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drivers/usbdev: add UVC gadget class driver
Add USB Video Class 1.1 gadget driver supporting Bulk transport with uncompressed YUY2 video streaming. Resolution and frame interval are negotiated dynamically via PROBE/COMMIT control. - uvc.h: protocol constants, streaming control struct, public API - uvc.c: class driver with PROBE/COMMIT, bulk EP, /dev/uvc0 chardev - Kconfig/Make.defs: USBUVC config and build rules - boardctl.c: BOARDIOC_USBDEV_UVC standalone init path Hardened against host disconnect: - Removed nxmutex_lock from USB interrupt context paths - Added 30s semaphore timeout in uvc_write with EP_CANCEL fallback - Drain stale wrsem counts in VS_COMMIT before new stream - Guard uvc_streaming_stop() against double EP_CANCEL race - Handle EP_SUBMIT returning -ESHUTDOWN gracefully Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This commit is contained in:
wangjianyu3
Alan C. Assis
parent
99afb5ee34
commit
4775b36316
9 changed files with 2170 additions and 0 deletions
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@ -44,6 +44,7 @@ following section.
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syslog.rst
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sdio.rst
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usbdev.rst
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uvc.rst
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usbhost.rst
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usbmisc.rst
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usbmonitor.rst
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127
Documentation/components/drivers/special/uvc.rst
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127
Documentation/components/drivers/special/uvc.rst
Normal file
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@ -0,0 +1,127 @@
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======================================
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USB Video Class (UVC) Gadget Driver
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======================================
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Overview
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========
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The UVC gadget driver (``drivers/usbdev/uvc.c``) implements a USB Video Class
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1.1 device that makes NuttX appear as a USB webcam to the host. The driver
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exposes a character device (``/dev/uvc0``) that applications write video frames
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to. It handles all UVC class-specific control requests (PROBE / COMMIT)
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internally and uses bulk transfers for video data.
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The driver supports two modes:
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- **Standalone** – the UVC function is the only USB class on the bus.
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- **Composite** – the UVC function is combined with other USB class drivers
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(e.g. CDC/ACM) via the NuttX composite device framework.
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Features
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========
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- UVC 1.1 compliant (uncompressed YUY2 format)
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- Bulk transfer mode for video data
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- Automatic PROBE / COMMIT negotiation with the host
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- ``poll()`` support – applications can wait for the host to start streaming
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(``POLLOUT``) and detect disconnection (``POLLHUP``)
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- Runtime video parameters – resolution and frame rate are passed at
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initialization time, so USB descriptors always match the actual sensor
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- ``boardctl()`` integration for easy application-level bring-up
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Configuration
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=============
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The driver is enabled through the following Kconfig options:
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.. code-block:: kconfig
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CONFIG_USBUVC=y # Enable UVC gadget support
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CONFIG_USBUVC_COMPOSITE=n # Set y for composite device mode
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CONFIG_USBUVC_EPBULKIN=1 # Bulk IN endpoint number (standalone)
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CONFIG_USBUVC_EP0MAXPACKET=64 # EP0 max packet size (standalone)
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CONFIG_USBUVC_EPBULKIN_FSSIZE=64 # Bulk IN full-speed max packet size
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CONFIG_USBUVC_NWRREQS=4 # Number of pre-allocated write requests
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CONFIG_USBUVC_NPOLLWAITERS=2 # Number of poll waiters
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Header Files
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============
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- ``include/nuttx/usb/uvc.h`` – Public API, UVC descriptor constants, and
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data structures.
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Data Structures
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===============
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``struct uvc_params_s``
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-----------------------
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Passed to the initialization function so that USB descriptors reflect the
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actual sensor capabilities::
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struct uvc_params_s
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{
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uint16_t width; /* Frame width in pixels */
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uint16_t height; /* Frame height in pixels */
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uint8_t fps; /* Frames per second */
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};
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Public Interfaces
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=================
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Standalone Mode
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---------------
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``usbdev_uvc_initialize()``
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Initialize the UVC gadget and register ``/dev/uvc0``. *params* may be
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``NULL`` to use defaults (320 × 240 @ 5 fps). Returns a handle for later
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``usbdev_uvc_uninitialize()``.
