CanSat/EmbeddedCAM
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some more progress, but still can't see devices

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This commit is contained in:
Bruno Rybársky
2025-04-15 22:42:50 +02:00
parent cd8aca36a2
commit 8e72fa7475
7 changed files with 169 additions and 89 deletions
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23
.vscode/settings.json vendored Normal file
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@@ -0,0 +1,23 @@
{
"files.associations": {
"**/debian/*.install": "plain",
"charconv": "cpp",
"chrono": "cpp",
"optional": "cpp",
"format": "cpp",
"ratio": "cpp",
"system_error": "cpp",
"array": "cpp",
"functional": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"__bit_reference": "cpp",
"__node_handle": "cpp",
"deque": "cpp",
"limits": "cpp",
"locale": "cpp",
"vector": "cpp",
"algorithm": "cpp"
}
}

96
EmbeddedCAM.ino
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@@ -28,27 +28,26 @@
// ===================
// Select camera model
// ===================
//#define CAMERA_MODEL_WROVER_KIT // Has PSRAM
//#define CAMERA_MODEL_ESP_EYE // Has PSRAM
// #define CAMERA_MODEL_WROVER_KIT // Has PSRAM
// #define CAMERA_MODEL_ESP_EYE // Has PSRAM
#define CAMERA_MODEL_ESP32S3_EYE // Has PSRAM
//#define CAMERA_MODEL_M5STACK_PSRAM // Has PSRAM
//#define CAMERA_MODEL_M5STACK_V2_PSRAM // M5Camera version B Has PSRAM
//#define CAMERA_MODEL_M5STACK_WIDE // Has PSRAM
//#define CAMERA_MODEL_M5STACK_ESP32CAM // No PSRAM
//#define CAMERA_MODEL_M5STACK_UNITCAM // No PSRAM
//#define CAMERA_MODEL_M5STACK_CAMS3_UNIT // Has PSRAM
//#define CAMERA_MODEL_AI_THINKER // Has PSRAM
//#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM
//#define CAMERA_MODEL_XIAO_ESP32S3 // Has PSRAM
// ** Espressif Internal Boards **
//#define CAMERA_MODEL_ESP32_CAM_BOARD
//#define CAMERA_MODEL_ESP32S2_CAM_BOARD
//#define CAMERA_MODEL_ESP32S3_CAM_LCD
//#define CAMERA_MODEL_DFRobot_FireBeetle2_ESP32S3 // Has PSRAM
//#define CAMERA_MODEL_DFRobot_Romeo_ESP32S3 // Has PSRAM
// #define CAMERA_MODEL_M5STACK_PSRAM // Has PSRAM
// #define CAMERA_MODEL_M5STACK_V2_PSRAM // M5Camera version B Has PSRAM
// #define CAMERA_MODEL_M5STACK_WIDE // Has PSRAM
// #define CAMERA_MODEL_M5STACK_ESP32CAM // No PSRAM
// #define CAMERA_MODEL_M5STACK_UNITCAM // No PSRAM
// #define CAMERA_MODEL_M5STACK_CAMS3_UNIT // Has PSRAM
// #define CAMERA_MODEL_AI_THINKER // Has PSRAM
// #define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM
// #define CAMERA_MODEL_XIAO_ESP32S3 // Has PSRAM
// ** Espressif Internal Boards **
// #define CAMERA_MODEL_ESP32_CAM_BOARD
// #define CAMERA_MODEL_ESP32S2_CAM_BOARD
// #define CAMERA_MODEL_ESP32S3_CAM_LCD
// #define CAMERA_MODEL_DFRobot_FireBeetle2_ESP32S3 // Has PSRAM
// #define CAMERA_MODEL_DFRobot_Romeo_ESP32S3 // Has PSRAM
#include "camera_pins.h"
//
// LEP Task constants
//
@@ -69,7 +68,6 @@ int64_t vsyncDetectedUsec;
WiFiServer lipSrv(8078);
// ===========================
// Enter your WiFi credentials
// ===========================
@@ -79,15 +77,16 @@ const char *password = "plechovka";
void startCameraServer();
void setupLedFlash(int pin);
void setup() {
void setup()
{
gpio_config_t usb_phy_conf = {
.pin_bit_mask = (1ULL << 19) | (1ULL << 20),
.mode = GPIO_MODE_OUTPUT,
.pull_up_en = GPIO_PULLUP_ENABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
gpio_config(&usb_phy_conf);
.pin_bit_mask = (1ULL << 19) | (1ULL << 20),
.mode = GPIO_MODE_OUTPUT,
.pull_up_en = GPIO_PULLUP_ENABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
gpio_config(&usb_phy_conf);
printf("[MAIN] Start task\n");
@@ -166,8 +165,8 @@ gpio_config(&usb_phy_conf);
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.frame_size = FRAMESIZE_UXGA;
config.pixel_format = PIXFORMAT_JPEG; // for streaming
//config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
config.pixel_format = PIXFORMAT_JPEG; // for streaming
// config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.jpeg_quality = 12;
@@ -175,17 +174,23 @@ gpio_config(&usb_phy_conf);
// if PSRAM IC present, init with UXGA resolution and higher JPEG quality
// for larger pre-allocated frame buffer.
if (config.pixel_format == PIXFORMAT_JPEG) {
if (psramFound()) {
if (config.pixel_format == PIXFORMAT_JPEG)
{
if (psramFound())
{
config.jpeg_quality = 10;
config.fb_count = 2;
config.grab_mode = CAMERA_GRAB_LATEST;
} else {
}
else
{
// Limit the frame size when PSRAM is not available
config.frame_size = FRAMESIZE_SVGA;
config.fb_location = CAMERA_FB_IN_DRAM;
}
} else {
}
else
{
// Best option for face detection/recognition
config.frame_size = FRAMESIZE_240X240;
#if CONFIG_IDF_TARGET_ESP32S3
@@ -200,20 +205,23 @@ gpio_config(&usb_phy_conf);
// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
if (err != ESP_OK)
{
printf("Camera init failed with error 0x%x", err);
return;
}
sensor_t *s = esp_camera_sensor_get();
// initial sensors are flipped vertically and colors are a bit saturated
if (s->id.PID == OV3660_PID) {
s->set_vflip(s, 1); // flip it back
s->set_brightness(s, 1); // up the brightness just a bit
s->set_saturation(s, -2); // lower the saturation
if (s->id.PID == OV3660_PID)
{
s->set_vflip(s, 1); // flip it back
s->set_brightness(s, 1); // up the brightness just a bit
s->set_saturation(s, -2); // lower the saturation
}
// drop down frame size for higher initial frame rate
if (config.pixel_format == PIXFORMAT_JPEG) {
if (config.pixel_format == PIXFORMAT_JPEG)
{
s->set_framesize(s, FRAMESIZE_QVGA);
}
@@ -235,7 +243,8 @@ gpio_config(&usb_phy_conf);
WiFi.setSleep(false);
printf("WiFi connecting\n");
while (WiFi.status() != WL_CONNECTED) {
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
printf(".");
}
@@ -250,7 +259,6 @@ gpio_config(&usb_phy_conf);
printf("' to connect\n");
}
uint8_t *take_picture()
{
digitalWrite(LEP_CSN_PIN, 0);
@@ -314,12 +322,12 @@ void lepton_restart()
{
delay(LEP_RESET_FAIL_RETRY_SECS * 1000);
printf("LEPRESET\n\a");
#ifdef LEP_RESET_PIN
#ifdef LEP_RESET_PIN
digitalWrite(LEP_RESET_PIN, LEP_RESET_ON);
delay(10);
digitalWrite(LEP_RESET_PIN, LEP_RESET_OFF);
#endif
#endif
// Delay for Lepton internal initialization (max 950 mSec)
delay(1000);

