[v4l2] Fix small bug in fetching image

paparazzi · Feb 24, 2015 · a62ce81 · a62ce81
1 parent 4a10e51
commit a62ce81
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 12 deletions.
diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c
@@ -35,7 +35,6 @@
 #include <sys/mman.h>
 #include <sys/ioctl.h>
 #include <linux/videodev2.h>
-#include <linux/v4l2-subdev.h>
 #include <pthread.h>
 
 #include "v4l2.h"
@@ -208,7 +207,7 @@ struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height
   fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   fmt.fmt.pix.width = width;
   fmt.fmt.pix.height = height;
-  fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;//V4L2_PIX_FMT_NV12;//V4L2_PIX_FMT_SGRBG12;//V4L2_PIX_FMT_UYVY;
+  fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
   fmt.fmt.pix.field = V4L2_FIELD_NONE;
 
   if (ioctl(fd, VIDIOC_S_FMT, &fmt) < 0) {
@@ -261,7 +260,6 @@ struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height
       close(fd);
       return NULL;
     }
-    printf("[v4l2] Mapping buffer %d with length %d from %s\n", i, buf.length, device_name);
   }
 
   // Create the device only when everything succeeded

diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h
@@ -29,6 +29,7 @@
 #define _CV_LIB_V4L2_H
 
 #include "std.h"
+#include <linux/v4l2-subdev.h>
 
 #define V4L2_IMG_NONE 255  //< There currently no image available
 
@@ -41,15 +42,15 @@ struct v4l2_img_buf {
 
 /* V4L2 device */
 struct v4l2_device {
-  char *name;                     //< The name of the device
-  int fd;                         //< The file pointer to the device
-  pthread_t thread;               //< The thread that handles the images
-  uint16_t w;                     //< The width of the image
-  uint16_t h;                     //< The height of the image
-  uint8_t buffers_cnt;            //< The number of image buffers
-  uint8_t buffers_deq_idx;        //< The current dequeued index
-  pthread_mutex_t mutex;          //< Mutex lock for enqueue/dequeue of buffers (change the deq_idx)
-  struct v4l2_img_buf *buffers;   //< The memory mapped image buffers
+  char *name;                       //< The name of the device
+  int fd;                           //< The file pointer to the device
+  pthread_t thread;                 //< The thread that handles the images
+  uint16_t w;                       //< The width of the image
+  uint16_t h;                       //< The height of the image
+  uint8_t buffers_cnt;              //< The number of image buffers
+  volatile uint8_t buffers_deq_idx; //< The current dequeued index
+  pthread_mutex_t mutex;            //< Mutex lock for enqueue/dequeue of buffers (change the deq_idx)
+  struct v4l2_img_buf *buffers;     //< The memory mapped image buffers
 };
 
 /* External functions */