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