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。
128 lines
4.2 KiB
Bash
Executable File
128 lines
4.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Builds, picks a flash offset that avoids the module's defective byte, flashes,
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# and prints the serial log.
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#
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# The module this was developed against has one byte in its SPI flash at
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# 0xFADE7 whose bits 5..7 cannot be programmed (see README). Whatever value the
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# app image places there gets corrupted, the image checksum fails, and the
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# bootloader refuses to boot it. The image itself is unaffected by where it is
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# placed in flash, so moving the app partition is enough: this picks the lowest
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# 64 KB-aligned offset whose byte at that address the flash can actually store.
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#
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# Usage: scripts/flash.sh [--monitor SECONDS]
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set -euo pipefail
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cd "$(dirname "$0")/.."
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readonly BAD_FLASH_ADDR="${BAD_FLASH_ADDR:-0xFADE7}"
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readonly ALIGN="${ALIGN:-0x10000}"
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readonly MAX_APP_SIZE="${MAX_APP_SIZE:-0x120000}"
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MONITOR_SECS=25
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if [ "${1:-}" = "--monitor" ]; then
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MONITOR_SECS="${2:-25}"
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fi
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port="${ESP_PORT:-}"
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if [ -z "$port" ]; then
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port=$(ls /dev/cu.usbmodem* /dev/cu.wchusbserial* /dev/cu.SLAB* /dev/cu.usbserial* 2>/dev/null | head -1 || true)
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fi
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if [ -z "$port" ]; then
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echo "no serial port found; set ESP_PORT=/dev/cu.xxx" >&2
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exit 1
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fi
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out=$(ls -d target/xtensa-esp32s3-espidf/release/build/esp-idf-sys-*/out/build 2>/dev/null | head -1 || true)
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echo "==> build"
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./scripts/build.sh
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echo "==> pick app offset"
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espflash save-image --chip esp32s3 --format esp-idf \
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target/xtensa-esp32s3-espidf/release/esp32 /tmp/esp32-cam-app.bin >/dev/null
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read -r offset < <(python3 - <<PY
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import sys
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data = open("/tmp/esp32-cam-app.bin", "rb").read()
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bad = $BAD_FLASH_ADDR
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align = $ALIGN
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flash_size = 16 * 1024 * 1024
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for off in range(align, flash_size - len(data), align):
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at = bad - off
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if at < 0 or at >= len(data):
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continue
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if data[at] & 0xE0 == 0: # top three bits must be storable
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print(off)
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break
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else:
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sys.exit("no usable app offset found; this module's flash is too broken")
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PY
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)
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printf '0x%x\n' "$offset"
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# Write the chosen offset into partitions.csv.
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python3 - "$offset" <<'PY'
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import re, sys
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offset = int(sys.argv[1], 0)
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p = "partitions.csv"
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s = open(p).read()
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s2 = re.sub(r"^(factory,\s+app,\s+factory,\s+)0x[0-9a-fA-F]+",
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lambda m: m.group(1) + "0x%06x" % offset, s, flags=re.M)
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if s2 != s:
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open(p, "w").write(s2)
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print("partitions.csv updated")
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else:
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print("partitions.csv already at 0x%06x" % offset)
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PY
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echo "==> reconfigure + rebuild with the new table"
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rm -rf target/xtensa-esp32s3-espidf/release/build/esp-idf-sys-*
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./scripts/build.sh
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espflash save-image --chip esp32s3 --format esp-idf \
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target/xtensa-esp32s3-espidf/release/esp32 /tmp/esp32-cam-app.bin >/dev/null
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out=$(ls -d target/xtensa-esp32s3-espidf/release/build/esp-idf-sys-*/out/build | head -1)
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# The rebuild can shift the image, so confirm before committing to the flash.
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python3 - <<PY || { echo "image moved onto the bad byte again; rerun" >&2; exit 1; }
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import sys
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data = open("/tmp/esp32-cam-app.bin", "rb").read()
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at = $BAD_FLASH_ADDR - $offset
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if not (0 <= at < len(data)) or data[at] & 0xE0:
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print("byte at 0x%X is 0x%02X, not storable" % ($BAD_FLASH_ADDR, data[at] if 0 <= at < len(data) else -1))
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sys.exit(1)
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print("byte at 0x%X is 0x%02X, storable" % ($BAD_FLASH_ADDR, data[at]))
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PY
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echo "==> flash $port"
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esptool_py=$(ls "$HOME"/.espressif/tools/python/*/venv/bin/python 2>/dev/null | head -1)
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"$esptool_py" -m esptool --chip esp32s3 --port "$port" --baud 460800 write-flash \
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0x0 "$out/bootloader/bootloader.bin" \
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0x8000 "$out/partition_table/partition-table.bin" \
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"$offset" /tmp/esp32-cam-app.bin 2>&1 | grep -viE 'writing at|^\[1A' | tail -4
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if [ "$MONITOR_SECS" -gt 0 ]; then
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echo "==> serial log (${MONITOR_SECS}s)"
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python3 - "$port" "$MONITOR_SECS" <<'PY'
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import os, sys, termios, time
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fd = os.open(sys.argv[1], os.O_RDONLY | os.O_NOCTTY)
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a = termios.tcgetattr(fd)
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a[0] = a[1] = a[3] = 0
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a[2] = termios.CS8 | termios.CREAD | termios.CLOCAL
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a[4] = a[5] = termios.B115200
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a[6][termios.VMIN] = 0
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a[6][termios.VTIME] = 1
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termios.tcsetattr(fd, termios.TCSANOW, a)
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end = time.time() + float(sys.argv[2])
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while time.time() < end:
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try:
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d = os.read(fd, 4096)
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except OSError:
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break
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if d:
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sys.stdout.write(d.decode("utf-8", "replace"))
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sys.stdout.flush()
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PY
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fi |