CanSat/EmbeddedCameraIDF
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This commit is contained in:
Bruno Rybársky
2025-05-01 23:57:21 +02:00
parent bc8616ef5f
commit 88efccb65a
4 changed files with 237 additions and 134 deletions
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0
main/cameraTask.c Normal file
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8
main/cameraTask.h Normal file
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@@ -0,0 +1,8 @@
#include <esp_err.h>
#ifndef CAMERA_TASK
#define CAMERA_TASK
void camera_task(void *pvParameters);
esp_err_t camera_init(); // already exists
#endif

353
main/main.c
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@@ -21,9 +21,11 @@
#define HREF_GPIO_NUM 7
#define PCLK_GPIO_NUM 13
// #define ENABLE_LEPTON
#define WIFI_IF WIFI_IF_AP
#define MAX_PAYLOAD_SIZE 1400
#define MAX_PAYLOAD_SIZE 1472
#include "esp_event.h"
#include "esp_system.h"
@@ -72,10 +74,14 @@ static camera_config_t camera_config = {
.pin_pwdn = PWDN_GPIO_NUM,
.pin_reset = RESET_GPIO_NUM,
.pin_xclk = XCLK_GPIO_NUM,
// .pin_sccb_sda = SIOD_GPIO_NUM,
// .pin_sccb_scl = SIOC_GPIO_NUM,
#ifndef LEPTON_ENABLE
.pin_sccb_sda = SIOD_GPIO_NUM,
.pin_sccb_scl = SIOC_GPIO_NUM,
#else
.pin_sccb_sda = -1,
.pin_sccb_scl = -1,
#endif
.sccb_i2c_port = I2C_MASTER_NUM,
.pin_d7 = Y9_GPIO_NUM,
@@ -107,16 +113,6 @@ static camera_config_t camera_config = {
esp_err_t esp_wifi_80211_tx(wifi_interface_t ifx, const void *buffer, int len, bool en_sys_seq);
uint16_t calculate_checksum(uint8_t *data, size_t len)
{
uint16_t checksum = 0;
for (size_t i = 0; i < len; i++)
{
checksum ^= data[i]; // Simple XOR-based checksum
}
return checksum;
}
void send_data_frame(uint8_t type, uint8_t *data, size_t len)
{
uint8_t mac_addr[6];
@@ -126,54 +122,61 @@ void send_data_frame(uint8_t type, uint8_t *data, size_t len)
return;
}
// 802.11 header template
uint8_t header[] = {
0x08, 0x02, 0x00, 0x00,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x10, 0x00};
memcpy(&header[10], mac_addr, 6);
memcpy(&header[16], mac_addr, 6);
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // Destination: broadcast
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Source: MAC (to be set)
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // BSSID: MAC (to be set)
0x10, 0x00 // Sequence control
};
memcpy(&header[10], mac_addr, 6); // Source
memcpy(&header[16], mac_addr, 6); // BSSID
size_t max_chunk_size = MAX_PAYLOAD_SIZE - (11 + 2);
size_t max_chunk_size = MAX_PAYLOAD_SIZE - (11 + 2 + 1); // Payload minus custom header and checksum
size_t total_chunks = (len + max_chunk_size - 1) / max_chunk_size;
ESP_LOGI(TAG, "Got data with %d bytes", len);
size_t offset = 0;
for (uint16_t seq = 0; seq < total_chunks; seq++)
{
size_t offset = seq * max_chunk_size;
size_t chunk_size = (len - offset > max_chunk_size) ? max_chunk_size : (len - offset);
size_t chunk_size = len - offset;
if (chunk_size > max_chunk_size)
{
chunk_size = max_chunk_size;
}
size_t full_len = sizeof(header) + 11 + chunk_size;
uint8_t *raw_frame = malloc(11 + chunk_size + 2);
uint8_t *full_packet = malloc(sizeof(header) + 11 + chunk_size + 2);
if (!raw_frame || !full_packet)
uint8_t *full_packet = malloc(full_len + 2);
if (!full_packet)
{
ESP_LOGE(TAG, "Memory allocation failed!");
free(raw_frame);
free(full_packet);
return;
}
raw_frame[0] = type;
raw_frame[1] = seq >> 8;
raw_frame[2] = seq & 0xFF;
raw_frame[3] = total_chunks >> 8;
raw_frame[4] = total_chunks & 0xFF;
raw_frame[5] = 'P';
raw_frame[6] = 'l';
raw_frame[7] = 'e';
raw_frame[8] = 'c';
raw_frame[9] = 'y';
raw_frame[10] = 'C';
memcpy(raw_frame + 11, data + offset, chunk_size);
uint16_t checksum = calculate_checksum(raw_frame, 11 + chunk_size);
