diff --git a/.DS_Store b/.DS_Store new file mode 100644 index 0000000..e2ead31 Binary files /dev/null and b/.DS_Store differ diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ed05338 --- /dev/null +++ b/.gitignore @@ -0,0 +1,25 @@ +# Downloaded vendor examples and local build artifacts are reproducible. +vendor/ESP32-S3-Touch-LCD-2.1-Demo.zip +vendor/extracted/ +vendor/build/ +vendor/build-attempt.log +vendor/ctags-5.8-arduino11.zip +vendor/ctags-5.8-arduino11/ +vendor/ctags-tool/ +firmware/backups/*.bin +firmware/build-eye-test/ +firmware/build-eye-test.log +firmware/build-eye-test-board2/ +firmware/build-eye-test-board2.log +firmware/build-tf-luna-bench/ +firmware/build-tf-luna-bench.log +firmware/build-benewake-range-bench/ +firmware/build-benewake-range-bench.log +firmware/build-camera-bringup/ +firmware/build-camera-bringup.log +firmware/camera_person_idf/build/ +firmware/camera_person_idf/managed_components/ +firmware/camera_person_idf/sdkconfig +vendor/Person_Detection_inferencing.zip +__pycache__/ +firmware/private/ diff --git a/README.md b/README.md index e69de29..8a22fdf 100644 --- a/README.md +++ b/README.md @@ -0,0 +1,61 @@ +# Freddy Fazbear digital eyes + +Two animated round LCD eyes for a stationary Freddy Fazbear mask on a covered porch beside the front door. The eyes should blink and move naturally, then follow people walking up to the house. The ESP32 eye boards remain the display controllers. Joshua is now evaluating his Raspberry Pi Zero 2 W with a Pi camera as the person-detection and coordination node; the existing DFRobot ESP32 camera remains a working bench baseline. + +## Hardware and current state + +- **Eyes:** Two Waveshare ESP32-S3-Touch-LCD-2.1 modules, 480 × 480 pixels, with their own ESP32-S3 controllers. Both respond over USB as distinct ESP32-S3 devices with 8 MB PSRAM and 16 MB flash. Both arrived with an “Onboard parameters” demo and working touch, and now run the eye test. Their backs are marked Rev2.0, and Waveshare maps the printed model to SKU 28169. See [hardware/bringup.md](hardware/bringup.md). +- **Firmware baseline:** The official Waveshare Arduino/LVGL display example compiles on this laptop with the board's memory settings. A custom eye test runs on both boards with distinct on-screen labels. Both boards have been flashed and hash-verified with the supplied Freddy iris texture and matching `#743824` eyelids/perimeter rings. Joshua visually confirmed both displays look around and blink with the matching design. Frame-rate measurement and post-flash image evidence remain. See [firmware/README.md](firmware/README.md). +- **Wi-Fi updates:** Both eyes and the camera have joined the home Wi-Fi and each completed a verified OTA application update on 2026-09-30. The camera's one-time dual-slot partition migration is complete. After the updates, the camera still detected people and Board 2 received its wired gaze packets; Board 1 resumed receiving them after Joshua fixed its cable. See [firmware/ota.md](firmware/ota.md). +- **Vision:** The DFRobot DFR1154 V1.1 ESP32-S3 camera is the current bench source and produces person-position results at about four updates per second. On 2026-10-01 its USB-flashed tracker added a one-second hold for brief misses and rejected a measured empty-scene box artifact. In a 20-second empty-view retest, it sent 0 valid targets in 80 frames; real-person performance with this revision is still unverified. Joshua wants to test his Pi Zero 2 W as the eventual vision source while retaining the ESP32 eyes. He identified an owned InnoMaker OV5647 camera with an IR-filter lens and showed two Arducam alternatives. His preferred first placement trial is the Arducam OV5647 day/night camera and its IR emitters **inside Freddy's mouth**. See [the mouth placement trial](planning/mouth-camera.md), [Pi vision plan](planning/pi-vision.md), and [outdoor deployment plan](planning/outdoor-deployment.md). +- **Gaze link:** The camera's versioned 3.3 V UART broadcast was bench-verified with both eyes: they accepted identical coordinates, visibly tracked together, rejected malformed and stale frames, then recovered. After the 2026-09-30 OTA updates, Board 2 kept receiving gaze packets; Board 1 resumed receiving them after its cable was fixed, accepting 48 packets in a 12-second check. Final-position calibration, active-tracking signal-loss behavior, and walk-by testing remain. See [protocol/gaze.md](protocol/gaze.md) and [the bench log](hardware/gaze-link-bench.md). +- **Tracking effect:** Both eyes now switch to the glowing-red look when the camera sends a confirmed person target (`TRACK`) and return to blue on an invalid target or 750 ms gaze-signal timeout (`IDLE`). The former touch-toggle preview was removed. Both eye updates were delivered over Wi-Fi on 2026-10-01; Joshua confirmed the red-to-blue transition and later reported the eyes appearing synchronized. A distance sensor is no longer needed for this effect. See [planning/proximity-red.md](planning/proximity-red.md). +- **Mask:** The [Shapr3D mask STEP](stls/freddy_fazbear_mask.step) has been measured, and an official Waveshare board CAD reference inspected separately. Each straight-on projected eye opening is about 62.5 mm wide by 54.5 mm high; the largest fully clear circle is about 52.2 mm across. These are CAD sightline measurements, not physical-print tolerances. [Connected rear](reference_images/IMG_6530.jpeg) and [powered front](reference_images/IMG_6535.jpeg) dry-fit photos show one board behind an opening. A [first-fit removable mount set](hardware/eye_mount/README.md) now has candidate carriers, shell pads, stand-off sleeves, and a trim appearance gauge; the CAD clears the mask and vendor board reference but needs physical fit testing with both plugged boards. Joshua wants an integrated look: a retained, mask-finished surround should conceal the exposed dark socket and display bezel without touching the glass. Final centering/rotation, both-eye physical fit, cable strain relief, and repeatable mask attachment remain unverified. See [hardware/fit.md](hardware/fit.md). +- **Project records:** Maestro project `Freddy Fazbear Digital Eyes` in the `Maniacs-Mansion` workspace tracks tasks. CTXD project `freddy-fazbear-digital-eyes` records durable context and decisions. + +## Proposed system + +```text +Vision controller: current DFRobot ESP32-S3; proposed Pi Zero 2 W + Pi camera + detects a person and chooses one target + sends normalized target position + validity + | + 3.3 V serial link + | + +---------+---------+ + | | +left Waveshare ESP32 right Waveshare ESP32 +eye animation + LCD eye animation + LCD +``` + +Each eye renders locally, so blinking and smooth movement continue between camera updates. A wired UART broadcast to both eye receivers is bench-verified. The proposed Pi would send the same frame format over one 3.3 V serial output, replacing the DFRobot camera's TX connection. Share signal ground and power each board from an appropriately sized supply rather than another board's 3.3 V output. The vision controller must provide a person's **position** (bounding-box center), not only a yes/no detection. + +## Build sequence + +1. **Bring up and measure hardware.** Identify board revisions, run the vendor display demo on each board, locate and test the camera, measure eye clearance and cable paths, and choose the power scheme. +2. **Create the eye renderer.** On one board, draw a full-size eyeball with movable iris/pupil and eyelids. Add natural blink timing, eased gaze motion, idle behavior, and a configurable left/right orientation. Run it on both boards before adding tracking. +3. **Prove camera localization.** Get live camera frames and a model that returns person coordinates. Select one target consistently; handle crossings and temporary loss. Measure detection rate and latency in the intended lighting. +4. **Connect tracking to the eyes.** Define a small versioned gaze message, verify serial delivery to both boards, calibrate camera coordinates to eye motion, and measure end-to-end response. Both boards must continue idle animation if tracking or communication stops. +5. **Install and validate outdoors.** Design removable mounts, a camera sightline, and weather protection for the electronics. Test moving pedestrians in daylight, shade, dusk, and darkness from the actual path. Verify the installed power, ventilation, repeated tracking, and a sustained run. + +## Acceptance checks + +- Both displays boot reliably and show independently calibrated eyes. +- Each eye moves and blinks smoothly with no camera connected. +- The camera reports the location of a person walking across its field of view; the eyes visibly follow that person without jumping unpredictably between targets. +- Tracking loss returns the eyes to an idle state; recovery resumes following without a reboot. +- The installed electronics fit without forcing the display, bending its flex cable sharply, or obstructing the camera. +- The protected outdoor installation keeps the lens clear of rain, condensation, and IR reflections while capturing the full approach path. +- Walk-by tests at the installed distance show prompt, stable following in the expected daylight and night lighting; empty-path tests do not trigger false gaze. +- A 30-minute powered run completes without a reset, visible display corruption, or unsafe heat buildup. + +## Decisions still to make + +- Exact camera position and distance to people approaching the covered front porch. +- Final camera placement, outdoor person-detection performance target, weather enclosure, and power source. +- Exact eye look (iris color/texture, eyelid shape, and any character-specific expression). + +## References + +- [Waveshare ESP32-S3-Touch-LCD-2.1 documentation](https://docs.waveshare.com/ESP32-S3-Touch-LCD-2.1) +- [DFRobot DFR1154 documentation](https://wiki.dfrobot.com/dfr1154/) diff --git a/assets/eye-style.md b/assets/eye-style.md new file mode 100644 index 0000000..dec159b --- /dev/null +++ b/assets/eye-style.md @@ -0,0 +1,14 @@ +# Freddy eye appearance baseline + +Established on 2026-09-21 from Joshua's supplied [`official_freddy_eye_texture.webp`](../reference_images/official_freddy_eye_texture.webp). Both boards show the texture moving and blinking correctly; Joshua confirmed their matching brown eyelids and perimeter rings look good. This is the current visual baseline, not a camera-tracking test. + +- **Iris and pupil:** Use the supplied blue radial texture, including its black pupil and two white highlights. The original file remains unchanged. The embedded iris is 178 × 178 pixels with a transparent feathered edge. +- **Sclera:** Warm cream `#F5F4EA`, 432-pixel circle on the 480 × 480 canvas. +- **Outer eye ring:** Brown `#743824`, matching the lids; 444-pixel circle. +- **Lids:** Brown `#743824`, chosen by Joshua after the first textured-eye test. The current blink is a straight upper/lower closure lasting 300 ms every 4.6 seconds; this eyelid shape can be refined for the final character expression. +- **Surrounding background:** Dark brown `#39271D`. +- **Brightness:** The Waveshare driver initializes its backlight to 50 on its 0–100 setting. This is the tested bench setting, not a measured luminance value. + +[Display composition preview](../firmware/assets/freddy_eye_display_preview.png) shows the centered open-eye layout without the small board-test label. The [iris-only preview](../firmware/assets/freddy_iris_preview.png) shows the encoded image and transparent edge. The physical display was visually confirmed by Joshua; a screen photo and frame-rate measurement remain to be recorded. + +[Mid-blink preview](../firmware/assets/freddy_eye_blink_preview.png) shows the new eyelid color. The straight-edge lids are an early animation baseline rather than sculpted eyelids. diff --git a/configure_wifi.command b/configure_wifi.command new file mode 100755 index 0000000..78c6c5b --- /dev/null +++ b/configure_wifi.command @@ -0,0 +1,13 @@ +#!/bin/zsh +# Double-click in Finder to configure this project's Wi-Fi without sharing a password in chat. +cd -- "${0:A:h}" || exit 1 +python3 firmware/tools/configure_ota.py +result=$? +echo +if (( result == 0 )); then + echo "Wi-Fi configuration saved. You may close this window." +else + echo "Configuration was not saved. You may close this window and retry." +fi +read -k 1 "?Press any key to close..." +exit $result diff --git a/diagnostics/pi_eye_trial_20261001-200850.jsonl b/diagnostics/pi_eye_trial_20261001-200850.jsonl new file mode 100644 index 0000000..7080adc --- /dev/null +++ b/diagnostics/pi_eye_trial_20261001-200850.jsonl @@ -0,0 +1,63 @@ +{"time": "2026-10-01T20:08:51.860401-04:00", "frame": 1, "detect_ms": 187.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 0}} +{"time": "2026-10-01T20:08:52.027690-04:00", "frame": 2, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 1}} +{"time": "2026-10-01T20:08:52.187516-04:00", "frame": 3, "detect_ms": 156.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 2}} +{"time": "2026-10-01T20:08:52.367121-04:00", "frame": 4, "detect_ms": 176.7, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 3}} +{"time": "2026-10-01T20:08:52.527115-04:00", "frame": 5, "detect_ms": 157.0, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 4}} +{"time": "2026-10-01T20:08:52.686809-04:00", "frame": 6, "detect_ms": 157.0, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 5}} +{"time": "2026-10-01T20:08:52.846740-04:00", "frame": 7, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 6}} +{"time": "2026-10-01T20:08:53.007223-04:00", "frame": 8, "detect_ms": 157.5, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 7}} +{"time": "2026-10-01T20:08:53.167244-04:00", "frame": 9, "detect_ms": 157.2, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 8}} +{"time": "2026-10-01T20:08:53.326911-04:00", "frame": 10, "detect_ms": 156.7, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 9}} +{"time": "2026-10-01T20:08:53.487192-04:00", "frame": 11, "detect_ms": 157.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 10}} +{"time": "2026-10-01T20:08:53.647092-04:00", "frame": 12, "detect_ms": 157.2, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 11}} +{"time": "2026-10-01T20:08:53.807359-04:00", "frame": 13, "detect_ms": 157.7, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 12}} +{"time": "2026-10-01T20:08:53.968262-04:00", "frame": 14, "detect_ms": 158.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 13}} +{"time": "2026-10-01T20:08:54.128034-04:00", "frame": 15, "detect_ms": 157.0, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 14}} +{"time": "2026-10-01T20:08:54.287632-04:00", "frame": 16, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 15}} +{"time": "2026-10-01T20:08:54.447454-04:00", "frame": 17, "detect_ms": 157.2, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 16}} +{"time": "2026-10-01T20:08:54.607370-04:00", "frame": 18, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 17}} +{"time": "2026-10-01T20:08:54.768511-04:00", "frame": 19, "detect_ms": 158.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 18}} +{"time": "2026-10-01T20:08:54.928200-04:00", "frame": 20, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 19}} +{"time": "2026-10-01T20:08:55.088005-04:00", "frame": 21, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 20}} +{"time": "2026-10-01T20:08:55.247575-04:00", "frame": 22, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 21}} +{"time": "2026-10-01T20:08:55.407955-04:00", "frame": 23, "detect_ms": 157.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 22}} +{"time": "2026-10-01T20:08:55.568485-04:00", "frame": 24, "detect_ms": 157.7, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 23}} +{"time": "2026-10-01T20:08:55.728131-04:00", "frame": 25, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 24}} +{"time": "2026-10-01T20:08:55.887710-04:00", "frame": 26, "detect_ms": 156.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 25}} +{"time": "2026-10-01T20:08:56.047685-04:00", "frame": 27, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 26}} +{"time": "2026-10-01T20:08:56.207662-04:00", "frame": 28, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 27}} +{"time": "2026-10-01T20:08:56.368243-04:00", "frame": 29, "detect_ms": 157.4, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 28}} +{"time": "2026-10-01T20:08:56.528154-04:00", "frame": 30, "detect_ms": 157.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 29}} +{"time": "2026-10-01T20:08:56.687829-04:00", "frame": 31, "detect_ms": 156.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 30}} +{"time": "2026-10-01T20:08:56.847369-04:00", "frame": 32, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 31}} +{"time": "2026-10-01T20:08:57.007629-04:00", "frame": 33, "detect_ms": 157.7, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 32}} +{"time": "2026-10-01T20:08:57.168355-04:00", "frame": 34, "detect_ms": 157.5, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 33}} +{"time": "2026-10-01T20:08:57.328697-04:00", "frame": 35, "detect_ms": 157.6, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 34}} +{"time": "2026-10-01T20:08:57.488258-04:00", "frame": 36, "detect_ms": 156.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 35}} +{"time": "2026-10-01T20:08:57.648239-04:00", "frame": 37, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 36}} +{"time": "2026-10-01T20:08:57.808977-04:00", "frame": 38, "detect_ms": 158.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 37}} +{"time": "2026-10-01T20:08:57.970469-04:00", "frame": 39, "detect_ms": 158.4, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 38}} +{"time": "2026-10-01T20:08:58.131296-04:00", "frame": 40, "detect_ms": 158.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 39}} +{"time": "2026-10-01T20:08:58.291602-04:00", "frame": 41, "detect_ms": 157.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 40}} +{"time": "2026-10-01T20:08:58.452280-04:00", "frame": 42, "detect_ms": 158.0, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 41}} +{"time": "2026-10-01T20:08:58.612161-04:00", "frame": 43, "detect_ms": 157.3, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 42}} +{"time": "2026-10-01T20:08:58.773113-04:00", "frame": 44, "detect_ms": 158.1, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 43}} +{"time": "2026-10-01T20:08:58.933739-04:00", "frame": 45, "detect_ms": 157.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 44}} +{"time": "2026-10-01T20:08:59.093384-04:00", "frame": 46, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 45}} +{"time": "2026-10-01T20:08:59.252938-04:00", "frame": 47, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 46}} +{"time": "2026-10-01T20:08:59.412734-04:00", "frame": 48, "detect_ms": 157.2, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 47}} +{"time": "2026-10-01T20:08:59.573255-04:00", "frame": 49, "detect_ms": 157.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 48}} +{"time": "2026-10-01T20:08:59.733840-04:00", "frame": 50, "detect_ms": 157.4, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 49}} +{"time": "2026-10-01T20:08:59.894475-04:00", "frame": 51, "detect_ms": 157.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 50}} +{"time": "2026-10-01T20:09:00.054185-04:00", "frame": 52, "detect_ms": 156.8, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 51}} +{"time": "2026-10-01T20:09:00.213725-04:00", "frame": 53, "detect_ms": 156.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 52}} +{"time": "2026-10-01T20:09:00.374269-04:00", "frame": 54, "detect_ms": 157.7, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 53}} +{"time": "2026-10-01T20:09:00.535376-04:00", "frame": 55, "detect_ms": 157.9, "target": null, "gaze": {"x": 500, "y": 500, "valid": false, "sequence": 54}} +{"time": 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b/diagnostics/pi_imx708_walkway_view_3.jpg new file mode 100644 index 0000000..2241766 Binary files /dev/null and b/diagnostics/pi_imx708_walkway_view_3.jpg differ diff --git a/firmware/README.md b/firmware/README.md new file mode 100644 index 0000000..6eca476 --- /dev/null +++ b/firmware/README.md @@ -0,0 +1,65 @@ +# First eye firmware test + +Local Wi-Fi OTA support is deployed and the first network update succeeded on both eye boards and the camera on 2026-09-30. Board 2 continued receiving gaze packets afterward; Board 1 resumed receiving them after Joshua fixed its cable. See [OTA setup and update steps](ota.md). + +`eye_test/` is a sketch for the two Waveshare ESP32-S3-Touch-LCD-2.1 Rev2.0 boards. It uses the display, touch, I2C, and expander drivers copied from Waveshare's official `LVGL_Arduino` example (source and SHA-256 recorded in [`vendor/README.md`](../vendor/README.md)). `EyeScene.cpp` draws the Freddy eye and continues moving and blinking without camera input. The on-screen board number makes each upload visually identifiable. The wired gaze receivers on both boards now receive the camera's UART signal and visibly track together. + +## Wired gaze build — 2026-09-27 + +The camera broadcasts the [versioned UART gaze frame](../protocol/gaze.md) to both boards. Each eye receives on GPIO44 through its 4-pin UART header, validates the frame and sequence, eases toward the target, and returns to autonomous idle movement after an invalid target or 750 ms of silence. Each eye shows `TRACK` or `IDLE` on screen and prints `GAZE_READY`, `GAZE_ACCEPT`, `GAZE_REJECT`, and `GAZE_TIMEOUT` over USB CDC for the bench log. The separate UART USB-C port must be unplugged for the header to work. Since 2026-10-01, `TRACK` also selects the red-eye appearance and `IDLE` restores blue. + +## Automatic red eye on tracking — 2026-10-01 + +Joshua chose confirmed person tracking rather than a distance threshold as the red-eye trigger. Both eye variants now use the same validated camera `valid` flag that controls gaze and the `TRACK`/`IDLE` label. A valid target switches to the existing dark eye with a pulsing red center; an invalid target or the receiver's 750 ms signal timeout restores the blue eye. Gaze easing and blinking continue in either appearance. The old touch-toggle test overlay was removed, so touching a display no longer changes its color. The camera firmware and gaze protocol did not change. + +Board 1 image: 1,304,432 bytes, SHA-256 `60dd759971f3c19c05a40e6b7d33d92702549f03cc83e849e9647e5fac6a7280`. Board 2 image: 1,304,432 bytes, SHA-256 `f134ecd75fd64c4d3f494d9e1d98ccf3493abfb5e40c45ba6391c5e6724bd4`. Both compiled with their distinct board labels and target markers, accepted a Wi-Fi OTA update, rebooted, and responded from slot 0. The camera remained online in slot 1. The automatic visual transition awaits Joshua's on-device check. Persistent empty-scene false detections can still trigger the red appearance; outdoor false-positive testing remains necessary. + +Both numbered variants were built with hardware USB CDC logging and flashed to their MAC-checked boards on 2026-09-27; all upload image hashes verified. Board 1 (`…CF:F8`): 1,253,667 bytes program, 96,760 bytes static RAM, application SHA-256 `ea0bd68c6fba802d89d11fdee1674c0ac66a376475cacd4681917afcb0bc560b`. Board 2 (`…D2:10`): 1,253,667 bytes program, 96,760 bytes static RAM, application SHA-256 `8cb6564ed46754efa7cd707d7ca219dbcbf69cc77fa7ad6adeac752203c29288`. After the UART wiring was connected, both accepted matching camera coordinates and Joshua confirmed both moved together in `TRACK`. A physical diagnostic also proved both reject duplicate, older, wrong-version, and bad-CRC frames, then recover. See [the bench log](../hardware/gaze-link-bench.md). + +## Freddy iris texture — 2026-09-21 + +The user's [`official_freddy_eye_texture.webp`](../reference_images/official_freddy_eye_texture.webp) is the iris artwork. [`make_iris.py`](tools/make_iris.py) crops the painted disc, scales it to the 178 × 178 pixel iris, adds a feathered transparent edge over the source's white backing, and encodes it as an LVGL RGB565-plus-alpha image in [`FreddyIris.cpp`](eye_test/FreddyIris.cpp). The generated [iris preview](assets/freddy_iris_preview.png) shows the image used by the firmware; the [whole-eye preview](assets/freddy_eye_display_preview.png) shows its centered position against the sclera. The original WebP is unchanged. To regenerate, run `python firmware/tools/make_iris.py` with Pillow available. See [eye-style.md](../assets/eye-style.md) for the visual baseline. + +`EyeScene.cpp` moves this image in place of the original flat-color iris and separately drawn pupil/highlight. The cream sclera, dark outer ring, 4.6-second blink cycle, and 30 ms gaze-animation timer are unchanged. The source image already contains the pupil and highlights. Source SHA-256: `0d686ed397b15e1417ffbe2dcb5e6a426e16dfd4fbeda2f4e28bd975fea8229f`. + +The board settings are ESP32S3 Dev Module, 16 MB flash, OPI PSRAM, and a 3 MB application partition. The compile-only command is: + +```sh +arduino-cli compile \ + --fqbn esp32:esp32:esp32s3:FlashSize=16M,PSRAM=opi,PartitionScheme=app3M_fat9M_16MB,USBMode=hwcdc,CDCOnBoot=cdc \ + --libraries vendor/extracted/Arduino/libraries \ + --build-path firmware/build-eye-test \ + --build-property runtime.tools.ctags.path="$PWD/vendor/ctags-tool/bin" \ + --build-property runtime.tools.ctags-5.8-arduino11.path="$PWD/vendor/ctags-tool/bin" \ + --jobs 4 firmware/eye_test +``` + +For Board 2, add `--build-property compiler.cpp.extra_flags=-DEYE_BOARD_NUMBER=2` and use a separate build path (`firmware/build-eye-test-board2`). The default is Board 1. Do not override `build.extra_flags`; that removes the ESP32-S3 USB CDC definitions and silences Board 2's USB console. Both variants use the same eye scene and animation. + +## Board 1 upload — 2026-09-21 + +The sketch compiled successfully: 1,123,899 bytes program storage (35% of a 3 MB app partition) and 96,404 bytes static RAM (29%). The application binary SHA-256 is `3d30b8df10c95b72877ef3c7a0a5a9fdcf50a4c22f77372dffa7be8a7ff758f0`. + +The connected board was confirmed by hardware-address suffix `CF:F8` as Board 1. `arduino-cli upload` at 460800 baud wrote the bootloader, partition table, boot-app selector, and eye application to `/dev/cu.usbmodem1101`; esptool verified the hash of each written image and reset the board. Joshua confirmed the eyeball visibly looks around, blinks, and fits cleanly within the round display. Achieved frame rate has not yet been measured. + +A direct read of Board 1's full flash stopped with a serial stream error before completing, so no byte-for-byte device backup exists. The official Waveshare full 16 MB stock image was extracted to `firmware/backups/waveshare-stock-2026-09-21.bin` as a recovery option (SHA-256 `3653fb24cbc8e4874e2cd43f170585b15e30bc434f086ba99082d2da17e644d4`). It may differ from the exact image originally shipped on this unit. The local backup file is ignored by Git. See `hardware/bringup.md` for board identity and display observations. + +## Board 2 upload — 2026-09-21 + +Board 2 was reidentified by hardware-address suffix `D2:10`. Its labeled variant compiled successfully: 1,152,363 bytes program storage (36%) and 96,396 bytes static RAM (29%). The application binary contains `BOARD 2 EYE TEST` and has SHA-256 `27ab300069d7f48c82aacd50e667b9b4472260d2c197c382dcdad944e8fd80c7`. `arduino-cli upload --verify` at 460800 baud verified all four written images and reset the board. Joshua confirmed the label, looking-around motion, and clean blinking on screen. + +## Textured firmware test — 2026-09-21 + +Both board variants compile with the embedded artwork. Board 1's new application is 1,218,915 bytes (38%); its binary SHA-256 is `77f12720866622a9f4fbe19d84830517db650221a00bfb601ca0eef74965242d`. Board 2's is 1,247,375 bytes (39%); SHA-256 `2e9584a0d292f9eb7da3d3216f069bb537309c9760ba712bc7ecd8c8c6a7fc33`. + +Board 2 (`D2:10`) was flashed with the new build and all four image hashes verified. Joshua confirmed that the textured iris displays, moves, and blinks correctly. Board 1 still runs the previous flat-color test until its textured build is flashed. + +## Eyelid color revision — 2026-09-21 + +At Joshua's request, the moving eyelid objects and thin perimeter ring now use `#743824`; the surrounding background remains `#39271D`. The generated [open-eye preview](assets/freddy_eye_display_preview.png) and [mid-blink preview](assets/freddy_eye_blink_preview.png) show the matching color against the textured iris. Both board variants recompiled. The current Board 1 binary SHA-256 is `f7135765fad65a4dab936e981b08b7766ca480b9a16f250809df1bc68636b7e2`; Board 2 is `150a2460a1cab5e73034f3f8dadce6095774348e9ea0913996cd621f37d5a2bd`. Board 2 was reidentified as `D2:10`, flashed, and all four image hashes verified. Board 1 (`CF:F8`) was then connected on `/dev/cu.usbmodem2101`, flashed with its matching build, and all four written image hashes verified. Joshua confirmed both displays show the textured blue iris and matching brown lids/ring while looking around and blinking. + +## Glowing-red bench preview — 2026-09-21 + +`EyeScene_SetProximityRed(bool)` switches the active eye from the blue iris and cream sclera to a dark moving iris/sclera with a pulsating red center inspired by [`freddy_glowing_red_pupils.png`](../reference_images/freddy_glowing_red_pupils.png). The same gaze movement and blink lids remain active. The [red preview](assets/freddy_eye_red_preview.png) approximates the display composition. For bench testing, tap an eye screen to toggle its state; each board toggles independently until the proximity message link exists. + +Both labeled variants compiled and were hash-verified after upload on their identity-checked boards (`CF:F8` on `/dev/cu.usbmodem2101`, `D2:10` on `/dev/cu.usbmodem1101`). Board 1 uses 1,219,503 bytes of program storage (38%) and 96,420 bytes static RAM (29%); Board 2 uses 1,248,019 bytes (39%) and 96,412 bytes (29%). Joshua confirmed that a tap switches both boards to the dark eye with a glowing red center while motion and blinking continue, and a second tap returns each to blue. The measured two-foot trigger has not been implemented; see [the proximity plan](../planning/proximity-red.md). diff --git a/firmware/assets/freddy_eye_blink_preview.png b/firmware/assets/freddy_eye_blink_preview.png new file mode 100644 index 0000000..06604d7 Binary files /dev/null and b/firmware/assets/freddy_eye_blink_preview.png differ diff --git a/firmware/assets/freddy_eye_display_preview.png b/firmware/assets/freddy_eye_display_preview.png new file mode 100644 index 0000000..43b015c Binary files /dev/null and b/firmware/assets/freddy_eye_display_preview.png differ diff --git a/firmware/assets/freddy_eye_red_preview.png b/firmware/assets/freddy_eye_red_preview.png new file mode 100644 index 0000000..5b89d61 Binary files /dev/null and b/firmware/assets/freddy_eye_red_preview.png differ diff --git a/firmware/assets/freddy_iris_preview.png b/firmware/assets/freddy_iris_preview.png new file mode 100644 index 0000000..b2bed72 Binary files /dev/null and b/firmware/assets/freddy_iris_preview.png differ diff --git a/firmware/benewake_range_bench/README.md b/firmware/benewake_range_bench/README.md new file mode 100644 index 0000000..69c30a4 --- /dev/null +++ b/firmware/benewake_range_bench/README.md @@ -0,0 +1,18 @@ +# TFmini Plus distance bench + +This is a receive-only sketch for a DFRobot DFR1154 ESP32-S3 camera board and the owned TFmini Plus. It **compiles but has not been flashed or run**. It reads the sensor's default 9-byte UART frames, checks the checksum and signal strength, and reports distance and a range-only `near` flag over USB serial. It does not perform person detection or change either eye. The TF-Luna uses the same default frame, but this sketch's 10 cm minimum must be changed to 20 cm before using it with that sensor. + +Before wiring, confirm the actual camera board revision and sensor cable against the [DFRobot board documentation](https://wiki.dfrobot.com/dfr1154/) and [Benewake TFmini Plus manual](https://en.benewake.com/uploadfiles/2025/04/20250430175221028.pdf). The manual's stock cable lists red +5V, white RXD, green TXD, and black GND. Verify the cable on the unit at hand before applying power. The intended receive-only connection is: + +| TFmini Plus | DFR1154 bench connection | +| --- | --- | +| +5V | Regulated 5 V supply, sized for at least the manual's 140 mA peak | +| GND | Supply ground joined to DFR1154 ground | +| TXD | Exposed DFR1154 GPIO44 / RXD (3.3 V UART signal) | +| RXD | Leave disconnected for this read-only test | + +Do not use the camera board's 3.3 V pin to supply the TFmini Plus; the manual specifies 5 V ±0.5 V. The sketch assumes the sensor still has its factory UART setting of 115200 baud and 9-byte frames in centimeters. It rejects bad checksums, signal strength below 100 or overexposure, and distances under the 10 cm rated minimum. It reports `near=1` at or below 61 cm and returns to `near=0` at or above 76 cm or after 300 ms without a valid reading. Those thresholds are bench settings; the final effect also needs person confirmation and synchronized messages to both eyes. + +The compile-only board profile used on this laptop is `esp32:esp32:esp32s3:FlashSize=16M,PSRAM=opi,PartitionScheme=app3M_fat9M_16MB,USBMode=hwcdc,CDCOnBoot=cdc` with Arduino ESP32 core 3.3.5. The build uses 322,359 bytes program storage and 21,360 bytes static RAM. The DFR1154's actual flash/PSRAM and USB configuration must be checked before upload. Uploading this sketch would replace whatever camera firmware is currently installed; save its recovery path first. + +For a bench run, record the printed distance and strength at approximately 10, 20, 45, 60, and 75 cm, a very-close position, several off-axis positions, and when a nearby object is present without a person. Record observations in `tracking/proximity-bench.md` and decide whether the narrow beam and mounting position are acceptable. diff --git a/firmware/benewake_range_bench/benewake_range_bench.ino b/firmware/benewake_range_bench/benewake_range_bench.ino new file mode 100644 index 0000000..833464a --- /dev/null +++ b/firmware/benewake_range_bench/benewake_range_bench.ino @@ -0,0 +1,96 @@ +// Benewake TFmini Plus receive-only bench test for the DFRobot DFR1154 camera. +// Sensor default: 9-byte/cm frames at 115200 baud. Confirm the exact board +// revision and sensor cable pinout before wiring or flashing. +// +// TFmini Plus needs regulated 5 V (+/-0.5 V), not the 3.3 V Gravity pin. +// Join supply and DFR1154 grounds. Connect sensor TXD to camera GPIO44/RXD. +// Sensor RXD is not needed. The TF-Luna uses the same default frame, but its +// minimum rated distance is 20 cm rather than the 10 cm used below. + +#include + +namespace { +constexpr int kLidarRxPin = 44; +constexpr int kUnusedLidarTxPin = -1; +constexpr uint32_t kLidarBaud = 115200; +constexpr uint16_t kNearEnterCm = 61; +constexpr uint16_t kNearExitCm = 76; +constexpr uint32_t kReportPeriodMs = 100; + +HardwareSerial lidar(1); +uint8_t frame[9] = {}; +uint8_t frame_index = 0; +uint16_t distance_cm = 0; +uint16_t strength = 0; +bool valid_range = false; +bool near_range = false; +uint32_t last_valid_ms = 0; +uint32_t last_report_ms = 0; + +void accept_frame() { + uint8_t sum = 0; + for (int i = 0; i < 8; ++i) sum += frame[i]; + if (sum != frame[8]) return; + + distance_cm = static_cast(frame[2]) | + (static_cast(frame[3]) << 8); + strength = static_cast(frame[4]) | + (static_cast(frame[5]) << 8); + valid_range = strength >= 100 && strength != 0xFFFF && distance_cm >= 10; + + // This is a range-only preview. The final red state also requires a + // camera-confirmed person and both eye boards receiving the same message. + if (valid_range) { + last_valid_ms = millis(); + if (!near_range && distance_cm <= kNearEnterCm) near_range = true; + if (near_range && distance_cm >= kNearExitCm) near_range = false; + } +} + +void accept_byte(uint8_t value) { + if (frame_index == 0) { + if (value == 0x59) frame[frame_index++] = value; + return; + } + if (frame_index == 1) { + if (value == 0x59) { + frame[frame_index++] = value; + } else { + frame_index = 0; + } + return; + } + + frame[frame_index++] = value; + if (frame_index == sizeof(frame)) { + accept_frame(); + frame_index = 0; + } +} +} // namespace + +void setup() { + Serial.begin(115200); + lidar.begin(kLidarBaud, SERIAL_8N1, kLidarRxPin, kUnusedLidarTxPin); + delay(250); + Serial.println("TFmini Plus receive-only bench: GPIO44/RXD, 115200, cm frames"); +} + +void loop() { + while (lidar.available()) accept_byte(static_cast(lidar.read())); + + const uint32_t now = millis(); + if (now - last_valid_ms > 300) { + valid_range = false; + near_range = false; + } + if (now - last_report_ms >= kReportPeriodMs) { + last_report_ms = now; + if (valid_range) { + Serial.printf("distance_cm=%u strength=%u near=%u\n", distance_cm, + strength, near_range ? 1 : 0); + } else { + Serial.println("range=invalid_or_waiting"); + } + } +} diff --git a/firmware/camera_bringup/README.md b/firmware/camera_bringup/README.md new file mode 100644 index 0000000..ccbae1e --- /dev/null +++ b/firmware/camera_bringup/README.md @@ -0,0 +1,9 @@ +# DFR1154 camera bring-up + +The sketch uses the pin mapping from [DFRobot's DFR1154 CameraWebServer example](https://github.com/DFRobot/DFR1154_Examples/blob/master/5.3%20CameraWebServer/source%20code/5_3/5_3.ino), initializes the OV3660 at QVGA JPEG, and sends one frame over USB serial when the host sends `C`. It avoids Wi-Fi setup and stores no credentials. `capture_frame.py` validates and saves the JPEG inside `hardware/camera-captures/`. + +The board under test is marked **V1.1**. Its ESP32-S3 MAC is `E8:F6:0A:87:0B:4C`, with 16 MB flash and 8 MB PSRAM. The USB port was `/dev/cu.usbmodem1101` during initial inspection; verify it before uploading because port names can change. Only upload after checking the board MAC. Flashing will replace its installed program. + +Compile profile: `esp32:esp32:esp32s3:FlashSize=16M,PSRAM=opi,PartitionScheme=app3M_fat9M_16MB,USBMode=hwcdc,CDCOnBoot=cdc` using Arduino ESP32 core 3.3.5. The existing `vendor/ctags-tool/bin` arm64 helper is required on this Mac. The host capture script can run with `/Users/joshua/.local/pipx/venvs/esptool/bin/python`, which has PySerial. + +The first successful result should include a readable frame with reasonable exposure and no severe corruption. Save a serial log and note its actual dimensions, lighting, and camera orientation in `hardware/bringup.md`. This test proves image capture, not person localization or tracking speed. diff --git a/firmware/camera_bringup/camera_bringup.ino b/firmware/camera_bringup/camera_bringup.ino new file mode 100644 index 0000000..6f1b05e --- /dev/null +++ b/firmware/camera_bringup/camera_bringup.ino @@ -0,0 +1,95 @@ +// DFRobot DFR1154 camera bring-up: capture one QVGA JPEG on each 'C' command. +// GPIO assignments match DFRobot's DFR1154 CameraWebServer example. +// The serial protocol contains no Wi-Fi credentials or network dependency. + +#include +#include "esp_camera.h" + +namespace { +bool camera_ready = false; + +void print_error(const char* stage, esp_err_t error) { + Serial.printf("ERROR %s 0x%X\n", stage, static_cast(error)); +} + +void capture_one_frame() { + if (!camera_ready) { + Serial.println("ERROR camera_not_ready"); + return; + } + camera_fb_t* frame = esp_camera_fb_get(); + if (!frame) { + Serial.println("ERROR capture_failed"); + return; + } + if (frame->format != PIXFORMAT_JPEG || frame->len == 0) { + Serial.println("ERROR unexpected_frame_format"); + esp_camera_fb_return(frame); + return; + } + + Serial.printf("JPEG %u %u %u\n", static_cast(frame->len), + static_cast(frame->width), + static_cast(frame->height)); + Serial.write(frame->buf, frame->len); + Serial.print("\nDONE\n"); + Serial.flush(); + esp_camera_fb_return(frame); +} +} // namespace + +void setup() { + Serial.begin(115200); + delay(500); + + camera_config_t config = {}; + config.ledc_channel = LEDC_CHANNEL_0; + config.ledc_timer = LEDC_TIMER_0; + config.pin_d0 = 16; + config.pin_d1 = 18; + config.pin_d2 = 21; + config.pin_d3 = 17; + config.pin_d4 = 14; + config.pin_d5 = 7; + config.pin_d6 = 6; + config.pin_d7 = 4; + config.pin_xclk = 5; + config.pin_pclk = 15; + config.pin_vsync = 1; + config.pin_href = 2; + config.pin_sccb_sda = 8; + config.pin_sccb_scl = 9; + config.pin_pwdn = -1; + config.pin_reset = -1; + config.xclk_freq_hz = 20000000; + config.pixel_format = PIXFORMAT_JPEG; + config.frame_size = FRAMESIZE_QVGA; + config.jpeg_quality = 12; + config.fb_count = 1; + config.grab_mode = CAMERA_GRAB_WHEN_EMPTY; + config.fb_location = CAMERA_FB_IN_PSRAM; + + if (!psramFound()) { + Serial.println("ERROR psram_missing"); + return; + } + const esp_err_t result = esp_camera_init(&config); + if (result != ESP_OK) { + print_error("camera_init", result); + return; + } + sensor_t* sensor = esp_camera_sensor_get(); + if (sensor) { + Serial.printf("SENSOR_PID 0x%04X\n", sensor->id.PID); + if (sensor->id.PID == OV3660_PID) sensor->set_vflip(sensor, 1); + } + camera_ready = true; + Serial.println("CAMERA_READY QVGA_JPEG"); +} + +void loop() { + while (Serial.available()) { + if (Serial.read() == 'C') capture_one_frame(); + } + delay(5); +} diff --git a/firmware/camera_bringup/capture_frame.py b/firmware/camera_bringup/capture_frame.py new file mode 100644 index 0000000..65251e1 --- /dev/null +++ b/firmware/camera_bringup/capture_frame.py @@ -0,0 +1,74 @@ +"""Request one JPEG from camera_bringup.ino and keep evidence in this project.""" + +from pathlib import Path +import argparse +import hashlib +import time + +import serial + + +PROJECT_ROOT = Path(__file__).resolve().parents[2] +DEFAULT_OUTPUT = PROJECT_ROOT / "hardware" / "camera-captures" / "first-frame.jpg" + + +def main() -> None: + parser = argparse.ArgumentParser() + parser.add_argument("--port", required=True) + parser.add_argument("--output", type=Path, default=DEFAULT_OUTPUT) + args = parser.parse_args() + serial_lines = [] + + with serial.Serial(args.port, 115200, timeout=2, write_timeout=2) as camera: + time.sleep(1) + camera.reset_input_buffer() + camera.write(b"C") + deadline = time.monotonic() + 12 + header = None + while time.monotonic() < deadline: + line = camera.readline().decode("ascii", errors="replace").strip() + if line: + print(line) + serial_lines.append(line) + if line.startswith("ERROR "): + raise RuntimeError(line) + if line.startswith("JPEG "): + header = line + break + if header is None: + raise TimeoutError("Camera did not return a JPEG header") + + _, size_text, width_text, height_text = header.split() + size = int(size_text) + if not 100 <= size <= 500_000: + raise ValueError(f"Unexpected JPEG length: {size}") + data = camera.read(size) + if len(data) != size: + raise IOError(f"Incomplete JPEG: {len(data)} of {size} bytes") + if not (data.startswith(b"\xff\xd8") and data.endswith(b"\xff\xd9")): + raise ValueError("JPEG markers missing") + trailer = camera.readline().strip() + if not trailer: + trailer = camera.readline().strip() + if trailer != b"DONE": + raise ValueError(f"Unexpected frame trailer: {trailer!r}") + serial_lines.append("DONE") + + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_bytes(data) + log_path = args.output.with_suffix(".log") + log_path.write_text( + "\n".join( + [ + f"port={args.port}", + f"jpeg_sha256={hashlib.sha256(data).hexdigest()}", + *serial_lines, + ] + ) + "\n" + ) + print(f"Saved {width_text}x{height_text} JPEG ({size} bytes): {args.output}") + print(f"Saved serial capture log: {log_path}") + + +if __name__ == "__main__": + main() diff --git a/firmware/camera_person_idf/CMakeLists.txt b/firmware/camera_person_idf/CMakeLists.txt new file mode 100644 index 0000000..d702196 --- /dev/null +++ b/firmware/camera_person_idf/CMakeLists.txt @@ -0,0 +1,3 @@ +cmake_minimum_required(VERSION 3.16) +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +project(freddy_camera_person) diff --git a/firmware/camera_person_idf/README.md b/firmware/camera_person_idf/README.md new file mode 100644 index 0000000..ffeee32 --- /dev/null +++ b/firmware/camera_person_idf/README.md @@ -0,0 +1,21 @@ +# On-device person-position experiment + +This ESP-IDF project combines the DFR1154 camera pin map with Espressif's [pedestrian detection model](https://github.com/espressif/esp-dl/blob/master/models/pedestrian_detect/README.md). It prints timestamped person centers and bounding boxes over USB and broadcasts [gaze frames](../../protocol/gaze.md) from GPIO43 to the two eye boards. Physical delivery and synchronized eye motion are bench-verified. + +The project contains local Wi-Fi OTA support. Its `partitions.csv` has two 7 MB app slots and its bootloader enables rollback. The one-time USB migration and first OTA update succeeded on 2026-09-30. A later USB flash on 2026-10-01 installed the tracking filter in slot 0; see the [tracking check](../../hardware/tracking-filter-2026-10-01.md) and [OTA procedure](../ota.md). OTA cannot change the partition table itself. + +## Tracking filter — 2026-10-01 + +After a clearly empty 20-second view yielded 15 apparent person boxes, the camera now rejects top-edge boxes at least 95% of image height. All 15 archived empty-scene boxes fit this geometry; none of 203 matched held-person detections in earlier center/left/right logs did. Once three consistent detections confirm a target, `tracking::Gate` sends the last confirmed position for up to one second through brief model misses or a new unconfirmed candidate. A persistent miss returns `valid=0`. The camera still sends the same version-1 UART frame to both eyes; each eye uses `valid=1` for red/track and `valid=0` for blue/idle. The change compiled, passed its native state-transition test, and was MAC-checked and USB-flashed with verified hashes. The current application SHA-256 is `76d16c8817db9e9568eaf2485a486a0debaa2687fc5a8447954d0cd0d80d468a`. + +In the same empty view after flashing, the camera sent **0 valid targets in 80 frames** and recorded 15 rejected full-height candidates. Both eyes accepted the same invalid states for all 78 overlapping logged sequences. A close real person might also fill the image height, so test this filter with a visitor at the intended near/middle/far approach positions before accepting it for the porch. [Raw captures and interpretation](../../hardware/tracking-filter-2026-10-01.md). + +On 2026-09-27, the gaze build was flashed to the camera after its MAC `E8:F6:0A:87:0B:4C` was checked. Following a temporary malformed-frame diagnostic build, the normal camera application (SHA-256 `0acc763624b20a09afbf512e20afad51ffc9de4276102ffa639a0345d39d70a5`) was restored and hash-verified after flashing. Both eyes accepted matching camera coordinates; Joshua confirmed synchronized visible tracking. The [bench log](../../hardware/gaze-link-bench.md) records rejection of malformed/stale commands and recovery. A live USB sample showed 231–232 ms capture-to-result time and `gaze_valid` transitions. The current three-consecutive-frame gate rejects isolated detections, and the camera rejects detections whose boxes span at least 90% of both image dimensions. Other persistent false detections can still pass; this is not finished target selection. + +The project builds with ESP-IDF v5.5.2 and was hash-verified after flashing to the camera identified by MAC `E8:F6:0A:87:0B:4C`. Its first 20-second live serial sample at the model's default 0.70 score threshold reported `NO_PERSON` at 320 × 240. A subsequent run at threshold 0.35, with better lighting and a person in view, produced stable timestamped bounding boxes at left, center, and right held positions. The corresponding logs and JPEGs are in `../../hardware/camera-captures/`, summarized in `../../hardware/bringup.md`. Typical capture-to-result latency was 233 ms (about four results per second). Espressif reports about 118 ms model time for a 224 × 224 input on an ESP32-S3; the measured figure here includes capture and JPEG decode. Camera pins match DFRobot's [CameraWebServer example](https://github.com/DFRobot/DFR1154_Examples/blob/master/5.3%20CameraWebServer/source%20code/5_3/5_3.ino). Dependencies are pinned to compatible release ranges in `main/idf_component.yml`; `dependencies.lock` records the resolved versions. Diagnostic JPEG output is disabled by default; enable it with `FREDDY_CAMERA_DIAGNOSTIC_JPEG=1` for captures. + +The current build also drives GPIO47 high at boot to enable the board's infrared illumination, as identified in [DFRobot's DFR1154 guide](https://wiki.dfrobot.com/dfr1154/). The camera must be aimed clear of nearby surfaces: an IR-lit frame captured close to a surface washed out into a purple blur, while a re-aimed frame showed the room. This has not yet established better detection in darkness, and the raw model reports some false positives in an empty room. Diagnostic JPEG output is disabled by default in the gaze build and can be re-enabled with `FREDDY_CAMERA_DIAGNOSTIC_JPEG=1` for captures. + +When diagnostic JPEG output is enabled, use `capture_diagnostic.py` with PySerial to record synchronized logs and JPEGs. Test continuous walking, dim and brighter lighting, a close person, a distant person, two people, and a person crossing the camera edge before relying on the coordinates for gaze. Improve target persistence and false-positive rejection beyond the preliminary three-frame gate. The DFRobot bundled `Person_Detection_inferencing.zip` is only a 96 × 96 binary classifier (`non_person` versus `person`), so it cannot provide the required position directly. + +On 2026-09-27 Joshua reported intermittent person lock. A temporary diagnostic image showed the camera aimed mostly at the ceiling/window, with only part of him at the far left edge; the model alternated `PERSON` and `NO_PERSON` and reported left-edge boxes. See [the diagnosis and paired frames](../../hardware/tracking-drop-diagnosis.md). The normal build above was restored and verified; first reframe the camera, then retest before tuning tracking hysteresis. diff --git a/firmware/camera_person_idf/build-person-diagnostic.log b/firmware/camera_person_idf/build-person-diagnostic.log new file mode 100644 index 0000000..64a3e48 --- /dev/null +++ b/firmware/camera_person_idf/build-person-diagnostic.log @@ -0,0 +1,29 @@ +Executing action: all (aliases: build) +Running ninja in directory /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build +Executing "ninja all"... +[1/9] Performing build step for 'bootloader' +[1/1] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/bootloader.bin +Bootloader binary size 0x5240 bytes. 