From 796312db4cb43bda7198fb5a61906dbc2ca7f353 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=B0=8F=E9=B9=8F?= <52451470+txp666@users.noreply.github.com> Date: Mon, 2 Feb 2026 10:22:53 +0800 Subject: [PATCH] Enhance Otto Robot camera support by adding configuration for OV3660. (#1726) --- main/boards/otto-robot/config.h | 57 ++++-- main/boards/otto-robot/config.json | 5 +- main/boards/otto-robot/otto_robot.cc | 258 +++++++++++++++++---------- 3 files changed, 208 insertions(+), 112 deletions(-) diff --git a/main/boards/otto-robot/config.h b/main/boards/otto-robot/config.h index 8e8945f7..aa32eddf 100644 --- a/main/boards/otto-robot/config.h +++ b/main/boards/otto-robot/config.h @@ -1,44 +1,63 @@ #ifndef _BOARD_CONFIG_H_ #define _BOARD_CONFIG_H_ -#include #include +#include + +#define OTTO_VERSION_AUTO 0 +#define OTTO_VERSION_CAMERA 1 +#define OTTO_VERSION_NO_CAMERA 2 + +#ifndef OTTO_HARDWARE_VERSION +#define OTTO_HARDWARE_VERSION OTTO_VERSION_AUTO +#endif + +enum OttoCameraType { + OTTO_CAMERA_NONE = 0, + OTTO_CAMERA_OV2640 = 1, + OTTO_CAMERA_OV3660 = 2, + OTTO_CAMERA_UNKNOWN = 99, +}; + +#define OV2640_PID_1 0x2640 +#define OV2640_PID_2 0x2626 +#define OV3660_PID 0x3660 struct HardwareConfig { gpio_num_t power_charge_detect_pin; adc_unit_t power_adc_unit; adc_channel_t power_adc_channel; - + gpio_num_t right_leg_pin; gpio_num_t right_foot_pin; gpio_num_t left_leg_pin; gpio_num_t left_foot_pin; gpio_num_t left_hand_pin; gpio_num_t right_hand_pin; - + int audio_input_sample_rate; int audio_output_sample_rate; bool audio_use_simplex; - + gpio_num_t audio_i2s_gpio_ws; gpio_num_t audio_i2s_gpio_bclk; gpio_num_t audio_i2s_gpio_din; gpio_num_t audio_i2s_gpio_dout; - + gpio_num_t audio_i2s_mic_gpio_ws; gpio_num_t audio_i2s_mic_gpio_sck; gpio_num_t audio_i2s_mic_gpio_din; gpio_num_t audio_i2s_spk_gpio_dout; gpio_num_t audio_i2s_spk_gpio_bclk; gpio_num_t audio_i2s_spk_gpio_lrck; - + gpio_num_t display_backlight_pin; gpio_num_t display_mosi_pin; gpio_num_t display_clk_pin; gpio_num_t display_dc_pin; gpio_num_t display_rst_pin; gpio_num_t display_cs_pin; - + gpio_num_t i2c_sda_pin; gpio_num_t i2c_scl_pin; }; @@ -47,37 +66,37 @@ constexpr HardwareConfig CAMERA_VERSION_CONFIG = { .power_charge_detect_pin = GPIO_NUM_NC, .power_adc_unit = ADC_UNIT_1, .power_adc_channel = ADC_CHANNEL_1, - + .right_leg_pin = GPIO_NUM_43, .right_foot_pin = GPIO_NUM_44, .left_leg_pin = GPIO_NUM_5, .left_foot_pin = GPIO_NUM_6, .left_hand_pin = GPIO_NUM_4, .right_hand_pin = GPIO_NUM_7, - + .audio_input_sample_rate = 16000, .audio_output_sample_rate = 16000, .audio_use_simplex = false, - + .audio_i2s_gpio_ws = GPIO_NUM_40, .audio_i2s_gpio_bclk = GPIO_NUM_42, .audio_i2s_gpio_din = GPIO_NUM_41, .audio_i2s_gpio_dout = GPIO_NUM_39, - + .audio_i2s_mic_gpio_ws = GPIO_NUM_NC, .audio_i2s_mic_gpio_sck = GPIO_NUM_NC, .audio_i2s_mic_gpio_din = GPIO_NUM_NC, .audio_i2s_spk_gpio_dout = GPIO_NUM_NC, .audio_i2s_spk_gpio_bclk = GPIO_NUM_NC, .audio_i2s_spk_gpio_lrck = GPIO_NUM_NC, - + .display_backlight_pin = GPIO_NUM_38, .display_mosi_pin = GPIO_NUM_45, .display_clk_pin = GPIO_NUM_48, .display_dc_pin = GPIO_NUM_47, .display_rst_pin = GPIO_NUM_1, .display_cs_pin = GPIO_NUM_NC, - + .i2c_sda_pin = GPIO_NUM_15, .i2c_scl_pin = GPIO_NUM_16, }; @@ -86,37 +105,37 @@ constexpr HardwareConfig NON_CAMERA_VERSION_CONFIG = { .power_charge_detect_pin = GPIO_NUM_21, .power_adc_unit = ADC_UNIT_2, .power_adc_channel = ADC_CHANNEL_3, - + .right_leg_pin = GPIO_NUM_39, .right_foot_pin = GPIO_NUM_38, .left_leg_pin = GPIO_NUM_17, .left_foot_pin = GPIO_NUM_18, .left_hand_pin = GPIO_NUM_8, .right_hand_pin = GPIO_NUM_12, - + .audio_input_sample_rate = 16000, .audio_output_sample_rate = 24000, .audio_use_simplex = true, - + .audio_i2s_gpio_ws = GPIO_NUM_NC, .audio_i2s_gpio_bclk = GPIO_NUM_NC, .audio_i2s_gpio_din = GPIO_NUM_NC, .audio_i2s_gpio_dout = GPIO_NUM_NC, - + .audio_i2s_mic_gpio_ws = GPIO_NUM_4, .audio_i2s_mic_gpio_sck = GPIO_NUM_5, .audio_i2s_mic_gpio_din = GPIO_NUM_6, .audio_i2s_spk_gpio_dout = GPIO_NUM_7, .audio_i2s_spk_gpio_bclk = GPIO_NUM_15, .audio_i2s_spk_gpio_lrck = GPIO_NUM_16, - + .display_backlight_pin = GPIO_NUM_3, .display_mosi_pin = GPIO_NUM_10, .display_clk_pin = GPIO_NUM_9, .display_dc_pin = GPIO_NUM_46, .display_rst_pin = GPIO_NUM_11, .display_cs_pin = GPIO_NUM_12, - + .i2c_sda_pin = GPIO_NUM_NC, .i2c_scl_pin = GPIO_NUM_NC, }; diff --git a/main/boards/otto-robot/config.json b/main/boards/otto-robot/config.json index a32bc814..1c823f7e 100644 --- a/main/boards/otto-robot/config.json +++ b/main/boards/otto-robot/config.json @@ -7,7 +7,10 @@ "CONFIG_HTTPD_WS_SUPPORT=y", "CONFIG_CAMERA_OV2640=y", "CONFIG_CAMERA_OV2640_AUTO_DETECT_DVP_INTERFACE_SENSOR=y", - "CONFIG_CAMERA_OV2640_DVP_YUV422_240X240_25FPS=y" + "CONFIG_CAMERA_OV2640_DVP_YUV422_240X240_25FPS=y", + "CONFIG_CAMERA_OV3660=y", + "CONFIG_CAMERA_OV3660_AUTO_DETECT_DVP_INTERFACE_SENSOR=y", + "CONFIG_CAMERA_OV3660_DVP_YUV422_240X240_24FPS=y" ] } ] diff --git a/main/boards/otto-robot/otto_robot.cc b/main/boards/otto-robot/otto_robot.cc index 69cdf3ec..754f6097 100644 --- a/main/boards/otto-robot/otto_robot.cc +++ b/main/boards/otto-robot/otto_robot.cc @@ -1,25 +1,25 @@ #include -#include #include +#include #include #include #include #include #include "application.h" -#include "codecs/no_audio_codec.h" #include "button.h" +#include "codecs/no_audio_codec.h" #include "config.h" #include "display/lcd_display.h" +#include "esp_video.h" #include "lamp_controller.h" #include "led/single_led.h" #include "mcp_server.h" #include "otto_emoji_display.h" #include "power_manager.h" #include "system_reset.h" -#include "wifi_board.h" -#include "esp_video.h" #include "websocket_control_server.h" +#include "wifi_board.h" #define TAG "OttoRobot" @@ -34,9 +34,10 @@ private: HardwareConfig hw_config_; AudioCodec* audio_codec_; i2c_master_bus_handle_t i2c_bus_; - EspVideo *camera_; + EspVideo* camera_; bool has_camera_; - + OttoCameraType camera_type_; + bool DetectHardwareVersion() { ledc_timer_config_t ledc_timer = { .speed_mode = LEDC_LOW_SPEED_MODE, @@ -49,7 +50,7 @@ private: if (ret != ESP_OK) { return false; } - + ledc_channel_config_t ledc_channel = { .gpio_num = CAMERA_XCLK, .speed_mode = LEDC_LOW_SPEED_MODE, @@ -63,7 +64,7 @@ private: if (ret != ESP_OK) { return false; } - + vTaskDelay(pdMS_TO_TICKS(100)); i2c_master_bus_config_t i2c_bus_cfg = { .i2c_port = I2C_NUM_0, @@ -73,11 +74,12 @@ private: .glitch_ignore_cnt = 7, .intr_priority = 0, .trans_queue_depth = 0, - .flags = { - .enable_internal_pullup = 1, - }, + .flags = + { + .enable_internal_pullup = 1, + }, }; - + ret = i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_); if (ret != ESP_OK) { ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0); @@ -85,7 +87,8 @@ private: } const uint8_t camera_addresses[] = {0x30, 0x3C, 0x21, 0x60}; bool camera_found = false; - + uint16_t detected_pid = 0; + for (size_t i = 0; i < sizeof(camera_addresses); i++) { uint8_t addr = camera_addresses[i]; i2c_device_config_t dev_cfg = { @@ -93,36 +96,71 @@ private: .device_address = addr, .scl_speed_hz = 100000, }; - + i2c_master_dev_handle_t dev_handle; ret = i2c_master_bus_add_device(i2c_bus_, &dev_cfg, &dev_handle); if (ret == ESP_OK) { - uint8_t reg_addr = 0x0A; - uint8_t data[2]; - ret = i2c_master_transmit_receive(dev_handle, ®_addr, 1, data, 2, 200); - if (ret == ESP_OK) { + uint8_t data[2] = {0, 0}; + + uint8_t reg_addr_8bit = 0x0A; + ret = i2c_master_transmit_receive(dev_handle, ®_addr_8bit, 1, data, 2, 200); + if (ret == ESP_OK && (data[0] != 0 || data[1] != 0)) { + detected_pid = (data[0] << 8) | data[1]; + ESP_LOGI(TAG, "检测到摄像头 (OV2640方式) PID=0x%04X (地址=0x%02X)", + detected_pid, addr); camera_found = true; i2c_master_bus_rm_device(dev_handle); break; } + + uint8_t reg_addr_high[2] = {0x30, 0x0A}; + uint8_t reg_addr_low[2] = {0x30, 0x0B}; + uint8_t pid_high = 0, pid_low = 0; + + ret = i2c_master_transmit_receive(dev_handle, reg_addr_high, 2, &pid_high, 1, 200); + if (ret == ESP_OK) { + ret = + i2c_master_transmit_receive(dev_handle, reg_addr_low, 2, &pid_low, 1, 200); + if (ret == ESP_OK) { + detected_pid = (pid_high << 8) | pid_low; + if (detected_pid != 0) { + ESP_LOGI(TAG, "检测到摄像头 (OV3660方式) PID=0x%04X (地址=0x%02X)", + detected_pid, addr); + camera_found = true; + i2c_master_bus_rm_device(dev_handle); + break; + } + } + } + i2c_master_bus_rm_device(dev_handle); } } - + if (!camera_found) { i2c_del_master_bus(i2c_bus_); i2c_bus_ = nullptr; ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0); + camera_type_ = OTTO_CAMERA_NONE; + } else { + // 根据 PID 判断摄像头类型 + if (detected_pid == OV2640_PID_1 || detected_pid == OV2640_PID_2) { + camera_type_ = OTTO_CAMERA_OV2640; + ESP_LOGI(TAG, "摄像头类型: OV2640 (PID=0x%04X)", detected_pid); + } else if (detected_pid == OV3660_PID) { + camera_type_ = OTTO_CAMERA_OV3660; + ESP_LOGI(TAG, "摄像头类型: OV3660 (PID=0x%04X)", detected_pid); + } else { + camera_type_ = OTTO_CAMERA_UNKNOWN; + ESP_LOGW(TAG, "未知摄像头类型，PID=0x%04X", detected_pid); + } } return camera_found; } - + void InitializePowerManager() { - power_manager_ = new PowerManager( - hw_config_.power_charge_detect_pin, - hw_config_.power_adc_unit, - hw_config_.power_adc_channel - ); + power_manager_ = new PowerManager(hw_config_.power_charge_detect_pin, + hw_config_.power_adc_unit, hw_config_.power_adc_channel); } void InitializeSpi() { @@ -163,9 +201,9 @@ private: esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY); esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y); - display_ = new