is used for restoring to factory settings The example however doesn t implement this function because there are no settings to change Third step is setup of the initial camera control amp
49. ackground tasks to run BRR KKK IK KI KK KK KK KK KK I KK I KK IK I KK IK IK IK IK IK IK IK KK d process IEEE1394 API callbacks YieldToCallQ BRR KK KK KK KI KK I KK I KK KK KK I KK IK IK IK IK IK IK IK IK IK KK d Allow background operation TSK_sleep 1 CLK countspms CLK_getprd normal operation If there is no camera connected start stop events are ignored Instead bus reset events are processed as follows normal operation BRR KK KK KK KKK KK IK KI KK I KK KK I KK IK IK IK IK IK IK I KR KR k KR d if bStartEvent TRUE fprintf fid_write Camera start command ignored because no camera connected r n bStartEvent FALSE BRR KK KK KK KKK KK KK IK KK e e e KK IK KK IK IK IK IK IK KR KR KK k k kk d if bStopEvent TRUE Ge USER S GUIDE Date 26 February 2009 l l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 29 fprintf fid_write Camera stop command ignored because no camera connected r n bStopEvent FALSE BR RK I RK I RK IR KI KK IR IR IR E IR IR E IR IR IR IR IR IR k k k E I d if binBusResetDetected TRUE For the input side API callbacks are processed until bus reset processing has completed Then camera management is done If a camera was previously present the software checks that the camera is still present If the previous camera was removed or there was no previous cam
50. ailable IIDC devices on its IEEE1394 interface 1 and finds the camera e The C6412Compact sends some commands to the camera to adjust some settings e When the user starts camera operation e g clicking on the Generic 1394 Desktop Camera icon the camera controller allocates isochronous resources and sends some commands to the C6412Compact e The software on the C6412Compact recognizes the commands allocates isochronous resources for the input side and starts isochronous operation on both input and output side Then it sends a start command to the camera e The camera starts transmitting an isochronous data stream The first packet has a sync bit set in its packet header This sync bit causes the interface logic in the C6412Compact s FPGA to start reception e The incoming isochronous data is buffered in a FIFO in the FPGA Whenever enough data is collected the FPGA triggers an EDMA transfer via GPO 11 This transfers the image data to the current frame buffer Ge USER S GUIDE Date 26 February 2009 K e 3 Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit lt jrey 1 1 orsys Page 38 When a complete buffer has been received an event is generated by the DCAM frame capture library that triggers the frame processing task The frame processing task calls the image processing function After image processing has finished the frame processing task submits the output frame buffer for transmi
51. ample VP_example marked as auto start application e FPGA code of the micro line busmaster BSP o bm This file is not marked for auto load to prevent potential problems with customized hardware However application software can still configure the FPGA from flash memory using board library functions 2 2 7 FPGA Configuration Files The DCAM Video Processing Development Kit requires the FPGA to be configured with the micro line Busmaster Board Support Package BSP This BSP allows access to both IEEE1394 chipsets and The micro line busmaster BSP is described in 6 Ge USER S GUIDE Date 26 February 2009 1 Doc no DCAM_VP Devkit_UG Laus DCAM Video Processing Development Kit Le ei 271 Page 213 3 Getting Started The C6412Compact DCAM Video Processing Development Kit is shipped with the application example VP_example already stored in flash memory This allows doing the very first steps with the kit without any development tools required The example looks for a suitable camera on IEEE1394 interface 1 and configures it to Format 0 Mode 1 Rate 4 which is 320x240 YUV 4 2 2 30fps This setting allows to use the example with the built in features of Windows XP If a suitable camera is present the image processing task compares each picture with the preceding picture and highlights differences by dimming unmodified pixels The processed image is available on IEEE1394 interface 2 Debug messages are output on the
52. and transmitted if in place image processing is used see chapter 5 1 10 it must be released so that it can be filled again In the current implementation the buffer will be filled anyway but an error is generated after filling the buffer if the buffer is already marked as filled defined in dcaminApi h synopsis DCAM STATUS dcaminIsoReleaseBuffer INT32U u32Buffer parameters u32buffer Number of the buffer to be released Valid range is 0 to u32BufferCount 1 where u32BufferCount was used as parameter for dcaminlsoListen Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG M DCAM Video Processing Development Kit Je me 11 T OS orsys Page A6 return value DCAMIN_SUCCESS Successful completion DCAMIN_ERROR_ISO_BUFFER See chapter 7 4 7 2 7 dcaminlsoStop dcaminlsoStop stops incoming streaming operation at the next frame buffer boundary This ensures that receive operation currently in progress is finished If the camera continues to transmit image data it will be ignored If no image data is being transmitted when this function is called the function will time out and return with error Transfer statistics are stored for later retrieval by dcaminlsoGetStatistics defined in dcaminApi h synopsis DCAM STATUS dcaminIsoStop INT32U u32Timeout parameters u32Timeout Timeout for stopping reception in milliseconds Typically this value should be set to the nominal fra
53. ardware interrupt for operation Additionally the software streaming library requires the chip support library s CSL s EDMA interrupt handler to be installed The API ISRs must run without the DSP BIOS interrupt scheduler whereas the EDMA interrupt is designed for scheduler operation bios HWI instance HWI_INT4 Con prog extern LynxHALNodeISR1 bios HWI instance HWI_INT5 fon prog extern LynxHALNodeISR2 bios HWI instance HWI_INT8 fon prog extern EDMA intDispatcher bios HWI instance HWI_INT8 useDispatcher 1 4 4 7 Tasks The task scheduler must be enabled bios TSK ENABLETSK 1 Three tasks are required by VP_example Two of these tasks are application specific TSK_main and TSK_frame_xfer and can be modified freely but one task TSK_acr_timeout is required by the DCAM Camera API for advanced feature timeout control bios TSK create TSK main bios TSK instance TSK main order 1 bios TSK instance TSK_main fxn prog extern FXN_main bios TSK instance TSK_main comment main control task bios TSK instance TSK main stackSize 2048 bios TSK create TSK_frame_xfer bios TSK instance TSK frame_xfer order 2 bios TSK instance TSK frame_xfer comment frame buffer management and image processing bios TSK instance TSK frame_xfer priority 1 bios TSK instance TSK frame_xfer fon prog extern FXN frame_xfer bios
54. astBuf Uint32 u32RestartErrors Uint32 u32RestartLastBuf Uint32 u320vErrors Uint32 u320vLastBuf Uint32 u32UnErrors Uint32 u32UnLastBuf Uint32 u32DmErrors Uint32 u32DmLastBuf Uint32 u32ApiErrors Uint32 u32ApiLastError S_DCAMOUT_STATISTICS u32Submitted Number of frame buffers submitted for transmit USER S GUIDE Date 26 February 2009 l l Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit IG m S 07 OS orsys Page A0 Q u32Transmitted Number of completely transferred frame buffers u32Runs Number of completed buffer sequences u32Transmitted divided by number of buffers Number of Transmit FIFO underflow conditions in the streaming core Number of the buffer starts at 0 where the above error occurred 7 3 2 dcamoutlsolnit dcamoutlsolnit clears statistics and call the initialization function of the streaming software package This function must be called once at system startup defined in dcamoutApi h synopsis DCAM_STATUS dcamoutIsoInit void parameters none return value DCAMOUT_SUCCESS Successful completion DCAMOUT_ERROR_ISO_INIT See chapter 7 4 7 3 3 dcamoutlsoTalk dcamoutlsoTalk sets up outgoing streaming operation This function must be called before processed image data can be transmitted by calling dcamoutisoSubmitBuffer Typically dcamoutlsoTalk is called as a result from an incoming start command from a camera controller No data is a
