CanSat/EmbeddedCameraIDF
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This commit is contained in:
Bruno Rybársky
2025-05-04 00:42:15 +02:00
parent 88efccb65a
commit f280a2a1ca
8 changed files with 197 additions and 40 deletions
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5
.vscode/settings.json vendored
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@@ -5,7 +5,7 @@
"idf.openOcdConfigs": [
"board/esp32s3-builtin.cfg"
],
"idf.port": "/dev/ttyUSB0",
"idf.port": "/dev/ttyUSB1",
"idf.toolsPath": "/home/bruno/.espressif",
"idf.customExtraVars": {
"IDF_TARGET": "esp32s3"
@@ -17,6 +17,7 @@
"**/debian/*.install": "plain",
"condition_variable": "c",
"ctime": "c",
"mutex": "c"
"mutex": "c",
"cstdint": "c"
},
}

22
main/CMakeLists.txt
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@@ -1,12 +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 ".")
"lipton/cci.c"
"lipton/cci.h"
"lipton/i2c.c"
"lipton/i2c.h"
"lipton/lepton_system.c"
"lipton/lepton_system.h"
"lipton/lepton_utilities.c"
"lipton/lepton_utilities.h"
"lipton/vospi.c"
"lipton/vospi.h"
INCLUDE_DIRS ".")

8
main/lipton/cci.cpp → main/lipton/cci.c
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@@ -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] = {
uint8_t (reg >> 8 & 0xff),
uint8_t (reg & 0xff),
uint8_t (value >> 8 & 0xff),
uint8_t (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);

0
main/lipton/i2c.cpp → main/lipton/i2c.c
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2
main/lipton/lepton_system.cpp → main/lipton/lepton_system.c
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@@ -6,7 +6,7 @@
#include "lepton_utilities.h"
#include "i2c.h"
#include "vospi.h"
#include <cstring>
#include <string.h>
// lepton image and telem buffer

