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test

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This commit is contained in:
Bruno Rybársky
2025-04-29 23:23:45 +02:00
parent 7acfb06d42
commit bc8616ef5f
12 changed files with 305 additions and 104 deletions
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10
main/CMakeLists.txt
View File

@@ -1,2 +1,12 @@
idf_component_register(SRCS "main.c"
"lipton/cci.cpp"
"lipton/i2c.cpp"
"lipton/lepton_system.cpp"
"lipton/lepton_utilities.cpp"
"lipton/vospi.cpp"
"lipton/cci.h"
"lipton/i2c.h"
"lipton/lepton_system.h"
"lipton/lepton_utilities.h"
"lipton/vospi.h"
INCLUDE_DIRS ".")

14
main/lipton/cci.cpp
View File

@@ -25,7 +25,7 @@
#include "i2c.h"
#include <stdbool.h>
#include <stdio.h>
#include <Arduino.h>
#define CCI_MAX_WAIT_TICKS 5000
@@ -64,7 +64,7 @@ static void cci_wait_busy_clear_check(char* cmd);
*/
void cci_set_reg(uint16_t cmd, int len, uint16_t* buf)
{
char cmd_buf[11]; // sized for 'cmd 0xNNNN<NULL>'
char cmd_buf[12]; // sized for 'cmd 0xNNNN<NULL>'
int ret = 1;
cci_last_status_error = false;
@@ -554,7 +554,7 @@ void cc_run_oem_reboot()
cci_wait_busy_clear();
cci_write_register(CCI_REG_COMMAND, CCI_CMD_OEM_RUN_REBOOT);
// Sleep to allow camera to reboot and run FFC
delay(6000);
vTaskDelay(pdMS_TO_TICKS(6000));
cci_wait_busy_clear_check("CCI_CMD_OEM_RUN_REBOOT");
}
@@ -631,10 +631,10 @@ static int cci_write_register(uint16_t reg, uint16_t value)
{
// Write the register address and value
uint8_t write_buf[4] = {
reg >> 8 & 0xff,
reg & 0xff,
value >> 8 & 0xff,
value & 0xff
uint8_t (reg >> 8 & 0xff),
uint8_t (reg & 0xff),
uint8_t (value >> 8 & 0xff),
uint8_t (value & 0xff)
};
if (i2c_master_write_slave(CCI_ADDRESS, write_buf, sizeof(write_buf)) != ESP_OK) {
printf("[CCI] Error: failed to write CCI register %02x with value %02x\n", reg, value);

4
main/lipton/i2c.cpp
View File

@@ -83,7 +83,7 @@ esp_err_t i2c_master_read_slave(uint8_t addr7, uint8_t *data_rd, size_t size)
}
i2c_master_read_byte(cmd, data_rd + size - 1, NACK_VAL);
i2c_master_stop(cmd);
esp_err_t ret = i2c_master_cmd_begin((i2c_port_t)I2C_MODE_MASTER, cmd, 1000 / portTICK_RATE_MS);
esp_err_t ret = i2c_master_cmd_begin((i2c_port_t)I2C_MODE_MASTER, cmd, 1000 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
return ret;
}
@@ -104,7 +104,7 @@ esp_err_t i2c_master_write_slave(uint8_t addr7, uint8_t *data_wr, size_t size)
i2c_master_write_byte(cmd, (addr7 << 1) | I2C_MASTER_WRITE, ACK_CHECK_EN);
i2c_master_write(cmd, data_wr, size, ACK_CHECK_EN);
i2c_master_stop(cmd);
esp_err_t ret = i2c_master_cmd_begin((i2c_port_t)I2C_MODE_MASTER, cmd, 1000 / portTICK_RATE_MS);
esp_err_t ret = i2c_master_cmd_begin((i2c_port_t)I2C_MODE_MASTER, cmd, 1000 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
return ret;
}

11
main/lipton/lepton_system.cpp
View File

@@ -7,7 +7,6 @@
#include "i2c.h"
#include "vospi.h"
#include <cstring>
#include <Arduino.h>
// lepton image and telem buffer
@@ -45,12 +44,12 @@ bool lepton_io_init()
}
// initialize GPIO pins
pinMode(LEP_VSYNC_PIN, INPUT);
gpio_set_direction(LEP_VSYNC_PIN, GPIO_MODE_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);
gpio_set_direction(LEP_RESET_PIN, GPIO_MODE_OUTPUT);
gpio_set_level(LEP_RESET_PIN, LEP_RESET_ON);
vTaskDelay(pdMS_TO_TICKS(10));
gpio_set_level(LEP_RESET_PIN, LEP_RESET_OFF);
#endif
return true;