55. cro line Busmaster Board Support Package Orsys c6412cpt_m1_bm_ug 7 C6412Compact DM Port Streaming Cores Users Guide Orsys c6412cpt_str_core_ug 8 _C6412Compact board library user s guide Orsys c6412cpt_Boardlib_ug 9 C6412Compact Hardware Reference Guide Orsys c6412cpt_hrg 10 Texas Instruments website at www ti com 11 TMS320 DSP BIOS Users Guide Tl spru423 12 TMS320 DSP BIOS API Reference Guide Tl spru4o3 13 TMS320C6000 Chip Support Library API Reference Guide Tl spru4o1 14 TMS320C64x Image Video Processing Library Programmer s Reference Tl spruo23 15 IIDC 1394 based Digital Camera Specification Version 1 30 1394 Trade Association 1999023 16 IEEE Standard for a High Performance Serial Bus IEEE ees sta 1394 1995 17 IEEE Standard for a High Performance Serial Bus Amendment 1 IEEE ees sta 1394a 2000 18 EEE Standard for a Control and Status Registers CSR Architecture for Microcomputer Buses IEEE IEEE std 1212 2001
56. cs INT32U u32BufErrors lw USER S GUIDE Date 26 February 2009 d e c Doc no DCAM VP Devit UG he DCAM Video Processing Development Kit lt jrey 4 1 orsys Page A2 INT32U u32BufLastBuf INT32U u32RestartErrors INT32U u32RestartLastBuf INT32U u320vErrors INT32U u320vLastBuf INT32U u32UnErrors INT32U u32UnLastBuf INT32U u32DmErrors INT32U u32DmLastBuf INT32U u32ApiErrors INT32U u32ApiLastError INT32U u32SyncErrors INT32U u32SyncLastBuf L S_DCAMIN STATISTICS Description u32Received Number of completely received frames u32Released Number of frame buffers released processed by software u32Runs Number of completed buffer sequences u32Received divided by number of buffers umber of buffers that were not marked as empty after being filled Number of the buffer starts at 0 where the above error occurred currently unused currently unused Number of receive FIFO overflow conditions in the streaming core umber of the buffer starts at 0 where the above error occurred u32UnErrors Number of receive FIFO underflow conditions in the streaming core Number of the buffer starts at 0 where the above error occurred Number of data mover port errors signaled from the IEEE1394 chipset Number of the buffer starts at 0 where the above error occurred Number of errors returned from the IEEE1394 API subsystem Last error code of the IEEE1394
57. ctually transmitted as result of this call Instead each frame buffer must be transmitted with dcamoutlsoSubmitBuffer defined in dcamoutApi h synopsis DCAM STATUS dcamoutIsoTalk Uint32 u32BufferBase Uint32 u32BufferSize Uint32 u32BufferCount INT16U usIsoChannel INT16U usPacketSize INT16U usTransmitSpeed LCK Handle hLck SEM Handle hSem parameters u32BufferBase Start address of the output frame buffers The output frame buffers must be entirely located within SDRAM or in internal DSP memory Must be aligned on an 8 byte boundary Typically buffers are located in SDRAM u32BufferSize Size of one frame buffer in bytes The required buffer size for format 0 1 2 can be queried by dcamoutGetFrameSize For format 7 frame buffer size Ay orsys USER S GUIDE Date 26 February 2009 l l Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit IG m S 7 OS Page 50 u32BufferCount uslsoChannel usPacketSize usTransmitSpeed hLck hSem return value is configured by the camera controller and is available in IIDC registers TOTAL_BYTES_LO HI_INQ If buffer size is not a multiple of 8 it must be rounded up to the next multiple of 8 bytes Number of input frame buffers The number of buffers is limited by SDRAM size and the number of available EDMA channels around 70 per direction Isochronous channel number of the outgoing data stream The channel number is set up by the came
58. ebug sessions Therefore it is a good practice to perform this step each time before a program is loaded e Select the Open command from the Project menu e The Project Open dialog box appears Locate the file VP_example pjt in the examples VP_example folder of your distribution copy and click on the Open button This loads the project environment for the application example e Select the Load Program command from the File menu e The Load Program dialog box appears Locate the file camera out in the folder C6412Compact examples VP_example Debug and click on the Open button This loads the application example into the DSP s memory e Select the Run command from the Debug menu e VP_example starts and searches for a digital camera connected to the IEEE1394 interface 1 s The PC recognizes the kit as an IIDC 1394 compliant camera e Click on Start then on My Computer e The DCAM Video Processing Development Kit must now be displayed under Scanners and Cameras as Generic 1394 Desktop Camera 4 6 Debugging Software Using a JTAG Emulator Select the Halt command from the Debug menu CCS will stop the DSP and display the current instruction in the disassembly window and the current source code line if applicable in a separate window Now you can examine variables e g using the watch window and memory contents View gt Memory and you can single step through the code using F10 and EI Th
59. en ennenen 58 Le USER S GUIDE Date 26 February 2009 hei DCAM Video Processing Development Kit gE Her ue orsys Page 25 List of Tables Table 1 Function callability table for incoming isochronous streaming sse eee eee eee eee e 41 Table 2 Function callability table for outgoing isochronous streaming sese eee eee e 48 Table 3 Status codes Summary eee eee eee 53 List of Figures DCAM Video Processsing Development Kit block diagram without Camera 9 DCAM Video Processing Kit connectors and control elements eee eee 10 Session example storing application code to flash memorn eee eee 23 Session example storing FPGA code to flash memo eee eee eter ee eee 24 VD example output still image VS MOVING sese eee eee eee 25 Ge USER S GUIDE Date 26 February 2009 x i l Doc no DCAM_VP_DevKit_UG hi DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 6 1 Preface This document describes the DCAM Video Processing Development Kit for the C6412Compact The DCAM Video Processing Development Kit is a complete platform for embedded image processing with industrial IEEE1394 cameras 1 1 Document Organization This document is organized as follows e Chapter 2 gives an overview of the development kit Chapter 3 shows how to do the first steps with the kit Chapter 4 gives an introduction to software development on the C6412Compact Chapter 5 describes the application examples
60. eps a list of allocated bandwidth channel resource pairs for later de allocation defined in dcaminApi h synopsis DCAM STATUS dcaminIsoAllocateResources Uint32 u32BytesPerPkt Uint32 u32Speed Uint8 u8Channel parameters u32BytesPerPkt Requested bandwidth in terms of isochronous packet size Valid range is 4 to 4096 The value is rounded up to the next multiple of 4 if necessary Packet size depends on format mode frame rate and can be queried by dcaminQueryPacketSize for formats 0 1 and 2 For format 7 u32BytesPerPkt must be the same as used for dcaminSetCameraF 7PacketSize u32Speed Isochronous transfer speed as used for dcaminSetlsoData Valid values are 100 S200 and S400 u8Channel Isochronous channel number as used for dcaminSet lsoData Valid range is 0 to 63 where channel 31 is reserved by 17 and should not be used return value DCAMIN_SUCCESS Successful completion DCAMIN_ERROR_ISO_RESOURCE See chapter 7 4 7 2 4 dcaminlsoListen dcaminlsoListen starts incoming streaming operation After calling this function incoming isochronous data is stored in the specified frame buffers events are generated for completely received buffers and buffer state can be queried with dcaminlsoGetBufferState Please note that this function does not start connected cameras Typically dcaminisoListen is called before dcaminStartCamera is called defined in dcaminApi h Synopsis DCAM STATUS dcaminIsoListen INT32U u32BufferBase
