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。
166 lines
4.6 KiB
C
166 lines
4.6 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 <stdint.h>
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#include "sdkconfig.h"
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#include "esp_idf_version.h"
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#if CONFIG_IDF_TARGET_ESP32
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#if ESP_IDF_VERSION_MAJOR >= 4
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#include "esp32/rom/lldesc.h"
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#else
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#include "rom/lldesc.h"
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#endif
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#elif CONFIG_IDF_TARGET_ESP32S2
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#include "esp32s2/rom/lldesc.h"
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#elif CONFIG_IDF_TARGET_ESP32S3
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#include "esp32s3/rom/lldesc.h"
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#endif
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#include "esp_log.h"
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#include "esp_camera.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#if __has_include("esp_private/periph_ctrl.h")
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# include "esp_private/periph_ctrl.h"
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#endif
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#if __has_include("esp_private/gdma.h")
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# include "esp_private/gdma.h"
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#endif
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#if CONFIG_LCD_CAM_ISR_IRAM_SAFE
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#define CAMERA_ISR_IRAM_FLAG ESP_INTR_FLAG_IRAM
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#define CAMERA_ISR_IRAM_ATTR IRAM_ATTR
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#else
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#define CAMERA_ISR_IRAM_FLAG 0
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#define CAMERA_ISR_IRAM_ATTR
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#endif
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#define CAMERA_DBG_PIN_ENABLE 0
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#if CAMERA_DBG_PIN_ENABLE
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#if CONFIG_IDF_TARGET_ESP32
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#define DBG_PIN_NUM 26
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#else
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#define DBG_PIN_NUM 7
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#endif
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#include "hal/gpio_ll.h"
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#define DBG_PIN_SET(v) gpio_ll_set_level(&GPIO, DBG_PIN_NUM, v)
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#else
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#define DBG_PIN_SET(v)
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#endif
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#define CAM_CHECK(a, str, ret) if (!(a)) { \
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ESP_LOGE(TAG,"%s(%d): %s", __FUNCTION__, __LINE__, str); \
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return (ret); \
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}
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#define CAM_CHECK_GOTO(a, str, lab) if (!(a)) { \
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ESP_LOGE(TAG,"%s(%d): %s", __FUNCTION__, __LINE__, str); \
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goto lab; \
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}
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#define LCD_CAM_DMA_NODE_BUFFER_MAX_SIZE (4092)
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typedef enum {
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CAM_IN_SUC_EOF_EVENT = 0,
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CAM_VSYNC_EVENT
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} cam_event_t;
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typedef enum {
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CAM_STATE_IDLE = 0,
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CAM_STATE_READ_BUF = 1,
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} cam_state_t;
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typedef struct {
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camera_fb_t fb;
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uint8_t en;
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//for RGB/YUV modes
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lldesc_t *dma;
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size_t fb_offset;
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} cam_frame_t;
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typedef struct {
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uint32_t dma_bytes_per_item;
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uint32_t dma_buffer_size;
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uint32_t dma_half_buffer_size;
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uint32_t dma_half_buffer_cnt;
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uint32_t dma_node_buffer_size;
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uint32_t dma_node_cnt;
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uint32_t frame_copy_cnt;
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//for JPEG mode
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lldesc_t *dma;
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uint8_t *dma_buffer;
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cam_frame_t *frames;
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QueueHandle_t event_queue;
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QueueHandle_t frame_buffer_queue;
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TaskHandle_t task_handle;
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intr_handle_t cam_intr_handle;
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uint8_t dma_num;//ESP32-S3
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intr_handle_t dma_intr_handle;//ESP32-S3
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#if SOC_GDMA_SUPPORTED
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gdma_channel_handle_t dma_channel_handle;//ESP32-S3
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#endif
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uint8_t jpeg_mode;
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uint8_t vsync_pin;
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uint8_t vsync_invert;
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uint32_t frame_cnt;
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uint32_t recv_size;
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bool swap_data;
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bool psram_mode;
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//for RGB/YUV modes
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uint16_t width;
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uint16_t height;
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#if CONFIG_CAMERA_CONVERTER_ENABLED
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float in_bytes_per_pixel;
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float fb_bytes_per_pixel;
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camera_conv_mode_t conv_mode;
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#else
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uint8_t in_bytes_per_pixel;
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uint8_t fb_bytes_per_pixel;
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#endif
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uint32_t fb_size;
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cam_state_t state;
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} cam_obj_t;
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bool ll_cam_stop(cam_obj_t *cam);
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bool ll_cam_start(cam_obj_t *cam, int frame_pos);
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esp_err_t ll_cam_config(cam_obj_t *cam, const camera_config_t *config);
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esp_err_t ll_cam_deinit(cam_obj_t *cam);
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void ll_cam_vsync_intr_enable(cam_obj_t *cam, bool en);
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esp_err_t ll_cam_set_pin(cam_obj_t *cam, const camera_config_t *config);
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esp_err_t ll_cam_init_isr(cam_obj_t *cam);
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void ll_cam_do_vsync(cam_obj_t *cam);
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uint8_t ll_cam_get_dma_align(cam_obj_t *cam);
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bool ll_cam_dma_sizes(cam_obj_t *cam);
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size_t ll_cam_memcpy(cam_obj_t *cam, uint8_t *out, const uint8_t *in, size_t len);
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esp_err_t ll_cam_set_sample_mode(cam_obj_t *cam, pixformat_t pix_format, uint32_t xclk_freq_hz, uint16_t sensor_pid);
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#if CONFIG_IDF_TARGET_ESP32S3
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void ll_cam_dma_print_state(cam_obj_t *cam);
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void ll_cam_dma_reset(cam_obj_t *cam);
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#endif
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// implemented in cam_hal
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void ll_cam_send_event(cam_obj_t *cam, cam_event_t cam_event, BaseType_t * HPTaskAwoken);
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