ESP32-S3 摄像头图传：固件 + Slint 客户端 + 共享协议
两块 ESP32-S3-WROOM-1-N16R8 图传板（DVP 接口接 OV2640/OV3660/OV5640）， 向队伍客户端与裁判终端推 UDP 图传。固件是跑在 ESP-IDF 上的 Rust，用官方 esp32-camera 组件采集；客户端是 Rust + Slint 桌面程序。 三个 crate 各自独立构建： . firmware，交叉编译到 Xtensa protocol/ 线路格式与帧重组，两端共用，无 ESP-IDF 依赖，有单元测试 client/ Slint 桌面客户端 视频走 UDP 而非 TCP：实测传感器产出 22 fps，TCP MJPEG 只送出 1.9 fps， 且只占用链路能力的 1%——链路是空的，帧堵在队头阻塞后面等一个实时画面 等不起的重传计时器。改为独立数据报、不重传、缺片丢整帧后达到 20.8 fps。 发现是双向的：板子每 2 秒广播 Hello，客户端广播 Subscribe，板子据此定向 推流。板子身份由 MAC 派生，重启不变，所以客户端可以把绑定存进配置。 裁判端同时收两块板子（每个发送方一个重组器），队伍端绑定其中一块并只显示 自己那一边的血量。装甲板接口已预留（ArmorSource trait + ARMOR_PORT）， 当前无数据源，界面显示占位符。 vendor 了 esp32-camera 2.1.7：组件注册表的版本求解器找不到它，且需要打一处 补丁（见 components/esp32-camera/target/esp32s3/ll_cam.c）。 .gitignore 三条 target/ 都锚定在根目录，因为 protocol/ 与 client/ 各自也是 独立 crate；而 components/esp32-camera/target/ 是上游的按芯片分目录，里面是 源码，必须保留。
This commit is contained in:
Horldsence
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/*
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* This file is part of the OpenMV project.
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* Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* SCCB (I2C like) driver with the new esp-idf I2C API.
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*
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*/
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#include <stdbool.h>
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#include <string.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include "sccb.h"
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#include "sensor.h"
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#include <stdio.h>
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#include "sdkconfig.h"
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#if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
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#include "esp32-hal-log.h"
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#else
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#include "esp_log.h"
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static const char *TAG = "sccb-ng";
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#endif
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#define LITTLETOBIG(x) ((x << 8) | (x >> 8))
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#if (ESP_IDF_VERSION_MAJOR <= 5)
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#include "esp_private/i2c_platform.h"
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#endif
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#include "driver/i2c_master.h"
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#include "driver/i2c_types.h"
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// support IDF 5.x
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#ifndef portTICK_RATE_MS
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#define portTICK_RATE_MS portTICK_PERIOD_MS
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#endif
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#define TIMEOUT_MS 1000 /*!< I2C timeout duration */
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#define SCCB_FREQ CONFIG_SCCB_CLK_FREQ /*!< I2C master frequency */
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#if CONFIG_SCCB_HARDWARE_I2C_PORT1
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const int SCCB_I2C_PORT_DEFAULT = 1;
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#else
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const int SCCB_I2C_PORT_DEFAULT = 0;
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#endif
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#define MAX_DEVICES UINT8_MAX-1
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/*
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The legacy I2C driver used addresses to differentiate between devices, whereas the new driver uses
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i2c_master_dev_handle_t structs which are registered to the bus.
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To avoid re-writing all camera dependent code, we simply translate the devices address to the corresponding
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device_handle. This keeps all interfaces to the drivers identical.
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To perform this conversion the following local struct is used.