13
main/lipton/lepton_system.h
View File

@@ -1,4 +1,5 @@
#pragma once
#include "driver/i2c.h"
//
// Hardware Configuration
@@ -13,13 +14,13 @@
// #define I2C_MASTER_SDA_PIN 21 // SDA 5
// #define I2C_MASTER_SCL_PIN 22 // SCL 8
#define LEP_MISO_PIN 40 // SPI_MISO 12
#define LEP_VSYNC_PIN 41 // GPIO3/VSYNC 15
#define LEP_SCK_PIN 47 // SPI_CLK 18
#define LEP_CSN_PIN 14 // SPI_CS 10
#define LEP_RESET_PIN 20 // RESET_L 17
#define LEP_MISO_PIN GPIO_NUM_40 // SPI_MISO 12
#define LEP_VSYNC_PIN GPIO_NUM_41 // GPIO3/VSYNC 15
#define LEP_SCK_PIN GPIO_NUM_47 // SPI_CLK 18
#define LEP_CSN_PIN GPIO_NUM_14 // SPI_CS 10
#define LEP_RESET_PIN GPIO_NUM_20 // RESET_L 17
#define I2C_MASTER_SDA_PIN 4 // SDA 5
#define I2C_MASTER_SDA_PIN GPIO_NUM_4 // SDA 5
#define I2C_MASTER_SCL_PIN 5 // SCL 8
// I2C