0x2dc0 bytes (36%) free. +[2/9] No install step for 'bootloader' +[3/9] Completed 'bootloader' +[4/9] Building CXX object esp-idf/main/CMakeFiles/__idf_main.dir/main.cpp.obj +[5/9] Linking C static library esp-idf/main/libmain.a +[6/9] Generating esp-idf/esp_system/ld/sections.ld +[7/9] Linking CXX executable freddy_camera_person.elf +[8/9] Generating binary image from built executable +esptool.py v4.12.dev1 +Creating esp32s3 image... +Merged 2 ELF sections +Successfully created esp32s3 image. +Generated /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/freddy_camera_person.bin +[9/9] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 partition --type app /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/partition_table/partition-table.bin /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/freddy_camera_person.bin +freddy_camera_person.bin binary size 0x288bd0 bytes. Smallest app partition is 0xa00000 bytes. 0x777430 bytes (75%) free. + +Project build complete. To flash, run: + idf.py flash +or + idf.py -p PORT flash +or + python -m esptool --chip esp32s3 -b 460800 --before default_reset --after hard_reset write_flash --flash_mode dio --flash_size 16MB --flash_freq 80m 0x0 firmware/camera_person_idf/build/bootloader/bootloader.bin 0x8000 firmware/camera_person_idf/build/partition_table/partition-table.bin 0x10000 firmware/camera_person_idf/build/freddy_camera_person.bin +or from the "/Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build" directory + python -m esptool --chip esp32s3 -b 460800 --before default_reset --after hard_reset write_flash "@flash_args" diff --git a/firmware/camera_person_idf/build-person-ir.log b/firmware/camera_person_idf/build-person-ir.log new file mode 100644 index 0000000..14c7c03 --- /dev/null +++ b/firmware/camera_person_idf/build-person-ir.log @@ -0,0 +1,29 @@ +Executing action: all (aliases: build) +Running ninja in directory /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build +Executing "ninja all"... +[1/9] Performing build step for 'bootloader' +[1/1] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/bootloader.bin +Bootloader binary size 0x5240 bytes. 0x2dc0 bytes (36%) free. +[2/9] No install step for 'bootloader' +[3/9] Completed 'bootloader' +[4/9] Building CXX object esp-idf/main/CMakeFiles/__idf_main.dir/main.cpp.obj +[5/9] Linking C static library esp-idf/main/libmain.a +[6/9] Generating esp-idf/esp_system/ld/sections.ld +[7/9] Linking CXX executable freddy_camera_person.elf +[8/9] Generating binary image from built executable +esptool.py v4.12.dev1 +Creating esp32s3 image... +Merged 2 ELF sections +Successfully created esp32s3 image. +Generated /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/freddy_camera_person.bin +[9/9] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 partition --type app /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/partition_table/partition-table.bin /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/freddy_camera_person.bin +freddy_camera_person.bin binary size 0x288e00 bytes. Smallest app partition is 0xa00000 bytes. 0x777200 bytes (75%) free. + +Project build complete. To flash, run: + idf.py flash +or + idf.py -p PORT flash +or + python -m esptool --chip esp32s3 -b 460800 --before default_reset --after hard_reset write_flash --flash_mode dio --flash_size 16MB --flash_freq 80m 0x0 firmware/camera_person_idf/build/bootloader/bootloader.bin 0x8000 firmware/camera_person_idf/build/partition_table/partition-table.bin 0x10000 firmware/camera_person_idf/build/freddy_camera_person.bin +or from the "/Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build" directory + python -m esptool --chip esp32s3 -b 460800 --before default_reset --after hard_reset write_flash "@flash_args" diff --git a/firmware/camera_person_idf/capture-empty-console.log b/firmware/camera_person_idf/capture-empty-console.log new file mode 100644 index 0000000..104218b --- /dev/null +++ b/firmware/camera_person_idf/capture-empty-console.log @@ -0,0 +1,8 @@ +I (120984) freddy_person: PERSON t_ms=120020 score=0.800 cx=207 I (364804) freddy_person: NO_PERSON t_ms=363838 frame=320,240 latency_ms=230 +I (366054) freddy_person: PERSON t_ms=365088 score=0.370 cx=165 cy=173 box=136,134,194,212 frame=320,240 latency_ms=231 +I (366304) freddy_person: PERSON t_ms=365338 score=0.455 cx=174 cy=174 box=154,138,195,211 frame=320,240 latency_ms=231 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-empty-frame-1441.jpg (4499 bytes) +I (370644) freddy_person: NO_PERSON t_ms=369678 frame=320,240 latency_ms=230 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-empty-frame-1461.jpg (4550 bytes) +I (373734) freddy_person: PERSON t_ms=372773 score=0.375 cx=153 cy=175 box=135,137,171,213 frame=320,240 latency_ms=326 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-empty.log; 4 person detections diff --git a/firmware/camera_person_idf/capture-ir-empty-console.log b/firmware/camera_person_idf/capture-ir-empty-console.log new file mode 100644 index 0000000..d44d919 --- /dev/null +++ b/firmware/camera_person_idf/capture-ir-empty-console.log @@ -0,0 +1,23 @@ +I (123) esp_image: segment 1: paddr=00093494 vaddr=3fc98900 sizeI (42934) freddy_person: PERSON t_ms=41969 score=0.500 cx=293 cy=209 box=267,180,319,239 frame=320,240 latency_ms=232 +I (43184) freddy_person: PERSON t_ms=42219 score=0.515 cx=293 cy=211 box=267,183,319,239 frame=320,240 latency_ms=231 +I (43434) freddy_person: PERSON t_ms=42468 score=0.364 cx=294 cy=209 box=269,180,319,239 frame=320,240 latency_ms=230 +I (43684) freddy_person: PERSON t_ms=42718 score=0.375 cx=294 cy=210 box=269,183,319,238 frame=320,240 latency_ms=231 +I (44184) freddy_person: PERSON t_ms=43218 score=0.364 cx=293 cy=210 box=267,181,319,239 frame=320,240 latency_ms=231 +I (44434) freddy_person: PERSON t_ms=43468 score=0.354 cx=305 cy=212 box=292,186,319,239 frame=320,240 latency_ms=231 +I (44684) freddy_person: PERSON t_ms=43719 score=0.395 cx=159 cy=119 box=0,0,319,239 frame=320,240 latency_ms=231 +I (44934) freddy_person: PERSON t_ms=43968 score=0.415 cx=293 cy=209 box=268,180,319,239 frame=320,240 latency_ms=231 +I (45184) freddy_person: PERSON t_ms=44219 score=0.500 cx=293 cy=209 box=268,181,319,238 frame=320,240 latency_ms=231 +I (45684) freddy_person: PERSON t_ms=44718 score=0.364 cx=160 cy=119 box=1,0,319,239 frame=320,240 latency_ms=231 +I (46434) freddy_person: PERSON t_ms=45469 score=0.459 cx=159 cy=119 box=0,0,319,239 frame=320,240 latency_ms=231 +I (46684) freddy_person: PERSON t_ms=45720 score=0.580 cx=159 cy=119 box=0,0,319,239 frame=320,240 latency_ms=233 +I (47424) freddy_person: PERSON t_ms=46457 score=0.395 cx=215 cy=119 box=112,0,319,239 frame=320,240 latency_ms=230 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-ir-empty-frame-181.jpg (2941 bytes) +I (47734) freddy_person: PERSON t_ms=46769 score=0.385 cx=215 cy=119 box=111,0,319,239 frame=320,240 latency_ms=291 +I (47984) freddy_person: PERSON t_ms=47018 score=0.405 cx=213 cy=119 box=108,0,319,239 frame=320,240 latency_ms=230 +I (48234) freddy_person: PERSON t_ms=47268 score=0.484 cx=217 cy=119 box=115,0,319,239 frame=320,240 latency_ms=230 +I (48984) freddy_person: PERSON t_ms=48018 score=0.468 cx=214 cy=119 box=110,0,319,239 frame=320,240 latency_ms=230 +I (49224) freddy_person: PERSON t_ms=48267 score=0.364 cx=211 cy=119 box=104,0,319,239 frame=320,240 latency_ms=229 +I (49984) freddy_person: PERSON t_ms=49018 score=0.459 cx=213 cy=119 box=107,0,319,239 frame=320,240 latency_ms=230 +I (50234) freddy_person: PERSON t_ms=49267 score=0.415 cx=213 cy=119 box=108,0,319,239 frame=320,240 latency_ms=230 +I (50484) freddy_person: PERSON t_ms=49517 score=0.405 cx=213 cy=119 box=107,0,319,239 frame=320,240 latency_ms=230 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-ir-empty.log; 21 person detections diff --git a/firmware/camera_person_idf/capture-ir-reaimed-console.log b/firmware/camera_person_idf/capture-ir-reaimed-console.log new file mode 100644 index 0000000..8450d67 --- /dev/null +++ b/firmware/camera_person_idf/capture-ir-reaimed-console.log @@ -0,0 +1,28 @@ +I (179914) freddy_person: PERSON t_ms=178950 score=0.661 cx=34 cy=99 box=0,0,68,199 frame=320,240 latency_ms=232 +I (180164) freddy_person: PERSON t_ms=179200 score=0.530 cx=32 cy=98 box=0,0,64,196 frame=320,240 latency_ms=232 +I (180414) freddy_person: PERSON t_ms=179449 score=0.459 cx=30 cy=99 box=0,0,60,198 frame=320,240 latency_ms=232 +I (180664) freddy_person: PERSON t_ms=179700 score=0.573 cx=28 cy=99 box=0,1,56,197 frame=320,240 latency_ms=232 +I (180914) freddy_person: PERSON t_ms=179949 score=0.530 cx=26 cy=98 box=0,1,52,196 frame=320,240 latency_ms=232 +I (181414) freddy_person: PERSON t_ms=180450 score=0.559 cx=29 cy=97 box=0,0,59,195 frame=320,240 latency_ms=232 +I (181664) freddy_person: PERSON t_ms=180700 score=0.625 cx=29 cy=97 box=0,0,58,194 frame=320,240 latency_ms=232 +I (182164) freddy_person: PERSON t_ms=181199 score=0.459 cx=28 cy=97 box=0,0,56,194 frame=320,240 latency_ms=232 +I (182414) freddy_person: PERSON t_ms=181449 score=0.385 cx=99 cy=133 box=58,85,140,182 frame=320,240 latency_ms=231 +I (182664) freddy_person: PERSON t_ms=181700 score=0.492 cx=27 cy=93 box=0,0,55,187 frame=320,240 latency_ms=232 +I (182914) freddy_person: PERSON t_ms=181950 score=0.612 cx=29 cy=97 box=0,1,59,194 frame=320,240 latency_ms=232 +I (183164) freddy_person: PERSON t_ms=182200 score=0.580 cx=34 cy=96 box=0,0,68,193 frame=320,240 latency_ms=232 +I (183414) freddy_person: PERSON t_ms=182449 score=0.395 cx=40 cy=119 box=0,1,81,238 frame=320,240 latency_ms=232 +I (183914) freddy_person: PERSON t_ms=182949 score=0.385 cx=44 cy=91 box=0,0,88,182 frame=320,240 latency_ms=232 +I (184164) freddy_person: PERSON t_ms=183199 score=0.375 cx=49 cy=119 box=0,0,99,238 frame=320,240 latency_ms=232 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-ir-reaimed-frame-721.jpg (5539 bytes) +I (185024) freddy_person: NO_PERSON t_ms=184059 frame=320,240 latency_ms=231 +I (185274) freddy_person: PERSON t_ms=184309 score=0.395 cx=48 cy=119 box=0,0,96,239 frame=320,240 latency_ms=232 +I (185774) freddy_person: PERSON t_ms=184810 score=0.612 cx=38 cy=101 box=0,0,76,202 frame=320,240 latency_ms=232 +I (186024) freddy_person: PERSON t_ms=185060 score=0.650 cx=34 cy=101 box=0,0,68,203 frame=320,240 latency_ms=232 +I (186274) freddy_person: PERSON t_ms=185310 score=0.538 cx=26 cy=106 box=0,1,53,211 frame=320,240 latency_ms=232 +I (186524) freddy_person: PERSON t_ms=185560 score=0.545 cx=25 cy=134 box=0,51,50,217 frame=320,240 latency_ms=233 +I (186774) freddy_person: PERSON t_ms=185810 score=0.395 cx=26 cy=104 box=0,3,52,206 frame=320,240 latency_ms=232 +I (187024) freddy_person: PERSON t_ms=186060 score=0.459 cx=24 cy=132 box=0,47,49,217 frame=320,240 latency_ms=232 +I (187274) freddy_person: PERSON t_ms=186310 score=0.459 cx=23 cy=138 box=0,55,46,221 frame=320,240 latency_ms=232 +I (187524) freddy_person: PERSON t_ms=186560 score=0.707 cx=25 cy=134 box=0,46,50,222 frame=320,240 latency_ms=232 +I (187774) freddy_person: PERSON t_ms=186810 score=0.538 cx=23 cy=132 box=0,54,46,210 frame=320,240 latency_ms=232 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-ir-reaimed.log; 25 person detections diff --git a/firmware/camera_person_idf/capture-ir-settled-console.log b/firmware/camera_person_idf/capture-ir-settled-console.log new file mode 100644 index 0000000..497e620 --- /dev/null +++ b/firmware/camera_person_idf/capture-ir-settled-console.log @@ -0,0 +1,13 @@ +I (50974) freddy_person: PERSON t_ms=50017 score=0.375 cx=215 cyI (73984) freddy_person: NO_PERSON t_ms=73027 frame=320,240 latency_ms=229 +I (74234) freddy_person: PERSON t_ms=73277 score=0.364 cx=212 cy=119 box=105,0,319,239 frame=320,240 latency_ms=229 +I (74494) freddy_person: PERSON t_ms=73527 score=0.385 cx=216 cy=119 box=113,0,319,239 frame=320,240 latency_ms=230 +I (75984) freddy_person: PERSON t_ms=75027 score=0.375 cx=216 cy=117 box=113,0,319,235 frame=320,240 latency_ms=229 +I (76494) freddy_person: PERSON t_ms=75527 score=0.424 cx=214 cy=119 box=110,0,319,239 frame=320,240 latency_ms=230 +I (76734) freddy_person: PERSON t_ms=75777 score=0.385 cx=214 cy=119 box=110,0,319,239 frame=320,240 latency_ms=229 +I (77244) freddy_person: PERSON t_ms=76277 score=0.424 cx=214 cy=119 box=110,0,319,239 frame=320,240 latency_ms=230 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-ir-settled-frame-301.jpg (2942 bytes) +I (79794) freddy_person: PERSON t_ms=78837 score=0.385 cx=213 cy=119 box=107,0,319,239 frame=320,240 latency_ms=229 +I (80554) freddy_person: PERSON t_ms=79588 score=0.433 cx=214 cy=119 box=109,0,319,239 frame=320,240 latency_ms=230 +I (80804) freddy_person: PERSON t_ms=79838 score=0.405 cx=214 cy=119 box=110,0,319,239 frame=320,240 latency_ms=230 +I (81044) freddy_person: PERSON t_ms=80087 score=0.375 cx=215 cy=119 box=111,0,319,239 frame=320,240 latency_ms=229 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-ir-settled.log; 11 person detections diff --git a/firmware/camera_person_idf/capture-left-console.log b/firmware/camera_person_idf/capture-left-console.log new file mode 100644 index 0000000..944c926 --- /dev/null +++ b/firmware/camera_person_idf/capture-left-console.log @@ -0,0 +1,33 @@ +I (41804) freddy_person: PERSON t_ms=40840 score=0.586 cx=166 cyI (98354) freddy_person: PERSON t_ms=97390 score=0.515 cx=215 cy=119 box=111,0,319,239 frame=320,240 latency_ms=233 +I (98854) freddy_person: PERSON t_ms=97890 score=0.484 cx=217 cy=120 box=122,4,313,237 frame=320,240 latency_ms=233 +I (99104) freddy_person: PERSON t_ms=98140 score=0.593 cx=220 cy=123 box=121,8,319,239 frame=320,240 latency_ms=232 +I (99354) freddy_person: PERSON t_ms=98390 score=0.599 cx=237 cy=119 box=156,0,319,239 frame=320,240 latency_ms=232 +I (99604) freddy_person: PERSON t_ms=98640 score=0.515 cx=234 cy=120 box=149,2,319,239 frame=320,240 latency_ms=232 +I (99854) freddy_person: PERSON t_ms=98889 score=0.468 cx=250 cy=131 box=181,23,319,239 frame=320,240 latency_ms=232 +I (100104) freddy_person: PERSON t_ms=99139 score=0.433 cx=230 cy=139 box=142,39,319,239 frame=320,240 latency_ms=232 +I (100354) freddy_person: PERSON t_ms=99390 score=0.484 cx=229 cy=139 box=139,40,319,239 frame=320,240 latency_ms=232 +I (100604) freddy_person: PERSON t_ms=99640 score=0.530 cx=260 cy=141 box=201,44,319,239 frame=320,240 latency_ms=232 +I (100854) freddy_person: PERSON t_ms=99890 score=0.476 cx=257 cy=142 box=196,46,319,238 frame=320,240 latency_ms=233 +I (101104) freddy_person: PERSON t_ms=100139 score=0.545 cx=218 cy=142 box=120,46,316,239 frame=320,240 latency_ms=232 +I (101354) freddy_person: PERSON t_ms=100390 score=0.484 cx=234 cy=142 box=150,45,319,239 frame=320,240 latency_ms=232 +I (101604) freddy_person: PERSON t_ms=100640 score=0.468 cx=258 cy=143 box=197,48,319,239 frame=320,240 latency_ms=232 +I (101854) freddy_person: PERSON t_ms=100890 score=0.637 cx=230 cy=143 box=141,48,319,239 frame=320,240 latency_ms=232 +I (102104) freddy_person: PERSON t_ms=101140 score=0.566 cx=241 cy=143 box=163,48,319,239 frame=320,240 latency_ms=232 +I (102354) freddy_person: PERSON t_ms=101390 score=0.723 cx=236 cy=144 box=154,50,319,239 frame=320,240 latency_ms=232 +I (102604) freddy_person: PERSON t_ms=101640 score=0.776 cx=228 cy=146 box=138,53,319,239 frame=320,240 latency_ms=232 +I (102854) freddy_person: PERSON t_ms=101890 score=0.690 cx=243 cy=145 box=167,52,319,239 frame=320,240 latency_ms=232 +I (103104) freddy_person: PERSON t_ms=102140 score=0.637 cx=238 cy=145 box=158,52,319,239 frame=320,240 latency_ms=232 +I (103354) freddy_person: PERSON t_ms=102390 score=0.612 cx=232 cy=143 box=147,48,317,239 frame=320,240 latency_ms=232 +I (103604) freddy_person: PERSON t_ms=102640 score=0.702 cx=224 cy=144 box=129,49,319,239 frame=320,240 latency_ms=232 +I (103854) freddy_person: PERSON t_ms=102890 score=0.791 cx=230 cy=144 box=141,49,319,239 frame=320,240 latency_ms=232 +I (104104) freddy_person: PERSON t_ms=103140 score=0.612 cx=225 cy=145 box=132,51,319,239 frame=320,240 latency_ms=232 +I (104354) freddy_person: PERSON t_ms=103390 score=0.786 cx=222 cy=144 box=126,50,319,239 frame=320,240 latency_ms=232 +I (104604) freddy_person: PERSON t_ms=103640 score=0.834 cx=227 cy=144 box=136,50,319,239 frame=320,240 latency_ms=232 +I (104854) freddy_person: PERSON t_ms=103890 score=0.734 cx=222 cy=143 box=126,48,319,239 frame=320,240 latency_ms=232 +I (105104) freddy_person: PERSON t_ms=104140 score=0.723 cx=231 cy=143 box=145,48,318,239 frame=320,240 latency_ms=233 +I (105354) freddy_person: PERSON t_ms=104390 score=0.745 cx=219 cy=143 box=120,48,319,239 frame=320,240 latency_ms=232 +I (105604) freddy_person: PERSON t_ms=104639 score=0.586 cx=219 cy=145 box=121,51,317,239 frame=320,240 latency_ms=232 +I (105854) freddy_person: PERSON t_ms=104889 score=0.740 cx=221 cy=145 box=123,52,319,239 frame=320,240 latency_ms=232 +I (106104) freddy_person: PERSON t_ms=105140 score=0.702 cx=251 cy=146 box=183,54,319,239 frame=320,240 latency_ms=232 +I (106354) freddy_person: PERSON t_ms=105390 score=0.593 cx=250 cy=147 box=185,55,316,239 frame=320,240 latency_ms=232 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-left.log; 32 person detections diff --git a/firmware/camera_person_idf/capture-left-image-console.log b/firmware/camera_person_idf/capture-left-image-console.log new file mode 100644 index 0000000..17436f7 --- /dev/null +++ b/firmware/camera_person_idf/capture-left-image-console.log @@ -0,0 +1,52 @@ +I (50984) freddy_person: PERSON t_ms=50020 score=0.848 cx=61 cy=I (108564) freddy_person: PERSON t_ms=107600 score=0.723 cx=214 cy=138 box=123,37,306,239 frame=320,240 latency_ms=233 +I (108814) freddy_person: PERSON t_ms=107851 score=0.810 cx=216 cy=137 box=123,35,310,239 frame=320,240 latency_ms=233 +I (109064) freddy_person: PERSON t_ms=108101 score=0.901 cx=219 cy=138 box=128,40,311,237 frame=320,240 latency_ms=233 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-left-image-frame-421.jpg (6708 bytes) +I (109454) freddy_person: PERSON t_ms=108490 score=0.707 cx=210 cy=139 box=119,39,301,239 frame=320,240 latency_ms=373 +I (109704) freddy_person: PERSON t_ms=108740 score=0.888 cx=218 cy=139 box=120,39,316,239 frame=320,240 latency_ms=233 +I (109954) freddy_person: PERSON t_ms=108990 score=0.734 cx=214 cy=131 box=125,41,304,221 frame=320,240 latency_ms=233 +I (110204) freddy_person: PERSON t_ms=109241 score=0.839 cx=209 cy=139 box=123,41,296,238 frame=320,240 latency_ms=233 +I (110454) freddy_person: PERSON t_ms=109490 score=0.834 cx=214 cy=137 box=128,40,301,235 frame=320,240 latency_ms=233 +I (110704) freddy_person: PERSON t_ms=109740 score=0.824 cx=217 cy=139 box=123,40,312,239 frame=320,240 latency_ms=233 +I (110954) freddy_person: PERSON t_ms=109990 score=0.713 cx=219 cy=139 box=132,40,307,239 frame=320,240 latency_ms=233 +I (111204) freddy_person: PERSON t_ms=110240 score=0.834 cx=214 cy=139 box=127,39,302,239 frame=320,240 latency_ms=233 +I (111454) freddy_person: PERSON t_ms=110490 score=0.755 cx=220 cy=138 box=130,39,310,238 frame=320,240 latency_ms=233 +I (111704) freddy_person: PERSON t_ms=110740 score=0.839 cx=218 cy=140 box=126,41,310,239 frame=320,240 latency_ms=233 +I (111954) freddy_person: PERSON t_ms=110991 score=0.599 cx=215 cy=138 box=118,37,312,239 frame=320,240 latency_ms=233 +I (112204) freddy_person: PERSON t_ms=111241 score=0.888 cx=218 cy=139 box=128,39,308,239 frame=320,240 latency_ms=233 +I (112454) freddy_person: PERSON t_ms=111490 score=0.786 cx=221 cy=138 box=128,40,314,237 frame=320,240 latency_ms=233 +I (112704) freddy_person: PERSON t_ms=111740 score=0.702 cx=217 cy=139 box=127,40,308,239 frame=320,240 latency_ms=233 +I (112954) freddy_person: PERSON t_ms=111990 score=0.829 cx=222 cy=139 box=128,40,317,238 frame=320,240 latency_ms=233 +I (113204) freddy_person: PERSON t_ms=112240 score=0.884 cx=220 cy=138 box=131,38,309,239 frame=320,240 latency_ms=233 +I (113454) freddy_person: PERSON t_ms=112491 score=0.631 cx=212 cy=138 box=122,41,302,235 frame=320,240 latency_ms=233 +I (113704) freddy_person: PERSON t_ms=112740 score=0.897 cx=219 cy=139 box=126,39,312,239 frame=320,240 latency_ms=233 +I (113954) freddy_person: PERSON t_ms=112990 score=0.786 cx=221 cy=137 box=132,39,310,236 frame=320,240 latency_ms=233 +I (114204) freddy_person: PERSON t_ms=113240 score=0.815 cx=208 cy=136 box=127,39,290,234 frame=320,240 latency_ms=233 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-left-image-frame-441.jpg (6659 bytes) +I (114594) freddy_person: PERSON t_ms=113629 score=0.566 cx=217 cy=137 box=130,38,304,237 frame=320,240 latency_ms=372 +I (114844) freddy_person: PERSON t_ms=113881 score=0.530 cx=204 cy=138 box=102,40,307,237 frame=320,240 latency_ms=233 +I (115094) freddy_person: PERSON t_ms=114130 score=0.740 cx=206 cy=135 box=127,41,286,230 frame=320,240 latency_ms=233 +I (115344) freddy_person: PERSON t_ms=114381 score=0.690 cx=212 cy=136 box=129,39,295,233 frame=320,240 latency_ms=233 +I (115594) freddy_person: PERSON t_ms=114630 score=0.791 cx=202 cy=136 box=125,38,279,235 frame=320,240 latency_ms=233 +I (115844) freddy_person: PERSON t_ms=114880 score=0.723 cx=208 cy=136 box=127,38,290,235 frame=320,240 latency_ms=233 +I (116094) freddy_person: PERSON t_ms=115130 score=0.820 cx=213 cy=138 box=125,38,302,239 frame=320,240 latency_ms=233 +I (116344) freddy_person: PERSON t_ms=115380 score=0.573 cx=206 cy=136 box=130,39,282,233 frame=320,240 latency_ms=233 +I (116594) freddy_person: PERSON t_ms=115630 score=0.745 cx=208 cy=134 box=126,39,291,230 frame=320,240 latency_ms=233 +I (116844) freddy_person: PERSON t_ms=115881 score=0.786 cx=203 cy=138 box=122,39,285,238 frame=320,240 latency_ms=233 +I (117094) freddy_person: PERSON t_ms=116130 score=0.875 cx=218 cy=138 box=128,37,308,239 frame=320,240 latency_ms=233 +I (117344) freddy_person: PERSON t_ms=116380 score=0.879 cx=220 cy=138 box=129,37,312,239 frame=320,240 latency_ms=233 +I (117594) freddy_person: PERSON t_ms=116630 score=0.820 cx=220 cy=138 box=124,38,316,239 frame=320,240 latency_ms=233 +I (117844) freddy_person: PERSON t_ms=116880 score=0.810 cx=205 cy=136 box=121,38,290,235 frame=320,240 latency_ms=232 +I (118094) freddy_person: PERSON t_ms=117131 score=0.755 cx=211 cy=138 box=119,38,304,238 frame=320,240 latency_ms=233 +I (118344) freddy_person: PERSON t_ms=117380 score=0.702 cx=215 cy=137 box=124,36,306,239 frame=320,240 latency_ms=233 +I (118594) freddy_person: PERSON t_ms=117630 score=0.679 cx=214 cy=138 box=125,37,304,239 frame=320,240 latency_ms=233 +I (118844) freddy_person: PERSON t_ms=117880 score=0.824 cx=214 cy=138 box=128,38,300,239 frame=320,240 latency_ms=233 +I (119094) freddy_person: PERSON t_ms=118130 score=0.631 cx=192 cy=134 box=80,37,305,232 frame=320,240 latency_ms=232 +I (119344) freddy_person: PERSON t_ms=118381 score=0.637 cx=218 cy=138 box=119,38,318,239 frame=320,240 latency_ms=233 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-left-image-frame-461.jpg (6661 bytes) +I (119734) freddy_person: PERSON t_ms=118769 score=0.810 cx=223 cy=139 box=128,39,319,239 frame=320,240 latency_ms=371 +I (119984) freddy_person: PERSON t_ms=119021 score=0.530 cx=219 cy=135 box=129,37,310,233 frame=320,240 latency_ms=233 +I (120234) freddy_person: PERSON t_ms=119271 score=0.857 cx=217 cy=138 box=122,38,313,239 frame=320,240 latency_ms=233 +I (120484) freddy_person: PERSON t_ms=119520 score=0.786 cx=199 cy=137 box=122,38,276,237 frame=320,240 latency_ms=233 +I (120734) freddy_person: PERSON t_ms=119770 score=0.707 cx=204 cy=132 box=124,39,285,225 frame=320,240 latency_ms=233 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-left-image.log; 48 person detections diff --git a/firmware/camera_person_idf/capture-right-console.log b/firmware/camera_person_idf/capture-right-console.log new file mode 100644 index 0000000..e168bb5 --- /dev/null +++ b/firmware/camera_person_idf/capture-right-console.log @@ -0,0 +1,34 @@ +I (106604) freddy_person: PERSON t_ms=105639 score=0.805 cx=218 I (133904) freddy_person: PERSON t_ms=132940 score=0.476 cx=35 cy=140 box=0,45,70,236 frame=320,240 latency_ms=232 +I (134154) freddy_person: PERSON t_ms=133190 score=0.552 cx=240 cy=119 box=162,0,318,239 frame=320,240 latency_ms=233 +I (134404) freddy_person: PERSON t_ms=133440 score=0.530 cx=242 cy=119 box=167,0,318,239 frame=320,240 latency_ms=233 +I (134654) freddy_person: PERSON t_ms=133690 score=0.566 cx=38 cy=140 box=0,43,77,237 frame=320,240 latency_ms=233 +I (134904) freddy_person: PERSON t_ms=133941 score=0.538 cx=235 cy=119 box=152,0,319,239 frame=320,240 latency_ms=233 +I (135154) freddy_person: PERSON t_ms=134190 score=0.667 cx=240 cy=119 box=162,0,319,239 frame=320,240 latency_ms=233 +I (135404) freddy_person: PERSON t_ms=134440 score=0.580 cx=42 cy=140 box=1,41,83,239 frame=320,240 latency_ms=233 +I (135654) freddy_person: PERSON t_ms=134691 score=0.552 cx=40 cy=139 box=0,39,81,239 frame=320,240 latency_ms=233 +I (135904) freddy_person: PERSON t_ms=134941 score=0.723 cx=235 cy=119 box=151,0,319,239 frame=320,240 latency_ms=233 +I (136154) freddy_person: PERSON t_ms=135190 score=0.545 cx=234 cy=119 box=150,0,319,239 frame=320,240 latency_ms=233 +I (136404) freddy_person: PERSON t_ms=135440 score=0.679 cx=47 cy=139 box=0,40,94,239 frame=320,240 latency_ms=233 +I (136654) freddy_person: PERSON t_ms=135690 score=0.468 cx=43 cy=139 box=0,39,87,239 frame=320,240 latency_ms=233 +I (136904) freddy_person: PERSON t_ms=135941 score=0.515 cx=42 cy=137 box=0,35,85,239 frame=320,240 latency_ms=233 +I (137154) freddy_person: PERSON t_ms=136190 score=0.523 cx=52 cy=138 box=0,38,105,239 frame=320,240 latency_ms=233 +I (137404) freddy_person: PERSON t_ms=136441 score=0.586 cx=238 cy=119 box=157,0,319,239 frame=320,240 latency_ms=234 +I (137654) freddy_person: PERSON t_ms=136691 score=0.656 cx=47 cy=138 box=0,37,95,239 frame=320,240 latency_ms=233 +I (137904) freddy_person: PERSON t_ms=136940 score=0.650 cx=235 cy=119 box=152,0,319,239 frame=320,240 latency_ms=233 +I (138154) freddy_person: PERSON t_ms=137191 score=0.661 cx=236 cy=119 box=154,0,318,239 frame=320,240 latency_ms=233 +I (138404) freddy_person: PERSON t_ms=137441 score=0.559 cx=49 cy=135 box=1,32,97,239 frame=320,240 latency_ms=233 +I (138654) freddy_person: PERSON t_ms=137691 score=0.740 cx=235 cy=119 box=152,0,318,239 frame=320,240 latency_ms=233 +I (138904) freddy_person: PERSON t_ms=137941 score=0.643 cx=237 cy=119 box=155,0,319,239 frame=320,240 latency_ms=233 +I (139154) freddy_person: PERSON t_ms=138191 score=0.523 cx=241 cy=119 box=164,0,319,239 frame=320,240 latency_ms=233 +I (139404) freddy_person: PERSON t_ms=138440 score=0.538 cx=237 cy=119 box=156,0,319,239 frame=320,240 latency_ms=233 +I (139654) freddy_person: PERSON t_ms=138690 score=0.552 cx=240 cy=119 box=162,0,318,239 frame=320,240 latency_ms=233 +I (139904) freddy_person: PERSON t_ms=138941 score=0.667 cx=236 cy=119 box=153,0,319,239 frame=320,240 latency_ms=233 +I (140154) freddy_person: PERSON t_ms=139191 score=0.661 cx=235 cy=119 box=152,0,319,239 frame=320,240 latency_ms=233 +I (140404) freddy_person: PERSON t_ms=139440 score=0.643 cx=240 cy=119 box=161,0,319,239 frame=320,240 latency_ms=232 +I (140654) freddy_person: PERSON t_ms=139691 score=0.508 cx=243 cy=119 box=167,0,319,239 frame=320,240 latency_ms=233 +I (140904) freddy_person: PERSON t_ms=139940 score=0.734 cx=239 cy=119 box=160,0,319,239 frame=320,240 latency_ms=232 +I (141154) freddy_person: PERSON t_ms=140191 score=0.612 cx=241 cy=119 box=163,0,319,239 frame=320,240 latency_ms=233 +I (141404) freddy_person: PERSON t_ms=140440 score=0.707 cx=237 cy=119 box=156,0,318,239 frame=320,240 latency_ms=233 +I (141654) freddy_person: PERSON t_ms=140690 score=0.696 cx=240 cy=119 box=161,0,319,239 frame=320,240 latency_ms=233 +I (141904) freddy_person: PERSON t_ms=140940 score=0.734 cx=239 cy=119 box=161,0,318,239 frame=320,240 latency_ms=232 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-right.log; 33 person detections diff --git a/firmware/camera_person_idf/capture-right-image-console.log b/firmware/camera_person_idf/capture-right-image-console.log new file mode 100644 index 0000000..b5c722b --- /dev/null +++ b/firmware/camera_person_idf/capture-right-image-console.log @@ -0,0 +1,51 @@ +I (123) esp_image: segment 1: paddr=000933e4 vaddr=3fc98900 sizeI (38744) freddy_person: PERSON t_ms=37780 score=0.862 cx=68 cy=145 box=0,51,136,239 frame=320,240 latency_ms=233 +I (38994) freddy_person: PERSON t_ms=38031 score=0.810 cx=61 cy=145 box=0,51,123,239 frame=320,240 latency_ms=233 +I (39244) freddy_person: PERSON t_ms=38281 score=0.824 cx=63 cy=143 box=0,48,127,239 frame=320,240 latency_ms=233 +I (39494) freddy_person: PERSON t_ms=38530 score=0.650 cx=62 cy=144 box=0,49,124,239 frame=320,240 latency_ms=233 +I (39744) freddy_person: PERSON t_ms=38781 score=0.661 cx=63 cy=144 box=0,50,127,239 frame=320,240 latency_ms=233 +I (39994) freddy_person: PERSON t_ms=39030 score=0.795 cx=65 cy=143 box=0,48,131,239 frame=320,240 latency_ms=233 +I (40244) freddy_person: PERSON t_ms=39280 score=0.707 cx=63 cy=142 box=0,46,127,239 frame=320,240 latency_ms=233 +I (40494) freddy_person: PERSON t_ms=39531 score=0.834 cx=66 cy=143 box=0,48,133,239 frame=320,240 latency_ms=233 +I (40744) freddy_person: PERSON t_ms=39781 score=0.843 cx=61 cy=143 box=1,48,122,239 frame=320,240 latency_ms=233 +I (40994) freddy_person: PERSON t_ms=40030 score=0.745 cx=63 cy=143 box=0,48,126,239 frame=320,240 latency_ms=233 +I (41244) freddy_person: PERSON t_ms=40280 score=0.829 cx=64 cy=144 box=0,50,129,239 frame=320,240 latency_ms=232 +I (41494) freddy_person: PERSON t_ms=40530 score=0.755 cx=60 cy=143 box=0,47,120,239 frame=320,240 latency_ms=232 +I (41744) freddy_person: PERSON t_ms=40780 score=0.765 cx=62 cy=142 box=0,46,124,239 frame=320,240 latency_ms=233 +I (41994) freddy_person: PERSON t_ms=41030 score=0.839 cx=63 cy=143 box=0,47,127,239 frame=320,240 latency_ms=232 +I (42244) freddy_person: PERSON t_ms=41279 score=0.897 cx=61 cy=140 box=0,41,123,239 frame=320,240 latency_ms=232 +I (42494) freddy_person: PERSON t_ms=41530 score=0.919 cx=61 cy=139 box=0,39,123,239 frame=320,240 latency_ms=233 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-right-image-frame-161.jpg (5650 bytes) +I (42864) freddy_person: PERSON t_ms=41899 score=0.862 cx=61 cy=140 box=0,42,123,239 frame=320,240 latency_ms=351 +I (43114) freddy_person: PERSON t_ms=42150 score=0.884 cx=63 cy=141 box=0,44,126,239 frame=320,240 latency_ms=233 +I (43364) freddy_person: PERSON t_ms=42400 score=0.888 cx=62 cy=141 box=0,44,124,239 frame=320,240 latency_ms=233 +I (43614) freddy_person: PERSON t_ms=42649 score=0.829 cx=64 cy=140 box=0,42,128,239 frame=320,240 latency_ms=232 +I (43864) freddy_person: PERSON t_ms=42900 score=0.820 cx=64 cy=141 box=0,43,128,239 frame=320,240 latency_ms=232 +I (44114) freddy_person: PERSON t_ms=43150 score=0.910 cx=63 cy=141 box=0,43,126,239 frame=320,240 latency_ms=232 +I (44364) freddy_person: PERSON t_ms=43400 score=0.884 cx=63 cy=141 box=0,43,126,239 frame=320,240 latency_ms=232 +I (44614) freddy_person: PERSON t_ms=43650 score=0.910 cx=62 cy=140 box=0,42,124,239 frame=320,240 latency_ms=232 +I (44864) freddy_person: PERSON t_ms=43900 score=0.901 cx=62 cy=141 box=0,44,124,239 frame=320,240 latency_ms=233 +I (45114) freddy_person: PERSON t_ms=44150 score=0.888 cx=61 cy=140 box=0,42,123,239 frame=320,240 latency_ms=232 +I (45364) freddy_person: PERSON t_ms=44400 score=0.871 cx=62 cy=141 box=0,44,124,239 frame=320,240 latency_ms=232 +I (45614) freddy_person: PERSON t_ms=44650 score=0.781 cx=62 cy=141 box=0,44,124,239 frame=320,240 latency_ms=232 +I (45864) freddy_person: PERSON t_ms=44900 score=0.852 cx=62 cy=141 box=1,43,124,239 frame=320,240 latency_ms=232 +I (46114) freddy_person: PERSON t_ms=45151 score=0.879 cx=63 cy=141 box=0,44,127,239 frame=320,240 latency_ms=233 +I (46364) freddy_person: PERSON t_ms=45401 score=0.914 cx=64 cy=141 box=0,44,128,239 frame=320,240 latency_ms=233 +I (46614) freddy_person: PERSON t_ms=45651 score=0.906 cx=62 cy=142 box=0,46,125,239 frame=320,240 latency_ms=233 +I (46864) freddy_person: PERSON t_ms=45900 score=0.884 cx=62 cy=142 box=0,46,125,239 frame=320,240 latency_ms=232 +I (47114) freddy_person: PERSON t_ms=46150 score=0.871 cx=65 cy=143 box=0,47,131,239 frame=320,240 latency_ms=232 +I (47364) freddy_person: PERSON t_ms=46400 score=0.848 cx=62 cy=142 box=0,45,124,239 frame=320,240 latency_ms=233 +I (47614) freddy_person: PERSON t_ms=46650 score=0.734 cx=62 cy=141 box=0,44,124,239 frame=320,240 latency_ms=232 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-right-image-frame-181.jpg (5545 bytes) +I (47974) freddy_person: PERSON t_ms=47017 score=0.834 cx=63 cy=142 box=0,46,127,239 frame=320,240 latency_ms=349 +I (48234) freddy_person: PERSON t_ms=47271 score=0.857 cx=61 cy=142 box=0,46,122,239 frame=320,240 latency_ms=233 +I (48484) freddy_person: PERSON t_ms=47520 score=0.857 cx=64 cy=142 box=0,45,128,239 frame=320,240 latency_ms=232 +I (48734) freddy_person: PERSON t_ms=47770 score=0.750 cx=63 cy=143 box=1,47,125,239 frame=320,240 latency_ms=232 +I (48984) freddy_person: PERSON t_ms=48020 score=0.871 cx=62 cy=142 box=0,46,125,239 frame=320,240 latency_ms=233 +I (49234) freddy_person: PERSON t_ms=48270 score=0.871 cx=61 cy=142 box=0,46,122,239 frame=320,240 latency_ms=233 +I (49484) freddy_person: PERSON t_ms=48519 score=0.857 cx=62 cy=143 box=0,47,124,239 frame=320,240 latency_ms=232 +I (49734) freddy_person: PERSON t_ms=48770 score=0.805 cx=62 cy=142 box=0,46,124,239 frame=320,240 latency_ms=233 +I (49984) freddy_person: PERSON t_ms=49020 score=0.786 cx=62 cy=142 box=0,45,125,239 frame=320,240 latency_ms=233 +I (50234) freddy_person: PERSON t_ms=49270 score=0.857 cx=62 cy=142 box=1,46,123,239 frame=320,240 latency_ms=233 +I (50484) freddy_person: PERSON t_ms=49520 score=0.866 cx=61 cy=142 box=0,45,123,239 frame=320,240 latency_ms=233 +I (50734) freddy_person: PERSON t_ms=49770 score=0.820 cx=61 cy=142 box=0,45,123,239 frame=320,240 latency_ms=232 +Saved /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/hardware/camera-captures/person-detector-right-image.log; 48 person detections diff --git a/firmware/camera_person_idf/capture_diagnostic.py b/firmware/camera_person_idf/capture_diagnostic.py new file mode 100644 index 0000000..648107c --- /dev/null +++ b/firmware/camera_person_idf/capture_diagnostic.py @@ -0,0 +1,64 @@ +"""Record serial detections and reconstruct diagnostic JPEGs from the camera.""" + +import argparse +import pathlib +import time + +import serial + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--port", default="/dev/cu.usbmodem1101") + parser.add_argument("--seconds", type=float, default=30) + parser.add_argument("--name", default="person-detector-diagnostic") + args = parser.parse_args() + + output = pathlib.Path(__file__).resolve().parents[2] / "hardware/camera-captures" + output.mkdir(parents=True, exist_ok=True) + log_path = output / f"{args.name}.log" + frame_number = None + expected_length = 0 + hex_lines: list[str] = [] + detections = 0 + lines: list[str] = [] + + with serial.Serial(args.port, 115200, timeout=0.5) as port: + deadline = time.monotonic() + args.seconds + while time.monotonic() < deadline: + raw = port.readline() + if not raw: + continue + line = raw.decode("utf-8", "replace").strip() + lines.append(line) + if "freddy_person: PERSON " in line: + detections += 1 + print(line, flush=True) + elif "freddy_person: NO_PERSON " in line and len(lines) % 20 == 0: + print(line, flush=True) + + if line.startswith("FRAME_BEGIN "): + _, number, length = line.split() + frame_number = int(number) + expected_length = int(length) + hex_lines = [] + elif line.startswith("FRAME_HEX ") and frame_number is not None: + hex_lines.append(line.removeprefix("FRAME_HEX ")) + elif line.startswith("FRAME_END ") and frame_number is not None: + number = int(line.split()[1]) + if number == frame_number: + data = bytes.fromhex("".join(hex_lines)) + if len(data) == expected_length and data.startswith(b"\xff\xd8") and data.endswith(b"\xff\xd9"): + photo = output / f"{args.name}-frame-{number}.jpg" + photo.write_bytes(data) + print(f"Saved {photo} ({len(data)} bytes)", flush=True) + else: + print(f"Incomplete frame {number}: {len(data)}/{expected_length} bytes", flush=True) + frame_number = None + + log_path.write_text("\n".join(lines) + "\n") + print(f"Saved {log_path}; {detections} person detections", flush=True) + + +if __name__ == "__main__": + main() diff --git a/firmware/camera_person_idf/dependencies.lock b/firmware/camera_person_idf/dependencies.lock new file mode 100644 index 0000000..4d5cad8 --- /dev/null +++ b/firmware/camera_person_idf/dependencies.lock @@ -0,0 +1,103 @@ +dependencies: + espressif/dl_fft: + component_hash: 3e8f7d34e04bfa6333f289a6d126745bebe0cee9311b81a6a5d106047f63ef65 + dependencies: + - name: idf + require: private + version: '>=5.0' + source: + registry_url: https://components.espressif.com + type: service + version: 0.7.0 + espressif/esp-dl: + component_hash: 233ee8d37dfedeb637fc74713b87bd861ac530cfbcc4c63c57c2e51064cdda31 + dependencies: + - name: espressif/dl_fft + registry_url: https://components.espressif.com + require: private + version: '>=0.6.0' + - name: espressif/esp_new_jpeg + registry_url: https://components.espressif.com + require: private + version: ^1 + - name: idf + require: private + version: '*' + source: + registry_url: https://components.espressif.com + type: service + targets: + - esp32 + - esp32c2 + - esp32c3 + - esp32c5 + - esp32c6 + - esp32p4 + - esp32s2 + - esp32s3 + - esp32s31 + version: 3.3.11 + espressif/esp32-camera: + component_hash: bc9c8a6b51df777a014fa295825b3de5069bc0300c317acff20c97cf4a10ac7d + dependencies: + - name: espressif/esp_jpeg + registry_url: https://components.espressif.com + require: public + version: ^1.3.1 + - name: idf + require: private + version: '>=5.1' + source: + registry_url: https://components.espressif.com/ + type: service + version: 2.1.7 + espressif/esp_jpeg: + component_hash: defb83669293cbf86d0fa86b475ba5517aceed04ed70db435388c151ab37b5d7 + dependencies: + - name: idf + require: private + version: '>=5.0' + source: + registry_url: https://components.espressif.com + type: service + version: 1.3.1 + espressif/esp_new_jpeg: + component_hash: e1e7e6991193c41ed6c9fc386702aa7821433319e7aa9c3147cd3236310cd69c + dependencies: [] + source: + registry_url: https://components.espressif.com + type: service + targets: + - esp32 + - esp32s2 + - esp32s3 + - esp32s31 + - esp32p4 + - esp32c2 + - esp32c3 + - esp32c5 + - esp32c6 + - esp32c61 + - esp32h4 + version: 1.0.2 + espressif/pedestrian_detect: + component_hash: 882a6986cb5e7e9bb8e87861fb42379a7eeb2f4a4a78104c6a78f42a6cb35fb4 + dependencies: + - name: espressif/esp-dl + registry_url: https://components.espressif.com + require: private + version: ~3.3.0 + source: + registry_url: https://components.espressif.com/ + type: service + version: 0.3.2 + idf: + source: + type: idf + version: 5.5.2 +direct_dependencies: +- espressif/esp32-camera +- espressif/pedestrian_detect +manifest_hash: da1a3cbbaa4755170f4ffdc5b90495e507c88e07fa97fb46cd1af3e5f728a198 +target: esp32s3 +version: 2.0.0 diff --git a/firmware/camera_person_idf/flash-person-diagnostic.log b/firmware/camera_person_idf/flash-person-diagnostic.log new file mode 100644 index 0000000..402271c --- /dev/null +++ b/firmware/camera_person_idf/flash-person-diagnostic.log @@ -0,0 +1,114 @@ +Executing action: flash +Running ninja in directory /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build +Executing "ninja flash"... +[1/5] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 partition --type app /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/partition_table/partition-table.bin /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/freddy_camera_person.bin +freddy_camera_person.bin binary size 0x288bd0 bytes. Smallest app partition is 0xa00000 bytes. 0x777430 bytes (75%) free. +[2/5] Performing build step for 'bootloader' +[1/1] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/bootloader.bin +Bootloader binary size 0x5240 bytes. 0x2dc0 bytes (36%) free. +[3/5] No install step for 'bootloader' +[4/5] Completed 'bootloader' +[4/5] cd /Users/joshua/esp/esp-idf/components/esptool_py && /opt/homebrew/bin/cmake -D IDF_PATH=/Users/joshua/esp/esp-idf -D "SERIAL_TOOL=/Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python;;/Users/joshua/esp/esp-idf/components/esptool_py/esptool/esptool.py;--chip;esp32s3" -D "SERIAL_TOOL_ARGS=--before=default_reset;--after=hard_reset;write_flash;@flash_args" -D WORKING_DIRECTORY=/Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build -P /Users/joshua/esp/esp-idf/components/esptool_py/run_serial_tool.cmake +esptool.py --chip esp32s3 -p /dev/cu.usbmodem1101 -b 460800 --before=default_reset --after=hard_reset write_flash --flash_mode dio --flash_freq 80m --flash_size 16MB 0x0 bootloader/bootloader.bin 0x10000 freddy_camera_person.bin 0x8000 partition_table/partition-table.bin +esptool.py v4.12.dev1 +Serial port /dev/cu.usbmodem1101 +Connecting... +Chip is ESP32-S3 (QFN56) (revision v0.2) +Features: WiFi, BLE, Embedded PSRAM 8MB (AP_3v3) +Crystal is 40MHz +USB mode: USB-Serial/JTAG +MAC: e8:f6:0a:87:0b:4c +Uploading stub... +Running stub... +Stub running... +Changing baud rate to 460800 +Changed. +Configuring flash size... +Flash will be erased from 0x00000000 to 0x00005fff... +Flash will be erased from 0x00010000 to 0x00298fff... +Flash will be erased from 0x00008000 to 0x00008fff... +SHA digest in image updated +Compressed 21056 bytes to 13390... +Writing at 0x00000000... (100 %) +Wrote 21056 bytes (13390 compressed) at 0x00000000 in 0.4 seconds (effective 405.0 kbit/s)... +Hash of data verified. +Compressed 2657232 bytes to 1115837... +Writing at 0x00010000... (1 %) +Writing at 0x0001e8c5... (2 %) +Writing at 0x00026ccf... (4 %) +Writing at 0x0002cb86... (5 %) +Writing at 0x0003235f... (7 %) +Writing at 0x00038125... (8 %) +Writing at 0x0003de36... (10 %) +Writing at 0x00043c8c... (11 %) +Writing at 0x000496a3... (13 %) +Writing at 0x0004fa83... (14 %) +Writing at 0x000557c4... (15 %) +Writing at 0x0005ae4b... (17 %) +Writing at 0x000605c4... (18 %) +Writing at 0x00066665... (20 %) +Writing at 0x0006bbdb... (21 %) +Writing at 0x0007236c... (23 %) +Writing at 0x0007744c... (24 %) +Writing at 0x0007d49f... (26 %) +Writing at 0x00082cef... (27 %) +Writing at 0x0009577a... (28 %) +Writing at 0x0009c3a6... (30 %) +Writing at 0x000a3a13... (31 %) +Writing at 0x000aa016... (33 %) +Writing at 0x000b15d1... (34 %) +Writing at 0x000b896d... (36 %) +Writing at 0x000bfd09... (37 %) +Writing at 0x000c8751... (39 %) +Writing at 0x000ce815... (40 %) +Writing at 0x000d4c5a... (42 %) +Writing at 0x000dbeea... (43 %) +Writing at 0x000e55f3... (44 %) +Writing at 0x000edb25... (46 %) +Writing at 0x000f3d22... (47 %) +Writing at 0x000fad22... (49 %) +Writing at 0x00102d30... (50 %) +Writing at 0x0010cd0e... (52 %) +Writing at 0x001156a3... (53 %) +Writing at 0x0011c149... (55 %) +Writing at 0x00123b6e... (56 %) +Writing at 0x0012d6a3... (57 %) +Writing at 0x00135e65... (59 %) +Writing at 0x0013e021... (60 %) +Writing at 0x00148b3b... (62 %) +Writing at 0x001566b5... (63 %) +Writing at 0x0015fa75... (65 %) +Writing at 0x00168e33... (66 %) +Writing at 0x00172f27... (68 %) +Writing at 0x0017c88d... (69 %) +Writing at 0x00186d9a... (71 %) +Writing at 0x0019200d... (72 %) +Writing at 0x0019e78a... (73 %) +Writing at 0x001a8ad4... (75 %) +Writing at 0x001b3649... (76 %) +Writing at 0x001b98b0... (78 %) +Writing at 0x001c74e4... (79 %) +Writing at 0x001d3605... (81 %) +Writing at 0x001dcaa2... (82 %) +Writing at 0x001e800e... (84 %) +Writing at 0x001f21ae... (85 %) +Writing at 0x00211ab2... (86 %) +Writing at 0x0021a5bf... (88 %) +Writing at 0x00222864... (89 %) +Writing at 0x0022c094... (91 %) +Writing at 0x0023283c... (92 %) +Writing at 0x0023dd77... (94 %) +Writing at 0x0027ca68... (95 %) +Writing at 0x0028a884... (97 %) +Writing at 0x00291532... (98 %) +Writing at 0x00297f10... (100 %) +Wrote 2657232 bytes (1115837 compressed) at 0x00010000 in 19.5 seconds (effective 1088.0 kbit/s)... +Hash of data verified. +Compressed 3072 bytes to 105... +Writing at 0x00008000... (100 %) +Wrote 3072 bytes (105 compressed) at 0x00008000 in 0.1 seconds (effective 315.7 kbit/s)... +Hash of data verified. + +Leaving... +Hard resetting via RTS pin... +Done diff --git a/firmware/camera_person_idf/flash-person-ir.log b/firmware/camera_person_idf/flash-person-ir.log new file mode 100644 index 0000000..6ff3092 --- /dev/null +++ b/firmware/camera_person_idf/flash-person-ir.log @@ -0,0 +1,114 @@ +Executing action: flash +Running ninja in directory /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build +Executing "ninja flash"... +[1/5] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 partition --type app /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/partition_table/partition-table.bin /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/freddy_camera_person.bin +freddy_camera_person.bin binary size 0x288e00 bytes. Smallest app partition is 0xa00000 bytes. 0x777200 bytes (75%) free. +[2/5] Performing build step for 'bootloader' +[1/1] cd /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/esp-idf/esptool_py && /Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python /Users/joshua/esp/esp-idf/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 /Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build/bootloader/bootloader.bin +Bootloader binary size 0x5240 bytes. 