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``usbdev_uvc_uninitialize()``
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Tear down the UVC gadget and unregister the character device.
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Composite Mode
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--------------
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``usbdev_uvc_classobject()``
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Create a UVC class driver instance for use inside a composite device.
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``usbdev_uvc_classuninitialize()``
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Destroy a class driver instance created by ``usbdev_uvc_classobject()``.
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``usbdev_uvc_get_composite_devdesc()``
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Fill a ``composite_devdesc_s`` for the composite framework.
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boardctl Integration
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--------------------
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Applications can manage the UVC gadget through ``boardctl()``::
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struct boardioc_usbdev_ctrl_s ctrl;
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struct uvc_params_s params = { .width = 320, .height = 240, .fps = 15 };
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FAR void *handle = (FAR void *)¶ms;
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ctrl.usbdev = BOARDIOC_USBDEV_UVC;
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ctrl.action = BOARDIOC_USBDEV_CONNECT;
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ctrl.instance = 0;
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ctrl.config = 0;
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ctrl.handle = &handle;
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boardctl(BOARDIOC_USBDEV_CONTROL, (uintptr_t)&ctrl);
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/* ... use /dev/uvc0 ... */
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ctrl.action = BOARDIOC_USBDEV_DISCONNECT;
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boardctl(BOARDIOC_USBDEV_CONTROL, (uintptr_t)&ctrl);
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Device Operation
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================
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1. The application opens ``/dev/uvc0`` for writing.
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2. Use ``poll()`` with ``POLLOUT`` to wait for the USB host to start streaming
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(i.e. the host sends a VS_COMMIT_CONTROL SET_CUR request).
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3. Write complete video frames via ``write()``. The driver prepends a 2-byte
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UVC payload header (with FID / EOF bits) automatically.
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4. When the host stops streaming, ``write()`` returns ``-EAGAIN``. The
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application can ``poll()`` again to wait for the host to restart.
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5. ``POLLHUP`` is reported when the host explicitly stops streaming.
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@ -56,6 +56,7 @@
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# include <nuttx/usb/cdcacm.h>
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# include <nuttx/usb/pl2303.h>
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# include <nuttx/usb/usbmsc.h>
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# include <nuttx/usb/uvc.h>
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# include <nuttx/usb/composite.h>
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#endif
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@ -206,6 +207,44 @@ static inline int
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break;
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#endif
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#if defined(CONFIG_USBUVC) && !defined(CONFIG_USBUVC_COMPOSITE)
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case BOARDIOC_USBDEV_UVC: /* UVC class */
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switch (ctrl->action)
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{
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case BOARDIOC_USBDEV_INITIALIZE: /* Initialize UVC device */
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break;
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case BOARDIOC_USBDEV_CONNECT: /* Connect the UVC device */
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{
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FAR const struct uvc_params_s *params;
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DEBUGASSERT(ctrl->handle != NULL);
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/* Application passes video params via *handle */
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params = (FAR const struct uvc_params_s *)*ctrl->handle;
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*ctrl->handle = usbdev_uvc_initialize(params);
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if (*ctrl->handle == NULL)
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{
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ret = -EIO;
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}
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}
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break;
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case BOARDIOC_USBDEV_DISCONNECT: /* Disconnect the UVC device */
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{
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DEBUGASSERT(ctrl->handle != NULL && *ctrl->handle != NULL);
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usbdev_uvc_uninitialize(*ctrl->handle);
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}
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break;
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default:
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ret = -EINVAL;
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break;
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}
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break;
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#endif
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#ifdef CONFIG_USBDEV_COMPOSITE
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case BOARDIOC_USBDEV_COMPOSITE: /* Composite device */
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switch (ctrl->action)
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@ -61,6 +61,10 @@ if(CONFIG_USBDEV)
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list(APPEND SRCS mtp.c)
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endif()
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if(CONFIG_USBUVC)
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list(APPEND SRCS uvc.c)
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endif()
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if(CONFIG_NET_CDCECM)
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list(APPEND SRCS cdcecm.c)
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endif()
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@ -948,6 +948,51 @@ config USBADB_INTERFACESTR
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endif # USBADB
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menuconfig USBUVC
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bool "USB Video Class (UVC) gadget support"
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default n
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depends on USBDEV
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---help---
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Enables USB Video Class (UVC) gadget device support.