61. er deeg ed edd 17 4 4 Required DSP BIOS Settings and Objects ccccccceeeeeeeeeeeeeeeeeeeeeeeseeeeeneeeeeeeeeeseeeseeneees 18 44 1 Memory RU OUI tases disuse ace ek odes ce ewe ada cd eee eee dee 18 44 2 Clock R ta ea en ie estate ads endear aie een ees 18 44 3 CACHE SetuP raaa E vex cessaven ENEE na E rE E EEan aa 19 AAA Heap Setup sse eee eee 19 4 4 5 Section location 19 x Gs ue 20 4A EE 20 e SemaphoreS oreore n e a e E ER R i 20 4 4 9 Resource Locke seene 21 4 4 10 Frame Butters trenaren teenaren neen n ennenen ent 21 AANA Ls e KS era a a 21 Ge USER S GUIDE Date 26 February 2009 hei DCAM Video Processing Development Kit GE SE EE orsys Page LS 4 5 Loading Software Using a JTAG Emulator ssseeeeeesssseeeeeeeeessseeeee eree esen rrr 21 4 6 Debugging Software Using a JTAG Emulator 2 0 ccccccccceseeneeeeeeeeeeeeeeeeeeeeeeeeeeeeeenneeeeeeneeeees 22 4 7 Storing Application Software in Flash Memory ssssseeeeeeeeesssseeeee eee sese eee ee cesse seer rees 22 4 8 Storing FPGA Code in Flash Memory ss sssssssseeeeeeeesssseeeee eee ee essere eee ennenen 23 5 SERIES NIESEN eege 25 5 1 VP example ees Seite Sek CES EEN EEGENEN 25 5 1 1 Application structure eee 25 5 1 2 System WM UO Mass ance ssssssssssssssssss sss sss ss sss s soso ogo asagn nnn anno onna drake ecatasetusetederead 26 5 163 Main Control ask ic sisives ives Geen Seen aes aie heise sine EE die Dee Eeer 28 5 1 4 Frame Processing TASK E 32 GW
62. era selection of a new camera is initiated The first available camera is opened and checked to support the required settings Then the following settings are adjusted e Format 0 VGA non compressed Mode 1 YUV 4 2 2 16 bit per pixel Rate 4 30 frames per second Isochronous transmit on channel 0 Isochronous transmit speed S400 400Mbit s if binBusResetDetected TRUE bus reset on input side wait until bus reset processing is over and then do camera connection management fprintf fid_write Bus reset on input side r n while dcaminBusResetCompleted FALSE YieldToCall1Q binBusResetDetected FALSE check if a camera is already selected if hCamera NULL BOOL bTmp check if this camera is still present Status dcaminIsCameraConnected hCamera amp bTmp if Status DCAMIN SUCCESS bTmp FALSE fprintf fid_write Connection to camera lost r n Status dcaminIsoDeallocateResources sCurIso usIsoChannel dcaminCloseCameraHandle hCamera hCamera NULL else fprintf fid_write Camera still connected r n check if a camera must be selected if hCamera NULL search for first camera open it and set it up iNumCameras 1 do not find more than one dcaminLocateCameras amp sCameraGuid amp iNumCameras if iNumCameras open this camera if Status dcaminOpenCameraHandle amp hCamera amp sCameraGuid f
63. f its read write accessibility and its default value ne Iess 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 A B C D E F G H l J K L N O r w Q r w 0 r w 0 r w 0 r w 0 r w 0 r w 0102 r 0 r wc 0 W r w 0 rc 0 r w 0 r w 0 accessibility and default value legend r bit is readable rc this bit is cleared after a read rw bitis readable and writeable reading yields the previously written value unless otherwise specified W bit is writeable read value is undefined wc writing a 1 to this bit clears it w 0 bit is write only reading always yields 0 0 default value 1 4 Trademarks Tl Code Composer DSP BIOS and TMS320C6000 are registered trademarks of Texas Instruments Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Hyperterminal is a trademark of Hilgraeve Inc All other brand or product names are trademarks or registered trademarks of their respective companies or organizations Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG MS DCAM Video Processing Development Kit Je me 11 T T OS orsys Page 8 1 5 History Changes First release Added functions dcaminGetLastError and dcamoutGetLastError Ay orsys USER S GUIDE Date 26 February 2009 Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit
64. g XDS510 or from another vendor e Code Composer Studio CCS from Texas Instruments version 3 3 or higher e DSP BIOS from Texas Instruments version 5 31 02 or higher Other development platforms may be supported by Texas Instruments or other vendors Please refer to 1 for a list of supported platforms and third party products Development without a JTAG emulator is possible in principle but not recommended since no debugging features are available in this configuration 4 2 1 Code Composer Studio Setup Code Composer Studio must be set up for a C64xx DSP and the respective emulator type Code Composer Studio Setup File Edit view Help System Configuration Available Factory Boards Famy Ml Se i C 4x Y xds51 v Al EA C6414 15 16 Rev 1 0x X C64xx xds5 C64xx XD5510 Emulator C64xx xdsS EE Factory Boards BAB Custom Boards SW Create Board Save amp Quit Drag 4 device driver to the left to add a board to the system Additionally it is useful to replace the default GEL file by an appropriate GEL file from the distribution copy Such aS c64i12cpt_m1_bm_128mb ge1 This can be done by right clicking onto the CPU symbol and then selecting Properties Ly USER S GUIDE Date 26 February 2009 x l l Doc no DCAM_VP_DevKit_UG ss DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 17 Code Composer Studio Setup File Edit View Help 3 System Configuratio
65. he streaming core FIFOs in the FPGA Events are generated whenever a buffer has been received DCAM Frame Capture API or has been transmitted DCAM Camera API Direct access to the software streaming libraries is usually not necessary but for special cases the isochronous transfer functions of the DCAM APIs can be bypassed by directly accessing the software streaming libraries The software streaming package is described in 5 2 2 5 Board Library The board library is a collection of low level drivers that allow to access hardware components of the C6412Compact such as Flash File System RS 232 interface temperature sensor etc This facilitates programming of the C6412Compact The board library is described in 8 2 2 6 Flash File System The Flash File System FFS is integral part of the C6412Compact It is already pre installed when the C6412Compact is shipped Therefore after power on the C6412Compact boots the FFS See also 8 for a description of the boot process At system startup the FFS manages loading of e an auto start application DSP software e the on board FPGA e external FPGAs Application and FPGA code can be stored in flash memory by using the PC Flash File System utilities The Flash File System is documented in a separate user s guide see 2 For the DCAM Video Processing Development Kit the FFS contains 3 files e adefault application toggle_led which is included in each C6412Compact that is shipped e application ex
