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source: azure_iot_hub_riscv/trunk/app_iothub_client/src/kpu_main.c@ 453

Last change on this file since 453 was 453, checked in by coas-nagasima, 4 years ago
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1	/*
2	* TOPPERS/ASP Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* Advanced Standard Profile Kernel
5	*
6	* Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
7	* Toyohashi Univ. of Technology, JAPAN
8	* Copyright (C) 2004-2012 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	*
11	* 上記著作権者は，以下の(1)～(4)の条件を満たす場合に限り，本ソフトウェ
12	* ア（本ソフトウェアを改変したものを含む．以下同じ）を使用・複製・改
13	* 変・再配布（以下，利用と呼ぶ）することを無償で許諾する．
14	* (1) 本ソフトウェアをソースコードの形で利用する場合には，上記の著作
15	* 権表示，この利用条件および下記の無保証規定が，そのままの形でソー
16	* スコード中に含まれていること．
17	* (2) 本ソフトウェアを，ライブラリ形式など，他のソフトウェア開発に使
18	* 用できる形で再配布する場合には，再配布に伴うドキュメント（利用
19	* 者マニュアルなど）に，上記の著作権表示，この利用条件および下記
20	* の無保証規定を掲載すること．
21	* (3) 本ソフトウェアを，機器に組み込むなど，他のソフトウェア開発に使
22	* 用できない形で再配布する場合には，次のいずれかの条件を満たすこ
23	* と．
24	* (a) 再配布に伴うドキュメント（利用者マニュアルなど）に，上記の著
25	* 作権表示，この利用条件および下記の無保証規定を掲載すること．
26	* (b) 再配布の形態を，別に定める方法によって，TOPPERSプロジェクトに
27	* 報告すること．
28	* (4) 本ソフトウェアの利用により直接的または間接的に生じるいかなる損
29	* 害からも，上記著作権者およびTOPPERSプロジェクトを免責すること．
30	* また，本ソフトウェアのユーザまたはエンドユーザからのいかなる理
31	* 由に基づく請求からも，上記著作権者およびTOPPERSプロジェクトを
32	* 免責すること．
33	*
34	* 本ソフトウェアは，無保証で提供されているものである．上記著作権者お
35	* よびTOPPERSプロジェクトは，本ソフトウェアに関して，特定の使用目的
36	* に対する適合性も含めて，いかなる保証も行わない．また，本ソフトウェ
37	* アの利用により直接的または間接的に生じたいかなる損害に関しても，そ
38	* の責任を負わない．
39	*
40	* $Id$
41	*/
42
43	#include <kernel.h>
44	#include <stdlib.h>
45	#include <t_syslog.h>
46	#include <t_stdlib.h>
47	#include <target_syssvc.h>
48	#include "syssvc/serial.h"
49	#include "syssvc/syslog.h"
50	#include "device.h"
51	#include "pinmode.h"
52	#include "sipeed_st7789.h"
53	#include "sipeed_ov2640.h"
54	#include "storagedevice.h"
55	#ifdef SDEV_SENSE_ONETIME
56	#include "spi_driver.h"
57	#include "sddiskio.h"
58	#else
59	#include "rom_file.h"
60	#endif
61	#include "kernel_cfg.h"
62	#include "kpu_main.h"
63	#include "kpu.h"
64	#include "region_layer.h"
65
66	extern void ai_dma_done_isr(DMA_Handle_t *dma);
67
68	/*
69	* サービスコールのエラーのログ出力
70	*/
71	Inline void
72	svc_perror(const char file, int_t line, const char expr, ER ercd)
73	{
74	if (ercd < 0) {
75	t_perror(LOG_ERROR, file, line, expr, ercd);
76	}
77	}
78
79	#define SVC_PERROR(expr) svc_perror(__FILE__, __LINE__, #expr, (expr))
80
81	#define SWAP_32(x) ((x >> 24) \| (x >> 8 & 0xff00) \| (x << 8 & 0xff0000) \| (x << 24))
82
83	#ifndef SPI1DMATX_SEM
84	#define SPI1DMATX_SEM 0
85	#endif
86
87	#define CLASS_NUMBER 20
88
89	LCD_Handler_t LcdHandle;
90	LCD_DrawProp_t DrawProp;
91	DVP_Handle_t DvpHandle;
92	OV2640_t CameraHandle;
93
94	uint8_t sTxBuffer[16];
95
96	static uint8_t time_string[12];
97
98	static void
99	set_value(uint8_t *buf, int value)
100	{
