Horldsence
4f893ce140
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。
283 lines
8.7 KiB
C
283 lines
8.7 KiB
C
/*
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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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* Sensor abstraction layer.
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*
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*/
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#ifndef __SENSOR_H__
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#define __SENSOR_H__
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum {
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OV9650_PID = 0x96,
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OV7725_PID = 0x77,
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OV2640_PID = 0x26,
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OV3660_PID = 0x3660,
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OV5640_PID = 0x5640,
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OV7670_PID = 0x76,
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NT99141_PID = 0x1410,
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GC2145_PID = 0x2145,
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GC032A_PID = 0x232a,
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GC0308_PID = 0x9b,
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BF3005_PID = 0x30,
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BF20A6_PID = 0x20a6,
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SC101IOT_PID = 0xda4a,
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SC030IOT_PID = 0x9a46,
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SC031GS_PID = 0x0031,
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MEGA_CCM_PID =0x039E,
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HM1055_PID = 0x0955,
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HM0360_PID = 0x0360
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} camera_pid_t;
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typedef enum {
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CAMERA_OV7725,
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CAMERA_OV2640,
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CAMERA_OV3660,
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CAMERA_OV5640,
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CAMERA_OV7670,
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CAMERA_NT99141,
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CAMERA_GC2145,
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CAMERA_GC032A,
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CAMERA_GC0308,
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CAMERA_BF3005,
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CAMERA_BF20A6,
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CAMERA_SC101IOT,
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CAMERA_SC030IOT,
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CAMERA_SC031GS,
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CAMERA_MEGA_CCM,
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CAMERA_HM1055,
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CAMERA_HM0360,
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CAMERA_MODEL_MAX,
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CAMERA_NONE,
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} camera_model_t;
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typedef enum {
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OV2640_SCCB_ADDR = 0x30,// 0x60 >> 1
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OV5640_SCCB_ADDR = 0x3C,// 0x78 >> 1
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OV3660_SCCB_ADDR = 0x3C,// 0x78 >> 1
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OV7725_SCCB_ADDR = 0x21,// 0x42 >> 1
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OV7670_SCCB_ADDR = 0x21,// 0x42 >> 1
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NT99141_SCCB_ADDR = 0x2A,// 0x54 >> 1
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GC2145_SCCB_ADDR = 0x3C,// 0x78 >> 1
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GC032A_SCCB_ADDR = 0x21,// 0x42 >> 1
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GC0308_SCCB_ADDR = 0x21,// 0x42 >> 1
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BF3005_SCCB_ADDR = 0x6E,
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BF20A6_SCCB_ADDR = 0x6E,
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SC101IOT_SCCB_ADDR = 0x68,// 0xd0 >> 1
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SC030IOT_SCCB_ADDR = 0x68,// 0xd0 >> 1
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SC031GS_SCCB_ADDR = 0x30,
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MEGA_CCM_SCCB_ADDR = 0x1F, // 0x3E >> 1
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HM1055_SCCB_ADDR = 0x24,
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HM0360_SCCB_ADDR = 0x12,
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} camera_sccb_addr_t;
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typedef enum {
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PIXFORMAT_RGB565, // 2BPP/RGB565
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PIXFORMAT_YUV422, // 2BPP/YUV422
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PIXFORMAT_YUV420, // 1.5BPP/YUV420
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PIXFORMAT_GRAYSCALE, // 1BPP/GRAYSCALE
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PIXFORMAT_JPEG, // JPEG/COMPRESSED
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PIXFORMAT_RGB888, // 3BPP/RGB888
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PIXFORMAT_RAW, // RAW
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PIXFORMAT_RGB444, // 3BP2P/RGB444
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PIXFORMAT_RGB555, // 3BP2P/RGB555
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PIXFORMAT_RAW8, // RAW 8-bit
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} pixformat_t;
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typedef enum {
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FRAMESIZE_96X96, // 96x96
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FRAMESIZE_QQVGA, // 160x120
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FRAMESIZE_128X128, // 128x128
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FRAMESIZE_QCIF, // 176x144
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FRAMESIZE_HQVGA, // 240x176
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FRAMESIZE_240X240, // 240x240
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FRAMESIZE_QVGA, // 320x240
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FRAMESIZE_320X320, // 320x320
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FRAMESIZE_CIF, // 400x296
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FRAMESIZE_HVGA, // 480x320
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FRAMESIZE_VGA, // 640x480
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FRAMESIZE_SVGA, // 800x600
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FRAMESIZE_XGA, // 1024x768
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FRAMESIZE_HD, // 1280x720
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FRAMESIZE_SXGA, // 1280x1024
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FRAMESIZE_UXGA, // 1600x1200