66. ideo registers can be accessed now on output bus IIDC 1394 Camera feature registers can be accessed now on output bus Bus reset on input side Connecting to Unibrain Fire I 466 1 2 S W v66666166h Frame Size Packet Size 646 Byte Packets Per Frame 246 Bus reset on output side Bus reset on output side 153666 Byte Camera Initialize Register Callback 115200 8 N 1 eichnen Druckerecho On the development PC click on Start then on My Computer The DCAM Video Processing Development Kit must now be displayed under Scanners and Cameras as Generic 1394 Desktop Camera Se My Computer File Edit View 1 Ba 3 pa gt d Search B Folders Favorites Tools Help ch Z X 19 ES Address El My Computer Folders Ip B My Documents B G My Computer CH A 31 Floppy A amp Local Disk C 4 cd Drive D E D Control Panel Generic 1394 Desktop Camera 2 Shared Documents E my Network Places al Recycle Bin X Name a Hard Disk Drives Local Disk C Devices with Removable Storage KE Floppy 4 3 3D Drive D Scanners and Cameras lt Local Disk 314 Inch Floppy Disk CD Drive W Generic 1394 Desktop Camera 2 Digital camera v gt If the camera is opened by a double click the PC sets up and starts the camera and displays the received images The application example on the C6412Compact sets up and starts the digital camera connected to
67. in Now initialization is complete and control is passed to DSP BIOS which will run the different tasks that are listed below 5 1 3 Main Control Task The main control task controls operation of both sides It is the only location where IEEE1394 transactions except for the image transfer itself are generated No other tasks are allowed to do IEEE1394 transactions because the APIs are not reentrant The task is named FXN_main and is implemented as an infinite loop If there is a camera available and there is no bus reset on either side normal image processing is running and the task checks for start stop control events and processes them while 1 RR RK I RK I RK I RK I KK E IR IR TR E E e e e E E E E E k ke k E k k k k k d while binBusResetDetected FALSE amp amp boutBusResetDetected FALSE amp amp hCamera NULL normal operation suitable camera connected and no bus reset present handle incoming commands from ext camera controller PC connected to the output side RRR KI RK I KK I RK IR E E RIK IR IR IR IR E IR IR IR IK I Kk d if bStartEvent TRUE 8K RK I RK I RK IKK I KK IR IR IR IR IR IR E IR IR E IR IR IR IK I e k ke d if bStopEvent TRUE BRR KK KK KK KKK KK KK KK KK IK KK KK IK IK IK RK RR KR RR RK RK d if bControlEvent TRUE After processing these application level events API callbacks are processed and control is passed to DSP BIOS to allow b
68. ion calls and is therefore located in a separate module camera_setup c initialize output side This step sets up the registers of the output side according to the IIDC spcification amp implemented features This involves preparing initial register contents mapping the registers into the IEEE1394 address space installing callback functions for register access SetupDigitalCamera After initialization API operation is started by enabling the interrupts and triggering a bus reset on both IEEE1394 interfaces On the input side the bus reset causes the bus scanned for connected cameras On the output side the bus reset tells a connected camera controller that bus topology has changed and that it should check for new devices on the bus Ly USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 C orsys Page 28 prepare interrupt operation of both 1394 APIs IRQ enable IRQ Et EXTINT4 IRQ enable IRQ EVT_EXTINTS trigger inital startup on both 1394 APIs dcaminCauseBusReset binBusResetDetected TRUE force bus reset processing in control task dcamoutCauseBusReset boutBusResetDetected TRUE force bus reset processing in control task end of system initialization DSP BIOS will start up now and then execute the main control thread FXN ma
69. is is the traditional debugging approach that halts program execution For DSP BIOS applications a different approach is used The DSP BIOS analysis tools allow real time analysis of a running application such as program tracing performance monitoring and file streaming Please refer to 11 for details 4 7 Storing Application Software in Flash Memory Loading software with the emulator as described above is only possible if development tools are available Further the software must be re loaded after each system startup The steps below show how to store the example to the FFS so that is automatically started at system startup e Close or disconnect the terminal program if still running to make the COM port available to the FFS utilities e If CCS is still connected to the C6412Compact Connected displayed in the status bar disconnect by selecting Disconnect from the Debug menu or by pressing A C e Press the reset button on the power supply board e Start a command prompt e Change to the directory of one of the example applications e g cd c Orsys DCAM VP _DevKit_v1 0 C6412Compact examples VP_example e Store the application code to flash memory using the fload6x utility For the first time it may be necessary to specify correct parameters such as COM port number board type and version of the target side executable so the command line will look as follows Ge USER S GUIDE Date
70. ixed settings required by the IIDC standard 15 The functions are declared in a separate header file dcamoutlso h which is included by dcamoutApi h This allows hardware specific implementation Applications should not include dcamoutlso h directly but include dcamoutApi h instead When using multithreading care must be taken where the functions can be called from Functions that can cause IEEE1394 transactions must be called in the main application thread where all other DCAM API functions are called whereas all other functions can be called from a different thread It is important to note that dcamoutlsoTalk Stop functions as all DCAM API functions must not be called from within API callbacks The table below shows where each function can be called from To be called in system initialization function main c main application thread onl main application thread onl no restriction typically called in image processing thread no restriction typically called in image processing thread no restriction typically called in image processing thread no restriction Table 2 Function callability table for outgoing isochronous streaming 7 3 1 Outgoing isochronous Streaming Data Types The structure S DCAMOUT_STATISTICS is used by function dcamoutlsoGetStatistics to return transfer statistics Definition struct Uint32 u32Submitted Uint32 u32Transmitted Uint32 u32Runs error statistics Uint32 u32BufErrors Uint32 u32BufL
71. k 4 way cache 128k 4 way cache 256k SI 12Mode 4 way cache 128k Es Completely disabling the cache is not recommended as this probably slows down processing and may interfere with the cache management of the software streaming library 4 4 4 Heap Setup The application example uses a heap size of 640KB bios MEM instance ERAN APP createHeap 1 bios MEM instance ERAN APP heapSize 0x000a0000 The required heap size strongly depends on the application When opening the DSP BIOS configuration file the estimated heap size is displayed in the title bar 4 4 5 Section location The default section for DSP BIOS objects and heap objects created by malloc must be changed bios MEM BIOSOBJSEG prog get ERAM APP Date 26 February 2009 Ge USER S GUIDE lt e 3 Doc no DCAM_VP_Devkit_UG DCAM Video Processing Development Kit lt 5 jrey 1 1 orsys Page 20 bios MEM MALLOCSEG prog get ERAM APP This is only necessary if the modified memory layout as described above is used 4 4 6 Interrupts Interrupt polarity is set to low active falling edge triggered as also used in the board library s settings This setting must not be changed bios HWI EXTPIN4POLARITY high to low bios HWI EXTPIN5POLARITY high to low bios HWI EXTPIN6POLARITY high to low bios HWI EXTPIN7POLARITY high to low tou ou ou Each of the DCAM APIs required a h
