X-Git-Url: https://git.sesse.net/?p=bmusb;a=blobdiff_plain;f=bmusb.cpp;h=0169d062dad8d1823ed441e29cc3938eee2c2e09;hp=c03b228c0d5d98fef78c56b256c96490a48ebf45;hb=HEAD;hpb=dfaf0700aefbcede0d058254f1f0a456ad46de03 diff --git a/bmusb.cpp b/bmusb.cpp index c03b228..19a9da1 100644 --- a/bmusb.cpp +++ b/bmusb.cpp @@ -1,73 +1,276 @@ -// Intensity Shuttle USB3 prototype capture driver, v0.3 -// Can download 8-bit and 10-bit UYVY/v210 frames from HDMI, quite stable +// Intensity Shuttle USB3 capture driver, v0.7.8 +// Can download 8-bit and 10-bit UYVY/v210-ish frames from HDMI, quite stable // (can do captures for hours at a time with no drops), except during startup // 576p60/720p60/1080i60 works, 1080p60 does not work (firmware limitation) // Audio comes out as 8-channel 24-bit raw audio. -#include -#include +#if (defined(__i386__) || defined(__x86_64__)) && defined(__GNUC__) +#define HAS_MULTIVERSIONING 1 +#endif + +#include +#include #include -#include #include -#include -#include +#include +#include +#include #include -#include -#ifdef __SSE2__ +#include +#include +#include +#if HAS_MULTIVERSIONING #include #endif +#include "bmusb/bmusb.h" + #include +#include +#include +#include +#include +#include +#include #include #include -#include -#include #include -#include -#include #include -#include -#include "bmusb.h" +#include +#include using namespace std; +using namespace std::chrono; using namespace std::placeholders; -#define WIDTH 1280 -#define HEIGHT 750 /* 30 lines ancillary data? */ -//#define WIDTH 1920 -//#define HEIGHT 1125 /* ??? lines ancillary data? */ +#define USB_VENDOR_BLACKMAGIC 0x1edb +#define MIN_WIDTH 640 #define HEADER_SIZE 44 //#define HEADER_SIZE 0 #define AUDIO_HEADER_SIZE 4 -//#define FRAME_SIZE (WIDTH * HEIGHT * 2 + HEADER_SIZE) // UYVY -//#define FRAME_SIZE (WIDTH * HEIGHT * 2 * 4 / 3 + HEADER_SIZE) // v210 -#define FRAME_SIZE (8 << 20) +#define FRAME_SIZE (8 << 20) // 8 MB. +#define USB_VIDEO_TRANSFER_SIZE (128 << 10) // 128 kB. + +namespace bmusb { + +card_connected_callback_t BMUSBCapture::card_connected_callback = nullptr; +bool BMUSBCapture::hotplug_existing_devices = false; + +namespace { FILE *audiofp; thread usb_thread; atomic should_quit; -FrameAllocator::~FrameAllocator() {} +int v210_stride(int width) +{ + return (width + 5) / 6 * 4 * sizeof(uint32_t); +} -#define NUM_QUEUED_FRAMES 8 -class MallocFrameAllocator : public FrameAllocator { -public: - MallocFrameAllocator(size_t frame_size); - Frame alloc_frame() override; - void release_frame(Frame frame) override; +int find_xfer_size_for_width(PixelFormat pixel_format, int width) +{ + // Video seems to require isochronous packets scaled with the width; + // seemingly six lines is about right, rounded up to the required 1kB + // multiple. + // Note that for 10-bit input, you'll need to increase size accordingly. + int stride; + if (pixel_format == PixelFormat_10BitYCbCr) { + stride = v210_stride(width); + } else { + stride = width * sizeof(uint16_t); + } + int size = stride * 6; + if (size % 1024 != 0) { + size &= ~1023; + size += 1024; + } + return size; +} -private: - size_t frame_size; +void change_xfer_size_for_width(PixelFormat pixel_format, int width, libusb_transfer *xfr) +{ + assert(width >= MIN_WIDTH); + size_t size = find_xfer_size_for_width(pixel_format, width); + int num_iso_pack = xfr->length / size; + if (num_iso_pack != xfr->num_iso_packets || + size != xfr->iso_packet_desc[0].length) { + xfr->num_iso_packets = num_iso_pack; + libusb_set_iso_packet_lengths(xfr, size); + } +} - mutex freelist_mutex; - stack> freelist; // All of size . +struct VideoFormatEntry { + uint16_t normalized_video_format; + unsigned width, height, second_field_start; + unsigned extra_lines_top, extra_lines_bottom; + unsigned frame_rate_nom, frame_rate_den; + bool interlaced; }; -MallocFrameAllocator::MallocFrameAllocator(size_t frame_size) +// Get details for the given video format; returns false if detection was incomplete. +bool decode_video_format(uint16_t video_format, VideoFormat *decoded_video_format) +{ + decoded_video_format->id = video_format; + decoded_video_format->interlaced = false; + + // TODO: Add these for all formats as we find them. + decoded_video_format->extra_lines_top = decoded_video_format->extra_lines_bottom = decoded_video_format->second_field_start = 0; + + if (video_format == 0x0800) { + // No video signal. These green pseudo-frames seem to come at about 30.13 Hz. + // It's a strange thing, but what can you do. + decoded_video_format->width = 720; + decoded_video_format->height = 525; + decoded_video_format->stride = 720 * 2; + decoded_video_format->extra_lines_top = 0; + decoded_video_format->extra_lines_bottom = 0; + decoded_video_format->frame_rate_nom = 3013; + decoded_video_format->frame_rate_den = 100; + decoded_video_format->has_signal = false; + return true; + } + if ((video_format & 0xe000) != 0xe000) { + printf("Video format 0x%04x does not appear to be a video format. Assuming 60 Hz.