40
main/lipton/lepton_utilities.cpp
View File

@@ -31,7 +31,7 @@
#include "esp_system.h"
#include "vospi.h"
#include <string.h>
#include <Arduino.h>
static bool lep_is_radiometric = false;
@@ -57,7 +57,7 @@ bool lepton_init()
// If this is successful, we assume further communication will be successful
rsp = cci_run_ping();
if (rsp != 0) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
@@ -86,16 +86,16 @@ bool lepton_init()
// Configure Radiometry for TLinear enabled, auto-resolution
cci_set_radiometry_enable_state(CCI_RADIOMETRY_ENABLED);
rsp = cci_get_radiometry_enable_state();
printf("[LEP UTIL] Lepton Radiometry = %d\n", rsp);
printf("[LEP UTIL] Lepton Radiometry = %ld\n", rsp);
if (rsp != CCI_RADIOMETRY_ENABLED) {
// Make one more effort
delay(10);
vTaskDelay(pdMS_TO_TICKS(10));
printf("[LEP UTIL] Retry Set Lepton Radiometry\n");
cci_set_radiometry_enable_state(CCI_RADIOMETRY_ENABLED);
rsp = cci_get_radiometry_enable_state();
printf("[LEP UTIL] Lepton Radiometry = %d\n", rsp);
printf("[LEP UTIL] Lepton Radiometry = %ld\n", rsp);
if (rsp != CCI_RADIOMETRY_ENABLED) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
}
@@ -104,17 +104,17 @@ bool lepton_init()
val = (lep_stP->agc_set_enabled) ? CCI_RADIOMETRY_TLINEAR_DISABLED : CCI_RADIOMETRY_TLINEAR_ENABLED;
cci_set_radiometry_tlinear_enable_state((cci_radiometry_tlinear_enable_state_t)val);
rsp = cci_get_radiometry_tlinear_enable_state();
printf("[LEP UTIL] Lepton Radiometry TLinear = %d\n", rsp);
printf("[LEP UTIL] Lepton Radiometry TLinear = %ld\n", rsp);
if (rsp != val) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
cci_set_radiometry_tlinear_auto_res(CCI_RADIOMETRY_AUTO_RES_ENABLED);
rsp = cci_get_radiometry_tlinear_auto_res();
printf("[LEP UTIL] Lepton Radiometry Auto Resolution = %d\n", rsp);
printf("[LEP UTIL] Lepton Radiometry Auto Resolution = %ld\n", rsp);
if (rsp != CCI_RADIOMETRY_AUTO_RES_ENABLED) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
}
@@ -122,9 +122,9 @@ bool lepton_init()
// Enable AGC calcs for a smooth transition between modes
cci_set_agc_calc_enable_state(CCI_AGC_ENABLED);
rsp = cci_get_agc_calc_enable_state();
printf("[LEP UTIL] Lepton AGC Calcs = %d\n", rsp);
printf("[LEP UTIL] Lepton AGC Calcs = %ld\n", rsp);
if (rsp != CCI_AGC_ENABLED) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
@@ -132,18 +132,18 @@ bool lepton_init()
val = (lep_stP->agc_set_enabled) ? CCI_AGC_ENABLED : CCI_AGC_DISABLED;
cci_set_agc_enable_state((cci_agc_enable_state_t)val);
rsp = cci_get_agc_enable_state();
printf("[LEP UTIL] Lepton AGC = %d\n", rsp);
printf("[LEP UTIL] Lepton AGC = %ld\n", rsp);
if (rsp != val) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
// Enable telemetry
cci_set_telemetry_enable_state(CCI_TELEMETRY_ENABLED);
rsp = cci_get_telemetry_enable_state();
printf("[LEP UTIL] Lepton Telemetry = %d\n", rsp);
printf("[LEP UTIL] Lepton Telemetry = %ld\n", rsp);
if (rsp != CCI_TELEMETRY_ENABLED) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
vospi_include_telem(true);
@@ -161,9 +161,9 @@ bool lepton_init()
}
cci_set_gain_mode((cc_gain_mode_t)val);
rsp = cci_get_gain_mode();
printf("[LEP UTIL] Lepton Gain Mode = %d\n", rsp);
printf("[LEP UTIL] Lepton Gain Mode = %ld\n", rsp);
if (rsp != val) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}
@@ -176,9 +176,9 @@ bool lepton_init()
// Finally enable VSYNC on Lepton GPIO3
cci_set_gpio_mode(LEP_OEM_GPIO_MODE_VSYNC);
rsp = cci_get_gpio_mode();
printf("[LEP UTIL] Lepton GPIO Mode = %d\n", rsp);
printf("[LEP UTIL] Lepton GPIO Mode = %ld\n", rsp);
if (rsp != LEP_OEM_GPIO_MODE_VSYNC) {
printf("[LEP UTIL] Error: Lepton communication failed (%d)\n", rsp);
printf("[LEP UTIL] Error: Lepton communication failed (%ld)\n", rsp);
return false;
}