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// 3MP Sensors
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FRAMESIZE_FHD, // 1920x1080
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FRAMESIZE_P_HD, // 720x1280
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FRAMESIZE_P_3MP, // 864x1536
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FRAMESIZE_QXGA, // 2048x1536
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// 5MP Sensors
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FRAMESIZE_QHD, // 2560x1440
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FRAMESIZE_WQXGA, // 2560x1600
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FRAMESIZE_P_FHD, // 1080x1920
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FRAMESIZE_QSXGA, // 2560x1920
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FRAMESIZE_5MP, // 2592x1944
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FRAMESIZE_INVALID
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} framesize_t;
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typedef struct {
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const camera_model_t model;
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const char *name;
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const camera_sccb_addr_t sccb_addr;
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const camera_pid_t pid;
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const framesize_t max_size;
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const bool support_jpeg;
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} camera_sensor_info_t;
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typedef enum {
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ASPECT_RATIO_4X3,
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ASPECT_RATIO_3X2,
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ASPECT_RATIO_16X10,
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ASPECT_RATIO_5X3,
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ASPECT_RATIO_16X9,
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ASPECT_RATIO_21X9,
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ASPECT_RATIO_5X4,
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ASPECT_RATIO_1X1,
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ASPECT_RATIO_9X16
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} aspect_ratio_t;
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typedef enum {
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GAINCEILING_2X,
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GAINCEILING_4X,
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GAINCEILING_8X,
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GAINCEILING_16X,
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GAINCEILING_32X,
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GAINCEILING_64X,
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GAINCEILING_128X,
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} gainceiling_t;
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typedef struct {
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uint16_t max_width;
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uint16_t max_height;
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uint16_t start_x;
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uint16_t start_y;
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uint16_t end_x;
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uint16_t end_y;
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uint16_t offset_x;
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uint16_t offset_y;
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uint16_t total_x;
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uint16_t total_y;
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} ratio_settings_t;
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typedef struct {
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const uint16_t width;
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const uint16_t height;
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const aspect_ratio_t aspect_ratio;
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} resolution_info_t;
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// Resolution table (in sensor.c)
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extern const resolution_info_t resolution[];
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// camera sensor table (in sensor.c)
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extern const camera_sensor_info_t camera_sensor[];
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typedef struct {
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uint8_t MIDH;
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uint8_t MIDL;
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uint16_t PID;
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uint8_t VER;
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} sensor_id_t;
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typedef struct {
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framesize_t framesize;//0 - 10
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bool scale;
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bool binning;
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uint8_t quality;//0 - 63
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int8_t brightness;//-2 - 2
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int8_t contrast;//-2 - 2
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int8_t saturation;//-2 - 2
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int8_t sharpness;//-2 - 2
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uint8_t denoise;
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uint8_t special_effect;//0 - 6
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uint8_t wb_mode;//0 - 4
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uint8_t awb;
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uint8_t awb_gain;
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uint8_t aec;
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uint8_t aec2;
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int8_t ae_level;//-2 - 2
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uint16_t aec_value;//0 - 1200
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uint8_t agc;
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uint8_t agc_gain;//0 - 30
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uint8_t gainceiling;//0 - 6
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uint8_t bpc;
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uint8_t wpc;
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uint8_t raw_gma;
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uint8_t lenc;
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uint8_t hmirror;
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uint8_t vflip;
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uint8_t dcw;
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uint8_t colorbar;
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} camera_status_t;
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typedef struct _sensor sensor_t;
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typedef struct _sensor {
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sensor_id_t id; // Sensor ID.