\n", + video_format); + decoded_video_format->width = 0; + decoded_video_format->height = 0; + decoded_video_format->stride = 0; + decoded_video_format->extra_lines_top = 0; + decoded_video_format->extra_lines_bottom = 0; + decoded_video_format->frame_rate_nom = 60; + decoded_video_format->frame_rate_den = 1; + decoded_video_format->has_signal = false; + return false; + } + + decoded_video_format->has_signal = true; + + // NTSC (480i59.94, I suppose). A special case, see below. + if ((video_format & ~0x0800) == 0xe101 || + (video_format & ~0x0800) == 0xe1c1 || + (video_format & ~0x0800) == 0xe001) { + decoded_video_format->width = 720; + decoded_video_format->height = 480; + if (video_format & 0x0800) { + decoded_video_format->stride = 720 * 2; + } else { + decoded_video_format->stride = v210_stride(720); + } + decoded_video_format->extra_lines_top = 17; + decoded_video_format->extra_lines_bottom = 28; + decoded_video_format->frame_rate_nom = 30000; + decoded_video_format->frame_rate_den = 1001; + decoded_video_format->second_field_start = 280; + decoded_video_format->interlaced = true; + return true; + } + + // PAL (576i50, I suppose). A special case, see below. + if ((video_format & ~0x0800) == 0xe109 || + (video_format & ~0x0800) == 0xe1c9 || + (video_format & ~0x0800) == 0xe009 || + (video_format & ~0x0800) == 0xe3e9 || + (video_format & ~0x0800) == 0xe3e1) { + decoded_video_format->width = 720; + decoded_video_format->height = 576; + if (video_format & 0x0800) { + decoded_video_format->stride = 720 * 2; + } else { + decoded_video_format->stride = v210_stride(720); + } + decoded_video_format->extra_lines_top = 22; + decoded_video_format->extra_lines_bottom = 27; + decoded_video_format->frame_rate_nom = 25; + decoded_video_format->frame_rate_den = 1; + decoded_video_format->second_field_start = 335; + decoded_video_format->interlaced = true; + return true; + } + + // 0x8 seems to be a flag about availability of deep color on the input, + // except when it's not (e.g. it's the only difference between NTSC + // and PAL). Rather confusing. But we clear it here nevertheless, because + // usually it doesn't mean anything. 0x0800 appears to be 8-bit input + // (as opposed to 10-bit). + // + // 0x4 is a flag I've only seen from the D4. I don't know what it is. + uint16_t normalized_video_format = video_format & ~0xe80c; + constexpr VideoFormatEntry entries[] = { + { 0x01f1, 720, 480, 0, 40, 5, 60000, 1001, false }, // 480p59.94 (believed). + { 0x0131, 720, 576, 0, 44, 5, 50, 1, false }, // 576p50. + { 0x0151, 720, 576, 0, 44, 5, 50, 1, false }, // 576p50. + { 0x0011, 720, 576, 0, 44, 5, 50, 1, false }, // 576p50 (5:4). + { 0x0143, 1280, 720, 0, 25, 5, 50, 1, false }, // 720p50. + { 0x0161, 1280, 720, 0, 25, 5, 50, 1, false }, // 720p50. + { 0x0103, 1280, 720, 0, 25, 5, 60, 1, false }, // 720p60. + { 0x0125, 1280, 720, 0, 25, 5, 60, 1, false }, // 720p60. + { 0x0121, 1280, 720, 0, 25, 5, 60000, 1001, false }, // 720p59.94. + { 0x01c3, 1920, 1080, 0, 41, 4, 30, 1, false }, // 1080p30. + { 0x0003, 1920, 1080, 583, 20, 25, 30, 1, true }, // 1080i60. + { 0x01e1, 1920, 1080, 0, 41, 4, 30000, 1001, false }, // 1080p29.97. + { 0x0021, 1920, 1080, 583, 20, 25, 30000, 1001, true }, // 1080i59.94. + { 0x0063, 1920, 1080, 0, 41, 4, 25, 1, false }, // 1080p25. + { 0x0043, 1920, 1080, 583, 20, 25, 25, 1, true }, // 1080i50. + { 0x0083, 1920, 1080, 0, 41, 4, 24, 1, false }, // 1080p24. + { 0x00a1, 1920, 1080, 0, 41, 4, 24000, 1001, false }, // 1080p23.98. + }; + for (const VideoFormatEntry &entry : entries) { + if (normalized_video_format == entry.normalized_video_format) { + decoded_video_format->width = entry.width; + decoded_video_format->height = entry.height; + if (video_format & 0x0800) { + decoded_video_format->stride = entry.width * 2; + } else { + decoded_video_format->stride = v210_stride(entry.width); + } + decoded_video_format->second_field_start = entry.second_field_start; + decoded_video_format->extra_lines_top = entry.extra_lines_top; + decoded_video_format->extra_lines_bottom = entry.extra_lines_bottom; + decoded_video_format->frame_rate_nom = entry.frame_rate_nom; + decoded_video_format->frame_rate_den = entry.frame_rate_den; + decoded_video_format->interlaced = entry.interlaced; + return true; + } + } + + printf("Unknown video format 0x%04x (normalized 0x%04x). Assuming 720p60.\n", video_format, normalized_video_format); + decoded_video_format->width = 1280; + decoded_video_format->height = 720; + decoded_video_format->stride = 1280 * 2; + decoded_video_format->frame_rate_nom = 60; + decoded_video_format->frame_rate_den = 1; + return false; +} + +// There are seemingly no direct indicators of sample rate; you just get +// one frame's worth and have to guess from that. +int guess_sample_rate(const VideoFormat &video_format, size_t len, int default_rate) +{ + size_t num_samples = len / 3 / 8; + size_t num_samples_per_second = num_samples * video_format.frame_rate_nom / video_format.frame_rate_den; + + // See if we match or are very close to any of the mandatory HDMI sample rates. + const int candidate_sample_rates[] = { 32000, 44100, 48000 }; + for (int rate : candidate_sample_rates) { + if (abs(int(num_samples_per_second) - rate) <= 100) { + return rate; + } + } + + fprintf(stderr, "%ld samples at %d/%d fps (%ld Hz) matches no known sample rate, keeping capture at %d Hz\n", + num_samples, video_format.frame_rate_nom, video_format.frame_rate_den, num_samples_per_second, default_rate); + return default_rate; +} + +} // namespace + +FrameAllocator::~FrameAllocator() {} + +MallocFrameAllocator::MallocFrameAllocator(size_t frame_size, size_t num_queued_frames) : frame_size(frame_size) { - for (int i = 0; i < NUM_QUEUED_FRAMES; ++i) { + for (size_t i = 0; i < num_queued_frames; ++i) { freelist.push(unique_ptr(new uint8_t[frame_size])); } } @@ -91,6 +294,9 @@ FrameAllocator::Frame MallocFrameAllocator::alloc_frame() void