init

main/lipton/lepton_system.cpp

@@ -0,0 +1,81 @@
+#include "esp_system.h"
+#include <stdlib.h>
+#include "driver/spi_master.h"
+#include "driver/spi_slave.h"
+#include "lepton_system.h"
+#include "lepton_utilities.h"
+#include "i2c.h"
+#include "vospi.h"
+#include <cstring>
+#include <Arduino.h>
+
+
+// lepton image and telem buffer
+lep_buffer_t rsp_lep_buffer;
+
+/**
+ * Initialize the ESP32 GPIO and internal peripherals
+ */
+bool lepton_io_init()
+{
+	esp_err_t ret;
+	spi_bus_config_t spi_buscfg;
+	
+	printf("[LEP SYS] Lepton I/O Initialization\n");	
+	
+	// Attempt to initialize the I2C Master
+	ret = i2c_master_init(I2C_MASTER_SCL_PIN, I2C_MASTER_SDA_PIN);
+	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;
+	spi_buscfg.mosi_io_num=-1;
+	spi_buscfg.sclk_io_num=LEP_SCK_PIN;
+	spi_buscfg.max_transfer_sz=LEP_PKT_LENGTH;
+	spi_buscfg.quadwp_io_num=-1;
+	spi_buscfg.quadhd_io_num=-1;
+	
+	if (spi_bus_initialize(LEP_SPI_HOST, &spi_buscfg, LEP_DMA_NUM) != ESP_OK) {
+		printf("[LEP SYS] Error: Lepton SPI initialization failed\n");
+		return false;
+	}
+
+	// initialize GPIO pins
+	pinMode(LEP_VSYNC_PIN, INPUT);
+	#ifdef LEP_RESET_PIN
+	pinMode(LEP_RESET_PIN, OUTPUT);
+	digitalWrite(LEP_RESET_PIN, LEP_RESET_ON);
+	delay(10);
+	digitalWrite(LEP_RESET_PIN, LEP_RESET_OFF);
+	#endif
+	
+	return true;
+}
+
+
+/**
+ * Allocate lepton buffers on heap
+ */
+bool lepton_buffer_init()
+{
+	printf("[LEP SYS] Buffer Allocation\n");
+	
+	// Allocate the LEP/RSP task lepton frame and telemetry ping-pong buffers
+	rsp_lep_buffer.lep_bufferP = (uint8_t*)malloc(LEP_NUM_PIXELS*sizeof(uint8_t));
+	if (rsp_lep_buffer.lep_bufferP == NULL) {
+		printf("[LEP SYS] Error: malloc RSP lepton shared image buffer failed\n");
+		return false;
+	}
+
+	rsp_lep_buffer.lep_telemP = (uint16_t*)malloc(LEP_TEL_WORDS*sizeof(uint16_t));
+	if (rsp_lep_buffer.lep_telemP == NULL) {
+		printf("[LEP SYS] Error: malloc RSP lepton shared telemetry buffer failed\n");
+		return false;
+	}
+	
+	return true;
+}