0
main/lipton/lepton_utilities.cpp → main/lipton/lepton_utilities.c
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0
main/lipton/vospi.cpp → main/lipton/vospi.c
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200
main/main.c
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@@ -1,5 +1,10 @@
#include <stdio.h>
#define LEPTON_ENABLE
#include "mbedtls/base64.h"
#define TAG "CAM"
#include "esp_camera.h"
#define PWDN_GPIO_NUM -1
@@ -27,6 +32,8 @@
#define MAX_PAYLOAD_SIZE 1472
// uint8_t hehe[10000];
#include "esp_event.h"
#include "esp_system.h"
#include "esp_event.h"
@@ -41,6 +48,8 @@
#include "lipton/vospi.h"
#include "lipton/lepton_system.h"
#include "lipton/lepton_utilities.h"
#include <driver/uart.h>
#include <math.h>
// Number of consecutive VoSPI resynchronization attempts before attempting to reset
#define LEP_SYNC_FAIL_FAULT_LIMIT 10
@@ -48,6 +57,13 @@
// Reset fail delay before attempting a re-init (seconds)
#define LEP_RESET_FAIL_RETRY_SECS 5
#define BUF_SIZE 20000
typedef struct {
int x, y, width, height;
} Rectangle;
//
// Code start
//
@@ -176,7 +192,7 @@ void send_data_frame(uint8_t type, uint8_t *data, size_t len)
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);
// ESP_LOG_BUFFER_HEXDUMP(TAG, full_packet, full_len, ESP_LOG_INFO);
if (ret == ESP_OK)
{
@@ -188,7 +204,7 @@ void send_data_frame(uint8_t type, uint8_t *data, size_t len)
}
free(full_packet);
vTaskDelay(60 / portTICK_PERIOD_MS);
vTaskDelay(80 / portTICK_PERIOD_MS);
offset += chunk_size;
}
}
@@ -298,21 +314,103 @@ esp_err_t camera_capture()
return ESP_OK;
}
uint8_t *take_picture()
{
gpio_set_level(LEP_CSN_PIN, 0);
vTaskDelay(pdMS_TO_TICKS(10));
while (1)
{
// Spin waiting for vsync to be asserted
int t = 0;
while (gpio_get_level(LEP_VSYNC_PIN) == 0 && t++ < 11000)
{
}
vsyncDetectedUsec = esp_timer_get_time();
// Attempt to process a segment
if (t >= 22000 || vospi_transfer_segment(vsyncDetectedUsec))
{
// Got image
vsync_count = 0;
if (t >= 11000)
printf("LEPOVF%d\n", t);
else
{
printf("LEPNOVF%d\n", t);
}
// 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
gpio_set_level(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");
vTaskDelay(pdMS_TO_TICKS(185));
if (sync_fail_count++ == LEP_SYNC_FAIL_FAULT_LIMIT)
{
return NULL;
}
}
}
}
return NULL;
}
uint8_t *lepton_get_frame()
{
uint8_t *picture = take_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);
return picture;
}
void app_main(void)
{
// for (size_t i = 0; i < sizeof(hehe); i++)
// {
// hehe[i] = i & 0xFF;
// }
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,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE
};
.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);
uint8_t *buf = malloc(BUF_SIZE);
char *line = malloc(BUF_SIZE);
int line_len = 0;
nvs_flash_init();
@@ -347,7 +445,25 @@ void app_main(void)
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();
// size_t outLen = 0;
// PreData pre;
// struct timeval tv;
// gettimeofday(&tv, NULL);
// pre.format = PIXFORMAT_JPEG;
// pre.width = 100;
// pre.height = 100;
// pre.isVisible = true;
// pre.len = sizeof(hehe);
// pre.timestamp = tv;
// uint8_t *imgFrame = create_frame(hehe, &outLen, pre);
// send_data_frame(0x10, imgFrame, outLen);
// free(imgFrame);
#ifdef LEPTON_ENABLE
gpio_config_t usb_phy_conf = {
@@ -412,6 +528,7 @@ void app_main(void)
gpio_set_level(LEP_CSN_PIN, 1);
printf("LEPTON INIT DONE");
camera_init();
#endif
@@ -421,24 +538,63 @@ void app_main(void)
int64_t start = esp_timer_get_time();
camera_capture();
#ifdef LEPTON_ENABLE
uint8_t *picture = take_picture();
uint8_t *picture = lepton_get_frame();
if (picture)
{
int maxBrightness = -1;
Rectangle brightest = {0, 0, 0, 0};
struct timeval tv_now;
gettimeofday(&tv_now, NULL);
for (int y = 0; y < LEP_HEIGHT; y++) {
for (int x = 0; x < LEP_WIDTH; x++) {
int idx = y * LEP_WIDTH + x;
int brightness = picture[idx]; // grayscale
if (brightness > maxBrightness) {
maxBrightness = brightness;
brightest.x = x;
brightest.y = y;
}
}
}
// Rozšírenie oblasti
int padding = 10;
brightest.x = (brightest.x - padding < 0) ? 0 : brightest.x - padding;
brightest.y = (brightest.y - padding < 0) ? 0 : brightest.y - padding;
brightest.width = ((brightest.x + padding * 2) > LEP_WIDTH) ? (LEP_WIDTH - brightest.x) : (padding * 2);
brightest.height = ((brightest.y + padding * 2) > LEP_HEIGHT) ? (LEP_HEIGHT - brightest.y) : (padding * 2);
// Výpočet stredu oblasti
double middleX = brightest.x + brightest.width / 2.0;
double middleY = brightest.y + brightest.height / 2.0;
// Výpočet uholných odchýlok
double rotationX = 3 * M_PI / 180.0;
double rotationY = 0 * M_PI / 180.0;
double rotationZ = 45 * M_PI / 180.0;
double posX = 100, posY = 100, posZ = 500;
double plusX = ((middleX - LEP_HEIGHT / 2.0) / LEP_HEIGHT) * 57 * M_PI / 180.0;
double plusY = ((middleY - LEP_WIDTH / 2.0) / LEP_WIDTH) * 42.75 * M_PI / 180.0;
double posGX = posZ * tan(rotationX + plusX) * cos(rotationZ) + posX;
double posGY = posZ * tan(rotationY + plusY) * sin(rotationZ) + posY;
//printf("Stred najjasnejšej oblasti: (%.2f, %.2f)\n", middleX, middleY);
//printf("Výpočet pozície: posGX = %.2f, posGY = %.2f\n", posGX, posGY);
uint8_t messageBuffer[32];
uint8_t messageBufferEncoded[50];
size_t outputLen;
mbedtls_base64_encode(messageBufferEncoded, sizeof(messageBufferEncoded), &outputLen, messageBuffer, sizeof(messageBuffer));
uint8_t messageBufferPrefixed[60] = "NavData:";
strcat(messageBufferPrefixed, messageBufferEncoded);
strcat(messageBufferPrefixed, "\n");
uart_write_bytes(uart_num, messageBufferPrefixed, strlen(messageBufferPrefixed));
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
{