MallocFrameAllocator::release_frame(Frame frame) { + if (frame.overflow > 0) { + printf("%d bytes overflow after last (malloc) frame\n", int(frame.overflow)); + } unique_lock lock(freelist_mutex); freelist.push(unique_ptr(frame.data)); } @@ -109,6 +315,7 @@ bool uint16_less_than_with_wraparound(uint16_t a, uint16_t b) void BMUSBCapture::queue_frame(uint16_t format, uint16_t timecode, FrameAllocator::Frame frame, deque *q) { + unique_lock lock(queue_lock); if (!q->empty() && !uint16_less_than_with_wraparound(q->back().timecode, timecode)) { printf("Blocks going backwards: prev=0x%04x, cur=0x%04x (dropped)\n", q->back().timecode, timecode); @@ -120,11 +327,7 @@ void BMUSBCapture::queue_frame(uint16_t format, uint16_t timecode, FrameAllocato qf.format = format; qf.timecode = timecode; qf.frame = frame; - - { - unique_lock lock(queue_lock); - q->push_back(move(qf)); - } + q->push_back(move(qf)); queues_not_empty.notify_one(); // might be spurious } @@ -139,27 +342,56 @@ void dump_frame(const char *filename, uint8_t *frame_start, size_t frame_len) void dump_audio_block(uint8_t *audio_start, size_t audio_len) { - fwrite(audio_start + AUDIO_HEADER_SIZE, 1, audio_len - AUDIO_HEADER_SIZE, audiofp); + if (audiofp != nullptr) { + fwrite(audio_start + AUDIO_HEADER_SIZE, 1, audio_len - AUDIO_HEADER_SIZE, audiofp); + } } -void BMUSBCapture::dequeue_thread() +void BMUSBCapture::dequeue_thread_func() { - for ( ;; ) { + char thread_name[16]; + snprintf(thread_name, sizeof(thread_name), "bmusb_dequeue_%d", card_index); + pthread_setname_np(pthread_self(), thread_name); + + if (has_dequeue_callbacks) { + dequeue_init_callback(); + } + size_t last_sample_rate = 48000; + while (!dequeue_thread_should_quit) { unique_lock lock(queue_lock); - queues_not_empty.wait(lock, [this]{ return !pending_video_frames.empty() && !pending_audio_frames.empty(); }); + queues_not_empty.wait(lock, [this]{ return dequeue_thread_should_quit || (!pending_video_frames.empty() && !pending_audio_frames.empty()); }); + + if (dequeue_thread_should_quit) break; uint16_t video_timecode = pending_video_frames.front().timecode; uint16_t audio_timecode = pending_audio_frames.front().timecode; - if (video_timecode < audio_timecode) { + AudioFormat audio_format; + audio_format.bits_per_sample = 24; + audio_format.num_channels = 8; + audio_format.sample_rate = last_sample_rate; + if (uint16_less_than_with_wraparound(video_timecode, audio_timecode)) { printf("Video block 0x%04x without corresponding audio block, dropping.\n", video_timecode); - video_frame_allocator->release_frame(pending_video_frames.front().frame); + QueuedFrame video_frame = pending_video_frames.front(); pending_video_frames.pop_front(); - } else if (audio_timecode < video_timecode) { - printf("Audio block 0x%04x without corresponding video block, dropping.\n", + lock.unlock(); + video_frame_allocator->release_frame(video_frame.frame); + } else if (uint16_less_than_with_wraparound(audio_timecode, video_timecode)) { + printf("Audio block 0x%04x without corresponding video block, sending blank frame.\n", audio_timecode); - audio_frame_allocator->release_frame(pending_audio_frames.front().frame); + QueuedFrame audio_frame = pending_audio_frames.front(); pending_audio_frames.pop_front(); + lock.unlock(); + audio_format.id = audio_frame.format; + + // Use the video format of the pending frame. + QueuedFrame video_frame = pending_video_frames.front(); + VideoFormat video_format; + decode_video_format(video_frame.format, &video_format); + + frame_callback(audio_timecode, + FrameAllocator::Frame(), 0, video_format, + audio_frame.frame, AUDIO_HEADER_SIZE, audio_format); } else { QueuedFrame video_frame = pending_video_frames.front(); QueuedFrame audio_frame = pending_audio_frames.front(); @@ -174,11 +406,28 @@ void BMUSBCapture::dequeue_thread() dump_audio_block(audio_frame.frame.data, audio_frame.data_len); #endif - frame_callback(video_timecode, - video_frame.frame, HEADER_SIZE, video_frame.format, - audio_frame.frame, AUDIO_HEADER_SIZE, audio_frame.format); + VideoFormat video_format; + audio_format.id = audio_frame.format; + if (decode_video_format(video_frame.format, &video_format)) { + if (audio_frame.frame.len != 0) { + audio_format.sample_rate = guess_sample_rate(video_format, audio_frame.frame.len, last_sample_rate); + last_sample_rate = audio_format.sample_rate; + } + frame_callback(video_timecode, + video_frame.frame, HEADER_SIZE, video_format, + audio_frame.frame, AUDIO_HEADER_SIZE, audio_format); + } else { + video_frame_allocator->release_frame(video_frame.frame); + audio_format.sample_rate = last_sample_rate; + frame_callback(video_timecode, + FrameAllocator::Frame(), 0, video_format, + audio_frame.frame, AUDIO_HEADER_SIZE, audio_format); + } } } + if (has_dequeue_callbacks) { + dequeue_cleanup_callback(); + } } void BMUSBCapture::start_new_frame(const uint8_t *start) @@ -187,8 +436,32 @@ void BMUSBCapture::start_new_frame(const uint8_t *start) uint16_t timecode = (start[1] << 8) | start[0]; if (current_video_frame.len > 0) { + current_video_frame.received_timestamp = steady_clock::now(); + + // If format is 0x0800 (no signal), add a fake (empty) audio + // frame to get it out of the queue. + // TODO: Figure out if there are other formats that come with + // no audio, and treat them the same. + if (format == 0x0800) { + FrameAllocator::Frame fake_audio_frame = audio_frame_allocator->alloc_frame(); + if (fake_audio_frame.data == nullptr) { + // Oh well, it's just a no-signal frame anyway. + printf("Couldn't allocate fake audio frame, also dropping no-signal video frame.