0x2dc0 bytes (36%) free. +[3/5] No install step for 'bootloader' +[4/5] Completed 'bootloader' +[4/5] cd /Users/joshua/esp/esp-idf/components/esptool_py && /opt/homebrew/bin/cmake -D IDF_PATH=/Users/joshua/esp/esp-idf -D "SERIAL_TOOL=/Users/joshua/.espressif/python_env/idf5.5_py3.13_env/bin/python;;/Users/joshua/esp/esp-idf/components/esptool_py/esptool/esptool.py;--chip;esp32s3" -D "SERIAL_TOOL_ARGS=--before=default_reset;--after=hard_reset;write_flash;@flash_args" -D WORKING_DIRECTORY=/Users/joshua/Code/3d-creations/freddy_fazbear_digital_eyes/firmware/camera_person_idf/build -P /Users/joshua/esp/esp-idf/components/esptool_py/run_serial_tool.cmake +esptool.py --chip esp32s3 -p /dev/cu.usbmodem1101 -b 460800 --before=default_reset --after=hard_reset write_flash --flash_mode dio --flash_freq 80m --flash_size 16MB 0x0 bootloader/bootloader.bin 0x10000 freddy_camera_person.bin 0x8000 partition_table/partition-table.bin +esptool.py v4.12.dev1 +Serial port /dev/cu.usbmodem1101 +Connecting... +Chip is ESP32-S3 (QFN56) (revision v0.2) +Features: WiFi, BLE, Embedded PSRAM 8MB (AP_3v3) +Crystal is 40MHz +USB mode: USB-Serial/JTAG +MAC: e8:f6:0a:87:0b:4c +Uploading stub... +Running stub... +Stub running... +Changing baud rate to 460800 +Changed. +Configuring flash size... +Flash will be erased from 0x00000000 to 0x00005fff... +Flash will be erased from 0x00010000 to 0x00298fff... +Flash will be erased from 0x00008000 to 0x00008fff... +SHA digest in image updated +Compressed 21056 bytes to 13390... +Writing at 0x00000000... (100 %) +Wrote 21056 bytes (13390 compressed) at 0x00000000 in 0.4 seconds (effective 404.8 kbit/s)... +Hash of data verified. +Compressed 2657792 bytes to 1116115... +Writing at 0x00010000... (1 %) +Writing at 0x0001e8b0... (2 %) +Writing at 0x00026d2d... (4 %) +Writing at 0x0002cbde... (5 %) +Writing at 0x000323bd... (7 %) +Writing at 0x0003817d... (8 %) +Writing at 0x0003de91... (10 %) +Writing at 0x00043ce2... (11 %) +Writing at 0x000496ef... (13 %) +Writing at 0x0004fad8... (14 %) +Writing at 0x0005582a... (15 %) +Writing at 0x0005aeab... (17 %) +Writing at 0x0006062a... (18 %) +Writing at 0x000666c3... (20 %) +Writing at 0x0006bc3f... (21 %) +Writing at 0x000723ba... (23 %) +Writing at 0x000774ab... (24 %) +Writing at 0x0007d509... (26 %) +Writing at 0x00082d47... (27 %) +Writing at 0x00095771... (28 %) +Writing at 0x0009c3f7... (30 %) +Writing at 0x000a39a3... (31 %) +Writing at 0x000a9f90... (33 %) +Writing at 0x000b150c... (34 %) +Writing at 0x000b88cb... (36 %) +Writing at 0x000bfc9f... (37 %) +Writing at 0x000c86ac... (39 %) +Writing at 0x000ce799... (40 %) +Writing at 0x000d4bff... (42 %) +Writing at 0x000dbd35... (43 %) +Writing at 0x000e55ae... (44 %) +Writing at 0x000edaec... (46 %) +Writing at 0x000f3cc1... (47 %) +Writing at 0x000facde... (49 %) +Writing at 0x00102cc4... (50 %) +Writing at 0x0010ccc5... (52 %) +Writing at 0x00115672... (53 %) +Writing at 0x0011c0eb... (55 %) +Writing at 0x00123ad4... (56 %) +Writing at 0x0012d46e... (57 %) +Writing at 0x00135daf... (59 %) +Writing at 0x0013df8a... (60 %) +Writing at 0x00148995... (62 %) +Writing at 0x001565f9... (63 %) +Writing at 0x0015f9a4... (65 %) +Writing at 0x00168bea... (66 %) +Writing at 0x00172e2d... (68 %) +Writing at 0x0017c7f4... (69 %) +Writing at 0x00186d0a... (71 %) +Writing at 0x00191e8e... (72 %) +Writing at 0x0019e70d... (73 %) +Writing at 0x001a8a1b... (75 %) +Writing at 0x001b354d... (76 %) +Writing at 0x001b9818... (78 %) +Writing at 0x001c73a9... (79 %) +Writing at 0x001d3588... (81 %) +Writing at 0x001dc97d... (82 %) +Writing at 0x001e7f86... (84 %) +Writing at 0x001f2161... (85 %) +Writing at 0x00211397... (86 %) +Writing at 0x0021a4e4... (88 %) +Writing at 0x00222832... (89 %) +Writing at 0x0022bf16... (91 %) +Writing at 0x0023281e... (92 %) +Writing at 0x0023d6d4... (94 %) +Writing at 0x00278406... (95 %) +Writing at 0x0028a879... (97 %) +Writing at 0x0029159d... (98 %) +Writing at 0x00297f4b... (100 %) +Wrote 2657792 bytes (1116115 compressed) at 0x00010000 in 19.5 seconds (effective 1092.8 kbit/s)... +Hash of data verified. +Compressed 3072 bytes to 105... +Writing at 0x00008000... (100 %) +Wrote 3072 bytes (105 compressed) at 0x00008000 in 0.1 seconds (effective 352.1 kbit/s)... +Hash of data verified. + +Leaving... +Hard resetting via RTS pin... +Done diff --git a/firmware/camera_person_idf/main/CMakeLists.txt b/firmware/camera_person_idf/main/CMakeLists.txt new file mode 100644 index 0000000..2f5973d --- /dev/null +++ b/firmware/camera_person_idf/main/CMakeLists.txt @@ -0,0 +1,3 @@ +idf_component_register(SRCS "main.cpp" "ota_service.cpp" INCLUDE_DIRS "." + REQUIRES app_update esp_http_server esp_wifi esp_netif + nvs_flash mbedtls) diff --git a/firmware/camera_person_idf/main/idf_component.yml b/firmware/camera_person_idf/main/idf_component.yml new file mode 100644 index 0000000..8194e46 --- /dev/null +++ b/firmware/camera_person_idf/main/idf_component.yml @@ -0,0 +1,3 @@ +dependencies: + espressif/esp32-camera: "^2.1.7" + espressif/pedestrian_detect: "^0.3.2" diff --git a/firmware/camera_person_idf/main/main.cpp b/firmware/camera_person_idf/main/main.cpp new file mode 100644 index 0000000..8a9b300 --- /dev/null +++ b/firmware/camera_person_idf/main/main.cpp @@ -0,0 +1,251 @@ +// DFR1154 V1.1 person-position experiment using Espressif's pedestrian model. +// Camera pin assignments match DFRobot's DFR1154 CameraWebServer example. + +#include +#include +#include + +#include "dl_image_jpeg.hpp" +#include "driver/gpio.h" +#include "esp_camera.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_timer.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "pedestrian_detect.hpp" +#include "driver/uart.h" +#include "../../shared/GazeProtocol.h" +#include "../../shared/TrackingGate.h" +#include "ota_service.h" + +namespace { +constexpr char kTag[] = "freddy_person"; +constexpr float kDiagnosticScoreThreshold = 0.35f; +constexpr gpio_num_t kIrLedPin = GPIO_NUM_47; +constexpr uart_port_t kGazeUart = UART_NUM_1; +constexpr int kGazeTxPin = 43; +constexpr int kGazeBaud = 115200; + +void init_gaze_uart() { + const uart_config_t config = { + .baud_rate = kGazeBaud, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .rx_flow_ctrl_thresh = 0, + .source_clk = UART_SCLK_DEFAULT, + .flags = {}, + }; + ESP_ERROR_CHECK(uart_driver_install(kGazeUart, 1024, 0, 0, nullptr, 0)); + ESP_ERROR_CHECK(uart_param_config(kGazeUart, &config)); + ESP_ERROR_CHECK(uart_set_pin(kGazeUart, kGazeTxPin, UART_PIN_NO_CHANGE, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + ESP_LOGI(kTag, "GAZE_UART_READY tx_gpio=%d baud=%d", kGazeTxPin, kGazeBaud); +} + +void send_gaze(uint16_t sequence, int x, int y, bool valid) { + gaze::Frame command = {sequence, static_cast(x), + static_cast(y), valid}; + uint8_t bytes[gaze::kFrameSize]; + gaze::encode(command, bytes); + if (uart_write_bytes(kGazeUart, bytes, sizeof(bytes)) != sizeof(bytes)) { + ESP_LOGW(kTag, "GAZE_UART_WRITE_ERROR seq=%u", sequence); + } +} + +#ifndef FREDDY_GAZE_LINK_SELF_TEST +#define FREDDY_GAZE_LINK_SELF_TEST 0 +#endif + +#if FREDDY_GAZE_LINK_SELF_TEST +// Bench-only UART fault injection. Keep disabled in the normal camera build. +void run_gaze_link_self_test() { + uint8_t bytes[gaze::kFrameSize]; + gaze::encode({0xF000, 500, 500, false}, bytes); + uart_write_bytes(kGazeUart, bytes, sizeof(bytes)); + vTaskDelay(pdMS_TO_TICKS(150)); + uart_write_bytes(kGazeUart, bytes, sizeof(bytes)); // Duplicate sequence. + vTaskDelay(pdMS_TO_TICKS(150)); + gaze::encode({0xEFFF, 500, 500, false}, bytes); + uart_write_bytes(kGazeUart, bytes, sizeof(bytes)); // Old sequence. + vTaskDelay(pdMS_TO_TICKS(150)); + gaze::encode({0xF001, 500, 500, false}, bytes); + bytes[2] = 2; // Wrong version. + uart_write_bytes(kGazeUart, bytes, sizeof(bytes)); + vTaskDelay(pdMS_TO_TICKS(150)); + gaze::encode({0xF001, 500, 500, false}, bytes); + bytes[10] ^= 1; // Damaged CRC. + uart_write_bytes(kGazeUart, bytes, sizeof(bytes)); + vTaskDelay(pdMS_TO_TICKS(150)); + send_gaze(0xF002, 500, 500, false); // Recovery. + ESP_LOGI(kTag, "GAZE_LINK_SELF_TEST_SENT"); +} +#endif + +#ifndef FREDDY_CAMERA_DIAGNOSTIC_JPEG +#define FREDDY_CAMERA_DIAGNOSTIC_JPEG 0 +#endif + +#if FREDDY_CAMERA_DIAGNOSTIC_JPEG +// Optional bench diagnostic: one JPEG roughly every five seconds. +void print_jpeg_for_diagnostics(const camera_fb_t *frame, unsigned frame_number) { + printf("FRAME_BEGIN %u %u\n", frame_number, static_cast(frame->len)); + for (size_t offset = 0; offset < frame->len; offset += 48) { + printf("FRAME_HEX "); + for (size_t i = offset; i < frame->len && i < offset + 48; ++i) { + printf("%02x", frame->buf[i]); + } + printf("\n"); + } + printf("FRAME_END %u\n", frame_number); + fflush(stdout); +} +#endif + +camera_config_t camera_config() { + camera_config_t config = {}; + config.ledc_channel = LEDC_CHANNEL_0; + config.ledc_timer = LEDC_TIMER_0; + config.pin_d0 = 16; + config.pin_d1 = 18; + config.pin_d2 = 21; + config.pin_d3 = 17; + config.pin_d4 = 14; + config.pin_d5 = 7; + config.pin_d6 = 6; + config.pin_d7 = 4; + config.pin_xclk = 5; + config.pin_pclk = 15; + config.pin_vsync = 1; + config.pin_href = 2; + config.pin_sccb_sda = 8; + config.pin_sccb_scl = 9; + config.pin_pwdn = -1; + config.pin_reset = -1; + config.xclk_freq_hz = 20000000; + config.pixel_format = PIXFORMAT_JPEG; + config.frame_size = FRAMESIZE_QVGA; + config.jpeg_quality = 12; + config.fb_count = 1; + config.grab_mode = CAMERA_GRAB_WHEN_EMPTY; + config.fb_location = CAMERA_FB_IN_PSRAM; + return config; +} +} // namespace + +extern "C" void app_main(void) { + init_gaze_uart(); +#if FREDDY_GAZE_LINK_SELF_TEST + run_gaze_link_self_test(); +#endif + ESP_ERROR_CHECK(gpio_reset_pin(kIrLedPin)); + ESP_ERROR_CHECK(gpio_set_direction(kIrLedPin, GPIO_MODE_OUTPUT)); + ESP_ERROR_CHECK(gpio_set_level(kIrLedPin, 1)); + ESP_LOGI(kTag, "IR_GPIO47_HIGH"); + + camera_config_t config = camera_config(); + const esp_err_t camera_error = esp_camera_init(&config); + if (camera_error != ESP_OK) { + ESP_LOGE(kTag, "CAMERA_INIT_ERROR 0x%X", camera_error); + return; + } + sensor_t *sensor = esp_camera_sensor_get(); + if (sensor) { + ESP_LOGI(kTag, "SENSOR_PID 0x%04X", sensor->id.PID); + if (sensor->id.PID == OV3660_PID) sensor->set_vflip(sensor, 1); + } + + auto *detector = new PedestrianDetect(); + detector->set_score_thr(kDiagnosticScoreThreshold); + ESP_LOGI(kTag, "PERSON_DETECTOR_READY threshold=%.2f", kDiagnosticScoreThreshold); + ota_service_start(); + ota_service_confirm_healthy(); + + unsigned frame_number = 0; + uint16_t gaze_sequence = 0; + tracking::Gate target_gate; + for (;;) { + const int64_t capture_started = esp_timer_get_time(); + camera_fb_t *frame = esp_camera_fb_get(); + if (!frame) { + ESP_LOGW(kTag, "CAPTURE_ERROR"); + vTaskDelay(pdMS_TO_TICKS(100)); + continue; + } + ++frame_number; +#if FREDDY_CAMERA_DIAGNOSTIC_JPEG + if (frame_number % 20 == 1) { + print_jpeg_for_diagnostics(frame, frame_number); + } +#endif + dl::image::jpeg_img_t jpeg = { + .data = frame->buf, + .data_len = frame->len, + }; + auto image = dl::image::sw_decode_jpeg(jpeg, dl::image::DL_IMAGE_PIX_TYPE_RGB888); + esp_camera_fb_return(frame); + if (!image.data) { + ESP_LOGW(kTag, "DECODE_ERROR"); + vTaskDelay(pdMS_TO_TICKS(100)); + continue; + } + + auto &results = detector->run(image); + const int64_t completed = esp_timer_get_time(); + const dl::detect::result_t *best = nullptr; + int rejected_full_frame = 0; + int rejected_full_height = 0; + for (const auto &result : results) { + const int box_width = result.box[2] - result.box[0]; + const int box_height = result.box[3] - result.box[1]; + // The empty-scene diagnostic repeatedly labels almost the entire image + // as a person. Keep this shape from commanding either eye. + if (box_width >= image.width * 9 / 10 && + box_height >= image.height * 9 / 10) { + ++rejected_full_frame; + continue; + } + // The confirmed empty view repeatedly produces boxes running nearly + // from the top edge to the bottom edge. Earlier real-person bench boxes + // did not have this geometry; validate again at the installed distance. + if (box_height >= image.height * 95 / 100 && result.box[1] <= 2) { + ++rejected_full_height; + continue; + } + if (!best || result.score > best->score) best = &result; + } + const int center_x = best ? (best->box[0] + best->box[2]) / 2 : 0; + const int center_y = best ? (best->box[1] + best->box[3]) / 2 : 0; + const tracking::Decision target = target_gate.update( + best != nullptr, center_x, center_y, + static_cast(completed / 1000)); + const int gaze_x = (!best && !target.valid) + ? 500 + : std::clamp(target.x, 0, image.width - 1) * 1000 / + (image.width - 1); + const int gaze_y = (!best && !target.valid) + ? 500 + : std::clamp(target.y, 0, image.height - 1) * 1000 / + (image.height - 1); + send_gaze(gaze_sequence++, gaze_x, gaze_y, target.valid); + if (best) { + ESP_LOGI(kTag, + "PERSON t_ms=%lld score=%.3f cx=%d cy=%d box=%d,%d,%d,%d frame=%d,%d latency_ms=%lld gaze_valid=%d target_hold=%d rejected_full_height=%d", + static_cast(completed / 1000), best->score, center_x, + center_y, best->box[0], best->box[1], best->box[2], best->box[3], + image.width, image.height, + static_cast((completed - capture_started) / 1000), + target.valid, target.held, rejected_full_height); + } else { + ESP_LOGI(kTag, "NO_PERSON t_ms=%lld frame=%d,%d latency_ms=%lld rejected_full_frame=%d rejected_full_height=%d gaze_valid=%d target_hold=%d", + static_cast(completed / 1000), image.width, image.height, + static_cast((completed - capture_started) / 1000), + rejected_full_frame, rejected_full_height, target.valid, + target.held); + } + heap_caps_free(image.data); + vTaskDelay(pdMS_TO_TICKS(20)); + } +} diff --git a/firmware/camera_person_idf/main/ota_service.cpp b/firmware/camera_person_idf/main/ota_service.cpp new file mode 100644 index 0000000..c60da99 --- /dev/null +++ b/firmware/camera_person_idf/main/ota_service.cpp @@ -0,0 +1,195 @@ +#include "ota_service.h" + +#include +#include +#include +#include + +#include "esp_event.h" +#include "esp_http_server.h" +#include "esp_log.h" +#include "esp_netif.h" +#include "esp_ota_ops.h" +#include "esp_random.h" +#include "esp_timer.h" +#include "esp_wifi.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "mbedtls/sha256.h" +#include "nvs_flash.h" +#include "../../shared/OtaAuth.h" +#include "../../shared/OtaSecrets.h" + +namespace { +constexpr char kTag[] = "freddy_ota"; +constexpr char kDevice[] = "camera"; +constexpr char kImageTarget[] = "FREDDY_OTA_TARGET:camera"; +constexpr int kPort = 3232; +char nonce[33] = {}; +int64_t nonce_time_us = 0; +httpd_handle_t server = nullptr; + +void new_nonce() { + uint8_t random_bytes[16]; + esp_fill_random(random_bytes, sizeof(random_bytes)); + freddy_ota::to_hex(random_bytes, sizeof(random_bytes), nonce); + nonce_time_us = esp_timer_get_time(); +} + +esp_err_t info_handler(httpd_req_t *req) { + new_nonce(); + const esp_partition_t *slot = esp_ota_get_next_update_partition(nullptr); + const esp_partition_t *running = esp_ota_get_running_partition(); + char body[180]; + snprintf(body, sizeof(body), + "{\"device\":\"%s\",\"nonce\":\"%s\",\"slot_bytes\":%u,\"running_slot\":%d}", + kDevice, nonce, slot ? static_cast(slot->size) : 0, + running ? static_cast(running->subtype) - ESP_PARTITION_SUBTYPE_APP_OTA_0 : -1); + httpd_resp_set_type(req, "application/json"); + return httpd_resp_sendstr(req, body); +} + +bool read_header(httpd_req_t *req, const char *name, char *out, size_t capacity) { + const size_t length = httpd_req_get_hdr_value_len(req, name); + return length > 0 && length < capacity && + httpd_req_get_hdr_value_str(req, name, out, capacity) == ESP_OK; +} + +void restart_task(void *) { + vTaskDelay(pdMS_TO_TICKS(1000)); + esp_restart(); +} + +esp_err_t upload_handler(httpd_req_t *req) { + char request_nonce[33], request_sha[65], signature[65]; + const esp_partition_t *slot = esp_ota_get_next_update_partition(nullptr); + if (!slot || req->content_len <= 0 || + static_cast(req->content_len) > slot->size || + !read_header(req, "X-Freddy-Nonce", request_nonce, sizeof(request_nonce)) || + !read_header(req, "X-Freddy-SHA256", request_sha, sizeof(request_sha)) || + !read_header(req, "X-Freddy-Signature", signature, sizeof(signature)) || + esp_timer_get_time() - nonce_time_us > 60000000 || + strcmp(request_nonce, nonce) != 0 || + !freddy_ota::verify(FREDDY_OTA_KEY, kDevice, nonce, request_sha, + req->content_len, signature)) { + httpd_resp_send_err(req, HTTPD_403_FORBIDDEN, "OTA authorization failed"); + return ESP_FAIL; + } + nonce[0] = 0; // Prevent replay even after an interrupted upload. + esp_ota_handle_t handle; + esp_err_t result = esp_ota_begin(slot, req->content_len, &handle); + if (result != ESP_OK) { + httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "OTA begin failed"); + return ESP_FAIL; + } + mbedtls_sha256_context sha_context; + mbedtls_sha256_init(&sha_context); + result = mbedtls_sha256_starts(&sha_context, 0) == 0 ? ESP_OK : ESP_FAIL; + uint8_t buffer[2048]; + int remaining = req->content_len; + unsigned timeouts = 0; + while (result == ESP_OK && remaining > 0) { + const int received = httpd_req_recv( + req, reinterpret_cast(buffer), + remaining < static_cast(sizeof(buffer)) ? remaining : sizeof(buffer)); + if (received == HTTPD_SOCK_ERR_TIMEOUT && ++timeouts < 5) continue; + if (received <= 0) { + result = ESP_FAIL; + break; + } + timeouts = 0; + result = esp_ota_write(handle, buffer, received); + if (result == ESP_OK && mbedtls_sha256_update(&sha_context, buffer, received) != 0) + result = ESP_FAIL; + remaining -= received; + } + uint8_t digest[32] = {}; + if (result == ESP_OK && + mbedtls_sha256_finish(&sha_context, digest) != 0) result = ESP_FAIL; + mbedtls_sha256_free(&sha_context); + char actual_sha[65]; + freddy_ota::to_hex(digest, sizeof(digest), actual_sha); + if (result == ESP_OK && + !freddy_ota::constant_time_equal(actual_sha, request_sha, 64)) + result = ESP_FAIL; + if (result == ESP_OK) result = esp_ota_end(handle); + else esp_ota_abort(handle); + if (result == ESP_OK) result = esp_ota_set_boot_partition(slot); + if (result != ESP_OK) { + ESP_LOGE(kTag, "OTA upload failed: %s", esp_err_to_name(result)); + httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "OTA image rejected"); + return ESP_FAIL; + } + httpd_resp_set_type(req, "application/json"); + httpd_resp_sendstr(req, "{\"ok\":true}"); + xTaskCreate(restart_task, "ota_restart", 2048, nullptr, 5, nullptr); + return ESP_OK; +} + +void wifi_event(void *, esp_event_base_t base, int32_t id, void *data) { + if (base == WIFI_EVENT && id == WIFI_EVENT_STA_DISCONNECTED) { + esp_wifi_connect(); + } else if (base == IP_EVENT && id == IP_EVENT_STA_GOT_IP) { + const auto *event = static_cast(data); + ESP_LOGI(kTag, "OTA_READY device=%s image=%s ip=" IPSTR " port=%d", + kDevice, kImageTarget, IP2STR(&event->ip_info.ip), kPort); + } +} +} // namespace + +void ota_service_start() { + if (!FREDDY_WIFI_SSID[0] || strlen(FREDDY_OTA_KEY) < 32) { + ESP_LOGW(kTag, "OTA_DISABLED: configure firmware/private/ first"); + return; + } + esp_err_t result = nvs_flash_init(); + if (result == ESP_ERR_NVS_NO_FREE_PAGES || + result == ESP_ERR_NVS_NEW_VERSION_FOUND) { + ESP_ERROR_CHECK(nvs_flash_erase()); + result = nvs_flash_init(); + } + ESP_ERROR_CHECK(result); + ESP_ERROR_CHECK(esp_netif_init()); + ESP_ERROR_CHECK(esp_event_loop_create_default()); + esp_netif_create_default_wifi_sta(); + wifi_init_config_t init = WIFI_INIT_CONFIG_DEFAULT(); + ESP_ERROR_CHECK(esp_wifi_init(&init)); + ESP_ERROR_CHECK(esp_event_handler_register( + WIFI_EVENT, ESP_EVENT_ANY_ID, wifi_event, nullptr)); + ESP_ERROR_CHECK(esp_event_handler_register( + IP_EVENT, IP_EVENT_STA_GOT_IP, wifi_event, nullptr)); + wifi_config_t config = {}; + if (strlen(FREDDY_WIFI_SSID) >= sizeof(config.sta.ssid) || + strlen(FREDDY_WIFI_PASSWORD) >= sizeof(config.sta.password)) { + ESP_LOGE(kTag, "Wi-Fi credentials exceed ESP32 limits"); + return; + } + strncpy(reinterpret_cast(config.sta.ssid), FREDDY_WIFI_SSID, + sizeof(config.sta.ssid) - 1); + strncpy(reinterpret_cast(config.sta.password), FREDDY_WIFI_PASSWORD, + sizeof(config.sta.password) - 1); + ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA)); + ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &config)); + ESP_ERROR_CHECK(esp_wifi_start()); + ESP_ERROR_CHECK(esp_wifi_connect()); + httpd_config_t http_config = HTTPD_DEFAULT_CONFIG(); + http_config.server_port = kPort; + http_config.stack_size = 8192; + http_config.lru_purge_enable = true; + ESP_ERROR_CHECK(httpd_start(&server, &http_config)); + const httpd_uri_t info = { + .uri = "/ota/info", .method = HTTP_GET, .handler = info_handler, + .user_ctx = nullptr, + }; + const httpd_uri_t upload = { + .uri = "/ota", .method = HTTP_POST, .handler = upload_handler, + .user_ctx = nullptr, + }; + ESP_ERROR_CHECK(httpd_register_uri_handler(server, &info)); + ESP_ERROR_CHECK(httpd_register_uri_handler(server, &upload)); +} + +void ota_service_confirm_healthy() { + const esp_err_t result = esp_ota_mark_app_valid_cancel_rollback(); + if (result == ESP_OK) ESP_LOGI(kTag, "OTA_IMAGE_CONFIRMED"); +} diff --git a/firmware/camera_person_idf/main/ota_service.h b/firmware/camera_person_idf/main/ota_service.h new file mode 100644 index 0000000..6b264ed --- /dev/null +++ b/firmware/camera_person_idf/main/ota_service.h @@ -0,0 +1,4 @@ +#pragma once + +void ota_service_start(); +void ota_service_confirm_healthy(); diff --git a/firmware/camera_person_idf/partitions.csv b/firmware/camera_person_idf/partitions.csv new file mode 100644 index 0000000..cf26851 --- /dev/null +++ b/firmware/camera_person_idf/partitions.csv @@ -0,0 +1,6 @@ +# Name, Type, SubType, Offset, Size +nvs, data, nvs, 0x9000, 0x4000 +otadata, data, ota, 0xd000, 0x2000 +phy_init, data, phy, 0xf000, 0x1000 +ota_0, app, ota_0, 0x10000, 0x700000 +ota_1, app, ota_1, 0x710000, 0x700000 diff --git a/firmware/camera_person_idf/sdkconfig.defaults b/firmware/camera_person_idf/sdkconfig.defaults new file mode 100644 index 0000000..ebeefd4 --- /dev/null +++ b/firmware/camera_person_idf/sdkconfig.defaults @@ -0,0 +1,11 @@ +CONFIG_IDF_TARGET="esp32s3" +CONFIG_ESPTOOLPY_FLASHSIZE_16MB=y +CONFIG_ESPTOOLPY_FLASHMODE_DIO=y +CONFIG_ESPTOOLPY_FLASHFREQ_80M=y +CONFIG_SPIRAM=y +CONFIG_SPIRAM_MODE_OCT=y +CONFIG_SPIRAM_SPEED_80M=y +CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y +CONFIG_PARTITION_TABLE_CUSTOM=y +CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv" +CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y diff --git a/firmware/eye_test/BAT_Driver.cpp b/firmware/eye_test/BAT_Driver.cpp new file mode 100644 index 0000000..b122dc9 --- /dev/null +++ b/firmware/eye_test/BAT_Driver.cpp @@ -0,0 +1,16 @@ +#include "BAT_Driver.h" + +float BAT_analogVolts = 0; + +void BAT_Init(void) +{ + //set the resolution to 12 bits (0-4095) + analogReadResolution(12); +} +float BAT_Get_Volts(void) +{ + int Volts = analogReadMilliVolts(BAT_ADC_PIN); // millivolts + BAT_analogVolts = (float)(Volts * 3.0 / 1000.0) / Measurement_offset; + // printf("BAT voltage : %.2f V\r\n", BAT_analogVolts); + return BAT_analogVolts; +} \ No newline at end of file diff --git a/firmware/eye_test/BAT_Driver.h b/firmware/eye_test/BAT_Driver.h new file mode 100644 index 0000000..2a3d601 --- /dev/null +++ b/firmware/eye_test/BAT_Driver.h @@ -0,0 +1,10 @@ +#pragma once +#include + +#define BAT_ADC_PIN 4 +#define Measurement_offset 0.992857 + +extern float BAT_analogVolts; + +void BAT_Init(void); +float BAT_Get_Volts(void); \ No newline at end of file diff --git a/firmware/eye_test/Display_ST7701.cpp b/firmware/eye_test/Display_ST7701.cpp new file mode 100644 index 0000000..cf648d8 --- /dev/null +++ b/firmware/eye_test/Display_ST7701.cpp @@ -0,0 +1,428 @@ +#include "Display_ST7701.h" + +spi_device_handle_t SPI_handle = NULL; +esp_lcd_panel_handle_t panel_handle = NULL; +void ST7701_WriteCommand(uint8_t cmd) +{ + spi_transaction_t spi_tran = { + .cmd = 0, + .addr = cmd, + .length = 0, + .rxlength = 0, + }; + spi_device_transmit(SPI_handle, &spi_tran); +} +void ST7701_WriteData(uint8_t data) +{ + spi_transaction_t spi_tran = { + .cmd = 1, + .addr = data, + .length = 0, + .rxlength = 0, + }; + spi_device_transmit(SPI_handle, &spi_tran); +} + +void ST7701_CS_EN(){ + Set_EXIO(EXIO_PIN3,Low); + vTaskDelay(pdMS_TO_TICKS(10)); +} +void ST7701_CS_Dis(){ + Set_EXIO(EXIO_PIN3,High); + vTaskDelay(pdMS_TO_TICKS(10)); +} +void ST7701_Reset(){ + Set_EXIO(EXIO_PIN1,Low); + vTaskDelay(pdMS_TO_TICKS(10)); + Set_EXIO(EXIO_PIN1,High); + vTaskDelay(pdMS_TO_TICKS(50)); +} +void ST7701_Init() +{ + spi_bus_config_t buscfg = { + .mosi_io_num = LCD_MOSI_PIN, + .miso_io_num = -1, + .sclk_io_num = LCD_CLK_PIN, + .quadwp_io_num = -1, + .quadhd_io_num = -1, + .max_transfer_sz = 64, // ESP32 S3 max size is 64Kbytes + }; + spi_bus_initialize(SPI2_HOST, &buscfg, SPI_DMA_CH_AUTO); + spi_device_interface_config_t devcfg = { + .command_bits = 1, + .address_bits = 8, + .mode = SPI_MODE0, + .clock_speed_hz = 40000000, + .spics_io_num = -1, + .queue_size = 1, // Not using queues + }; + spi_bus_add_device(SPI2_HOST, &devcfg, &SPI_handle); + + ST7701_CS_EN(); + ST7701_WriteCommand(0xFF); + ST7701_WriteData(0x77); + ST7701_WriteData(0x01); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x10); + + ST7701_WriteCommand(0xC0); + ST7701_WriteData(0x3B);//Scan line + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xC1); + ST7701_WriteData(0x0B); //VBP + ST7701_WriteData(0x02); + + ST7701_WriteCommand(0xC2); + ST7701_WriteData(0x07); + ST7701_WriteData(0x02); + + ST7701_WriteCommand(0xCC); + ST7701_WriteData(0x10); + + ST7701_WriteCommand(0xCD);//RGB format + ST7701_WriteData(0x08); + + ST7701_WriteCommand(0xB0); // IPS + ST7701_WriteData(0x00); // 255 + ST7701_WriteData(0x11); // 251 + ST7701_WriteData(0x16); // 247 down + ST7701_WriteData(0x0e); // 239 + ST7701_WriteData(0x11); // 231 + ST7701_WriteData(0x06); // 203 + ST7701_WriteData(0x05); // 175 + ST7701_WriteData(0x09); // 147 + ST7701_WriteData(0x08); // 108 + ST7701_WriteData(0x21); // 80 + ST7701_WriteData(0x06); // 52 + ST7701_WriteData(0x13); // 24 + ST7701_WriteData(0x10); // 16 + ST7701_WriteData(0x29); // 8 down + ST7701_WriteData(0x31); // 4 + ST7701_WriteData(0x18); // 0 + + ST7701_WriteCommand(0xB1);// IPS + ST7701_WriteData(0x00);// 255 + ST7701_WriteData(0x11);// 251 + ST7701_WriteData(0x16);// 247 down + ST7701_WriteData(0x0e);// 239 + ST7701_WriteData(0x11);// 231 + ST7701_WriteData(0x07);// 203 + ST7701_WriteData(0x05);// 175 + ST7701_WriteData(0x09);// 147 + ST7701_WriteData(0x09);// 108 + ST7701_WriteData(0x21);// 80 + ST7701_WriteData(0x05);// 52 + ST7701_WriteData(0x13);// 24 + ST7701_WriteData(0x11);// 16 + ST7701_WriteData(0x2a);// 8 down + ST7701_WriteData(0x31);// 4 + ST7701_WriteData(0x18);// 0 + + ST7701_WriteCommand(0xFF); + ST7701_WriteData(0x77); + ST7701_WriteData(0x01); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x11); + + ST7701_WriteCommand(0xB0); //VOP 3.5375+ *x 0.0125 + ST7701_WriteData(0x6d); //5D + + ST7701_WriteCommand(0xB1); //VCOM amplitude setting + ST7701_WriteData(0x37); // + + ST7701_WriteCommand(0xB2); //VGH Voltage setting + ST7701_WriteData(0x81); //12V + + ST7701_WriteCommand(0xB3); + ST7701_WriteData(0x80); + + ST7701_WriteCommand(0xB5); //VGL Voltage setting + ST7701_WriteData(0x43); //-8.3V + + ST7701_WriteCommand(0xB7); + ST7701_WriteData(0x85); + + ST7701_WriteCommand(0xB8); + ST7701_WriteData(0x20); + + ST7701_WriteCommand(0xC1); + ST7701_WriteData(0x78); + + ST7701_WriteCommand(0xC2); + ST7701_WriteData(0x78); + + ST7701_WriteCommand(0xD0); + ST7701_WriteData(0x88); + + ST7701_WriteCommand(0xE0); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x02); + + ST7701_WriteCommand(0xE1); + ST7701_WriteData(0x03); + ST7701_WriteData(0xA0); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x04); + ST7701_WriteData(0xA0); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x20); + ST7701_WriteData(0x20); + + ST7701_WriteCommand(0xE2); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xE3); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x11); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xE4); + ST7701_WriteData(0x22); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xE5); + ST7701_WriteData(0x05); + ST7701_WriteData(0xEC); + ST7701_WriteData(0xA0); + ST7701_WriteData(0xA0); + ST7701_WriteData(0x07); + ST7701_WriteData(0xEE); + ST7701_WriteData(0xA0); + ST7701_WriteData(0xA0); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xE6); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x11); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xE7); + ST7701_WriteData(0x22); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xE8); + ST7701_WriteData(0x06); + ST7701_WriteData(0xED); + ST7701_WriteData(0xA0); + ST7701_WriteData(0xA0); + ST7701_WriteData(0x08); + ST7701_WriteData(0xEF); + ST7701_WriteData(0xA0); + ST7701_WriteData(0xA0); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xEB); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x40); + ST7701_WriteData(0x40); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0xED); + ST7701_WriteData(0xFF); + ST7701_WriteData(0xFF); + ST7701_WriteData(0xFF); + ST7701_WriteData(0xBA); + ST7701_WriteData(0x0A); + ST7701_WriteData(0xBF); + ST7701_WriteData(0x45); + ST7701_WriteData(0xFF); + ST7701_WriteData(0xFF); + ST7701_WriteData(0x54); + ST7701_WriteData(0xFB); + ST7701_WriteData(0xA0); + ST7701_WriteData(0xAB); + ST7701_WriteData(0xFF); + ST7701_WriteData(0xFF); + ST7701_WriteData(0xFF); + + ST7701_WriteCommand(0xEF); + ST7701_WriteData(0x10); + ST7701_WriteData(0x0D); + ST7701_WriteData(0x04); + ST7701_WriteData(0x08); + ST7701_WriteData(0x3F); + ST7701_WriteData(0x1F); + + ST7701_WriteCommand(0xFF); + ST7701_WriteData(0x77); + ST7701_WriteData(0x01); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x13); + + ST7701_WriteCommand(0xEF); + ST7701_WriteData(0x08); + + ST7701_WriteCommand(0xFF); + ST7701_WriteData(0x77); + ST7701_WriteData(0x01); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + ST7701_WriteData(0x00); + + + ST7701_WriteCommand(0x36); + ST7701_WriteData(0x00); + + ST7701_WriteCommand(0x3A); + ST7701_WriteData(0x66); + + ST7701_WriteCommand(0x11); + + vTaskDelay(pdMS_TO_TICKS(480)); + + ST7701_WriteCommand(0x20); // + vTaskDelay(pdMS_TO_TICKS(120)); + ST7701_WriteCommand(0x29); + ST7701_CS_Dis(); + + // RGB + esp_lcd_rgb_panel_config_t rgb_config = { + .clk_src = LCD_CLK_SRC_DEFAULT, + .timings = { + .pclk_hz = ESP_PANEL_LCD_RGB_TIMING_FREQ_HZ, + .h_res = ESP_PANEL_LCD_HEIGHT, + .v_res = ESP_PANEL_LCD_WIDTH, + .hsync_pulse_width = ESP_PANEL_LCD_RGB_TIMING_HPW, + .hsync_back_porch = ESP_PANEL_LCD_RGB_TIMING_HBP, + .hsync_front_porch = ESP_PANEL_LCD_RGB_TIMING_HFP, + .vsync_pulse_width = ESP_PANEL_LCD_RGB_TIMING_VPW, + .vsync_back_porch = ESP_PANEL_LCD_RGB_TIMING_VBP, + .vsync_front_porch = ESP_PANEL_LCD_RGB_TIMING_VFP, + .flags = { + .hsync_idle_low = 0, /*!< The hsync signal is low in IDLE state */ + .vsync_idle_low = 0, /*!< The vsync signal is low in IDLE state */ + .de_idle_high = 0, /*!< The de signal is high in IDLE state */ + .pclk_active_neg = false, + .pclk_idle_high = 0, /*!< The PCLK stays at high level in IDLE phase */ + }, + }, + .data_width = ESP_PANEL_LCD_RGB_DATA_WIDTH, + .bits_per_pixel = ESP_PANEL_LCD_RGB_PIXEL_BITS, + .num_fbs = ESP_PANEL_LCD_RGB_FRAME_BUF_NUM, + .bounce_buffer_size_px = 10 * ESP_PANEL_LCD_HEIGHT, + .psram_trans_align = 64, + .hsync_gpio_num = ESP_PANEL_LCD_PIN_NUM_RGB_HSYNC, + .vsync_gpio_num = ESP_PANEL_LCD_PIN_NUM_RGB_VSYNC, + .de_gpio_num = ESP_PANEL_LCD_PIN_NUM_RGB_DE, + .pclk_gpio_num = ESP_PANEL_LCD_PIN_NUM_RGB_PCLK, + .disp_gpio_num = ESP_PANEL_LCD_PIN_NUM_RGB_DISP, + .data_gpio_nums = { + ESP_PANEL_LCD_PIN_NUM_RGB_DATA0, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA1, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA2, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA3, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA4, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA5, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA6, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA7, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA8, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA9, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA10, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA11, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA12, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA13, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA14, + ESP_PANEL_LCD_PIN_NUM_RGB_DATA15, + }, + .flags = { + .disp_active_low = 0, + .refresh_on_demand = 0, + .fb_in_psram = true, + .double_fb = true, + .no_fb = 0, + .bb_invalidate_cache = 0, + }, + }; + esp_lcd_new_rgb_panel(&rgb_config, &panel_handle); + // esp_lcd_rgb_panel_event_callbacks_t cbs = { + // .on_vsync = example_on_vsync_event, + // }; + // esp_lcd_rgb_panel_register_event_callbacks(panel_handle, &cbs, &disp_drv); + esp_lcd_panel_reset(panel_handle); + esp_lcd_panel_init(panel_handle); +} + +bool example_on_vsync_event(esp_lcd_panel_handle_t panel, const esp_lcd_rgb_panel_event_data_t *event_data, void *user_data) +{ + BaseType_t high_task_awoken = pdFALSE; + return high_task_awoken == pdTRUE; +} +void LCD_Init() { + ST7701_Reset(); + ST7701_Init(); + Touch_Init(); + Backlight_Init(); +} + +void LCD_addWindow(uint16_t Xstart, uint16_t Ystart, uint16_t Xend, uint16_t Yend,uint8_t* color) { + Xend = Xend + 1; // esp_lcd_panel_draw_bitmap: x_end End index on x-axis (x_end not included) + Yend = Yend + 1; // esp_lcd_panel_draw_bitmap: y_end End index on y-axis (y_end not included) + if (Xend >= ESP_PANEL_LCD_WIDTH) + Xend = ESP_PANEL_LCD_WIDTH; + if (Yend >= ESP_PANEL_LCD_HEIGHT) + Yend = ESP_PANEL_LCD_HEIGHT; + + esp_lcd_panel_draw_bitmap(panel_handle, Xstart, Ystart, Xend, Yend, color); // x_end End index on x-axis (x_end not included) +} + + +// backlight +uint8_t LCD_Backlight = 50; +void Backlight_Init() +{ + ledcAttach(LCD_Backlight_PIN, Frequency, Resolution); + Set_Backlight(LCD_Backlight); //0~100 +} + +void Set_Backlight(uint8_t Light) // +{ + if(Light > Backlight_MAX || Light < 0) + printf("Set Backlight parameters in the range of 0 to 100 \r\n"); + else{ + uint32_t Backlight = Light*10; + if(Backlight == 1000) + Backlight = 1024; + ledcWrite(LCD_Backlight_PIN, Backlight); + } +} + + diff --git a/firmware/eye_test/Display_ST7701.h b/firmware/eye_test/Display_ST7701.h new file mode 100644 index 0000000..89fb941 --- /dev/null +++ b/firmware/eye_test/Display_ST7701.h @@ -0,0 +1,92 @@ +#pragma once +#include + +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/spi_master.h" +#include "driver/gpio.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_lcd_panel_ops.h" +#include "esp_lcd_panel_io.h" +#include "esp_lcd_panel_rgb.h" + +#include "driver/spi_master.h" +#include "driver/gpio.h" +#include "freertos/task.h" + +#include "TCA9554PWR.h" +#include "LVGL_Driver.h" +#include "Touch_CST820.h" + +#define LCD_CLK_PIN 2 +#define LCD_MOSI_PIN 1 +#define LCD_Backlight_PIN 6 +// Backlight +#define PWM_Channel 1 // PWM Channel +#define Frequency 20000 // PWM frequencyconst +#define Resolution 10 // PWM resolution ratio MAX:13 +#define Dutyfactor 500 // PWM Dutyfactor +#define Backlight_MAX 100 + +#define ESP_PANEL_LCD_WIDTH (480) +#define ESP_PANEL_LCD_HEIGHT (480) +#define ESP_PANEL_LCD_COLOR_BITS (16) +#define ESP_PANEL_LCD_RGB_PIXEL_BITS (16) // 24 | 16 +#define ESP_PANEL_LCD_RGB_DATA_WIDTH (16) +#define ESP_PANEL_LCD_RGB_TIMING_FREQ_HZ (16 * 1000 * 1000) +#define ESP_PANEL_LCD_RGB_TIMING_HPW (8) +#define ESP_PANEL_LCD_RGB_TIMING_HBP (10) +#define ESP_PANEL_LCD_RGB_TIMING_HFP (50) +#define ESP_PANEL_LCD_RGB_TIMING_VPW (3) +#define ESP_PANEL_LCD_RGB_TIMING_VBP (8) +#define ESP_PANEL_LCD_RGB_TIMING_VFP (8) +#define ESP_PANEL_LCD_RGB_FRAME_BUF_NUM (2) // 1/2/3 +#define ESP_PANEL_LCD_RGB_BOUNCE_BUF_SIZE (ESP_PANEL_LCD_WIDTH * 10) // Bounce buffer size in bytes. This function is used to avoid screen drift. + // To enable the bounce buffer, set it to a non-zero value. Typically set to `ESP_PANEL_LCD_WIDTH * 10` + // The size of the Bounce Buffer must satisfy `width_of_lcd * height_of_lcd = size_of_buffer * N`, + // where N is an even number. + + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +//////////////////// Please update the following configuration according to your board spec //////////////////////////// +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +#define ESP_PANEL_LCD_PIN_NUM_RGB_HSYNC (38) +#define ESP_PANEL_LCD_PIN_NUM_RGB_VSYNC (39) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DE (40) +#define ESP_PANEL_LCD_PIN_NUM_RGB_PCLK (41) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA0 (5) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA1 (45) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA2 (48) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA3 (47) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA4 (21) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA5 (14) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA6 (13) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA7 (12) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA8 (11) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA9 (10) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA10 (9) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA11 (46) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA12 (3) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA13 (8) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA14 (18) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DATA15 (17) +#define ESP_PANEL_LCD_PIN_NUM_RGB_DISP (-1) + +#define ESP_PANEL_LCD_BK_LIGHT_ON_LEVEL (1) +#define ESP_PANEL_LCD_BK_LIGHT_OFF_LEVEL !ESP_PANEL_LCD_BK_LIGHT_ON_LEVEL + +#define EXAMPLE_ENABLE_PRINT_LCD_FPS (0) + +extern uint8_t LCD_Backlight; +extern esp_lcd_panel_handle_t panel_handle; +bool example_on_vsync_event(esp_lcd_panel_handle_t panel, const esp_lcd_rgb_panel_event_data_t *event_data, void *user_data); +void ST7701_Init(); + +void LCD_Init(); +void LCD_addWindow(uint16_t Xstart, uint16_t Ystart, uint16_t Xend, uint16_t Yend,uint8_t* color); + +// backlight +void Backlight_Init(); +void Set_Backlight(uint8_t Light); \ No newline at end of file diff --git a/firmware/eye_test/EyeScene.cpp b/firmware/eye_test/EyeScene.cpp new file mode 100644 index 0000000..52615bd --- /dev/null +++ b/firmware/eye_test/EyeScene.cpp @@ -0,0 +1,174 @@ +#include "EyeScene.h" +#include "FreddyIris.h" + +#include +#include + +#ifndef EYE_BOARD_NUMBER +#define EYE_BOARD_NUMBER 1 +#endif + +namespace { +constexpr int kDisplaySize = 480; +constexpr int kIrisSize = 178; +constexpr int kIrisRadius = kIrisSize / 2; +constexpr uint32_t kBlinkPeriodMs = 4600; +constexpr uint32_t kBlinkDurationMs = 300; + +lv_obj_t *iris = nullptr; +lv_obj_t *red_iris = nullptr; +lv_obj_t *red_halo = nullptr; +lv_obj_t *sclera = nullptr; +lv_obj_t *upper_lid = nullptr; +lv_obj_t *lower_lid = nullptr; +lv_obj_t *status_label = nullptr; +bool tracking_red = false; +bool gaze_valid = false; +uint16_t gaze_x = 500; +uint16_t gaze_y = 500; +float drawn_x = 240.0f; +float drawn_y = 240.0f; + +lv_obj_t *make_circle(lv_obj_t *parent, int size, uint32_t color) { + lv_obj_t *obj = lv_obj_create(parent); + lv_obj_set_size(obj, size, size); + lv_obj_set_style_radius(obj, LV_RADIUS_CIRCLE, 0); + lv_obj_set_style_bg_color(obj, lv_color_hex(color), 0); + lv_obj_set_style_bg_opa(obj, LV_OPA_COVER, 0); + lv_obj_set_style_border_width(obj, 0, 0); + lv_obj_set_style_outline_width(obj, 0, 0); + lv_obj_set_style_shadow_width(obj, 0, 0); + lv_obj_set_style_pad_all(obj, 0, 0); + lv_obj_clear_flag(obj, LV_OBJ_FLAG_SCROLLABLE); + return obj; +} + +lv_obj_t *make_lid(lv_obj_t *parent) { + lv_obj_t *obj = lv_obj_create(parent); + lv_obj_set_style_radius(obj, 0, 0); + lv_obj_set_style_bg_color(obj, lv_color_hex(0x743824), 0); + lv_obj_set_style_bg_opa(obj, LV_OPA_COVER, 0); + lv_obj_set_style_border_width(obj, 0, 0); + lv_obj_set_style_outline_width(obj, 0, 0); + lv_obj_set_style_shadow_width(obj, 0, 0); + lv_obj_set_style_pad_all(obj, 0, 0); + lv_obj_clear_flag(obj, LV_OBJ_FLAG_SCROLLABLE); + return obj; +} + +lv_obj_t *make_red_layer(lv_obj_t *parent, int size, uint32_t color, + lv_opa_t opacity) { + lv_obj_t *layer = make_circle(parent, size, color); + lv_obj_set_style_bg_opa(layer, opacity, 0); + lv_obj_set_pos(layer, (kIrisSize - size) / 2, (kIrisSize - size) / 2); + return layer; +} + +void eye_tick(lv_timer_t *) { + const uint32_t elapsed_ms = lv_tick_get(); + const float seconds = static_cast(elapsed_ms) / 1000.0f; + + // Easing continues between camera updates and back into idle after loss. + const float desired_x = gaze_valid + ? 240.0f + (static_cast(gaze_x) - 500) * 0.104f + : 240.0f + 52.0f * sinf(seconds * 0.86f); + const float desired_y = gaze_valid + ? 240.0f + (static_cast(gaze_y) - 500) * 0.062f + : 240.0f + 31.0f * sinf(seconds * 0.53f + 0.8f); + drawn_x += (desired_x - drawn_x) * 0.20f; + drawn_y += (desired_y - drawn_y) * 0.20f; + const int iris_x = static_cast(drawn_x); + const int iris_y = static_cast(drawn_y); + lv_obj_set_pos(iris, iris_x - kIrisRadius, iris_y - kIrisRadius); + lv_obj_set_pos(red_iris, iris_x - kIrisRadius, iris_y - kIrisRadius); + if (tracking_red) { + const int pulse = static_cast(14.0f * sinf(seconds * 4.5f)); + lv_obj_set_style_bg_opa(red_halo, 55 + pulse, 0); + } + + const uint32_t phase_ms = elapsed_ms % kBlinkPeriodMs; + int lid_height = 1; + if (phase_ms < kBlinkDurationMs) { + const float phase = static_cast(phase_ms) / kBlinkDurationMs; + const float closure = sinf(phase * 3.14159265f); + lid_height += static_cast(240.0f * closure); + } + lv_obj_set_size(upper_lid, kDisplaySize, lid_height); + lv_obj_set_size(lower_lid, kDisplaySize, lid_height); + lv_obj_set_pos(lower_lid, 0, kDisplaySize - lid_height); +} +void set_tracking_red(bool enabled) { + if (tracking_red == enabled) return; + tracking_red = enabled; + if (enabled) { + lv_obj_add_flag(iris, LV_OBJ_FLAG_HIDDEN); + lv_obj_clear_flag(red_iris, LV_OBJ_FLAG_HIDDEN); + lv_obj_set_style_bg_color(sclera, lv_color_hex(0x21191B), 0); + } else { + lv_obj_add_flag(red_iris, LV_OBJ_FLAG_HIDDEN); + lv_obj_clear_flag(iris, LV_OBJ_FLAG_HIDDEN); + lv_obj_set_style_bg_color(sclera, lv_color_hex(0xF5F4EA), 0); + } +} +} // namespace + +void EyeScene_SetGaze(uint16_t x, uint16_t y, bool valid) { + if (gaze_valid != valid && status_label) { +#if EYE_BOARD_NUMBER == 2 + lv_label_set_text(status_label, valid ? "BOARD 2 TRACK" : "BOARD 2 IDLE"); +#else + lv_label_set_text(status_label, valid ? "BOARD 1 TRACK" : "BOARD 1 IDLE"); +#endif + } + gaze_x = x; + gaze_y = y; + gaze_valid = valid; + set_tracking_red(valid); +} + +void EyeScene_Create() { + lv_obj_t *screen = lv_scr_act(); + lv_obj_clean(screen); + lv_obj_set_style_bg_color(screen, lv_color_hex(0x39271D), 0); + lv_obj_set_style_bg_opa(screen, LV_OPA_COVER, 0); + lv_obj_clear_flag(screen, LV_OBJ_FLAG_SCROLLABLE); + + lv_obj_t *sclera_outline = make_circle(screen, 444, 0x743824); + lv_obj_set_pos(sclera_outline, 18, 18); + sclera = make_circle(screen, 432, 0xF5F4EA); + lv_obj_set_pos(sclera, 24, 24); + + iris = lv_img_create(screen); + lv_img_set_src(iris, &kFreddyIris); + lv_obj_clear_flag(iris, LV_OBJ_FLAG_SCROLLABLE); + + red_iris = lv_obj_create(screen); + lv_obj_set_size(red_iris, kIrisSize, kIrisSize); + lv_obj_set_style_bg_opa(red_iris, LV_OPA_TRANSP, 0); + lv_obj_set_style_border_width(red_iris, 0, 0); + lv_obj_set_style_pad_all(red_iris, 0, 0); + lv_obj_clear_flag(red_iris, LV_OBJ_FLAG_SCROLLABLE); + make_red_layer(red_iris, kIrisSize, 0x150909, LV_OPA_COVER); + make_red_layer(red_iris, 144, 0x6E0B08, 34); + red_halo = make_red_layer(red_iris, 116, 0xBE1B13, 55); + make_red_layer(red_iris, 82, 0xE22D1E, 90); + make_red_layer(red_iris, 48, 0xFA412B, 165); + make_red_layer(red_iris, 28, 0xFF3A2B, LV_OPA_COVER); + make_red_layer(red_iris, 13, 0xFFF2E3, LV_OPA_COVER); + lv_obj_add_flag(red_iris, LV_OBJ_FLAG_HIDDEN); + + status_label = lv_label_create(screen); +#if EYE_BOARD_NUMBER == 2 + lv_label_set_text(status_label, "BOARD 2 IDLE"); +#else + lv_label_set_text(status_label, "BOARD 1 IDLE"); +#endif + lv_obj_set_style_text_color(status_label, lv_color_hex(0x3F5361), 0); + lv_obj_align(status_label, LV_ALIGN_TOP_MID, 0, 48); + + upper_lid = make_lid(screen); + lower_lid = make_lid(screen); + + eye_tick(nullptr); + lv_timer_create(eye_tick, 30, nullptr); +} diff --git a/firmware/eye_test/EyeScene.h b/firmware/eye_test/EyeScene.h new file mode 100644 index 0000000..df9307e --- /dev/null +++ b/firmware/eye_test/EyeScene.