raw_frame[11 + chunk_size] = checksum >> 8;
raw_frame[12 + chunk_size] = checksum & 0xFF;
memcpy(full_packet, header, sizeof(header));
memcpy(full_packet + sizeof(header), raw_frame, 11 + chunk_size + 2);
uint8_t *payload = full_packet + sizeof(header);
esp_err_t ret = tx_with_retry(WIFI_IF, full_packet, sizeof(header) + 11 + chunk_size + 2, true);
// Custom header
payload[0] = type;
payload[1] = seq >> 8;
payload[2] = seq & 0xFF;
payload[3] = total_chunks >> 8;
payload[4] = total_chunks & 0xFF;
payload[5] = 'P';
payload[6] = 'l';
payload[7] = 'e';
payload[8] = 'c';
payload[9] = 'y';
payload[10] = 'C';
memcpy(payload + 11, data + offset, chunk_size);
ESP_LOGI(TAG, "TxTarget: %d bytes", full_len);
full_packet[full_len] = 0;
esp_err_t ret = tx_with_retry(WIFI_IF, full_packet, full_len + 2, true);
//ESP_LOG_BUFFER_HEXDUMP(TAG, full_packet, full_len, ESP_LOG_INFO);
if (ret == ESP_OK)
{
@@ -184,9 +187,9 @@ void send_data_frame(uint8_t type, uint8_t *data, size_t len)
ESP_LOGE(TAG, "Failed to send chunk %d, %s", seq, esp_err_to_name(ret));
}
free(raw_frame);
free(full_packet);
vTaskDelay(50 / portTICK_PERIOD_MS);
vTaskDelay(60 / portTICK_PERIOD_MS);
offset += chunk_size;
}
}
@@ -206,56 +209,111 @@ esp_err_t camera_init()
typedef struct
{
bool isVisible;
size_t len;
size_t width;
size_t height;
uint32_t len;
uint16_t width;
uint16_t height;
pixformat_t format;
struct timeval timestamp;
} PreData;
uint8_t *create_frame(const uint8_t *data, size_t *outSize, PreData pre)
{
const size_t headerSize = 19;
const size_t totalSize = pre.len + headerSize;
ESP_LOGI(TAG, "DataWithFrame: %d\n", totalSize);
uint8_t *dataOut = malloc(totalSize);
if (!dataOut)
{
ESP_LOGE(TAG, "Failed to allocate memory for frame");
return NULL;
}
size_t bytePos = 0;
int64_t time_us = (int64_t)pre.timestamp.tv_sec * 1000000L + (int64_t)pre.timestamp.tv_usec;
dataOut[bytePos++] = pre.isVisible;
dataOut[bytePos++] = (pre.len >> 24) & 0xFF;
dataOut[bytePos++] = (pre.len >> 16) & 0xFF;
dataOut[bytePos++] = (pre.len >> 8) & 0xFF;
dataOut[bytePos++] = (pre.len) & 0xFF;
dataOut[bytePos++] = (pre.width >> 8) & 0xFF;
dataOut[bytePos++] = (pre.width) & 0xFF;
dataOut[bytePos++] = (pre.height >> 8) & 0xFF;
dataOut[bytePos++] = (pre.height) & 0xFF;
dataOut[bytePos++] = (pre.format) & 0xFF;
dataOut[bytePos++] = (time_us >> 56) & 0xFF;
dataOut[bytePos++] = (time_us >> 48) & 0xFF;
dataOut[bytePos++] = (time_us >> 40) & 0xFF;
dataOut[bytePos++] = (time_us >> 32) & 0xFF;
dataOut[bytePos++] = (time_us >> 24) & 0xFF;
dataOut[bytePos++] = (time_us >> 16) & 0xFF;
dataOut[bytePos++] = (time_us >> 8) & 0xFF;
dataOut[bytePos++] = (time_us) & 0xFF;
ESP_LOGI(TAG, "Vis: %d, len: %ld, width:%d, height:%d, format:%d, timestamp: %lld", pre.isVisible, pre.len, pre.width, pre.height, pre.format, time_us);
// Copy image data after PreData
memcpy(dataOut + bytePos, data, pre.len);
*outSize = totalSize;
return dataOut;
}
esp_err_t camera_capture()
{
ESP_LOGI(TAG, "Pregrab");
camera_fb_t *fb = esp_camera_fb_get();
ESP_LOGI(TAG, "Postgrab");
if (!fb)
{
ESP_LOGE(TAG, "Camera Capture Failed");
return ESP_FAIL;
}
const size_t headerSize = sizeof(PreData);
const size_t totalSize = fb->len + headerSize;
uint8_t *dataOut = malloc(totalSize);
// Fill PreData at the start
PreData pre;
pre.isVisible = true;
pre.len = fb->len;
pre.width = fb->width;
pre.height = fb->height;
pre.format = fb->format;
pre.timestamp = fb->timestamp;
size_t totalSize;
uint8_t *dataOut = create_frame(fb->buf, &totalSize, pre);
if (!dataOut)
{
ESP_LOGE(TAG, "Failed to allocate memory");
esp_camera_fb_return(fb);
return ESP_ERR_NO_MEM;
}
// Fill PreData at the start
PreData *pre = (PreData *)dataOut;
pre->isVisible = true;