\n"); + current_video_frame.owner->release_frame(current_video_frame); + current_video_frame = video_frame_allocator->alloc_frame(); + return; + } + queue_frame(format, timecode, fake_audio_frame, &pending_audio_frames); + } //dump_frame(); queue_frame(format, timecode, current_video_frame, &pending_video_frames); + + // Update the assumed frame width. We might be one frame too late on format changes, + // but it's much better than asking the user to choose manually. + VideoFormat video_format; + if (decode_video_format(format, &video_format)) { + assumed_frame_width = video_format.width; + } } //printf("Found frame start, format 0x%04x timecode 0x%04x, previous frame length was %d/%d\n", // format, timecode, @@ -208,11 +481,12 @@ void BMUSBCapture::start_new_audio_block(const uint8_t *start) uint16_t format = (start[3] << 8) | start[2]; uint16_t timecode = (start[1] << 8) | start[0]; if (current_audio_frame.len > 0) { + current_audio_frame.received_timestamp = steady_clock::now(); //dump_audio_block(); queue_frame(format, timecode, current_audio_frame, &pending_audio_frames); } - //printf("Found audio block start, format 0x%04x timecode 0x%04x, previous block length was %d\n", - // format, timecode, read_current_audio_block); + //printf("Found audio block start, format 0x%04x timecode 0x%04x\n", + // format, timecode); current_audio_frame = audio_frame_allocator->alloc_frame(); } @@ -255,10 +529,18 @@ void add_to_frame(FrameAllocator::Frame *current_frame, const char *frame_type_n int bytes = end - start; if (current_frame->len + bytes > current_frame->size) { - printf("%d bytes overflow after last %s frame\n", - int(current_frame->len + bytes - current_frame->size), frame_type_name); + current_frame->overflow = current_frame->len + bytes - current_frame->size; + current_frame->len = current_frame->size; + if (current_frame->overflow > 1048576) { + printf("%d bytes overflow after last %s frame\n", + int(current_frame->overflow), frame_type_name); + current_frame->overflow = 0; + } //dump_frame(); } else { + if (current_frame->data_copy != nullptr) { + memcpy(current_frame->data_copy + current_frame->len, start, bytes); + } if (current_frame->interleaved) { uint8_t *data = current_frame->data + current_frame->len / 2; uint8_t *data2 = current_frame->data2 + current_frame->len / 2; @@ -281,7 +563,64 @@ void add_to_frame(FrameAllocator::Frame *current_frame, const char *frame_type_n } } -#ifdef __SSE2__ +#if 0 +void avx2_dump(const char *name, __m256i n) +{ + printf("%-10s:", name); + printf(" %02x", _mm256_extract_epi8(n, 0)); + printf(" %02x", _mm256_extract_epi8(n, 1)); + printf(" %02x", _mm256_extract_epi8(n, 2)); + printf(" %02x", _mm256_extract_epi8(n, 3)); + printf(" %02x", _mm256_extract_epi8(n, 4)); + printf(" %02x", _mm256_extract_epi8(n, 5)); + printf(" %02x", _mm256_extract_epi8(n, 6)); + printf(" %02x", _mm256_extract_epi8(n, 7)); + printf(" "); + printf(" %02x", _mm256_extract_epi8(n, 8)); + printf(" %02x", _mm256_extract_epi8(n, 9)); + printf(" %02x", _mm256_extract_epi8(n, 10)); + printf(" %02x", _mm256_extract_epi8(n, 11)); + printf(" %02x", _mm256_extract_epi8(n, 12)); + printf(" %02x", _mm256_extract_epi8(n, 13)); + printf(" %02x", _mm256_extract_epi8(n, 14)); + printf(" %02x", _mm256_extract_epi8(n, 15)); + printf(" "); + printf(" %02x", _mm256_extract_epi8(n, 16)); + printf(" %02x", _mm256_extract_epi8(n, 17)); + printf(" %02x", _mm256_extract_epi8(n, 18)); + printf(" %02x", _mm256_extract_epi8(n, 19)); + printf(" %02x", _mm256_extract_epi8(n, 20)); + printf(" %02x", _mm256_extract_epi8(n, 21)); + printf(" %02x", _mm256_extract_epi8(n, 22)); + printf(" %02x", _mm256_extract_epi8(n, 23)); + printf(" "); + printf(" %02x", _mm256_extract_epi8(n, 24)); + printf(" %02x", _mm256_extract_epi8(n, 25)); + printf(" %02x", _mm256_extract_epi8(n, 26)); + printf(" %02x", _mm256_extract_epi8(n, 27)); + printf(" %02x", _mm256_extract_epi8(n, 28)); + printf(" %02x", _mm256_extract_epi8(n, 29)); + printf(" %02x", _mm256_extract_epi8(n, 30)); + printf(" %02x", _mm256_extract_epi8(n, 31)); + printf("\n"); +} +#endif + +#ifndef HAS_MULTIVERSIONING + +const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const uint8_t *start, const uint8_t *limit, const char sync_char) +{ + // No fast path possible unless we have multiversioning. + return start; +} + +#else // defined(HAS_MULTIVERSIONING) + +__attribute__((target("sse4.1"))) +const uint8_t *add_to_frame_fastpath_core(FrameAllocator::Frame *current_frame, const uint8_t *aligned_start, const uint8_t *limit, const char sync_char); + +__attribute__((target("avx2"))) +const uint8_t *add_to_frame_fastpath_core(FrameAllocator::Frame *current_frame, const uint8_t *aligned_start, const uint8_t *limit, const char sync_char); // Does a memcpy and memchr in one to reduce processing time. // Note that the benefit is somewhat limited if your L3 cache is small, @@ -292,6 +631,14 @@ void add_to_frame(FrameAllocator::Frame *current_frame, const char *frame_type_n // up until the first instance of "sync_char" (usually a bit before, actually). // This is fine, since 0x00 bytes shouldn't really show up in normal picture // data, and what we really need this for is the 00 00 ff ff marker in video data. +__attribute__((target("default"))) +const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const