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +// Creates a moving and blinking eye on the Waveshare 480x480 display. +void EyeScene_Create(); + +// Normalized camera-image coordinates. A valid target switches to the red eye; +// an invalid target returns to blue. Call from the LVGL loop task. +void EyeScene_SetGaze(uint16_t x, uint16_t y, bool valid); diff --git a/firmware/eye_test/FreddyIris.cpp b/firmware/eye_test/FreddyIris.cpp new file mode 100644 index 0000000..6701acc --- /dev/null +++ b/firmware/eye_test/FreddyIris.cpp @@ -0,0 +1,5295 @@ +// Generated from reference_images/official_freddy_eye_texture.webp. +// Source SHA-256: 0d686ed397b15e1417ffbe2dcb5e6a426e16dfd4fbeda2f4e28bd975fea8229f +// Regenerate with firmware/tools/make_iris.py; do not edit this array. +#include "FreddyIris.h" + +static const uint8_t kFreddyIrisPixels[] = { + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xdf, 0xf7, 0x0c, 0x9f, 0xef, 0x17, 0x7e, 0xe7, 0x21, 0x5e, 0xe7, 0x2a, + 0x1e, 0xdf, 0x31, 0x1e, 0xdf, 0x37, 0x1e, 0xdf, 0x3b, 0xde, 0xd6, 0x3e, 0xde, 0xd6, 0x40, 0xde, 0xd6, 0x40, + 0xde, 0xd6, 0x3e, 0xde, 0xd6, 0x3b, 0xde, 0xd6, 0x37, 0xfe, 0xd6, 0x31, 0x3e, 0xe7, 0x2a, 0x3e, 0xe7, 0x21, + 0x5e, 0xe7, 0x17, 0x9f, 0xf7, 0x0c, 0xff, 0xf7, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 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0xdc, 0xde, 0x31, 0xdc, 0xde, 0x37, 0xbb, 0xd6, 0x3b, 0xdc, 0xde, 0x3e, 0xfd, 0xe6, 0x40, 0xfc, 0xde, 0x40, + 0xfc, 0xe6, 0x3e, 0x1d, 0xe7, 0x3b, 0x1d, 0xe7, 0x37, 0x3d, 0xe7, 0x31, 0x7d, 0xef, 0x2a, 0x9e, 0xef, 0x21, + 0xbe, 0xf7, 0x17, 0xdf, 0xf7, 0x0c, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, + 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0xff, 0x00, +}; + +const lv_img_dsc_t kFreddyIris = { + .header = {.cf = LV_IMG_CF_TRUE_COLOR_ALPHA, .always_zero = 0, + .reserved = 0, .w = 178, .h = 178}, + .data_size = sizeof(kFreddyIrisPixels), + .data = kFreddyIrisPixels, +}; diff --git a/firmware/eye_test/FreddyIris.h b/firmware/eye_test/FreddyIris.h new file mode 100644 index 0000000..d091d5b --- /dev/null +++ b/firmware/eye_test/FreddyIris.h @@ -0,0 +1,5 @@ +#pragma once + +#include + +extern const lv_img_dsc_t kFreddyIris; diff --git a/firmware/eye_test/Gyro_QMI8658.cpp b/firmware/eye_test/Gyro_QMI8658.cpp new file mode 100644 index 0000000..2abfbd2 --- /dev/null +++ b/firmware/eye_test/Gyro_QMI8658.cpp @@ -0,0 +1,304 @@ +#include "Gyro_QMI8658.h" + +IMUdata Accel; +IMUdata Gyro; + +uint8_t Device_addr ; // default for SD0/SA0 low, 0x6A if high +acc_scale_t acc_scale = ACC_RANGE_4G; +gyro_scale_t gyro_scale = GYR_RANGE_64DPS; +acc_odr_t acc_odr = acc_odr_norm_8000; +gyro_odr_t gyro_odr = gyro_odr_norm_8000; +sensor_state_t sensor_state = sensor_default; +lpf_t acc_lpf; + +float accelScales, gyroScales; +uint8_t readings[12]; +uint32_t reading_timestamp_us; // timestamp in arduino micros() time + +/** + * Inialize Wire and send default configs + * @param addr I2C address of sensor, typically 0x6A or 0x6B + */ +void QMI8658_Init(void) +{ + uint8_t buf[1]; + Device_addr = QMI8658_L_SLAVE_ADDRESS; + I2C_Read(Device_addr, QMI8658_REVISION_ID, buf, 1); + printf("QMI8658 Device ID: %x\r\n",buf[0]); // Get chip id + setState(sensor_running); + + setAccScale(acc_scale); + setAccODR(acc_odr); + setAccLPF(LPF_MODE_0); + switch (acc_scale) { + // Possible accelerometer scales (and their register bit settings) are: + // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). + // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that + // 2-bit value: + case ACC_RANGE_2G: accelScales = 2.0 / 32768.0; break; + case ACC_RANGE_4G: accelScales = 4.0 / 32768.0; break; + case ACC_RANGE_8G: accelScales = 8.0 / 32768.0; break; + case ACC_RANGE_16G: accelScales = 16.0 / 32768.0; break; + } + + setGyroScale(gyro_scale); + setGyroODR(gyro_odr); + setGyroLPF(LPF_MODE_3); + switch (gyro_scale) { + // Possible gyro scales (and their register bit settings) are: + // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). + // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that + // 2-bit value: + case GYR_RANGE_16DPS: gyroScales = 16.0 / 32768.0; break; + case GYR_RANGE_32DPS: gyroScales = 32.0 / 32768.0; break; + case GYR_RANGE_64DPS: gyroScales = 64.0 / 32768.0; break; + case GYR_RANGE_128DPS: gyroScales = 128.0 / 32768.0; break; + case GYR_RANGE_256DPS: gyroScales = 256.0 / 32768.0; break; + case GYR_RANGE_512DPS: gyroScales = 512.0 / 32768.0; break; + case GYR_RANGE_1024DPS: gyroScales = 1024.0 / 32768.0; break; + } +} + +void QMI8658_Loop(void) +{ + getAccelerometer(); +} + +/** + * Transmit one uint8_t of data to QMI8658. + * @param addr address of data to be written + * @param data the data to be written + */ +void QMI8658_transmit(uint8_t addr, uint8_t data) +{ + I2C_Write(Device_addr, addr, &data, 1); +} + +/** + * Receive one uint8_t of data from QMI8658. + * @param addr address of data to be read + * @return the uint8_t of data that was read + */ +uint8_t QMI8658_receive(uint8_t addr) +{ + uint8_t retval; + I2C_Read(Device_addr, addr, &retval, 1); + return retval; +} + +/** + * Writes data to CTRL9 (command register) and waits for ACK. + * @param command the command to be executed + */ +void QMI8658_CTRL9_Write(uint8_t command) +{ + // transmit command + QMI8658_transmit(QMI8658_CTRL9, command); + + // wait for command to be done + while (((QMI8658_receive(QMI8658_STATUSINT)) & 0x80) == 0x00); +} + +/** + * Set output data rate (ODR) of accelerometer. + * @param odr acc_odr_t variable representing new data rate + */ +void setAccODR(acc_odr_t odr) +{ + if (sensor_state != sensor_default) // If the device is not in the default state + { + uint8_t ctrl2 = QMI8658_receive(QMI8658_CTRL2); + ctrl2 &= ~QMI8658_AODR_MASK; // clear previous setting + ctrl2 |= odr; // OR in new setting + QMI8658_transmit(QMI8658_CTRL2, ctrl2); + } + acc_odr = odr; +} + +/** + * Set output data rate (ODR) of gyro. + * @param odr gyro_odr_t variable representing new data rate + */ +void setGyroODR(gyro_odr_t odr) +{ + if (sensor_state != sensor_default) + { + uint8_t ctrl3 = QMI8658_receive(QMI8658_CTRL3); + ctrl3 &= ~QMI8658_GODR_MASK; // clear previous setting + ctrl3 |= odr; // OR in new setting + QMI8658_transmit(QMI8658_CTRL3, ctrl3); + } + gyro_odr = odr; +} + +/** + * Set scale of accelerometer output. + * @param scale acc_scale_t variable representing new scale + */ +void setAccScale(acc_scale_t scale) +{ + if (sensor_state != sensor_default) + { + uint8_t ctrl2 = QMI8658_receive(QMI8658_CTRL2); + ctrl2 &= ~QMI8658_ASCALE_MASK; // clear previous setting + ctrl2 |= scale << QMI8658_ASCALE_OFFSET; // OR in new setting + QMI8658_transmit(QMI8658_CTRL2, ctrl2); + } + acc_scale = scale; +} + +/** + * Set scale of gyro output. + * @param scale gyro_scale_t variable representing new scale + */ +void setGyroScale(gyro_scale_t scale) +{ + if (sensor_state != sensor_default) + { + uint8_t ctrl3 = QMI8658_receive(QMI8658_CTRL3); + ctrl3 &= ~QMI8658_GSCALE_MASK; // clear previous setting + ctrl3 |= scale << QMI8658_GSCALE_OFFSET; // OR in new setting + QMI8658_transmit(QMI8658_CTRL3, ctrl3); + } + gyro_scale = scale; +} + +/** + * Set new low-pass filter value for accelerometer + * @param lp lpf_t variable representing new low-pass filter value + */ +void setAccLPF(lpf_t lpf) +{ + if (sensor_state != sensor_default) + { + uint8_t ctrl5 = QMI8658_receive(QMI8658_CTRL5); + ctrl5 &= !QMI8658_ALPF_MASK; + ctrl5 |= lpf << QMI8658_ALPF_OFFSET; + ctrl5 |= 0x01; // turn on acc low pass filter + QMI8658_transmit(QMI8658_CTRL5, ctrl5); + } + acc_lpf = lpf; +} + +/** + * Set new low-pass filter value for gyro + * @param lp lpf_t variable representing new low-pass filter value + */ +void setGyroLPF(lpf_t lpf) +{ + if (sensor_state != sensor_default) + { + uint8_t ctrl5 = QMI8658_receive(QMI8658_CTRL5); + ctrl5 &= !QMI8658_GLPF_MASK; + ctrl5 |= lpf << QMI8658_GLPF_OFFSET; + ctrl5 |= 0x10; // turn on gyro low pass filter + QMI8658_transmit(QMI8658_CTRL5, ctrl5); + } +} + +/** + * Set new state of QMI8658. + * @param state new state to transition to + */ +void setState(sensor_state_t state) +{ + uint8_t ctrl1; + switch (state) + { + case sensor_running: + ctrl1 = QMI8658_receive(QMI8658_CTRL1); + // enable 2MHz oscillator + ctrl1 &= 0xFE; + // enable auto address increment for fast block reads + ctrl1 |= 0x40; + QMI8658_transmit(QMI8658_CTRL1, ctrl1); + + // enable high speed internal clock, + // acc and gyro in full mode, and + // disable syncSample mode + QMI8658_transmit(QMI8658_CTRL7, 0x43); + + // disable AttitudeEngine Motion On Demand + QMI8658_transmit(QMI8658_CTRL6, 0x00); + break; + case sensor_power_down: + // disable high speed internal clock, + // acc and gyro powered down + QMI8658_transmit(QMI8658_CTRL7, 0x00); + + ctrl1 = QMI8658_receive(QMI8658_CTRL1); + // disable 2MHz oscillator + ctrl1|= 0x01; + QMI8658_transmit(QMI8658_CTRL1, ctrl1); + break; + case sensor_locking: + ctrl1 = QMI8658_receive(QMI8658_CTRL1); + // enable 2MHz oscillator + ctrl1 &= 0xFE; + // enable auto address increment for fast block reads + ctrl1 |= 0x40; + QMI8658_transmit(QMI8658_CTRL1, ctrl1); + + // enable high speed internal clock, + // acc and gyro in full mode, and + // enable syncSample mode + QMI8658_transmit(QMI8658_CTRL7, 0x83); + + // disable AttitudeEngine Motion On Demand + QMI8658_transmit(QMI8658_CTRL6, 0x00); + + // disable internal AHB clock gating: + QMI8658_transmit(QMI8658_CAL1_L, 0x01); + QMI8658_CTRL9_Write(0x12); + // re-enable clock gating + QMI8658_transmit(QMI8658_CAL1_L, 0x00); + QMI8658_CTRL9_Write(0x12); + break; + default: + break; + } + sensor_state = state; +} + + +void getAccelerometer(void) +{ + + uint8_t buf[6]; + I2C_Read(Device_addr, QMI8658_AX_L, buf, 6); + Accel.x = (float)((int16_t)((buf[1]<<8) | (buf[0]))); + Accel.y = (float)((int16_t)((buf[3]<<8) | (buf[2]))); + Accel.z = (float)((int16_t)((buf[5]<<8) | (buf[4]))); + Accel.x = Accel.x * accelScales; + Accel.y = Accel.y * accelScales; + Accel.z = Accel.z * accelScales; + +} +void getGyroscope(void) +{ + uint8_t buf[6]; + I2C_Read(Device_addr, QMI8658_GX_L, buf, 6); + Gyro.x = (float)((int16_t)((buf[1]<<8) | (buf[0]))); + Gyro.y = (float)((int16_t)((buf[3]<<8) | (buf[2]))); + Gyro.z = (float)((int16_t)((buf[5]<<8) | (buf[4]))); + Gyro.x = Gyro.x * gyroScales; + Gyro.y = Gyro.y * gyroScales; + Gyro.z = Gyro.z * gyroScales; +} + + + + + + + + + + + + + + + + + diff --git a/firmware/eye_test/Gyro_QMI8658.h b/firmware/eye_test/Gyro_QMI8658.h new file mode 100644 index 0000000..bf96754 --- /dev/null +++ b/firmware/eye_test/Gyro_QMI8658.h @@ -0,0 +1,161 @@ +#pragma once + +#include "I2C_Driver.h" + +//device address +#define QMI8658_L_SLAVE_ADDRESS (0x6B) +#define QMI8658_H_SLAVE_ADDRESS (0x6A) + +#define QMI8658_WHO_AM_I 0x00 // devide identifier +#define QMI8658_REVISION_ID 0x01 +#define QMI8658_CTRL1 0x02 // SPI interface and sensor enable +#define QMI8658_CTRL2 0x03 // Accelerometer settings +#define QMI8658_CTRL3 0x04 // Gyro settings +#define QMI8658_CTRL4 0x05 // reserved (we don't use this) +#define QMI8658_CTRL5 0x06 // Low-pass filter settings +#define QMI8658_CTRL6 0x07 // AttitudeEngine settings (we don't use these) +#define QMI8658_CTRL7 0x08 // Sensor enable +#define QMI8658_CTRL8 0x09 // Motion detection control (not in current lib version) +#define QMI8658_CTRL9 0x0A // Host commands (not in current lib version) + +#define QMI8658_CAL1_L 0x0B // calibration 1 register, lower bits +#define QMI8658_CAL1_H 0x0C // calibration 1 register, higher bits +#define QMI8658_CAL2_L 0x0D // calibration 2 register, lower bits +#define QMI8658_CAL2_H 0x0E // calibration 2 register, higher bits +#define QMI8658_CAL3_L 0x0F // calibration 3 register, lower bits +#define QMI8658_CAL3_H 0x10 // calibration 3 register, higher bits +#define QMI8658_CAL4_L 0x11 // calibration 4 register, lower bits +#define QMI8658_CAL4_H 0x12 // calibration 4 register, higher bits + +#define QMI8658_TEMP_L 0x33 // lower bits of temperature data +#define QMI8658_TEMP_H 0x34 // upper bits of temperature data + +#define QMI8658_STATUSINT 0x2D // status + interrupt register + +#define QMI8658_AX_L 0x35 // lower bits of x-axis acceleration +#define QMI8658_AX_H 0x36 // upper bits of x-axis acceleration +#define QMI8658_AY_L 0x37 // lower bits of y-axis acceleration +#define QMI8658_AY_H 0x38 // upper bits of y-axis acceleration +#define QMI8658_AZ_L 0x39 +#define QMI8658_AZ_H 0x3A +#define QMI8658_GX_L 0x3B // lower bits of x-axis angular velocity +#define QMI8658_GX_H 0x3C // upper bits of x-axis angular velocity +#define QMI8658_GY_L 0x3D +#define QMI8658_GY_H 0x3E +#define QMI8658_GZ_L 0x3F +#define QMI8658_GZ_H 0x40 + +#define QMI8658_AODR_MASK 0x0F // bits in acc data rate are 1, rest are 0 (CTRL2) +#define QMI8658_GODR_MASK 0x0F // bits in gyro data rate are 1, rest are 0 (CTRL3) +#define QMI8658_ASCALE_MASK 0x70 // bits in acc scale are 1, rest are 0 +#define QMI8658_GSCALE_MASK 0x70 // bits in gyro scale are 1, rest are 0 +#define QMI8658_ALPF_MASK 0x06 // bits in acc low pass filter setting +#define QMI8658_GLPF_MASK 0x60 // bits in gyro low pass filter setting +#define QMI8658_ASCALE_OFFSET 4 // offset to acc scale bits +#define QMI8658_GSCALE_OFFSET 4 // offset to gyro scale bits +#define QMI8658_ALPF_OFFSET 1 // offset to acc low pass filter bits +#define QMI8658_GLPF_OFFSET 5 // offset to gyro low pass filter bits + +#define QMI8658_COMM_TIMEOUT 50 // communication timeout, in ms + + +// delay between refreshes of sensor data in us +// applies to individual sensor readings while in locking mode +// has no effect in running mode +#define QMI8658_REFRESH_DELAY 2000 + +// control clock gating (necessary to use data locking) +#define QMI8658_CTRL_CMD_AHB_CLOCK_GATING 0x12 + + +typedef enum { + acc_odr_norm_8000 = 0x0, + acc_odr_norm_4000, + acc_odr_norm_2000, + acc_odr_norm_1000, + acc_odr_norm_500, + acc_odr_norm_250, + acc_odr_norm_120, + acc_odr_norm_60, + acc_odr_norm_30, + acc_odr_lp_128 = 0xC, + acc_odr_lp_21, + acc_odr_lp_11, + acc_odr_lp_3, +} acc_odr_t; + +typedef enum { + gyro_odr_norm_8000 = 0x0, + gyro_odr_norm_4000, + gyro_odr_norm_2000, + gyro_odr_norm_1000, + gyro_odr_norm_500, + gyro_odr_norm_250, + gyro_odr_norm_120, + gyro_odr_norm_60, + gyro_odr_norm_30 +} gyro_odr_t; + +typedef enum { + ACC_RANGE_2G = 0x0, + ACC_RANGE_4G, + ACC_RANGE_8G, + ACC_RANGE_16G +} acc_scale_t; + +typedef enum { + GYR_RANGE_16DPS = 0x0, + GYR_RANGE_32DPS, + GYR_RANGE_64DPS, + GYR_RANGE_128DPS, + GYR_RANGE_256DPS, + GYR_RANGE_512DPS, + GYR_RANGE_1024DPS +} gyro_scale_t; + +typedef enum { + LPF_MODE_0 = 0x0, //2.66% of ODR + LPF_MODE_1 = 0x2, //3.63% of ODR + LPF_MODE_2 = 0x4, //5.39% of ODR + LPF_MODE_3 = 0x6 //13.37% of ODR +} lpf_t; + +typedef enum { + sensor_default, + sensor_power_down, + sensor_running, + sensor_locking +} sensor_state_t; + +typedef struct __IMUdata { + float x; + float y; + float z; +} IMUdata; + +extern IMUdata Accel; +extern IMUdata Gyro; + +void QMI8658_Init(void); +void QMI8658_Loop(void); +void QMI8658_transmit(uint8_t addr, uint8_t data); +uint8_t QMI8658_receive(uint8_t addr); +void QMI8658_CTRL9_Write(uint8_t command); +void QMI8658_sensor_update(); +void QMI8658_update_if_needed(); +void setAccODR(acc_odr_t odr); +void setGyroODR(gyro_odr_t odr); +void setAccScale(acc_scale_t scale); +void setGyroScale(gyro_scale_t scale); +void setAccLPF(lpf_t lpf); +void setGyroLPF(lpf_t lpf); +void setState(sensor_state_t state); +void getRawReadings(int16_t* buf); +float getAccX(); +float getAccY(); +float getAccZ(); +float getGyroX(); +float getGyroY(); +float getGyroZ(); +void getAccelerometer(void); +void getGyroscope(void); \ No newline at end of file diff --git a/firmware/eye_test/I2C_Driver.cpp b/firmware/eye_test/I2C_Driver.cpp new file mode 100644 index 0000000..19ebc27 --- /dev/null +++ b/firmware/eye_test/I2C_Driver.cpp @@ -0,0 +1,35 @@ +#include "I2C_Driver.h" + +void I2C_Init(void) { + Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN); +} + +// 寄存器地址为 8 位的 +bool I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length) +{ + Wire.beginTransmission(Driver_addr); + Wire.write(Reg_addr); + if ( Wire.endTransmission(true)){ + printf("The I2C transmission fails. - I2C Read\r\n"); + return -1; + } + Wire.requestFrom(Driver_addr, Length); + for (int i = 0; i < Length; i++) { + *Reg_data++ = Wire.read(); + } + return 0; +} +bool I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length) +{ + Wire.beginTransmission(Driver_addr); + Wire.write(Reg_addr); + for (int i = 0; i < Length; i++) { + Wire.write(*Reg_data++); + } + if ( Wire.endTransmission(true)) + { + printf("The I2C transmission fails. - I2C Write\r\n"); + return -1; + } + return 0; +} \ No newline at end of file diff --git a/firmware/eye_test/I2C_Driver.h b/firmware/eye_test/I2C_Driver.h new file mode 100644 index 0000000..a698744 --- /dev/null +++ b/firmware/eye_test/I2C_Driver.h @@ -0,0 +1,11 @@ +#pragma once +#include + +#define I2C_SCL_PIN 7 +#define I2C_SDA_PIN 15 + + +void I2C_Init(void); + +bool I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length); +bool I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length); \ No newline at end of file diff --git a/firmware/eye_test/LVGL_Driver.cpp b/firmware/eye_test/LVGL_Driver.cpp new file mode 100644 index 0000000..7c57973 --- /dev/null +++ b/firmware/eye_test/LVGL_Driver.cpp @@ -0,0 +1,102 @@ +/***************************************************************************** + | File : LVGL_Driver.c + + | help : + The provided LVGL library file must be installed first +******************************************************************************/ +#include "LVGL_Driver.h" + +lv_disp_drv_t disp_drv; + +static lv_disp_draw_buf_t draw_buf; +void* buf1 = NULL; +void* buf2 = NULL; +// static lv_color_t buf1[ LVGL_BUF_LEN ]; +// static lv_color_t buf2[ LVGL_BUF_LEN ]; +// static lv_color_t* buf1 = (lv_color_t*) heap_caps_malloc(LVGL_BUF_LEN, MALLOC_CAP_SPIRAM); +// static lv_color_t* buf2 = (lv_color_t*) heap_caps_malloc(LVGL_BUF_LEN, MALLOC_CAP_SPIRAM); + + + +/* Serial debugging */ +void Lvgl_print(const char * buf) +{ + // Serial.printf(buf); + // Serial.flush(); +} + +/* Display flushing + Displays LVGL content on the LCD + This function implements associating LVGL data to the LCD screen +*/ +void Lvgl_Display_LCD( lv_disp_drv_t *disp_drv, const lv_area_t *area, lv_color_t *color_p ) +{ + LCD_addWindow(area->x1, area->y1, area->x2, area->y2, ( uint8_t *)&color_p->full); + lv_disp_flush_ready( disp_drv ); +} +/*Read the touchpad*/ +void Lvgl_Touchpad_Read( lv_indev_drv_t * indev_drv, lv_indev_data_t * data ) +{ + Touch_Read_Data(); + if (touch_data.points != 0x00) { + data->point.x = touch_data.x; + data->point.y = touch_data.y; + data->state = LV_INDEV_STATE_PR; + printf("LVGL : X=%u Y=%u points=%d\r\n", touch_data.x , touch_data.y,touch_data.points); + } else { + data->state = LV_INDEV_STATE_REL; + } + if (touch_data.gesture != NONE ) { + } + touch_data.x = 0; + touch_data.y = 0; + touch_data.points = 0; + touch_data.gesture = NONE; +} +void example_increase_lvgl_tick(void *arg) +{ + /* Tell LVGL how many milliseconds has elapsed */ + lv_tick_inc(EXAMPLE_LVGL_TICK_PERIOD_MS); +} +void Lvgl_Init(void) +{ + lv_init(); + esp_lcd_rgb_panel_get_frame_buffer(panel_handle, 2, &buf1, &buf2); + lv_disp_draw_buf_init( &draw_buf, buf1, buf2, ESP_PANEL_LCD_WIDTH * ESP_PANEL_LCD_HEIGHT); + + /*Initialize the display*/ + lv_disp_drv_init( &disp_drv ); + /*Change the following line to your display resolution*/ + disp_drv.hor_res = LCD_HEIGHT; + disp_drv.ver_res = LCD_WIDTH; + disp_drv.flush_cb = Lvgl_Display_LCD; + disp_drv.full_refresh = 1; /**< 1: Always make the whole screen redrawn*/ + disp_drv.draw_buf = &draw_buf; + lv_disp_drv_register( &disp_drv ); + + /*Initialize the (dummy) input device driver*/ + static lv_indev_drv_t indev_drv; + lv_indev_drv_init( &indev_drv ); + indev_drv.type = LV_INDEV_TYPE_POINTER; + indev_drv.read_cb = Lvgl_Touchpad_Read; + lv_indev_drv_register( &indev_drv ); + + /* Create simple label */ + lv_obj_t *label = lv_label_create( lv_scr_act() ); + lv_label_set_text( label, "Hello Ardino and LVGL!"); + lv_obj_align( label, LV_ALIGN_CENTER, 0, 0 ); + + const esp_timer_create_args_t lvgl_tick_timer_args = { + .callback = &example_increase_lvgl_tick, + .name = "lvgl_tick" + }; + esp_timer_handle_t lvgl_tick_timer = NULL; + esp_timer_create(&lvgl_tick_timer_args, &lvgl_tick_timer); + esp_timer_start_periodic(lvgl_tick_timer, EXAMPLE_LVGL_TICK_PERIOD_MS * 1000); + +} +void Lvgl_Loop(void) +{ + lv_timer_handler(); /* let the GUI do its work */ + // vTaskDelay(pdMS_TO_TICKS(5)); +} diff --git a/firmware/eye_test/LVGL_Driver.h b/firmware/eye_test/LVGL_Driver.h new file mode 100644 index 0000000..93a3ddf --- /dev/null +++ b/firmware/eye_test/LVGL_Driver.h @@ -0,0 +1,25 @@ +#pragma once + +#include +#include "lv_conf.h" +#include +#include +#include "Display_ST7701.h" +#include "Touch_CST820.h" + +#define LCD_WIDTH ESP_PANEL_LCD_WIDTH +#define LCD_HEIGHT ESP_PANEL_LCD_HEIGHT +#define LVGL_BUF_LEN (ESP_PANEL_LCD_WIDTH * ESP_PANEL_LCD_HEIGHT / 5) + +#define EXAMPLE_LVGL_TICK_PERIOD_MS 2 + + +extern lv_disp_drv_t disp_drv; + +void Lvgl_print(const char * buf); +void Lvgl_Display_LCD( lv_disp_drv_t *disp_drv, const lv_area_t *area, lv_color_t *color_p ); // Displays LVGL content on the LCD. This function implements associating LVGL data to the LCD screen +void Lvgl_Touchpad_Read( lv_indev_drv_t * indev_drv, lv_indev_data_t * data ); // Read the touchpad +void example_increase_lvgl_tick(void *arg); + +void Lvgl_Init(void); +void Lvgl_Loop(void); diff --git a/firmware/eye_test/LVGL_Example.cpp b/firmware/eye_test/LVGL_Example.cpp new file mode 100644 index 0000000..214552c --- /dev/null +++ b/firmware/eye_test/LVGL_Example.cpp @@ -0,0 +1,620 @@ +#include "LVGL_Example.h" +// #include "LVGL_Music.h" +#include + + +/********************** + * TYPEDEFS + **********************/ +typedef enum { + DISP_SMALL, + DISP_MEDIUM, + DISP_LARGE, +} disp_size_t; + +/********************** + * STATIC PROTOTYPES + **********************/ +static void Onboard_create(lv_obj_t * parent); +static void Buzzer_create(lv_obj_t * parent); +static void Music_create(lv_obj_t * parent); +static void color_changer_create(lv_obj_t * parent); + +static void color_changer_event_cb(lv_event_t * e); +static void color_event_cb(lv_event_t * e); +static void ta_event_cb(lv_event_t * e); +static void birthday_event_cb(lv_event_t * e); +static void calendar_event_cb(lv_event_t * e); +void example1_increase_lvgl_tick(lv_timer_t * t); +/********************** + * STATIC VARIABLES + **********************/ +static disp_size_t disp_size; + +static lv_obj_t * tv; +static lv_obj_t * calendar; +lv_style_t style_text_muted; +lv_style_t style_title; +static lv_style_t style_icon; +static lv_style_t style_bullet; + +static lv_obj_t * chart1; +static lv_obj_t * chart2; +static lv_obj_t * chart3; + +static lv_chart_series_t * ser1; +static lv_chart_series_t * ser2; +static lv_chart_series_t * ser3; +static lv_chart_series_t * ser4; + +static const lv_font_t * font_large; +static const lv_font_t * font_normal; + +static lv_timer_t * auto_step_timer; +static lv_color_t original_screen_bg_color; + +static lv_timer_t * meter2_timer; + +lv_obj_t * SD_Size; +lv_obj_t * FlashSize; +lv_obj_t * BAT_Volts; +lv_obj_t * Board_angle; +lv_obj_t * RTC_Time; +lv_obj_t * Wireless_Scan; +lv_obj_t * Backlight_slider; + + +void Lvgl_Example1(void){ + + if(LV_HOR_RES <= 320) disp_size = DISP_SMALL; + else if(LV_HOR_RES < 720) disp_size = DISP_MEDIUM; + else disp_size = DISP_LARGE; + font_large = LV_FONT_DEFAULT; + font_normal = LV_FONT_DEFAULT; + + lv_coord_t tab_h; + if(disp_size == DISP_LARGE) { + tab_h = 70; + #if LV_FONT_MONTSERRAT_24 + font_large = &lv_font_montserrat_24; + #else + LV_LOG_WARN("LV_FONT_MONTSERRAT_24 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead."); + #endif + #if LV_FONT_MONTSERRAT_16 + font_normal = &lv_font_montserrat_16; + #else + LV_LOG_WARN("LV_FONT_MONTSERRAT_16 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead."); + #endif + } + else if(disp_size == DISP_MEDIUM) { + tab_h = 45; + #if LV_FONT_MONTSERRAT_20 + font_large = &lv_font_montserrat_20; + #else + LV_LOG_WARN("LV_FONT_MONTSERRAT_20 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead."); + #endif + #if LV_FONT_MONTSERRAT_14 + font_normal = &lv_font_montserrat_14; + #else + LV_LOG_WARN("LV_FONT_MONTSERRAT_14 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead."); + #endif + } + else { /* disp_size == DISP_SMALL */ + tab_h = 45; + #if LV_FONT_MONTSERRAT_18 + font_large = &lv_font_montserrat_18; + #else + LV_LOG_WARN("LV_FONT_MONTSERRAT_18 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead."); + #endif + #if LV_FONT_MONTSERRAT_12 + font_normal = &lv_font_montserrat_12; + #else + LV_LOG_WARN("LV_FONT_MONTSERRAT_12 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead."); + #endif + } // 设置字体 + + lv_style_init(&style_text_muted); + lv_style_set_text_opa(&style_text_muted, LV_OPA_90); + + lv_style_init(&style_title); + lv_style_set_text_font(&style_title, font_large); + + lv_style_init(&style_icon); + lv_style_set_text_color(&style_icon, lv_theme_get_color_primary(NULL)); + lv_style_set_text_font(&style_icon, font_large); + + lv_style_init(&style_bullet); + lv_style_set_border_width(&style_bullet, 0); + lv_style_set_radius(&style_bullet, LV_RADIUS_CIRCLE); + + tv = lv_tabview_create(lv_scr_act(), LV_DIR_TOP, tab_h); + + lv_obj_set_style_text_font(lv_scr_act(), font_normal, 0); + + if(disp_size == DISP_LARGE) { + lv_obj_t * tab_btns = lv_tabview_get_tab_btns(tv); + lv_obj_set_style_pad_left(tab_btns, LV_HOR_RES / 2, 0); + lv_obj_t * logo = lv_img_create(tab_btns); + LV_IMG_DECLARE(img_lvgl_logo); + lv_img_set_src(logo, &img_lvgl_logo); + lv_obj_align(logo, LV_ALIGN_LEFT_MID, -LV_HOR_RES / 2 + 25, 0); + + lv_obj_t * label = lv_label_create(tab_btns); + lv_obj_add_style(label, &style_title, 0); + lv_label_set_text(label, "LVGL v8"); + lv_obj_align_to(label, logo, LV_ALIGN_OUT_RIGHT_TOP, 10, 0); + + label = lv_label_create(tab_btns); + lv_label_set_text(label, "Widgets demo"); + lv_obj_add_style(label, &style_text_muted, 0); + lv_obj_align_to(label, logo, LV_ALIGN_OUT_RIGHT_BOTTOM, 10, 0); + } + + lv_obj_t * t1 = lv_tabview_add_tab(tv, "Onboard"); + // lv_obj_t * t2 = lv_tabview_add_tab(tv, "Buzzer"); + // lv_obj_t * t3 = lv_tabview_add_tab(tv, "Shop"); + + // lv_coord_t screen_width = lv_obj_get_width(lv_scr_act()); + // lv_obj_set_width(t1, screen_width); + Onboard_create(t1); + // Buzzer_create(t2); + // shop_create(t3); + + // color_changer_create(tv); +} + +static void led_event_cb(lv_event_t *e) { + lv_obj_t *led = (lv_obj_t *)lv_event_get_user_data(e); + lv_obj_t *sw = lv_event_get_target(e); + + if (lv_obj_get_state(sw) & LV_STATE_CHECKED) { + lv_led_on(led); + Set_EXIO(EXIO_PIN8,High); + } + else { + lv_led_off(led); + Set_EXIO(EXIO_PIN8,Low); + } +} +static void Buzzer_create(lv_obj_t * parent) +{ + lv_obj_t *label = lv_label_create(parent); + lv_label_set_text(label, "The buzzer tes"); + lv_obj_set_size(label, LV_PCT(30), LV_PCT(5)); + lv_obj_align(label, LV_ALIGN_CENTER, 0, -60); + lv_obj_set_style_text_align(label, LV_TEXT_ALIGN_CENTER, 0); + + + lv_obj_t *led = lv_led_create(parent); + lv_obj_set_size(led, 50, 50); + lv_obj_align(led, LV_ALIGN_CENTER, -60, 0); + lv_led_off(led); + + lv_obj_t *sw = lv_switch_create(parent); + lv_obj_align(sw, LV_ALIGN_CENTER, 60, 0); + lv_obj_add_event_cb(sw, led_event_cb, LV_EVENT_VALUE_CHANGED, led); +} +void Lvgl_Example1_close(void) +{ + /*Delete all animation*/ + lv_anim_del(NULL, NULL); + + lv_timer_del(meter2_timer); + meter2_timer = NULL; + + lv_obj_clean(lv_scr_act()); + + lv_style_reset(&style_text_muted); + lv_style_reset(&style_title); + lv_style_reset(&style_icon); + lv_style_reset(&style_bullet); +} + + +/********************** +* STATIC FUNCTIONS +**********************/ + +static void Onboard_create(lv_obj_t * parent) +{ + + /*Create a panel*/ + lv_obj_t * panel1 = lv_obj_create(parent); + lv_obj_set_height(panel1, LV_SIZE_CONTENT); + + lv_obj_t * panel1_title = lv_label_create(panel1); + lv_label_set_text(panel1_title, "Onboard parameter"); + lv_obj_add_style(panel1_title, &style_title, 0); + + lv_obj_t * SD_label = lv_label_create(panel1); + lv_label_set_text(SD_label, "SD Card"); + lv_obj_add_style(SD_label, &style_text_muted, 0); + + SD_Size = lv_textarea_create(panel1); + lv_textarea_set_one_line(SD_Size, true); + lv_textarea_set_placeholder_text(SD_Size, "SD Size"); + lv_obj_add_event_cb(SD_Size, ta_event_cb, LV_EVENT_ALL, NULL); + + lv_obj_t * Flash_label = lv_label_create(panel1); + lv_label_set_text(Flash_label, "Flash Size"); + lv_obj_add_style(Flash_label, &style_text_muted, 0); + + FlashSize = lv_textarea_create(panel1); + lv_textarea_set_one_line(FlashSize, true); + lv_textarea_set_placeholder_text(FlashSize, "Flash Size"); + lv_obj_add_event_cb(FlashSize, ta_event_cb, LV_EVENT_ALL, NULL); + + lv_obj_t * BAT_label = lv_label_create(panel1); + lv_label_set_text(BAT_label, "Battery Voltage"); + lv_obj_add_style(BAT_label, &style_text_muted, 0); + + BAT_Volts = lv_textarea_create(panel1); + lv_textarea_set_one_line(BAT_Volts, true); + lv_textarea_set_placeholder_text(BAT_Volts, "BAT Volts"); + lv_obj_add_event_cb(BAT_Volts, ta_event_cb, LV_EVENT_ALL, NULL); + + lv_obj_t * angle_label = lv_label_create(panel1); + lv_label_set_text(angle_label, "Angular deflection"); + lv_obj_add_style(angle_label, &style_text_muted, 0); + + Board_angle = lv_textarea_create(panel1); + lv_textarea_set_one_line(Board_angle, true); + lv_textarea_set_placeholder_text(Board_angle, "Board angle"); + lv_obj_add_event_cb(Board_angle, ta_event_cb, LV_EVENT_ALL, NULL); + + lv_obj_t * Time_label = lv_label_create(panel1); + lv_label_set_text(Time_label, "RTC Time"); + lv_obj_add_style(Time_label, &style_text_muted, 0); + + RTC_Time = lv_textarea_create(panel1); + lv_textarea_set_one_line(RTC_Time, true); + lv_textarea_set_placeholder_text(RTC_Time, "Display time"); + lv_obj_add_event_cb(RTC_Time, ta_event_cb, LV_EVENT_ALL, NULL); + + lv_obj_t * Wireless_label = lv_label_create(panel1); + lv_label_set_text(Wireless_label, "Wireless scan"); + lv_obj_add_style(Wireless_label, &style_text_muted, 0); + + Wireless_Scan = lv_textarea_create(panel1); + lv_textarea_set_one_line(Wireless_Scan, true); + lv_textarea_set_placeholder_text(Wireless_Scan, "Wireless number"); + lv_obj_add_event_cb(Wireless_Scan, ta_event_cb, LV_EVENT_ALL, NULL); + + lv_obj_t * Backlight_label = lv_label_create(panel1); + lv_label_set_text(Backlight_label, "Backlight brightness"); + lv_obj_add_style(Backlight_label, &style_text_muted, 0); + + Backlight_slider = lv_slider_create(panel1); + lv_obj_add_flag(Backlight_slider, LV_OBJ_FLAG_CLICKABLE); + lv_obj_set_size(Backlight_slider, 200, 35); + lv_obj_set_style_radius(Backlight_slider, 3, LV_PART_KNOB); // Adjust the value for more or less rounding + lv_obj_set_style_bg_opa(Backlight_slider, LV_OPA_TRANSP, LV_PART_KNOB); + // lv_obj_set_style_pad_all(Backlight_slider, 0, LV_PART_KNOB); + lv_obj_set_style_bg_color(Backlight_slider, lv_color_hex(0xAAAAAA), LV_PART_KNOB); + lv_obj_set_style_bg_color(Backlight_slider, lv_color_hex(0xFFFFFF), LV_PART_INDICATOR); + lv_obj_set_style_outline_width(Backlight_slider, 2, LV_PART_INDICATOR); + lv_obj_set_style_outline_color(Backlight_slider, lv_color_hex(0xD3D3D3), LV_PART_INDICATOR); + lv_slider_set_range(Backlight_slider, 5, Backlight_MAX); + lv_slider_set_value(Backlight_slider, LCD_Backlight, LV_ANIM_ON); + lv_obj_add_event_cb(Backlight_slider, Backlight_adjustment_event_cb, LV_EVENT_VALUE_CHANGED, NULL); + + lv_obj_t * panel2 = lv_obj_create(parent); + lv_obj_set_height(panel2, LV_SIZE_CONTENT); + + lv_obj_t * panel2_title = lv_label_create(panel2); + lv_label_set_text(panel2_title, "The buzzer tes"); + lv_obj_add_style(panel2_title, &style_title, 0); + + lv_obj_t *led = lv_led_create(panel2); + lv_obj_set_size(led, 50, 50); + lv_obj_align(led, LV_ALIGN_CENTER, -60, 0); + lv_led_off(led); + + lv_obj_t *sw = lv_switch_create(panel2); + lv_obj_set_size(sw, 65, 40); + lv_obj_align(sw, LV_ALIGN_CENTER, 60, 0); + lv_obj_add_event_cb(sw, led_event_cb, LV_EVENT_VALUE_CHANGED, led); + +///////////////////////////////////////////////////////// + static lv_coord_t grid_main_col_dsc[] = {LV_GRID_FR(1), LV_GRID_TEMPLATE_LAST}; + static lv_coord_t grid_main_row_dsc[] = {LV_GRID_CONTENT, LV_GRID_CONTENT, LV_GRID_TEMPLATE_LAST}; + + + /*Create the top panel*/ + static lv_coord_t grid_1_col_dsc[] = {LV_GRID_FR(4), LV_GRID_FR(1), LV_GRID_FR(1), LV_GRID_FR(1), LV_GRID_FR(4), LV_GRID_TEMPLATE_LAST}; + static lv_coord_t grid_1_row_dsc[] = { + LV_GRID_CONTENT, /*Name*/ + LV_GRID_CONTENT, /*Description*/ + LV_GRID_CONTENT, /*Email*/ + LV_GRID_CONTENT, /*Email*/ + LV_GRID_TEMPLATE_LAST + }; + + static lv_coord_t grid_2_col_dsc[] = {LV_GRID_FR(1), LV_GRID_FR(5), LV_GRID_FR(1), LV_GRID_TEMPLATE_LAST}; + static lv_coord_t grid_2_row_dsc[] = { + LV_GRID_CONTENT, /*Title*/ + 5, /*Separator*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_CONTENT, /*Box title*/ + 40, /*Box*/ + LV_GRID_TEMPLATE_LAST + }; + + + lv_obj_set_grid_dsc_array(parent, grid_main_col_dsc, grid_main_row_dsc); + + lv_obj_set_grid_cell(panel1, LV_GRID_ALIGN_STRETCH, 0, 1, LV_GRID_ALIGN_START, 0, 1); + lv_obj_set_grid_dsc_array(panel1, grid_2_col_dsc, grid_2_row_dsc); + lv_obj_set_grid_cell(panel1_title, LV_GRID_ALIGN_CENTER, 1, 1, LV_GRID_ALIGN_CENTER, 0, 1); + lv_obj_set_grid_cell(SD_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 2, 1); + lv_obj_set_grid_cell(SD_Size, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 3, 1); + lv_obj_set_grid_cell(Flash_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 4, 1); + lv_obj_set_grid_cell(FlashSize, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 5, 1); + lv_obj_set_grid_cell(BAT_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 6, 1); + lv_obj_set_grid_cell(BAT_Volts, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 7, 1); + lv_obj_set_grid_cell(angle_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 8, 1); + lv_obj_set_grid_cell(Board_angle, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 9, 1); + lv_obj_set_grid_cell(Time_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 10, 1); + lv_obj_set_grid_cell(RTC_Time, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 11, 1); + lv_obj_set_grid_cell(Wireless_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 12, 1); + lv_obj_set_grid_cell(Wireless_Scan, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 13, 1); + lv_obj_set_grid_cell(Backlight_label, LV_GRID_ALIGN_START, 1, 1, LV_GRID_ALIGN_START, 14, 1); + lv_obj_set_grid_cell(Backlight_slider, LV_GRID_ALIGN_STRETCH, 1, 1, LV_GRID_ALIGN_CENTER, 15, 1); + + lv_obj_set_grid_cell(panel2, LV_GRID_ALIGN_STRETCH, 0, 1, LV_GRID_ALIGN_STRETCH, 1, 1); + lv_obj_set_grid_dsc_array(panel2, grid_1_col_dsc, grid_1_row_dsc); + lv_obj_set_grid_cell(panel2_title, LV_GRID_ALIGN_CENTER, 2, 1, LV_GRID_ALIGN_CENTER, 0, 1); + lv_obj_set_grid_cell(led, LV_GRID_ALIGN_CENTER, 1, 1, LV_GRID_ALIGN_CENTER, 2, 1); + lv_obj_set_grid_cell(sw, LV_GRID_ALIGN_CENTER, 3, 1, LV_GRID_ALIGN_CENTER, 2, 1); + + + auto_step_timer = lv_timer_create(example1_increase_lvgl_tick, 100, NULL); +} + +void example1_increase_lvgl_tick(lv_timer_t * t) +{ + char buf[100]; + + snprintf(buf, sizeof(buf), "%d MB\r\n", SDCard_Size); + lv_textarea_set_placeholder_text(SD_Size, buf); + snprintf(buf, sizeof(buf), "%d MB\r\n", Flash_Size); + lv_textarea_set_placeholder_text(FlashSize, buf); + snprintf(buf, sizeof(buf), "%.2f V\r\n", BAT_analogVolts); + lv_textarea_set_placeholder_text(BAT_Volts, buf); + snprintf(buf, sizeof(buf), "X:%.2f Y:%.2f Z:%.2f\r\n", Accel.x, Accel.y, Accel.z); + lv_textarea_set_placeholder_text(Board_angle, buf); + snprintf(buf, sizeof(buf), "%d.%d.%d %d:%d:%d\r\n",datetime.year,datetime.month,datetime.day,datetime.hour,datetime.minute,datetime.second); + lv_textarea_set_placeholder_text(RTC_Time, buf); + if(Scan_finish) + snprintf(buf, sizeof(buf), "WIFI: %d BLE: %d ..Scan Finish.\r\n",WIFI_NUM,BLE_NUM); + else + snprintf(buf, sizeof(buf), "WIFI: %d BLE: %d\r\n",WIFI_NUM,BLE_NUM); + lv_textarea_set_placeholder_text(Wireless_Scan, buf); + lv_slider_set_value(Backlight_slider, LCD_Backlight, LV_ANIM_ON); + LVGL_Backlight_adjustment(LCD_Backlight); +} +// static void Music_create(lv_obj_t * parent) +// { +// static lv_obj_t * ctrl; +// original_screen_bg_color = lv_obj_get_style_bg_color(parent, 0); +// lv_obj_set_style_bg_color(parent, lv_color_hex(0x343247), 0); + +// ctrl = _lv_demo_music_main_create(parent); +// } +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +static void color_changer_create(lv_obj_t * parent) +{ + static lv_palette_t palette[] = { + LV_PALETTE_BLUE, LV_PALETTE_GREEN, LV_PALETTE_BLUE_GREY, LV_PALETTE_ORANGE, + LV_PALETTE_RED, LV_PALETTE_PURPLE, LV_PALETTE_TEAL, _LV_PALETTE_LAST + }; + + lv_obj_t * color_cont = lv_obj_create(parent); + lv_obj_remove_style_all(color_cont); + lv_obj_set_flex_flow(color_cont, LV_FLEX_FLOW_ROW); + lv_obj_set_flex_align(color_cont, LV_FLEX_ALIGN_SPACE_EVENLY, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER); + lv_obj_add_flag(color_cont, LV_OBJ_FLAG_FLOATING); + + lv_obj_set_style_bg_color(color_cont, lv_color_white(), 0); + lv_obj_set_style_pad_right(color_cont, disp_size == DISP_SMALL ? LV_DPX(47) : LV_DPX(55), 0); + lv_obj_set_style_bg_opa(color_cont, LV_OPA_COVER, 0); + lv_obj_set_style_radius(color_cont, LV_RADIUS_CIRCLE, 0); + + if(disp_size == DISP_SMALL) lv_obj_set_size(color_cont, LV_DPX(52), LV_DPX(52)); + else lv_obj_set_size(color_cont, LV_DPX(60), LV_DPX(60)); + + lv_obj_align(color_cont, LV_ALIGN_BOTTOM_RIGHT, - LV_DPX(10), - LV_DPX(10)); + + uint32_t i; + for(i = 0; palette[i] != _LV_PALETTE_LAST; i++) { + lv_obj_t * c = lv_btn_create(color_cont); + lv_obj_set_style_bg_color(c, lv_palette_main(palette[i]), 0); + lv_obj_set_style_radius(c, LV_RADIUS_CIRCLE, 0); + lv_obj_set_style_opa(c, LV_OPA_TRANSP, 0); + lv_obj_set_size(c, 20, 20); + lv_obj_add_event_cb(c, color_event_cb, LV_EVENT_ALL, &palette[i]); + lv_obj_clear_flag(c, LV_OBJ_FLAG_SCROLL_ON_FOCUS); + } + + lv_obj_t * btn = lv_btn_create(parent); + lv_obj_add_flag(btn, LV_OBJ_FLAG_FLOATING | LV_OBJ_FLAG_CLICKABLE); + lv_obj_set_style_bg_color(btn, lv_color_white(), LV_STATE_CHECKED); + lv_obj_set_style_pad_all(btn, 10, 0); + lv_obj_set_style_radius(btn, LV_RADIUS_CIRCLE, 0); + lv_obj_add_event_cb(btn, color_changer_event_cb, LV_EVENT_ALL, color_cont); + lv_obj_set_style_shadow_width(btn, 0, 0); + lv_obj_set_style_bg_img_src(btn, LV_SYMBOL_TINT, 0); + + if(disp_size == DISP_SMALL) { + lv_obj_set_size(btn, LV_DPX(42), LV_DPX(42)); + lv_obj_align(btn, LV_ALIGN_BOTTOM_RIGHT, -LV_DPX(15), -LV_DPX(15)); + } + else { + lv_obj_set_size(btn, LV_DPX(50), LV_DPX(50)); + lv_obj_align(btn, LV_ALIGN_BOTTOM_RIGHT, -LV_DPX(15), -LV_DPX(15)); + } +} + +static void color_changer_anim_cb(void * var, int32_t v) +{ + lv_obj_t * obj =(lv_obj_t *) var; + lv_coord_t max_w = lv_obj_get_width(lv_obj_get_parent(obj)) - LV_DPX(20); + lv_coord_t w; + + if(disp_size == DISP_SMALL) { + w = lv_map(v, 0, 256, LV_DPX(52), max_w); + lv_obj_set_width(obj, w); + lv_obj_align(obj, LV_ALIGN_BOTTOM_RIGHT, - LV_DPX(10), - LV_DPX(10)); + } + else { + w = lv_map(v, 0, 256, LV_DPX(60), max_w); + lv_obj_set_width(obj, w); + lv_obj_align(obj, LV_ALIGN_BOTTOM_RIGHT, - LV_DPX(10), - LV_DPX(10)); + } + + if(v > LV_OPA_COVER) v = LV_OPA_COVER; + + uint32_t i; + for(i = 0; i < lv_obj_get_child_cnt(obj); i++) { + lv_obj_set_style_opa(lv_obj_get_child(obj, i), v, 0); + } + +} + +static void color_changer_event_cb(lv_event_t * e) +{ + if(lv_event_get_code(e) == LV_EVENT_CLICKED) { + lv_obj_t * color_cont = (lv_obj_t *)lv_event_get_user_data(e); + if(lv_obj_get_width(color_cont) < LV_HOR_RES / 2) { + lv_anim_t a; + lv_anim_init(&a); + lv_anim_set_var(&a, color_cont); + lv_anim_set_exec_cb(&a, color_changer_anim_cb); + lv_anim_set_values(&a, 0, 256); + lv_anim_set_time(&a, 200); + lv_anim_start(&a); + } + else { + lv_anim_t a; + lv_anim_init(&a); + lv_anim_set_var(&a, color_cont); + lv_anim_set_exec_cb(&a, color_changer_anim_cb); + lv_anim_set_values(&a, 256, 0); + lv_anim_set_time(&a, 200); + lv_anim_start(&a); + } + } +} +static void color_event_cb(lv_event_t * e) +{ + lv_event_code_t code = lv_event_get_code(e); + lv_obj_t * obj = lv_event_get_target(e); + + if(code == LV_EVENT_FOCUSED) { + lv_obj_t * color_cont = lv_obj_get_parent(obj); + if(lv_obj_get_width(color_cont) < LV_HOR_RES / 2) { + lv_anim_t a; + lv_anim_init(&a); + lv_anim_set_var(&a, color_cont); + lv_anim_set_exec_cb(&a, color_changer_anim_cb); + lv_anim_set_values(&a, 0, 256); + lv_anim_set_time(&a, 200); + lv_anim_start(&a); + } + } + else if(code == LV_EVENT_CLICKED) { + lv_palette_t * palette_primary = (lv_palette_t *)lv_event_get_user_data(e); + lv_palette_t palette_secondary =(lv_palette_t) ((*palette_primary) + 3); /*Use another palette as secondary*/ + if(palette_secondary >= _LV_PALETTE_LAST) palette_secondary =(lv_palette_t)(0); +#if LV_USE_THEME_DEFAULT + lv_theme_default_init(NULL, lv_palette_main(*palette_primary), lv_palette_main(palette_secondary), + LV_THEME_DEFAULT_DARK, font_normal); +#endif + lv_color_t color = lv_palette_main(*palette_primary); + lv_style_set_text_color(&style_icon, color); + lv_chart_set_series_color(chart1, ser1, color); + lv_chart_set_series_color(chart2, ser3, color); + } +} + + + +static void ta_event_cb(lv_event_t * e) +{ +} + +static void birthday_event_cb(lv_event_t * e) +{ + lv_event_code_t code = lv_event_get_code(e); + lv_obj_t * ta = lv_event_get_target(e); + + if(code == LV_EVENT_FOCUSED) { + if(lv_indev_get_type(lv_indev_get_act()) == LV_INDEV_TYPE_POINTER) { + if(calendar == NULL) { + lv_obj_add_flag(lv_layer_top(), LV_OBJ_FLAG_CLICKABLE); + calendar = lv_calendar_create(lv_layer_top()); + lv_obj_set_style_bg_opa(lv_layer_top(), LV_OPA_50, 0); + lv_obj_set_style_bg_color(lv_layer_top(), lv_palette_main(LV_PALETTE_GREY), 0); + if(disp_size == DISP_SMALL) lv_obj_set_size(calendar, 180, 200); + else if(disp_size == DISP_MEDIUM) lv_obj_set_size(calendar, 200, 220); + else lv_obj_set_size(calendar, 300, 330); + lv_calendar_set_showed_date(calendar, 1990, 01); + lv_obj_align(calendar, LV_ALIGN_CENTER, 0, 30); + lv_obj_add_event_cb(calendar, calendar_event_cb, LV_EVENT_ALL, ta); + + lv_calendar_header_dropdown_create(calendar); + } + } + } +} + + +static void calendar_event_cb(lv_event_t * e) +{ + lv_event_code_t code = lv_event_get_code(e); + lv_obj_t * ta = (lv_obj_t *)lv_event_get_user_data(e); + lv_obj_t * obj = (lv_obj_t *)lv_event_get_current_target(e); + if(code == LV_EVENT_VALUE_CHANGED) { + lv_calendar_date_t d; + lv_calendar_get_pressed_date(obj, &d); + char buf[32]; + lv_snprintf(buf, sizeof(buf), "%02d.%02d.%d", d.day, d.month, d.year); + lv_textarea_set_text(ta, buf); + + lv_obj_del(calendar); + calendar = NULL; + lv_obj_clear_flag(lv_layer_top(), LV_OBJ_FLAG_CLICKABLE); + lv_obj_set_style_bg_opa(lv_layer_top(), LV_OPA_TRANSP, 0); + } +} + +void Backlight_adjustment_event_cb(lv_event_t * e) { + uint8_t Backlight = lv_slider_get_value(lv_event_get_target(e)); + if (Backlight >= 0 && Backlight <= Backlight_MAX) { + lv_slider_set_value(Backlight_slider, Backlight, LV_ANIM_ON); + LCD_Backlight = Backlight; + LVGL_Backlight_adjustment(Backlight); + } + else + printf("Backlight out of range: %d\n", Backlight); + +} + +void LVGL_Backlight_adjustment(uint8_t Backlight) { + Set_Backlight(Backlight); +} + + + diff --git a/firmware/eye_test/LVGL_Example.h b/firmware/eye_test/LVGL_Example.h new file mode 100644 index 0000000..2d4edf2 --- /dev/null +++ b/firmware/eye_test/LVGL_Example.h @@ -0,0 +1,16 @@ +#pragma once + +#include "LVGL_Driver.h" +#include "Gyro_QMI8658.h" +#include "RTC_PCF85063.h" +#include "SD_Card.h" +#include "Wireless.h" +#include "BAT_Driver.h" +#include "Display_ST7701.h" + +#define EXAMPLE1_LVGL_TICK_PERIOD_MS 1000 + +void Backlight_adjustment_event_cb(lv_event_t * e); +void LVGL_Backlight_adjustment(uint8_t Backlight); + +void Lvgl_Example1(void); \ No newline at end of file diff --git a/firmware/eye_test/OtaService.cpp b/firmware/eye_test/OtaService.cpp new file mode 100644 index 0000000..aff8eb2 --- /dev/null +++ b/firmware/eye_test/OtaService.cpp @@ -0,0 +1,168 @@ +#include "OtaService.h" + +#include +#include "WiFi.h" +#include "WebServer.h" +#include "Update.h" +#include "esp_ota_ops.h" +#include "esp_system.h" +#include "mbedtls/sha256.h" +#include "../shared/OtaAuth.h" +#include "../shared/OtaSecrets.h" + +#ifndef EYE_BOARD_NUMBER +#define EYE_BOARD_NUMBER 1 +#endif + +namespace { +constexpr uint16_t kPort = 3232; +#if EYE_BOARD_NUMBER == 2 +constexpr char kDevice[] = "eye-2"; +constexpr char kImageTarget[] = "FREDDY_OTA_TARGET:eye-2"; +#else +constexpr char kDevice[] = "eye-1"; +constexpr char kImageTarget[] = "FREDDY_OTA_TARGET:eye-1"; +#endif +WebServer server(kPort); +char nonce[33] = {}; +char expected_sha[65] = {}; +uint32_t nonce_time = 0; +uint32_t retry_time = 0; +uint32_t status_time = 0; +uint32_t restart_time = 0; +size_t expected_length = 0; +bool listening = false; +bool upload_ok = false; +bool upload_started = false; +mbedtls_sha256_context sha_context; + +void new_nonce() { + uint8_t random_bytes[16]; + esp_fill_random(random_bytes, sizeof(random_bytes)); + freddy_ota::to_hex(random_bytes, sizeof(random_bytes), nonce); + nonce_time = millis(); +} + +void send_info() { + new_nonce(); + const esp_partition_t *slot = esp_ota_get_next_update_partition(nullptr); + const esp_partition_t *running = esp_ota_get_running_partition(); + char body[180]; + snprintf(body, sizeof(body), + "{\"device\":\"%s\",\"nonce\":\"%s\",\"slot_bytes\":%u,\"running_slot\":%d}", + kDevice, nonce, slot ? static_cast(slot->size) : 0, + running ? static_cast(running->subtype) - ESP_PARTITION_SUBTYPE_APP_OTA_0 : -1); + server.send(200, "application/json", body); +} + +void handle_raw() { + HTTPRaw &raw = server.raw(); + if (raw.status == RAW_START) { + upload_ok = false; + upload_started = false; + const String length_text = server.header("Content-Length"); + const String nonce_text = server.header("X-Freddy-Nonce"); + const String sha_text = server.header("X-Freddy-SHA256"); + const String signature = server.header("X-Freddy-Signature"); + char *end = nullptr; + const unsigned long parsed = strtoul(length_text.c_str(), &end, 10); + const esp_partition_t *slot = esp_ota_get_next_update_partition(nullptr); + if (!slot || !end || *end || !parsed || parsed > slot->size || + millis() - nonce_time > 60000 || nonce_text != nonce || + !freddy_ota::verify(FREDDY_OTA_KEY, kDevice, nonce, + sha_text.c_str(), parsed, signature.c_str())) return; + expected_length = parsed; + memcpy(expected_sha, sha_text.c_str(), 65); + nonce[0] = 0; // One use, even when the transfer fails. + if (!Update.begin(expected_length)) return; + mbedtls_sha256_init(&sha_context); + if (mbedtls_sha256_starts(&sha_context, 0) != 0) { + Update.abort(); + mbedtls_sha256_free(&sha_context); + return; + } + upload_started = true; + } else if (raw.status == RAW_WRITE && upload_started) { + if (Update.write(raw.buf, raw.currentSize) != raw.currentSize || + mbedtls_sha256_update(&sha_context, raw.buf, raw.currentSize) != 0) { + Update.abort(); + mbedtls_sha256_free(&sha_context); + upload_started = false; + } + } else if (raw.status == RAW_END && upload_started) { + uint8_t digest[32] = {}; + char actual[65]; + const bool hash_ok = + raw.totalSize == expected_length && + mbedtls_sha256_finish(&sha_context, digest) == 0; + mbedtls_sha256_free(&sha_context); + freddy_ota::to_hex(digest, sizeof(digest), actual); + upload_ok = hash_ok && + freddy_ota::constant_time_equal(actual, expected_sha, 64); + if (upload_ok) upload_ok = Update.end(); + else Update.abort(); + upload_started = false; + } else if (raw.status == RAW_ABORTED && upload_started) { + Update.abort(); + mbedtls_sha256_free(&sha_context); + upload_started = false; + } +} + +void finish_upload() { + if (upload_ok) { + server.send(200, "application/json", "{\"ok\":true}"); + restart_time = millis() + 1000; + } else { + server.send(400, "application/json", "{\"ok\":false}"); + } +} +} // namespace + +void OtaService_Begin() { + if (!FREDDY_WIFI_SSID[0] || strlen(FREDDY_OTA_KEY) < 32) { + Serial.println("OTA_DISABLED: configure firmware/private/ first"); + return; + } + const char *headers[] = { + "Content-Length", "X-Freddy-Nonce", "X-Freddy-SHA256", + "X-Freddy-Signature"}; + server.collectHeaders(headers, 4); + server.on("/ota/info", HTTP_GET, send_info); + server.on("/ota", HTTP_POST, finish_upload, handle_raw); + WiFi.mode(WIFI_STA); + WiFi.setHostname(EYE_BOARD_NUMBER == 2 ? "freddy-eye-2" : "freddy-eye-1"); + WiFi.setSleep(false); + WiFi.begin(FREDDY_WIFI_SSID, FREDDY_WIFI_PASSWORD); + retry_time = millis(); +} + +void OtaService_Loop() { + if (!FREDDY_WIFI_SSID[0] || strlen(FREDDY_OTA_KEY) < 32) return; + if (restart_time && static_cast(millis() - restart_time) >= 0) + ESP.restart(); + if (millis() - status_time >= 10000) { + status_time = millis(); + if (Serial) Serial.printf("OTA_WIFI device=%s status=%d ip=%s\n", + kDevice, WiFi.status(), + WiFi.localIP().toString().c_str()); + } + if (WiFi.status() != WL_CONNECTED) { + if (listening) { + server.stop(); + listening = false; + } + if (millis() - retry_time > 10000) { + WiFi.reconnect(); + retry_time = millis(); + } + return; + } + if (!listening) { + server.begin(); + listening = true; + Serial.printf("OTA_READY device=%s image=%s ip=%s port=%u\n", + kDevice, kImageTarget, WiFi.localIP().toString().c_str(), kPort); + } + server.handleClient(); +} diff --git a/firmware/eye_test/OtaService.h b/firmware/eye_test/OtaService.h new file mode 100644 index 0000000..f1ce84e --- /dev/null +++ b/firmware/eye_test/OtaService.h @@ -0,0 +1,4 @@ +#pragma once + +void OtaService_Begin(); +void OtaService_Loop(); diff --git a/firmware/eye_test/RTC_PCF85063.cpp b/firmware/eye_test/RTC_PCF85063.cpp new file mode 100644 index 0000000..fb8164e --- /dev/null +++ b/firmware/eye_test/RTC_PCF85063.cpp @@ -0,0 +1,229 @@ +#include "RTC_PCF85063.h" + +datetime_t datetime= {0}; + +static uint8_t decToBcd(int val); +static int bcdToDec(uint8_t val); + +const unsigned char MonthStr[12][4] = {"Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov","Dec"}; + +/****************************************************************************** +function: PCF85063 initialized +parameter: + +Info:Initiate Normal Mode, RTC Run, NO reset, No correction , 24hr format, Internal load capacitane 12.5pf +******************************************************************************/ +void PCF85063_Init() +{ + uint8_t Value = RTC_CTRL_1_DEFAULT|RTC_CTRL_1_CAP_SEL; + + I2C_Write(PCF85063_ADDRESS, RTC_CTRL_1_ADDR, &Value, 1); + I2C_Read(PCF85063_ADDRESS, RTC_CTRL_1_ADDR, &Value, 1); + if(Value & RTC_CTRL_1_STOP) + printf("PCF85063 failed to be initialized.state :%d\r\n",Value); + else + printf("PCF85063 is running,state :%d\r\n",Value); + + // datetime_t Now_datetime= {0}; + // Now_datetime.year = 2024; + // Now_datetime.month = 9; + // Now_datetime.day = 20; + // Now_datetime.dotw = 5; + // Now_datetime.hour = 9; + // Now_datetime.minute = 50; + // Now_datetime.second = 0; + // PCF85063_Set_All(Now_datetime); +} + +void RTC_Loop(void) +{ + PCF85063_Read_Time(&datetime); +} +/****************************************************************************** +function: Reset PCF85063 +parameter: +Info: +******************************************************************************/ +void PCF85063_Reset() +{ + uint8_t Value = RTC_CTRL_1_DEFAULT|RTC_CTRL_1_CAP_SEL|RTC_CTRL_1_SR; + esp_err_t ret = I2C_Write(PCF85063_ADDRESS, RTC_CTRL_1_ADDR, &Value, 1); + if(ret != ESP_OK) + printf("PCF85063 : Reset failure\r\n"); +} +/****************************************************************************** +function: Set Time +parameter: +Info: +******************************************************************************/ +void PCF85063_Set_Time(datetime_t time) +{ + uint8_t buf[3] = {decToBcd(time.second), + decToBcd(time.minute), + decToBcd(time.hour)}; + esp_err_t ret = I2C_Write(PCF85063_ADDRESS, RTC_SECOND_ADDR, buf, sizeof(buf)); + if(ret != ESP_OK) + printf("PCF85063 : Time setting failure\r\n"); +} + +/****************************************************************************** +function: Set Date +parameter: +Info: +******************************************************************************/ +void PCF85063_Set_Date(datetime_t date) +{ + uint8_t buf[4] = {decToBcd(date.day), + decToBcd(date.dotw), + decToBcd(date.month), + decToBcd(date.year - YEAR_OFFSET)}; + esp_err_t ret = I2C_Write(PCF85063_ADDRESS, RTC_DAY_ADDR, buf, sizeof(buf)); + if(ret != ESP_OK) + printf("PCF85063 : Date setting failed\r\n"); +} + +/****************************************************************************** +function: Set Time And Date +parameter: +Info: +******************************************************************************/ +void PCF85063_Set_All(datetime_t time) +{ + uint8_t buf[7] = {decToBcd(time.second), + decToBcd(time.minute), + decToBcd(time.hour), + decToBcd(time.day), + decToBcd(time.dotw), + decToBcd(time.month), + decToBcd(time.year - YEAR_OFFSET)}; + esp_err_t ret = I2C_Write(PCF85063_ADDRESS, RTC_SECOND_ADDR, buf, sizeof(buf)); + if(ret != ESP_OK) + printf("PCF85063 : Failed to set the date and time\r\n"); +} + +/****************************************************************************** +function: Read Time And Date +parameter: +Info: +******************************************************************************/ +void PCF85063_Read_Time(datetime_t *time) +{ + uint8_t buf[7] = {0}; + esp_err_t ret = I2C_Read(PCF85063_ADDRESS, RTC_SECOND_ADDR, buf, sizeof(buf)); + if(ret != ESP_OK) + printf("PCF85063 : Time read failure\r\n"); + else{ + time->second = bcdToDec(buf[0] & 0x7F); + time->minute = bcdToDec(buf[1] & 0x7F); + time->hour = bcdToDec(buf[2] & 0x3F); + time->day = bcdToDec(buf[3] & 0x3F); + time->dotw = bcdToDec(buf[4] & 0x07); + time->month = bcdToDec(buf[5] & 0x1F); + time->year = bcdToDec(buf[6]) + YEAR_OFFSET; + } +} + +/****************************************************************************** +function: Enable Alarm and Clear Alarm flag +parameter: +Info: +******************************************************************************/ +void PCF85063_Enable_Alarm() +{ + uint8_t Value = RTC_CTRL_2_DEFAULT | RTC_CTRL_2_AIE; + Value &= ~RTC_CTRL_2_AF; + esp_err_t ret = I2C_Write(PCF85063_ADDRESS, RTC_CTRL_2_ADDR, &Value, 1); + if(ret != ESP_OK) + printf("PCF85063 : Failed to enable Alarm Flag and Clear Alarm Flag \r\n"); +} + +/****************************************************************************** +function: Get Alarm flag +parameter: +Info: +******************************************************************************/ +uint8_t PCF85063_Get_Alarm_Flag() +{ + uint8_t Value = 0; + esp_err_t ret = I2C_Read(PCF85063_ADDRESS, RTC_CTRL_2_ADDR, &Value, 1); + if(ret != ESP_OK) + printf("PCF85063 : Failed to obtain a warning flag.\r\n"); + else + Value &= RTC_CTRL_2_AF | RTC_CTRL_2_AIE; + //printf("Value = 0x%x",Value); + return Value; +} + +/****************************************************************************** +function: Set Alarm +parameter: +Info: +******************************************************************************/ +void PCF85063_Set_Alarm(datetime_t time) +{ + + uint8_t buf[5] ={ + decToBcd(time.second)&(~RTC_ALARM), + decToBcd(time.minute)&(~RTC_ALARM), + decToBcd(time.hour)&(~RTC_ALARM), + //decToBcd(time.day)&(~RTC_ALARM), + //decToBcd(time.dotw)&(~RTC_ALARM) + RTC_ALARM, //disalbe day + RTC_ALARM //disalbe weekday + }; + esp_err_t ret = I2C_Write(PCF85063_ADDRESS, RTC_SECOND_ALARM, buf, sizeof(buf)); + if(ret != ESP_OK) + printf("PCF85063 : Failed to set alarm flag\r\n"); +} + +/****************************************************************************** +function: Read Alarm +parameter: +Info: +******************************************************************************/ +void PCF85063_Read_Alarm(datetime_t *time) +{ + uint8_t buf[5] = {0}; + esp_err_t ret = I2C_Read(PCF85063_ADDRESS, RTC_SECOND_ALARM, buf, sizeof(buf)); + if(ret != ESP_OK) + printf("PCF85063 : Failed to read the alarm sign\r\n"); + else{ + time->second = bcdToDec(buf[0] & 0x7F); + time->minute = bcdToDec(buf[1] & 0x7F); + time->hour = bcdToDec(buf[2] & 0x3F); + time->day = bcdToDec(buf[3] & 0x3F); + time->dotw = bcdToDec(buf[4] & 0x07); + } +} + + +/****************************************************************************** +function: Convert normal decimal numbers to binary coded decimal +parameter: +Info: +******************************************************************************/ +static uint8_t decToBcd(int val) +{ + return (uint8_t)((val / 10 * 16) + (val % 10)); +} + +/****************************************************************************** +function: Convert binary coded decimal to normal decimal numbers +parameter: +Info: +******************************************************************************/ +static int bcdToDec(uint8_t val) +{ + return (int)((val / 16 * 10) + (val % 16)); +} + +/****************************************************************************** +function: +parameter: +Info: +******************************************************************************/ +void datetime_to_str(char *datetime_str,datetime_t time) +{ + sprintf(datetime_str, " %d.%d.%d %d %d:%d:%d ", time.year, time.month, + time.day, time.dotw, time.hour, time.minute, time.second); +} \ No newline at end of file diff --git a/firmware/eye_test/RTC_PCF85063.h b/firmware/eye_test/RTC_PCF85063.h new file mode 100644 index 0000000..41203ea --- /dev/null +++ b/firmware/eye_test/RTC_PCF85063.h @@ -0,0 +1,102 @@ +#pragma once + +#include "I2C_Driver.h" + + +//PCF85063_ADDRESS +#define PCF85063_ADDRESS (0x51) +// +#define YEAR_OFFSET (1970) +// registar overview - crtl & status reg +#define RTC_CTRL_1_ADDR (0x00) +#define RTC_CTRL_2_ADDR (0x01) +#define RTC_OFFSET_ADDR (0x02) +#define RTC_RAM_by_ADDR (0x03) +// registar overview - time & data reg +#define RTC_SECOND_ADDR (0x04) +#define RTC_MINUTE_ADDR (0x05) +#define RTC_HOUR_ADDR (0x06) +#define RTC_DAY_ADDR (0x07) +#define RTC_WDAY_ADDR (0x08) +#define RTC_MONTH_ADDR (0x09) +#define RTC_YEAR_ADDR (0x0A) // years 0-99; calculate real year = 1970 + RCC reg year +// registar overview - alarm reg +#define RTC_SECOND_ALARM (0x0B) +#define RTC_MINUTE_ALARM (0x0C) +#define RTC_HOUR_ALARM (0x0D) +#define RTC_DAY_ALARM (0x0E) +#define RTC_WDAY_ALARM (0x0F) +// registar overview - timer reg +#define RTC_TIMER_VAL (0x10) +#define RTC_TIMER_MODE (0x11) + +//RTC_CTRL_1 registar +#define RTC_CTRL_1_EXT_TEST (0x80) +#define RTC_CTRL_1_STOP (0x20) //0-RTC clock runs 1- RTC clock is stopped +#define RTC_CTRL_1_SR (0X10) //0-no software reset 1-initiate software rese +#define RTC_CTRL_1_CIE (0X04) //0-no correction interrupt generated 1-interrupt pulses are generated at every correction cycle +#define RTC_CTRL_1_12_24 (0X02) //0-24H 1-12H +#define RTC_CTRL_1_CAP_SEL (0X01) //0-7PF 1-12.5PF + +//RTC_CTRL_2 registar +#define RTC_CTRL_2_AIE (0X80) //alarm interrupt 0-disalbe 1-enable +#define RTC_CTRL_2_AF (0X40) //alarm flag 0-inactive/cleared 1-active/unchanged +#define RTC_CTRL_2_MI (0X20) //minute interrupt 0-disalbe 1-enable +#define RTC_CTRL_2_HMI (0X10) //half minute interrupt +#define RTC_CTRL_2_TF (0X08) + +// +#define RTC_OFFSET_MODE (0X80) + +// +#define RTC_TIMER_MODE_TE (0X04) //timer enable 0-disalbe 1-enable +#define RTC_TIMER_MODE_TIE (0X02) //timer interrupt enable 0-disalbe 1-enable +#define RTC_TIMER_MODE_TI_TP (0X01) //timer interrupt mode 0-interrupt follows timer flag 1-interrupt generates a pulse + +// format +#define RTC_ALARM (0x80) // set AEN_x registers +#define RTC_CTRL_1_DEFAULT (0x00) +#define RTC_CTRL_2_DEFAULT (0x00) + +#define RTC_TIMER_FLAG (0x08) + +typedef struct { + uint16_t year; + uint8_t month; + uint8_t day; + uint8_t dotw; + uint8_t hour; + uint8_t minute; + uint8_t second; +}datetime_t; + + +extern datetime_t datetime; + +void PCF85063_Init(void); +void RTC_Loop(void); +void PCF85063_Reset(void); + +void PCF85063_Set_Time(datetime_t time); +void PCF85063_Set_Date(datetime_t date); +void PCF85063_Set_All(datetime_t time); + +void PCF85063_Read_Time(datetime_t *time); + + +void PCF85063_Enable_Alarm(void); +uint8_t PCF85063_Get_Alarm_Flag(); +void PCF85063_Set_Alarm(datetime_t time); +void PCF85063_Read_Alarm(datetime_t *time); + +void datetime_to_str(char *datetime_str,datetime_t time); + + +// weekday format +// 0 - sunday +// 1 - monday +// 2 - tuesday +// 3 - wednesday +// 4 - thursday +// 5 - friday +// 6 - saturday \ No newline at end of file diff --git a/firmware/eye_test/SD_Card.cpp b/firmware/eye_test/SD_Card.cpp new file mode 100644 index 0000000..0918fb8 --- /dev/null +++ b/firmware/eye_test/SD_Card.cpp @@ -0,0 +1,122 @@ +#include "SD_Card.h" + +bool SDCard_Flag; +bool SDCard_Finish; + +uint16_t SDCard_Size; +uint16_t Flash_Size; + +void SD_D3_Dis(){ + Set_EXIO(EXIO_PIN4,Low); + vTaskDelay(pdMS_TO_TICKS(10)); +} +void SD_D3_EN(){ + Set_EXIO(EXIO_PIN4,High); + vTaskDelay(pdMS_TO_TICKS(10)); +} +void SD_Init() { + // SD MMC + if(!SD_MMC.setPins(SD_CLK_PIN, SD_CMD_PIN, SD_D0_PIN,-1,-1,-1)){ + printf("SD MMC: Pin change failed!\r\n"); + return; + } + SD_D3_EN(); + if (SD_MMC.begin("/sdcard", true, true)) { // "/sdcard", true, true or "/sdcard", true, false + printf("SD card initialization successful!\r\n"); + } else { + printf("SD card initialization failed!\r\n"); + } + uint8_t cardType = SD_MMC.cardType(); + if(cardType == CARD_NONE){ + printf("No SD card attached\r\n"); + return; + } + else{ + printf("SD Card Type: "); + if(cardType == CARD_MMC){ + printf("MMC\r\n"); + } else if(cardType == CARD_SD){ + printf("SDSC\r\n"); + } else if(cardType == CARD_SDHC){ + printf("SDHC\r\n"); + } else { + printf("UNKNOWN\r\n"); + } + uint64_t totalBytes = SD_MMC.totalBytes(); + uint64_t usedBytes = SD_MMC.usedBytes(); + SDCard_Size = totalBytes/(1024*1024); + printf("Total space: %llu\n", totalBytes); + printf("Used space: %llu\n", usedBytes); + printf("Free space: %llu\n", totalBytes - usedBytes); + } +} +bool File_Search(const char* directory, const char* fileName) +{ + File Path = SD_MMC.open(directory); + if (!Path) { + printf("Path: <%s> does not exist\r\n",directory); + return false; + } + File file = Path.openNextFile(); + while (file) { + if (strcmp(file.name(), fileName) == 0) { + if (strcmp(directory, "/") == 0) + printf("File '%s%s' found in root directory.\r\n",directory,fileName); + else + printf("File '%s/%s' found in root directory.\r\n",directory,fileName); + Path.close(); + return true; + } + file = Path.openNextFile(); + } + if (strcmp(directory, "/") == 0) + printf("File '%s%s' not found in root directory.\r\n",directory,fileName); + else + printf("File '%s/%s' not found in root directory.\r\n",directory,fileName); + Path.close(); + return false; +} +uint16_t Folder_retrieval(const char* directory, const char* fileExtension, char File_Name[][100],uint16_t maxFiles) +{ + File Path = SD_MMC.open(directory); + if (!Path) { + printf("Path: <%s> does not exist\r\n",directory); + return false; + } + + uint16_t fileCount = 0; + char filePath[100]; + File file = Path.openNextFile(); + while (file && fileCount < maxFiles) { + if (!file.isDirectory() && strstr(file.name(), fileExtension)) { + strncpy(File_Name[fileCount], file.name(), sizeof(File_Name[fileCount])); + if (strcmp(directory, "/") == 0) { + snprintf(filePath, 100, "%s%s", directory, file.name()); + } else { + snprintf(filePath, 100, "%s/%s", directory, file.name()); + } + printf("File found: %s\r\n", filePath); + fileCount++; + } + file = Path.openNextFile(); + } + Path.close(); + if (fileCount > 0) { + printf("Retrieved %d mp3 files\r\n",fileCount); + return fileCount; + } else { + printf("No files with extension '%s' found in directory: %s\r\n", fileExtension, directory); + return 0; + } +} + +void Flash_test() +{ + printf("/********** RAM Test**********/\r\n"); + // Get Flash size + uint32_t flashSize = ESP.getFlashChipSize(); + Flash_Size = flashSize/1024/1024; + printf("Flash size: %d MB \r\n", flashSize/1024/1024); + + printf("/******* RAM Test Over********/\r\n\r\n"); +} \ No newline at end of file diff --git a/firmware/eye_test/SD_Card.h b/firmware/eye_test/SD_Card.h new file mode 100644 index 0000000..86a1b04 --- /dev/null +++ b/firmware/eye_test/SD_Card.h @@ -0,0 +1,20 @@ +#pragma once +#include "Arduino.h" +#include +#include "FS.h" +#include "SD_MMC.h" + +#include "TCA9554PWR.h" + +#define SD_CLK_PIN 2 +#define SD_CMD_PIN 1 +#define SD_D0_PIN 42 + +extern uint16_t SDCard_Size; +extern uint16_t Flash_Size; + +void SD_Init(); +void Flash_test(); + +bool File_Search(const char* directory, const char* fileName); +uint16_t Folder_retrieval(const char* directory, const char* fileExtension, char File_Name[][100],uint16_t maxFiles); diff --git a/firmware/eye_test/TCA9554PWR.cpp b/firmware/eye_test/TCA9554PWR.cpp new file mode 100644 index 0000000..8411f88 --- /dev/null +++ b/firmware/eye_test/TCA9554PWR.cpp @@ -0,0 +1,96 @@ +#include "TCA9554PWR.h" + +/***************************************************** Operation register REG ****************************************************/ +uint8_t I2C_Read_EXIO(uint8_t REG) // Read the value of the TCA9554PWR register REG +{ + Wire.beginTransmission(TCA9554_ADDRESS); + Wire.write(REG); + uint8_t result = Wire.endTransmission(); + if (result != 0) { + printf("The I2C transmission fails. - I2C Read EXIO\r\n"); + } + Wire.requestFrom(TCA9554_ADDRESS, 1); + uint8_t bitsStatus; + if (Wire.available()) { + bitsStatus = Wire.read(); + } + return bitsStatus; +} +uint8_t I2C_Write_EXIO(uint8_t REG,uint8_t Data) // Write Data to the REG register of the TCA9554PWR +{ + Wire.beginTransmission(TCA9554_ADDRESS); + Wire.write(REG); + Wire.write(Data); + uint8_t result = Wire.endTransmission(); + if (result != 0) { + printf("The I2C transmission fails. - I2C Write EXIO\r\n"); + return -1; + } + return 0; +} +/********************************************************** Set EXIO mode **********************************************************/ +void Mode_EXIO(uint8_t Pin,uint8_t State) // Set the mode of the TCA9554PWR Pin. The default is Output mode (output mode or input mode). State: 0= Output mode 1= input mode +{ + uint8_t bitsStatus = I2C_Read_EXIO(TCA9554_CONFIG_REG); + uint8_t Data = (0x01 << (Pin-1)) | bitsStatus; + uint8_t result = I2C_Write_EXIO(TCA9554_CONFIG_REG,Data); + if (result != 0) { + printf("I/O Configuration Failure !!!\r\n"); + } +} +void Mode_EXIOS(uint8_t PinState) // Set the mode of the 7 pins from the TCA9554PWR with PinState +{ + uint8_t result = I2C_Write_EXIO(TCA9554_CONFIG_REG,PinState); + if (result != 0) { + printf("I/O Configuration Failure !!!\r\n"); + } +} +/********************************************************** Read EXIO status **********************************************************/ +uint8_t Read_EXIO(uint8_t Pin) // Read the level of the TCA9554PWR Pin +{ + uint8_t inputBits = I2C_Read_EXIO(TCA9554_INPUT_REG); + uint8_t bitStatus = (inputBits >> (Pin-1)) & 0x01; + return bitStatus; +} +uint8_t Read_EXIOS(uint8_t REG = TCA9554_INPUT_REG) // Read the level of all pins of TCA9554PWR, the default read input level state, want to get the current IO output state, pass the parameter TCA9554_OUTPUT_REG, such as Read_EXIOS(TCA9554_OUTPUT_REG); +{ + uint8_t inputBits = I2C_Read_EXIO(REG); + return inputBits; +} + +/********************************************************** Set the EXIO output status **********************************************************/ +void Set_EXIO(uint8_t Pin,uint8_t State) // Sets the level state of the Pin without affecting the other pins +{ + uint8_t Data; + if(State < 2 && Pin < 9 && Pin > 0){ + uint8_t bitsStatus = Read_EXIOS(TCA9554_OUTPUT_REG); + if(State == 1) + Data = (0x01 << (Pin-1)) | bitsStatus; + else if(State == 0) + Data = (~(0x01 << (Pin-1))) & bitsStatus; + uint8_t result = I2C_Write_EXIO(TCA9554_OUTPUT_REG,Data); + if (result != 0) { + printf("Failed to set GPIO!!!\r\n"); + } + } + else + printf("Parameter error, please enter the correct parameter!\r\n"); +} +void Set_EXIOS(uint8_t PinState) // Set 7 pins to the PinState state such as :PinState=0x23, 0010 0011 state (the highest bit is not used) +{ + uint8_t result = I2C_Write_EXIO(TCA9554_OUTPUT_REG,PinState); + if (result != 0) { + printf("Failed to set GPIO!!!\r\n"); + } +} +/********************************************************** Flip EXIO state **********************************************************/ +void Set_Toggle(uint8_t Pin) // Flip the level of the TCA9554PWR Pin +{ + uint8_t bitsStatus = Read_EXIO(Pin); + Set_EXIO(Pin,(bool)!bitsStatus); +} +/********************************************************* TCA9554PWR Initializes the device ***********************************************************/ +void TCA9554PWR_Init(uint8_t PinState) // Set the seven pins to PinState state, for example :PinState=0x23, 0010 0011 State (Output mode or input mode) 0= Output mode 1= Input mode. The default value is output mode +{ + Mode_EXIOS(PinState); +} diff --git a/firmware/eye_test/TCA9554PWR.h b/firmware/eye_test/TCA9554PWR.h new file mode 100644 index 0000000..8a85730 --- /dev/null +++ b/firmware/eye_test/TCA9554PWR.h @@ -0,0 +1,50 @@ +#pragma once + +#include +#include "I2C_Driver.h" + +#define TCA9554_EXIO1 0x01 +#define TCA9554_EXIO2 0x02 +#define TCA9554_EXIO3 0x03 +#define TCA9554_EXIO4 0x04 +#define TCA9554_EXIO5 0x05 +#define TCA9554_EXIO6 0x06 +#define TCA9554_EXIO7 0x07 + +/****************************************************** The macro defines the TCA9554PWR information ******************************************************/ + +#define TCA9554_ADDRESS 0x20 // TCA9554PWR I2C address +// TCA9554PWR寄存器地址 +#define TCA9554_INPUT_REG 0x00 // Input register,input level +#define TCA9554_OUTPUT_REG 0x01 // Output register, high and low level output +#define TCA9554_Polarity_REG 0x02 // The Polarity Inversion register (register 2) allows polarity inversion of pins defined as inputs by the Configuration register. +#define TCA9554_CONFIG_REG 0x03 // Configuration register, mode configuration + + +#define Low 0 +#define High 1 +#define EXIO_PIN1 1 +#define EXIO_PIN2 2 +#define EXIO_PIN3 3 +#define EXIO_PIN4 4 +#define EXIO_PIN5 5 +#define EXIO_PIN6 6 +#define EXIO_PIN7 7 +#define EXIO_PIN8 8 + +/***************************************************** Operation register REG ****************************************************/ +uint8_t I2C_Read_EXIO(uint8_t REG); // Read the value of the TCA9554PWR register REG +uint8_t I2C_Write_EXIO(uint8_t REG,uint8_t Data); // Write Data to the REG register of the TCA9554PWR +/********************************************************** Set EXIO mode **********************************************************/ +void Mode_EXIO(uint8_t Pin,uint8_t State); // Set the mode of the TCA9554PWR Pin. The default is Output mode (output mode or input mode). State: 0= Output mode 1= input mode +void Mode_EXIOS(uint8_t PinState); // Set the mode of the 7 pins from the TCA9554PWR with PinState +/********************************************************** Read EXIO status **********************************************************/ +uint8_t Read_EXIO(uint8_t Pin); // Read the level of the TCA9554PWR Pin +uint8_t Read_EXIOS(uint8_t REG); // Read the level of all pins of TCA9554PWR, the default read input level state, want to get the current IO output state, pass the parameter TCA9554_OUTPUT_REG, such as Read_EXIOS(TCA9554_OUTPUT_REG); +/********************************************************** Set the EXIO output status **********************************************************/ +void Set_EXIO(uint8_t Pin,uint8_t State); // Sets the level state of the Pin without affecting the other pins +void Set_EXIOS(uint8_t PinState); // Set 7 pins to the PinState state such as :PinState=0x23, 0010 0011 state (the highest bit is not used) +/********************************************************** Flip EXIO state **********************************************************/ +void Set_Toggle(uint8_t Pin); // Flip the level of the TCA9554PWR Pin +/********************************************************* TCA9554PWR Initializes the device ***********************************************************/ +void TCA9554PWR_Init(uint8_t PinState = 0x00); // Set the seven pins to PinState state, for example :PinState=0x23, 0010 0011 State (the highest bit is not used) (Output mode or input mode) 0= Output mode 1= Input mode. The default value is output mode diff --git a/firmware/eye_test/Touch_CST820.cpp b/firmware/eye_test/Touch_CST820.cpp new file mode 100644 index 0000000..a8389ef --- /dev/null +++ b/firmware/eye_test/Touch_CST820.cpp @@ -0,0 +1,157 @@ +#include "Touch_CST820.h" +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// I2C读写 +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool I2C_Read_Touch(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length) +{ + Wire.beginTransmission(Driver_addr); + Wire.write(Reg_addr); + if ( Wire.endTransmission(true)){ + printf("The I2C transmission fails. - I2C Read\r\n"); + return -1; + } + Wire.requestFrom(Driver_addr, Length); + for (int i = 0; i < Length; i++) { + *Reg_data++ = Wire.read(); + } + return 0; +} +bool I2C_Write_Touch(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length) +{ + Wire.beginTransmission(Driver_addr); + Wire.write(Reg_addr); + for (int i = 0; i < Length; i++) { + Wire.write(*Reg_data++); + } + if ( Wire.endTransmission(true)) + { + printf("The I2C transmission fails. - I2C Write\r\n"); + return -1; + } + return 0; +} +struct CST820_Touch touch_data = {0}; +uint8_t Touch_Init(void) { + pinMode(CST820_INT_PIN, INPUT_PULLUP); + CST820_Touch_Reset(); + CST820_AutoSleep(false); + uint16_t Verification = CST820_Read_cfg(); + + // attachInterrupt(CST820_INT_PIN, Touch_CST820_ISR, interrupt); + + return true; +} +/* Reset controller */ +uint8_t CST820_Touch_Reset(void) +{ + Set_EXIO(EXIO_PIN2,Low); + vTaskDelay(pdMS_TO_TICKS(10)); + Set_EXIO(EXIO_PIN2,High); + vTaskDelay(pdMS_TO_TICKS(50)); + return true; +} +uint16_t CST820_Read_cfg(void) { + + uint8_t buf[3]={0}; + I2C_Read_Touch(CST820_ADDR, CST820_REG_Version,buf, 1); + printf("TouchPad_Version:0x%02x\r\n", buf[0]); + I2C_Read_Touch(CST820_ADDR, CST820_REG_ChipID, buf, 3); + printf("ChipID:0x%02x ProjID:0x%02x FwVersion:0x%02x \r\n",buf[0], buf[1], buf[2]); + + return true; +} +/*! + @brief Fall asleep automatically +*/ +void CST820_AutoSleep(bool Sleep_State) { + CST820_Touch_Reset(); + uint8_t Sleep_State_Set = 0; + if(Sleep_State) + Sleep_State_Set = 0; + else + Sleep_State_Set = 0xFF; + I2C_Write_Touch(CST820_ADDR, CST820_REG_DisAutoSleep, &Sleep_State_Set, 1); +} + +// reads sensor and touches +// updates Touch Points +uint8_t Touch_Read_Data(void) { + uint8_t buf[6]; + uint8_t touchpad_cnt = 0; + I2C_Read_Touch(CST820_ADDR, CST820_REG_GestureID, buf, 6); + /* touched gesture */ + if (buf[0] != 0x00) + touch_data.gesture = (GESTURE)buf[0]; + if (buf[1] != 0x00) { + + noInterrupts(); + /* Number of touched points */ + touch_data.points = (uint8_t)buf[1]; + if(touch_data.points > CST820_LCD_TOUCH_MAX_POINTS) + touch_data.points = CST820_LCD_TOUCH_MAX_POINTS; + /* Fill coordinates */ + touch_data.x = ((buf[2] & 0x0F) << 8) + buf[3]; + touch_data.y = ((buf[4] & 0x0F) << 8) + buf[5]; + + interrupts(); + // printf(" points=%d \r\n",touch_data.points); + } + return true; +} +void example_touchpad_read(void){ + Touch_Read_Data(); + if (touch_data.gesture != NONE || touch_data.points != 0x00) { + // printf("Touch : X=%u Y=%u points=%d\r\n", touch_data.x , touch_data.y,touch_data.points); + } else { + // data->state = LV_INDEV_STATE_REL; + } +} +void Touch_Loop(void){ + if(Touch_interrupts){ + Touch_interrupts = false; + example_touchpad_read(); + } +} + +/*! + @brief handle interrupts +*/ +uint8_t Touch_interrupts; +void IRAM_ATTR Touch_CST820_ISR(void) { + Touch_interrupts = true; +} + +/*! + @brief get the gesture event name +*/ +String Touch_GestureName(void) { + switch (touch_data.gesture) { + case NONE: + return "NONE"; + break; + case SWIPE_DOWN: + return "SWIPE DOWN"; + break; + case SWIPE_UP: + return "SWIPE UP"; + break; + case SWIPE_LEFT: + return "SWIPE LEFT"; + break; + case SWIPE_RIGHT: + return "SWIPE RIGHT"; + break; + case SINGLE_CLICK: + return "SINGLE CLICK"; + break; + case DOUBLE_CLICK: + return "DOUBLE CLICK"; + break; + case LONG_PRESS: + return "LONG PRESS"; + break; + default: + return "UNKNOWN"; + break; + } +} diff --git a/firmware/eye_test/Touch_CST820.h b/firmware/eye_test/Touch_CST820.h new file mode 100644 index 0000000..bc574b8 --- /dev/null +++ b/firmware/eye_test/Touch_CST820.h @@ -0,0 +1,64 @@ +#pragma once + +#include "Arduino.h" +#include "I2C_Driver.h" +#include "TCA9554PWR.h" + +#define CST820_ADDR 0x15 +#define CST820_INT_PIN 16 + + +#define CST820_LCD_TOUCH_MAX_POINTS (1) +/* CST820 GESTURE */ +enum GESTURE { + NONE = 0x00, + SWIPE_UP = 0x01, + SWIPE_DOWN = 0x02, + SWIPE_LEFT = 0x03, + SWIPE_RIGHT = 0x04, + SINGLE_CLICK = 0x05, + DOUBLE_CLICK = 0x0B, + LONG_PRESS = 0x0C + +}; +//debug info +/****************HYN_REG_MUT_DEBUG_INFO_MODE address start***********/ +#define CST820_REG_Mode 0x00 +#define CST820_REG_GestureID 0x01 +#define CST820_REG_Version 0x15 +#define CST820_REG_ChipID 0xA7 +#define CST820_REG_ProjID 0xA8 +#define CST820_REG_FwVersion 0xA9 +#define CST820_REG_AutoSleepTime 0xF9 +#define CST820_REG_DisAutoSleep 0xFE + +//Interrupt Modes +#define RISING 0x01 +#define FALLING 0x02 +#define CHANGE 0x03 +#define ONLOW 0x04 +#define ONHIGH 0x05 +#define ONLOW_WE 0x0C +#define ONHIGH_WE 0x0D + +#define interrupt RISING + +extern uint8_t Touch_interrupts; +extern struct CST820_Touch touch_data; + +struct CST820_Touch{ + uint8_t points; // Number of touch points + GESTURE gesture; /*!< uint8_t */ + uint16_t x; /*!< X coordinate */ + uint16_t y; /*!< Y coordinate */ +}; + + +uint8_t Touch_Init(); +uint8_t CST820_Touch_Reset(void); +void CST820_AutoSleep(bool Sleep_State); +uint16_t CST820_Read_cfg(void); +String Touch_GestureName(void); +uint8_t Touch_Read_Data(void); +void example_touchpad_read(void); +void IRAM_ATTR Touch_CST820_ISR(void); diff --git a/firmware/eye_test/Wireless.cpp b/firmware/eye_test/Wireless.cpp new file mode 100644 index 0000000..6ab9870 --- /dev/null +++ b/firmware/eye_test/Wireless.cpp @@ -0,0 +1,199 @@ +#include "Wireless.h" + + +bool WIFI_Connection = 0; +uint8_t WIFI_NUM = 0; +uint8_t BLE_NUM = 0; +bool Scan_finish = 0; +uint8_t NUM=0; +uint8_t wifi_scan() +{ + printf("/**********WiFi Test**********/\r\n"); + // Set WiFi to station mode and disconnect from an AP if it was previously connected. + WiFi.mode(WIFI_STA); + WiFi.disconnect(); + // WiFi.scanNetworks will return the number of networks found. + int n = WiFi.scanNetworks(); + // Serial.println("Scan done"); + if (n == 0) + { + printf("no networks found\r\n"); + } + else + { + printf("Nr | SSID | RSSI | CH | Encryption\r\n"); + for (int i = 0; i < 3; ++i) + { + // Print SSID and RSSI for each network found + printf("%2d | ", i + 1); + printf("%-32.32s | ", WiFi.SSID(i).c_str()); + printf("%4d | ", WiFi.RSSI(i)); + printf("%2d | ", WiFi.channel(i)); + switch (WiFi.encryptionType(i)) + { + case WIFI_AUTH_OPEN: + printf("open\r\n"); + break; + case WIFI_AUTH_WEP: + printf("WEP\r\n"); + break; + case WIFI_AUTH_WPA_PSK: + printf("WPA\r\n"); + break; + case WIFI_AUTH_WPA2_PSK: + printf("WPA2\r\n"); + break; + case WIFI_AUTH_WPA_WPA2_PSK: + printf("WPA+WPA2\r\n"); + break; + case WIFI_AUTH_WPA2_ENTERPRISE: + printf("WPA2-EAP\r\n"); + break; + case WIFI_AUTH_WPA3_PSK: + printf("WPA3\r\n"); + break; + case WIFI_AUTH_WPA2_WPA3_PSK: + printf("WPA2+WPA3\r\n"); + break; + case WIFI_AUTH_WAPI_PSK: + printf("WAPI\r\n"); + break; + default: + printf("unknown\r\n"); + } + vTaskDelay(10); + } + } + + // Delete the scan result to free memory for code below. + WiFi.scanDelete(); + WiFi.disconnect(true); + WiFi.mode(WIFI_OFF); + vTaskDelay(100); + printf("/*******WiFi Test Over********/\r\n\r\n"); + printf("/**********BLE Test**********/\r\n"); +} +BLEScan* pBLEScan; +uint8_t ble_scan() +{ + + if(NUM == 0){ + BLEDevice::init(""); + pBLEScan = BLEDevice::getScan(); + pBLEScan->setActiveScan(true); + } + BLEScanResults* foundDevices = pBLEScan->start(5); + int count = foundDevices->getCount(); + printf("Found %d devices\r\n",count); + for (int i = 0; i < count; i++) { + BLEAdvertisedDevice device = foundDevices->getDevice(i); + if (device.haveName()) { + printf("Bluetooth Name : %s\r\n",device.getName().c_str()); + printf("Device address : %s\r\n",device.getAddress().toString().c_str()); + printf("Response Length : %d\r\n",device.getPayloadLength()); + printf("\r\n"); + NUM++; + } + if(NUM == 2) + { + break; + } + } + if(NUM == 2) + { + pBLEScan->stop(); + pBLEScan->clearResults(); + BLEDevice::deinit(true); + printf("/**********BLE Test Over**********/\r\n\r\n"); + } + return NUM; +} +void Wireless_Test1(){ + uint8_t Time=0; + pinMode(0, INPUT); + while(digitalRead(0) != 0) + { + vTaskDelay(10); + Time++; + if(Time == 100) + { + printf("Please press the BOOT button \r\n"); + Time=0; + } + } + wifi_scan(); + uint8_t ble_NUM = ble_scan(); + while(ble_NUM != 2) + ble_NUM = ble_scan(); + +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +int wifi_scan_number() +{ + printf("/**********WiFi Test**********/\r\n"); + // Set WiFi to station mode and disconnect from an AP if it was previously connected. + WiFi.mode(WIFI_STA); + WiFi.setSleep(true); + // WiFi.scanNetworks will return the number of networks found. + int count = WiFi.scanNetworks(); + if (count == 0) + { + printf("No WIFI device was scanned\r\n"); + } + else{ + printf("Scanned %d Wi-Fi devices\r\n",count); + } + + // Delete the scan result to free memory for code below. + WiFi.scanDelete(); + WiFi.disconnect(true); + WiFi.mode(WIFI_OFF); + vTaskDelay(100); + printf("/*******WiFi Test Over********/\r\n\r\n"); + return count; +} +int ble_scan_number() +{ + printf("/**********BLE Test**********/\r\n"); + BLEDevice::init(""); + BLEScan* pBLEScan = BLEDevice::getScan(); + pBLEScan->setActiveScan(true); + + BLEScanResults* foundDevices = pBLEScan->start(5); + vTaskDelay(5000); + int count = foundDevices->getCount(); + if (count == 0) + { + printf("No Bluetooth device was scanned\r\n"); + } + else{ + printf("Scanned %d Bluetooth devices\r\n",count); + } + pBLEScan->clearResults(); + pBLEScan->stop(); + BLEDevice::deinit(true); + vTaskDelay(100); + printf("/**********BLE Test Over**********/\r\n\r\n"); + return count; +} + +void WirelessScanTask(void *parameter) { + WIFI_NUM = wifi_scan_number(); + BLE_NUM = ble_scan_number(); + Scan_finish = 1; + vTaskDelete(NULL); +} +void Wireless_Test2(){ + xTaskCreatePinnedToCore( + WirelessScanTask, + "WirelessScanTask", + 4096, + NULL, + 1, + NULL, + 0 + ); +} diff --git a/firmware/eye_test/Wireless.h b/firmware/eye_test/Wireless.h new file mode 100644 index 0000000..3fb8674 --- /dev/null +++ b/firmware/eye_test/Wireless.h @@ -0,0 +1,16 @@ +#pragma once +#include "WiFi.h" +#include + +extern bool WIFI_Connection; +extern uint8_t WIFI_NUM; +extern uint8_t BLE_NUM; +extern bool Scan_finish; + +uint8_t wifi_scan(); +uint8_t ble_scan(); +void Wireless_Test1(); +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +int wifi_scan_number(); +int ble_scan_number(); +void Wireless_Test2(); \ No newline at end of file diff --git a/firmware/eye_test/eye_test.ino b/firmware/eye_test/eye_test.ino new file mode 100644 index 0000000..05ab27c --- /dev/null +++ b/firmware/eye_test/eye_test.ino @@ -0,0 +1,67 @@ +#include "I2C_Driver.h" +#include "TCA9554PWR.h" +#include "Display_ST7701.h" +#include "LVGL_Driver.h" +#include "EyeScene.h" +#include "OtaService.h" +#include "../shared/GazeProtocol.h" + +#ifndef EYE_BOARD_NUMBER +#define EYE_BOARD_NUMBER 1 +#endif + +namespace { +constexpr int kGazeRxPin = 44; +constexpr int kGazeBaud = 115200; +HardwareSerial gaze_serial(1); +gaze::Receiver gaze_receiver; +bool gaze_active = false; +uint32_t last_status_ms = 0; +} + +void setup() { + I2C_Init(); + TCA9554PWR_Init(0x00); + Set_EXIO(EXIO_PIN8, Low); + LCD_Init(); + Lvgl_Init(); + EyeScene_Create(); + Serial.begin(115200); + gaze_serial.begin(kGazeBaud, SERIAL_8N1, kGazeRxPin, -1); + OtaService_Begin(); +} + +void loop() { + if (millis() - last_status_ms >= 5000) { + last_status_ms = millis(); + if (Serial) Serial.printf("GAZE_READY board=%d recent=%d bad_format=%lu bad_sequence=%lu\n", + EYE_BOARD_NUMBER, gaze_receiver.recent(millis()), + static_cast(gaze_receiver.rejected_format()), + static_cast(gaze_receiver.rejected_sequence())); + } + gaze::Frame command = {}; + while (gaze_serial.available()) { + const uint32_t old_format_rejections = gaze_receiver.rejected_format(); + const uint32_t old_sequence_rejections = gaze_receiver.rejected_sequence(); + if (gaze_receiver.feed(static_cast(gaze_serial.read()), + millis(), &command)) { + EyeScene_SetGaze(command.x, command.y, command.valid); + gaze_active = command.valid; + if (Serial) Serial.printf("GAZE_ACCEPT board=%d seq=%u x=%u y=%u valid=%d\n", + EYE_BOARD_NUMBER, command.sequence, command.x, + command.y, command.valid); + } + if (gaze_receiver.rejected_format() != old_format_rejections) + if (Serial) Serial.printf("GAZE_REJECT board=%d reason=format\n", EYE_BOARD_NUMBER); + if (gaze_receiver.rejected_sequence() != old_sequence_rejections) + if (Serial) Serial.printf("GAZE_REJECT board=%d reason=sequence\n", EYE_BOARD_NUMBER); + } + if (gaze_active && !gaze_receiver.recent(millis())) { + EyeScene_SetGaze(500, 500, false); + gaze_active = false; + if (Serial) Serial.printf("GAZE_TIMEOUT board=%d\n", EYE_BOARD_NUMBER); + } + Lvgl_Loop(); + OtaService_Loop(); + vTaskDelay(pdMS_TO_TICKS(5)); +} diff --git a/firmware/ota.md b/firmware/ota.md new file mode 100644 index 0000000..098ce88 --- /dev/null +++ b/firmware/ota.md @@ -0,0 +1,34 @@ +# Local Wi-Fi and OTA updates + +The two eye boards and the DFR1154 camera can receive application updates while on the same trusted **2.4 GHz home Wi-Fi** as the updating laptop. Eye gaze still travels over the existing UART wires; Wi-Fi is only for maintenance. Each device has its own identity: `eye-1`, `eye-2`, or `camera`. The update tool checks that identity and an embedded image marker before sending a binary. The device requires a one-use nonce and HMAC-SHA256 signature, checks the received SHA-256, writes the inactive app slot, and reboots. The update tool waits for the other slot to come online. + +This is a local HTTP service on port 3232 with authenticated image uploads. **Do not port-forward it or expose it to the internet.** HMAC protects update authorization and integrity, but HTTP does not encrypt the image. Use only a trusted home network. The Wi-Fi password and OTA key are compiled into firmware, so keep binaries and the ignored `firmware/private/` directory private. The camera's bootloader has rollback enabled; the Arduino eye build does not have proven automatic rollback, so retain USB access for recovery. + +## One-time setup + +1. Run `python3 firmware/tools/configure_ota.py` from the project root and enter the 2.4 GHz Wi-Fi name and password at the prompts. It creates `firmware/private/ota.json` and `firmware/private/OtaSecrets.h` with an automatically generated update key. Both are ignored by Git. Do not share those files or paste the password into project documentation. For the 2026-09-30 deployment, Joshua supplied the credentials in `~/.llms/credentials.env`; only the Wi-Fi name and password were read to generate these private project files. +2. Clean-build both eye variants using the commands in [firmware/README.md](README.md). Board 1 and Board 2 must use their respective build paths and board-number setting. Keep the same 16 MB / 3 MB app partition scheme; it already contains `ota_0`, `ota_1`, and `otadata`. +3. Build [the camera IDF project](camera_person_idf/README.md) with ESP-IDF 5.5.2. Its partition table has two 7 MB app slots. For a camera still using the old single-slot layout, verify its hardware address, back up its current application, then perform a one-time USB flash that erases the old layout; `erase-flash` clears its entire 16 MB flash. Each eye likewise needs one USB flash of its matching Wi-Fi-enabled build. **The current three boards completed these USB steps on 2026-09-30; do not erase them again for ordinary application updates.** +4. Watch the USB logs for `OTA_READY device=… ip=… port=3232`. Reserve a stable IP for each board in the router, or record the current addresses. Check that eye motion, blinking, and wired gaze still work after joining Wi-Fi. + +Without a local secrets header, builds remain possible but Wi-Fi/OTA is disabled and logs `OTA_DISABLED`. Test-only binaries built with a placeholder SSID are not deployment images; run the configuration tool and **clean-rebuild** before flashing real boards. + +## Later updates + +Build a fresh application image for the desired target. From the project root, update **one device at a time**: + +```sh +python3 firmware/tools/push_ota.py --host EYE_1_IP --target eye-1 --bin firmware/build-eye-test/eye_test.ino.bin +python3 firmware/tools/push_ota.py --host EYE_2_IP --target eye-2 --bin firmware/build-eye-test-board2/eye_test.ino.bin +python3 firmware/tools/push_ota.py --host CAMERA_IP --target camera --bin firmware/camera_person_idf/build/freddy_camera_person.bin +``` + +The script rejects the wrong target marker, a device identity mismatch, or an image larger than its inactive slot. It reports success only after the device responds from the new slot. Confirm the expected eye behavior and camera detections after each update. If a device does not return, connect it by USB and inspect its log before attempting another update. OTA updates carry only the **application binary**; changes to the partition table or bootloader still require USB. + +## Hardware verification — 2026-09-30 + +Each board was identified by its hardware address before USB flashing. Board 1 (`28:84:85:91:CF:F8`) and Board 2 (`28:84:85:91:D2:10`) were USB-flashed and verified with their distinct builds; USB logs showed both connected to Wi-Fi. The camera (`E8:F6:0A:87:0B:4C`) had its prior 3 MB application saved as the ignored `firmware/backups/camera-pre-ota-app-2026-09-30.bin` (whole-file SHA-256 `0e44f5f2bb80e59a1727046fee8351bb54713ca5b8673f173fc390ea34694b77`). Its new bootloader, dual-slot partition table, and application were USB-flashed and hash-verified. + +The same matching application image was then sent to each device over Wi-Fi, one at a time. Each accepted its image, rebooted, and returned in **slot 1**. Current DHCP addresses at verification time were Board 1 `192.168.69.37`, Board 2 `192.168.69.141`, and camera `192.168.69.204`; these can change. A later `/ota/info` check confirmed all three identities and slot 1. The camera's live USB log still showed person-detection results and `gaze_valid` transitions; Board 2 continued accepting gaze packets, including valid targets. Board 1 initially showed no incoming gaze packets; Joshua fixed its cable, after which Board 1 accepted **48 gaze packets in 12 seconds**, including valid targets, with no rejections or timeouts in that sample. Post-update eye appearance has not yet been visually reconfirmed. + +Wi-Fi reconnect after router loss and a power cycle of all three devices remain untested. On 2026-10-01, a later camera application update was installed by USB (the laptop was no longer on the devices' Wi-Fi subnet), leaving the camera in slot 0; both eyes remained on their 2026-10-01 OTA-updated slot 0. See [the tracking-filter check](../hardware/tracking-filter-2026-10-01.md). diff --git a/firmware/pi_vision/README.md b/firmware/pi_vision/README.md new file mode 100644 index 0000000..15a6cbc --- /dev/null +++ b/firmware/pi_vision/README.md @@ -0,0 +1,13 @@ +# Pi-to-eye gaze link + +`gaze_link.py` prepares the Raspberry Pi Zero 2 W to replace the DFRobot camera **as the one gaze-message sender**. It reproduces the ESP32 eye boards' [existing v1 packet](../../protocol/gaze.md), including CRC and sequence wrap; the eye firmware does not need reflashing. The Pi now boots Raspberry Pi OS Lite and detects an IMX708 camera, but the person detector and camera adapter remain to be implemented and benchmarked. This module has been tested on the laptop only; it has not sent a command from the Pi to the physical eyes. + +On the Pi, enable the hardware UART and disable its serial login console. After the 2026-10-01 reboot, `/dev/serial0` exists, points to `/dev/ttyS0`, and the kernel command line no longer assigns a serial console. `open_pi_uart()` uses Python's standard library, so no `python3-serial` install is needed for the GPIO link. It sends normalized `x`, `y`, and `valid` values. Use `GazeLink` with an in-memory stream for development without driving the real eyes. The Pi GPIO14 TX/pin 8 goes to **both** eye GPIO44 RX pins and all three boards share ground. Disconnect the DFRobot camera TX first, and keep the Pi and ESP32 power rails separate. The eye UART USB-C connectors are a viable alternate path through a Pi USB hub, but they disable the eye UART headers while connected. See [Pi trial plan](../../planning/pi-vision.md). + +Run the portable protocol check from this directory with `python3 -m unittest test_gaze_link.py`. It compares one encoded packet against a fixture generated by the existing C++ ESP32 protocol implementation. No camera or serial device is required for this check. + +With the Pi UART enabled, the DFRobot TX wire disconnected, and both eye RX pins connected to Pi GPIO14, run `python3 smoke_test_link.py`. It sends left, center, and right gaze positions with the red tracking state for two seconds each, then returns both eyes to blue idle. On 2026-10-01 the script ran twice on the Pi, and Joshua visually confirmed both eyes matched throughout the second run. + +For an initial **full-body detector benchmark**, install the Pi OS packages `python3-picamera2` and `python3-opencv`, then run `python3 benchmark_hog.py --duration 30 --rotation 180` with the current upside-down IMX708. It logs every frame's detection result and inference time under the project's `diagnostics/` directory. This OpenCV HOG detector is a baseline to measure; it requires most of a person's body in view and has not been accepted as the final person tracker. It does **not** send commands to the eyes. Judge its speed and false positives before connecting a detector to the gaze link. See the [Pi trial plan](../../planning/pi-vision.md). + +The first integrated trial is `python3 run_hog_eye.py --duration 30 --rotation 180`. It logs what it **would** send while leaving the eyes untouched. Add `--drive-eyes` for a timed hardware trial. It confirms a person after two detections and holds the last gaze through short misses. The first moving-person run on 2026-10-01 had a longest raw-detection gap of 3.34 seconds and Joshua saw the eyes briefly return to blue. Replaying that log showed a 3.5-second hold bridges all three observed red-to-blue drops, so the next trial uses 3.5 seconds. This also delays the return to blue after a person leaves and does not move the gaze during a detection gap. At the end it sends blue idle. This is a one-person proof of concept; continuous target tracking, multiple-target continuity, day/night testing, and false-positive evaluation remain. diff --git a/firmware/pi_vision/benchmark_hog.py b/firmware/pi_vision/benchmark_hog.py new file mode 100644 index 0000000..8c19dd5 --- /dev/null +++ b/firmware/pi_vision/benchmark_hog.py @@ -0,0 +1,104 @@ +"""Measure a built-in OpenCV full-body detector on the Pi CSI camera. + +This is an offline baseline: it logs detections but does not drive the eyes. +It will miss people whose full bodies are outside the frame. +""" + +from __future__ import annotations + +import argparse +import json +import statistics +import time +from datetime import datetime +from pathlib import Path + + +PROJECT_ROOT = Path(__file__).resolve().parents[2] + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--duration", type=float, default=30.0, help="seconds to sample") + parser.add_argument("--rotation", type=int, choices=(0, 180), default=0) + parser.add_argument("--width", type=int, default=320) + parser.add_argument("--height", type=int, default=240) + parser.add_argument("--log", type=Path, help="JSONL path (default: project diagnostics)") + args = parser.parse_args() + if args.duration <= 0 or args.width < 128 or args.height < 128: + parser.error("duration must be positive and frame dimensions at least 128 pixels") + + import cv2 + from libcamera import Transform + from picamera2 import Picamera2 + + cv2.setNumThreads(2) + hog = cv2.HOGDescriptor() + hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector()) + transform = Transform(hflip=1, vflip=1) if args.rotation == 180 else Transform() + camera = Picamera2() + config = camera.create_video_configuration( + main={"size": (args.width, args.height), "format": "RGB888"}, + transform=transform, + buffer_count=3, + ) + camera.configure(config) + + stamp = datetime.now().strftime("%Y%m%d-%H%M%S") + log_path = args.log or PROJECT_ROOT / "diagnostics" / f"pi_hog_{stamp}.jsonl" + log_path.parent.mkdir(parents=True, exist_ok=True) + detection_ms: list[float] = [] + detected_frames = 0 + frames = 0 + start = 0.0 + try: + camera.start() + time.sleep(1.0) # Let exposure settle before measuring. + start = time.monotonic() + with log_path.open("w", encoding="utf-8") as log: + while time.monotonic() - start < args.duration: + frame = camera.capture_array("main") + detect_start = time.monotonic() + boxes, weights = hog.detectMultiScale( + frame, + hitThreshold=0.0, + winStride=(8, 8), + padding=(8, 8), + scale=1.05, + groupThreshold=1, + ) + elapsed_ms = (time.monotonic() - detect_start) * 1000 + detections = [ + {"x": int(x), "y": int(y), "width": int(w), "height": int(h), + "score": float(score)} + for (x, y, w, h), score in zip(boxes, weights) + ] + frames += 1 + detected_frames += bool(detections) + detection_ms.append(elapsed_ms) + log.write(json.dumps({ + "time": datetime.now().astimezone().isoformat(), + "frame": frames, + "detect_ms": round(elapsed_ms, 1), + "detections": detections, + }) + "\n") + if frames % 10 == 0: + print(f"frames={frames} detected={detected_frames} " + f"last_detect_ms={elapsed_ms:.0f}", flush=True) + finally: + camera.stop() + camera.close() + + total = time.monotonic() - start + print(json.dumps({ + "frames": frames, + "seconds": round(total, 2), + "fps": round(frames / total, 2) if total else 0, + "frames_with_person": detected_frames, + "median_detect_ms": round(statistics.median(detection_ms), 1) if detection_ms else None, + "log": str(log_path), + }, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/firmware/pi_vision/gaze_link.py b/firmware/pi_vision/gaze_link.py new file mode 100644 index 0000000..feefd16 --- /dev/null +++ b/firmware/pi_vision/gaze_link.py @@ -0,0 +1,72 @@ +"""Raspberry Pi sender for the two existing ESP32 eye boards' gaze protocol.""" + +from __future__ import annotations + +import struct +from typing import BinaryIO + + +def crc16_ccitt(data: bytes) -> int: + crc = 0xFFFF + for byte in data: + crc ^= byte << 8 + for _ in range(8): + crc = ((crc << 1) ^ 0x1021) & 0xFFFF if crc & 0x8000 else (crc << 1) & 0xFFFF + return crc + + +def encode_frame(sequence: int, x: int, y: int, valid: bool) -> bytes: + """Encode protocol v1; x and y are normalized camera coordinates (0..1000).""" + if not 0 <= sequence <= 0xFFFF or not 0 <= x <= 1000 or not 0 <= y <= 1000: + raise ValueError("sequence or coordinates out of range") + body = struct.pack("<2sBBHHH", b"\xA5\x5A", 1, int(bool(valid)), sequence, x, y) + return body + struct.pack(" tuple[int, int]: + """Convert a person box (left, top, right, bottom) to the eye protocol range.""" + if width < 2 or height < 2: + raise ValueError("frame must be at least 2 by 2 pixels") + left, top, right, bottom = box + if not (0 <= left <= right < width and 0 <= top <= bottom < height): + raise ValueError("box must lie within frame") + return ((left + right) // 2 * 1000 // (width - 1), + (top + bottom) // 2 * 1000 // (height - 1)) + + +class GazeLink: + """Write one shared gaze stream; sequence advances even for invalid targets.""" + + def __init__(self, stream: BinaryIO) -> None: + self.stream = stream + self.sequence = 0 + + def send(self, x: int, y: int, valid: bool) -> int: + sequence = self.sequence + frame = encode_frame(sequence, x, y, valid) + written = self.stream.write(frame) + if written != len(frame): + raise OSError(f"short UART write: {written} of {len(frame)} bytes") + self.sequence = (sequence + 1) & 0xFFFF + return sequence + + +def open_pi_uart(device: str = "/dev/serial0") -> GazeLink: + """Open the Pi's enabled hardware UART after disabling its login console.""" + import os + import termios + + fd = os.open(device, os.O_WRONLY | os.O_NOCTTY) + try: + settings = termios.tcgetattr(fd) + settings[0] = 0 # No input translation or software flow control. + settings[1] = 0 # No output translation. + settings[2] = termios.CLOCAL | termios.CREAD | termios.CS8 # 8N1, no RTS/CTS. + settings[3] = 0 # Raw mode; no terminal processing. + settings[4] = termios.B115200 + settings[5] = termios.B115200 + termios.tcsetattr(fd, termios.TCSANOW, settings) + return GazeLink(os.fdopen(fd, "wb", buffering=0)) + except BaseException: + os.close(fd) + raise diff --git a/firmware/pi_vision/run_hog_eye.py b/firmware/pi_vision/run_hog_eye.py new file mode 100644 index 0000000..0cbeb83 --- /dev/null +++ b/firmware/pi_vision/run_hog_eye.py @@ -0,0 +1,117 @@ +"""Trial IMX708 full-body detection driving the two eyes over one Pi UART. + +By default this only logs. Pass --drive-eyes for a timed hardware trial. +""" + +from __future__ import annotations + +import argparse +import json +import os +import time +from datetime import datetime +from pathlib import Path + +from gaze_link import GazeLink, center_to_gaze, open_pi_uart +from tracking_state import TrackingState + + +PROJECT_ROOT = Path(__file__).resolve().parents[2] + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--duration", type=float, default=30.0) + parser.add_argument("--rotation", type=int, choices=(0, 180), default=0) + parser.add_argument("--drive-eyes", action="store_true") + parser.add_argument("--device", default="/dev/serial0") + parser.add_argument("--log", type=Path) + args = parser.parse_args() + if args.duration <= 0: + parser.error("duration must be positive") + + import cv2 + from libcamera import Transform + from picamera2 import Picamera2 + + cv2.setNumThreads(2) + hog = cv2.HOGDescriptor() + hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector()) + camera = Picamera2() + transform = Transform(hflip=1, vflip=1) if args.rotation == 180 else Transform() + camera.configure(camera.create_video_configuration( + main={"size": (320, 240), "format": "RGB888"}, + transform=transform, + buffer_count=3, + )) + # The first moving-person log had a 3.34 s detector gap despite a visible person. + state = TrackingState(confirm_hits=2, hold_seconds=3.5) + link = open_pi_uart(args.device) if args.drive_eyes else GazeLink(open(os.devnull, "wb")) + stamp = datetime.now().strftime("%Y%m%d-%H%M%S") + log_path = args.log or PROJECT_ROOT / "diagnostics" / f"pi_eye_trial_{stamp}.jsonl" + log_path.parent.mkdir(parents=True, exist_ok=True) + started = False + frames = 0 + tracked = 0 + try: + camera.start() + started = True + time.sleep(1.0) + deadline = time.monotonic() + args.duration + with log_path.open("w", encoding="utf-8") as log: + while time.monotonic() < deadline: + frame = camera.capture_array("main") + detect_start = time.monotonic() + boxes, weights = hog.detectMultiScale( + frame, hitThreshold=0.0, winStride=(8, 8), + padding=(8, 8), scale=1.05, groupThreshold=1, + ) + detect_ms = round((time.monotonic() - detect_start) * 1000, 1) + target = None + candidate = None + if len(boxes): + index = max(range(len(boxes)), key=lambda i: float(weights[i])) + box_x, box_y, width, height = (int(v) for v in boxes[index]) + left = max(0, box_x) + top = max(0, box_y) + right = min(box_x + width - 1, frame.shape[1] - 1) + bottom = min(box_y + height - 1, frame.shape[0] - 1) + if left <= right and top <= bottom: + candidate = center_to_gaze( + (left, top, right, bottom), frame.shape[1], frame.shape[0] + ) + target = {"x": box_x, "y": box_y, "width": width, + "height": height, "score": float(weights[index])} + x, y, valid = state.update(candidate, time.monotonic()) + seq = link.send(x, y, valid) + frames += 1 + tracked += valid + log.write(json.dumps({ + "time": datetime.now().astimezone().isoformat(), + "frame": frames, + "detect_ms": detect_ms, + "target": target, + "gaze": {"x": x, "y": y, "valid": valid, "sequence": seq}, + }) + "\n") + if frames % 10 == 0: + print(f"frames={frames} tracked={tracked} " + f"last_gaze={x},{y},{int(valid)}", flush=True) + finally: + # The eyes should return to blue whether the trial ends normally or fails. + try: + if args.drive_eyes: + for _ in range(3): + link.send(500, 500, False) + time.sleep(0.1) + finally: + link.stream.close() + if started: + camera.stop() + camera.close() + + print(json.dumps({"frames": frames, "tracked_frames": tracked, + "log": str(log_path), "eyes_driven": args.drive_eyes}, indent=2)) + + +if __name__ == "__main__": + main() diff --git a/firmware/pi_vision/smoke_test_link.py b/firmware/pi_vision/smoke_test_link.py new file