101	buf[1] = (value % 10) + '0';
102	buf[0] = (value / 10) + '0';
103	}
104
105	static void
106	set_time(uint8_t buf, struct tm2 tm)
107	{
108	buf[8] = 0;
109	set_value(&buf[6], tm->tm_sec);
110	buf[5] = ':';
111	set_value(&buf[3], tm->tm_min);
112	buf[2] = ':';
113	set_value(&buf[0], tm->tm_hour);
114	}
115
116	/*
117	* ダイレクトデジタルピン設定
118	*/
119	void
120	pinMode(uint8_t Pin, uint8_t dwMode){
121	int gpionum = gpio_get_gpiohno(Pin, false);
122	GPIO_Init_t init = {0};
123
124	syslog_2(LOG_NOTICE, "## pinMode Pin(%d) gpionum(%d) ##", Pin, gpionum);
125	if(gpionum >= 0){
126	uint8_t function = FUNC_GPIOHS0 + gpionum;
127	fpioa_set_function(Pin, function);
128	switch(dwMode){
129	case INPUT:
130	init.mode = GPIO_MODE_INPUT;
131	init.pull = GPIO_NOPULL;
132	break;
133	case INPUT_PULLDOWN:
134	init.mode = GPIO_MODE_INPUT;
135	init.pull = GPIO_PULLDOWN;
136	break;
137	case INPUT_PULLUP:
138	init.mode = GPIO_MODE_INPUT;
139	init.pull = GPIO_PULLUP;
140	break;
141	case OUTPUT:
142	default:
143	init.mode = GPIO_MODE_OUTPUT;
144	init.pull = GPIO_PULLDOWN;
145	break;
146	}
147	gpio_setup(TADR_GPIOHS_BASE, &init, (uint8_t)gpionum);
148	}
149	return ;
150	}
151
152	void digitalWrite(uint8_t Pin, int dwVal);
153
154	#if (CLASS_NUMBER > 1)
155	typedef struct
156	{
157	char *str;
158	uint16_t color;
159	uint16_t height;
160	uint16_t width;
161	} class_lable_t;
162
163	class_lable_t class_lable[CLASS_NUMBER] =
164	{
165	{"aeroplane", ST7789_GREEN},
166	{"bicycle", ST7789_GREEN},
167	{"bird", ST7789_GREEN},
168	{"boat", ST7789_GREEN},
169	{"bottle", 0xF81F},
170	{"bus", ST7789_GREEN},
171	{"car", ST7789_GREEN},
172	{"cat", ST7789_GREEN},
173	{"chair", 0xFD20},
174	{"cow", ST7789_GREEN},
175	{"diningtable", ST7789_GREEN},
176	{"dog", ST7789_GREEN},
177	{"horse", ST7789_GREEN},
178	{"motorbike", ST7789_GREEN},
179	{"person", 0xF800},
180	{"pottedplant", ST7789_GREEN},
181	{"sheep", ST7789_GREEN},
182	{"sofa", ST7789_GREEN},
183	{"train", ST7789_GREEN},
184	{"tvmonitor", 0xF9B6}
185	};
186
187	static uint32_t lable_string_draw_ram[115 * 16 * 8 / 2];
188	#endif
189	extern uint8_t model_data[];
190	kpu_model_context_t g_task;
191	static region_layer_t detect_rl;
192
193	volatile uint8_t g_ai_done_flag;
194
195	void ai_done(void *ctx)
196	{
197	g_ai_done_flag = 2;
198	}
199
200	#define ANCHOR_NUM 5
201	float g_anchor[ANCHOR_NUM * 2] = {1.08, 1.19, 3.42, 4.41, 6.63, 11.38, 9.42, 5.11, 16.62, 10.52};
202
203	static void drawboxes(uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2, uint32_t class, float prob)
204	{
205	if (x1 >= 320)
206	x1 = 319;
207	if (x2 >= 320)
208	x2 = 319;
209	if (y1 >= 240)
210	y1 = 239;
211	if (y2 >= 240)
212	y2 = 239;
213
214	#if (CLASS_NUMBER > 1)
215	DrawProp.TextColor = class_lable[class].color;
216	lcd_drawRect(&DrawProp, x1, y1, x2-x1, y2-y1);