uint8_t *start, const uint8_t *limit, const char sync_char) +{ + // No fast path possible unless we have SSE 4.1 or higher. + return start; +} + +__attribute__((target("sse4.1", "avx2"))) const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const uint8_t *start, const uint8_t *limit, const char sync_char) { if (current_frame->data == nullptr || @@ -335,9 +682,15 @@ const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const assert(((limit - aligned_start) % 64) == 0); } -#if __AVX2__ + return add_to_frame_fastpath_core(current_frame, aligned_start, limit, sync_char); +} + +__attribute__((target("avx2"))) +const uint8_t *add_to_frame_fastpath_core(FrameAllocator::Frame *current_frame, const uint8_t *aligned_start, const uint8_t *limit, const char sync_char) +{ const __m256i needle = _mm256_set1_epi8(sync_char); + size_t bytes_copied; const __restrict __m256i *in = (const __m256i *)aligned_start; if (current_frame->interleaved) { __restrict __m256i *out1 = (__m256i *)(current_frame->data + (current_frame->len + 1) / 2); @@ -378,9 +731,10 @@ const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const ++out1; ++out2; } - current_frame->len += (uint8_t *)in - aligned_start; + bytes_copied = (uint8_t *)in - aligned_start; } else { - __m256i *out = (__m256i *)(current_frame->data + current_frame->len); + uint8_t *old_end = current_frame->data + current_frame->len; + __m256i *out = (__m256i *)old_end; while (in < (const __m256i *)limit) { __m256i data = _mm256_load_si256(in); _mm256_storeu_si256(out, data); // Store as early as possible, even if the data isn't used. @@ -392,12 +746,26 @@ const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const ++in; ++out; } - current_frame->len = (uint8_t *)out - current_frame->data; + bytes_copied = (uint8_t *)out - old_end; } -#else + if (current_frame->data_copy != nullptr) { + // TODO: It would be somewhat more cache-efficient to write this in the + // same loop as above. However, it might not be worth the extra complexity. + memcpy(current_frame->data_copy + current_frame->len, aligned_start, bytes_copied); + } + current_frame->len += bytes_copied; + + //printf("managed to fastpath %ld/%ld bytes\n", (const uint8_t *)in - (const uint8_t *)aligned_start, orig_bytes); + return (const uint8_t *)in; +} + +__attribute__((target("sse4.1"))) +const uint8_t *add_to_frame_fastpath_core(FrameAllocator::Frame *current_frame, const uint8_t *aligned_start, const uint8_t *limit, const char sync_char) +{ const __m128i needle = _mm_set1_epi8(sync_char); const __m128i *in = (const __m128i *)aligned_start; + size_t bytes_copied; if (current_frame->interleaved) { __m128i *out1 = (__m128i *)(current_frame->data + (current_frame->len + 1) / 2); __m128i *out2 = (__m128i *)(current_frame->data2 + current_frame->len / 2); @@ -428,9 +796,10 @@ const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const ++out1; ++out2; } - current_frame->len += (uint8_t *)in - aligned_start; + bytes_copied = (uint8_t *)in - aligned_start; } else { - __m128i *out = (__m128i *)(current_frame->data + current_frame->len); + uint8_t *old_end = current_frame->data + current_frame->len; + __m128i *out = (__m128i *)old_end; while (in < (const __m128i *)limit) { __m128i data = _mm_load_si128(in); _mm_storeu_si128(out, data); // Store as early as possible, even if the data isn't used. @@ -442,15 +811,20 @@ const uint8_t *add_to_frame_fastpath(FrameAllocator::Frame *current_frame, const ++in; ++out; } - current_frame->len = (uint8_t *)out - current_frame->data; + bytes_copied = (uint8_t *)out - old_end; } -#endif + if (current_frame->data_copy != nullptr) { + // TODO: It would be somewhat more cache-efficient to write this in the + // same loop as above. However, it might not be worth the extra complexity. + memcpy(current_frame->data_copy + current_frame->len, aligned_start, bytes_copied); + } + current_frame->len += bytes_copied; //printf("managed to fastpath %ld/%ld bytes\n", (const uint8_t *)in - (const uint8_t *)aligned_start, orig_bytes); - return (const uint8_t *)in; } -#endif + +#endif // defined(HAS_MULTIVERSIONING) void decode_packs(const libusb_transfer *xfr, const char *sync_pattern, @@ -472,11 +846,9 @@ void decode_packs(const libusb_transfer *xfr, const uint8_t *start = xfr->buffer + offset; const uint8_t *limit = start + pack->actual_length; while (start < limit) { // Usually runs only one iteration. -#ifdef __SSE2__ start = add_to_frame_fastpath(current_frame, start, limit, sync_pattern[0]); if (start == limit) break; assert(start < limit); -#endif const unsigned char* start_next_frame = (const unsigned char *)memmem(start, limit - start, sync_pattern, sync_length); if (start_next_frame == nullptr) { @@ -498,8 +870,9 @@ void decode_packs(const libusb_transfer *xfr, void BMUSBCapture::cb_xfr(struct libusb_transfer *xfr) { - if (xfr->status != LIBUSB_TRANSFER_COMPLETED) { - fprintf(stderr, "transfer status %d\n", xfr->status); + if (xfr->status != LIBUSB_TRANSFER_COMPLETED && + xfr->status != LIBUSB_TRANSFER_NO_DEVICE) { + fprintf(stderr, "error: transfer status %d\n", xfr->status); libusb_free_transfer(xfr); exit(3); } @@ -507,11 +880,26 @@ void BMUSBCapture::cb_xfr(struct libusb_transfer *xfr) assert(xfr->user_data != nullptr); BMUSBCapture *usb = static_cast(xfr->user_data); + if (xfr->status == LIBUSB_TRANSFER_NO_DEVICE) { + if (!usb->disconnected) { + fprintf(stderr, "Device went away, stopping transfers.