whaletx

whaletx is a Rust implementation of the RV1106 video transmitter pipeline used in this repository.

Current scope:

• local INI parsing
• ISP / AIQ startup
• V4L2 rkisp path -> MPI MMZ dma-buf -> VENC -> UDP RTP
• optional --drain
• optional msposd shared-memory OSD bridge
• per-stage timing statistics and summary logs

Sensor modes currently present in mis5001.c:

• 2592x1944 @ 30fps
• 1920x1080 @ 60fps
• 1280x720 @ 90fps
• 832x464 @ 120fps

Current verified runtime configuration:

• 1280x720 @ 90fps, H.264
• msposd OSD over RK_FMT_BGRA5551
• default --osd-fps 2

Path selection:

• vi_channel = 0 selects rkisp_mainpath (/dev/video11)
• vi_channel = 1 selects rkisp_selfpath (/dev/video12)
• -d /dev/videoX overrides vi_channel

The encoder path currently accepts H.264 configs only.

OSD

whaletx supports the optional --osd-msposd shared-memory OSD bridge.

Current verified format:

• RGN overlay pixel format: RK_FMT_BGRA5551
• shared-memory canvas format: BGRA5551, 16bpp
• shared-memory size: width * height * 2 + 4 bytes

Important SDK-specific note:

• For this SDK / board combination, RK_FMT_2BPP is usable, but it is not a normal 4-color palette in practice.
• RK_FMT_BGRA5551 is the verified 16bpp path with normal visible colors.
• RK_FMT_ARGB1555 and RK_FMT_BGRA5551 naming is confusing in the Rockchip documentation because the enum meaning and little-endian memory layout are described separately.

Current verified visible probe colors in BGRA5551:

• white: 0xFFFF
• green: 0x83E0
• red: 0xFC00

Test helper:

• tools/osd_demo.c writes directly into /msposd
• default mode is a probe image for format verification
• demo mode renders a small moving OSD closer to real use

Layout

• src/ Safe Rust application logic, runtime flow, sink, stats, and argument parsing.
• src/ffi/ Raw C ABI types and wrappers. unsafe stays here.
• csrc/ Thin C bridge code for Rockchip / V4L2 / AIQ integration and other C-style interfaces that are clearer to keep out of the normal Rust modules.
• scripts/ Small build helpers such as the SDK-aware linker wrapper.

Build

Before building, provide the SDK root:

export WHALETX_SDK=/path/to/luckfox-sdk

Then build:

cargo +nightly build --release

Build artifact:

target/armv7-unknown-linux-uclibceabihf/release/whaletx

The remaining toolchain, include, and library paths are derived from WHALETX_SDK. If the SDK layout differs from the default RV1106/uClibc tree, you can override:

• WHALETX_TOOLCHAIN_TRIPLE
• WHALETX_MEDIA_INCLUDE_DIRS
• WHALETX_LINK_DIRS

For build troubleshooting, each build writes the resolved environment and paths to:

target/armv7-unknown-linux-uclibceabihf/*/build/whaletx-*/out/whaletx-build-env.txt

Default runtime config: whaletx.ini

Default runtime config values:

• 1280x720 @ 90fps
• H.264
• vi_channel = 1 (rkisp_selfpath)
• UDP/RTP output enabled