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The device appears as a USB webcam to the host.
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if USBUVC
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config USBUVC_COMPOSITE
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bool "UVC composite support"
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default n
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depends on USBDEV_COMPOSITE
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---help---
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Configure the UVC driver as part of a composite USB device.
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When enabled, the UVC gadget can be combined with other USB
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class drivers (e.g., CDC/ACM) in a single composite device.
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if !USBUVC_COMPOSITE
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config USBUVC_EPBULKIN
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int "Bulk IN endpoint number"
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default 1
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config USBUVC_EP0MAXPACKET
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int "Max packet size for EP0"
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default 64
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endif # !USBUVC_COMPOSITE
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config USBUVC_EPBULKIN_FSSIZE
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int "Bulk IN full-speed max packet size"
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default 64
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config USBUVC_NWRREQS
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int "Number of write requests"
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default 4
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config USBUVC_NPOLLWAITERS
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int "Number of poll waiters"
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default 2
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endif # USBUVC
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menuconfig USBMSC
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bool "USB Mass storage class device"
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default n
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@ -56,6 +56,10 @@ ifeq ($(CONFIG_USBADB),y)
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CSRCS += adb.c
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endif
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ifeq ($(CONFIG_USBUVC),y)
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CSRCS += uvc.c
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endif
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ifeq ($(CONFIG_USBMTP),y)
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CSRCS += mtp.c
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endif
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1665
drivers/usbdev/uvc.c
Normal file
1665
drivers/usbdev/uvc.c
Normal file
File diff suppressed because it is too large
Load diff
282
include/nuttx/usb/uvc.h
Normal file
282
include/nuttx/usb/uvc.h
Normal file
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@ -0,0 +1,282 @@
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/****************************************************************************
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* include/nuttx/usb/uvc.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_USB_UVC_H
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#define __INCLUDE_NUTTX_USB_UVC_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/usb/usbdev.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* UVC device descriptor counts - used by both standalone and composite */
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#define USBUVC_NINTERFACES 2 /* VC + VS */
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#define USBUVC_NUM_EPS 1 /* Bulk IN only */
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#define USBUVC_EP_BULKIN_IDX 0
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#define USBUVC_NSTRIDS 2 /* VC iInterface + VS iInterface */
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#define USBUVC_NCONFIGS 1
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/* UVC Class-Specific Descriptor Types (USB Video Class 1.1, Table A-4) */
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#define UVC_CS_UNDEFINED 0x20
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#define UVC_CS_DEVICE 0x21
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#define UVC_CS_CONFIGURATION 0x22
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#define UVC_CS_STRING 0x23
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#define UVC_CS_INTERFACE 0x24
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#define UVC_CS_ENDPOINT 0x25
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/* UVC Interface Subclass Codes (Table A-2) */
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#define UVC_SC_UNDEFINED 0x00
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#define UVC_SC_VIDEOCONTROL 0x01
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#define UVC_SC_VIDEOSTREAMING 0x02
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#define UVC_SC_VIDEO_INTERFACE_COLLECTION 0x03
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/* UVC Interface Protocol Codes (Table A-3) */
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#define UVC_PC_PROTOCOL_UNDEFINED 0x00
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#define UVC_PC_PROTOCOL_15 0x01
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/* UVC VideoControl Interface Descriptor Subtypes (Table A-5) */
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#define UVC_VC_DESCRIPTOR_UNDEFINED 0x00
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#define UVC_VC_HEADER 0x01
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#define UVC_VC_INPUT_TERMINAL 0x02
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#define UVC_VC_OUTPUT_TERMINAL 0x03
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#define UVC_VC_SELECTOR_UNIT 0x04
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#define UVC_VC_PROCESSING_UNIT 0x05
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#define UVC_VC_EXTENSION_UNIT 0x06