mode 100644 index 0000000..47bd630 --- /dev/null +++ b/firmware/pi_vision/smoke_test_link.py @@ -0,0 +1,42 @@ +"""Briefly drive both eyes through the existing shared UART gaze link.""" + +from __future__ import annotations + +import argparse +import time + +from gaze_link import GazeLink, open_pi_uart + + +def send_state(link: GazeLink, x: int, y: int, valid: bool, duration: float) -> None: + deadline = time.monotonic() + duration + while time.monotonic() < deadline: + link.send(x, y, valid) + time.sleep(0.1) # The eye receiver returns to idle after 750 ms without a frame. + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--device", default="/dev/serial0", help="Pi GPIO UART device") + args = parser.parse_args() + + link = open_pi_uart(args.device) + try: + for label, x, valid in ( + ("left/red", 200, True), + ("center/red", 500, True), + ("right/red", 800, True), + ("idle/blue", 500, False), + ): + print(label, flush=True) + send_state(link, x, 500, valid, 2.0) + finally: + # Leave the eyes blue even if the test is interrupted. + for _ in range(3): + link.send(500, 500, False) + time.sleep(0.1) + link.stream.close() + + +if __name__ == "__main__": + main() diff --git a/firmware/pi_vision/test_gaze_link.py b/firmware/pi_vision/test_gaze_link.py new file mode 100644 index 0000000..253f1b2 --- /dev/null +++ b/firmware/pi_vision/test_gaze_link.py @@ -0,0 +1,54 @@ +import io +import os +import pty +import select +import termios +import unittest + +from gaze_link import GazeLink, center_to_gaze, crc16_ccitt, encode_frame, open_pi_uart + + +class GazeLinkTests(unittest.TestCase): + def test_crc_standard_vector_and_esp32_fixture(self): + self.assertEqual(crc16_ccitt(b"123456789"), 0x29B1) + # Generated by the current C++ gaze::encode used on the ESP32 boards. + self.assertEqual( + encode_frame(0x1234, 655, 774, True).hex(), + "a55a010134128f020603fa76", + ) + + def test_stream_and_sequence_wrap(self): + stream = io.BytesIO() + link = GazeLink(stream) + link.sequence = 0xFFFF + self.assertEqual(link.send(500, 500, False), 0xFFFF) + self.assertEqual(link.send(0, 1000, True), 0) + self.assertEqual(len(stream.getvalue()), 24) + self.assertEqual(stream.getvalue()[12:14], b"\xA5\x5A") + + def test_box_center_and_invalid_inputs(self): + self.assertEqual(center_to_gaze((0, 0, 319, 239), 320, 240), (498, 497)) + with self.assertRaises(ValueError): + center_to_gaze((0, 0, 320, 239), 320, 240) + with self.assertRaises(ValueError): + encode_frame(0, 1001, 0, True) + + def test_serial_port_sends_115200_baud_frame(self): + master, slave = pty.openpty() + try: + link = open_pi_uart(os.ttyname(slave)) + try: + settings = termios.tcgetattr(slave) + self.assertEqual(settings[4:6], [termios.B115200, termios.B115200]) + link.send(200, 500, True) + self.assertTrue(select.select([master], [], [], 1)[0]) + self.assertEqual(os.read(master, 12), encode_frame(0, 200, 500, True)) + finally: + link.stream.close() + finally: + os.close(slave) + os.close(master) + + +if __name__ == "__main__": + unittest.main() diff --git a/firmware/pi_vision/test_tracking_state.py b/firmware/pi_vision/test_tracking_state.py new file mode 100644 index 0000000..a455e6f --- /dev/null +++ b/firmware/pi_vision/test_tracking_state.py @@ -0,0 +1,39 @@ +import unittest + +from tracking_state import TrackingState + + +class TrackingStateTests(unittest.TestCase): + def test_two_hits_confirm_and_short_misses_hold(self): + state = TrackingState() + self.assertEqual(state.update((200, 400), 0.0), (500, 500, False)) + self.assertEqual(state.update((250, 450), 0.2), (250, 450, True)) + self.assertEqual(state.update(None, 1.8), (250, 450, True)) + self.assertEqual(state.update((300, 450), 1.9), (300, 450, True)) + self.assertEqual(state.update(None, 3.9), (500, 500, False)) + + def test_isolated_hit_does_not_trigger(self): + state = TrackingState() + self.assertFalse(state.update((100, 100), 0.0)[2]) + self.assertFalse(state.update(None, 0.8)[2]) + self.assertFalse(state.update((900, 900), 1.0)[2]) + + def test_recorded_moving_person_gap_is_held(self): + state = TrackingState(hold_seconds=3.5) + state.update((200, 600), 0.0) + self.assertTrue(state.update((210, 600), 0.2)[2]) + self.assertTrue(state.update(None, 3.53)[2]) + self.assertTrue(state.update((350, 600), 3.54)[2]) + self.assertFalse(state.update(None, 7.04)[2]) + + def test_bad_configuration_and_coordinates(self): + with self.assertRaises(ValueError): + TrackingState(confirm_hits=0) + with self.assertRaises(ValueError): + TrackingState(hold_seconds=0) + with self.assertRaises(ValueError): + TrackingState().update((1001, 0), 0.0) + + +if __name__ == "__main__": + unittest.main() diff --git a/firmware/pi_vision/tracking_state.py b/firmware/pi_vision/tracking_state.py new file mode 100644 index 0000000..7b838c1 --- /dev/null +++ b/firmware/pi_vision/tracking_state.py @@ -0,0 +1,36 @@ +"""Small Pi-side gate to keep both eyes on one person through brief misses.""" + +from __future__ import annotations + + +class TrackingState: + def __init__(self, confirm_hits: int = 2, hold_seconds: float = 2.0) -> None: + if confirm_hits < 1 or hold_seconds <= 0: + raise ValueError("confirmation and hold must be positive") + self.confirm_hits = confirm_hits + self.hold_seconds = hold_seconds + self.hits = 0 + self.last_seen: float | None = None + self.valid = False + self.x = 500 + self.y = 500 + + def update(self, candidate: tuple[int, int] | None, now: float) -> tuple[int, int, bool]: + if candidate is not None: + x, y = candidate + if not 0 <= x <= 1000 or not 0 <= y <= 1000: + raise ValueError("candidate gaze coordinates out of range") + if self.last_seen is None or now - self.last_seen > 0.75: + self.hits = 0 + self.hits += 1 + self.last_seen = now + if self.valid or self.hits >= self.confirm_hits: + self.valid = True + self.x, self.y = x, y + elif self.last_seen is not None: + if self.valid and now - self.last_seen >= self.hold_seconds: + self.valid = False + self.x = self.y = 500 + if not self.valid and now - self.last_seen > 0.75: + self.hits = 0 + return self.x, self.y, self.valid diff --git a/firmware/shared/GazeProtocol.h b/firmware/shared/GazeProtocol.h new file mode 100644 index 0000000..3cb7e60 --- /dev/null +++ b/firmware/shared/GazeProtocol.h @@ -0,0 +1,129 @@ +#pragma once + +#include +#include + +// A fixed-size, little-endian UART frame shared by the camera and both eyes. +namespace gaze { +constexpr uint8_t kMagic0 = 0xA5; +constexpr uint8_t kMagic1 = 0x5A; +constexpr uint8_t kVersion = 1; +constexpr uint8_t kValid = 0x01; +constexpr size_t kFrameSize = 12; +constexpr uint32_t kTimeoutMs = 750; + +struct Frame { + uint16_t sequence; + uint16_t x; // 0..1000, left to right in the camera image + uint16_t y; // 0..1000, top to bottom in the camera image + bool valid; +}; + +inline uint16_t crc16(const uint8_t *bytes, size_t length) { + uint16_t crc = 0xFFFF; + for (size_t i = 0; i < length; ++i) { + crc ^= static_cast(bytes[i]) << 8; + for (int bit = 0; bit < 8; ++bit) { + crc = (crc & 0x8000) ? static_cast((crc << 1) ^ 0x1021) + : static_cast(crc << 1); + } + } + return crc; +} + +inline void encode(const Frame &frame, uint8_t out[kFrameSize]) { + out[0] = kMagic0; + out[1] = kMagic1; + out[2] = kVersion; + out[3] = frame.valid ? kValid : 0; + out[4] = static_cast(frame.sequence); + out[5] = static_cast(frame.sequence >> 8); + out[6] = static_cast(frame.x); + out[7] = static_cast(frame.x >> 8); + out[8] = static_cast(frame.y); + out[9] = static_cast(frame.y >> 8); + const uint16_t crc = crc16(out, kFrameSize - 2); + out[10] = static_cast(crc); + out[11] = static_cast(crc >> 8); +} + +inline bool decode(const uint8_t bytes[kFrameSize], Frame *out) { + if (bytes[0] != kMagic0 || bytes[1] != kMagic1 || + bytes[2] != kVersion || (bytes[3] & ~kValid) != 0) return false; + const uint16_t actual_crc = static_cast(bytes[10]) | + (static_cast(bytes[11]) << 8); + if (crc16(bytes, kFrameSize - 2) != actual_crc) return false; + const uint16_t x = static_cast(bytes[6]) | + (static_cast(bytes[7]) << 8); + const uint16_t y = static_cast(bytes[8]) | + (static_cast(bytes[9]) << 8); + if (x > 1000 || y > 1000) return false; + out->sequence = static_cast(bytes[4]) | + (static_cast(bytes[5]) << 8); + out->x = x; + out->y = y; + out->valid = (bytes[3] & kValid) != 0; + return true; +} + +class Receiver { + public: + // Returns true only for a complete, valid, fresh frame. + bool feed(uint8_t byte, uint32_t now_ms, Frame *out) { + if (length_ == 0 && byte != kMagic0) return false; + if (length_ == 1 && byte != kMagic1) { + length_ = byte == kMagic0 ? 1 : 0; + return false; + } + bytes_[length_++] = byte; + if (length_ < kFrameSize) return false; + + Frame decoded = {}; + const bool well_formed = decode(bytes_, &decoded); + if (well_formed) { + length_ = 0; + } else { + ++rejected_format_; + // Keep an embedded preamble, or a trailing first magic byte. + size_t start = 1; + while (start < kFrameSize && + (bytes_[start] != kMagic0 || + (start + 1 < kFrameSize && bytes_[start + 1] != kMagic1))) { + ++start; + } + length_ = kFrameSize - start; + for (size_t i = 0; i < length_; ++i) bytes_[i] = bytes_[start + i]; + } + if (!well_formed) return false; + + if (has_sequence_ && static_cast(now_ms - last_ms_) <= kTimeoutMs) { + const uint16_t advance = static_cast(decoded.sequence - last_sequence_); + if (advance == 0 || advance >= 0x8000) { + ++rejected_sequence_; + return false; + } + } + has_sequence_ = true; + last_sequence_ = decoded.sequence; + last_ms_ = now_ms; + *out = decoded; + return true; + } + + bool recent(uint32_t now_ms) const { + return has_sequence_ && static_cast(now_ms - last_ms_) <= kTimeoutMs; + } + + uint32_t rejected_format() const { return rejected_format_; } + uint32_t rejected_sequence() const { return rejected_sequence_; } + + private: + uint8_t bytes_[kFrameSize] = {}; + size_t length_ = 0; + bool has_sequence_ = false; + uint16_t last_sequence_ = 0; + uint32_t last_ms_ = 0; + uint32_t rejected_format_ = 0; + uint32_t rejected_sequence_ = 0; +}; +} // namespace gaze diff --git a/firmware/shared/OtaAuth.h b/firmware/shared/OtaAuth.h new file mode 100644 index 0000000..8ec1f1d --- /dev/null +++ b/firmware/shared/OtaAuth.h @@ -0,0 +1,57 @@ +#pragma once + +#include +#include +#include +#include +#include "mbedtls/md.h" + +namespace freddy_ota { + +inline bool is_hex(const char *value, size_t length) { + if (!value || strlen(value) != length) return false; + for (size_t i = 0; i < length; ++i) { + const char c = value[i]; + if (!((c >= '0' && c <= '9') || (c >= 'a' && c <= 'f'))) return false; + } + return true; +} + +inline void to_hex(const uint8_t *bytes, size_t size, char *out) { + constexpr char digits[] = "0123456789abcdef"; + for (size_t i = 0; i < size; ++i) { + out[2 * i] = digits[bytes[i] >> 4]; + out[2 * i + 1] = digits[bytes[i] & 15]; + } + out[2 * size] = 0; +} + +inline bool constant_time_equal(const char *a, const char *b, size_t size) { + unsigned difference = 0; + for (size_t i = 0; i < size; ++i) + difference |= static_cast(a[i] ^ b[i]); + return difference == 0; +} + +// Authentication binds one upload to its device, one-time nonce, image digest, +// and exact binary length. The key is never sent over the network. +inline bool verify(const char *key, const char *device, const char *nonce, + const char *sha256, size_t length, const char *signature) { + if (!key || strlen(key) < 32 || !is_hex(nonce, 32) || + !is_hex(sha256, 64) || !is_hex(signature, 64)) return false; + char message[160]; + const int n = snprintf(message, sizeof(message), "%s\n%s\n%s\n%zu", + device, nonce, sha256, length); + if (n < 0 || static_cast(n) >= sizeof(message)) return false; + const mbedtls_md_info_t *md = mbedtls_md_info_from_type(MBEDTLS_MD_SHA256); + if (!md) return false; + uint8_t digest[32]; + if (mbedtls_md_hmac(md, reinterpret_cast(key), strlen(key), + reinterpret_cast(message), n, + digest) != 0) return false; + char expected[65]; + to_hex(digest, sizeof(digest), expected); + return constant_time_equal(expected, signature, 64); +} + +} // namespace freddy_ota diff --git a/firmware/shared/OtaSecrets.h b/firmware/shared/OtaSecrets.h new file mode 100644 index 0000000..bd5ce2e --- /dev/null +++ b/firmware/shared/OtaSecrets.h @@ -0,0 +1,10 @@ +#pragma once + +// Generated locally by firmware/tools/configure_ota.py; never commit credentials. +#if __has_include("../private/OtaSecrets.h") +#include "../private/OtaSecrets.h" +#else +#define FREDDY_WIFI_SSID "" +#define FREDDY_WIFI_PASSWORD "" +#define FREDDY_OTA_KEY "" +#endif diff --git a/firmware/shared/TrackingGate.h b/firmware/shared/TrackingGate.h new file mode 100644 index 0000000..2ddd1bb --- /dev/null +++ b/firmware/shared/TrackingGate.h @@ -0,0 +1,64 @@ +#pragma once + +#include +#include + +// One camera-side decision is broadcast to both eyes so brief model misses do +// not make their appearance and gaze repeatedly switch between TRACK and IDLE. +namespace tracking { +constexpr unsigned kConfirmFrames = 3; +constexpr uint32_t kTargetHoldMs = 1000; + +struct Decision { + int x; + int y; + bool valid; + bool held; +}; + +class Gate { + public: + Decision update(bool detected, int x, int y, uint32_t now_ms) { + if (detected) { + if (candidate_count_ && abs(x - candidate_x_) <= 80 && + abs(y - candidate_y_) <= 60) { + if (candidate_count_ < kConfirmFrames) ++candidate_count_; + } else { + candidate_count_ = 1; + } + candidate_x_ = x; + candidate_y_ = y; + if (candidate_count_ >= kConfirmFrames) { + locked_ = true; + last_confirmed_ms_ = now_ms; + locked_x_ = x; + locked_y_ = y; + return {x, y, true, false}; + } + } + + if (locked_ && static_cast(now_ms - last_confirmed_ms_) <= + kTargetHoldMs) { + return {locked_x_, locked_y_, true, true}; + } + + locked_ = false; + if (!detected) { + candidate_count_ = 0; + candidate_x_ = -1; + candidate_y_ = -1; + return {500, 500, false, false}; + } + return {x, y, false, false}; + } + + private: + unsigned candidate_count_ = 0; + int candidate_x_ = -1; + int candidate_y_ = -1; + bool locked_ = false; + int locked_x_ = 500; + int locked_y_ = 500; + uint32_t last_confirmed_ms_ = 0; +}; +} // namespace tracking diff --git a/firmware/shared/test_gaze_protocol.cpp b/firmware/shared/test_gaze_protocol.cpp new file mode 100644 index 0000000..e66c32d --- /dev/null +++ b/firmware/shared/test_gaze_protocol.cpp @@ -0,0 +1,64 @@ +#include "GazeProtocol.h" + +#include +#include + +namespace { +bool feed_frame(gaze::Receiver *receiver, const uint8_t *bytes, + uint32_t now_ms, gaze::Frame *out) { + bool accepted = false; + for (size_t i = 0; i < gaze::kFrameSize; ++i) { + accepted |= receiver->feed(bytes[i], now_ms, out); + } + return accepted; +} +} // namespace + +int main() { + gaze::Frame sent = {65535, 0, 1000, true}; + uint8_t bytes[gaze::kFrameSize]; + gaze::encode(sent, bytes); + gaze::Frame received = {}; + assert(gaze::decode(bytes, &received)); + assert(received.sequence == sent.sequence && received.x == 0 && + received.y == 1000 && received.valid); + + gaze::Receiver receiver; + assert(feed_frame(&receiver, bytes, 100, &received)); + assert(receiver.recent(850)); + assert(!receiver.recent(851)); + assert(!feed_frame(&receiver, bytes, 200, &received)); // duplicate + assert(receiver.rejected_sequence() == 1); + + sent.sequence = 0; // wrap-around + sent.x = 500; + gaze::encode(sent, bytes); + assert(feed_frame(&receiver, bytes, 200, &received)); + assert(received.sequence == 0 && received.x == 500); + + sent.sequence = 65535; // out of order + gaze::encode(sent, bytes); + assert(!feed_frame(&receiver, bytes, 300, &received)); + assert(receiver.rejected_sequence() == 2); + assert(feed_frame(&receiver, bytes, 1000, &received)); // reboot after timeout + + bytes[2] = 2; // unsupported version + assert(!gaze::decode(bytes, &received)); + gaze::encode(sent, bytes); + bytes[6] ^= 1; // bad checksum + assert(!feed_frame(&receiver, bytes, 1100, &received)); + assert(receiver.rejected_format() == 1); + + sent.sequence = 1; + sent.valid = false; + gaze::encode(sent, bytes); + receiver.feed(0xA5, 1100, &received); // truncated preamble + receiver.feed(0x00, 1100, &received); + assert(feed_frame(&receiver, bytes, 1100, &received)); + assert(!received.valid); + + sent.x = 1001; + gaze::encode(sent, bytes); + assert(!gaze::decode(bytes, &received)); + puts("gaze protocol: round trip, CRC, version, range, resync, sequence, timeout OK"); +} diff --git a/firmware/shared/test_tracking_gate.cpp b/firmware/shared/test_tracking_gate.cpp new file mode 100644 index 0000000..a994535 --- /dev/null +++ b/firmware/shared/test_tracking_gate.cpp @@ -0,0 +1,35 @@ +#include "TrackingGate.h" + +#include +#include + +int main() { + tracking::Gate gate; + assert(!gate.update(false, 0, 0, 0).valid); + assert(!gate.update(true, 160, 100, 250).valid); + assert(!gate.update(true, 165, 105, 500).valid); + const auto first_lock = gate.update(true, 170, 110, 750); + assert(first_lock.valid && !first_lock.held && first_lock.x == 170); + + // Two missed model results keep both eyes tracking the last known position. + const auto missed = gate.update(false, 0, 0, 1000); + assert(missed.valid && missed.held && missed.x == 170 && missed.y == 110); + assert(gate.update(false, 0, 0, 1250).valid); + const auto reacquired = gate.update(true, 173, 108, 1500); + assert(reacquired.valid && !reacquired.held && reacquired.x == 173); + + // A new distant candidate cannot yank the gaze until confirmed. + const auto other = gate.update(true, 290, 200, 1750); + assert(other.valid && other.held && other.x == 173); + assert(gate.update(true, 292, 201, 2000).held); + const auto switched = gate.update(true, 294, 202, 2250); + assert(switched.valid && !switched.held && switched.x == 294); + + // Once the person leaves, the brief hold expires and blue/IDLE returns. + assert(gate.update(false, 0, 0, 3250).valid); + assert(!gate.update(false, 0, 0, 3251).valid); + assert(!gate.update(true, 160, 100, 3500).valid); + assert(!gate.update(true, 162, 102, 3750).valid); + assert(gate.update(true, 164, 104, 4000).valid); + puts("tracking gate: confirmation, brief misses, candidate switch, expiry OK"); +} diff --git a/firmware/tools/capture_gaze.py b/firmware/tools/capture_gaze.py new file mode 100644 index 0000000..83ce6d3 --- /dev/null +++ b/firmware/tools/capture_gaze.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +"""Print timestamped USB logs from the camera and both eye boards.""" + +import argparse +import select +import time + +import serial + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--camera") + parser.add_argument("--eye1") + parser.add_argument("--eye2") + parser.add_argument("--duration", type=float, default=15) + args = parser.parse_args() + + paths = {name: path for name, path in + (("camera", args.camera), ("eye1", args.eye1), ("eye2", args.eye2)) + if path} + if not paths: + parser.error("provide at least one of --camera, --eye1, or --eye2") + ports = {name: serial.Serial(path, 115200, timeout=0) + for name, path in paths.items()} + buffers = {name: bytearray() for name in ports} + started = time.monotonic() + try: + while time.monotonic() - started < args.duration: + ready, _, _ = select.select(list(ports.values()), [], [], 0.2) + for port in ready: + name = next(name for name, candidate in ports.items() if candidate is port) + buffers[name].extend(port.read(port.in_waiting or 1)) + while b"\n" in buffers[name]: + line, _, rest = buffers[name].partition(b"\n") + buffers[name] = bytearray(rest) + stamp = time.monotonic() - started + print(f"{stamp:8.3f} {name:6s} {line.decode(errors='replace').rstrip()}", flush=True) + finally: + for port in ports.values(): + port.close() + + +if __name__ == "__main__": + main() diff --git a/firmware/tools/configure_ota.py b/firmware/tools/configure_ota.py new file mode 100644 index 0000000..4965ab8 --- /dev/null +++ b/firmware/tools/configure_ota.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python3 +"""Save local Wi-Fi credentials and a random OTA key outside version control.""" + +import getpass +import json +import secrets +from pathlib import Path + +FIRMWARE = Path(__file__).resolve().parents[1] +PRIVATE = FIRMWARE / "private" +CONFIG = PRIVATE / "ota.json" +HEADER = PRIVATE / "OtaSecrets.h" + + +def main() -> None: + old = json.loads(CONFIG.read_text()) if CONFIG.exists() else {} + ssid = input(f"2.4 GHz Wi-Fi name [{old.get('ssid', '')}]: ").strip() or old.get("ssid", "") + if not ssid: + raise SystemExit("A Wi-Fi name is required") + password = getpass.getpass("Wi-Fi password (blank to keep saved value): ") + password = password or old.get("password", "") + if not password: + raise SystemExit("A Wi-Fi password is required") + key = old.get("ota_key") or secrets.token_hex(32) + PRIVATE.mkdir(mode=0o700, exist_ok=True) + CONFIG.write_text(json.dumps({"ssid": ssid, "password": password, "ota_key": key}, indent=2) + "\n") + CONFIG.chmod(0o600) + HEADER.write_text( + "#pragma once\n" + f"#define FREDDY_WIFI_SSID {json.dumps(ssid)}\n" + f"#define FREDDY_WIFI_PASSWORD {json.dumps(password)}\n" + f"#define FREDDY_OTA_KEY {json.dumps(key)}\n" + ) + HEADER.chmod(0o600) + print("Saved local configuration in firmware/private/. Rebuild and flash each device once by USB.") + + +if __name__ == "__main__": + main() diff --git a/firmware/tools/make_iris.py b/firmware/tools/make_iris.py new file mode 100644 index 0000000..79e9281 --- /dev/null +++ b/firmware/tools/make_iris.py @@ -0,0 +1,109 @@ +"""Encode the supplied Freddy iris as a 178 px LVGL RGB565+alpha image. + +The source WebP stays unchanged. Run from the project root with the bundled +Python (Pillow required): python firmware/tools/make_iris.py +""" + +from pathlib import Path +from PIL import Image, ImageDraw +import hashlib +import math + + +ROOT = Path(__file__).resolve().parents[2] +SOURCE = ROOT / "reference_images/official_freddy_eye_texture.webp" +OUTPUT = ROOT / "firmware/eye_test/FreddyIris.cpp" +PREVIEW = ROOT / "firmware/assets/freddy_iris_preview.png" +DISPLAY_PREVIEW = ROOT / "firmware/assets/freddy_eye_display_preview.png" +BLINK_PREVIEW = ROOT / "firmware/assets/freddy_eye_blink_preview.png" +RED_PREVIEW = ROOT / "firmware/assets/freddy_eye_red_preview.png" +SIZE = 178 + + +def main() -> None: + source = Image.open(SOURCE).convert("RGB") + if source.size != (508, 466): + raise ValueError(f"Unexpected source size: {source.size}") + + # The artwork's painted disc spans roughly x=159..372, y=126..337. + # Keep an equal square around that disc, then scale to the renderer's iris. + iris = source.crop((159, 125, 373, 339)).resize( + (SIZE, SIZE), Image.Resampling.LANCZOS + ) + preview = Image.new("RGBA", (SIZE, SIZE)) + encoded = bytearray() + radius = SIZE / 2 + + for y in range(SIZE): + for x in range(SIZE): + r, g, b = iris.getpixel((x, y)) + distance = math.hypot(x + 0.5 - radius, y + 0.5 - radius) + # Two-pixel feather removes the source's white rectangular backing. + alpha = round(max(0.0, min(1.0, (radius - distance) / 2.0)) * 255) + preview.putpixel((x, y), (r, g, b, alpha)) + rgb565 = ((r >> 3) << 11) | ((g >> 2) << 5) | (b >> 3) + encoded.extend((rgb565 & 0xFF, rgb565 >> 8, alpha)) + + PREVIEW.parent.mkdir(parents=True, exist_ok=True) + preview.save(PREVIEW) + display = Image.new("RGBA", (480, 480), (57, 39, 29, 255)) + draw = ImageDraw.Draw(display) + draw.ellipse((18, 18, 461, 461), fill=(116, 56, 36, 255)) + draw.ellipse((24, 24, 455, 455), fill=(245, 244, 234, 255)) + display.alpha_composite(preview, (151, 151)) + DISPLAY_PREVIEW.parent.mkdir(parents=True, exist_ok=True) + display.save(DISPLAY_PREVIEW) + blink = display.copy() + blink_draw = ImageDraw.Draw(blink) + blink_draw.rectangle((0, 0, 479, 139), fill=(116, 56, 36, 255)) + blink_draw.rectangle((0, 340, 479, 479), fill=(116, 56, 36, 255)) + blink.save(BLINK_PREVIEW) + red = Image.new("RGBA", (480, 480), (57, 39, 29, 255)) + red_draw = ImageDraw.Draw(red) + red_draw.ellipse((18, 18, 461, 461), fill=(116, 56, 36, 255)) + red_draw.ellipse((24, 24, 455, 455), fill=(33, 25, 27, 255)) + for diameter, color, alpha in ( + (178, (21, 9, 9), 255), + (144, (110, 11, 8), 34), + (116, (190, 27, 19), 55), + (82, (226, 45, 30), 90), + (48, (250, 65, 43), 165), + (28, (255, 58, 43), 255), + (13, (255, 242, 227), 255), + ): + layer = Image.new("RGBA", red.size) + offset = (480 - diameter) // 2 + ImageDraw.Draw(layer).ellipse( + (offset, offset, offset + diameter - 1, offset + diameter - 1), + fill=(*color, alpha), + ) + red = Image.alpha_composite(red, layer) + red.save(RED_PREVIEW) + lines = [ + "// Generated from reference_images/official_freddy_eye_texture.webp.", + f"// Source SHA-256: {hashlib.sha256(SOURCE.read_bytes()).hexdigest()}", + "// Regenerate with firmware/tools/make_iris.py; do not edit this array.", + '#include "FreddyIris.h"', + "", + "static const uint8_t kFreddyIrisPixels[] = {", + ] + for offset in range(0, len(encoded), 18): + lines.append( + " " + ", ".join(f"0x{byte:02x}" for byte in encoded[offset : offset + 18]) + "," + ) + lines += [ + "};", + "", + "const lv_img_dsc_t kFreddyIris = {", + " .header = {.cf = LV_IMG_CF_TRUE_COLOR_ALPHA, .always_zero = 0,", + f" .reserved = 0, .w = {SIZE}, .h = {SIZE}}},", + " .data_size = sizeof(kFreddyIrisPixels),", + " .data = kFreddyIrisPixels,", + "};", + ] + OUTPUT.write_text("\n".join(lines) + "\n") + print(f"Wrote {OUTPUT} ({len(encoded):,} image bytes) and previews in {PREVIEW.parent}") + + +if __name__ == "__main__": + main() diff --git a/firmware/tools/push_ota.py b/firmware/tools/push_ota.py new file mode 100644 index 0000000..1cde886 --- /dev/null +++ b/firmware/tools/push_ota.py @@ -0,0 +1,83 @@ +#!/usr/bin/env python3 +"""Push a built application image to one Freddy ESP32 on the local Wi-Fi.""" + +import argparse +import hashlib +import hmac +import json +import time +import urllib.error +import urllib.request +from pathlib import Path + +CONFIG = Path(__file__).resolve().parents[1] / "private" / "ota.json" +TARGETS = ("eye-1", "eye-2", "camera") + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--host", required=True, help="Device IP address on the home Wi-Fi") + parser.add_argument("--target", required=True, choices=TARGETS) + parser.add_argument("--bin", required=True, type=Path, dest="image_path") + parser.add_argument("--port", type=int, default=3232) + args = parser.parse_args() + + if not CONFIG.exists(): + raise SystemExit("Run firmware/tools/configure_ota.py first") + key = json.loads(CONFIG.read_text())["ota_key"].encode() + image = args.image_path.read_bytes() + marker = f"FREDDY_OTA_TARGET:{args.target}".encode() + if marker not in image: + raise SystemExit(f"Image does not contain the expected {marker.decode()} marker") + + base = f"http://{args.host}:{args.port}" + with urllib.request.urlopen(base + "/ota/info", timeout=10) as response: + info = json.load(response) + if info.get("device") != args.target: + raise SystemExit(f"Device reports {info.get('device')!r}, expected {args.target!r}") + if not 0 < len(image) <= info.get("slot_bytes", 0): + raise SystemExit(f"Image is {len(image)} bytes; device slot is {info.get('slot_bytes')} bytes") + + digest = hashlib.sha256(image).hexdigest() + nonce = info["nonce"] + message = f"{args.target}\n{nonce}\n{digest}\n{len(image)}".encode() + signature = hmac.new(key, message, hashlib.sha256).hexdigest() + request = urllib.request.Request( + base + "/ota", + data=image, + method="POST", + headers={ + "Content-Type": "application/octet-stream", + "X-Freddy-Nonce": nonce, + "X-Freddy-SHA256": digest, + "X-Freddy-Signature": signature, + }, + ) + try: + with urllib.request.urlopen(request, timeout=180) as response: + result = json.load(response) + except urllib.error.HTTPError as error: + raise SystemExit(f"Update rejected (HTTP {error.code}): {error.read().decode(errors='replace')}") from error + if result != {"ok": True}: + raise SystemExit(f"Unexpected reply: {result!r}") + print(f"{args.target}: image accepted ({len(image)} bytes, SHA-256 {digest}). Waiting for reboot…") + old_slot = info["running_slot"] + deadline = time.monotonic() + 60 + while time.monotonic() < deadline: + time.sleep(2) + try: + with urllib.request.urlopen(base + "/ota/info", timeout=3) as response: + current = json.load(response) + except (OSError, ValueError): + continue + if current.get("device") == args.target and current.get("running_slot") != old_slot: + print(f"{args.target}: back online in firmware slot {current['running_slot']}.") + return + raise SystemExit( + "Image was accepted, but the new slot was not confirmed online within 60 seconds. " + "Check device power and USB logs before retrying." + ) + + +if __name__ == "__main__": + main() diff --git a/hardware/analyze_mask_step.py b/hardware/analyze_mask_step.py new file mode 100644 index 0000000..375792a --- /dev/null +++ b/hardware/analyze_mask_step.py @@ -0,0 +1,79 @@ +"""Measure straight-on clear eye apertures in the Shapr3D mask export. + +Run with: uv run --no-project --with build123d python hardware/analyze_mask_step.py +This is read-only. A 0.5 mm sightline grid gives approximate, not print-fit, +measurements; faceted CAD and the assembled print may differ. +""" + +from collections import deque +from pathlib import Path + +from build123d import Axis, import_step +from scipy.ndimage import distance_transform_edt +import numpy as np + + +STEP = Path(__file__).resolve().parents[1] / "stls/freddy_fazbear_mask.step" +GRID_MM = 0.5 +mask = import_step(str(STEP)) +solids = mask.solids() + + +def clear_aperture(solid_index: int, x_start: int, seed_x: int) -> None: + """Flood-fill only the enclosed eye opening, not empty space off-mask.""" + solid = solids[solid_index] + xs = [x_start + i * GRID_MM for i in range(241)] + zs = [160 + i * GRID_MM for i in range(141)] + open_cells = set() + for zi, z in enumerate(zs): + for xi, x in enumerate(xs): + axis = Axis((x, -200, z), (0, 1, 0)) + if not solid.find_intersection_points(axis): + open_cells.add((xi, zi)) + + seed = (round((seed_x - x_start) / GRID_MM), round((195 - 160) / GRID_MM)) + assert seed in open_cells, f"Expected opening seed is not clear: {seed}" + component = {seed} + queue = deque([seed]) + while queue: + xi, zi = queue.popleft() + for neighbor in ((xi - 1, zi), (xi + 1, zi), (xi, zi - 1), (xi, zi + 1)): + if neighbor in open_cells and neighbor not in component: + component.add(neighbor) + queue.append(neighbor) + assert all(0 < xi < len(xs) - 1 and 0 < zi < len(zs) - 1 for xi, zi in component), ( + "The eye component reached the scan boundary; expand the grid or inspect the model." + ) + + x_coords = [xs[xi] for xi, _ in component] + z_coords = [zs[zi] for _, zi in component] + rows = {} + columns = {} + for xi, zi in component: + rows.setdefault(zi, []).append(xi) + columns.setdefault(xi, []).append(zi) + widest_row = max(rows, key=lambda row: max(rows[row]) - min(rows[row])) + tallest_column = max(columns, key=lambda col: max(columns[col]) - min(columns[col])) + print(f"Eye half {solid_index}: {len(component)} clear samples, grid {GRID_MM} mm") + print(f" projected clear bounds: X {min(x_coords):.1f}..{max(x_coords):.1f} mm, " + f"Z {min(z_coords):.1f}..{max(z_coords):.1f} mm") + print(f" max horizontal clear width: " + f"{(max(rows[widest_row]) - min(rows[widest_row])) * GRID_MM:.1f} mm " + f"at Z={zs[widest_row]:.1f} mm") + print(f" max vertical clear height: " + f"{(max(columns[tallest_column]) - min(columns[tallest_column])) * GRID_MM:.1f} mm " + f"at X={xs[tallest_column]:.1f} mm") + print(f" clear-area centroid: X={sum(x_coords)/len(x_coords):.1f}, " + f"Z={sum(z_coords)/len(z_coords):.1f} mm") + aperture = np.zeros((len(zs), len(xs)), dtype=bool) + for xi, zi in component: + aperture[zi, xi] = True + distances = distance_transform_edt(aperture) * GRID_MM + center_zi, center_xi = np.unravel_index(np.argmax(distances), distances.shape) + print(f" largest straight-on inscribed circle: radius about " + f"{distances[center_zi, center_xi]:.1f} mm at " + f"X={xs[center_xi]:.1f}, Z={zs[center_zi]:.1f} mm") + + +clear_aperture(0, -110, -30) +clear_aperture(1, 15, 60) diff --git a/hardware/bringup.md b/hardware/bringup.md new file mode 100644 index 0000000..1ecc983 --- /dev/null +++ b/hardware/bringup.md @@ -0,0 +1,83 @@ +# Hardware bring-up log + +## Eye board 1 — 2026-09-21 + +- Connected to laptop through its USB port. The laptop enumerated `/dev/cu.usbmodem1101` as an Espressif USB JTAG/serial device; this path may change on reconnect. +- A read-only `esptool v5.2.0 flash-id` query identified an ESP32-S3 revision v0.2, 8 MB embedded PSRAM, and 16 MB flash. Connection mode: USB-Serial/JTAG. +- At this initial identification step, firmware was **not** erased or flashed. The query reset the controller at completion; the later custom flash is recorded below. +- User reports the LCD displays an **“Onboard parameters”** screen and responds to touch. This matches the type of parameter display described for Waveshare's `01_LVGL_Arduino` example, so the panel and touch input pass an initial visual check. The exact installed firmware is still unverified. +- Photos received: [powered display](photos/board-1-display.png) and [board back](photos/board-1-back.png). The screen photo directly shows the factory-style “Onboard parameter” page, including 16 MB flash. The back silkscreen identifies **ESP32-S3-Touch-LCD-2.1, Rev2.0**. The connected left USB-C port is labeled `USB`; the separate right USB-C port is labeled `UART`. The 4-pin `UART` header and its RXD/TXD/3V3/GND labels are visible. Waveshare's catalog maps the printed non-B model to flat-panel **SKU 28169**; the numeric SKU is not printed on the board. +- The laptop has Arduino ESP32 core 3.3.5 installed, satisfying Waveshare's Arduino core requirement of 3.0.0 or newer. Waveshare's published `01_LVGL_Arduino` example specifies LVGL 8.3.10. +- Update: Waveshare's `LVGL_Arduino` example compiled successfully with ESP32 core 3.3.5, bundled LVGL 8.3.10, 16 MB flash, and OPI PSRAM settings. The compile-only result was 1,431,075 bytes of program storage (45% of a 3 MB app partition) and 104,656 bytes of static RAM (31%). No firmware was uploaded. Build command and source provenance are recorded in `vendor/README.md`. + +## Eye board 2 + +- Connected to laptop in place of eye board 1 on 2026-09-21. It enumerated on `/dev/cu.usbmodem1101`, which is the port path reused after swapping devices. +- A read-only `esptool v5.2.0 flash-id` query identified an ESP32-S3 revision v0.2, 8 MB embedded PSRAM, and 16 MB flash. Connection mode: USB-Serial/JTAG. Its hardware address ends in `D2:10`, distinct from eye board 1 (`CF:F8`). +- At this initial identification step, firmware was **not** erased or flashed. The query reset the controller at completion; the later custom flash is recorded below. +- User reports the same **“Onboard parameters”** screen as eye board 1, and touch responds. Its LCD and touch input pass the initial visual check. [Powered display](photos/board-2-display.png) and [board back](photos/board-2-back.png) photos confirm the “Onboard parameter” page and the **ESP32-S3-Touch-LCD-2.1, Rev2.0** silkscreen. The connected left USB-C port is labeled `USB`; the separate right one is `UART`. Waveshare's catalog maps this printed non-B model to flat-panel **SKU 28169**; the numeric SKU is not printed on the board. +- The same official `LVGL_Arduino` example and 16 MB flash/OPI PSRAM build settings apply. The example was compiled locally, not uploaded to either board; the observed screens are their preinstalled factory-style demo. + +## Next checks + +1. Capture a photo or short bench recording and measure achieved frame rate for the renderer acceptance check. +2. Check the physical eye-socket clearance against the approximately 75 mm board assembly before designing the mount. + +## First custom flash — Board 1, 2026-09-21 + +- Source: [eye test firmware](../firmware/eye_test/eye_test.ino) with Waveshare display drivers and LVGL 8.3.10. It draws a blue moving iris, blinks every 4.6 seconds, and labels the screen `BOARD 1 EYE TEST`. +- Compile-only check passed: 1,123,899 bytes program storage and 96,404 bytes static RAM. Details and binary SHA-256 are in [firmware/README.md](../firmware/README.md). +- Before upload, `/dev/cu.usbmodem1101` identified the board by hardware-address suffix `CF:F8`, matching Board 1. Upload at 460800 baud wrote all four standard images and verified each hash successfully; board reset afterward. +- Direct full-device backup failed with a serial stream error. The official Waveshare 16 MB stock image is saved under `firmware/backups/` for recovery; it is not guaranteed identical to the image originally installed on this board. +- On-screen result: Joshua confirms the eyeball visibly looks around, blinks, and fits cleanly within the round display. Achieved frame rate and a post-flash photo or recording remain to be captured. + +## Second custom flash — Board 2, 2026-09-21 + +- Before upload, `/dev/cu.usbmodem1101` again identified hardware-address suffix `D2:10`, matching Board 2. +- The same eye test was compiled with `EYE_BOARD_NUMBER=2`; the application binary contains `BOARD 2 EYE TEST` (SHA-256 `27ab300069d7f48c82aacd50e667b9b4472260d2c197c382dcdad944e8fd80c7`). Compile passed at 1,152,363 bytes program storage and 96,396 bytes static RAM. +- Upload at 460800 baud wrote the bootloader, partition table, boot-app selector, and eye application; esptool verified the hash of each written image and reset the board. Joshua confirmed the `BOARD 2 EYE TEST` label, eye movement, and clean blinking on screen. + +## Freddy iris test — Board 2, 2026-09-21 + +- Board 2 was confirmed again by hardware-address suffix `D2:10` and flashed with the new build containing `reference_images/official_freddy_eye_texture.webp` as a cropped, transparent iris. All four written image hashes verified. +- Joshua confirmed the new iris texture looks good on the screen and continues to move and blink correctly. Board 1 has a compiled textured build but has not yet been reflashed. + +## Eyelid color update — Board 2, 2026-09-21 + +- The upper and lower blink lids were changed to `#743824` at Joshua's request; the background remains `#39271D`. +- Board 2 (`D2:10`) was hash-verified after flashing the revised build. Joshua confirmed the new lid color looks good. +- Joshua then asked that the thin ring around the cream eye match the eyelids. The 444-pixel ring was changed from `#27292A` to `#743824`; Board 2 was reidentified, reflashed, and hash-verified. Joshua confirmed the ring matches the lids on screen. Board 1 has a compiled build with the same appearance, awaiting connection for flashing. + +## Matching appearance — Board 1, 2026-09-21 + +- Both boards were connected at once: Board 2 (`D2:10`) remained on `/dev/cu.usbmodem1101`; Board 1 (`CF:F8`) appeared on `/dev/cu.usbmodem2101`. Each identity was read before choosing the upload port. +- Board 1 was flashed with the textured iris and matching `#743824` lids/ring. All four image hashes verified and the board reset. Joshua confirmed that both displays show the textured blue iris and matching brown lids/ring while moving and blinking. + +## Glowing-red preview — both boards, 2026-09-21 + +- The project now includes a red-eye state modeled on `reference_images/freddy_glowing_red_pupils.png`. It darkens the sclera and iris, pulses a small bright red center, and preserves gaze and blinking. This bench preview is toggled by tapping each screen; it is not yet controlled by person distance. +- Board 1 (`CF:F8`) and Board 2 (`D2:10`) were individually identified, flashed with their labeled variants, and all image hashes verified. Joshua confirmed both switch to the red state by touch while moving and blinking, then return to blue on a second tap. + +Reference: [Waveshare ESP32-S3-Touch-LCD-2.1 documentation](https://docs.waveshare.com/ESP32-S3-Touch-LCD-2.1). + +## DFRobot camera V1.1 — 2026-09-21 + +- Joshua connected the DFRobot DFR1154 and read the **V1.1** board marking. `/dev/cu.usbmodem1101` identified a distinct ESP32-S3, MAC `E8:F6:0A:87:0B:4C`, with 8 MB PSRAM and 16 MB flash; this port path may change on reconnect. [DFRobot's board reference](https://wiki.dfrobot.com/dfr1154/) identifies the camera as an OV3660 and notes that the V1.1 Gravity `+` pin is a 3.3 V output. +- A five-second serial listen at 115200 baud produced no bytes from the installed application. The full 16 MB read-only backup failed after about 86 KB at 460800 baud. A retry at 115200 successfully saved the first 64 KB (`firmware/backups/dfr1154-v11-flash-prefix-2026-09-21.bin`) and the 1.25 MB app0 partition (`firmware/backups/dfr1154-v11-app0-2026-09-21.bin`). These are partial backups, not a full-device image. The app0 image passes esptool's checksum and validation-hash checks. Both files are local and ignored by Git. +- [Camera bring-up firmware](../firmware/camera_bringup/camera_bringup.ino) was compiled with Arduino ESP32 core 3.3.5: 387,343 bytes program storage and 32,428 bytes static RAM. Its camera pin map matches [DFRobot's example](https://github.com/DFRobot/DFR1154_Examples/blob/master/5.3%20CameraWebServer/source%20code/5_3/5_3.ino). After verifying the MAC, the sketch was uploaded through `/dev/cu.usbmodem1101`; esptool verified hashes for the bootloader, partition table, boot-app selector, and application, then reset the board. +- The camera returned valid 320 × 240 JPEGs over USB serial. [Initial frame](camera-captures/first-frame.jpg) showed the ceiling. After two physical aiming adjustments, the [forward frame](camera-captures/forward-frame.jpg) showed the intended room and walking area, with no visible corruption. The [serial capture log](camera-captures/forward-frame.log) records `JPEG 6154 320 240` and `DONE` plus the image SHA-256. The room is dim, so person detection performance in this lighting remains untested. +- This proves camera initialization and frame capture. It does not yet prove person localization, tracking latency, or operation with the LiDAR attached. + +## DFRobot live person-position experiment — 2026-09-21 + +- [ESP-IDF person-detector firmware](../firmware/camera_person_idf/README.md) built with ESP-IDF 5.5.2 and Espressif's `pedestrian_detect` 0.3.2 component. Its 2.66 MB application fits the custom 10 MB app partition. After confirming camera MAC `E8:F6:0A:87:0B:4C`, the firmware was uploaded and all flashed image hashes verified. +- An initial 20-second sample at the model's default 0.70 score threshold reported `NO_PERSON` with about 231–232 ms capture-to-result latency. See [initial serial log](camera-captures/person-detector-initial.log). A person was not known to be in view for that sample. +- In a subsequent center-view test, the score threshold was 0.35, the room was brighter, and Joshua was visibly seated in the camera view. The [matching JPEG](camera-captures/person-detector-lit-center-frame-81.jpg) shows him in front of the camera. The [serial log](camera-captures/person-detector-lit-center.log) contains 107 `PERSON` results, with median reported center x=139 in a 320-pixel-wide image (range 98–161), median score 0.606, and median capture-to-result latency 233 ms. This proves on-device person localization for this setup. Threshold, lighting, and target placement changed together, so the failed initial sample does not isolate which factor mattered. +- Held left/center/right tests now have paired serial logs and JPEGs. From Joshua's perspective, the median image x-coordinate was 214.5 at his left ([log](camera-captures/person-detector-left-image.log), [image](camera-captures/person-detector-left-image-frame-421.jpg)), 139 at center, and 62 at his right ([log](camera-captures/person-detector-right-image.log), [image](camera-captures/person-detector-right-image-frame-161.jpg)). The corresponding images visually confirm those locations; all three samples contain at least 48 detections. Left/right is mirrored because Joshua faced the camera. This satisfies the first live person-position check, but does not yet establish smooth tracking while walking. +- Multiple people, loss/reacquisition, and false-positive behavior are still unverified. The current firmware emits a diagnostic JPEG about every five seconds; remove that bench-only behavior before final use. A 3.3 V wired connection to the eye boards has not yet been tested. + +## Clear-room and infrared check — 2026-09-21 + +- With IR off and the camera aimed into an empty room, a [10-second sample](camera-captures/person-detector-empty.log) had a few short false detections on furniture. The paired [empty-room image](camera-captures/person-detector-empty-frame-1441.jpg) confirms no person in that frame. A raw positive from the 0.35-threshold model is not yet safe to use directly as an eye target. +- DFRobot documents the onboard infrared illumination on **GPIO47**. The current camera firmware sets that pin high at boot; its flash was hash-verified. With the camera pointed very close to a surface, the IR-lit frame became a [purple blur](camera-captures/person-detector-ir-settled-frame-301.jpg). After Joshua re-aimed it, a [new IR-lit frame](camera-captures/person-detector-ir-reaimed-frame-721.jpg) again showed the room. This visually establishes that the GPIO setting changes the image, but does not yet measure how much it improves person detection in darkness. +- The [IR-lit empty-room log](camera-captures/person-detector-ir-reaimed.log) contains repeated apparent detections near the left image edge (often boxes approximately x=0–60), while the paired frame has no clear person there. A target-persistence and false-positive filter is required before sending gaze coordinates to the displays. The lights currently remain on in the camera firmware. diff --git a/hardware/camera-captures/first-frame.jpg b/hardware/camera-captures/first-frame.jpg new file mode 100644 index 0000000..e906bc3 Binary files /dev/null and b/hardware/camera-captures/first-frame.jpg differ diff --git a/hardware/camera-captures/forward-frame.jpg b/hardware/camera-captures/forward-frame.jpg new file mode 100644 index 0000000..00b5c39 Binary files /dev/null and b/hardware/camera-captures/forward-frame.jpg differ diff --git a/hardware/camera-captures/forward-frame.log b/hardware/camera-captures/forward-frame.log new file mode 100644 index 0000000..1079939 --- /dev/null +++ b/hardware/camera-captures/forward-frame.log @@ -0,0 +1,4 @@ +port=/dev/cu.usbmodem1101 +jpeg_sha256=159d2db908d8f518d2d6a32fcc0c4d6925f8108483163e249e922bf03439cb0c +JPEG 6154 320 240 +DONE diff --git a/hardware/camera-captures/person-center.jpg b/hardware/camera-captures/person-center.jpg new file mode 100644 index 0000000..7fcdd9b 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86cf514a16980edb4e0b4c076da5ef400b4500149cd003a8c500253596802a4d6f9e82aa3291c62988d4d17efb56abd0 +FRAME_HEX 3397b9e656fad4601cd005e84d6a27dda621a682698c753aa404a618c376a4044f07a1a6796e28018ead8e0547e4e472 +FRAME_HEX 280244b718a64b00f4a4057f271d052c03e7734088af1be5aa9f8500cd6f2e9e13140c36d394734c0753a800a4a005a3 +FRAME_HEX 1400b8a50b400b41a006d14006dcd432c01a9812e971f94cd5a2dd2901cecb09698fd6a58e10b4c4232e1aaf5bc994fa +FRAME_HEX 5301ccd8a679a0f7a064d19f969d4804a2900b494009498a00414c600f5a0089a1f7a6f958a4052ba824639db554c2eb +FRAME_HEX d45311adb8d286a4301d6a45eb4c05a4a005a5a005a5a0028a004a5a0028c5301d8a43400e8783560b7cb480cedbce68 +FRAME_HEX c50047226e1ef55fcc78cd30265f32653da9b129dd834016d5b68a7acb9a403f39a5cd001450014940094d3401113b69 +FRAME_HEX 3750030bd1bf3400dc53fb520129d9a60389a51400f14b4006280a6801fb78a6f4a004a28016945301d8a4a0029c5f8a +FRAME_HEX 008714ca4025040ee2801c05211400d06822980a19854c1f34805a2800a3340094d34011b5404ec34001e3e94c3cf7a0 +FRAME_HEX 09f38f6a66690094ea40494b5403c52d218ea5a603851d6818ab81da9afed4123734a0d0019a2980b486900c34c34000 +FRAME_HEX a750025250031969ca7228016936d0000bafbd3c49400ecd1400da4a006541275a00883f3b4d21e28024cd2735003b34 +FRAME_HEX ea00901e053c5580fa29143a96810ea633eda602e69aefc62801b9a5a621569c280149a434806536801334a280168a00 +FRAME_HEX 0d45f74d003b34ecd002e68c0a006e08e8693cc3400edd484d00464d44f40155e955e803ffd9 +FRAME_END 1461 +I (373734) freddy_person: PERSON t_ms=372773 score=0.375 cx=153 cy=175 box=135,137,171,213 frame=320,240 latency_ms=326 +I (373984) freddy_person: NO_PERSON t_ms=373018 frame=320,240 latency_ms=230 +I (374234) freddy_person: NO_PERSON t_ms=373268 frame=320,240 latency_ms=230 +I (374484) freddy_person: NO_PERSON t_ms=373518 frame=320,240 latency_ms=230 +I (374734) freddy_person: NO_PERSON t_ms=373768 frame=320,240 latency_ms=230 +I (374984) freddy_person: NO_PERSON t_ms=374018 frame=320,240 latency_ms=230 diff --git a/hardware/camera-captures/person-detector-initial.log b/hardware/camera-captures/person-detector-initial.log new file mode 100644 index 0000000..de4dedf --- /dev/null +++ b/hardware/camera-captures/person-detector-initial.log @@ -0,0 +1,81 @@ +I (123) esp_image: segment 1: paddr=00093394 vaddr=3fc98900 sizeI (13724) freddy_person: NO_PERSON t_ms=12759 frame=320,240 latency_ms=232 +I (13974) freddy_person: NO_PERSON t_ms=13009 frame=320,240 latency_ms=232 +I (14224) freddy_person: NO_PERSON t_ms=13259 frame=320,240 latency_ms=232 +I (14474) freddy_person: NO_PERSON t_ms=13509 frame=320,240 latency_ms=232 +I (14724) freddy_person: NO_PERSON t_ms=13759 frame=320,240 latency_ms=231 +I (14974) freddy_person: NO_PERSON t_ms=14009 frame=320,240 latency_ms=232 +I (15224) freddy_person: NO_PERSON t_ms=14259 frame=320,240 latency_ms=232 +I (15474) freddy_person: NO_PERSON t_ms=14509 frame=320,240 latency_ms=232 +I (15724) freddy_person: NO_PERSON t_ms=14759 frame=320,240 latency_ms=231 +I (15974) freddy_person: NO_PERSON t_ms=15009 frame=320,240 latency_ms=231 +I (16224) freddy_person: NO_PERSON t_ms=15259 frame=320,240 latency_ms=232 +I (16474) freddy_person: NO_PERSON t_ms=15509 frame=320,240 latency_ms=231 +I (16724) freddy_person: NO_PERSON t_ms=15759 frame=320,240 latency_ms=232 +I (16974) freddy_person: NO_PERSON t_ms=16009 frame=320,240 latency_ms=231 +I (17224) freddy_person: NO_PERSON t_ms=16259 frame=320,240 latency_ms=231 +I (17474) freddy_person: NO_PERSON t_ms=16509 frame=320,240 latency_ms=231 +I (17724) freddy_person: NO_PERSON t_ms=16759 frame=320,240 latency_ms=231 +I (17974) freddy_person: NO_PERSON t_ms=17009 frame=320,240 latency_ms=231 +I (18224) freddy_person: NO_PERSON t_ms=17259 frame=320,240 latency_ms=231 +I (18474) freddy_person: NO_PERSON t_ms=17509 frame=320,240 latency_ms=231 +I (18724) freddy_person: NO_PERSON t_ms=17759 frame=320,240 latency_ms=231 +I (18974) freddy_person: NO_PERSON t_ms=18009 frame=320,240 latency_ms=232 +I (19224) freddy_person: NO_PERSON t_ms=18259 frame=320,240 latency_ms=232 +I (19474) freddy_person: NO_PERSON t_ms=18509 frame=320,240 latency_ms=231 +I (19724) freddy_person: NO_PERSON t_ms=18759 frame=320,240 latency_ms=231 +I (19974) freddy_person: NO_PERSON t_ms=19009 frame=320,240 latency_ms=232 +I (20224) freddy_person: NO_PERSON t_ms=19259 frame=320,240 latency_ms=231 +I (20474) freddy_person: NO_PERSON t_ms=19509 frame=320,240 latency_ms=231 +I (20724) freddy_person: NO_PERSON t_ms=19759 frame=320,240 latency_ms=232 +I (20974) freddy_person: NO_PERSON t_ms=20009 frame=320,240 latency_ms=231 +I (21224) freddy_person: NO_PERSON t_ms=20259 frame=320,240 latency_ms=232 +I (21474) freddy_person: NO_PERSON t_ms=20509 frame=320,240 latency_ms=231 +I (21724) freddy_person: NO_PERSON t_ms=20759 frame=320,240 latency_ms=232 +I (21974) freddy_person: NO_PERSON t_ms=21009 frame=320,240 latency_ms=231 +I (22224) freddy_person: NO_PERSON t_ms=21259 frame=320,240 latency_ms=232 +I (22474) freddy_person: NO_PERSON t_ms=21509 frame=320,240 latency_ms=231 +I (22724) freddy_person: NO_PERSON t_ms=21759 frame=320,240 latency_ms=231 +I (22974) freddy_person: NO_PERSON t_ms=22009 frame=320,240 latency_ms=231 +I (23224) freddy_person: NO_PERSON t_ms=22259 frame=320,240 latency_ms=232 +I (23474) freddy_person: NO_PERSON t_ms=22509 frame=320,240 latency_ms=231 +I (23724) freddy_person: NO_PERSON t_ms=22759 frame=320,240 latency_ms=232 +I (23974) freddy_person: NO_PERSON t_ms=23009 frame=320,240 latency_ms=231 +I (24224) freddy_person: NO_PERSON t_ms=23259 frame=320,240 latency_ms=232 +I (24474) freddy_person: NO_PERSON t_ms=23509 frame=320,240 latency_ms=231 +I (24724) freddy_person: NO_PERSON t_ms=23759 frame=320,240 latency_ms=231 +I (24974) freddy_person: NO_PERSON t_ms=24009 frame=320,240 latency_ms=231 +I (25224) freddy_person: NO_PERSON t_ms=24259 frame=320,240 latency_ms=232 +I (25474) freddy_person: NO_PERSON t_ms=24509 frame=320,240 latency_ms=232 +I (25724) freddy_person: NO_PERSON t_ms=24759 frame=320,240 latency_ms=232 +I (25974) freddy_person: NO_PERSON t_ms=25009 frame=320,240 latency_ms=232 +I (26224) freddy_person: NO_PERSON t_ms=25259 frame=320,240 latency_ms=231 +I (26474) freddy_person: NO_PERSON t_ms=25509 frame=320,240 latency_ms=232 +I (26724) freddy_person: NO_PERSON t_ms=25759 frame=320,240 latency_ms=232 +I (26974) freddy_person: NO_PERSON t_ms=26009 frame=320,240 latency_ms=232 +I (27224) freddy_person: NO_PERSON t_ms=26259 frame=320,240 latency_ms=231 +I (27474) freddy_person: NO_PERSON t_ms=26509 frame=320,240 latency_ms=232 +I (27724) freddy_person: NO_PERSON t_ms=26759 frame=320,240 latency_ms=231 +I (27974) freddy_person: NO_PERSON t_ms=27009 frame=320,240 latency_ms=231 +I (28224) freddy_person: NO_PERSON t_ms=27259 frame=320,240 latency_ms=232 +I (28474) freddy_person: NO_PERSON t_ms=27509 frame=320,240 latency_ms=231 +I (28724) freddy_person: NO_PERSON t_ms=27759 frame=320,240 latency_ms=231 +I (28974) freddy_person: NO_PERSON t_ms=28009 frame=320,240 latency_ms=232 +I (29224) freddy_person: NO_PERSON t_ms=28259 frame=320,240 latency_ms=232 +I (29474) freddy_person: NO_PERSON t_ms=28510 frame=320,240 latency_ms=232 +I (29724) freddy_person: NO_PERSON t_ms=28759 frame=320,240 latency_ms=232 +I (29974) freddy_person: NO_PERSON t_ms=29009 frame=320,240 latency_ms=232 +I (30224) freddy_person: NO_PERSON t_ms=29259 frame=320,240 latency_ms=232 +I (30474) freddy_person: NO_PERSON t_ms=29509 frame=320,240 latency_ms=231 +I (30724) freddy_person: NO_PERSON t_ms=29759 frame=320,240 latency_ms=231 +I (30974) freddy_person: NO_PERSON t_ms=30009 frame=320,240 latency_ms=232 +I (31224) freddy_person: NO_PERSON t_ms=30259 frame=320,240 latency_ms=231 +I (31474) freddy_person: NO_PERSON t_ms=30509 frame=320,240 latency_ms=232 +I (31724) freddy_person: NO_PERSON t_ms=30759 frame=320,240 latency_ms=231 +I (31974) freddy_person: NO_PERSON t_ms=31009 frame=320,240 latency_ms=232 +I (32224) freddy_person: NO_PERSON t_ms=31259 frame=320,240 latency_ms=232 +I (32474) freddy_person: NO_PERSON t_ms=31509 frame=320,240 latency_ms=231 +I (32724) freddy_person: NO_PERSON t_ms=31759 frame=320,240 latency_ms=231 +I (32974) freddy_person: NO_PERSON t_ms=32009 frame=320,240 latency_ms=232 +I (33224) freddy_person: NO_PERSON t_ms=32259 frame=320,240 latency_ms=231 +I (33474) freddy_person: NO_PERSON t_ms=32509 frame=320,240 latency_ms=232 +I (33724) freddy_person: NO_PERSON t_ms=32759 frame=320,240 latency_ms=232 diff --git a/hardware/camera-captures/person-detector-ir-empty-frame-181.jpg b/hardware/camera-captures/person-detector-ir-empty-frame-181.jpg new file mode 100644 index 0000000..edb4f8c Binary files /dev/null and b/hardware/camera-captures/person-detector-ir-empty-frame-181.jpg differ diff --git a/hardware/camera-captures/person-detector-ir-empty.log b/hardware/camera-captures/person-detector-ir-empty.log new file mode 100644 index 0000000..37e7dff --- /dev/null +++ b/hardware/camera-captures/person-detector-ir-empty.log @@ -0,0 +1,96 @@ +I (123) esp_image: segment 1: paddr=00093494 vaddr=3fc98900 sizeI (42934) freddy_person: PERSON t_ms=41969 score=0.500 cx=293 cy=209 box=267,180,319,239 frame=320,240 latency_ms=232 +I (43184) freddy_person: PERSON t_ms=42219 score=0.515 cx=293 cy=211 box=267,183,319,239 frame=320,240 latency_ms=231 +I (43434) freddy_person: PERSON t_ms=42468 score=0.364 cx=294 cy=209 box=269,180,319,239 frame=320,240 latency_ms=230 +I (43684) freddy_person: PERSON t_ms=42718 score=0.375 cx=294 cy=210 box=269,183,319,238 frame=320,240 latency_ms=231 +I (43934) freddy_person: NO_PERSON t_ms=42968 frame=320,240 latency_ms=230 +I (44184) freddy_person: PERSON t_ms=43218 score=0.364 cx=293 cy=210 box=267,181,319,239 frame=320,240 latency_ms=231 +I (44434) freddy_person: PERSON t_ms=43468 score=0.354 cx=305 cy=212 box=292,186,319,239 frame=320,240 latency_ms=231 +I (44684) freddy_person: PERSON t_ms=43719 score=0.395 cx=159 cy=119 box=0,0,319,239 frame=320,240 latency_ms=231 +I (44934) freddy_person: PERSON t_ms=43968 score=0.415 cx=293 cy=209 box=268,180,319,239 frame=320,240 latency_ms=231 +I (45184) freddy_person: PERSON t_ms=44219 score=0.500 cx=293 cy=209 box=268,181,319,238 frame=320,240 latency_ms=231 +I (45434) freddy_person: NO_PERSON t_ms=44468 frame=320,240 latency_ms=230 +I (45684) freddy_person: PERSON t_ms=44718 score=0.364 cx=160 cy=119 box=1,0,319,239 frame=320,240 latency_ms=231 +I (45934) freddy_person: NO_PERSON t_ms=44968 frame=320,240 latency_ms=230 +I (46184) freddy_person: NO_PERSON t_ms=45218 frame=320,240 latency_ms=230 +I (46434) freddy_person: PERSON t_ms=45469 score=0.459 cx=159 cy=119 box=0,0,319,239 frame=320,240 latency_ms=231 +I (46684) freddy_person: PERSON t_ms=45720 score=0.580 cx=159 cy=119 box=0,0,319,239 frame=320,240 latency_ms=233 +I (46924) freddy_person: NO_PERSON t_ms=45967 frame=320,240 latency_ms=229 +I (47174) freddy_person: NO_PERSON t_ms=46216 frame=320,240 latency_ms=229 +I (47424) freddy_person: PERSON t_ms=46457 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c788e9f4088cf0735ab67279b163bd34222bbe6243fdde29d1fcc82863206c2e413480861f31a4223eb5344bb7cc4947 +FRAME_HEX ff0058d031d142de5edc0c673569176f7cd004b4d765519638a00a725f0ced8b9a85f7b8dccd4010abe4eda739a008fc +FRAME_HEX da90482801dbe9dba8002fef4c7e690090360e2ad29a00901a3cca0644c47ad20619a6224dd4fe1968022a6d002530d0 +FRAME_HEX 046c09a6f95ea6900bb28db400628a6318c3de9f69218a5a0468b8f320947fc085416a7e5c7a5362425ca77a608fe552 +FRAME_HEX 393dc5219225b9272d565500a007e2919820c934014e6d431c47cd50925798fccc6801b1706a6925cae052019121ce6a +FRAME_HEX 434c048a3ddd6878f9e280226dc949be801c1cfad3b777a4161a09dd9aba878a00576c0a886e3de801eab4ec5021d8a7 +FRAME_HEX eccf5e298c666985bd2801bc9a314006da5c5002533140094de94806d3298cbb692171b4d3adf8634c92c15ddd6942e2 +FRAME_HEX 90c752f4a00ad2de01c20c9aa33bc921f9cd00424520049e28025f24f14e10fad002fdda8dcd0059847cb4fc50044e95 +FRAME_HEX 5de3eb4010b295ef406a421d56a07f9690c5cee39a7af5a00947bd28a603c23b7b54b1c79fbd4014707bd385002d2d00 +FRAME_HEX 2525300ef49400da6b5004478a6d0011bec706afc6e3cde3f885005a14f033d2800b80d06dc8eb59b72ec1f93c50043b +FRAME_HEX e9bf3b9e052017cae79e7daa4d8cbfc407d05310d2d20e9f351e70ee36d031a5f2698bf33d005b5a7f6a0069a8987140 +FRAME_HEX 113ad40cb48445820d4f6f21c914809d6a65e28192a0ddd7a54ca314c09054838a433fffd9 +FRAME_END 461 +I (119734) freddy_person: PERSON t_ms=118769 score=0.810 cx=223 cy=139 box=128,39,319,239 frame=320,240 latency_ms=371 +I (119984) freddy_person: PERSON t_ms=119021 score=0.530 cx=219 cy=135 box=129,37,310,233 frame=320,240 latency_ms=233 +I (120234) freddy_person: PERSON t_ms=119271 score=0.857 cx=217 cy=138 box=122,38,313,239 frame=320,240 latency_ms=233 +I (120484) freddy_person: PERSON t_ms=119520 score=0.786 cx=199 cy=137 box=122,38,276,237 frame=320,240 latency_ms=233 +I (120734) freddy_person: PERSON t_ms=119770 score=0.707 cx=204 cy=132 box=124,39,285,225 frame=320,240 latency_ms=233 diff --git a/hardware/camera-captures/person-detector-left.log b/hardware/camera-captures/person-detector-left.log new file mode 100644 index 0000000..195f337 --- /dev/null +++ b/hardware/camera-captures/person-detector-left.log @@ -0,0 +1,33 @@ +I (41804) freddy_person: PERSON t_ms=40840 score=0.586 cx=166 cyI (98354) freddy_person: PERSON t_ms=97390 score=0.515 cx=215 cy=119 box=111,0,319,239 frame=320,240 latency_ms=233 +I (98604) freddy_person: NO_PERSON t_ms=97639 frame=320,240 latency_ms=232 +I (98854) freddy_person: PERSON t_ms=97890 score=0.484 cx=217 cy=120 box=122,4,313,237 frame=320,240 latency_ms=233 +I (99104) freddy_person: PERSON t_ms=98140 score=0.593 cx=220 cy=123 box=121,8,319,239 frame=320,240 latency_ms=232 +I (99354) freddy_person: PERSON t_ms=98390 score=0.599 cx=237 cy=119 box=156,0,319,239 frame=320,240 latency_ms=232 +I (99604) freddy_person: PERSON t_ms=98640 score=0.515 cx=234 cy=120 box=149,2,319,239 frame=320,240 latency_ms=232 +I (99854) freddy_person: PERSON t_ms=98889 score=0.468 cx=250 cy=131 box=181,23,319,239 frame=320,240 latency_ms=232 +I (100104) freddy_person: PERSON t_ms=99139 score=0.433 cx=230 cy=139 box=142,39,319,239 frame=320,240 latency_ms=232 +I (100354) freddy_person: PERSON t_ms=99390 score=0.484 cx=229 cy=139 box=139,40,319,239 frame=320,240 latency_ms=232 +I (100604) freddy_person: PERSON t_ms=99640 score=0.530 cx=260 cy=141 box=201,44,319,239 frame=320,240 latency_ms=232 +I (100854) freddy_person: PERSON t_ms=99890 score=0.476 cx=257 cy=142 box=196,46,319,238 frame=320,240 latency_ms=233 +I (101104) freddy_person: PERSON t_ms=100139 score=0.545 cx=218 cy=142 box=120,46,316,239 frame=320,240 latency_ms=232 +I (101354) freddy_person: PERSON t_ms=100390 score=0.484 cx=234 cy=142 box=150,45,319,239 frame=320,240 latency_ms=232 +I (101604) freddy_person: PERSON t_ms=100640 score=0.468 cx=258 cy=143 box=197,48,319,239 frame=320,240 latency_ms=232 +I (101854) freddy_person: PERSON t_ms=100890 score=0.637 cx=230 cy=143 box=141,48,319,239 frame=320,240 latency_ms=232 +I (102104) freddy_person: PERSON t_ms=101140 score=0.566 cx=241 cy=143 box=163,48,319,239 frame=320,240 latency_ms=232 +I (102354) freddy_person: PERSON t_ms=101390 score=0.723 cx=236 cy=144 box=154,50,319,239 frame=320,240 latency_ms=232 +I (102604) freddy_person: PERSON t_ms=101640 score=0.776 cx=228 cy=146 box=138,53,319,239 frame=320,240 latency_ms=232 +I (102854) freddy_person: PERSON t_ms=101890 score=0.690 cx=243 cy=145 box=167,52,319,239 frame=320,240 latency_ms=232 +I (103104) freddy_person: PERSON t_ms=102140 score=0.637 cx=238 cy=145 box=158,52,319,239 frame=320,240 latency_ms=232 +I (103354) freddy_person: PERSON t_ms=102390 score=0.612 cx=232 cy=143 box=147,48,317,239 frame=320,240 latency_ms=232 +I (103604) freddy_person: PERSON t_ms=102640 score=0.702 cx=224 cy=144 box=129,49,319,239 frame=320,240 latency_ms=232 +I (103854) freddy_person: PERSON t_ms=102890 score=0.791 cx=230 cy=144 box=141,49,319,239 frame=320,240 latency_ms=232 +I (104104) freddy_person: PERSON t_ms=103140 score=0.612 cx=225 cy=145 box=132,51,319,239 frame=320,240 latency_ms=232 +I (104354) freddy_person: PERSON t_ms=103390 score=0.786 cx=222 cy=144 box=126,50,319,239 frame=320,240 latency_ms=232 +I (104604) freddy_person: PERSON t_ms=103640 score=0.834 cx=227 cy=144 box=136,50,319,239 frame=320,240 latency_ms=232 +I (104854) freddy_person: PERSON t_ms=103890 score=0.734 cx=222 cy=143 box=126,48,319,239 frame=320,240 latency_ms=232 +I (105104) freddy_person: PERSON t_ms=104140 score=0.723 cx=231 cy=143 box=145,48,318,239 frame=320,240 latency_ms=233 +I (105354) freddy_person: PERSON t_ms=104390 score=0.745 cx=219 cy=143 box=120,48,319,239 frame=320,240 latency_ms=232 +I (105604) freddy_person: PERSON t_ms=104639 score=0.586 cx=219 cy=145 box=121,51,317,239 frame=320,240 latency_ms=232 +I (105854) freddy_person: PERSON t_ms=104889 score=0.740 cx=221 cy=145 box=123,52,319,239 frame=320,240 latency_ms=232 +I (106104) freddy_person: PERSON t_ms=105140 score=0.702 cx=251 cy=146 box=183,54,319,239 frame=320,240 latency_ms=232 +I (106354) freddy_person: PERSON t_ms=105390 score=0.593 cx=250 cy=147 box=185,55,316,239 frame=320,240 latency_ms=232 diff --git a/hardware/camera-captures/person-detector-lit-center-frame-81.jpg b/hardware/camera-captures/person-detector-lit-center-frame-81.jpg new file mode 100644 index 0000000..b1f43d0 Binary files /dev/null and b/hardware/camera-captures/person-detector-lit-center-frame-81.jpg differ diff --git a/hardware/camera-captures/person-detector-lit-center.log b/hardware/camera-captures/person-detector-lit-center.log new file mode 100644 index 0000000..cf6238e --- /dev/null +++ b/hardware/camera-captures/person-detector-lit-center.log @@ -0,0 +1,244 @@ +I (123) esp_image: segment 1: paddr=000933e4 vaddr=3fc98900 sizeI (14674) freddy_person: PERSON t_ms=13710 score=0.667 cx=136 cy=148 box=56,58,217,238 frame=320,240 latency_ms=233 +I (14924) freddy_person: PERSON t_ms=13960 score=0.661 cx=141 cy=150 box=66,61,217,239 frame=320,240 latency_ms=233 +I (15174) freddy_person: PERSON t_ms=14211 score=0.619 cx=140 cy=150 box=62,62,219,239 frame=320,240 latency_ms=233 +I (15424) freddy_person: PERSON t_ms=14461 score=0.673 cx=141 cy=150 box=63,62,219,239 frame=320,240 latency_ms=233 +I (15674) freddy_person: PERSON t_ms=14711 score=0.599 cx=139 cy=151 box=58,63,221,239 frame=320,240 latency_ms=233 +I (15924) freddy_person: PERSON t_ms=14961 score=0.673 cx=135 cy=150 box=50,61,221,239 frame=320,240 latency_ms=233 +I (16174) freddy_person: PERSON t_ms=15211 score=0.637 cx=139 cy=150 box=61,62,218,239 frame=320,240 latency_ms=233 +I (16424) freddy_person: PERSON t_ms=15460 score=0.690 cx=142 cy=150 box=68,62,217,239 frame=320,240 latency_ms=233 +I (16674) freddy_person: PERSON t_ms=15710 score=0.625 cx=146 cy=151 box=74,63,218,239 frame=320,240 latency_ms=233 +I (16924) freddy_person: PERSON t_ms=15961 score=0.552 cx=143 cy=150 box=72,61,214,239 frame=320,240 latency_ms=233 +I (17174) freddy_person: PERSON t_ms=16210 score=0.690 cx=139 cy=151 box=63,64,216,239 frame=320,240 latency_ms=233 +I (17424) freddy_person: PERSON t_ms=16460 score=0.559 cx=141 cy=151 box=64,63,218,239 frame=320,240 latency_ms=232 +I (17674) freddy_person: PERSON t_ms=16710 score=0.599 cx=159 cy=150 box=98,63,220,238 frame=320,240 latency_ms=233 +I (17924) freddy_person: PERSON t_ms=16960 score=0.599 cx=142 cy=151 box=66,63,219,239 frame=320,240 latency_ms=233 +I (18174) freddy_person: PERSON t_ms=17211 score=0.619 cx=139 cy=150 box=59,63,219,237 frame=320,240 latency_ms=233 +I (18424) freddy_person: PERSON t_ms=17461 score=0.707 cx=137 cy=150 box=56,61,218,239 frame=320,240 latency_ms=233 +I (18674) freddy_person: PERSON t_ms=17710 score=0.552 cx=135 cy=150 box=56,62,215,239 frame=320,240 latency_ms=233 +I (18924) freddy_person: PERSON t_ms=17960 score=0.650 cx=137 cy=151 box=59,63,216,239 frame=320,240 latency_ms=233 +I (19174) freddy_person: PERSON t_ms=18210 score=0.679 cx=140 cy=151 box=60,63,221,239 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70c72777e75763d476a60f205004d1df47271c8351de6248a8119c876f5a6be2908848a5dc69816f98a6ebdeae8e4503 +FRAME_HEX 237f918350771ea703ad0224de368e4f4a6232c6c7a9a02c22ab4af81c53edc946e9b87a5003c43f367a7b54c17140c5 +FRAME_HEX cd452ddaa74e4d0328c970f2f7c545de80278df14d91cbd0217f871538e05030dd48d400c3c559b0b732cbb8fdd1401b +FRAME_HEX 8a0014941628a5a06368a04211eb4c6b756a00a92d87a55096ccd041564b393a8a84c322ff0009a05608c481fee9fcaa +FRAME_HEX 725c1e8680b11dcc3fc4bd0d57c1cd021ad914da0668dd2fcaafeb4fb57dc9cd04a266191550677726819394da8a778f +FRAME_HEX 9a902331e9814013244054a2818ea8a5b848fa9a065092e9e5e871517340829d4c6393dcd49bd477a4211396a9a801b9 +FRAME_HEX a4dd40c7c28657c56d40bb170281a26cd028287d04d031a68a005ed49bb9a043b39a4650fc114014e6b4cfdc359f2a3a +FRAME_HEX 1a44918761de879dc77a006bdc174c715479dd40988f9350b5324bd1b196064cd36db21b39a045e14d30827348a1ca80 +FRAME_HEX 53c0a603aa379956802a4d72edc0cad56dac7a9a00318ef4530268e166eb538840a57002a05579463e9400b02f19a928 +FRAME_HEX 0128c1f5a00d2b28f6a64f7aba0d058b9cd4a2818fa4a062537140074a2801c2973cd210547242b20f98530332e6d4a1 +FRAME_HEX c8fbb549c5224aac4aa91fd2a05dc5bad04b24c1348c9f5fca9907ffd9 +FRAME_END 81 +I (22304) freddy_person: PERSON t_ms=21344 score=0.612 cx=135 cy=150 box=54,62,216,239 frame=320,240 latency_ms=366 +I (22554) freddy_person: PERSON t_ms=21590 score=0.718 cx=137 cy=150 box=58,61,216,239 frame=320,240 latency_ms=233 +I (22804) freddy_person: PERSON t_ms=21840 score=0.679 cx=132 cy=150 box=53,62,212,239 frame=320,240 latency_ms=233 +I (23054) freddy_person: PERSON t_ms=22090 score=0.650 cx=131 cy=151 box=49,63,214,239 frame=320,240 latency_ms=233 +I (23304) freddy_person: PERSON t_ms=22340 score=0.415 cx=137 cy=150 box=59,62,216,239 frame=320,240 latency_ms=233 +I (23554) freddy_person: PERSON t_ms=22590 score=0.612 cx=136 cy=151 box=54,64,218,239 frame=320,240 latency_ms=233 +I (23804) freddy_person: PERSON t_ms=22841 score=0.586 cx=150 cy=150 box=80,62,221,239 frame=320,240 latency_ms=233 +I (24054) freddy_person: PERSON t_ms=23090 score=0.593 cx=139 cy=151 box=60,63,219,239 frame=320,240 latency_ms=233 +I (24304) freddy_person: PERSON t_ms=23340 score=0.580 cx=135 cy=150 box=55,62,215,238 frame=320,240 latency_ms=233 +I (24554) freddy_person: PERSON t_ms=23590 score=0.606 cx=131 cy=151 box=49,63,214,239 frame=320,240 latency_ms=233 +I (24804) freddy_person: PERSON t_ms=23840 score=0.702 cx=134 cy=151 box=52,63,216,239 frame=320,240 latency_ms=233 +I (25054) freddy_person: PERSON t_ms=24090 score=0.771 cx=135 cy=150 box=54,62,217,239 frame=320,240 latency_ms=232 +I (25304) freddy_person: PERSON t_ms=24340 score=0.690 cx=136 cy=150 box=54,61,219,239 frame=320,240 latency_ms=232 +I (25554) freddy_person: PERSON t_ms=24590 score=0.619 cx=137 cy=149 box=58,60,217,239 frame=320,240 latency_ms=233 +I (25804) freddy_person: PERSON t_ms=24840 score=0.530 cx=133 cy=147 box=50,55,217,239 frame=320,240 latency_ms=232 +I (26054) freddy_person: PERSON t_ms=25090 score=0.740 cx=126 cy=147 box=34,56,219,239 frame=320,240 latency_ms=233 +I (26304) freddy_person: PERSON t_ms=25340 score=0.707 cx=121 cy=146 box=24,54,219,239 frame=320,240 latency_ms=233 +I (26554) freddy_person: PERSON t_ms=25590 score=0.625 cx=132 cy=147 box=46,55,218,239 frame=320,240 latency_ms=232 +I (26804) freddy_person: PERSON t_ms=25841 score=0.619 cx=136 cy=147 box=53,55,219,239 frame=320,240 latency_ms=233 +I (27054) freddy_person: PERSON t_ms=26090 score=0.599 cx=126 cy=146 box=34,54,219,239 frame=320,240 latency_ms=233 +I (27304) freddy_person: PERSON t_ms=26340 score=0.599 cx=133 cy=145 box=45,52,221,239 frame=320,240 latency_ms=233 +I (27554) freddy_person: PERSON t_ms=26590 score=0.661 cx=132 cy=146 box=45,53,220,239 frame=320,240 latency_ms=233 +I (27804) freddy_person: PERSON t_ms=26840 score=0.707 cx=133 cy=145 box=51,51,216,239 frame=320,240 latency_ms=233 +I (28054) freddy_person: PERSON t_ms=27090 score=0.713 cx=138 cy=146 box=57,54,219,239 frame=320,240 latency_ms=232 +I (28304) freddy_person: PERSON t_ms=27340 score=0.476 cx=131 cy=146 box=55,53,207,239 frame=320,240 latency_ms=232 +I (28554) freddy_person: PERSON t_ms=27590 score=0.599 cx=108 cy=146 box=5,54,211,239 frame=320,240 latency_ms=232 +I (28804) freddy_person: PERSON t_ms=27840 score=0.415 cx=126 cy=123 box=54,53,199,193 frame=320,240 latency_ms=232 +I (29054) freddy_person: PERSON t_ms=28090 score=0.468 cx=118 cy=146 box=30,54,207,239 frame=320,240 latency_ms=233 +I (29304) freddy_person: PERSON t_ms=28340 score=0.405 cx=124 cy=131 box=43,57,205,205 frame=320,240 latency_ms=232 +I (29554) freddy_person: PERSON t_ms=28590 score=0.631 cx=98 cy=148 box=10,58,186,239 frame=320,240 latency_ms=232 +I (29804) freddy_person: PERSON t_ms=28840 score=0.723 cx=116 cy=147 box=29,55,204,239 frame=320,240 latency_ms=232 +I (30054) freddy_person: PERSON t_ms=29090 score=0.442 cx=112 cy=146 box=2,54,222,239 frame=320,240 latency_ms=232 +I (30304) freddy_person: PERSON t_ms=29340 score=0.599 cx=147 cy=150 box=74,62,220,239 frame=320,240 latency_ms=232 +I (30554) freddy_person: PERSON t_ms=29590 score=0.702 cx=142 cy=151 box=69,64,216,239 frame=320,240 latency_ms=233 +I (30804) freddy_person: PERSON t_ms=29840 score=0.810 cx=144 cy=151 box=68,63,220,239 frame=320,240 latency_ms=233 +I (31054) freddy_person: PERSON t_ms=30090 score=0.559 cx=145 cy=151 box=47,63,243,239 frame=320,240 latency_ms=233 +I (31304) freddy_person: PERSON t_ms=30340 score=0.734 cx=155 cy=149 box=76,60,235,239 frame=320,240 latency_ms=233 +I (31554) freddy_person: PERSON t_ms=30590 score=0.573 cx=151 cy=150 box=79,62,224,239 frame=320,240 latency_ms=233 +I (31804) freddy_person: PERSON t_ms=30840 score=0.459 cx=156 cy=149 box=68,60,244,239 frame=320,240 latency_ms=233 +I (32054) freddy_person: PERSON t_ms=31090 score=0.586 cx=150 cy=149 box=69,60,232,239 frame=320,240 latency_ms=233 +I (32304) freddy_person: PERSON t_ms=31340 score=0.500 cx=158 cy=150 box=76,62,241,239 frame=320,240 latency_ms=232 +I (32554) freddy_person: PERSON t_ms=31590 score=0.718 cx=142 cy=150 box=51,62,233,239 frame=320,240 latency_ms=233 +I (32804) freddy_person: PERSON t_ms=31840 score=0.424 cx=149 cy=149 box=67,62,232,237 frame=320,240 latency_ms=232 +I (33054) freddy_person: PERSON t_ms=32089 score=0.484 cx=140 cy=150 box=54,62,226,239 frame=320,240 latency_ms=232 +I (33304) freddy_person: PERSON t_ms=32340 score=0.538 cx=136 cy=151 box=52,64,221,239 frame=320,240 latency_ms=233 +I (33554) freddy_person: PERSON t_ms=32591 score=0.631 cx=133 cy=150 box=33,62,233,239 frame=320,240 latency_ms=233 +I (33804) freddy_person: PERSON t_ms=32840 score=0.476 cx=125 cy=152 box=24,65,227,239 frame=320,240 latency_ms=233 +I (34054) freddy_person: PERSON t_ms=33090 score=0.566 cx=134 cy=151 box=38,63,231,239 frame=320,240 latency_ms=232 +I (34304) freddy_person: PERSON t_ms=33340 score=0.745 cx=126 cy=152 box=20,65,233,239 frame=320,240 latency_ms=233 +I (34554) freddy_person: PERSON t_ms=33590 score=0.433 cx=149 cy=150 box=73,63,225,238 frame=320,240 latency_ms=232 +I (34804) freddy_person: PERSON t_ms=33840 score=0.612 cx=142 cy=151 box=61,63,224,239 frame=320,240 latency_ms=233 +I (35054) freddy_person: PERSON t_ms=34090 score=0.364 cx=150 cy=151 box=79,64,222,239 frame=320,240 latency_ms=232 +I (35304) freddy_person: PERSON t_ms=34340 score=0.523 cx=152 cy=151 box=73,64,232,239 frame=320,240 latency_ms=233 +I (35554) freddy_person: PERSON t_ms=34590 score=0.552 cx=150 cy=151 box=72,64,229,239 frame=320,240 latency_ms=232 +I (35804) freddy_person: PERSON t_ms=34840 score=0.492 cx=140 cy=151 box=51,64,230,239 frame=320,240 latency_ms=233 +I (36054) freddy_person: PERSON t_ms=35090 score=0.538 cx=158 cy=151 box=91,65,226,238 frame=320,240 latency_ms=232 +I (36304) freddy_person: PERSON t_ms=35340 score=0.573 cx=148 cy=151 box=72,64,225,239 frame=320,240 latency_ms=232 +I (36554) freddy_person: PERSON t_ms=35590 score=0.673 cx=153 cy=151 box=80,63,227,239 frame=320,240 latency_ms=232 +I (36804) freddy_person: PERSON t_ms=35840 score=0.523 cx=152 cy=152 box=75,66,230,239 frame=320,240 latency_ms=233 +I (37054) freddy_person: PERSON t_ms=36090 score=0.599 cx=145 cy=152 box=68,66,222,239 frame=320,240 latency_ms=232 +I (37304) freddy_person: PERSON t_ms=36340 score=0.459 cx=144 cy=152 box=56,65,232,239 frame=320,240 latency_ms=233 +I (37554) freddy_person: PERSON t_ms=36590 score=0.750 cx=154 cy=151 box=76,64,233,239 frame=320,240 latency_ms=232 +I (37804) freddy_person: PERSON t_ms=36840 score=0.433 cx=131 cy=151 box=39,64,223,239 frame=320,240 latency_ms=232 +I (38054) freddy_person: PERSON t_ms=37090 score=0.580 cx=147 cy=152 box=70,65,225,239 frame=320,240 latency_ms=232 +I (38304) freddy_person: PERSON t_ms=37340 score=0.625 cx=143 cy=151 box=65,64,221,239 frame=320,240 latency_ms=233 +I (38554) freddy_person: PERSON t_ms=37590 score=0.442 cx=140 cy=152 box=62,66,218,239 frame=320,240 latency_ms=232 +I (38804) freddy_person: PERSON t_ms=37840 score=0.484 cx=152 cy=151 box=84,63,221,239 frame=320,240 latency_ms=232 +I (39054) freddy_person: PERSON t_ms=38090 score=0.508 cx=146 cy=149 box=73,65,219,234 frame=320,240 latency_ms=233 +I (39304) freddy_person: PERSON t_ms=38340 score=0.580 cx=145 cy=151 box=71,64,219,238 frame=320,240 latency_ms=232 +I (39554) freddy_person: PERSON t_ms=38590 score=0.545 cx=150 cy=150 box=72,64,228,237 frame=320,240 latency_ms=233 +I (39804) freddy_person: PERSON t_ms=38840 score=0.442 cx=145 cy=150 box=70,63,220,237 frame=320,240 latency_ms=232 +I (40054) freddy_person: PERSON t_ms=39090 score=0.415 cx=161 cy=151 box=95,66,227,237 frame=320,240 latency_ms=232 +I (40304) freddy_person: NO_PERSON t_ms=39339 frame=320,240 latency_ms=232 +I (40554) freddy_person: PERSON t_ms=39590 score=0.451 cx=146 cy=150 box=68,65,224,236 frame=320,240 latency_ms=232 +I (40804) freddy_person: PERSON t_ms=39840 score=0.508 cx=147 cy=152 box=66,66,228,238 frame=320,240 latency_ms=232 +I (41054) freddy_person: PERSON t_ms=40090 score=0.707 cx=149 cy=152 box=76,66,223,239 frame=320,240 latency_ms=232 +I (41304) freddy_person: PERSON t_ms=40340 score=0.476 cx=156 cy=151 box=65,64,247,239 frame=320,240 latency_ms=232 +I (41554) freddy_person: PERSON t_ms=40590 score=0.696 cx=149 cy=150 box=35,62,263,239 frame=320,240 latency_ms=232 diff --git a/hardware/camera-captures/person-detector-right-image-frame-161.jpg b/hardware/camera-captures/person-detector-right-image-frame-161.jpg new file mode 100644 index 0000000..1bdb71d Binary files /dev/null and b/hardware/camera-captures/person-detector-right-image-frame-161.jpg differ diff --git a/hardware/camera-captures/person-detector-right-image-frame-181.jpg b/hardware/camera-captures/person-detector-right-image-frame-181.jpg new file mode 100644 index 0000000..8723abb Binary files /dev/null and b/hardware/camera-captures/person-detector-right-image-frame-181.jpg differ diff --git a/hardware/camera-captures/person-detector-right-image.log b/hardware/camera-captures/person-detector-right-image.log new file mode 100644 index 0000000..8453e9f --- /dev/null +++ b/hardware/camera-captures/person-detector-right-image.log @@ -0,0 +1,286 @@ +I (123) esp_image: segment 1: paddr=000933e4 vaddr=3fc98900 sizeI (38744) freddy_person: PERSON t_ms=37780 score=0.862 cx=68 cy=145 box=0,51,136,239 frame=320,240 latency_ms=233 +I (38994) freddy_person: PERSON t_ms=38031 score=0.810 cx=61 cy=145 box=0,51,123,239 frame=320,240 latency_ms=233 +I (39244) freddy_person: PERSON t_ms=38281 score=0.824 cx=63 cy=143 box=0,48,127,239 frame=320,240 latency_ms=233 +I (39494) freddy_person: PERSON t_ms=38530 score=0.650 cx=62 cy=144 box=0,49,124,239 frame=320,240 latency_ms=233 +I (39744) freddy_person: PERSON t_ms=38781 score=0.661 cx=63 cy=144 box=0,50,127,239 frame=320,240 latency_ms=233 +I (39994) freddy_person: PERSON t_ms=39030 score=0.795 cx=65 cy=143 box=0,48,131,239 frame=320,240 latency_ms=233 +I (40244) freddy_person: PERSON t_ms=39280 score=0.707 cx=63 cy=142 box=0,46,127,239 frame=320,240 latency_ms=233 +I (40494) freddy_person: PERSON t_ms=39531 score=0.834 cx=66 cy=143 box=0,48,133,239 frame=320,240 latency_ms=233 +I (40744) freddy_person: PERSON t_ms=39781 score=0.843 cx=61 cy=143 box=1,48,122,239 frame=320,240 latency_ms=233 +I (40994) freddy_person: PERSON t_ms=40030 score=0.745 cx=63 cy=143 box=0,48,126,239 frame=320,240 latency_ms=233 +I (41244) freddy_person: PERSON t_ms=40280 score=0.829 cx=64 cy=144 box=0,50,129,239 frame=320,240 latency_ms=232 +I (41494) freddy_person: PERSON t_ms=40530 score=0.755 cx=60 cy=143 box=0,47,120,239 frame=320,240 latency_ms=232 +I (41744) freddy_person: PERSON t_ms=40780 score=0.765 cx=62 cy=142 box=0,46,124,239 frame=320,240 latency_ms=233 +I (41994) freddy_person: PERSON t_ms=41030 score=0.839 cx=63 cy=143 box=0,47,127,239 frame=320,240 latency_ms=232 +I (42244) freddy_person: PERSON t_ms=41279 score=0.897 cx=61 cy=140 box=0,41,123,239 frame=320,240 latency_ms=232 +I 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t_ms=48270 score=0.871 cx=61 cy=142 box=0,46,122,239 frame=320,240 latency_ms=233 +I (49484) freddy_person: PERSON t_ms=48519 score=0.857 cx=62 cy=143 box=0,47,124,239 frame=320,240 latency_ms=232 +I (49734) freddy_person: PERSON t_ms=48770 score=0.805 cx=62 cy=142 box=0,46,124,239 frame=320,240 latency_ms=233 +I (49984) freddy_person: PERSON t_ms=49020 score=0.786 cx=62 cy=142 box=0,45,125,239 frame=320,240 latency_ms=233 +I (50234) freddy_person: PERSON t_ms=49270 score=0.857 cx=62 cy=142 box=1,46,123,239 frame=320,240 latency_ms=233 +I (50484) freddy_person: PERSON t_ms=49520 score=0.866 cx=61 cy=142 box=0,45,123,239 frame=320,240 latency_ms=233 +I (50734) freddy_person: PERSON t_ms=49770 score=0.820 cx=61 cy=142 box=0,45,123,239 frame=320,240 latency_ms=232 diff --git a/hardware/camera-captures/person-detector-right.log b/hardware/camera-captures/person-detector-right.log new file mode 100644 index 0000000..fb3f861 --- /dev/null +++ b/hardware/camera-captures/person-detector-right.log @@ -0,0 +1,33 @@ +I (106604) freddy_person: PERSON t_ms=105639 score=0.805 cx=218 I (133904) freddy_person: PERSON t_ms=132940 score=0.476 cx=35 cy=140 box=0,45,70,236 frame=320,240 latency_ms=232 +I (134154) freddy_person: PERSON t_ms=133190 score=0.552 cx=240 cy=119 box=162,0,318,239 frame=320,240 latency_ms=233 +I (134404) freddy_person: PERSON t_ms=133440 score=0.530 cx=242 cy=119 box=167,0,318,239 frame=320,240 latency_ms=233 +I (134654) freddy_person: PERSON t_ms=133690 score=0.566 cx=38 cy=140 box=0,43,77,237 frame=320,240 latency_ms=233 +I (134904) freddy_person: PERSON t_ms=133941 score=0.538 cx=235 cy=119 box=152,0,319,239 frame=320,240 latency_ms=233 +I (135154) freddy_person: PERSON t_ms=134190 score=0.667 cx=240 cy=119 box=162,0,319,239 frame=320,240 latency_ms=233 +I (135404) freddy_person: PERSON t_ms=134440 score=0.580 cx=42 cy=140 box=1,41,83,239 frame=320,240 latency_ms=233 +I (135654) freddy_person: PERSON t_ms=134691 score=0.552 cx=40 cy=139 box=0,39,81,239 frame=320,240 latency_ms=233 +I (135904) freddy_person: PERSON t_ms=134941 score=0.723 cx=235 cy=119 box=151,0,319,239 frame=320,240 latency_ms=233 +I (136154) freddy_person: PERSON t_ms=135190 score=0.545 cx=234 cy=119 box=150,0,319,239 frame=320,240 latency_ms=233 +I (136404) freddy_person: PERSON t_ms=135440 score=0.679 cx=47 cy=139 box=0,40,94,239 frame=320,240 latency_ms=233 +I (136654) freddy_person: PERSON t_ms=135690 score=0.468 cx=43 cy=139 box=0,39,87,239 frame=320,240 latency_ms=233 +I (136904) freddy_person: PERSON t_ms=135941 score=0.515 cx=42 cy=137 box=0,35,85,239 frame=320,240 latency_ms=233 +I (137154) freddy_person: PERSON t_ms=136190 score=0.523 cx=52 cy=138 box=0,38,105,239 frame=320,240 latency_ms=233 +I (137404) freddy_person: PERSON t_ms=136441 score=0.586 cx=238 cy=119 box=157,0,319,239 frame=320,240 latency_ms=234 +I (137654) freddy_person: PERSON t_ms=136691 score=0.656 cx=47 cy=138 box=0,37,95,239 frame=320,240 latency_ms=233 +I (137904) freddy_person: PERSON t_ms=136940 score=0.650 cx=235 cy=119 box=152,0,319,239 frame=320,240 latency_ms=233 +I (138154) freddy_person: PERSON t_ms=137191 score=0.661 cx=236 cy=119 box=154,0,318,239 frame=320,240 latency_ms=233 +I (138404) freddy_person: PERSON t_ms=137441 score=0.559 cx=49 cy=135 box=1,32,97,239 frame=320,240 latency_ms=233 +I (138654) freddy_person: PERSON t_ms=137691 score=0.740 cx=235 cy=119 box=152,0,318,239 frame=320,240 latency_ms=233 +I (138904) freddy_person: PERSON t_ms=137941 score=0.643 cx=237 cy=119 box=155,0,319,239 frame=320,240 latency_ms=233 +I (139154) freddy_person: PERSON t_ms=138191 score=0.523 cx=241 cy=119 box=164,0,319,239 frame=320,240 latency_ms=233 +I (139404) freddy_person: PERSON t_ms=138440 score=0.538 cx=237 cy=119 box=156,0,319,239 frame=320,240 latency_ms=233 +I (139654) freddy_person: PERSON t_ms=138690 score=0.552 cx=240 cy=119 box=162,0,318,239 frame=320,240 latency_ms=233 +I (139904) freddy_person: PERSON t_ms=138941 score=0.667 cx=236 cy=119 box=153,0,319,239 frame=320,240 latency_ms=233 +I (140154) freddy_person: PERSON t_ms=139191 score=0.661 cx=235 cy=119 box=152,0,319,239 frame=320,240 latency_ms=233 +I (140404) freddy_person: PERSON t_ms=139440 score=0.643 cx=240 cy=119 box=161,0,319,239 frame=320,240 latency_ms=232 +I (140654) freddy_person: PERSON t_ms=139691 score=0.508 cx=243 cy=119 box=167,0,319,239 frame=320,240 latency_ms=233 +I (140904) freddy_person: PERSON t_ms=139940 score=0.734 cx=239 cy=119 box=160,0,319,239 frame=320,240 latency_ms=232 +I (141154) freddy_person: PERSON t_ms=140191 score=0.612 cx=241 cy=119 box=163,0,319,239 frame=320,240 latency_ms=233 +I (141404) freddy_person: PERSON t_ms=140440 score=0.707 cx=237 cy=119 box=156,0,318,239 frame=320,240 latency_ms=233 +I (141654) freddy_person: PERSON t_ms=140690 score=0.696 cx=240 cy=119 box=161,0,319,239 frame=320,240 latency_ms=233 +I (141904) freddy_person: PERSON t_ms=140940 score=0.734 cx=239 cy=119 box=161,0,318,239 frame=320,240 latency_ms=232 diff --git a/hardware/camera-captures/person-left.jpg b/hardware/camera-captures/person-left.jpg new file mode 100644 index 0000000..2906d31 Binary files /dev/null and b/hardware/camera-captures/person-left.jpg differ diff --git a/hardware/camera-captures/person-left.log b/hardware/camera-captures/person-left.log new file mode 100644 index 0000000..f6c5edf --- /dev/null +++ b/hardware/camera-captures/person-left.log @@ -0,0 +1,4 @@ +port=/dev/cu.usbmodem1101 +jpeg_sha256=b0934d43ec81449a04a872ba688e0fc883ede7e7964aa5e75dd934fb09bff276 +JPEG 6154 320 240 +DONE diff --git a/hardware/camera-captures/person-right.jpg b/hardware/camera-captures/person-right.jpg new file mode 100644 index 0000000..060ee37 Binary files /dev/null and b/hardware/camera-captures/person-right.jpg differ diff --git a/hardware/camera-captures/person-right.log b/hardware/camera-captures/person-right.log new file mode 100644 index 0000000..9118923 --- /dev/null +++ b/hardware/camera-captures/person-right.log @@ -0,0 +1,4 @@ +port=/dev/cu.usbmodem1101 +jpeg_sha256=07448c31493e9daca37b618ab7745c59fe2ba6537fd695864f93a13180a0c6ce +JPEG 4347 320 240 +DONE diff --git a/hardware/camera-captures/room-frame.jpg b/hardware/camera-captures/room-frame.jpg new file mode 100644 index 0000000..26c5a67 Binary files /dev/null and b/hardware/camera-captures/room-frame.jpg differ diff --git a/hardware/camera-captures/room-frame.log b/hardware/camera-captures/room-frame.log new file mode 100644 index 0000000..f3779da --- /dev/null +++ b/hardware/camera-captures/room-frame.log @@ -0,0 +1,4 @@ +port=/dev/cu.usbmodem1101 +jpeg_sha256=b83635aae53122cd474462d6fbda933af40854a6e68a374414b32b53f82cc5bd +JPEG 4897 320 240 +DONE diff --git a/hardware/camera-captures/tracking-drop-2026-09-27-frame-41.jpg b/hardware/camera-captures/tracking-drop-2026-09-27-frame-41.jpg new file mode 100644 index 0000000..49f7bb9 Binary files /dev/null and b/hardware/camera-captures/tracking-drop-2026-09-27-frame-41.jpg differ diff --git a/hardware/camera-captures/tracking-drop-2026-09-27-frame-61.jpg b/hardware/camera-captures/tracking-drop-2026-09-27-frame-61.jpg new file mode 100644 index 0000000..6e597a9 Binary files /dev/null and b/hardware/camera-captures/tracking-drop-2026-09-27-frame-61.jpg differ diff --git a/hardware/camera-captures/tracking-drop-2026-09-27-frame-81.jpg b/hardware/camera-captures/tracking-drop-2026-09-27-frame-81.jpg new file mode 100644 index 0000000..86d40f0 Binary files /dev/null and b/hardware/camera-captures/tracking-drop-2026-09-27-frame-81.jpg differ diff --git a/hardware/camera-captures/tracking-drop-2026-09-27.log b/hardware/camera-captures/tracking-drop-2026-09-27.log new file mode 100644 index 0000000..d089f26 --- /dev/null +++ b/hardware/camera-captures/tracking-drop-2026-09-27.log @@ -0,0 +1,473 @@ +I (9708) freddy_person: PERSON t_ms=8740 score=0.433 cx=47 cy=62 box=0,0,95,124 frame=320,240 latency_ms=232 gaze_valid=1 +I (9958) freddy_person: NO_PERSON t_ms=8989 frame=320,240 latency_ms=232 rejected_full_frame=1 +I (10208) freddy_person: PERSON t_ms=9239 score=0.375 cx=45 cy=65 box=0,0,90,131 frame=320,240 latency_ms=232 gaze_valid=0 +I (10458) freddy_person: NO_PERSON t_ms=9490 frame=320,240 latency_ms=232 rejected_full_frame=1 +I (10708) freddy_person: NO_PERSON t_ms=9739 frame=320,240 latency_ms=232 rejected_full_frame=0 +I (10958) freddy_person: PERSON t_ms=9990 score=0.405 cx=48 cy=62 box=0,0,97,124 frame=320,240 latency_ms=232 gaze_valid=0 +I (11208) freddy_person: NO_PERSON t_ms=10239 frame=320,240 latency_ms=231 rejected_full_frame=0 +I (11458) freddy_person: PERSON t_ms=10489 score=0.492 cx=48 cy=63 box=0,0,96,126 frame=320,240 latency_ms=232 gaze_valid=0 +I (11708) freddy_person: NO_PERSON t_ms=10739 frame=320,240 latency_ms=231 rejected_full_frame=0 +I (11958) freddy_person: NO_PERSON t_ms=10989 frame=320,240 latency_ms=232 rejected_full_frame=1 +FRAME_BEGIN 41 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box=241,0,319,99 frame=320,240 latency_ms=232 gaze_valid=0 +I (23598) freddy_person: NO_PERSON t_ms=22629 frame=320,240 latency_ms=232 rejected_full_frame=0 +I (23848) freddy_person: PERSON t_ms=22880 score=0.385 cx=281 cy=48 box=243,0,319,96 frame=320,240 latency_ms=232 gaze_valid=0 +I (24098) freddy_person: NO_PERSON t_ms=23129 frame=320,240 latency_ms=232 rejected_full_frame=0 +I (24348) freddy_person: NO_PERSON t_ms=23379 frame=320,240 latency_ms=231 rejected_full_frame=0 +I (24598) freddy_person: NO_PERSON t_ms=23629 frame=320,240 latency_ms=231 rejected_full_frame=0 diff --git a/hardware/camera-captures/tracking-sync-2026-10-01-after.log b/hardware/camera-captures/tracking-sync-2026-10-01-after.log new file mode 100644 index 0000000..a8b2b53 --- /dev/null +++ b/hardware/camera-captures/tracking-sync-2026-10-01-after.log @@ -0,0 +1,238 @@ +0.036 eye-1 GAZE_ACCEPT board=1 seq=260 x=500 y=500 valid=0 +0.212 camera I (138) esp_image: segment 1: paddr=000a62cc vaddr=3fca1600 sizeI (67550) freddy_person: NO_PERSON t_ms=66434 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +0.282 eye-1 GAZE_ACCEPT board=1 seq=261 x=500 y=500 valid=0 +0.294 eye-2 GAZE_ACCEPT board=2 seq=261 x=500 y=500 valid=0 +0.456 camera I (67800) freddy_person: NO_PERSON t_ms=66683 frame=320,240 latency_ms=235 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +0.529 eye-2 GAZE_ACCEPT board=2 seq=262 x=500 y=500 valid=0 +0.529 eye-1 GAZE_ACCEPT board=1 seq=262 x=500 y=500 valid=0 +0.712 camera I (68060) freddy_person: NO_PERSON t_ms=66938 frame=320,240 latency_ms=240 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +0.772 eye-1 GAZE_ACCEPT board=1 seq=263 x=500 y=500 valid=0 +0.785 eye-2 GAZE_ACCEPT board=2 seq=263 x=500 y=500 valid=0 +0.966 camera I (68310) freddy_person: NO_PERSON t_ms=67195 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +1.016 eye-1 GAZE_ACCEPT board=1 seq=264 x=500 y=500 valid=0 +1.213 camera I (68560) freddy_person: NO_PERSON t_ms=67445 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +1.259 eye-1 GAZE_ACCEPT board=1 seq=265 x=500 y=500 valid=0 +1.271 eye-2 GAZE_ACCEPT board=2 seq=264 x=500 y=500 valid=0 +1.271 eye-2 GAZE_ACCEPT board=2 seq=265 x=500 y=500 valid=0 +1.466 camera I (68810) freddy_person: NO_PERSON t_ms=67691 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +1.504 eye-1 GAZE_ACCEPT board=1 seq=266 x=500 y=500 valid=0 +1.517 eye-2 GAZE_ACCEPT board=2 seq=266 x=500 y=500 valid=0 +1.715 camera I (69060) freddy_person: NO_PERSON t_ms=67943 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +1.750 eye-1 GAZE_ACCEPT board=1 seq=267 x=500 y=500 valid=0 +1.765 eye-2 GAZE_ACCEPT board=2 seq=267 x=500 y=500 valid=0 +1.971 camera I (69310) freddy_person: NO_PERSON t_ms=68193 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +1.994 eye-1 GAZE_ACCEPT board=1 seq=268 x=500 y=500 valid=0 +2.004 eye-2 GAZE_ACCEPT board=2 seq=268 x=500 y=500 valid=0 +2.211 camera I (69560) freddy_person: NO_PERSON t_ms=68444 frame=320,240 latency_ms=236 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +2.234 eye-1 GAZE_ACCEPT board=1 seq=269 x=500 y=500 valid=0 +2.246 eye-2 GAZE_ACCEPT board=2 seq=269 x=500 y=500 valid=0 +2.470 camera I (69810) freddy_person: NO_PERSON t_ms=68692 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +2.492 eye-2 GAZE_ACCEPT board=2 seq=270 x=500 y=500 valid=0 +2.716 camera I (70060) freddy_person: NO_PERSON t_ms=68943 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +2.716 eye-1 GAZE_ACCEPT board=1 seq=270 x=500 y=500 valid=0 +2.716 eye-1 GAZE_ACCEPT board=1 seq=271 x=500 y=500 valid=0 +2.729 eye-2 GAZE_ACCEPT board=2 seq=271 x=500 y=500 valid=0 +2.968 camera I (70310) freddy_person: NO_PERSON t_ms=69194 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +2.968 eye-1 GAZE_ACCEPT board=1 seq=272 x=500 y=500 valid=0 +2.980 eye-2 GAZE_ACCEPT board=2 seq=272 x=500 y=500 valid=0 +3.213 camera I (70560) freddy_person: NO_PERSON t_ms=69442 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +3.268 eye-2 GAZE_ACCEPT board=2 seq=273 x=500 y=500 valid=0 +3.461 camera I (70810) freddy_person: PERSON t_ms=69692 score=0.364 cx=163 cy=58 box=29,0,297,117 frame=320,240 latency_ms=234 gaze_valid=0 target_hold=0 rejected_full_height=0 +3.507 eye-1 GAZE_ACCEPT board=1 seq=273 x=500 y=500 valid=0 +3.508 eye-1 GAZE_ACCEPT board=1 seq=274 x=510 y=242 valid=0 +3.520 eye-2 GAZE_ACCEPT board=2 seq=274 x=510 y=242 valid=0 +3.712 camera I (71060) freddy_person: NO_PERSON t_ms=69944 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +3.752 eye-1 GAZE_ACCEPT board=1 seq=275 x=500 y=500 valid=0 +3.762 eye-2 GAZE_ACCEPT board=2 seq=275 x=500 y=500 valid=0 +3.970 camera I (71310) freddy_person: NO_PERSON t_ms=70195 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +4.153 eye-1 GAZE_ACCEPT board=1 seq=276 x=500 y=500 valid=0 +4.216 camera I (71560) freddy_person: NO_PERSON t_ms=70445 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +4.240 eye-1 GAZE_ACCEPT board=1 seq=277 x=500 y=500 valid=0 +4.262 eye-2 GAZE_ACCEPT board=2 seq=276 x=500 y=500 valid=0 +4.262 eye-2 GAZE_ACCEPT board=2 seq=277 x=500 y=500 valid=0 +4.469 camera I (71810) freddy_person: NO_PERSON t_ms=70695 frame=320,240 latency_ms=237 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +4.482 eye-1 GAZE_ACCEPT board=1 seq=278 x=500 y=500 valid=0 +4.494 eye-2 GAZE_ACCEPT board=2 seq=278 x=500 y=500 valid=0 +4.719 camera I (72060) freddy_person: NO_PERSON t_ms=70942 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +4.742 eye-2 GAZE_ACCEPT board=2 seq=279 x=500 y=500 valid=0 +4.967 camera I (72310) freddy_person: NO_PERSON t_ms=71196 frame=320,240 latency_ms=238 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +4.967 eye-1 GAZE_ACCEPT board=1 seq=279 x=500 y=500 valid=0 +4.967 eye-1 GAZE_ACCEPT board=1 seq=280 x=500 y=500 valid=0 +4.990 eye-2 GAZE_ACCEPT board=2 seq=280 x=500 y=500 valid=0 +5.221 camera I (72560) freddy_person: NO_PERSON t_ms=71442 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +5.293 eye-1 GAZE_ACCEPT board=1 seq=281 x=500 y=500 valid=0 +5.460 camera I (72810) freddy_person: NO_PERSON t_ms=71692 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +5.473 eye-2 GAZE_ACCEPT board=2 seq=281 x=500 y=500 valid=0 +5.473 eye-2 GAZE_ACCEPT board=2 seq=282 x=500 y=500 valid=0 +5.532 eye-1 GAZE_ACCEPT board=1 seq=282 x=500 y=500 valid=0 +5.713 eye-2 GAZE_ACCEPT board=2 seq=283 x=500 y=500 valid=0 +5.713 camera I (73060) freddy_person: NO_PERSON t_ms=71941 frame=320,240 latency_ms=233 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +5.775 eye-1 GAZE_ACCEPT board=1 seq=283 x=500 y=500 valid=0 +5.967 camera I (73310) freddy_person: NO_PERSON t_ms=72194 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +6.026 eye-1 GAZE_ACCEPT board=1 seq=284 x=500 y=500 valid=0 +6.050 eye-2 GAZE_ACCEPT board=2 seq=284 x=500 y=500 valid=0 +6.215 eye-2 GAZE_ACCEPT board=2 seq=285 x=500 y=500 valid=0 +6.216 camera I (73560) freddy_person: NO_PERSON t_ms=72444 frame=320,240 latency_ms=237 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +6.285 eye-1 GAZE_ACCEPT board=1 seq=285 x=500 y=500 valid=0 +6.468 camera I (73810) freddy_person: NO_PERSON t_ms=72693 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +6.508 eye-1 GAZE_ACCEPT board=1 seq=286 x=500 y=500 valid=0 +6.531 eye-2 GAZE_ACCEPT board=2 seq=286 x=500 y=500 valid=0 +6.711 camera I (74060) freddy_person: NO_PERSON t_ms=72943 frame=320,240 latency_ms=235 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +6.769 eye-2 GAZE_ACCEPT board=2 seq=287 x=500 y=500 valid=0 +6.782 eye-1 GAZE_ACCEPT board=1 seq=287 x=500 y=500 valid=0 +6.959 camera I (74310) freddy_person: NO_PERSON t_ms=73192 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +7.022 eye-2 GAZE_ACCEPT board=2 seq=288 x=500 y=500 valid=0 +7.022 eye-1 GAZE_ACCEPT board=1 seq=288 x=500 y=500 valid=0 +7.215 camera I (74560) freddy_person: NO_PERSON t_ms=73445 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +7.265 eye-2 GAZE_ACCEPT board=2 seq=289 x=500 y=500 valid=0 +7.266 eye-1 GAZE_ACCEPT board=1 seq=289 x=500 y=500 valid=0 +7.468 camera I (74810) freddy_person: PERSON t_ms=73694 score=0.364 cx=228 cy=163 box=137,87,319,239 frame=320,240 latency_ms=236 gaze_valid=0 target_hold=0 rejected_full_height=0 +7.506 eye-2 GAZE_ACCEPT board=2 seq=290 x=714 y=682 valid=0 +7.506 eye-1 GAZE_ACCEPT board=1 seq=290 x=714 y=682 valid=0 +7.714 camera I (75060) freddy_person: NO_PERSON t_ms=73942 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +7.793 eye-2 GAZE_ACCEPT board=2 seq=291 x=500 y=500 valid=0 +7.805 eye-1 GAZE_ACCEPT board=1 seq=291 x=500 y=500 valid=0 +7.961 camera I (75310) freddy_person: NO_PERSON t_ms=74192 frame=320,240 latency_ms=234 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +8.037 eye-2 GAZE_ACCEPT board=2 seq=292 x=500 y=500 valid=0 +8.049 eye-1 GAZE_ACCEPT board=1 seq=292 x=500 y=500 valid=0 +8.220 camera I (75560) freddy_person: NO_PERSON t_ms=74442 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +8.281 eye-2 GAZE_ACCEPT board=2 seq=293 x=500 y=500 valid=0 +8.292 eye-1 GAZE_ACCEPT board=1 seq=293 x=500 y=500 valid=0 +8.466 camera I (75810) freddy_person: NO_PERSON t_ms=74692 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +8.526 eye-2 GAZE_ACCEPT board=2 seq=294 x=500 y=500 valid=0 +8.539 eye-1 GAZE_ACCEPT board=1 seq=294 x=500 y=500 valid=0 +8.710 camera I (76060) freddy_person: NO_PERSON t_ms=74942 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +8.772 eye-1 GAZE_ACCEPT board=1 seq=295 x=500 y=500 valid=0 +8.966 camera I (76310) freddy_person: NO_PERSON t_ms=75193 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +9.018 eye-2 GAZE_ACCEPT board=2 seq=295 x=500 y=500 valid=0 +9.018 eye-2 GAZE_ACCEPT board=2 seq=296 x=500 y=500 valid=0 +9.018 eye-1 GAZE_ACCEPT board=1 seq=296 x=500 y=500 valid=0 +9.211 camera I (76560) freddy_person: NO_PERSON t_ms=75443 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +9.261 eye-2 GAZE_ACCEPT board=2 seq=297 x=500 y=500 valid=0 +9.261 eye-1 GAZE_ACCEPT board=1 seq=297 x=500 y=500 valid=0 +9.466 camera I (76810) freddy_person: NO_PERSON t_ms=75692 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +9.508 eye-2 GAZE_ACCEPT board=2 seq=298 x=500 y=500 valid=0 +9.508 eye-1 GAZE_ACCEPT board=1 seq=298 