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。
76 lines
2.0 KiB
C
76 lines
2.0 KiB
C
// Copyright 2010-2020 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include "esp_camera.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Uninitialize the lcd_cam module
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*
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* @param handle Provide handle pointer to release resources
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*
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* @return
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* - ESP_OK Success
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* - ESP_FAIL Uninitialize fail
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*/
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esp_err_t cam_deinit(void);
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/**
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* @brief Initialize the lcd_cam module
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*
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* @param config Configurations - see lcd_cam_config_t struct
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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* - ESP_ERR_NO_MEM No memory to initialize lcd_cam
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* - ESP_FAIL Initialize fail
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*/
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esp_err_t cam_init(const camera_config_t *config);
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esp_err_t cam_config(const camera_config_t *config, framesize_t frame_size, uint16_t sensor_pid);
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void cam_stop(void);
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void cam_start(void);
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camera_fb_t *cam_take(TickType_t timeout);
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void cam_give(camera_fb_t *dma_buffer);
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void cam_give_all(void);
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bool cam_get_available_frames(void);
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void cam_set_psram_mode(bool enable);
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bool cam_get_psram_mode(void);
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/* VSYNC polarity applied by the next `cam_init()`, and the XCLK frequency the
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* driver was last given. Set the polarity before esp_camera_init() and read the
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* clock back afterwards; see cam_hal.c for why the polarity is not fixed. */
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void cam_set_vsync_invert(bool invert);
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bool cam_get_vsync_invert(void);
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void cam_set_xclk_hz(int hz);
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int cam_get_xclk_hz(void);
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#ifdef __cplusplus
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}
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#endif
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