From c0d1562d674585eaa5f089b323a9d9a109128989 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Fri, 4 Sep 2015 21:26:09 +0200
Subject: [PATCH] [video] main idea

---
 sw/airborne/boards/ardrone2.h         |  6 ++++
 sw/airborne/boards/bebop.h            |  3 ++
 sw/airborne/boards/bebop/video.c      | 20 ++++++++++++
 sw/airborne/subsystems/video_device.h | 45 +++++++++++++++++++++++++++
 4 files changed, 74 insertions(+)
 create mode 100644 sw/airborne/subsystems/video_device.h

diff --git a/sw/airborne/boards/ardrone2.h b/sw/airborne/boards/ardrone2.h
index cbba10fa890..608cb9ba67e 100644
--- a/sw/airborne/boards/ardrone2.h
+++ b/sw/airborne/boards/ardrone2.h
@@ -3,10 +3,16 @@
 
 #define BOARD_ARDRONE2
 
+#include "subsystems/video_device.h"
+
 #ifndef UART1_DEV
 #define UART1_DEV "/dev/ttyUSB0"
 #endif
 
+/* Cameras */
+extern struct video_device_t bottom_camera;
+extern struct video_device_t front_camera;
+
 /* Default actuators driver */
 #define DEFAULT_ACTUATORS "boards/ardrone/actuators.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorArdroneSet(_x,_y)
diff --git a/sw/airborne/boards/bebop.h b/sw/airborne/boards/bebop.h
index 45b72faf7ba..e1e50f2984f 100644
--- a/sw/airborne/boards/bebop.h
+++ b/sw/airborne/boards/bebop.h
@@ -34,6 +34,9 @@
 #define ActuatorsDefaultInit() ActuatorsBebopInit()
 #define ActuatorsDefaultCommit() ActuatorsBebopCommit()
 
+/* Cameras */
+extern struct video_device_t bottom_camera;
+extern struct video_device_t front_camera;
 
 /* by default activate onboard baro */
 #ifndef USE_BARO_BOARD
diff --git a/sw/airborne/boards/bebop/video.c b/sw/airborne/boards/bebop/video.c
index 4863542011c..1e1606f9352 100644
--- a/sw/airborne/boards/bebop/video.c
+++ b/sw/airborne/boards/bebop/video.c
@@ -37,6 +37,26 @@
 #include <linux/i2c-dev.h>
 #include <linux/types.h>
 
+#include "subsystems/video_device.h"
+
+struct video_device_t bottom_camera = {
+  .w = 640,
+  .h = 480,
+  .dev_name = "/dev/video0",
+  .subdev_name = NULL,
+  .format = V4L2_PIX_FMT_UYVY,
+  .filters = NULL
+};
+
+struct video_device_t front_camera = {
+  .w = 1408,
+  .h = 2112,
+  .dev_name = "/dev/video1",
+  .subdev_name = "/dev/v4l-subdev1",
+  .format = V4L2_PIX_FMT_SGBRG10,
+  .filters = NULL //{DeMosaic, AEC, ABW}
+};
+
 static bool_t write_reg(int fd, char *addr_val, uint8_t cnt)
 {
   char resp[cnt - 2];
diff --git a/sw/airborne/subsystems/video_device.h b/sw/airborne/subsystems/video_device.h
new file mode 100644
index 00000000000..3bbd1172bbe
--- /dev/null
+++ b/sw/airborne/subsystems/video_device.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2015
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file subsystems/video_device.h
+ * @brief v4l2 video device settings interface
+ * Works on Linux platforms
+ */
+
+#ifndef VIDEO_DEVICE_H
+#define VIDEO_DEVICE_H
+
+#include "std.h"
+#include "lib/v4l/v4l2.h"
+
+/** V4L2 device settings */
+struct video_device_t {
+  int w;              ///< Width
+  int h;              ///< Height
+  char* dev_name;     ///< path to device
+  char* subdev_name;  ///< path to sub device
+  uint32_t format;    ///< Video format
+  void* filters;      ///< filters to use
+};
+
+
+#endif /* VIDEO_DEVICE_H */