217	DrawProp.TextColor = ST7789_WHITE;
218	DrawProp.BackColor = class_lable[class].color;
219	DrawProp.pFont = &Font12;
220	lcd_DisplayStringAt(&DrawProp, x1 + 1, y1 + 1, class_lable[class].str, LEFT_MODE);
221	#else
222	lcd_drawRect(&DrawProp, x1, y1, x2, y2, 2, ST7789_RED);
223	#endif
224	}
225
226	/*
227	* メインタスク
228	*/
229	void kpu_task(intptr_t exinf)
230	{
231	SPI_Init_t Init;
232	SPI_Handle_t *hspi;
233	LCD_Handler_t *hlcd;
234	OV2640_t *hcmr;
235	DVP_Handle_t *hdvp;
236	uint16_t *lcd_buffer;
237	ER_UINT ercd;
238	uint32_t i, count;
239	struct tm2 time;
240	unsigned long atmp;
241	#ifdef SDEV_SENSE_ONETIME
242	StorageDevice_t *psdev;
243	SDCARD_Handler_t *hsd = NULL;
244	#else
245	uint32_t esize, fsize, headlen;
246	uint8_t *addr;
247	#endif
248
249	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
250	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
251
252	pinMode(LED_PIN, OUTPUT);
253
254	select_spi0_dvp_mode(1);
255
256	#ifdef SDEV_SENSE_ONETIME
257	pinMode(SPI_SS_PIN, OUTPUT);
258	digitalWrite(SPI_SS_PIN, HIGH);
259	#else /* USE ROMFILE */
260	rom_file_init();
261	esize = 110241024;
262	addr = (uint8_t *)romfont;
263	while(esize > 4){
264	fsize = (addr[0] << 24) \| (addr[1] << 16) \| (addr[2] << 8) \| addr[3];
265	if((fsize & 3) != 0 \|\| fsize < 16 \|\| fsize > esize)
266	break;
267	for(i = 0 ; i < 28 ; i++){
268	if(addr[i+4] == 0)
269	break;
270	}
271	if(i >= 28)
272	break;
273	if(i < 12)
274	headlen = 16;
275	else
276	headlen = 32;
277	if(create_rom_file((const char *)(addr+4), (uintptr_t)(addr+headlen), fsize-headlen) < 0)
278	break;
279	addr += fsize;
280	esize -= fsize;
281	}
282	#endif
283
284	hcmr = &CameraHandle;
285	hcmr->frameSize = FRAMESIZE_QVGA;
286	hcmr->pixFormat = PIXFORMAT_RGB565;
287	ov2640_getResolition(hcmr, FRAMESIZE_QVGA);
288	hcmr->_resetPoliraty = ACTIVE_HIGH;
289	hcmr->_pwdnPoliraty = ACTIVE_HIGH;
290	hcmr->_slaveAddr = 0x00;
291	hcmr->_dataBuffer = NULL;
292	hcmr->_aiBuffer = NULL;
293
294	// just support RGB565 and YUV442 on k210
295
296	// Initialize the camera bus, 8bit reg
297	hdvp = &DvpHandle;
298	hcmr->hdvp = hdvp;
299	hdvp->Init.Freq = 24000000;
300	hdvp->Init.Width = hcmr->_width;
301	hdvp->Init.Height = hcmr->_height;
302	hdvp->Init.Format = DVP_FORMAT_RGB;
303	hdvp->Init.BurstMode = DVP_BURST_ENABLE;
304	hdvp->Init.AutoMode = DVP_AUTOMODE_DISABLE;
305	hdvp->Init.GMMlen = 4;
306
307	hdvp->Init.num_sccb_reg = 8;
308	hdvp->Init.CMosPClkPin = 47;
309	hdvp->Init.CMosXClkPin = 46;
310	hdvp->Init.CMosHRefPin = 45;
311	hdvp->Init.CMosPwDnPin = 44;
312	hdvp->Init.CMosVSyncPin = 43;
313	hdvp->Init.CMosRstPin = 42;
314	hdvp->Init.SccbSClkPin = 41;
315	hdvp->Init.SccbSdaPin = 40;
316	hdvp->Init.IntNo = INTNO_DVP;
317	syslog_1(LOG_NOTICE, "## DvpHandle[%08x] ##", &DvpHandle);
318