\n"); + usb->disconnected = true; + if (usb->card_disconnected_callback) { + usb->card_disconnected_callback(); + } + } + // Don't reschedule the transfer; the loop will stop by itself. + return; + } + if (xfr->type == LIBUSB_TRANSFER_TYPE_ISOCHRONOUS) { if (xfr->endpoint == 0x84) { decode_packs(xfr, "DeckLinkAudioResyncT", 20, &usb->current_audio_frame, "audio", bind(&BMUSBCapture::start_new_audio_block, usb, _1)); } else { decode_packs(xfr, "\x00\x00\xff\xff", 4, &usb->current_video_frame, "video", bind(&BMUSBCapture::start_new_frame, usb, _1)); + + // Update the transfer with the new assumed width, if we're in the process of changing formats. + change_xfer_size_for_width(usb->current_pixel_format, usb->assumed_frame_width, xfr); } } if (xfr->type == LIBUSB_TRANSFER_TYPE_CONTROL) { @@ -554,38 +942,211 @@ void BMUSBCapture::cb_xfr(struct libusb_transfer *xfr) } #endif - if (libusb_submit_transfer(xfr) < 0) { - fprintf(stderr, "error re-submitting URB\n"); + int rc = libusb_submit_transfer(xfr); + if (rc < 0) { + fprintf(stderr, "error re-submitting URB: %s\n", libusb_error_name(rc)); exit(1); } } -void BMUSBCapture::usb_thread_func() +int BMUSBCapture::cb_hotplug(libusb_context *ctx, libusb_device *dev, libusb_hotplug_event event, void *user_data) { - printf("usb thread started\n"); + if (card_connected_callback != nullptr) { + libusb_device_descriptor desc; + if (libusb_get_device_descriptor(dev, &desc) < 0) { + fprintf(stderr, "Error getting device descriptor for hotplugged device %p, killing hotplug\n", dev); + libusb_unref_device(dev); + return 1; + } + + if ((desc.idVendor == USB_VENDOR_BLACKMAGIC && desc.idProduct == 0xbd3b) || + (desc.idVendor == USB_VENDOR_BLACKMAGIC && desc.idProduct == 0xbd4f)) { + card_connected_callback(dev); // Callback takes ownership. + return 0; + } + } + libusb_unref_device(dev); + return 0; +} +void BMUSBCapture::usb_thread_func() +{ sched_param param; memset(¶m, 0, sizeof(param)); param.sched_priority = 1; if (sched_setscheduler(0, SCHED_RR, ¶m) == -1) { printf("couldn't set realtime priority for USB thread: %s\n", strerror(errno)); } + pthread_setname_np(pthread_self(), "bmusb_usb_drv"); while (!should_quit) { - int rc = libusb_handle_events(nullptr); + timeval sec { 1, 0 }; + int rc = libusb_handle_events_timeout(nullptr, &sec); if (rc != LIBUSB_SUCCESS) break; } } +namespace { + +struct USBCardDevice { + uint16_t product; + uint8_t bus, port; + libusb_device *device; +}; + +const char *get_product_name(uint16_t product) +{ + if (product == 0xbd3b) { + return "Intensity Shuttle"; + } else if (product == 0xbd4f) { + return "UltraStudio SDI"; + } else { + assert(false); + return nullptr; + } +} + +string get_card_description(int id, uint8_t bus, uint8_t port, uint16_t product) +{ + const char *product_name = get_product_name(product); + + char buf[256]; + snprintf(buf, sizeof(buf), "USB card %d: Bus %03u Device %03u %s", + id, bus, port, product_name); + return buf; +} + +vector find_all_cards() +{ + libusb_device **devices; + ssize_t num_devices = libusb_get_device_list(nullptr, &devices); + if (num_devices == -1) { + fprintf(stderr, "Error finding USB devices\n"); + exit(1); + } + vector found_cards; + for (ssize_t i = 0; i < num_devices; ++i) { + libusb_device_descriptor desc; + if (libusb_get_device_descriptor(devices[i], &desc) < 0) { + fprintf(stderr, "Error getting device descriptor for device %d\n", int(i)); + exit(1); + } + + uint8_t bus = libusb_get_bus_number(devices[i]); + uint8_t port = libusb_get_port_number(devices[i]); + + if (!(desc.idVendor == USB_VENDOR_BLACKMAGIC && desc.idProduct == 0xbd3b) && + !(desc.idVendor == USB_VENDOR_BLACKMAGIC && desc.idProduct == 0xbd4f)) { + libusb_unref_device(devices[i]); + continue; + } + + found_cards.push_back({ desc.idProduct, bus, port, devices[i] }); + } + libusb_free_device_list(devices, 0); + + // Sort the devices to get a consistent ordering. + sort(found_cards.begin(), found_cards.end(), [](const USBCardDevice &a, const USBCardDevice &b) { + if (a.product != b.product) + return a.product < b.product; + if (a.bus != b.bus) + return a.bus < b.bus; + return a.port < b.port; + }); + + return found_cards; +} + +libusb_device_handle *open_card(int card_index, string *description) +{ + vector found_cards = find_all_cards(); + + for (size_t i = 0; i < found_cards.size(); ++i) { + string tmp_description = get_card_description(i, found_cards[i].bus, found_cards[i].port, found_cards[i].product); + fprintf(stderr, "%s\n", tmp_description.c_str()); + if (i == size_t(card_index)) { + *description = tmp_description; + } + } + + if (size_t(card_index) >= found_cards.size()) { + fprintf(stderr, "Could not open card %d (only %d found)\n", card_index, int(found_cards.size())); + exit(1); + } + + libusb_device_handle *devh; + int rc = libusb_open(found_cards[card_index].device, &devh); + if (rc < 0) { + fprintf(stderr, "Error opening card %d: %s\n", card_index, libusb_error_name(rc)); + exit(1); + } + + for (size_t i = 0; i < found_cards.size(); ++i) { + libusb_unref_device(found_cards[i].device); + } + + return devh; +} + +libusb_device_handle *open_card(unsigned card_index, libusb_device *dev, string *description) +{ + uint8_t bus = libusb_get_bus_number(dev); + uint8_t port = libusb_get_port_number(dev); + + libusb_device_descriptor desc; + if (libusb_get_device_descriptor(dev, &desc) < 0) { + fprintf(stderr, "Error getting device descriptor for device %p\n", dev); + exit(1); + } + + *description = get_card_description(card_index, bus, port, desc.idProduct); + + libusb_device_handle *devh; + int rc = libusb_open(dev, &devh); + if (rc < 0) { + fprintf(stderr, "Error opening card %p: %s\n", dev, libusb_error_name(rc)); + exit(1); + } + + return devh; +} + +} // namespace + +unsigned BMUSBCapture::num_cards() +{ + int rc = libusb_init(nullptr); + if (rc < 0) { + fprintf(stderr, "Error initializing libusb: %s\n", libusb_error_name(rc)); + exit(1); + } + + vector found_cards = find_all_cards(); + unsigned ret = found_cards.size(); + for (size_t i = 0; i < found_cards.size(); ++i) { + libusb_unref_device(found_cards[i].device); + } + return ret; +} + +void BMUSBCapture::set_pixel_format(PixelFormat pixel_format) +{ + current_pixel_format = pixel_format; + update_capture_mode(); +} + void BMUSBCapture::configure_card() { if (video_frame_allocator == nullptr) { - set_video_frame_allocator(new MallocFrameAllocator(FRAME_SIZE)); // FIXME: leak. + owned_video_frame_allocator.reset(new MallocFrameAllocator(FRAME_SIZE, NUM_QUEUED_VIDEO_FRAMES)); + set_video_frame_allocator(owned_video_frame_allocator.get()); } if (audio_frame_allocator == nullptr) { - set_audio_frame_allocator(new MallocFrameAllocator(65536)); // FIXME: leak. + owned_audio_frame_allocator.reset(new MallocFrameAllocator(65536, NUM_QUEUED_AUDIO_FRAMES)); + set_audio_frame_allocator(owned_audio_frame_allocator.get()); } - thread(&BMUSBCapture::dequeue_thread, this).detach(); + dequeue_thread_should_quit = false; + dequeue_thread = thread(&BMUSBCapture::dequeue_thread_func, this); int rc; struct libusb_transfer *xfr; @@ -596,9 +1157,12 @@ void BMUSBCapture::configure_card() exit(1); } - //struct libusb_device_handle *devh = libusb_open_device_with_vid_pid(nullptr, 0x1edb, 0xbd3b); - //struct libusb_device_handle *devh = libusb_open_device_with_vid_pid(nullptr, 0x1edb, 0xbd4f); - struct libusb_device_handle *devh = libusb_open_device_with_vid_pid(nullptr, vid, pid); + if (dev == nullptr) { + devh = open_card(card_index, &description); + } else { + devh = open_card(card_index, dev, &description); + libusb_unref_device(dev); + } if (!devh) { fprintf(stderr, "Error finding USB device\n"); exit(1); @@ -610,6 +1174,8 @@ void BMUSBCapture::configure_card() fprintf(stderr, "Error getting configuration: %s\n", libusb_error_name(rc)); exit(1); } + +#if 0 printf("%d interface\n", config->bNumInterfaces); for (int interface_number = 0; interface_number < config->bNumInterfaces; ++interface_number) { printf(" interface %d\n", interface_number); @@ -623,6 +1189,7 @@ void BMUSBCapture::configure_card() } } } +#endif rc = libusb_set_configuration(devh, /*configuration=*/1); if (rc < 0) { @@ -639,14 +1206,22 @@ void BMUSBCapture::configure_card() // Alternate setting 1 is output, alternate setting 2 is input. // Card is reset when switching alternates, so the driver uses // this “double switch” when it wants to reset. + // + // There's also alternate settings 3 and 4, which seem to be + // like 1 and 2 except they advertise less bandwidth needed. rc = libusb_set_interface_alt_setting(devh, /*interface=*/0, /*alternate_setting=*/1); if (rc < 0) { fprintf(stderr, "Error setting alternate 1: %s\n", libusb_error_name(rc)); + if (rc == LIBUSB_ERROR_NOT_FOUND) { + fprintf(stderr, "This is usually because the card came up in USB2 mode.\n"); + fprintf(stderr, "In particular, this tends to happen if you boot up with the\n"); + fprintf(stderr, "card plugged in; just unplug and replug it, and it usually works.\n"); + } exit(1); } rc = libusb_set_interface_alt_setting(devh, /*interface=*/0, /*alternate_setting=*/2); if (rc < 0) { - fprintf(stderr, "Error setting alternate 1: %s\n", libusb_error_name(rc)); + fprintf(stderr, "Error setting alternate 2: %s\n", libusb_error_name(rc)); exit(1); } #if 0 @@ -712,6 +1287,8 @@ void BMUSBCapture::configure_card() // 0x20 - 720p?? // 0x30 - 576p?? + update_capture_mode(); + struct ctrl { int endpoint; int request; @@ -722,14 +1299,6 @@ void BMUSBCapture::configure_card() { LIBUSB_ENDPOINT_IN, 214, 16, 0 }, { LIBUSB_ENDPOINT_IN, 214, 0, 0 }, - // seems to capture on HDMI, clearing the 0x20000000 bit seems to activate 10-bit - // capture (v210). - // clearing the 0x08000000 bit seems to change the capture format (other source?) - // 0x10000000 = analog audio instead of embedded audio, it seems - // 0x3a000000 = component video? (analog audio) - // 0x3c000000 = composite video? (analog audio) - // 0x3e000000 = s-video? (analog audio) - { LIBUSB_ENDPOINT_OUT, 215, 0, 0x29000000 }, //{ LIBUSB_ENDPOINT_OUT, 215, 0, 0x80000100 }, //{ LIBUSB_ENDPOINT_OUT, 215, 0, 0x09000000 }, { LIBUSB_ENDPOINT_OUT, 215, 24, 0x73c60001 }, // latch for frame start? @@ -748,12 +1317,18 @@ void BMUSBCapture::configure_card() fprintf(stderr, "Error on control %d: %s\n", ctrls[req].index, libusb_error_name(rc)); exit(1); } - + + if (ctrls[req].index == 16 && rc == 4) { + printf("Card firmware version: 0x%02x%02x\n", value[2], value[3]); + } + +#if 0 printf("rc=%d: ep=%d@%d %d -> 0x", rc, ctrls[req].endpoint, ctrls[req].request, ctrls[req].index); for (int i = 0; i < rc; ++i) { printf("%02x", value[i]); } printf("\n"); +#endif } #if 0 @@ -814,33 +1389,43 @@ void BMUSBCapture::configure_card() xfr->user_data = this; //libusb_submit_transfer(xfr); - audiofp = fopen("audio.raw", "wb"); + //audiofp = fopen("audio.raw", "wb"); // set up isochronous transfers for audio and video for (int e = 3; e <= 4; ++e) { - //int num_transfers = (e == 3) ? 