74
src/lipton/cci.cpp
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@@ -645,7 +645,7 @@ static int cci_write_burst(uint16_t start, uint16_t word_len, uint16_t *buf)
int i;
size_t bufSize = sizeof(*buf) * (1 + word_len);
buffer = malloc(bufSize);
unsigned char *buffer = (unsigned char *)malloc(bufSize);
// Create the i2c transaction buffer
buffer[0] = start >> 8;
@@ -656,15 +656,16 @@ static int cci_write_burst(uint16_t start, uint16_t word_len, uint16_t *buf)
buffer[i * 2 + 1] = *buf++ & 0xFF;
}
esp_err_t ret = i2c_master_transmit(LEPTON_DEV_HANDLE, buffer, sizeof(buffer), I2C_TIMEOUT_MS_VALUE);
esp_err_t ret = i2c_master_transmit(LEPTON_DEV_HANDLE, buffer, bufSize, I2C_TIMEOUT_MS_VALUE);
free(buffer);
if (ret == ESP_OK)
{
ESP_LOGV(TAG_CCI, "Burst write to register 0x%04X successful (Value: 0x%04X)", reg_addr, value);
ESP_LOGV(TAG_CCI, "Burst write to register 0x%04X successful", start);
return 1;
}
else
{
ESP_LOGE(TAG_CCI, "Burst write to register 0x%04X failed: %s", reg_addr, esp_err_to_name(ret));
ESP_LOGE(TAG_CCI, "Burst write to register 0x%04X failed: %s", start, esp_err_to_name(ret));
return -1;
}
}
@@ -684,11 +685,12 @@ uint16_t cci_read_register(uint16_t reg_addr)
{
uint8_t buffer[2];
esp_err_t ret = i2c_master_transmit_receive(LEPTON_DEV_HANDLE, &reg_addr, sizeof(reg_addr), buffer, sizeof(buffer), I2C_TIMEOUT_MS_VALUE);
esp_err_t ret = i2c_master_transmit_receive(LEPTON_DEV_HANDLE, (uint8_t *)&reg_addr, sizeof(reg_addr), buffer, sizeof(buffer), I2C_TIMEOUT_MS_VALUE);
if (ret == ESP_OK)
{
ESP_LOGV(TAG_CCI, "Read from register 0x%04X successful (Value: 0x%04X)", reg_addr, *value);
return (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF);
uint16_t value = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF);
ESP_LOGV(TAG_CCI, "Read from register 0x%04X successful (Value: 0x%04X)", reg_addr, value);
return value;
}
else
{
@@ -713,24 +715,30 @@ int cci_read_burst(uint16_t start, uint16_t word_len, uint16_t *buf)
return -1;
}
size_t bufSize = word_len * sizeof(*buf);
buffer = malloc(bufSize);
esp_err_t ret = i2c_master_transmit_receive(LEPTON_DEV_HANDLE, &reg_addr, sizeof(reg_addr), buffer, bufSize, I2C_TIMEOUT_MS_VALUE);
unsigned char *buffer = (unsigned char *)malloc(bufSize);
esp_err_t ret = i2c_master_transmit_receive(LEPTON_DEV_HANDLE, (uint8_t *)&start, sizeof(start), buffer, bufSize, I2C_TIMEOUT_MS_VALUE);
if (ret == ESP_OK)
{
ESP_LOGV(TAG_CCI, "Read from register 0x%04X successful (Value: 0x%04X)", reg_addr, *value);
ESP_LOGV(TAG_CCI, "Read from register 0x%04X successful", start);
for (int i = 0; i < word_len; i++)
{ // CHECK IF THIS IS NEEDED
*buf++ = buffer[i * 2] << 8 | buffer[i * 2 + 1];
}
free(buffer);
return 1;
}
else
{
ESP_LOGE(TAG_CCI, "Read from register 0x%04X failed: %s", reg_addr, esp_err_to_name(ret));
ESP_LOGE(TAG_CCI, "Read from register 0x%04X failed: %s", start, esp_err_to_name(ret));
return -1;
}
}
/**
* Wait for busy to be clear in the status register
* Returns the 16-bit STATUS
* Returns 0x00010000 if there is a communication failure
*/
/**
* Wait for busy to be clear in the status register
* Returns the 16-bit STATUS
@@ -739,12 +747,13 @@ int cci_read_burst(uint16_t start, uint16_t word_len, uint16_t *buf)
static uint32_t cci_wait_busy_clear()
{
bool err = false;
uint8_t buf[2] = {0x00, 0x07};
uint8_t tx_buf[2]; // Register address to read from
uint8_t rx_buf[2]; // Value buffer
int t = 0; // maximum tick count
uint16_t reg_addr = 0x0002; // STATUS register
int t = 0;
// Wait for booted, not busy
while (((buf[1] & 0x07) != 0x06) && !err)
while (!err)
{
if (t++ >= CCI_MAX_WAIT_TICKS)
{
@@ -752,32 +761,33 @@ static uint32_t cci_wait_busy_clear()
break;
}
// Write STATUS register address
buf[0] = 0x00;
buf[1] = 0x02;
// Prepare register address in big-endian
tx_buf[0] = (reg_addr >> 8) & 0xFF;
tx_buf[1] = reg_addr & 0xFF;
esp_err_t ret = i2c_master_transmit_receive(LEPTON_DEV_HANDLE, &reg_addr, sizeof(reg_addr), buf, sizeof(buf), I2C_TIMEOUT_MS_VALUE);
if (ret == ESP_OK)
esp_err_t ret = i2c_master_transmit_receive(LEPTON_DEV_HANDLE, tx_buf, sizeof(tx_buf), rx_buf, sizeof(rx_buf), I2C_TIMEOUT_MS_VALUE);
if (ret != ESP_OK)
{
ESP_LOGV(TAG_CCI, "Read from register 0x%04X successful (Value: 0x%04X)", reg_addr, *value);
ESP_LOGE(TAG_CCI, "Failed to read STATUS register: %s", esp_err_to_name(ret));
return 0x00010000;
}
else
uint16_t status = ((uint16_t)rx_buf[0] << 8) | rx_buf[1];
ESP_LOGV(TAG_CCI, "STATUS register read: 0x%04X", status);
// Check bits [2:0] == 0b110 (0x06)
if ((rx_buf[1] & 0x07) == 0x06)
{
ESP_LOGE(TAG_CCI, "Read from register 0x%04X failed: %s", reg_addr, esp_err_to_name(ret));
return -1;
return status;
}
}
if (err)
{
return 0x00010000;
}
else
{
return (buf[0] << 8) | buf[1];
}
// Timed out
return 0x00010000;
}
/**
* Wait for busy to be clear in the status register and check the result
* printing an error if detected