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*/
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typedef struct
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{
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i2c_master_dev_handle_t dev_handle;
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uint16_t address;
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} device_t;
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static device_t devices[MAX_DEVICES];
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static uint8_t device_count = 0;
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static int sccb_i2c_port;
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static bool sccb_owns_i2c_port;
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i2c_master_dev_handle_t *get_handle_from_address(uint8_t slv_addr)
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{
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for (uint8_t i = 0; i < device_count; i++)
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{
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if (slv_addr == devices[i].address)
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{
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return &(devices[i].dev_handle);
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}
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}
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ESP_LOGE(TAG, "Device with address %02x not found", slv_addr);
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return NULL;
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}
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int SCCB_Install_Device(uint8_t slv_addr)
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{
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esp_err_t ret;
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i2c_master_bus_handle_t bus_handle;
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if (device_count >= MAX_DEVICES)
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{
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ESP_LOGE(TAG, "cannot add more than %d devices", MAX_DEVICES);
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return ESP_FAIL;
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}
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ret = i2c_master_get_bus_handle(sccb_i2c_port, &bus_handle);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to get SCCB I2C Bus handle for port %d", sccb_i2c_port);
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return ret;
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}
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i2c_device_config_t dev_cfg = {
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.dev_addr_length = I2C_ADDR_BIT_LEN_7,
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.device_address = slv_addr, // not yet set
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.scl_speed_hz = SCCB_FREQ,
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};
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ret = i2c_master_bus_add_device(bus_handle, &dev_cfg, &(devices[device_count].dev_handle));
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to install SCCB I2C device: %s", esp_err_to_name(ret));
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return -1;
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}
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devices[device_count].address = slv_addr;
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device_count++;
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return 0;
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}
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int SCCB_Init(int pin_sda, int pin_scl)
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{
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ESP_LOGI(TAG, "pin_sda %d pin_scl %d", pin_sda, pin_scl);
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// i2c_config_t conf;
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esp_err_t ret;
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sccb_i2c_port = SCCB_I2C_PORT_DEFAULT;
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sccb_owns_i2c_port = true;
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ESP_LOGI(TAG, "sccb_i2c_port=%d", sccb_i2c_port);
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i2c_master_bus_config_t i2c_mst_config = {
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.i2c_port = SCCB_I2C_PORT_DEFAULT,
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.scl_io_num = pin_scl,
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.sda_io_num = pin_sda,
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.glitch_ignore_cnt = 7,
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.flags.enable_internal_pullup = 1};
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i2c_master_bus_handle_t bus_handle;
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ret = i2c_new_master_bus(&i2c_mst_config, &bus_handle);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to install SCCB I2C master bus on port %d: %s", sccb_i2c_port, esp_err_to_name(ret));
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return ret;
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}
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return ESP_OK;
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}
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int SCCB_Use_Port(int i2c_num)
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{ // sccb use an already initialized I2C port
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if (sccb_owns_i2c_port)
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{
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SCCB_Deinit();
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}
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if (i2c_num < 0 || i2c_num > I2C_NUM_MAX)
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{
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return ESP_ERR_INVALID_ARG;
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}
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sccb_i2c_port = i2c_num;
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sccb_owns_i2c_port = false; // in this case, camera doesn't own the i2c port
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return ESP_OK;
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}
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int SCCB_Deinit(void)
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{
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esp_err_t ret;
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for (uint8_t i = 0; i < device_count; i++)
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{
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ret = i2c_master_bus_rm_device(devices[i].dev_handle);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to remove SCCB I2C Device");
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return ret;
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}
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devices[i].dev_handle = NULL;
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devices[i].address = 0;
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}
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device_count = 0;
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if (!sccb_owns_i2c_port)
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{
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return ESP_OK;
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}
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sccb_owns_i2c_port = false;
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i2c_master_bus_handle_t bus_handle;
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ret = i2c_master_get_bus_handle(sccb_i2c_port, &bus_handle);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to get SCCB I2C Bus handle for port %d", sccb_i2c_port);
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return ret;
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}
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ret = i2c_del_master_bus(bus_handle);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to get delete SCCB I2C Master Bus at port %d", sccb_i2c_port);
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return ret;
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}
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return ESP_OK;
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}
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int SCCB_Probe(uint8_t slv_addr)
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{
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esp_err_t ret;
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i2c_master_bus_handle_t bus_handle;
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ret = i2c_master_get_bus_handle(sccb_i2c_port, &bus_handle);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "failed to get SCCB I2C Bus handle for port %d", sccb_i2c_port);
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return ret;
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}
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ret = i2c_master_probe(bus_handle, slv_addr, TIMEOUT_MS);
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if (ret == ESP_OK)
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{
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return SCCB_Install_Device(slv_addr);
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}
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return ret;
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}
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uint8_t SCCB_Read(uint8_t slv_addr, uint8_t reg)
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{
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i2c_master_dev_handle_t dev_handle = *(get_handle_from_address(slv_addr));
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uint8_t tx_buffer[1] = { reg };
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uint8_t rx_buffer[1] = { 0 };
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esp_err_t ret = i2c_master_transmit_receive(dev_handle, tx_buffer, sizeof(tx_buffer),
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rx_buffer, sizeof(rx_buffer), TIMEOUT_MS);
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if (ret == ESP_OK)
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{
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return rx_buffer[0];
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}
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/*
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* Most SCCB sensors expect an 8-bit register read to use a repeated-start
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* write/read transaction. Some devices reject that sequence with the new
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* IDF I2C master driver, so only fall back to a stop/start read after the
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* repeated-start transaction fails.
