ardupilot/libraries/AP_HAL_Linux/CameraSensor.cpp

52 lines
1.4 KiB
C++

/*
This program 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 3 of the License, or
(at your option) any later version.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "CameraSensor.h"
#include <errno.h>
#include <fcntl.h>
#include <linux/v4l2-subdev.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
using namespace Linux;
bool CameraSensor::set_format(uint32_t width, uint32_t height, uint32_t format)
{
struct v4l2_subdev_format fmt;
int ret, fd;
fd = open(_device_path, O_RDWR);
if (fd < 0) {
return false;
}
memset(&fmt, 0, sizeof(fmt));
fmt.pad = 0;
fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
fmt.format.width = width;
fmt.format.height = height;
fmt.format.code = format;
ret = ioctl(fd, VIDIOC_SUBDEV_S_FMT, &fmt);
if (ret < 0) {
return false;
}
return true;
}