319	syslog_3(LOG_NOTICE, "## hcmr->_width(%d) hcmr->_height(%d) size[%08x] ##", hcmr->_width, hcmr->_height, (hcmr->_width * hcmr->_height * 2));
320	atmp = (unsigned long)malloc(hcmr->_width * hcmr->_height * 2 + 64); //RGB565
321	hcmr->_dataBuffer = (uint32_t *)((atmp + 63) & ~63);
322	if(hcmr->_dataBuffer == NULL){
323	hcmr->_width = 0;
324	hcmr->_height = 0;
325	syslog_0(LOG_ERROR, "Can't allocate _dataBuffer !");
326	slp_tsk();
327	}
328	atmp = (unsigned long)malloc(hcmr->_width * hcmr->_height * 3 + 128); //RGB888
329	hcmr->_aiBuffer = (uint32_t *)((atmp + 127) & ~127);
330	if(hcmr->_aiBuffer == NULL){
331	hcmr->_width = 0;
332	hcmr->_height = 0;
333	free(hcmr->_dataBuffer);
334	hcmr->_dataBuffer = NULL;
335	syslog_0(LOG_ERROR, "Can't allocate _aiBuffer !");
336	slp_tsk();
337	}
338	syslog_2(LOG_NOTICE, "## hcmr->_dataBuffer[%08x] hcmr->_aiBuffer[%08x] ##", hcmr->_dataBuffer, hcmr->_aiBuffer);
339	atmp = (unsigned long)hcmr->_aiBuffer - IOMEM;
340	hdvp->Init.RedAddr = (uint32_t)atmp;
341	atmp = (unsigned long)hcmr->_aiBuffer + hcmr->_width * hcmr->_height - IOMEM;
342	hdvp->Init.GreenAddr = (uint32_t)atmp;
343	atmp = (unsigned long)hcmr->_aiBuffer + hcmr->_width * hcmr->_height * 2 - IOMEM;
344	hdvp->Init.BlueAddr = (uint32_t)atmp;
345	atmp = (unsigned long)hcmr->_dataBuffer - IOMEM;
346	hdvp->Init.RGBAddr = (uint32_t)atmp;
347	dvp_init(hdvp);
348
349	if(ov2640_sensor_ov_detect(hcmr) == E_OK){
350	syslog_0(LOG_NOTICE, "find ov sensor !");
351	}
352	else if(ov2640_sensro_gc_detect(hcmr) == E_OK){
353	syslog_0(LOG_NOTICE, "find gc3028 !");
354	}
355	if(ov2640_reset(hcmr) != E_OK){
356	syslog_0(LOG_ERROR, "ov2640 reset error !");
357	slp_tsk();
358	}
359	if(ov2640_set_pixformat(hcmr) != E_OK){
360	syslog_0(LOG_ERROR, "set pixformat error !");
361	slp_tsk();
362	}
363	if(ov2640_set_framesize(hcmr) != E_OK){
364	syslog_0(LOG_ERROR, "set frame size error !");
365	slp_tsk();
366	}
367	if(ov2640_setInvert(hcmr, false) != E_OK){
368	syslog_0(LOG_ERROR, "set invert error !");
369	slp_tsk();
370	}
371	syslog_1(LOG_NOTICE, "OV2640 id(%d)", ov2640_id(hcmr));
372
373	Init.WorkMode = SPI_WORK_MODE_0;
374	Init.FrameFormat = SPI_FF_OCTAL;
375	Init.DataSize = 8;
376	Init.Prescaler = 15000000;
377	Init.SignBit = 0;
378	Init.InstLength = 8;
379	Init.AddrLength = 0;
380	Init.WaitCycles = 0;
381	Init.IATransMode = SPI_AITM_AS_FRAME_FORMAT;
382	Init.SclkPin = SIPEED_ST7789_SCLK_PIN;
383	Init.MosiPin = -1;
384	Init.MisoPin = -1;
385	Init.SsPin = SIPEED_ST7789_SS_PIN;
386	Init.SsNo = SIPEED_ST7789_SS;
387	Init.TxDMAChannel = SIPEED_DMA_CH;
388	Init.RxDMAChannel = -1;
389	Init.semid = SPI1TRN_SEM;
390	Init.semlock = SPI1LOCK_SEM;
391	Init.semdmaid = SPI1DMATX_SEM;
392	hspi = spi_init(SPI_PORTID, &Init);
393	if(hspi == NULL){
394	syslog_0(LOG_ERROR, "SPI INIT ERROR");
395	slp_tsk();
396	}
397
398	hlcd = &LcdHandle;
399	hlcd->hspi = hspi;