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*/
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ESP_LOGD(TAG, "SCCB_Read repeated-start failed addr:0x%02x, reg:0x%02x, ret:%d; retrying",
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slv_addr, reg, ret);
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ret = i2c_master_transmit(dev_handle, tx_buffer, sizeof(tx_buffer), TIMEOUT_MS);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "SCCB_Read addr phase failed addr:0x%02x, reg:0x%02x, ret:%d",
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slv_addr, reg, ret);
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return 0;
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}
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ret = i2c_master_receive(dev_handle, rx_buffer, sizeof(rx_buffer), TIMEOUT_MS);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "SCCB_Read data phase failed addr:0x%02x, reg:0x%02x, ret:%d",
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slv_addr, reg, ret);
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return 0;
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}
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return rx_buffer[0];
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}
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int SCCB_Write(uint8_t slv_addr, uint8_t reg, uint8_t data)
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{
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i2c_master_dev_handle_t dev_handle = *(get_handle_from_address(slv_addr));
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uint8_t tx_buffer[2];
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tx_buffer[0] = reg;
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tx_buffer[1] = data;
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esp_err_t ret = i2c_master_transmit(dev_handle, tx_buffer, 2, TIMEOUT_MS);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "SCCB_Write Failed addr:0x%02x, reg:0x%02x, data:0x%02x, ret:%d", slv_addr, reg, data, ret);
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}
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return ret == ESP_OK ? 0 : -1;
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}
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uint8_t SCCB_Read16(uint8_t slv_addr, uint16_t reg)
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{
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i2c_master_dev_handle_t dev_handle = *(get_handle_from_address(slv_addr));
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uint8_t rx_buffer[1];
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uint16_t reg_htons = LITTLETOBIG(reg);
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uint8_t *reg_u8 = (uint8_t *)®_htons;
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esp_err_t ret = i2c_master_transmit_receive(dev_handle, reg_u8, 2, rx_buffer, 1, TIMEOUT_MS);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "W [%04x]=%02x fail\n", reg, rx_buffer[0]);
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}
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return rx_buffer[0];
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}
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int SCCB_Write16(uint8_t slv_addr, uint16_t reg, uint8_t data)
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{
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i2c_master_dev_handle_t dev_handle = *(get_handle_from_address(slv_addr));
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uint8_t tx_buffer[3];
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tx_buffer[0] = reg >> 8;
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tx_buffer[1] = reg & 0x00ff;
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tx_buffer[2] = data;
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esp_err_t ret = i2c_master_transmit(dev_handle, tx_buffer, 3, TIMEOUT_MS);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "W [%04x]=%02x fail\n", reg, data);
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}
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return ret == ESP_OK ? 0 : -1;
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}
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uint16_t SCCB_Read_Addr16_Val16(uint8_t slv_addr, uint16_t reg)
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{
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i2c_master_dev_handle_t dev_handle = *(get_handle_from_address(slv_addr));
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uint8_t rx_buffer[2];
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uint16_t reg_htons = LITTLETOBIG(reg);
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uint8_t *reg_u8 = (uint8_t *)®_htons;
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esp_err_t ret = i2c_master_transmit_receive(dev_handle, reg_u8, 2, rx_buffer, 2, TIMEOUT_MS);
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uint16_t data = ((uint16_t)rx_buffer[0] << 8) | (uint16_t)rx_buffer[1];
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "W [%04x]=%02x fail\n", reg, data);
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}
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return data;
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}
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int SCCB_Write_Addr16_Val16(uint8_t slv_addr, uint16_t reg, uint16_t data)
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{
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i2c_master_dev_handle_t dev_handle = *(get_handle_from_address(slv_addr));
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uint8_t tx_buffer[4];
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tx_buffer[0] = reg >> 8;
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tx_buffer[1] = reg & 0x00ff;
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tx_buffer[2] = data >> 8;
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tx_buffer[3] = data & 0x00ff;
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esp_err_t ret = i2c_master_transmit(dev_handle, tx_buffer, 4, TIMEOUT_MS);
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if (ret != ESP_OK)
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{
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ESP_LOGE(TAG, "W [%04x]=%02x fail\n", reg, data);
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}
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return ret == ESP_OK ? 0 : -1;
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}
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