pre->len = fb->len;
pre->width = fb->width;
pre->height = fb->height;
pre->format = fb->format;
pre->timestamp = fb->timestamp;
// Copy image data after PreData
memcpy(dataOut + headerSize, fb->buf, fb->len);
// Now chunk and send
esp_camera_fb_return(fb);
send_data_frame(0x10, dataOut, totalSize);
free(dataOut);
esp_camera_fb_return(fb);
return ESP_OK;
}
void app_main(void)
{
const uart_port_t uart_num = UART_NUM_0;
uart_config_t uart_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE
};
uart_param_config(uart_num, &uart_config);
uart_driver_install(uart_num, BUF_SIZE * 2, 0, 0, NULL, 0);
uint8_t* buf = malloc(BUF_SIZE);
char* line = malloc(BUF_SIZE);
int line_len = 0;
nvs_flash_init();
ESP_ERROR_CHECK(esp_netif_init());
@@ -263,6 +321,9 @@ void app_main(void)
esp_netif_create_default_wifi_sta();
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
cfg.static_tx_buf_num = 32; // default is 4 or 8
cfg.dynamic_tx_buf_num = 32; // boost this too
cfg.ampdu_tx_enable = 1;
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
@@ -288,76 +349,102 @@ void app_main(void)
camera_init();
vTaskDelay(pdMS_TO_TICKS(300)); // Let the camera wake up fully
#ifdef LEPTON_ENABLE
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);
printf("[MAIN] Start task\n");
LEP_CONFIG.agc_set_enabled = true;
LEP_CONFIG.emissivity = 100;
LEP_CONFIG.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)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// allocate lepton buffers
if (!lepton_buffer_init())
{
printf("[MAIN] Error: Memory init failed");
while (1)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// wait for lepton to initialize
vTaskDelay(pdMS_TO_TICKS(1000));
;
// Attempt to initialize the VoSPI interface
if (vospi_init() != ESP_OK)
{
printf("[MAIN] Error: Lepton VoSPI initialization failed\n");
while (1)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// initialize lepton
if (!lepton_init())
{
printf("[MAIN] Error: Lepton CCI initialization failed\n");
while (1)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// disable data from lepton
gpio_set_level(LEP_CSN_PIN, 1);
printf("LEPTON INIT DONE");
#endif
while (1)
{
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);
printf("[MAIN] Start task\n");
LEP_CONFIG.agc_set_enabled = true;
LEP_CONFIG.emissivity = 100;
LEP_CONFIG.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)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// allocate lepton buffers
if (!lepton_buffer_init())
{
printf("[MAIN] Error: Memory init failed");
while (1)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// wait for lepton to initialize
vTaskDelay(pdMS_TO_TICKS(1000));;
// Attempt to initialize the VoSPI interface
if (vospi_init() != ESP_OK)
{
printf("[MAIN] Error: Lepton VoSPI initialization failed\n");
while (1)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// initialize lepton
if (!lepton_init())
{
printf("[MAIN] Error: Lepton CCI initialization failed\n");
while (1)
{
vTaskDelay(pdMS_TO_TICKS(100));
}
}
// disable data from lepton
gpio_set_level(LEP_CSN_PIN, 1);
printf("LEPTON INIT DONE");
int64_t start = esp_timer_get_time();
camera_capture();
#ifdef LEPTON_ENABLE
uint8_t *picture = take_picture();
if (picture)
{
struct timeval tv_now;
gettimeofday(&tv_now, NULL);
PreData pre;
pre.isVisible = false;
pre.len = LEP_NUM_PIXELS;
pre.width = LEP_WIDTH;
pre.height = LEP_HEIGHT;
pre.format = 0;
pre.timestamp = tv_now;
size_t totalSize;
uint8_t *dataOut = create_frame(picture, &totalSize, pre);
send_data_frame(0x10, dataOut, totalSize);
free(picture);
}
else
{
printf("Failed to lepton take picture\n");
}
#endif
int64_t end = esp_timer_get_time();
int64_t duration = end - start;