72. lly for each frame buffer This avoids problems with timing differences between the two IEEE1394 interfaces Whenever a frame buffer has been completely transmitted to the streaming core an event is generated that can be used to synchronize an image processing task The functions can be grouped into the following categories e Initialization dcamoutlsoInit e Transfer control dcamoutlsoTalk dcamoutlsoStop e Buffer management dcamoutlsoGetBufferState dcamoutlsoLockBuffer dcamoutlsoSubmitBuffer lw USER S GUIDE Date 26 February 2009 l e Doc no DCAM_VP_Devkit_UG LOA DCAM Video Processing Development Kit fee Rey d S orsys Page A8 e Statistics dcaminIlsoGetStatistics Internally the outgoing isochronous functions use the streaming software package 5 with the following settings e _single buffer restart transmission of each frame buffer must be started manually e no allocation of isochronous resources must be done by the camera controller e endian swapping fits the little endian architecture of the C6412Compact e automatic block size determination use minimum number of EDMA transfers with maximum size e EDMA transfer trigger on GPO 12 which is available on pin B24 for measurements e PDT transfers disabled not yet qualified e Cache management before a frame buffer is transmitted a L2 block write back is performed on the frame buffer All other settings are user definable or have f
73. m ml Dm e Command Prompt of x icrosoft Windows XP Version 5 1 2666 lt C gt Copyright 1985 2061 Microsoft Corp Documents and Settings Default User gt cd C Orsys DCAM_UP_DevKit_C6412Compact_v C6412Compact FPGA_hbinaries ML_busmaster_v2 1 Ors ys DCAM_UP_DevKit _C6412Compact_vi1 C6412Compact FPGA_binaries ML_Busmaste _ 2 1 gt fpgaload Ci TC6412CPT U4 6 Ni ml_bm_im icro Line DSP Family FPGA Flash Loader U 4 For WIN NT 2K XP lt C gt 2065 ORSYS 44968 Bytes Loaded IL_BM_iM Will Be Booted Now Automatically ownload Time 49 8 Seconds Ors ys DCAM_UP_DevKit _C6412Compact_vi C6412Compact FPGA_binaries ML_Busmaste 2 1 gt renml ml_bm_im ml_bm arget Is Working Done EE EE lita tlie 2 1 gt _ Figure 4 Session example storing FPGA code to flash memory Ly USER S GUIDE Date 26 February 2009 f f Doc no BGAM VB Devit UG revs DCAM Video Processing Development Kit Je me 11 TTP Ee Page 125 5 Application Examples The distribution media contains two kinds of application examples e One application example that shows how to program a video processing application using the DCAM Frame Capture API and the DCAM Camera API e Some examples that are part of existing software packages such as the board library These examples show general programming of the C6412Compact independent of video processing They are described in the respective user guides such as 8 This cha
74. me time e g 33ms for 30fps plus some margin e g 10 return value DCAMIN_SUCCESS Successful completion DCAMIN_ERROR_ISO_STOP See chapter 7 4 7 2 8 dcaminlsoDeallocateResources dcamlsoDeallocateResources de allocates the isochronous resources used by a previous operation This allows other IEEE1394 devices to use these resources This is especially important if other devices than camera and C6412Compact are connected to the input side IEEE 1394 interface 1 De allocation must only be called after isochronous transmission was stopped by dcaminStopCamera Optionally application software can make sure that no more data is being transmitted e g by waiting for one frame s time If multiple cameras are being used de allocation must be done separately for each camera defined in dcaminApi h synopsis DCAM STATUS dcaminIsoDeallocateResources Uint8 u8Channel parameters u8Channel Isochronous channel number that was used when allocating the resources as parameter to dcamin lsoAllocateResources The channel number is used to identify the bandwidth channel resource pair in the internal resource list of the API Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG M DCAM Video Processing Development Kit Je me 11 T OS orsys Page 47 return value DCAMIN_SUCCESS Successful completion DCAMIN_ERROR_ISO_RESOURCE See chapter 7 4 7 2 9 dcaminlsoGetStatistics During operation
75. mera API which is used on the output side to handle incoming control requests and to transmit processed image data 1 3 Notational conventions Names of registers bit fields and single bits are written in capital letters Example HWCFG Names of signals are also given in capital letters active low signals are marked with a at the beginning of the name Example RESETIN Configuration parameters function names path names and file names are written in italic typeface Example dev_id Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG MS DCAM Video Processing Development Kit Je me 11 T OS orsys Page 7 Source code examples are given in a small fixed width typeface Example int a 10 Menus and commands from menus and submenus are enclosed in double quotes Example Create a new project using the Create Project command from the File menu The members of a bit field or a group of signals are numbered starting at zero which is the least significant bit Example CFG 4 0 identifies a group of five signals where CFGO is the least significant bit and CFG4 is the most significant bit If necessary numbers are represented with a suffix that specifies their base Example 12AB46 is a hexadecimal number base 16 hexadecimal and is equal to 477940 The bit fields of a register are displayed with the most significant bit to the left Below each bit field is a description o
76. n Current Procces Driver Location a My System A TM5320C64xx C CCStudio_v3 3 drivers tixds6400_ C64xx XDS510 Emule Rename F2 Remove Del Treat As Bypass Properties Alt Enter E Edits the properties of the selected object Custom Boards Code Composer Studio Setup ew Help System Configuration Current Procces Driver Location a My System A 1M5320C64xx C CCStudio_v3 3 driversitixds6400_ C64xx XDS510 Emule ecru Processor Properties Property c Orsys DCAM_VideoProcessi L Master Slave N A Change property value as necessary in the right column Summary Cancel 4 3 Development Flow Development flow is the same as described in 11 for DSP BIOS applications with the following additional requirements e The necessary header files for the DCAM libraries must be included where required in the source code These are combined into one header file DcamVideoAPI h e The chip support library cs 6412 lib must be added to the project as source file or as linker option e The DCAM libraries dcam_frame_capture lib dcam_camera lib must be added to the project as source file or as linker option e The IEEE1394 libraries ynxapi7 lib lynxapi2 lib lynxhal1 lib lynxhal2 lib must be added to the project as source file or as linker option s The software streaming library sw_str lib must be added to the project as source file or as linker option e The board library c6412cpt
77. ng oading riting 30004 P_EXAMPLE Started At Address 8 FBDCA LCHEX gt File UP_EXAMPLE 26 File UP_EXAMPLE amp 1 File UP_EXAMPLE amp 2 File UP_EXAMPLE amp 3 Target Address 8 FDS2 CHEX gt S 914 CHEX gt Bytes Loaded ownload Time 48 5 Seconds Ors ys DCAM_UP_DevKit _C6412Compact_vi1 C6412Compact examples UP_Example Debug gt Figure 3 Session example storing application code to flash memory A detailed description of all Flash File System commands can be found in 2 4 8 Storing FPGA Code in Flash Memory As already mentioned in section 2 2 6 the C6412Compact already has FPGA code stored in the FFS so that it can instantly be used However storing FPGA code to the FFS is necessary When FPGA code updates must be installed If a customized FPGA design is used If FPGA code was accidentally deleted For deployment of end systems Here the C6412Compact is purchased standalone and has only the default application toggle_led in the FFS The steps below show how to store the micro line busmaster FPGA to flash memory for a 4Mgates XC3S4000 device Close or disconnect the terminal program if still running to make the COM port available to the FFS utilities If CCS is still connected to the C6412Compact Connected displayed in the status bar disconnect by selecting Disconnect from the Debug menu or by pressing A C Press the reset button on the power supply board Start a command