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uint8_t slv_addr; // Sensor I2C slave address.
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pixformat_t pixformat;
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camera_status_t status;
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int xclk_freq_hz;
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// Sensor function pointers
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int (*init_status) (sensor_t *sensor);
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int (*reset) (sensor_t *sensor); // Reset the configuration of the sensor, and return ESP_OK if reset is successful
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int (*set_pixformat) (sensor_t *sensor, pixformat_t pixformat);
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int (*set_framesize) (sensor_t *sensor, framesize_t framesize);
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int (*set_contrast) (sensor_t *sensor, int level);
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int (*set_brightness) (sensor_t *sensor, int level);
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int (*set_saturation) (sensor_t *sensor, int level);
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int (*set_sharpness) (sensor_t *sensor, int level);
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int (*set_denoise) (sensor_t *sensor, int level);
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int (*set_gainceiling) (sensor_t *sensor, gainceiling_t gainceiling);
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int (*set_quality) (sensor_t *sensor, int quality);
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int (*set_colorbar) (sensor_t *sensor, int enable);
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int (*set_whitebal) (sensor_t *sensor, int enable);
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int (*set_gain_ctrl) (sensor_t *sensor, int enable);
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int (*set_exposure_ctrl) (sensor_t *sensor, int enable);
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int (*set_hmirror) (sensor_t *sensor, int enable);
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int (*set_vflip) (sensor_t *sensor, int enable);
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int (*set_aec2) (sensor_t *sensor, int enable);
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int (*set_awb_gain) (sensor_t *sensor, int enable);
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int (*set_agc_gain) (sensor_t *sensor, int gain);
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int (*set_aec_value) (sensor_t *sensor, int gain);
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int (*set_special_effect) (sensor_t *sensor, int effect);
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int (*set_wb_mode) (sensor_t *sensor, int mode);
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int (*set_ae_level) (sensor_t *sensor, int level);
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int (*set_dcw) (sensor_t *sensor, int enable);
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int (*set_bpc) (sensor_t *sensor, int enable);
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int (*set_wpc) (sensor_t *sensor, int enable);
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int (*set_raw_gma) (sensor_t *sensor, int enable);
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int (*set_lenc) (sensor_t *sensor, int enable);
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int (*get_reg) (sensor_t *sensor, int reg, int mask);
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int (*set_reg) (sensor_t *sensor, int reg, int mask, int value);
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int (*set_res_raw) (sensor_t *sensor, int startX, int startY, int endX, int endY, int offsetX, int offsetY, int totalX, int totalY, int outputX, int outputY, bool scale, bool binning);
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int (*set_pll) (sensor_t *sensor, int bypass, int mul, int sys, int root, int pre, int seld5, int pclken, int pclk);
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int (*set_xclk) (sensor_t *sensor, int timer, int xclk);
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// Autofocus function pointers (sensor-specific implementations)
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int (*af_is_supported) (sensor_t *sensor);
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int (*af_init) (sensor_t *sensor, uint32_t timeout_ms);
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int (*af_set_mode) (sensor_t *sensor, int mode); // 0=auto, 1=manual
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int (*af_trigger) (sensor_t *sensor);
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int (*af_get_status) (sensor_t *sensor, uint8_t *out_raw, bool *out_focused, bool *out_busy);
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int (*af_set_manual_position) (sensor_t *sensor, uint16_t position);
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} sensor_t;
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camera_sensor_info_t *esp_camera_sensor_get_info(sensor_id_t *id);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __SENSOR_H__ */
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