OttoEmojiDisplay( - panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, - DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY); + display_ = new OttoEmojiDisplay(panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT, + DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X, + DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY); } void InitializeButtons() { @@ -179,17 +217,14 @@ private: }); } - void InitializeOttoController() { - ::InitializeOttoController(hw_config_); - } - -public: - const HardwareConfig& GetHardwareConfig() const { - return hw_config_; - } - -private: + void InitializeOttoController() { ::InitializeOttoController(hw_config_); } +public: + const HardwareConfig& GetHardwareConfig() const { return hw_config_; } + + OttoCameraType GetCameraType() const { return camera_type_; } + +private: void InitializeWebSocketControlServer() { ws_control_server_ = new WebSocketControlServer(); if (!ws_control_server_->Start(8080)) { @@ -201,7 +236,7 @@ private: void StartNetwork() override { WifiBoard::StartNetwork(); vTaskDelay(pdMS_TO_TICKS(1000)); - + InitializeWebSocketControlServer(); } @@ -209,20 +244,21 @@ private: if (!has_camera_ || i2c_bus_ == nullptr) { return false; } - + try { static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = { .data_width = CAM_CTLR_DATA_WIDTH_8, - .data_io = { - [0] = CAMERA_D0, - [1] = CAMERA_D1, - [2] = CAMERA_D2, - [3] = CAMERA_D3, - [4] = CAMERA_D4, - [5] = CAMERA_D5, - [6] = CAMERA_D6, - [7] = CAMERA_D7, - }, + .data_io = + { + [0] = CAMERA_D0, + [1] = CAMERA_D1, + [2] = CAMERA_D2, + [3] = CAMERA_D3, + [4] = CAMERA_D4, + [5] = CAMERA_D5, + [6] = CAMERA_D6, + [7] = CAMERA_D7, + }, .vsync_io = CAMERA_VSYNC, .de_io = CAMERA_HSYNC, .pclk_io = CAMERA_PCLK, @@ -248,86 +284,126 @@ private: }; camera_ = new EspVideo(video_config); - camera_->SetVFlip(true); + + // 根据摄像头类型设置不同的翻转参数 + switch (camera_type_) { + case OTTO_CAMERA_OV3660: + camera_->SetVFlip(true); + camera_->SetHMirror(true); + ESP_LOGI(TAG, "OV3660: 设置 VFlip=true, HMirror=true"); + break; + case OTTO_CAMERA_OV2640: + default: + camera_->SetVFlip(true); + camera_->SetHMirror(false); + ESP_LOGI(TAG, "OV2640: 设置 VFlip=true, HMirror=false"); + break; + } return true; } catch (...) { camera_ = nullptr; return false; } } - + void InitializeAudioCodec() { if (hw_config_.audio_use_simplex) { audio_codec_ = new NoAudioCodecSimplex( - hw_config_.audio_input_sample_rate, - hw_config_.audio_output_sample_rate, - hw_config_.audio_i2s_spk_gpio_bclk, - hw_config_.audio_i2s_spk_gpio_lrck, - hw_config_.audio_i2s_spk_gpio_dout, - hw_config_.audio_i2s_mic_gpio_sck, - hw_config_.audio_i2s_mic_gpio_ws, - hw_config_.audio_i2s_mic_gpio_din - ); + hw_config_.audio_input_sample_rate, hw_config_.audio_output_sample_rate, + hw_config_.audio_i2s_spk_gpio_bclk, hw_config_.audio_i2s_spk_gpio_lrck, + hw_config_.audio_i2s_spk_gpio_dout, hw_config_.audio_i2s_mic_gpio_sck, + hw_config_.audio_i2s_mic_gpio_ws, hw_config_.audio_i2s_mic_gpio_din); } else { audio_codec_ = new NoAudioCodecDuplex( - hw_config_.audio_input_sample_rate, - hw_config_.audio_output_sample_rate, - hw_config_.audio_i2s_gpio_bclk, - hw_config_.audio_i2s_gpio_ws, - hw_config_.audio_i2s_gpio_dout, - hw_config_.audio_i2s_gpio_din - ); + hw_config_.audio_input_sample_rate, hw_config_.audio_output_sample_rate, + hw_config_.audio_i2s_gpio_bclk, hw_config_.audio_i2s_gpio_ws, + hw_config_.audio_i2s_gpio_dout, hw_config_.audio_i2s_gpio_din); } } public: - OttoRobot() : boot_button_(BOOT_BUTTON_GPIO), - audio_codec_(nullptr), - i2c_bus_(nullptr), - camera_(nullptr), - has_camera_(false) { - + OttoRobot() + : boot_button_(BOOT_BUTTON_GPIO), + audio_codec_(nullptr), + i2c_bus_(nullptr), + camera_(nullptr), + has_camera_(false), + camera_type_(OTTO_CAMERA_NONE) { +#if OTTO_HARDWARE_VERSION == OTTO_VERSION_AUTO + // 自动检测硬件版本（同时检测摄像头类型） has_camera_ = DetectHardwareVersion(); - - if (has_camera_) + ESP_LOGI(TAG, "自动检测硬件版本: %s", has_camera_ ? "摄像头版" : "无摄像头版"); +#elif OTTO_HARDWARE_VERSION == OTTO_VERSION_CAMERA + // 强制使用摄像头版本，但仍检测具体摄像头类型 + has_camera_ = DetectHardwareVersion(); + if (!has_camera_) { + // 检测失败时仍使用摄像头配置，但不知道具体类型 + has_camera_ = true; + camera_type_ = OTTO_CAMERA_UNKNOWN; + ESP_LOGW(TAG, "强制使用摄像头版本配置，但未能检测到摄像头类型"); + // 初始化 I2C 总线用于摄像头 + i2c_master_bus_config_t i2c_bus_cfg = { + .i2c_port = I2C_NUM_0, + .sda_io_num = CAMERA_VERSION_CONFIG.i2c_sda_pin, + .scl_io_num = CAMERA_VERSION_CONFIG.i2c_scl_pin, + .clk_source = I2C_CLK_SRC_DEFAULT, + .glitch_ignore_cnt = 7, + .intr_priority = 0, + .trans_queue_depth = 0, + .flags = + { + .enable_internal_pullup = 1, + }, + }; + i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_); + } else { + ESP_LOGI(TAG, "强制使用摄像头版本配置"); + } +#elif OTTO_HARDWARE_VERSION == OTTO_VERSION_NO_CAMERA + // 强制使用无摄像头版本 + has_camera_ = false; + camera_type_ = OTTO_CAMERA_NONE; + ESP_LOGI(TAG, "强制使用无摄像头版本配置"); +#else +#error \ + "OTTO_HARDWARE_VERSION 设置无效，请使用 OTTO_VERSION_AUTO, OTTO_VERSION_CAMERA 或 OTTO_VERSION_NO_CAMERA" +#endif + + if (has_camera_) hw_config_ = CAMERA_VERSION_CONFIG; - else + else hw_config_ = NON_CAMERA_VERSION_CONFIG; - - + InitializeSpi(); InitializeLcdDisplay(); InitializeButtons(); InitializePowerManager(); InitializeAudioCodec(); - + if (has_camera_) { if (!InitializeCamera()) { has_camera_ = false; } } - + InitializeOttoController(); ws_control_server_ = nullptr; GetBacklight()->RestoreBrightness(); } - virtual AudioCodec *GetAudioCodec() override { - return audio_codec_; - } + virtual AudioCodec* GetAudioCodec() override { return audio_codec_; } - virtual Display* GetDisplay() override { - return display_; - } + virtual Display* GetDisplay() override { return display_; } virtual Backlight* GetBacklight() override { static PwmBacklight* backlight = nullptr; if (backlight == nullptr) { - backlight = new PwmBacklight(hw_config_.display_backlight_pin, DISPLAY_BACKLIGHT_OUTPUT_INVERT); + backlight = + new PwmBacklight(hw_config_.display_backlight_pin, DISPLAY_BACKLIGHT_OUTPUT_INVERT); } return backlight; } - + virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override { charging = power_manager_->IsCharging(); discharging = !charging; @@ -335,9 +411,7 @@ public: return true; } - virtual Camera *GetCamera() override { - return has_camera_ ? camera_ : nullptr; - } + virtual Camera* GetCamera() override { return has_camera_ ? camera_ : nullptr; } }; DECLARE_BOARD(OttoRobot);