78. ng high speed image pre processing in the FPGA Ge USER S GUIDE Date 26 February 2009 x l Doc no DCAM_VP_DevKit_UG euer DCAM Video Processing Development Kit Je me 11 TTP Ee Page 57 9 List of abbreviations used in this document API BSP CCS CPU CSL DCAM DMA e g EDMA FFS FIFO FPGA i e IEEE IEEE1394 IIDC JTAG LED Mbps PDT SDRAM TBC TBD TI UART VGA YUV application programming interface board support package a combination of software and FPGA design that provides further functionality to the C6412Compact Code Composer Studio le development environment Central Processing Unit processor chip support library a library with DSP specific functions provided by TI digital camera direct memory access a fast data transfer method exempli gratia Latin for example enhanced DMA a specific kind of DMA used in C6000 DSPs flash file system a proprietary file system residently installed on Orsys CPU boards first in first out a specific kind of sequential memory field programmable gate array id est Latin that is Institute of Electrical and Electronics Engineers Inc specification of a high speed serial bus Instrumentation and Industrial Control Working Group II WG of the 1394 Trade Association Digital Camera Sub Working Group DC SWG Joint Test Action Group name of an interface for testing and debugging hardware light emitting diode
79. nt Kit Je me 11 TTP Re orsys Page WER parameters none return value DCAMOUT_SUCCESS Successful completion 0000 OFFFh Error code from IEEE1394 API FOOO FFFFh Error code from software streaming library see 5 7 4 Status Codes Below is a list of status codes used by the system specific functions Most of these status codes are defined in the system specific header files dcaminiso h and dcamoutiso h however application software should not include these headers files directly but include dcaminApi h and dcamoutApi h which in turn include the system specific headers The remaining status codes are already defined and explained in 4 but are listed here together with additional error conditions that come from system specific functions Please note that some more detailed error information can be obtained by functions dcamoutlsoGetLastError and dcaminlsoGetLastError see sections TBD and TBD DCAM Frame Capture API see DI DCAMOUT_ERROR_ISO_INIT 208 1h DCAMOUT ERROR UNSUPPORTED ISO CHANNEL DCAMOUT ERROR INVALID ISO_PACKET SIZE see 4 DCAM Camera API DCAMOUT ERROR UNSUPPORTED ISO SPEED Table 3 Status codes summary DCAMOUT_SUCCESS _ 0000h DCAM Camera API 7 4 1 DCAMIN_ERROR_INVALID_PARAMETER Returned by dcaminIsoListen if e parameter eMode is not OneChannel or AllChannel e parameter iFirstChannelNo or iSecondChannelNo is out of the allowed range of 0 to 63 7 4 2 DCAMIN_ERROR_ISO_RESOURCE Resource allocation
80. oftware package This happens only if the interface was not yet opened or psStat is a nullpointer 7 4 8 DCAMOUT_ERROR_ISO_INIT An error was returned by the streaming software package during initialization Possible reasons is that streaming was already initialized and opened 7 4 9 DCAMOUT_ERROR_ISO_START An error was returned by the streaming software package when setting up isochronous transmit operation Most probable reasons are e Streaming has already been set up dcamoutisoTalk called more than once e Some resource isn t available due to an aborted previous operation If this error happens during development the C6412Compact must be initialized using the GEL file before the software is loaded and executed 7 4 10 DCAMOUT_ERROR_ISO_STOP Stopping streaming failed Most probable reasons are e Streaming was already stopped e Streaming didn t stop in time e g due to a missing cycle master on IEEE1394 interface 2 7 4 11 DCAMOUT_ERROR_ISO_BUFSTAT Status query returned an error and bEmpty is set to FALSE Possible reasons are e Buffer index is out of range e Streaming operation was not started is already stopped Ge USER S GUIDE Date 26 February 2009 l Doc no DAN VE Det UG MS DCAM Video Processing Development Kit Je me 11 T OS orsys Page 755 7 4 12 DCAMOUT_ERROR_ISO_BUFFER Lock Buffer number out of range or interface is currently closed dcamoutlsoTalk wasn t called Submit An error
81. peration stopped transfer statistics Buffers received transmitted Buffers released submitted Double buffer runs in out Buffer errors in out Last error in buf Restart errors in out Last error in buf Overflow errors in out Last overflow in buf Underflow errors in out Last underflow in buf DM port errors in out Last DM port error in buf 1394 ApiErrors in out Last 1394 Api error code Synchronization errors Last sync error in buf verbunden 03 09 28 115200 8 N 1 The application example is described in detail in chapter 5 Ge USER S GUIDE Date 26 February 2009 1 Doc no DCAM_VP_Devkit_UG Soraya DCAM Video Processing Development Kit Le ei 11 07 Page 16 4 Software Development This chapter describes what is necessary to develop video processing applications on the C6412Compact Further hints for application development can be found throughout chapter 5 1 4 1 Installation Simply copy the contents of the distribution media to a convenient location on your development PC e g c Orsys Then add the path to the Flash File System utilities to the Path environment variable eg set PATH PATH c Orsys PC_FlashFileSystem_Tools For a description of how to set environment variables please refer to your operating system documentation 4 2 Required Tools For program development debugging and download you need e a development PC e a JTAG emulator from Texas Instruments e
82. pter describes the video processing application example named VP_example in detail 5 1 VP_example VP_example implements a simple processing algorithm The incoming picture is dimmed by 50 intensity except for those pixels that have changed with respect to the last frame This has the effect of highlighting changes in the image Figure 5 VP_example output still image vs moving The example is written as a DSP BIOS application configured for 720MHz CPU clock and 64MB SDRAM If a C6412Compact with different settings is used a different DSP BIOS configuration script must be used It can be created from the default script VP_example_720MHz_64MB tcf Note as indicated later on the example uses GPO 11 and GPO 12 for triggering EDMA transfers These signals are available on micro line connector pins B23 and B24 respectively for measurements If the example is running on a different hardware environment care must be taken that these pins are not connected otherwise 5 1 1 Application structure VP_example consists of 4 modules e main c contains system initialization the main control task and the frame processing task s img_proc c contains the image processing algorithm Ly USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Re orsys Page 20 e camera_callbacks c handles incoming control requests from a camera controller typically