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/* UVC VideoStreaming Interface Descriptor Subtypes (Table A-6) */
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#define UVC_VS_UNDEFINED 0x00
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#define UVC_VS_INPUT_HEADER 0x01
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#define UVC_VS_OUTPUT_HEADER 0x02
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#define UVC_VS_STILL_IMAGE_FRAME 0x03
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#define UVC_VS_FORMAT_UNCOMPRESSED 0x04
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#define UVC_VS_FRAME_UNCOMPRESSED 0x05
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#define UVC_VS_FORMAT_MJPEG 0x06
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#define UVC_VS_FRAME_MJPEG 0x07
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#define UVC_VS_COLOR_FORMAT 0x0d
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/* UVC Terminal Types (Table B-1, B-2) */
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#define UVC_TT_VENDOR_SPECIFIC 0x0100
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#define UVC_TT_STREAMING 0x0101
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#define UVC_ITT_VENDOR_SPECIFIC 0x0200
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#define UVC_ITT_CAMERA 0x0201
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#define UVC_ITT_MEDIA_TRANSPORT_INPUT 0x0202
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#define UVC_OTT_VENDOR_SPECIFIC 0x0300
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#define UVC_OTT_DISPLAY 0x0301
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#define UVC_OTT_MEDIA_TRANSPORT_OUTPUT 0x0302
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/* UVC Class-Specific Request Codes (Table A-8) */
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#define UVC_RC_UNDEFINED 0x00
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#define UVC_SET_CUR 0x01
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#define UVC_GET_CUR 0x81
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#define UVC_GET_MIN 0x82
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#define UVC_GET_MAX 0x83
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#define UVC_GET_RES 0x84
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#define UVC_GET_LEN 0x85
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#define UVC_GET_INFO 0x86
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#define UVC_GET_DEF 0x87
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/* UVC VideoStreaming Interface Control Selectors (Table A-11) */
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#define UVC_VS_CONTROL_UNDEFINED 0x00
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#define UVC_VS_PROBE_CONTROL 0x01
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#define UVC_VS_COMMIT_CONTROL 0x02
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/* UVC Payload Header bits (Table 2-6) */
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#define UVC_STREAM_FID (1 << 0)
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#define UVC_STREAM_EOF (1 << 1)
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#define UVC_STREAM_PTS (1 << 2)
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#define UVC_STREAM_SCR (1 << 3)
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#define UVC_STREAM_RES (1 << 4)
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#define UVC_STREAM_STI (1 << 5)
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#define UVC_STREAM_ERR (1 << 6)
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#define UVC_STREAM_EOH (1 << 7)
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/* UVC Payload Header Length (minimum, no PTS/SCR) */
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#define UVC_PAYLOAD_HEADER_LEN 2
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/* GUID for YUY2 (MEDIASUBTYPE_YUY2) — we use this for uncompressed
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* Note: For RGB565 there is no standard UVC GUID. We advertise YUY2
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* and do a trivial RGB565→YUY2 conversion in the app, OR we define
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* a custom GUID. For Phase 1, we use YUY2 which is universally supported.
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*/
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#define UVC_GUID_FORMAT_YUY2 \
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{ 'Y', 'U', 'Y', '2', 0x00, 0x00, 0x10, 0x00, \
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0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71 }
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* UVC Video Probe and Commit Controls (Table 4-75) */
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begin_packed_struct struct uvc_streaming_control_s
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{
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uint16_t bmhint;
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uint8_t bformatindex;
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uint8_t bframeindex;
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uint32_t dwframeinterval;
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uint16_t wkeyframerate;
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uint16_t wpframerate;
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uint16_t wcompquality;
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uint16_t wcompwindowsize;
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uint16_t wdelay;
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uint32_t dwmaxvideoframesize;
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uint32_t dwmaxpayloadtransfersize;
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uint32_t dwclockfrequency;
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uint8_t bmframinginfo;
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uint8_t bpreferedversion;
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uint8_t bminversion;
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uint8_t bmaxversion;
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} end_packed_struct;
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#define UVC_PROBE_COMMIT_SIZE sizeof(struct uvc_streaming_control_s)
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|
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/* UVC gadget initialization parameters.
