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Enhance Otto Robot camera support by adding configuration for OV3660. (#1726)

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This commit is contained in:
小鹏
2026-02-02 10:22:53 +08:00
committed by GitHub
parent 9e1724e892
commit 796312db4c
3 changed files with 208 additions and 112 deletions
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21
main/boards/otto-robot/config.h
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@ -1,8 +1,27 @@
#ifndef _BOARD_CONFIG_H_ #ifndef _BOARD_CONFIG_H_
#define _BOARD_CONFIG_H_ #define _BOARD_CONFIG_H_
#include <driver/gpio.h>
#include <driver/adc.h> #include <driver/adc.h>
#include <driver/gpio.h>
#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 { struct HardwareConfig {
gpio_num_t power_charge_detect_pin; gpio_num_t power_charge_detect_pin;

5
main/boards/otto-robot/config.json
View File

@ -7,7 +7,10 @@
"CONFIG_HTTPD_WS_SUPPORT=y", "CONFIG_HTTPD_WS_SUPPORT=y",
"CONFIG_CAMERA_OV2640=y", "CONFIG_CAMERA_OV2640=y",
"CONFIG_CAMERA_OV2640_AUTO_DETECT_DVP_INTERFACE_SENSOR=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"
] ]
} }
] ]

216
main/boards/otto-robot/otto_robot.cc
View File

@ -1,25 +1,25 @@
#include <driver/i2c_master.h> #include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include <driver/ledc.h> #include <driver/ledc.h>
#include <driver/spi_common.h>
#include <esp_lcd_panel_io.h> #include <esp_lcd_panel_io.h>
#include <esp_lcd_panel_ops.h> #include <esp_lcd_panel_ops.h>
#include <esp_lcd_panel_vendor.h> #include <esp_lcd_panel_vendor.h>
#include <esp_log.h> #include <esp_log.h>
#include "application.h" #include "application.h"
#include "codecs/no_audio_codec.h"
#include "button.h" #include "button.h"
#include "codecs/no_audio_codec.h"
#include "config.h" #include "config.h"
#include "display/lcd_display.h" #include "display/lcd_display.h"
#include "esp_video.h"
#include "lamp_controller.h" #include "lamp_controller.h"
#include "led/single_led.h" #include "led/single_led.h"
#include "mcp_server.h" #include "mcp_server.h"
#include "otto_emoji_display.h" #include "otto_emoji_display.h"
#include "power_manager.h" #include "power_manager.h"
#include "system_reset.h" #include "system_reset.h"
#include "wifi_board.h"
#include "esp_video.h"
#include "websocket_control_server.h" #include "websocket_control_server.h"
#include "wifi_board.h"
#define TAG "OttoRobot" #define TAG "OttoRobot"
@ -34,8 +34,9 @@ private:
HardwareConfig hw_config_; HardwareConfig hw_config_;
AudioCodec* audio_codec_; AudioCodec* audio_codec_;
i2c_master_bus_handle_t i2c_bus_; i2c_master_bus_handle_t i2c_bus_;
EspVideo *camera_; EspVideo* camera_;
bool has_camera_; bool has_camera_;
OttoCameraType camera_type_;
bool DetectHardwareVersion() { bool DetectHardwareVersion() {
ledc_timer_config_t ledc_timer = { ledc_timer_config_t ledc_timer = {
@ -73,9 +74,10 @@ private:
.glitch_ignore_cnt = 7, .glitch_ignore_cnt = 7,
.intr_priority = 0, .intr_priority = 0,
.trans_queue_depth = 0, .trans_queue_depth = 0,
.flags = { .flags =
.enable_internal_pullup = 1, {
}, .enable_internal_pullup = 1,
},
}; };
ret = i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_); ret = i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_);
@ -85,6 +87,7 @@ private:
} }
const uint8_t camera_addresses[] = {0x30, 0x3C, 0x21, 0x60}; const uint8_t camera_addresses[] = {0x30, 0x3C, 0x21, 0x60};
bool camera_found = false; bool camera_found = false;
uint16_t detected_pid = 0;
for (size_t i = 0; i < sizeof(camera_addresses); i++) { for (size_t i = 0; i < sizeof(camera_addresses); i++) {
uint8_t addr = camera_addresses[i]; uint8_t addr = camera_addresses[i];
@ -97,14 +100,39 @@ private:
i2c_master_dev_handle_t dev_handle; i2c_master_dev_handle_t dev_handle;
ret = i2c_master_bus_add_device(i2c_bus_, &dev_cfg, &dev_handle); ret = i2c_master_bus_add_device(i2c_bus_, &dev_cfg, &dev_handle);
if (ret == ESP_OK) { if (ret == ESP_OK) {
uint8_t reg_addr = 0x0A; uint8_t data[2] = {0, 0};
uint8_t data[2];
ret = i2c_master_transmit_receive(dev_handle, &reg_addr, 1, data, 2, 200); uint8_t reg_addr_8bit = 0x0A;
if (ret == ESP_OK) { ret = i2c_master_transmit_receive(dev_handle, &reg_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; camera_found = true;
i2c_master_bus_rm_device(dev_handle); i2c_master_bus_rm_device(dev_handle);
break; 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); i2c_master_bus_rm_device(dev_handle);
} }
} }
@ -113,16 +141,26 @@ private:
i2c_del_master_bus(i2c_bus_); i2c_del_master_bus(i2c_bus_);
i2c_bus_ = nullptr; i2c_bus_ = nullptr;
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0); 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; return camera_found;
} }
void InitializePowerManager() { void InitializePowerManager() {
power_manager_ = new PowerManager( power_manager_ = new PowerManager(hw_config_.power_charge_detect_pin,
hw_config_.power_charge_detect_pin, hw_config_.power_adc_unit, hw_config_.power_adc_channel);
hw_config_.power_adc_unit,
hw_config_.power_adc_channel
);
} }
void InitializeSpi() { void InitializeSpi() {
@ -163,9 +201,9 @@ private:
esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY); esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y); esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);
display_ = new OttoEmojiDisplay( display_ = new OttoEmojiDisplay(panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT,
panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X,
DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY); DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
} }
void InitializeButtons() { void InitializeButtons() {
@ -179,17 +217,14 @@ private:
}); });
} }
void InitializeOttoController() { void InitializeOttoController() { ::InitializeOttoController(hw_config_); }
::InitializeOttoController(hw_config_);
}
public: public:
const HardwareConfig& GetHardwareConfig() const { const HardwareConfig& GetHardwareConfig() const { return hw_config_; }
return hw_config_;
} OttoCameraType GetCameraType() const { return camera_type_; }
private: private:
void InitializeWebSocketControlServer() { void InitializeWebSocketControlServer() {
ws_control_server_ = new WebSocketControlServer(); ws_control_server_ = new WebSocketControlServer();
if (!ws_control_server_->Start(8080)) { if (!ws_control_server_->Start(8080)) {
@ -213,16 +248,17 @@ private:
try { try {
static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = { static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
.data_width = CAM_CTLR_DATA_WIDTH_8, .data_width = CAM_CTLR_DATA_WIDTH_8,
.data_io = { .data_io =
[0] = CAMERA_D0, {
[1] = CAMERA_D1, [0] = CAMERA_D0,
[2] = CAMERA_D2, [1] = CAMERA_D1,
[3] = CAMERA_D3, [2] = CAMERA_D2,
[4] = CAMERA_D4, [3] = CAMERA_D3,
[5] = CAMERA_D5, [4] = CAMERA_D4,
[6] = CAMERA_D6, [5] = CAMERA_D5,
[7] = CAMERA_D7, [6] = CAMERA_D6,
}, [7] = CAMERA_D7,
},
.vsync_io = CAMERA_VSYNC, .vsync_io = CAMERA_VSYNC,
.de_io = CAMERA_HSYNC, .de_io = CAMERA_HSYNC,
.pclk_io = CAMERA_PCLK, .pclk_io = CAMERA_PCLK,
@ -248,7 +284,21 @@ private:
}; };
camera_ = new EspVideo(video_config); 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; return true;
} catch (...) { } catch (...) {
camera_ = nullptr; camera_ = nullptr;
@ -259,42 +309,71 @@ private:
void InitializeAudioCodec() { void InitializeAudioCodec() {
if (hw_config_.audio_use_simplex) { if (hw_config_.audio_use_simplex) {
audio_codec_ = new NoAudioCodecSimplex( audio_codec_ = new NoAudioCodecSimplex(
hw_config_.audio_input_sample_rate, hw_config_.audio_input_sample_rate, hw_config_.audio_output_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_bclk, hw_config_.audio_i2s_spk_gpio_dout, hw_config_.audio_i2s_mic_gpio_sck,
hw_config_.audio_i2s_spk_gpio_lrck, hw_config_.audio_i2s_mic_gpio_ws, hw_config_.audio_i2s_mic_gpio_din);
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 { } else {
audio_codec_ = new NoAudioCodecDuplex( audio_codec_ = new NoAudioCodecDuplex(
hw_config_.audio_input_sample_rate, hw_config_.audio_input_sample_rate, hw_config_.audio_output_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_bclk, hw_config_.audio_i2s_gpio_dout, hw_config_.audio_i2s_gpio_din);
hw_config_.audio_i2s_gpio_ws,
hw_config_.audio_i2s_gpio_dout,
hw_config_.audio_i2s_gpio_din
);
} }
} }
public: public:
OttoRobot() : boot_button_(BOOT_BUTTON_GPIO), OttoRobot()
audio_codec_(nullptr), : boot_button_(BOOT_BUTTON_GPIO),
i2c_bus_(nullptr), audio_codec_(nullptr),
camera_(nullptr), i2c_bus_(nullptr),
has_camera_(false) { 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(); has_camera_ = DetectHardwareVersion();
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_) if (has_camera_)
hw_config_ = CAMERA_VERSION_CONFIG; hw_config_ = CAMERA_VERSION_CONFIG;
else else
hw_config_ = NON_CAMERA_VERSION_CONFIG; hw_config_ = NON_CAMERA_VERSION_CONFIG;
InitializeSpi(); InitializeSpi();
InitializeLcdDisplay(); InitializeLcdDisplay();
InitializeButtons(); InitializeButtons();
@ -312,18 +391,15 @@ public:
GetBacklight()->RestoreBrightness(); GetBacklight()->RestoreBrightness();
} }
virtual AudioCodec *GetAudioCodec() override { virtual AudioCodec* GetAudioCodec() override { return audio_codec_; }
return audio_codec_;
}
virtual Display* GetDisplay() override { virtual Display* GetDisplay() override { return display_; }
return display_;
}
virtual Backlight* GetBacklight() override { virtual Backlight* GetBacklight() override {
static PwmBacklight* backlight = nullptr; static PwmBacklight* backlight = nullptr;
if (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; return backlight;
} }
@ -335,9 +411,7 @@ public:
return true; return true;
} }
virtual Camera *GetCamera() override { virtual Camera* GetCamera() override { return has_camera_ ? camera_ : nullptr; }
return has_camera_ ? camera_ : nullptr;
}
}; };
DECLARE_BOARD(OttoRobot); DECLARE_BOARD(OttoRobot);