83. ra controller and is stored in the DCAMOUTs_VIDEO_DATA structure that was passed to dcamoutinitialize VideoStatCtrlRegs by the DCAM camera API Isochronous transmit packet size in bytes The packet size is determined by the current format mode frame rate For format 0 1 and 2 fixed packet sizes are being used and can be queried by function dcaminQueryPacketSize For format 7 available packet sizes are set up by the camera can be queried with function dcaminQueryCameraFormat7 and can be modified by the camera controller Isochronous transmit speed Valid values are Speed_100 Speed_200 and Speed_400 The actual speed must be the same as set up by the camera controller and is stored in the DCAMOUTs_VIDEO_DATA structure that was passed to dcamoutinitializeVideoStatCtriRegs by the DCAM camera API DSP BIOS resource lock handle for IEEE1394 interface 2 Typically D ck refers to a LCK object which is defined in the DSP BIOS configuration script tcf file of the video processing application hLck is used internally by the API to lock against multiple accesses to the hardware DSP BIOS semaphore handle for generating outgoing frame buffer events hSem will be posted whenever a frame has been completely transferred to the streaming core in the FPGA so that the corresponding buffer is now empty and can be filled again Typically hSem refers to a SEM object which is defined in the DSP BIOS configuration script tcf file of the video proces
84. rrently only a message is printed e VideoSettingsCallback should set up operation according to the parameters written by the camera controller Depending on the application this may involve o Modifying the image processing algorithm to generate a different output format o Modifying the settings of the input side thus forwarding the video setting to the camera used as image source e soEnableCallback This callback controls start and stop of operation by setting the appropriate event flags bStartEvent and bStopEvent These flags are polled in the main control task where the appropriate action is performed and the flags are reset Please note that this mechanism must be implemented because API calls from within a callback function are not allowed and callback execution time should be minimized e FeatureStatCtrlCallback should take the appropriate action depending on the accessed feature For example when the camera controller increases brightness the callback could set an event flag that causes the new brightness value to be forwarded to the connected camera Or the callback could update a variable that controls the output intensity of the image processing algorithm 5 1 8 Resource Usage VP_example uses the typical resources occupied by DSP BIOS such as a timer plus the following e Both IEEE1394 interfaces RS 232 for message output External interrupts 4 and 5 for operation of the IEEE1394 APIs GPO 11 and GPO 12 for triggering EDMA
85. sing application If frame buffer events are not required hSem can be set to NULL DCAMOUT_SUCCESS Successful completion DCAMOUT_ERROR_INVALID_ PARAMETER Channel number packet size or transmit speed are out of range DCAMOUT_ERROR_ISO_START See chapter 7 4 7 3 4 dcamoutlsoGetBufferState While isochronous transmit is active dcamoutGetBufferState can be used to check the state of a specific frame buffer Typically this is only used for diagnostic purposes and availability of a free output buffer is checked using a semaphore defined in dcamoutApi h synopsis DCAM STATUS dcamoutIsoGetBufferState INT32U u32Buffer BOOL bEmpty Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG MS DCAM Video Processing Development Kit Je me 11 T OS orsys Page EN parameters u32Buffer Number of the buffer to be queried Valid range is 0 to u32BufferCount 1 where u32BufferCount was used as parameter for dcamoutlsoListen bEmpty State of the specified buffer set by dcamoutlsoGetBufferState after return TRUE indicates that the buffer is empty and can be filled again by image processing software After the buffer is filled again it must be transmitted by calling dcamoutlsoSubmitBuffer FALSE indicates that the buffer is still filled has not yet been completely transmitted return value DCAMOUT_SUCCESS Successful completion bEmpty is set to the current buffer state DCAMOUT_ERROR_ISO_BUF
86. status registers with function InitCameraStatCtrlRegs Setting these values allows a camera controller to directly start operation without prior setup However in most cases the camera controller will do a complete setup and overwrite these defaults Default settings are Ge USER S GUIDE Date 26 February 2009 x l Doc no DCAM_VP_DevKit_UG hi DCAM Video Processing Development Kit IG m S 7 orsys Page 36 e video format mode and frame rate as previously set up e isochronous channel 0 e isochronous transmit speed of 400Mbps Up to now only the minimum required setup was implemented The remaining steps implement two camera features brightness and sharpness These features do not have any influence on the image but rather demonstrate feature implementation and indicate feature access by callback functions First part of feature setup is setting up the features and their capabilities function SetupFeaturelnquiryRegs Then the initial feature settings are set up by function InitFeatureStatCtrlRegs Next step is installing a common callback function for feature write accesses This callback will generate messages when a feature is changed by the camera controller Final step is to install all feature related registers 5 1 7 Output side Callbacks Operation of the output side requires the following callback functions to be installed e nitializeCallback should initialize the output side to power up defaults Cu
87. t and also starts transmission The DCAM Camera library sets a flag in the FPGA hardware that marks the next data word as the first of a frame for sync bit insertion Whenever the transmit FIFO in the FPGA has enough space the FPGA triggers an EDMA transfer via GPO 12 This transfers the processed image data from the output frame buffer to the transmit FIFO in the FPGA The first data word of each frame has a flag set that causes sync bit insertion in the first packet s header so that the receiver can synchronize to frame start The image data is transferred from the transmit FIFO to IEEE1394 interface 2 in 1394 packets The camera controller receives the image data synchronizes to frame start and displays the image data Ge USER S GUIDE Date 26 February 2009 l l Doc no DAN VB Deet UG hei DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 39 6 System specific Data Types Some data types of the DCAM frame capture and the DCAM camera APIs are specific to the features of the respective hardware These types are described in this chapter 6 1 Incoming Streaming Statistics This data type is the same as S_STR_RX_STATISTICS described in 5 It is defined as transfer and error statistics for each error the buffer number where the last error occured is stored except for IEEE1394 API errors where the last error code is stored typedef struct transfer statistics
88. tely In this case please refer to section 5 1 10 for modification instructions At startup the frame processing task is disabled by assigning priority 1 in the DSP BIOS configuration script bios TSK create TSK_frame_xfer bios TSK instance TSK frame_xfer bios TSK instance TSK frame_xfer bios TSK instance TSK frame_xfer bios TSK instance TSK frame_xfer order 2 Comment frame buffer management and image processing priority 1 fxn prog extern FXN frame_xfer When the first start command is executed by the main control task the frame transfer task is started executes SEM_pend and gets suspended again until the first frame has been received After reception of the first frame the task is activated and calls SEM_pend for the output buffer This call immediately returns because all buffers are initially available and SEM_post has been called for each buffer during execution of dcamoutlsoTalk in the main control task when starting operation 5 1 5 Image Processing The image processing function Processimage gets both buffer objects and the current buffer index as parameters The current algorithm compares the Y part of each pixel against the respective pixel of the previous image If there is a change in intensity that is larger than 12 5 the pixel is left unmodified If the pixel s intensity didn t change the Y part is reduced by 50 During execution of the image processing