44
src/lipton/i2c.cpp
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@@ -29,6 +29,9 @@
// #include "freertos/FreeRTOS.h"
// #include "freertos/semphr.h"
i2c_master_bus_handle_t i2c0_bus_hdl; // migrate to newer
i2c_master_dev_handle_t LEPTON_DEV_HANDLE;
//
// I2C API
//
@@ -36,20 +39,55 @@
/**
* i2c master initialization
*/
esp_err_t i2c_master_bus_detect_devices(i2c_master_bus_handle_t handle)
{
const uint16_t probe_timeout_ms = 50; // timeout in milliseconds
uint8_t address;
bool found_any = false;
printf("Scanning I2C bus...\n");
for (int i = 0; i < 128; i++)
{
fflush(stdout);
address = i;
esp_err_t ret = i2c_master_probe(handle, address, probe_timeout_ms);
if (ret == ESP_OK)
{
printf("Found device at 0x%02X\n", address);
found_any = true;
}
}
if (!found_any)
{
printf("No I2C devices found.\n");
}
return ESP_OK;
}
esp_err_t i2c_master_init(gpio_num_t scl_pin, gpio_num_t sda_pin)
{
i2c_master_bus_config_t i2c0_bus_cfg = {
.i2c_port = I2C_MASTER_NUM,
.sda_io_num = sda_pin,
.scl_io_num = scl_pin,
.clk_source = I2C_CLK_SRC_DEFAULT,
.glitch_ignore_cnt = 7,
};
.flags = {
.enable_internal_pullup = true,
.allow_pd = false,
}
};
ESP_ERROR_CHECK(i2c_new_master_bus(&i2c0_bus_cfg, &i2c0_bus_hdl));
i2c_master_bus_detect_devices(i2c0_bus_hdl);
i2c_device_config_t LEPTON_DEV_CFG = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = CCI_ADDRESS,

11
src/lipton/i2c.h
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@@ -22,7 +22,9 @@
* along with tCam. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#ifndef TCAM_I2C
#define TCAM_I2C
#include <stdint.h>
#include "esp_system.h"
@@ -41,10 +43,11 @@
#define ACK_VAL (i2c_ack_type_t)0x0
#define NACK_VAL (i2c_ack_type_t)0x1
i2c_master_bus_handle_t i2c0_bus_hdl; //migrate to newer
i2c_master_dev_handle_t LEPTON_DEV_HANDLE;
extern i2c_master_bus_handle_t i2c0_bus_hdl; //migrate to newer
extern i2c_master_dev_handle_t LEPTON_DEV_HANDLE;
//
// I2C API
//
esp_err_t i2c_master_init(gpio_num_t scl_pin, gpio_num_t sda_pin);
esp_err_t i2c_master_init(gpio_num_t scl_pin, gpio_num_t sda_pin);
#endif

4
src/lipton/lepton_system.cpp
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@@ -12,7 +12,6 @@
// lepton image and telem buffer
lep_buffer_t rsp_lep_buffer;
/**
* Initialize the ESP32 GPIO and internal peripherals
*/
@@ -28,8 +27,7 @@ bool lepton_io_init()
if (ret != ESP_OK) {
printf("[LEP SYS] Error: I2C Master initialization failed\n");
return false;
}
}
// Attempt to initialize the SPI Master used by the lep_task
memset(&spi_buscfg, 0, sizeof(spi_bus_config_t));
spi_buscfg.miso_io_num=LEP_MISO_PIN;

6
src/lipton/lepton_system.h
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@@ -19,10 +19,10 @@
#define LEP_CSN_PIN 14 // SPI_CS 10
#define LEP_RESET_PIN 20 // RESET_L 17
#define I2C_TIMEOUT_MS_VALUE 20
#define I2C_TIMEOUT_MS_VALUE 2000
#define I2C_MASTER_SDA_PIN GPIO_NUM_4 // SDA 5
#define I2C_MASTER_SCL_PIN GPIO_NUM_5 // SCL 8
#define I2C_MASTER_SDA_PIN GPIO_NUM_4 // SDA
#define I2C_MASTER_SCL_PIN GPIO_NUM_5 // SCL
#define CCI_ADDRESS 0x2A
// I2C