267
main/main.c
View File

@@ -21,21 +21,62 @@
#define HREF_GPIO_NUM 7
#define PCLK_GPIO_NUM 13
#define WIFI_IF WIFI_IF_AP
#define MAX_PAYLOAD_SIZE 1400
#include "esp_event.h"
#include "esp_system.h"
#include "esp_event.h"
#include "esp_timer.h"
#include "esp_wifi.h"
#include "esp_log.h"
#include "esp_mac.h"
#include "nvs_flash.h"
#include "string.h"
#include "lipton/cci.h"
#include "lipton/vospi.h"
#include "lipton/lepton_system.h"
#include "lipton/lepton_utilities.h"
// 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
//
// Code start
//
int vsync_count = 0;
int sync_fail_count = 0;
int reset_fail_count = 0;
int64_t vsyncDetectedUsec;
esp_err_t tx_with_retry(wifi_interface_t iface, const void *buffer, int len, bool en_sys_seq)
{
for (int i = 0; i < 160; i++)
{
esp_err_t err = esp_wifi_80211_tx(iface, buffer, len, en_sys_seq);
if (err == ESP_OK)
return ESP_OK;
if (err != ESP_ERR_NO_MEM)
return err;
// No delay, retry immediately
}
return ESP_ERR_NO_MEM;
}
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,
// .pin_sccb_sda = SIOD_GPIO_NUM,
// .pin_sccb_scl = SIOC_GPIO_NUM,
.pin_sccb_sda = -1,
.pin_sccb_scl = -1,
.sccb_i2c_port = I2C_MASTER_NUM,
.pin_d7 = Y9_GPIO_NUM,
.pin_d6 = Y8_GPIO_NUM,
@@ -54,8 +95,8 @@ static camera_config_t camera_config = {
.ledc_channel = LEDC_CHANNEL_0,
.pixel_format = PIXFORMAT_JPEG, // YUV422,GRAYSCALE,RGB565,JPEG
//.frame_size = FRAMESIZE_UXGA, // QQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.+
.frame_size = FRAMESIZE_128X128, // QQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.
.frame_size = FRAMESIZE_UXGA, // QQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.+
//.frame_size = FRAMESIZE_128X128, // QQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.
.jpeg_quality = 12, // 0-63, for OV series camera sensors, lower number means higher quality
.fb_count = 1, // When jpeg mode is used, if fb_count more than one, the driver will work in continuous mode.
@@ -66,6 +107,89 @@ 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];
if (esp_wifi_get_mac(WIFI_IF_AP, mac_addr) != ESP_OK)
{
ESP_LOGE(TAG, "Failed to get MAC address");
return;
}
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);
size_t max_chunk_size = MAX_PAYLOAD_SIZE - (11 + 2);
size_t total_chunks = (len + max_chunk_size - 1) / max_chunk_size;
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);
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)
{
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);
esp_err_t ret = tx_with_retry(WIFI_IF, full_packet, sizeof(header) + 11 + chunk_size + 2, true);
if (ret == ESP_OK)
{
ESP_LOGI(TAG, "Sent chunk %d/%d, size: %d bytes", seq + 1, total_chunks, chunk_size);
}
else
{
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);
}
}
esp_err_t camera_init()
{
// initialize the camera
@@ -100,13 +224,6 @@ esp_err_t camera_capture()
return ESP_FAIL;
}
if (fb->len < 2 || fb->buf[0] != 0xFF || fb->buf[1] != 0xD8) {
ESP_LOGE(TAG, "Invalid JPEG data (no SOI marker)");
esp_camera_fb_return(fb);
return ESP_FAIL;
}
const size_t headerSize = sizeof(PreData);
const size_t totalSize = fb->len + headerSize;
uint8_t *dataOut = malloc(totalSize);
@@ -130,31 +247,7 @@ esp_err_t camera_capture()
memcpy(dataOut + headerSize, fb->buf, fb->len);
// Now chunk and send
const size_t chunkSize = 1400;
size_t bytesSent = 0;
while (bytesSent < totalSize)
{
size_t bytesToSend = (totalSize - bytesSent) > chunkSize ? chunkSize : (totalSize - bytesSent);
int retries = 3;
esp_err_t err;
do
{
err = esp_wifi_80211_tx(WIFI_IF_AP, dataOut + bytesSent, bytesToSend, true);
if (err != ESP_OK)
ESP_LOGW(TAG, "Retrying chunk send...");
} while (err != ESP_OK && --retries > 0);
if (err != ESP_OK)
{
ESP_LOGE(TAG, "Failed to send chunk after retries");
free(dataOut);
esp_camera_fb_return(fb);
return ESP_FAIL;
}
bytesSent += bytesToSend;
}
send_data_frame(0x10, dataOut, totalSize);
free(dataOut);
esp_camera_fb_return(fb);
@@ -164,13 +257,111 @@ esp_err_t camera_capture()
void app_main(void)
{
nvs_flash_init();
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
esp_netif_create_default_wifi_sta();
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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));
wifi_config_t ap_config = {
.ap = {
.ssid = "ESP32-Test",
.channel = 10,
.authmode = WIFI_AUTH_OPEN,
.max_connection = 1,
.ssid_hidden = 1,
.beacon_interval = 60000}};
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &ap_config));
ESP_ERROR_CHECK(esp_wifi_start());
ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
esp_log_level_set("wifi", ESP_LOG_DEBUG);
uint8_t mac_addr[6];
esp_read_mac(mac_addr, ESP_MAC_WIFI_SOFTAP);
ESP_LOGI(TAG, "ESP32 MAC: %02X:%02X:%02X:%02X:%02X:%02X",
mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
camera_init();
vTaskDelay(pdMS_TO_TICKS(300)); // Let the camera wake up fully
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();
vTaskDelay(pdMS_TO_TICKS(50)); // 20 FPS = 1000/50ms
int64_t end = esp_timer_get_time();
int64_t duration = end - start;
printf("%lf FPS, %lf SPF\n", 1 / (duration / 1000000.0), duration / 1000000.0);
}
}