89. transfers available for measurement on connector pins B23 and B24 EDMA channel 51 for the input side EDMA channel 52 for the output side 4 EMDA reload channels one for each frame buffer End of EDMA interrupt using the CSL s interrupt dispatcher that allows additional interrupts on other channels e DSP BIOS objects as listed in section 4 4 7 and following 5 1 9 Performance When running on a C6412Compact with 720MHz CPU clock the image processing function of VP_example takes roughly 11ms in debug configuration and 3ms in Release configuration Further speed up may be achieved by using in place image processing where the same buffer is used for input and output However many image processing algorithms including the one of VP_example require separate input and output buffers Ge USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG M DCAM Video Processing Development Kit Je me 11 T T OS orsys Page 37 5 1 10 Modifying for In place Processing Modifying VP_example for in place common frame buffers operation can speed up image processing but requires a suitable image processing algorithm e Remove one of the frame buffer objects and rename the other to some common name This must be done in the DSP BIOS configuration tcf file the declaration definition and call of the image processing function the image processing function itself API functions dcaminI soListen and dcamoutlsoTalk
90. ufIdx hSrc gt size pul 6 Dst Uint16 Uint32 hDst gt startaddr u32BufIdx X hDst gt size processing loop in units of 2 pixels UY pixel followed by VY pixel 4 byte total SH i 0 i lt hSrc gt size 4 i Get 2 pixel of input data The byte locations in memory are as defined in the IIDC spec U Y V Y U Y However due to the 16 bit read and the little endian architecture Y gets into the MSB and U V into the LSB ul6Pixl pul 6Cur ul6Pix2 pul 6Cur calculate intensity difference between current and previous frame for each pixel u8Deltal ul6Pixl gt gt 8 pul Prev gt gt 8 u8Delta2 ul6Pix2 gt gt 8 pul 6Prev gt gt 8 dim intensity if difference to previous frame doesn t exceed threshold if u8Deltal lt POS LIMIT u8Deltal gt NEG LIMIT ul6Pixl ul6Pix1l 2 amp OxFFOO u16Pix1l amp OxO0OFF if u8Delta2 lt POS LIMIT u8Delta2 gt NEG LIMIT ul6Pix2 u1l6Pix2 2 amp OxFFOO u16Pix2 amp OxO0OFF write to output buffer pul 6Dst ul6Pixl pul6Dst ul6Pix2 C6412CPT RED LED OFF endif For testing the unmodified image can be enabled by changing the line if 0 direct route through for testing to if 1 direct route through for testing 5 1 6 Output side Setup Setting up the output side is implemented in file camera_setup c
91. us DCAMIN_SUCCESS fprintf fid_write Can t setup format mode rate dcaminSetVideoData returned 04Xh r n Status dcaminCloseCameraHandle hCamera hCamera NULL format mode rate setup if hCamera NULL set up isocohronous transmit settings sCurIso usIsoChannel 0 sCurIso eTransmitSpeed S400 Status dcaminSetIsoData hCamera amp sCurIso if Status DCAMIN_ SUCCESS fprintf fid_write can t setup transmit parameters dcaminSetIsoData returned 04Xh r n Status dcaminCloseCameraHandle hCamera hCamera NULL else display resulting parameters iFrameSize dcaminQueryFrameSize sCurVideo eVideoFormat sCurVideo eVideoMode fprintf fid_write Frame Size d Byte r n iFrameSize iPacketSize dcaminQueryPacketSize sCurVideo eVideoFormat sCurVideo eVideoMode sCurVideo eFrameRate fprintf fid_write Packet Size d Byte r n iPacketSize iPackPerFrame iFrameSize iPacketSize fprintf fid_write Packets Per Frame d r n iPackPerFrame isochronous parameters setup camera selection input side bus reset handling For the output side there is no special bus reset necessary API callbacks are processed until bus reset processing has finished This ensures that the output side is ready before a start command is being processed If there is neither a camera connected nor a bus reset in progress IEEE1394 operation
92. uture version may require a similar memory layout to support PDT transfers but currently this is not supported If the two section memory layout is not desired the default memory layout can be taken from the board library s configuration files e g c6412cpt_720MHz_64MB tcf This must be done manually with a text editor loading the generic platform var mem_ext mem ext 0 comment on board SDRAM 64MB name ERAM base 0x80000000 len 0x04000000 space code data i VP_example was configured for a C6412Compact with 64MB SDRAM To modify the two section memory layout for 128MB the following changes must be done with a text editor loading the generic platform var mem_ext mem ext 0 comment on board SDRAM lower 64MB name ERAM APP base 0x80000000 len 0x04000000 space code data mem_ext 1 comment on board SDRAM upper 64MB name ERAM BUFFERS base 0x84000000 len 0x04000000 space code data ks bios GBL C641XMARCEO Ox0O0ff 4 4 2 Clock Rate By default the application example is set up for a clock rate of 720 MHz which is recommended for video processing operation If a C6412Compact with 600 MHz is used the configuration file must be modified as follows with a text editor Le USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Ee orsys Page 19
93. vailable abort fprintf fid_write No suitable FPGA available Need ML busmaster v2 0 or higher r n StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1 Ge USER S GUIDE Date 26 February 2009 l l Doc no DCAM_VP_Devkit_UG hei DCAM Video Processing Development Kit Je me 11 TTP Re orsys Page 127 Next step is initialization of the DCAM APIs DCAM Frame Capture API for the input side and DCAM Camera API for the output side Both APIs use IDs stored in the Flash File System for unique identification on the IEEE1394 interface Initialization is done in two steps initialize 1394 interface 1 as input from a camera DCAM frame capture side sinCameraInit pBusResetCompleteCallback appinBusResetCallback sinCameraInit pErrorDetectedCallback NULL if F sDescrQueryDec Board SerialNumber amp sinCameraInit ulChipIdLow FFS DESCR_OK F sDescrQueryDec 1394 1 ChipIdHigh amp u32Tmp FFS DESCR_OK fprintf fid_write Can t get 1394 IDs from FFS r n StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1 sinCameraInit ucChipIdHigh u32Tmp Status dcaminInitialize amp sinCameraInit if Status DCAMIN_ SUCCESS fprintf fid_write dcaminInitialize failed with code 04Xh r n Status StdioifFlush only required allowed in main C6412CPT RED LED ON SYS exit 1
94. y This ensures that only complete frames are transmitted Transfer statistics are stored for later retrieval by dcamoutlsoGetStatistics defined in dcamoutApi h synopsis DCAM STATUS dcamoutIsoStop void parameters none return value DCAMOUT_SUCCESS Successful completion DCAMOUT_ERROR_ISO_STOP See chapter 7 4 7 3 8 dcamoutlsoGetStatistics During operation transfer statistics are collected These can be queried during or after operation to determine the number of processed frames or to check for errors defined in dcamoutApi h synopsis DCAM_STATUS dcamoutIsoGetStatistics S_DCAMOUT_ STATISTICS psStat 7 parameters psStat Pointer to statistics structure which is initialized by dcamoutlsoGetStatistics For a description of this structure see chapter 6 2 return value DCAMOUT_SUCCESS Successful completion DCAMOUT_ERROR_ISO_STATISTICS See chapter 7 4 7 3 9 dcamoutlsoGetLastError Internally the isochronous functions call functions of the IEEE1394 API of the software streaming library Error codes returned by these functions are stored and can be retrieved by dcamoutGetLastError for more detailed information about an error The return value is the status code of the last called internal API function defined in dcamoutApi h synopsis DCAM STATUS dcamoutIsoGetLastError void MP USER S GUIDE Date 26 February 2009 l Doc no DCAM_VP_DevKit_UG he DCAM Video Processing Developme

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