From b1f1356a3efb99bd7d20b4947b286d009f9241a4 Mon Sep 17 00:00:00 2001
From: inodlite <1023852+inodlite@users.noreply.github.com>
Date: Tue, 5 Sep 2017 22:20:48 -0700
Subject: [PATCH 1/4] Enable padding-removal for MMAL video port.

---
 mmalcam.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/mmalcam.c b/mmalcam.c
index 7c3a736d..d71bd099 100644
--- a/mmalcam.c
+++ b/mmalcam.c
@@ -141,6 +141,12 @@ static int create_camera_component(mmalcam_context_ptr mmalcam, const char *mmal
 
     set_video_port_format(mmalcam, video_port->format);
     video_port->format->encoding = MMAL_ENCODING_I420;
+        
+    if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_NO_IMAGE_PADDING, 1)
+            != MMAL_SUCCESS) {
+        MOTION_LOG(WRN, TYPE_VIDEO, NO_ERRNO, "MMAL no-padding setup failed");
+    }
+
     status = mmal_port_format_commit(video_port);
 
     if (status) {

From ef36f9c9c5f786a977f74d0a310c8b37635fc94b Mon Sep 17 00:00:00 2001
From: inodlite <1023852+inodlite@users.noreply.github.com>
Date: Tue, 5 Sep 2017 22:23:09 -0700
Subject: [PATCH 2/4] Set MMAL buffer size to accommodate padded frame, as
 required by RPi's firmware.

---
 mmalcam.c | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/mmalcam.c b/mmalcam.c
index d71bd099..70c8e7ba 100644
--- a/mmalcam.c
+++ b/mmalcam.c
@@ -141,7 +141,10 @@ static int create_camera_component(mmalcam_context_ptr mmalcam, const char *mmal
 
     set_video_port_format(mmalcam, video_port->format);
     video_port->format->encoding = MMAL_ENCODING_I420;
-        
+    // set buffer size for an aligned/padded frame
+    video_port->buffer_size = VCOS_ALIGN_UP(mmalcam->width, 32) *
+        VCOS_ALIGN_UP(mmalcam->height, 16) * 3 / 2;
+
     if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_NO_IMAGE_PADDING, 1)
             != MMAL_SUCCESS) {
         MOTION_LOG(WRN, TYPE_VIDEO, NO_ERRNO, "MMAL no-padding setup failed");

From 7de5b8a07c3684cc86ccc044c4e4b3a198f6c7fc Mon Sep 17 00:00:00 2001
From: inodlite <1023852+inodlite@users.noreply.github.com>
Date: Tue, 5 Sep 2017 22:26:15 -0700
Subject: [PATCH 3/4] Print image size on failure in mmalcam_next.

---
 mmalcam.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mmalcam.c b/mmalcam.c
index 70c8e7ba..bd931515 100644
--- a/mmalcam.c
+++ b/mmalcam.c
@@ -387,8 +387,9 @@ int mmalcam_next(struct context *cnt, unsigned char *map)
         memcpy(map, camera_buffer->data, cnt->imgs.size);
         mmal_buffer_header_mem_unlock(camera_buffer);
     } else {
-        MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "cmd %d flags %08x size %d/%d at %08x",
-                camera_buffer->cmd, camera_buffer->flags, camera_buffer->length, camera_buffer->alloc_size, camera_buffer->data);
+        MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "cmd %d flags %08x size %d/%d at %08x, img_size=%d",
+                camera_buffer->cmd, camera_buffer->flags, camera_buffer->length,
+                camera_buffer->alloc_size, camera_buffer->data, cnt->imgs.size);
     }
 
     mmal_buffer_header_release(camera_buffer);

From 27102bba56cb12e1b31b206d3638a4251bae1880 Mon Sep 17 00:00:00 2001
From: inodlite <1023852+inodlite@users.noreply.github.com>
Date: Tue, 5 Sep 2017 22:29:08 -0700
Subject: [PATCH 4/4] Allow copy from larger buffers in mmalcam_next, as those
 are from (un)padded frames.

---
 mmalcam.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mmalcam.c b/mmalcam.c
index bd931515..b71a960f 100644
--- a/mmalcam.c
+++ b/mmalcam.c
@@ -382,7 +382,7 @@ int mmalcam_next(struct context *cnt, unsigned char *map)
     MMAL_BUFFER_HEADER_T *camera_buffer = mmal_queue_wait(mmalcam->camera_buffer_queue);
 
     if (camera_buffer->cmd == 0 && (camera_buffer->flags & MMAL_BUFFER_HEADER_FLAG_FRAME_END)
-            && camera_buffer->length == cnt->imgs.size) {
+            && camera_buffer->length >= cnt->imgs.size) {
         mmal_buffer_header_mem_lock(camera_buffer);
         memcpy(map, camera_buffer->data, cnt->imgs.size);
         mmal_buffer_header_mem_unlock(camera_buffer);