6 : 6; int num_transfers = 6; for (int i = 0; i < num_transfers; ++i) { + size_t buf_size; int num_iso_pack, size; if (e == 3) { - // Video seems to require isochronous packets scaled with the width; - // seemingly six lines is about right, rounded up to the required 1kB - // multiple. - size = WIDTH * 2 * 6; - // Note that for 10-bit input, you'll need to increase size accordingly. - //size = size * 4 / 3; - if (size % 1024 != 0) { - size &= ~1023; - size += 1024; - } - num_iso_pack = (2 << 18) / size; // 512 kB. - printf("Picking %d packets of 0x%x bytes each\n", num_iso_pack, size); + // Allocate for minimum width (because that will give us the most + // number of packets, so we don't need to reallocate, but we'll + // default to 720p for the first frame. + size = find_xfer_size_for_width(PixelFormat_8BitYCbCr, MIN_WIDTH); + num_iso_pack = USB_VIDEO_TRANSFER_SIZE / size; + buf_size = USB_VIDEO_TRANSFER_SIZE; } else { size = 0xc0; num_iso_pack = 80; + buf_size = num_iso_pack * size; } int num_bytes = num_iso_pack * size; - uint8_t *buf = new uint8_t[num_bytes]; + assert(size_t(num_bytes) <= buf_size); +#if LIBUSB_API_VERSION >= 0x01000105 + uint8_t *buf = libusb_dev_mem_alloc(devh, num_bytes); +#else + uint8_t *buf = nullptr; +#endif + if (buf == nullptr) { + fprintf(stderr, "Failed to allocate persistent DMA memory "); +#if LIBUSB_API_VERSION >= 0x01000105 + fprintf(stderr, "(probably too old kernel; use 4.6.0 or newer).\n"); +#else + fprintf(stderr, "(compiled against too old libusb-1.0).\n"); +#endif + fprintf(stderr, "Will go slower, and likely fail due to memory fragmentation after a few hours.\n"); + buf = new uint8_t[num_bytes]; + } xfr = libusb_alloc_transfer(num_iso_pack); if (!xfr) { @@ -849,10 +1434,15 @@ void BMUSBCapture::configure_card() } int ep = LIBUSB_ENDPOINT_IN | e; - libusb_fill_iso_transfer(xfr, devh, ep, buf, num_bytes, + libusb_fill_iso_transfer(xfr, devh, ep, buf, buf_size, num_iso_pack, cb_xfr, nullptr, 0); libusb_set_iso_packet_lengths(xfr, size); xfr->user_data = this; + + if (e == 3) { + change_xfer_size_for_width(current_pixel_format, assumed_frame_width, xfr); + } + iso_xfrs.push_back(xfr); } } @@ -860,10 +1450,8 @@ void BMUSBCapture::configure_card() void BMUSBCapture::start_bm_capture() { - printf("starting capture\n"); int i = 0; for (libusb_transfer *xfr : iso_xfrs) { - printf("submitting transfer...\n"); int rc = libusb_submit_transfer(xfr); ++i; if (rc < 0) { @@ -885,8 +1473,27 @@ out: #endif } +void BMUSBCapture::stop_dequeue_thread() +{ + dequeue_thread_should_quit = true; + queues_not_empty.notify_all(); + dequeue_thread.join(); +} + void BMUSBCapture::start_bm_thread() { + // Devices leaving are discovered by seeing the isochronous packets + // coming back with errors, so only care about devices joining. + if (card_connected_callback != nullptr) { + if (libusb_hotplug_register_callback( + nullptr, LIBUSB_HOTPLUG_EVENT_DEVICE_ARRIVED, hotplug_existing_devices ? LIBUSB_HOTPLUG_ENUMERATE : LIBUSB_HOTPLUG_NO_FLAGS, + USB_VENDOR_BLACKMAGIC, LIBUSB_HOTPLUG_MATCH_ANY, LIBUSB_HOTPLUG_MATCH_ANY, + &BMUSBCapture::cb_hotplug, nullptr, nullptr) < 0) { + fprintf(stderr, "libusb_hotplug_register_callback() failed\n"); + exit(1); + } + } + should_quit = false; usb_thread = thread(&BMUSBCapture::usb_thread_func); } @@ -894,5 +1501,81 @@ void BMUSBCapture::start_bm_thread() void BMUSBCapture::stop_bm_thread() { should_quit = true; + libusb_interrupt_event_handler(nullptr); usb_thread.join(); } + +map BMUSBCapture::get_available_video_modes() const +{ + // The USB3 cards autodetect, and seem to have no provision for forcing modes. + VideoMode auto_mode; + auto_mode.name = "Autodetect"; + auto_mode.autodetect = true; + return {{ 0, auto_mode }}; +} + +uint32_t BMUSBCapture::get_current_video_mode() const +{ + return 0; // Matches get_available_video_modes(). +} + +void BMUSBCapture::set_video_mode(uint32_t video_mode_id) +{ + assert(video_mode_id == 0); // Matches get_available_video_modes(). +} + +std::map BMUSBCapture::get_available_video_inputs() const +{ + return { + { 0x00000000, "HDMI/SDI" }, + { 0x02000000, "Component" }, + { 0x04000000, "Composite" }, + { 0x06000000, "S-video" } + }; +} + +void BMUSBCapture::set_video_input(uint32_t video_input_id) +{ + assert((video_input_id & ~0x06000000) == 0); + current_video_input = video_input_id; + update_capture_mode(); +} + +std::map BMUSBCapture::get_available_audio_inputs() const +{ + return { + { 0x00000000, "Embedded" }, + { 0x10000000, "Analog" } + }; +} + +void BMUSBCapture::set_audio_input(uint32_t audio_input_id) +{ + assert((audio_input_id & ~0x10000000) == 0); + current_audio_input = audio_input_id; + update_capture_mode(); +} + +void BMUSBCapture::update_capture_mode() +{ + if (devh == nullptr) { + return; + } + + // Clearing the 0x08000000 bit seems to change the capture format (other source?). + uint32_t mode = htonl(0x09000000 | current_video_input | current_audio_input); + if (current_pixel_format == PixelFormat_8BitYCbCr) { + mode |= htonl(0x20000000); + } else { + assert(current_pixel_format == PixelFormat_10BitYCbCr); + } + + int rc = libusb_control_transfer(devh, LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_ENDPOINT_OUT, + /*request=*/215, /*value=*/0, /*index=*/0, (unsigned char *)&mode, sizeof(mode), /*timeout=*/0); + if (rc < 0) { + fprintf(stderr, "Error on setting mode: %s\n", libusb_error_name(rc)); + exit(1); + } +} + +} // namespace bmusb