400	// hlcd->spi_lock= SPI1LOCK_SEM;
401	hlcd->dir = DIR_YX_LRUD;
402	hlcd->dcx_pin = SIPEED_ST7789_DCX_PIN;
403	hlcd->rst_pin = SIPEED_ST7789_RST_PIN;
404	hlcd->cs_sel = SIPEED_ST7789_SS;
405	hlcd->rst_no = SIPEED_ST7789_RST_GPIONUM;
406	hlcd->dcx_no = SIPEED_ST7789_DCX_GPIONUM;
407	DrawProp.hlcd = hlcd;
408	lcd_init(hlcd);
409	syslog_2(LOG_NOTICE, "width(%d) height(%d)", hlcd->_width, hlcd->_height);
410	count = hcmr->_width * hcmr->_height;
411	lcd_buffer = (uint16_t )malloc(count 2);
412	if(lcd_buffer == NULL){
413	syslog_0(LOG_ERROR, "no lcd buffer !");
414	slp_tsk();
415	}
416	DrawProp.BackColor = ST7789_WHITE;
417	DrawProp.TextColor = ST7789_BLACK;
418	lcd_fillScreen(&DrawProp);
419
420	#ifdef SDEV_SENSE_ONETIME
421	Init.WorkMode = SPI_WORK_MODE_0;
422	Init.FrameFormat = SPI_FF_STANDARD;
423	Init.DataSize = 8;
424	Init.Prescaler = 5000000;
425	Init.SignBit = 0;
426	Init.InstLength = 0;
427	Init.AddrLength = 0;
428	Init.WaitCycles = 0;
429	Init.IATransMode = SPI_AITM_STANDARD;
430	Init.SclkPin = SPI_SCK_PIN;
431	Init.MosiPin = SPI_MOSI_PIN;
432	Init.MisoPin = SPI_MISO_PIN;
433	Init.SsPin = -1;
434	Init.SsNo = -1;
435	Init.TxDMAChannel = -1;
436	Init.RxDMAChannel = SPI_DMA1_CH;
437	Init.semid = SPI2TRN_SEM;
438	Init.semlock = SPI2LOCK_SEM;
439	Init.semdmaid = SPI2DMATX_SEM;
440	hspi = spi_init(SPICARD_PORTID, &Init);
441	if(hspi == NULL){
442	syslog_0(LOG_ERROR, "SPI-CARD INIT ERROR");
443	slp_tsk();
444	}
445	sdcard_setspi2(SPISDCARD_PORTID, hspi, SPI_SS_PIN);
446
447	/*
448	* SD-CARD SPI通信設定
449	*/
450	for(i = 0 ; i < 10 ; i++)
451	sTxBuffer[i] = 0xff;
452	if((ercd = spi_core_transmit(hspi, -1, (uint8_t*)sTxBuffer, 10)) != E_OK){
453	/* Transfer error in transmission process */
454	syslog_1(LOG_NOTICE, "## call Error_Handler(2)(%d) ##", ercd);
455	}
456	#if SPI_WAIT_TIME == 0
457	if((ercd = spi_wait(hspi, 100)) != E_OK){
458	syslog_0(LOG_NOTICE, "## call Error_Handler(3) ##");
459	}
460	#endif
461	dly_tsk(100);
462	SDMSence_task(0);
463	psdev = SDMGetStorageDevice(SDCARD_DEVNO);
464	hsd = (SDCARD_Handler_t *)psdev->_sdev_local[1];
465	if(hsd == NULL)
466	syslog_0(LOG_ERROR, "SD-CARD INITAIL ERROR !");
467	#endif
468	extern DMA_Handle_t g_ai_hdma;
469	g_ai_hdma.chnum = AI_DMA_CH;
470	g_ai_hdma.xfercallback = ai_dma_done_isr;
471	g_ai_hdma.errorcallback = NULL;
472	g_ai_hdma.Init.Request = DMA_SELECT_AI_RX_REQ; /* DMA選択 */
473	g_ai_hdma.Init.Direction = DMA_PERIPH_TO_MEMORY; /* DMA転送方向 */
474	g_ai_hdma.Init.SrcMultBlock = DMAC_MULTBLOCK_CONT; /* ソースマルチブロックタイプ */
475	g_ai_hdma.Init.DrcMultBlock = DMAC_MULTBLOCK_CONT; /* デスティネーションマルチブロックタイプ */
476	g_ai_hdma.Init.SrcHandShake = DMAC_HS_HARDWARE; /* ソースハンドシェイク */
477	g_ai_hdma.Init.DrcHandShake = DMAC_HS_SOFTWARE; /* デスティネーションハンドシェイク */
478	g_ai_hdma.Init.SrcHwhsPol = DMAC_HWHS_POLARITY_LOW; /* ソースハードウェアハンドシェイク極性 */