|
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* The application queries the video device at runtime and passes
|
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* these to usbdev_uvc_initialize() so that USB descriptors match
|
||||
* the actual sensor capabilities.
|
||||
*/
|
||||
|
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struct uvc_params_s
|
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{
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uint16_t width; /* Frame width in pixels */
|
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uint16_t height; /* Frame height in pixels */
|
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uint8_t fps; /* Frames per second */
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};
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/****************************************************************************
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* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
# define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
# define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbdev_uvc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the USB Video Class device driver.
|
||||
*
|
||||
* Input Parameters:
|
||||
* params - Video parameters (width, height, fps) queried from the
|
||||
* camera sensor. If NULL, defaults to 320x240 @ 5fps.
|
||||
*
|
||||
* Returned Value:
|
||||
* A non-NULL "handle" is returned on success.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
FAR void *usbdev_uvc_initialize(FAR const struct uvc_params_s *params);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbdev_uvc_uninitialize
|
||||
*
|
||||
* Description:
|
||||
* Uninitialize the USB Video Class device driver.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void usbdev_uvc_uninitialize(FAR void *handle);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbdev_uvc_classobject
|
||||
*
|
||||
* Description:
|
||||
* Create a UVC class driver instance for composite device usage.
|
||||
* Called by the composite framework (or board code) to instantiate
|
||||
* the UVC class driver with assigned interface/string/endpoint bases.
|
||||
*
|
||||
* Input Parameters:
|
||||
* minor - Device minor number (unused, pass 0).
|
||||
* devinfo - USB device info with ifnobase, strbase, epno[] assigned
|
||||
* by the composite framework.
|
||||
* params - Video parameters (width, height, fps). NULL = defaults.
|
||||
* classdev - Location to return the class driver instance.
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; negative errno on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int usbdev_uvc_classobject(int minor,
|
||||
FAR struct usbdev_devinfo_s *devinfo,
|
||||
FAR const struct uvc_params_s *params,
|
||||
FAR struct usbdevclass_driver_s **classdev);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbdev_uvc_classuninitialize
|
||||
*
|
||||
* Description:
|
||||
* Uninitialize a UVC class driver instance created by classobject.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void usbdev_uvc_classuninitialize(
|
||||
FAR struct usbdevclass_driver_s *classdev);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbdev_uvc_get_composite_devdesc
|
||||
*
|
||||
* Description:
|
||||
* Fill in a composite_devdesc_s structure for the UVC gadget.
|
||||
* Board code calls this, then sets ifnobase/strbase/epno[] before
|
||||
* passing to composite_initialize().
|
||||
*
|
||||
* Note: classobject/uninitialize are left NULL because UVC needs
|
||||
* extra params (uvc_params_s). Board code must set them.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_USBDEV_COMPOSITE
|
||||
void usbdev_uvc_get_composite_devdesc(
|
||||
FAR struct composite_devdesc_s *dev);
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __INCLUDE_NUTTX_USB_UVC_H */
|
||||
|
|
@ -373,6 +373,9 @@ enum boardioc_usbdev_identifier_e
|
|||
#ifdef CONFIG_USBMSC
|
||||
, BOARDIOC_USBDEV_MSC /* Mass storage class */
|
||||
#endif
|
||||
#ifdef CONFIG_USBUVC
|
||||
, BOARDIOC_USBDEV_UVC /* USB Video Class */
|
||||
#endif
|
||||
#ifdef CONFIG_USBDEV_COMPOSITE
|
||||
, BOARDIOC_USBDEV_COMPOSITE /* Composite device */
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue