init

lepton_img2serial.ino

@@ -0,0 +1,182 @@
+#include <stdbool.h>
+#include "esp_system.h"
+
+#include "src/lipton/cci.h"
+#include "src/lipton/vospi.h"
+#include "src/lipton/lepton_system.h"
+#include "src/lipton/lepton_utilities.h"
+
+
+#include "mbedtls/base64.h"
+
+
+//
+// LEP Task constants
+//
+
+// Number of consecutive VoSPI resynchronization attempts before attempting to reset
+#define LEP_SYNC_FAIL_FAULT_LIMIT 10
+
+// Reset fail delay before attempting a re-init (seconds)
+#define LEP_RESET_FAIL_RETRY_SECS 5
+
+
+//
+// picture functions
+//
+char* base64_encode_lep_image(uint16_t* lep_bufferP, size_t* base64_length) {
+  size_t base64_obj_len = 0;
+  char* base64_lep_data = NULL;
+
+  // Get the necessary length for base64 encoding
+  mbedtls_base64_encode(NULL, 0, &base64_obj_len, (const unsigned char*)lep_bufferP, LEP_NUM_PIXELS * 2);
+
+  // Allocate memory for the base64 encoded data
+  base64_lep_data = (char*)malloc(base64_obj_len);
+  if (base64_lep_data == NULL) {
+    return NULL;  // Memory allocation failed
+  }
+
+  // Base64 encode the camera data
+  if (mbedtls_base64_encode((unsigned char*)base64_lep_data, base64_obj_len, &base64_obj_len, (const unsigned char*)lep_bufferP, LEP_NUM_PIXELS * 2) != 0) {
+    free(base64_lep_data);
+    return NULL;  // Encoding failed
+  }
+
+  *base64_length = base64_obj_len;
+
+  return base64_lep_data;
+}
+
+void pic_to_uart(uint16_t* pic_buf) {
+  size_t base64_length = 0;
+  char* base64_encoded_data = base64_encode_lep_image(pic_buf, &base64_length);
+
+  if (base64_encoded_data != NULL) {
+    // Output the base64 encoded string and its length
+    printf("data:base64,%s\n", base64_encoded_data);
+
+    // Remember to free the allocated memory
+    free(base64_encoded_data);
+  }
+}
+
+//
+// Code start
+//
+int vsync_count = 0;
+int sync_fail_count = 0;
+int reset_fail_count = 0;
+int64_t vsyncDetectedUsec;
+
+void setup() {
+  printf("[MAIN] Start task\n");
+
+  LEP_CONFIG = {
+    .agc_set_enabled = false,
+    .emissivity = 100,
+    .gain_mode = LEP_GAIN_AUTO
+  };
+
+  // initialize spi, i2c and gpio for lepton
+  if (!lepton_io_init()) {
+    printf("[MAIN] Error: I/O init failed");
+    while(1) {delay(100);}
+  }
+
+  // allocate lepton buffers
+  if (!lepton_buffer_init()) {
+    printf("[MAIN] Error: Memory init failed");
+    while(1) {delay(100);}
+  }
+
+  // wait for lepton to initialize
+  delay(1000);
+
+  // Attempt to initialize the VoSPI interface
+  if (vospi_init() != ESP_OK) {
+    printf("[MAIN] Error: Lepton VoSPI initialization failed\n");
+    while(1) {delay(100);}
+  }
+
+  // initialize lepton
+  if (!lepton_init()) {
+    printf("[MAIN] Error: Lepton CCI initialization failed\n");
+    while(1) {delay(100);}
+  }
+
+  // disable data from lepton
+  digitalWrite(LEP_CSN_PIN, 1);
+}
+
+uint16_t* take_picture() {
+  digitalWrite(LEP_CSN_PIN, 0);
+  delay(10);
+
+  while (1) {
+    // Spin waiting for vsync to be asserted
+    int t = 0;
+    while (digitalRead(LEP_VSYNC_PIN) == 0 && t++ < 500) {}
+
+    vsyncDetectedUsec = esp_timer_get_time();
+
+    // Attempt to process a segment
+    if (t >= 500 || vospi_transfer_segment(vsyncDetectedUsec)) {
+      // Got image
+      vsync_count = 0;
+
+      // Copy the frame to the current half of the shared buffer and let rsp_task know
+      vospi_get_frame(&rsp_lep_buffer);
+
+      // Hold fault counters reset while operating
+      sync_fail_count = 0;
+
+      // disable lepton again
+      digitalWrite(LEP_CSN_PIN, 1);
+      return rsp_lep_buffer.lep_bufferP;
+    } else {
+      if (++vsync_count >= 36) {
+        vsync_count = 0;
+        printf("[MAIN] Could not get lepton image\n");
+
+        delay(185);
+
+        if (sync_fail_count++ == LEP_SYNC_FAIL_FAULT_LIMIT) {
+          return nullptr;
+        }
+      }
+    }
+  }
+
+  return nullptr;
+}
+
+int lepton_restart() {
+  while (1) {
+    delay(LEP_RESET_FAIL_RETRY_SECS*1000);
+    
+    // Assert hardware reset
+    digitalWrite(LEP_RESET_PIN, LEP_RESET_ON);
+    delay(10);
+    digitalWrite(LEP_RESET_PIN, LEP_RESET_OFF);
+
+
+    // Delay for Lepton internal initialization (max 950 mSec)
+    delay(1000);
+
+    // if successfully initialized, break out
+    if (lepton_init())
+      break;
+  }
+}
+
+void loop() {
+  delay(5000);
+
+  uint16_t* picture = take_picture();
+  if (picture) {
+    pic_to_uart(picture);
+  } else {
+    lepton_restart();
+  }
+}