479	g_ai_hdma.Init.DrcHwhsPol = DMAC_HWHS_POLARITY_LOW; /* デスティネーションハードウェアハンドシェイク極性 */
480	g_ai_hdma.Init.Priority = 4; /* 優先度 */
481	g_ai_hdma.Init.SrcMaster = DMAC_MASTER1; /* ソースマスター設定 */
482	g_ai_hdma.Init.DstMaster = DMAC_MASTER2; /* デスティネーションマスター設定 */
483	g_ai_hdma.Init.SrcInc = DMAC_ADDR_NOCHANGE; /* ソースインクリメント設定 */
484	g_ai_hdma.Init.DstInc = DMAC_ADDR_INCREMENT; /* デスティネーションインクリメント設定 */
485	g_ai_hdma.Init.SrcTransWidth = DMAC_TRANS_WIDTH_32; /* ソース転送幅 */
486	g_ai_hdma.Init.DstTransWidth = DMAC_TRANS_WIDTH_32; /* デスティネーション転送幅 */
487	g_ai_hdma.Init.SrcBurstSize = DMAC_MSIZE_4; /* ソースバーストサイズ */
488	g_ai_hdma.Init.DstBurstSize = DMAC_MSIZE_4; /* デスティネーションバーストサイズ */
489	g_ai_hdma.Init.IocBlkTrans = 0; /* IOCブロック転送 */
490	g_ai_hdma.localdata = (void *)&g_task;
491	if ((ercd = dma_init(&g_ai_hdma)) != E_OK) {
492	syslog_0(LOG_ERROR, "AI-DMA INITAIL ERROR !");
493	}
494
495	if (kpu_load_kmodel(&g_task, model_data) != 0) {
496	syslog_0(LOG_ERROR, "kmodel init error");
497	slp_tsk();
498	}
499
500	detect_rl.anchor_number = ANCHOR_NUM;
501	detect_rl.anchor = g_anchor;
502	detect_rl.threshold = 0.7;
503	detect_rl.nms_value = 0.3;
504	region_layer_init(&detect_rl, 10, 7, 125, 320, 240);
505
506	bool_t camok = true;
507	if((ercd = ov2640_activate(hcmr, true)) != E_OK){
508	syslog_2(LOG_NOTICE, "ov2640 activate error result(%d) id(%d) ##", ercd, ov2640_id(hcmr));
509	camok = false;
510	}
511
512	int tmo = 0;
513	g_ai_done_flag = 0;
514	while (camok) {
515	if (g_ai_done_flag == 0) {
516	ercd = ov2640_snapshot(hcmr);
517	if (ercd != E_OK) {
518	camok = false;
519	continue;
520	}
521	g_ai_done_flag = 1;
522
523	/* start to calculate */
524	atmp = (unsigned long)hcmr->_aiBuffer - IOMEM;
525	kpu_run_kmodel(&g_task, (const uint8_t *)atmp, AI_DMA_CH, ai_done, NULL);
526
527	uint32_t p = (uint32_t )hcmr->_dataBuffer;
528	uint32_t q = (uint32_t )lcd_buffer;
529	uint32_t e = (uint32_t )&lcd_buffer[count];
530	for (; q < e ; p++, q++){
531	q = SWAP_32(p);
532	}
533	}
534
535	if (g_ai_done_flag == 1) {
536	tmo++;
537	if (tmo >= 10) {
538	tmo = 0;
539	g_ai_done_flag = 0;
540	}
541	else {
542	dly_tsk(1);
543	}
544	continue;
545	}
546	else if (g_ai_done_flag == 2) {
547	g_ai_done_flag = 0;
548	float *output;
549	size_t output_size;
550	kpu_get_output(&g_task, 0, &output, &output_size);
551	detect_rl.input = output;
552
553	/* start region layer */
554	region_layer_run(&detect_rl, NULL);
555	}
556
557	lcd_drawPicture(hlcd, 0, 0, hcmr->_width, hcmr->_height, lcd_buffer);
558
559	/* draw boxs */
560	region_layer_draw_boxes(&detect_rl, drawboxes);
561	}
562	ov2640_activate(hcmr, false);
563
564	syslog_0(LOG_NOTICE, "## STOP ##");
565	slp_tsk();
566	syslog(LOG_NOTICE, "Sample program ends.");
567	SVC_PERROR(ext_ker());
568	assert(0);
569	}

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