x=500 y=500 valid=0 +9.730 camera I (77060) freddy_person: NO_PERSON t_ms=75941 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +9.753 eye-2 GAZE_ACCEPT board=2 seq=299 x=500 y=500 valid=0 +9.753 eye-1 GAZE_ACCEPT board=1 seq=299 x=500 y=500 valid=0 +9.968 camera I (77310) freddy_person: NO_PERSON t_ms=76191 frame=320,240 latency_ms=233 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +9.992 eye-2 GAZE_ACCEPT board=2 seq=300 x=500 y=500 valid=0 +9.992 eye-1 GAZE_ACCEPT board=1 seq=300 x=500 y=500 valid=0 +10.215 camera I (77560) freddy_person: NO_PERSON t_ms=76443 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +10.247 eye-2 GAZE_ACCEPT board=2 seq=301 x=500 y=500 valid=0 +10.247 eye-1 GAZE_ACCEPT board=1 seq=301 x=500 y=500 valid=0 +10.467 camera I (77810) freddy_person: NO_PERSON t_ms=76693 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +10.478 eye-1 GAZE_ACCEPT board=1 seq=302 x=500 y=500 valid=0 +10.492 eye-2 GAZE_ACCEPT board=2 seq=302 x=500 y=500 valid=0 +10.715 camera I (78060) freddy_person: NO_PERSON t_ms=76942 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +10.727 eye-2 GAZE_ACCEPT board=2 seq=303 x=500 y=500 valid=0 +10.727 eye-1 GAZE_ACCEPT board=1 seq=303 x=500 y=500 valid=0 +10.966 camera I (78310) freddy_person: NO_PERSON t_ms=77192 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +10.966 eye-1 GAZE_ACCEPT board=1 seq=304 x=500 y=500 valid=0 +10.981 eye-2 GAZE_ACCEPT board=2 seq=304 x=500 y=500 valid=0 +11.218 eye-2 GAZE_ACCEPT board=2 seq=305 x=500 y=500 valid=0 +11.218 camera I (78560) freddy_person: NO_PERSON t_ms=77444 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +11.294 eye-1 GAZE_ACCEPT board=1 seq=305 x=500 y=500 valid=0 +11.469 eye-2 GAZE_ACCEPT board=2 seq=306 x=500 y=500 valid=0 +11.469 camera I (78810) freddy_person: NO_PERSON t_ms=77694 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +11.546 eye-1 GAZE_ACCEPT board=1 seq=306 x=500 y=500 valid=0 +11.712 camera I (79060) freddy_person: NO_PERSON t_ms=77943 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +11.785 eye-1 GAZE_ACCEPT board=1 seq=307 x=500 y=500 valid=0 +11.798 eye-2 GAZE_ACCEPT board=2 seq=307 x=500 y=500 valid=0 +11.969 camera I (79310) freddy_person: NO_PERSON t_ms=78192 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +12.026 eye-1 GAZE_ACCEPT board=1 seq=308 x=500 y=500 valid=0 +12.036 eye-2 GAZE_ACCEPT board=2 seq=308 x=500 y=500 valid=0 +12.218 eye-2 GAZE_ACCEPT board=2 seq=309 x=500 y=500 valid=0 +12.218 camera I (79560) freddy_person: NO_PERSON t_ms=78444 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +12.315 eye-1 GAZE_ACCEPT board=1 seq=309 x=500 y=500 valid=0 +12.461 camera I (79810) freddy_person: NO_PERSON t_ms=78694 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +12.486 eye-1 GAZE_ACCEPT board=1 seq=310 x=500 y=500 valid=0 +12.496 eye-2 GAZE_ACCEPT board=2 seq=310 x=500 y=500 valid=0 +12.709 camera I (80060) freddy_person: NO_PERSON t_ms=78942 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +12.733 eye-2 GAZE_ACCEPT board=2 seq=311 x=500 y=500 valid=0 +12.734 eye-1 GAZE_ACCEPT board=1 seq=311 x=500 y=500 valid=0 +12.964 camera I (80310) freddy_person: NO_PERSON t_ms=79195 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +12.982 eye-2 GAZE_ACCEPT board=2 seq=312 x=500 y=500 valid=0 +12.982 eye-1 GAZE_ACCEPT board=1 seq=312 x=500 y=500 valid=0 +13.215 camera I (80560) freddy_person: NO_PERSON t_ms=79444 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +13.228 eye-2 GAZE_ACCEPT board=2 seq=313 x=500 y=500 valid=0 +13.299 eye-1 GAZE_ACCEPT board=1 seq=313 x=500 y=500 valid=0 +13.469 camera I (80810) freddy_person: NO_PERSON t_ms=79697 frame=320,240 latency_ms=239 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +13.486 eye-2 GAZE_ACCEPT board=2 seq=314 x=500 y=500 valid=0 +13.540 eye-1 GAZE_ACCEPT board=1 seq=314 x=500 y=500 valid=0 +13.733 camera I (81070) freddy_person: NO_PERSON t_ms=79952 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +13.746 eye-2 GAZE_ACCEPT board=2 seq=315 x=500 y=500 valid=0 +13.783 eye-1 GAZE_ACCEPT board=1 seq=315 x=500 y=500 valid=0 +13.978 camera I (81320) freddy_person: NO_PERSON t_ms=80203 frame=320,240 latency_ms=235 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +13.989 eye-2 GAZE_ACCEPT board=2 seq=316 x=500 y=500 valid=0 +14.025 eye-1 GAZE_ACCEPT board=1 seq=316 x=500 y=500 valid=0 +14.228 camera I (81570) freddy_person: NO_PERSON t_ms=80453 frame=320,240 latency_ms=235 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +14.244 eye-2 GAZE_ACCEPT board=2 seq=317 x=500 y=500 valid=0 +14.281 eye-1 GAZE_ACCEPT board=1 seq=317 x=500 y=500 valid=0 +14.473 camera I (81820) freddy_person: NO_PERSON t_ms=80705 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +14.485 eye-2 GAZE_ACCEPT board=2 seq=318 x=500 y=500 valid=0 +14.722 camera I (82070) freddy_person: NO_PERSON t_ms=80952 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +14.734 eye-2 GAZE_ACCEPT board=2 seq=319 x=500 y=500 valid=0 +14.757 eye-1 GAZE_ACCEPT board=1 seq=318 x=500 y=500 valid=0 +14.758 eye-1 GAZE_ACCEPT board=1 seq=319 x=500 y=500 valid=0 +14.972 camera I (82320) freddy_person: NO_PERSON t_ms=81205 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +14.986 eye-2 GAZE_ACCEPT board=2 seq=320 x=500 y=500 valid=0 +15.000 eye-1 GAZE_ACCEPT board=1 seq=320 x=500 y=500 valid=0 +15.227 camera I (82570) freddy_person: NO_PERSON t_ms=81452 frame=320,240 latency_ms=234 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +15.251 eye-1 GAZE_ACCEPT board=1 seq=321 x=500 y=500 valid=0 +15.301 eye-2 GAZE_ACCEPT board=2 seq=321 x=500 y=500 valid=0 +15.480 camera I (82820) freddy_person: NO_PERSON t_ms=81706 frame=320,240 latency_ms=238 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +15.496 eye-1 GAZE_ACCEPT board=1 seq=322 x=500 y=500 valid=0 +15.556 eye-2 GAZE_ACCEPT board=2 seq=322 x=500 y=500 valid=0 +15.729 camera I (83070) freddy_person: NO_PERSON t_ms=81955 frame=320,240 latency_ms=237 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +15.742 eye-1 GAZE_ACCEPT board=1 seq=323 x=500 y=500 valid=0 +15.792 eye-2 GAZE_ACCEPT board=2 seq=323 x=500 y=500 valid=0 +15.970 camera I (83320) freddy_person: NO_PERSON t_ms=82203 frame=320,240 latency_ms=235 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +15.981 eye-1 GAZE_ACCEPT board=1 seq=324 x=500 y=500 valid=0 +16.043 eye-2 GAZE_ACCEPT board=2 seq=324 x=500 y=500 valid=0 +16.233 camera I (83570) freddy_person: NO_PERSON t_ms=82456 frame=320,240 latency_ms=238 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +16.295 eye-2 GAZE_ACCEPT board=2 seq=325 x=500 y=500 valid=0 +16.307 eye-1 GAZE_ACCEPT board=1 seq=325 x=500 y=500 valid=0 +16.480 camera I (83820) freddy_person: NO_PERSON t_ms=82702 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +16.537 eye-2 GAZE_ACCEPT board=2 seq=326 x=500 y=500 valid=0 +16.548 eye-1 GAZE_ACCEPT board=1 seq=326 x=500 y=500 valid=0 +16.725 camera I (84070) freddy_person: NO_PERSON t_ms=82955 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +16.805 eye-1 GAZE_ACCEPT board=1 seq=327 x=500 y=500 valid=0 +16.974 camera I (84320) freddy_person: NO_PERSON t_ms=83202 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +16.998 eye-2 GAZE_ACCEPT board=2 seq=327 x=500 y=500 valid=0 +16.998 eye-2 GAZE_ACCEPT board=2 seq=328 x=500 y=500 valid=0 +17.008 eye-1 GAZE_ACCEPT board=1 seq=328 x=500 y=500 valid=0 +17.220 camera I (84570) freddy_person: NO_PERSON t_ms=83452 frame=320,240 latency_ms=234 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +17.270 eye-2 GAZE_ACCEPT board=2 seq=329 x=500 y=500 valid=0 +17.281 eye-1 GAZE_ACCEPT board=1 seq=329 x=500 y=500 valid=0 +17.471 camera I (84820) freddy_person: NO_PERSON t_ms=83704 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +17.558 eye-2 GAZE_ACCEPT board=2 seq=330 x=500 y=500 valid=0 +17.558 eye-1 GAZE_ACCEPT board=1 seq=330 x=500 y=500 valid=0 +17.724 camera I (85070) freddy_person: NO_PERSON t_ms=83952 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +17.796 eye-2 GAZE_ACCEPT board=2 seq=331 x=500 y=500 valid=0 +17.796 eye-1 GAZE_ACCEPT board=1 seq=331 x=500 y=500 valid=0 +17.978 camera I (85320) freddy_person: NO_PERSON t_ms=84204 frame=320,240 latency_ms=236 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +18.034 eye-2 GAZE_ACCEPT board=2 seq=332 x=500 y=500 valid=0 +18.046 eye-1 GAZE_ACCEPT board=1 seq=332 x=500 y=500 valid=0 +18.221 camera I (85570) freddy_person: NO_PERSON t_ms=84452 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +18.282 eye-2 GAZE_ACCEPT board=2 seq=333 x=500 y=500 valid=0 +18.283 eye-1 GAZE_ACCEPT board=1 seq=333 x=500 y=500 valid=0 +18.484 camera I (85820) freddy_person: NO_PERSON t_ms=84705 frame=320,240 latency_ms=237 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +18.529 eye-1 GAZE_ACCEPT board=1 seq=334 x=500 y=500 valid=0 +18.698 eye-2 GAZE_ACCEPT board=2 seq=334 x=500 y=500 valid=0 +18.719 camera I (86070) freddy_person: NO_PERSON t_ms=84952 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +18.769 eye-1 GAZE_ACCEPT board=1 seq=335 x=500 y=500 valid=0 +18.781 eye-2 GAZE_ACCEPT board=2 seq=335 x=500 y=500 valid=0 +18.970 camera I (86320) freddy_person: NO_PERSON t_ms=85203 frame=320,240 latency_ms=235 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +19.018 eye-2 GAZE_ACCEPT board=2 seq=336 x=500 y=500 valid=0 +19.018 eye-1 GAZE_ACCEPT board=1 seq=336 x=500 y=500 valid=0 +19.226 camera I (86570) freddy_person: NO_PERSON t_ms=85453 frame=320,240 latency_ms=235 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +19.260 eye-1 GAZE_ACCEPT board=1 seq=337 x=500 y=500 valid=0 +19.272 eye-2 GAZE_ACCEPT board=2 seq=337 x=500 y=500 valid=0 +19.470 camera I (86820) freddy_person: NO_PERSON t_ms=85702 frame=320,240 latency_ms=234 rejected_full_frame=1 rejected_full_height=0 gaze_valid=0 target_hold=0 +19.508 eye-2 GAZE_ACCEPT board=2 seq=338 x=500 y=500 valid=0 +19.509 eye-1 GAZE_ACCEPT board=1 seq=338 x=500 y=500 valid=0 +19.730 camera I (87070) freddy_person: NO_PERSON t_ms=85957 frame=320,240 latency_ms=239 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 +19.753 eye-1 GAZE_ACCEPT board=1 seq=339 x=500 y=500 valid=0 +19.986 camera I (87330) freddy_person: NO_PERSON t_ms=86214 frame=320,240 latency_ms=236 rejected_full_frame=0 rejected_full_height=1 gaze_valid=0 target_hold=0 diff --git a/hardware/camera-captures/tracking-sync-2026-10-01-before.log b/hardware/camera-captures/tracking-sync-2026-10-01-before.log new file mode 100644 index 0000000..d160a5e --- /dev/null +++ b/hardware/camera-captures/tracking-sync-2026-10-01-before.log @@ -0,0 +1,240 @@ +0.049 camera I (82407) freddy_person: NO_PERSON t_ms=81334 frame=320,240 lateI (110287) freddy_person: NO_PERSON t_ms=109217 frame=320,240 latency_ms=239 rejected_full_frame=1 +0.111 eye-2 GAZE_ACCEPT board=2 seq=431 x=500 y=500 valid=0 +0.122 eye-1 GAZE_ACCEPT board=1 seq=431 x=500 y=500 valid=0 +0.303 camera I (110547) freddy_person: PERSON t_ms=109471 score=0.405 cx=161 cy=158 box=114,77,208,239 frame=320,240 latency_ms=233 gaze_valid=0 +0.352 eye-2 GAZE_ACCEPT board=2 seq=432 x=504 y=661 valid=0 +0.366 eye-1 GAZE_ACCEPT board=1 seq=432 x=504 y=661 valid=0 +0.556 camera I (110797) freddy_person: PERSON t_ms=109725 score=0.468 cx=209 cy=119 box=99,0,319,239 frame=320,240 latency_ms=237 gaze_valid=0 +0.602 eye-2 GAZE_ACCEPT board=2 seq=433 x=655 y=497 valid=0 +0.615 eye-1 GAZE_ACCEPT board=1 seq=433 x=655 y=497 valid=0 +0.806 camera I (111047) freddy_person: PERSON t_ms=109973 score=0.375 cx=212 cy=119 box=105,0,319,239 frame=320,240 latency_ms=235 gaze_valid=1 +0.843 eye-2 GAZE_ACCEPT board=2 seq=434 x=664 y=497 valid=1 +1.025 eye-1 GAZE_ACCEPT board=1 seq=434 x=664 y=497 valid=1 +1.051 camera I (111297) freddy_person: PERSON t_ms=110223 score=0.385 cx=214 cy=119 box=109,0,319,239 frame=320,240 latency_ms=235 gaze_valid=1 +1.109 eye-2 GAZE_ACCEPT board=2 seq=435 x=670 y=497 valid=1 +1.121 eye-1 GAZE_ACCEPT board=1 seq=435 x=670 y=497 valid=1 +1.306 camera I (111547) freddy_person: PERSON t_ms=110473 score=0.424 cx=217 cy=156 box=115,74,319,239 frame=320,240 latency_ms=235 gaze_valid=1 +1.367 eye-2 GAZE_ACCEPT board=2 seq=436 x=680 y=652 valid=1 +1.379 eye-1 GAZE_ACCEPT board=1 seq=436 x=680 y=652 valid=1 +1.548 camera I (111797) freddy_person: PERSON t_ms=110722 score=0.415 cx=215 cy=153 box=111,67,319,239 frame=320,240 latency_ms=234 gaze_valid=1 +1.584 eye-1 GAZE_ACCEPT board=1 seq=437 x=673 y=640 valid=1 +1.814 camera I (112047) freddy_person: PERSON t_ms=110974 score=0.395 cx=210 cy=119 box=101,0,319,239 frame=320,240 latency_ms=236 gaze_valid=1 +1.851 eye-2 GAZE_ACCEPT board=2 seq=437 x=673 y=640 valid=1 +1.851 eye-2 GAZE_ACCEPT board=2 seq=438 x=658 y=497 valid=1 +2.057 camera I (112297) freddy_person: NO_PERSON t_ms=111224 frame=320,240 latency_ms=236 rejected_full_frame=1 +2.118 eye-2 GAZE_ACCEPT board=2 seq=439 x=500 y=500 valid=0 +2.118 eye-1 GAZE_ACCEPT board=1 seq=438 x=658 y=497 valid=1 +2.118 eye-1 GAZE_ACCEPT board=1 seq=439 x=500 y=500 valid=0 +2.307 camera I (112547) freddy_person: PERSON t_ms=111475 score=0.442 cx=160 cy=158 box=113,77,207,239 frame=320,240 latency_ms=237 gaze_valid=0 +2.354 eye-2 GAZE_ACCEPT board=2 seq=440 x=501 y=661 valid=0 +2.354 eye-1 GAZE_ACCEPT board=1 seq=440 x=501 y=661 valid=0 +2.551 camera I (112797) freddy_person: NO_PERSON t_ms=111723 frame=320,240 latency_ms=235 rejected_full_frame=0 +2.608 eye-2 GAZE_ACCEPT board=2 seq=441 x=500 y=500 valid=0 +2.608 eye-1 GAZE_ACCEPT board=1 seq=441 x=500 y=500 valid=0 +2.802 camera I (113047) freddy_person: PERSON t_ms=111975 score=0.433 cx=212 cy=119 box=106,0,319,239 frame=320,240 latency_ms=237 gaze_valid=0 +2.848 eye-1 GAZE_ACCEPT board=1 seq=442 x=664 y=497 valid=0 +3.051 camera I (113297) freddy_person: NO_PERSON t_ms=112223 frame=320,240 latency_ms=235 rejected_full_frame=1 +3.099 eye-2 GAZE_ACCEPT board=2 seq=442 x=664 y=497 valid=0 +3.099 eye-2 GAZE_ACCEPT board=2 seq=443 x=500 y=500 valid=0 +3.099 eye-1 GAZE_ACCEPT board=1 seq=443 x=500 y=500 valid=0 +3.303 camera I (113547) freddy_person: PERSON t_ms=112473 score=0.451 cx=185 cy=119 box=52,0,319,239 frame=320,240 latency_ms=235 gaze_valid=0 +3.337 eye-2 GAZE_ACCEPT board=2 seq=444 x=579 y=497 valid=0 +3.337 eye-1 GAZE_ACCEPT board=1 seq=444 x=579 y=497 valid=0 +3.552 camera I (113797) freddy_person: PERSON t_ms=112725 score=0.433 cx=212 cy=119 box=105,0,319,239 frame=320,240 latency_ms=237 gaze_valid=0 +3.575 eye-1 GAZE_ACCEPT board=1 seq=445 x=664 y=497 valid=0 +3.804 camera I (114047) freddy_person: NO_PERSON t_ms=112973 frame=320,240 latency_ms=235 rejected_full_frame=0 +3.826 eye-2 GAZE_ACCEPT board=2 seq=445 x=664 y=497 valid=0 +3.826 eye-2 GAZE_ACCEPT board=2 seq=446 x=500 y=500 valid=0 +3.826 eye-1 GAZE_ACCEPT board=1 seq=446 x=500 y=500 valid=0 +4.061 camera I (114297) freddy_person: NO_PERSON t_ms=113224 frame=320,240 latency_ms=236 rejected_full_frame=1 +4.073 eye-2 GAZE_ACCEPT board=2 seq=447 x=500 y=500 valid=0 +4.073 eye-1 GAZE_ACCEPT board=1 seq=447 x=500 y=500 valid=0 +4.306 camera I (114547) freddy_person: PERSON t_ms=113475 score=0.433 cx=207 cy=119 box=95,0,319,239 frame=320,240 latency_ms=237 gaze_valid=0 +4.319 eye-1 GAZE_ACCEPT board=1 seq=448 x=648 y=497 valid=0 +4.556 camera I (114797) freddy_person: PERSON t_ms=113724 score=0.385 cx=160 cy=158 box=114,77,206,239 frame=320,240 latency_ms=236 gaze_valid=0 +4.556 eye-1 GAZE_ACCEPT board=1 seq=449 x=501 y=661 valid=0 +4.568 eye-2 GAZE_ACCEPT board=2 seq=448 x=648 y=497 valid=0 +4.568 eye-2 GAZE_ACCEPT board=2 seq=449 x=501 y=661 valid=0 +4.809 camera I (115047) freddy_person: PERSON t_ms=113973 score=0.405 cx=159 cy=156 box=109,74,210,239 frame=320,240 latency_ms=236 gaze_valid=1 +4.886 eye-2 GAZE_ACCEPT board=2 seq=450 x=498 y=652 valid=1 +4.887 eye-1 GAZE_ACCEPT board=1 seq=450 x=498 y=652 valid=1 +5.060 eye-2 GAZE_ACCEPT board=2 seq=451 x=510 y=652 valid=1 +5.060 camera I (115297) freddy_person: PERSON t_ms=114226 score=0.415 cx=163 cy=156 box=114,74,212,238 frame=320,240 latency_ms=238 gaze_valid=1 +5.060 eye-1 GAZE_ACCEPT board=1 seq=451 x=510 y=652 valid=1 +5.306 camera I (115547) freddy_person: PERSON t_ms=114473 score=0.385 cx=162 cy=155 box=114,72,210,239 frame=320,240 latency_ms=235 gaze_valid=1 +5.318 eye-1 GAZE_ACCEPT board=1 seq=452 x=507 y=648 valid=1 +5.330 eye-2 GAZE_ACCEPT board=2 seq=452 x=507 y=648 valid=1 +5.556 camera I (115797) freddy_person: PERSON t_ms=114722 score=0.375 cx=211 cy=120 box=104,1,319,239 frame=320,240 latency_ms=234 gaze_valid=1 +5.582 eye-2 GAZE_ACCEPT board=2 seq=453 x=661 y=502 valid=1 +5.582 eye-1 GAZE_ACCEPT board=1 seq=453 x=661 y=502 valid=1 +5.801 camera I (116047) freddy_person: PERSON t_ms=114972 score=0.424 cx=217 cy=157 box=115,76,319,239 frame=320,240 latency_ms=234 gaze_valid=1 +5.842 eye-2 GAZE_ACCEPT board=2 seq=454 x=680 y=656 valid=1 +5.842 eye-1 GAZE_ACCEPT board=1 seq=454 x=680 y=656 valid=1 +6.056 camera I (116297) freddy_person: PERSON t_ms=115223 score=0.459 cx=163 cy=156 box=116,73,210,239 frame=320,240 latency_ms=236 gaze_valid=1 +6.129 eye-2 GAZE_ACCEPT board=2 seq=455 x=510 y=652 valid=1 +6.130 eye-1 GAZE_ACCEPT board=1 seq=455 x=510 y=652 valid=1 +6.310 camera I (116547) freddy_person: PERSON t_ms=115476 score=0.415 cx=162 cy=157 box=114,75,210,239 frame=320,240 latency_ms=237 gaze_valid=1 +6.322 eye-2 GAZE_ACCEPT board=2 seq=456 x=507 y=656 valid=1 +6.322 eye-1 GAZE_ACCEPT board=1 seq=456 x=507 y=656 valid=1 +6.558 camera I (116797) freddy_person: PERSON t_ms=115723 score=0.385 cx=161 cy=155 box=114,72,209,239 frame=320,240 latency_ms=235 gaze_valid=1 +6.582 eye-1 GAZE_ACCEPT board=1 seq=457 x=504 y=648 valid=1 +6.595 eye-2 GAZE_ACCEPT board=2 seq=457 x=504 y=648 valid=1 +6.809 camera I (117047) freddy_person: NO_PERSON t_ms=115974 frame=320,240 latency_ms=236 rejected_full_frame=0 +6.847 eye-2 GAZE_ACCEPT board=2 seq=458 x=500 y=500 valid=0 +6.847 eye-1 GAZE_ACCEPT board=1 seq=458 x=500 y=500 valid=0 +7.048 camera I (117297) freddy_person: NO_PERSON t_ms=116221 frame=320,240 latency_ms=233 rejected_full_frame=0 +7.094 eye-2 GAZE_ACCEPT board=2 seq=459 x=500 y=500 valid=0 +7.094 eye-1 GAZE_ACCEPT board=1 seq=459 x=500 y=500 valid=0 +7.306 camera I (117547) freddy_person: PERSON t_ms=116473 score=0.424 cx=205 cy=119 box=92,0,319,239 frame=320,240 latency_ms=235 gaze_valid=0 +7.331 eye-2 GAZE_ACCEPT board=2 seq=460 x=642 y=497 valid=0 +7.331 eye-1 GAZE_ACCEPT board=1 seq=460 x=642 y=497 valid=0 +7.556 camera I (117797) freddy_person: NO_PERSON t_ms=116721 frame=320,240 latency_ms=233 rejected_full_frame=0 +7.589 eye-2 GAZE_ACCEPT board=2 seq=461 x=500 y=500 valid=0 +7.602 eye-1 GAZE_ACCEPT board=1 seq=461 x=500 y=500 valid=0 +7.807 camera I (118047) freddy_person: PERSON t_ms=116974 score=0.405 cx=181 cy=119 box=43,0,319,239 frame=320,240 latency_ms=236 gaze_valid=0 +7.818 eye-2 GAZE_ACCEPT board=2 seq=462 x=567 y=497 valid=0 +7.853 eye-1 GAZE_ACCEPT board=1 seq=462 x=567 y=497 valid=0 +8.050 camera I (118297) freddy_person: PERSON t_ms=117222 score=0.385 cx=212 cy=120 box=106,1,319,239 frame=320,240 latency_ms=234 gaze_valid=0 +8.097 eye-1 GAZE_ACCEPT board=1 seq=463 x=664 y=502 valid=0 +8.302 camera I (118547) freddy_person: PERSON t_ms=117474 score=0.405 cx=158 cy=155 box=110,71,207,239 frame=320,240 latency_ms=236 gaze_valid=1 +8.312 eye-2 GAZE_ACCEPT board=2 seq=463 x=664 y=502 valid=0 +8.312 eye-2 GAZE_ACCEPT board=2 seq=464 x=495 y=648 valid=1 +8.336 eye-1 GAZE_ACCEPT board=1 seq=464 x=495 y=648 valid=1 +8.554 camera I (118797) freddy_person: PERSON t_ms=117724 score=0.395 cx=162 cy=157 box=112,76,212,239 frame=320,240 latency_ms=236 gaze_valid=1 +8.577 eye-2 GAZE_ACCEPT board=2 seq=465 x=507 y=656 valid=1 +8.603 eye-1 GAZE_ACCEPT board=1 seq=465 x=507 y=656 valid=1 +8.800 camera I (119047) freddy_person: NO_PERSON t_ms=117973 frame=320,240 latency_ms=235 rejected_full_frame=0 +8.836 eye-2 GAZE_ACCEPT board=2 seq=466 x=500 y=500 valid=0 +8.861 eye-1 GAZE_ACCEPT board=1 seq=466 x=500 y=500 valid=0 +9.057 camera I (119297) freddy_person: NO_PERSON t_ms=118224 frame=320,240 latency_ms=236 rejected_full_frame=0 +9.082 eye-2 GAZE_ACCEPT board=2 seq=467 x=500 y=500 valid=0 +9.106 eye-1 GAZE_ACCEPT board=1 seq=467 x=500 y=500 valid=0 +9.304 camera I (119547) freddy_person: PERSON t_ms=118472 score=0.364 cx=209 cy=119 box=99,0,319,239 frame=320,240 latency_ms=234 gaze_valid=0 +9.314 eye-2 GAZE_ACCEPT board=2 seq=468 x=655 y=497 valid=0 +9.349 eye-1 GAZE_ACCEPT board=1 seq=468 x=655 y=497 valid=0 +9.553 camera I (119797) freddy_person: PERSON t_ms=118723 score=0.395 cx=156 cy=155 box=103,71,210,239 frame=320,240 latency_ms=235 gaze_valid=0 +9.565 eye-2 GAZE_ACCEPT board=2 seq=469 x=489 y=648 valid=0 +9.595 eye-1 GAZE_ACCEPT board=1 seq=469 x=489 y=648 valid=0 +9.810 eye-2 GAZE_ACCEPT board=2 seq=470 x=500 y=500 valid=0 +9.810 camera I (120047) freddy_person: NO_PERSON t_ms=118973 frame=320,240 latency_ms=235 rejected_full_frame=0 +9.833 eye-1 GAZE_ACCEPT board=1 seq=470 x=500 y=500 valid=0 +10.061 camera I (120297) freddy_person: PERSON t_ms=119223 score=0.405 cx=161 cy=158 box=115,78,208,239 frame=320,240 latency_ms=235 gaze_valid=0 +10.112 eye-1 GAZE_ACCEPT board=1 seq=471 x=504 y=661 valid=0 +10.136 eye-2 GAZE_ACCEPT board=2 seq=471 x=504 y=661 valid=0 +10.299 camera I (120547) freddy_person: PERSON t_ms=119472 score=0.451 cx=212 cy=119 box=105,0,319,239 frame=320,240 latency_ms=234 gaze_valid=0 +10.311 eye-1 GAZE_ACCEPT board=1 seq=472 x=664 y=497 valid=0 +10.324 eye-2 GAZE_ACCEPT board=2 seq=472 x=664 y=497 valid=0 +10.548 camera I (120797) freddy_person: PERSON t_ms=119721 score=0.375 cx=211 cy=119 box=104,0,319,239 frame=320,240 latency_ms=233 gaze_valid=1 +10.575 eye-2 GAZE_ACCEPT board=2 seq=473 x=661 y=497 valid=1 +10.636 eye-1 GAZE_ACCEPT board=1 seq=473 x=661 y=497 valid=1 +10.803 camera I (121047) freddy_person: NO_PERSON t_ms=119973 frame=320,240 latency_ms=235 rejected_full_frame=0 +10.877 eye-2 GAZE_ACCEPT board=2 seq=474 x=500 y=500 valid=0 +11.057 camera I (121297) freddy_person: PERSON t_ms=120222 score=0.395 cx=214 cy=155 box=110,71,319,239 frame=320,240 latency_ms=234 gaze_valid=0 +11.094 eye-1 GAZE_ACCEPT board=1 seq=474 x=500 y=500 valid=0 +11.094 eye-1 GAZE_ACCEPT board=1 seq=475 x=670 y=648 valid=0 +11.130 eye-2 GAZE_ACCEPT board=2 seq=475 x=670 y=648 valid=0 +11.308 camera I (121547) freddy_person: PERSON t_ms=120475 score=0.395 cx=213 cy=155 box=107,72,319,239 frame=320,240 latency_ms=237 gaze_valid=0 +11.335 eye-1 GAZE_ACCEPT board=1 seq=476 x=667 y=648 valid=0 +11.370 eye-2 GAZE_ACCEPT board=2 seq=476 x=667 y=648 valid=0 +11.558 camera I (121797) freddy_person: PERSON t_ms=120726 score=0.395 cx=209 cy=156 box=99,73,319,239 frame=320,240 latency_ms=237 gaze_valid=1 +11.584 eye-1 GAZE_ACCEPT board=1 seq=477 x=655 y=652 valid=1 +11.619 eye-2 GAZE_ACCEPT board=2 seq=477 x=655 y=652 valid=1 +11.811 camera I (122047) freddy_person: NO_PERSON t_ms=120974 frame=320,240 latency_ms=236 rejected_full_frame=0 +11.849 eye-1 GAZE_ACCEPT board=1 seq=478 x=500 y=500 valid=0 +11.872 eye-2 GAZE_ACCEPT board=2 seq=478 x=500 y=500 valid=0 +12.055 camera I (122297) freddy_person: NO_PERSON t_ms=121221 frame=320,240 latency_ms=233 rejected_full_frame=0 +12.092 eye-1 GAZE_ACCEPT board=1 seq=479 x=500 y=500 valid=0 +12.302 camera I (122547) freddy_person: PERSON t_ms=121472 score=0.459 cx=158 cy=158 box=110,77,207,239 frame=320,240 latency_ms=234 gaze_valid=0 +12.336 eye-1 GAZE_ACCEPT board=1 seq=480 x=495 y=661 valid=0 +12.360 eye-2 GAZE_ACCEPT board=2 seq=479 x=500 y=500 valid=0 +12.360 eye-2 GAZE_ACCEPT board=2 seq=480 x=495 y=661 valid=0 +12.557 camera I (122797) freddy_person: PERSON t_ms=121724 score=0.468 cx=158 cy=155 box=109,72,207,239 frame=320,240 latency_ms=236 gaze_valid=0 +12.581 eye-1 GAZE_ACCEPT board=1 seq=481 x=495 y=648 valid=0 +12.605 eye-2 GAZE_ACCEPT board=2 seq=481 x=495 y=648 valid=0 +12.802 camera I (123047) freddy_person: PERSON t_ms=121973 score=0.424 cx=213 cy=154 box=108,70,319,239 frame=320,240 latency_ms=236 gaze_valid=1 +12.824 eye-1 GAZE_ACCEPT board=1 seq=482 x=667 y=644 valid=1 +12.848 eye-2 GAZE_ACCEPT board=2 seq=482 x=667 y=644 valid=1 +13.058 camera I (123297) freddy_person: PERSON t_ms=122224 score=0.385 cx=213 cy=154 box=108,70,319,239 frame=320,240 latency_ms=235 gaze_valid=1 +13.081 eye-1 GAZE_ACCEPT board=1 seq=483 x=667 y=644 valid=1 +13.111 eye-2 GAZE_ACCEPT board=2 seq=483 x=667 y=644 valid=1 +13.303 camera I (123547) freddy_person: PERSON t_ms=122472 score=0.476 cx=160 cy=157 box=113,76,207,239 frame=320,240 latency_ms=235 gaze_valid=1 +13.339 eye-1 GAZE_ACCEPT board=1 seq=484 x=501 y=656 valid=1 +13.373 eye-2 GAZE_ACCEPT board=2 seq=484 x=501 y=656 valid=1 +13.552 camera I (123797) freddy_person: NO_PERSON t_ms=122722 frame=320,240 latency_ms=234 rejected_full_frame=0 +13.600 eye-1 GAZE_ACCEPT board=1 seq=485 x=500 y=500 valid=0 +13.805 camera I (124047) freddy_person: PERSON t_ms=122971 score=0.385 cx=186 cy=119 box=53,0,319,239 frame=320,240 latency_ms=233 gaze_valid=0 +13.840 eye-1 GAZE_ACCEPT board=1 seq=486 x=583 y=497 valid=0 +13.876 eye-2 GAZE_ACCEPT board=2 seq=485 x=500 y=500 valid=0 +13.876 eye-2 GAZE_ACCEPT board=2 seq=486 x=583 y=497 valid=0 +14.059 camera I (124297) freddy_person: NO_PERSON t_ms=123223 frame=320,240 latency_ms=235 rejected_full_frame=0 +14.093 eye-1 GAZE_ACCEPT board=1 seq=487 x=500 y=500 valid=0 +14.118 eye-2 GAZE_ACCEPT board=2 seq=487 x=500 y=500 valid=0 +14.309 camera I (124547) freddy_person: PERSON t_ms=123475 score=0.415 cx=160 cy=158 box=114,78,207,239 frame=320,240 latency_ms=237 gaze_valid=0 +14.334 eye-1 GAZE_ACCEPT board=1 seq=488 x=501 y=661 valid=0 +14.548 camera I (124797) freddy_person: PERSON t_ms=123722 score=0.552 cx=160 cy=157 box=114,75,207,239 frame=320,240 latency_ms=234 gaze_valid=0 +14.574 eye-1 GAZE_ACCEPT board=1 seq=489 x=501 y=656 valid=0 +14.612 eye-2 GAZE_ACCEPT board=2 seq=488 x=501 y=661 valid=0 +14.612 eye-2 GAZE_ACCEPT board=2 seq=489 x=501 y=656 valid=0 +14.803 camera I (125047) freddy_person: PERSON t_ms=123974 score=0.415 cx=158 cy=157 box=109,76,207,239 frame=320,240 latency_ms=236 gaze_valid=1 +14.815 eye-1 GAZE_ACCEPT board=1 seq=490 x=495 y=656 valid=1 +14.853 eye-2 GAZE_ACCEPT board=2 seq=490 x=495 y=656 valid=1 +15.054 camera I (125297) freddy_person: PERSON t_ms=124224 score=0.375 cx=159 cy=156 box=112,74,207,239 frame=320,240 latency_ms=236 gaze_valid=1 +15.079 eye-1 GAZE_ACCEPT board=1 seq=491 x=498 y=652 valid=1 +15.115 eye-2 GAZE_ACCEPT board=2 seq=491 x=498 y=652 valid=1 +15.311 camera I (125547) freddy_person: PERSON t_ms=124477 score=0.451 cx=161 cy=155 box=113,71,209,239 frame=320,240 latency_ms=239 gaze_valid=1 +15.382 eye-1 GAZE_ACCEPT board=1 seq=492 x=504 y=648 valid=1 +15.423 eye-2 GAZE_ACCEPT board=2 seq=492 x=504 y=648 valid=1 +15.563 camera I (125807) freddy_person: PERSON t_ms=124732 score=0.364 cx=213 cy=154 box=108,70,319,239 frame=320,240 latency_ms=234 gaze_valid=1 +15.600 eye-2 GAZE_ACCEPT board=2 seq=493 x=667 y=644 valid=1 +15.647 eye-1 GAZE_ACCEPT board=1 seq=493 x=667 y=644 valid=1 +15.812 camera I (126057) freddy_person: NO_PERSON t_ms=124982 frame=320,240 latency_ms=234 rejected_full_frame=0 +15.824 eye-1 GAZE_ACCEPT board=1 seq=494 x=500 y=500 valid=0 +15.849 eye-2 GAZE_ACCEPT board=2 seq=494 x=500 y=500 valid=0 +16.066 camera I (126307) freddy_person: PERSON t_ms=125236 score=0.451 cx=215 cy=156 box=111,73,319,239 frame=320,240 latency_ms=238 gaze_valid=0 +16.104 eye-2 GAZE_ACCEPT board=2 seq=495 x=673 y=652 valid=0 +16.154 eye-1 GAZE_ACCEPT board=1 seq=495 x=673 y=652 valid=0 +16.316 camera I (126557) freddy_person: PERSON t_ms=125485 score=0.385 cx=214 cy=154 box=110,70,319,239 frame=320,240 latency_ms=237 gaze_valid=0 +16.351 eye-2 GAZE_ACCEPT board=2 seq=496 x=670 y=644 valid=0 +16.389 eye-1 GAZE_ACCEPT board=1 seq=496 x=670 y=644 valid=0 +16.570 camera I (126807) freddy_person: PERSON t_ms=125734 score=0.424 cx=214 cy=156 box=110,74,319,239 frame=320,240 latency_ms=236 gaze_valid=1 +16.595 eye-2 GAZE_ACCEPT board=2 seq=497 x=670 y=652 valid=1 +16.644 eye-1 GAZE_ACCEPT board=1 seq=497 x=670 y=652 valid=1 +16.817 camera I (127057) freddy_person: PERSON t_ms=125983 score=0.395 cx=160 cy=156 box=110,74,210,239 frame=320,240 latency_ms=235 gaze_valid=1 +16.903 eye-1 GAZE_ACCEPT board=1 seq=498 x=501 y=652 valid=1 +17.064 camera I (127307) freddy_person: PERSON t_ms=126234 score=0.468 cx=159 cy=157 box=111,75,207,239 frame=320,240 latency_ms=236 gaze_valid=1 +17.077 eye-1 GAZE_ACCEPT board=1 seq=499 x=498 y=656 valid=1 +17.117 eye-2 GAZE_ACCEPT board=2 seq=498 x=501 y=652 valid=1 +17.117 eye-2 GAZE_ACCEPT board=2 seq=499 x=498 y=656 valid=1 +17.316 camera I (127557) freddy_person: PERSON t_ms=126482 score=0.405 cx=158 cy=157 box=109,75,207,239 frame=320,240 latency_ms=234 gaze_valid=1 +17.327 eye-1 GAZE_ACCEPT board=1 seq=500 x=495 y=656 valid=1 +17.377 eye-2 GAZE_ACCEPT board=2 seq=500 x=495 y=656 valid=1 +17.560 camera I (127807) freddy_person: PERSON t_ms=126732 score=0.442 cx=160 cy=157 box=114,75,207,239 frame=320,240 latency_ms=235 gaze_valid=1 +17.587 eye-1 GAZE_ACCEPT board=1 seq=501 x=501 y=656 valid=1 +17.636 eye-2 GAZE_ACCEPT board=2 seq=501 x=501 y=656 valid=1 +17.815 camera I (128057) freddy_person: PERSON t_ms=126984 score=0.424 cx=214 cy=155 box=109,72,319,239 frame=320,240 latency_ms=236 gaze_valid=1 +17.851 eye-1 GAZE_ACCEPT board=1 seq=502 x=670 y=648 valid=1 +18.071 eye-2 GAZE_ACCEPT board=2 seq=502 x=670 y=648 valid=1 +18.071 eye-2 GAZE_ACCEPT board=2 seq=503 x=677 y=648 valid=1 +18.071 camera I (128307) freddy_person: PERSON t_ms=127235 score=0.442 cx=216 cy=155 box=113,72,319,239 frame=320,240 latency_ms=237 gaze_valid=1 +18.116 eye-1 GAZE_ACCEPT board=1 seq=503 x=677 y=648 valid=1 +18.314 camera I (128557) freddy_person: NO_PERSON t_ms=127484 frame=320,240 latency_ms=236 rejected_full_frame=0 +18.339 eye-2 GAZE_ACCEPT board=2 seq=504 x=500 y=500 valid=0 +18.376 eye-1 GAZE_ACCEPT board=1 seq=504 x=500 y=500 valid=0 +18.562 camera I (128807) freddy_person: PERSON t_ms=127732 score=0.375 cx=214 cy=153 box=110,68,319,239 frame=320,240 latency_ms=235 gaze_valid=0 +18.573 eye-2 GAZE_ACCEPT board=2 seq=505 x=670 y=640 valid=0 +18.622 eye-1 GAZE_ACCEPT board=1 seq=505 x=670 y=640 valid=0 +18.809 camera I (129057) freddy_person: PERSON t_ms=127982 score=0.385 cx=157 cy=156 box=104,73,211,239 frame=320,240 latency_ms=234 gaze_valid=0 +18.822 eye-2 GAZE_ACCEPT board=2 seq=506 x=492 y=652 valid=0 +18.859 eye-1 GAZE_ACCEPT board=1 seq=506 x=492 y=652 valid=0 +19.062 camera I (129307) freddy_person: PERSON t_ms=128235 score=0.405 cx=159 cy=156 box=107,73,211,239 frame=320,240 latency_ms=237 gaze_valid=1 +19.110 eye-1 GAZE_ACCEPT board=1 seq=507 x=498 y=652 valid=1 +19.148 eye-2 GAZE_ACCEPT board=2 seq=507 x=498 y=652 valid=1 +19.315 eye-2 GAZE_ACCEPT board=2 seq=508 x=498 y=656 valid=1 +19.316 camera I (129557) freddy_person: PERSON t_ms=128482 score=0.442 cx=159 cy=157 box=111,75,207,239 frame=320,240 latency_ms=234 gaze_valid=1 +19.566 camera I (129807) freddy_person: PERSON t_ms=128731 score=0.395 cx=161 cy=157 box=115,76,208,239 frame=320,240 latency_ms=233 gaze_valid=1 +19.577 eye-2 GAZE_ACCEPT board=2 seq=509 x=504 y=656 valid=1 +19.624 eye-1 GAZE_ACCEPT board=1 seq=508 x=498 y=656 valid=1 +19.624 eye-1 GAZE_ACCEPT board=1 seq=509 x=504 y=656 valid=1 +19.818 camera I (130057) freddy_person: NO_PERSON t_ms=128985 frame=320,240 latency_ms=237 rejected_full_frame=1 +19.841 eye-2 GAZE_ACCEPT board=2 seq=510 x=500 y=500 valid=0 +19.900 eye-1 GAZE_ACCEPT board=1 seq=510 x=500 y=500 valid=0 diff --git a/hardware/camera-captures/tracking-sync-2026-10-01-empty.log b/hardware/camera-captures/tracking-sync-2026-10-01-empty.log new file mode 100644 index 0000000..71f4951 --- /dev/null +++ b/hardware/camera-captures/tracking-sync-2026-10-01-empty.log @@ -0,0 +1,80 @@ +0.225 camera I (130307) freddy_person: NO_PERSON t_ms=129234 frame=320,240 laI (299227) freddy_person: NO_PERSON t_ms=298152 frame=320,240 latency_ms=234 rejected_full_frame=1 +0.474 camera I (299477) freddy_person: NO_PERSON t_ms=298405 frame=320,240 latency_ms=237 rejected_full_frame=1 +0.730 camera I (299727) freddy_person: NO_PERSON t_ms=298652 frame=320,240 latency_ms=234 rejected_full_frame=1 +0.982 camera I (299977) freddy_person: NO_PERSON t_ms=298904 frame=320,240 latency_ms=236 rejected_full_frame=1 +1.232 camera I (300227) freddy_person: NO_PERSON t_ms=299154 frame=320,240 latency_ms=236 rejected_full_frame=1 +1.479 camera I (300477) freddy_person: NO_PERSON t_ms=299403 frame=320,240 latency_ms=235 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rejected_full_frame=1 +8.009 camera I (306997) freddy_person: PERSON t_ms=305926 score=0.606 cx=225 cy=119 box=138,0,313,239 frame=320,240 latency_ms=238 gaze_valid=0 +8.246 camera I (307247) freddy_person: NO_PERSON t_ms=306174 frame=320,240 latency_ms=237 rejected_full_frame=1 +8.504 camera I (307497) freddy_person: NO_PERSON t_ms=306423 frame=320,240 latency_ms=235 rejected_full_frame=1 +8.748 camera I (307747) freddy_person: NO_PERSON t_ms=306673 frame=320,240 latency_ms=235 rejected_full_frame=1 +8.995 camera I (307997) freddy_person: NO_PERSON t_ms=306924 frame=320,240 latency_ms=236 rejected_full_frame=1 +9.243 camera I (308247) freddy_person: NO_PERSON t_ms=307175 frame=320,240 latency_ms=237 rejected_full_frame=1 +9.499 camera I (308497) freddy_person: NO_PERSON t_ms=307424 frame=320,240 latency_ms=236 rejected_full_frame=1 +9.741 camera I (308747) freddy_person: NO_PERSON t_ms=307672 frame=320,240 latency_ms=235 rejected_full_frame=1 +9.995 camera I (308997) freddy_person: 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freddy_person: NO_PERSON t_ms=311923 frame=320,240 latency_ms=235 rejected_full_frame=1 +14.247 camera I (313247) freddy_person: PERSON t_ms=312173 score=0.364 cx=225 cy=119 box=138,0,313,239 frame=320,240 latency_ms=236 gaze_valid=0 +14.502 camera I (313497) freddy_person: NO_PERSON t_ms=312427 frame=320,240 latency_ms=239 rejected_full_frame=1 +14.743 camera I (313747) freddy_person: NO_PERSON t_ms=312674 frame=320,240 latency_ms=236 rejected_full_frame=1 +15.002 camera I (313997) freddy_person: NO_PERSON t_ms=312924 frame=320,240 latency_ms=236 rejected_full_frame=1 +15.247 camera I (314247) freddy_person: NO_PERSON t_ms=313172 frame=320,240 latency_ms=234 rejected_full_frame=1 +15.494 camera I (314497) freddy_person: NO_PERSON t_ms=313426 frame=320,240 latency_ms=238 rejected_full_frame=1 +15.742 camera I (314747) freddy_person: NO_PERSON t_ms=313672 frame=320,240 latency_ms=234 rejected_full_frame=1 +15.996 camera I (314997) freddy_person: NO_PERSON t_ms=313925 frame=320,240 latency_ms=237 rejected_full_frame=1 +16.249 camera I (315247) freddy_person: NO_PERSON t_ms=314177 frame=320,240 latency_ms=239 rejected_full_frame=1 +16.493 camera I (315497) freddy_person: NO_PERSON t_ms=314423 frame=320,240 latency_ms=235 rejected_full_frame=1 +16.741 camera I (315747) freddy_person: NO_PERSON t_ms=314672 frame=320,240 latency_ms=235 rejected_full_frame=1 +16.998 camera I (315997) freddy_person: NO_PERSON t_ms=314924 frame=320,240 latency_ms=237 rejected_full_frame=1 +17.252 camera I (316247) freddy_person: NO_PERSON t_ms=315175 frame=320,240 latency_ms=237 rejected_full_frame=1 +17.504 camera I (316497) freddy_person: NO_PERSON t_ms=315424 frame=320,240 latency_ms=236 rejected_full_frame=1 +17.747 camera I (316747) freddy_person: PERSON t_ms=315673 score=0.415 cx=226 cy=119 box=138,0,314,239 frame=320,240 latency_ms=235 gaze_valid=0 +18.007 camera I (316997) freddy_person: NO_PERSON t_ms=315926 frame=320,240 latency_ms=238 rejected_full_frame=1 +18.250 camera I (317247) freddy_person: NO_PERSON t_ms=316175 frame=320,240 latency_ms=237 rejected_full_frame=1 +18.499 camera I (317497) freddy_person: NO_PERSON t_ms=316423 frame=320,240 latency_ms=235 rejected_full_frame=1 +18.745 camera I (317747) freddy_person: PERSON t_ms=316675 score=0.523 cx=226 cy=119 box=138,0,314,239 frame=320,240 latency_ms=237 gaze_valid=0 +18.996 camera I (317997) freddy_person: NO_PERSON t_ms=316923 frame=320,240 latency_ms=235 rejected_full_frame=1 +19.246 camera I (318247) freddy_person: NO_PERSON t_ms=317175 frame=320,240 latency_ms=237 rejected_full_frame=1 +19.493 camera I (318497) freddy_person: NO_PERSON t_ms=317425 frame=320,240 latency_ms=237 rejected_full_frame=1 +19.747 camera I (318747) freddy_person: NO_PERSON t_ms=317672 frame=320,240 latency_ms=234 rejected_full_frame=1 +19.994 camera I (318997) freddy_person: NO_PERSON t_ms=317925 frame=320,240 latency_ms=237 rejected_full_frame=1 diff --git a/hardware/chair_camera_pod/README.md b/hardware/chair_camera_pod/README.md new file mode 100644 index 0000000..03d7abb --- /dev/null +++ b/hardware/chair_camera_pod/README.md @@ -0,0 +1,24 @@ +# Concealed chair camera pod — first-fit prototype + +The Freddy mask will sit in a skeleton's lap on the single wicker chair shown in [Joshua's actual-chair photo](../../reference_images/wicker_chair_skeleton.png). The chair faces open concrete. A first position to **test** is beneath the **front half of the armrest on the right side of the photo**, with the lens and IR openings just below the woven front/outer lip. This keeps the camera above the seat underside and away from the cushion. The skeleton's hand rests farther back on that armrest, so the pod must stay clear of its fingers and any hanging decorations. This is a candidate position, not a verified installation; camera frames must confirm both approaches are visible. The camera can supply target coordinates to Freddy's eyes after calibration. + +![Actual-chair placement sketch](chair-camera-placement.svg) + +## Files and size + +- `chair_camera_pod.scad` is the editable master. Set `part` to `tray` or `cover` to export each part in a CAD tool. +- `chair_camera_tray_draft.stl` and `chair_camera_cover_draft.stl` are printable first-fit exports. They use a 0.4 mm grid because OpenSCAD is unavailable on this machine; re-export from the CAD master for smooth final holes. +- `export_draft_stl.py` regenerates those prototype STLs. + +The tray is approximately **78 × 54 × 13 mm** including its rear strap ears. The removable front cover is 54 × 54 × 2.4 mm. Two 5 mm strap slots at the sides let soft hook-and-loop bands pass through sturdy parts of the armrest's underside weave or internal frame. Keep the straps and cable beneath the armrest so they do not cross its visible top. Avoid tightening a zip tie against a single wicker strand. The board rests on 3 mm spacers and has adjustable corner slots with nominal hole centers 15–19 mm from the center. Check the actual V1.1 board before choosing M2.5 nylon screws. + +The front cover uses an 18 mm lens opening and two vertical IR openings. Their placement is estimated from the [DFRobot front-board illustration](https://dfimg.dfrobot.com/5d57611a3416442fa39bffca/wiki/21557c4dd23b63b915462b8f108380f9_0x0.png.webp), which is marked V1.0; verify against Joshua's V1.1 hardware. The openings are separate and unglazed to avoid the close-window IR reflection seen during bench testing. Leave the cover off for the first live camera test and install it only after confirming no vignetting, LED blockage, or lens contact. The USB-C edge points downward so its cable can exit through the open bottom and form a drip loop. + +## Placement and fit check + +1. Temporarily hold the camera under the front half of the photo-right armrest. Keep the lens and IR openings just below its front/outer wicker lip, looking toward the open path rather than through the weave or at the skeleton's hand. Check that the 78 × 54 mm tray fits that underside without protruding into normal visitor view. +2. Capture frames with a person approaching from the left, center, and right at the real walkway distance. Check that the armrest edge, skeleton hand/leg, and mask do not block the tracking zone. If they do, slide the pod forward or adjust its angle before choosing another concealed point on this chair. +3. Repeat after dark with the onboard IR on. Check both the camera image and whether the pod is noticeable from the walking path. Adjust the angle using a temporary foam wedge before printing a permanent angled bracket. +4. Once the position works, thread two soft straps through the rear ears and through sturdy underside sections of the armrest or its frame. Add a thin non-slip pad between the pod and wicker, route the cable toward the back of the chair with a drip loop, and protect the electrical connection from wind-driven rain. + +This housing is **not waterproof**. It relies on the covered porch and chair seat for shelter; the front optical openings must remain clear. The final angle and strap routing depend on a real fit check on the chair. diff --git a/hardware/chair_camera_pod/chair-camera-placement.svg b/hardware/chair_camera_pod/chair-camera-placement.svg new file mode 100644 index 0000000..d7d95de --- /dev/null +++ b/hardware/chair_camera_pod/chair-camera-placement.svg @@ -0,0 +1,25 @@ + + Concealed camera candidate beneath the actual chair's photo-right armrest + Front-view placement sketch of the single wicker chair, skeleton, and a small camera pod tucked beneath the front half of the right armrest as seen in Joshua's photo. + + Actual chair: camera placement to test + Front view toward the seated skeleton · photo-right is diagram-right + + + + + + + + + + + + + + + + Pod beneath front half + of photo-right armrest + Keep lens + IR below wicker lip; confirm both approach directions with live frames. + diff --git a/hardware/chair_camera_pod/chair_camera_cover_draft.stl b/hardware/chair_camera_pod/chair_camera_cover_draft.stl new file mode 100644 index 0000000..a81ef4b Binary files /dev/null and b/hardware/chair_camera_pod/chair_camera_cover_draft.stl differ diff --git a/hardware/chair_camera_pod/chair_camera_pod.scad b/hardware/chair_camera_pod/chair_camera_pod.scad new file mode 100644 index 0000000..fb0750b --- /dev/null +++ b/hardware/chair_camera_pod/chair_camera_pod.scad @@ -0,0 +1,67 @@ +// Concealed DFRobot DFR1154 V1.1 chair camera pod, prototype v1. +// Strap beneath the walkway-side wicker armrest; +Z faces the walkway. +// Board and optic positions MUST be verified on the physical V1.1 unit. +part = "tray"; // "tray", "cover", or "assembly" +$fn = 64; + +module rounded_slot_x(x0, x1, y, diameter, z0, height) { + hull() { + translate([x0,y,z0]) cylinder(d=diameter,h=height); + translate([x1,y,z0]) cylinder(d=diameter,h=height); + } +} + +module rounded_slot_y(x, y0, y1, diameter, z0, height) { + hull() { + translate([x,y0,z0]) cylinder(d=diameter,h=height); + translate([x,y1,z0]) cylinder(d=diameter,h=height); + } +} + +module tray() { + difference() { + union() { + // Square rear plate and short side/top shroud. Bottom stays open + // for the board's USB-C plug and a downward cable drip loop. + translate([-27,-27,0]) cube([54,54,3]); + translate([-27,-27,3]) cube([3,54,10]); + translate([24,-27,3]) cube([3,54,10]); + translate([-27,24,3]) cube([54,3,10]); + // Four board spacers (3 mm high). + for (x=[-17,17], y=[-17,17]) + translate([x,y,3]) cylinder(d=7,h=3); + // Two rear ears accept soft hook-and-loop straps threaded through + // the wicker frame. They stay behind the camera's front plane. + translate([-39,-18,0]) cube([13,36,4]); + translate([26,-18,0]) cube([13,36,4]); + } + // Adjustable PCB slots accommodate 30-38 mm horizontal hole pitch. + for (y=[-17,17], s=[-1,1]) + rounded_slot_x(s*15,s*19,y,3.0,-1,9); + // Strap slots in the ears. + for (x=[-33,33]) + rounded_slot_y(x,-11,11,5,-1,6); + // M2 cover screws: pilot bores into the side-wall corner lands. + for (x=[-25.5,25.5], y=[-23,23]) + translate([x,y,5]) cylinder(d=1.6,h=9); + } +} + +module cover() { + difference() { + translate([-27,-27,0]) cube([54,54,2.4]); + // Approximate source-board layout: lens ~6 mm above board center; + // two IR emitters on each side. Kept as separate unglazed openings + // so the IR cannot reflect from a shared close window into the lens. + translate([0,6,-1]) cylinder(d=18,h=5); + for (x=[-15.5,15.5]) + rounded_slot_y(x,0,11,7,-1,5); + // The four side-wall screws secure a removable faceplate. + for (x=[-25.5,25.5], y=[-23,23]) + translate([x,y,-1]) cylinder(d=2.4,h=5); + } +} + +if (part == "tray") tray(); +else if (part == "cover") cover(); +else { tray(); translate([0,0,13]) cover(); } diff --git a/hardware/chair_camera_pod/chair_camera_tray_draft.stl b/hardware/chair_camera_pod/chair_camera_tray_draft.stl new file mode 100644 index 0000000..fb4732e Binary files /dev/null and b/hardware/chair_camera_pod/chair_camera_tray_draft.stl differ diff --git a/hardware/chair_camera_pod/export_draft_stl.py b/hardware/chair_camera_pod/export_draft_stl.py new file mode 100644 index 0000000..0401588 --- /dev/null +++ b/hardware/chair_camera_pod/export_draft_stl.py @@ -0,0 +1,101 @@ +"""Grid-export prototype STLs for chair_camera_pod.scad (0.4 mm pitch).""" + +from pathlib import Path +import struct + +import numpy as np + +HERE = Path(__file__).resolve().parent +STEP = 0.4 + + +def grid(lo, hi): + axes = [np.arange(a,b,STEP,dtype=np.float32)+STEP/2 for a,b in zip(lo,hi)] + return np.meshgrid(*axes,indexing="ij",sparse=True) + + +def box(X,Y,Z,x0,x1,y0,y1,z0,z1): + return ((X>=x0)&(X=y0)&(Y=z0)&(Z=z0)&(Z 0.01: + clashes.append((index, kind, round(overlap.volume, 3))) + print(f"{side}: {len(clashes)} board/mount clashes {clashes[:30]}") diff --git a/hardware/eye_mount/first_fit.py b/hardware/eye_mount/first_fit.py new file mode 100644 index 0000000..1f1d47e --- /dev/null +++ b/hardware/eye_mount/first_fit.py @@ -0,0 +1,159 @@ +"""Export a *test-fit* eye-board carrier and cosmetic trim in mask STEP coordinates. + +Run: uv run --no-project --with build123d python hardware/eye_mount/first_fit.py + +The three mask pads per eye are modeled against the *CAD* shell, not the glued +print. Do not bond them to the mask until board/cable clearance and fit are +checked on the real assembly. Units are millimetres. +""" + +import math +from pathlib import Path + +from build123d import ( + Align, Box, Compound, Cylinder, Pos, Rot, Vector, export_step, export_stl, + import_step, +) + + +ROOT = Path(__file__).resolve().parents[2] +OUT = Path(__file__).resolve().parent +MASK = import_step(str(ROOT / "stls/freddy_fazbear_mask.step")) +HEAD_HALVES = MASK.solids()[:2] + +# The official Waveshare CAD has 2 mm nominal bores in the four rear posts. +# Their centers are not a square. These are in the vendor board's local XY. +BOARD_POSTS = [(-29.5, 13.63818, -6.0), (29.5, 13.63818, -6.0), + (-18.0, -27.06012, -6.1), (18.0, -27.06012, -6.1)] +BOARD_ORIGIN_Y = -15.0 +EYE_CENTERS = [(-30.0, 196.0), (56.0, 196.0)] + + +def cyl(radius, height, x=0, y=0, z=0): + return Pos(x, y, z) * Cylinder( + radius, height, align=(Align.CENTER, Align.CENTER, Align.MIN) + ) + + +def arm(a, b, width, z0, height): + """A straight XY rib joining a point on the carrier ring to an anchor.""" + d = Vector(b[0] - a[0], b[1] - a[1]) + angle = math.degrees(math.atan2(d.Y, d.X)) + return (Pos((a[0] + b[0]) / 2, (a[1] + b[1]) / 2, z0 + height / 2) + * Rot(0, 0, angle) * Box(d.length, width, height)) + + +def radial_slot(x, y, radius=1.8, travel=5.0): + """Through-slot, with 5 mm adjustment along its radial direction.""" + r = (x * x + y * y) ** 0.5 + ux, uy = x / r, y / r + a = (x - ux * travel / 2, y - uy * travel / 2) + b = (x + ux * travel / 2, y + uy * travel / 2) + return (cyl(radius, 5, *a, -13) + + cyl(radius, 5, *b, -13) + + arm(a, b, 2 * radius, -13, 5)) + + +def carrier(outer_sign): + # Rear carrier is an open ring, well behind the PCB parts. Its four small + # stand-offs reach the vendor board posts at local Z=-6.0. Screw from back. + part = cyl(37.0, 3.0, z=-12.0) - cyl(29.0, 5.0, z=-13.0) + for x, y, back_z in BOARD_POSTS: + part += cyl(3.5, back_z + 12.0, x, y, -12.0) + # Two brow attachments and one lower/outer cheek attachment. The lateral + # temple surface changes depth by >20 mm under a 12 mm pad; the lower + # cheek is smoother, though it needs a much longer stand-off sleeve. + anchors = [(-20.0, 42.0), (20.0, 42.0), (outer_sign * 20.0, -38.0)] + for x, y in anchors: + r = (x * x + y * y) ** 0.5 + start = (x * 34.0 / r, y * 34.0 / r) + part += arm(start, (x, y), 8.0, -12.0, 3.0) + part += cyl(6.0, 3.0, x, y, -12.0) + for x, y, _ in BOARD_POSTS: + part -= cyl(1.15, 8.0, x, y, -13.0) # 2.3 mm M2 clearance + for x, y in anchors: + part -= radial_slot(x, y) # 3.6 mm M3 clearance + return part, anchors + + +def trim(): + # A simple first-fit matte/paintable annulus sits 0.5 mm in front of the + # Waveshare face; ID 54.5 mm does not press on the ~53 mm lit circle. + # It is a placement/appearance gauge, not a finished snap-fit surround. + return cyl(37.1, 1.2, z=3.9) - cyl(27.25, 2.2, z=3.4) + + +def place_at_eye(shape, center): + return Pos(center[0], BOARD_ORIGIN_Y, center[1]) * Rot(90, 0, 0) * shape + + +def mask_pad(shell, x, z): + # The rear surface is found along Y at this X/Z; the farthest intersection + # is the surface a pad placed from behind will meet. + from build123d import Axis + def rear_at(px, pz): + hits = shell.find_intersection_points(Axis((px, -200, pz), (0, 1, 0))) + return max((point.Y for point, _ in hits), default=None) + + rear_y = rear_at(x, z) + samples = [rear_y] + for radius in (3.0, 6.0): + for step in range(24): + theta = step * math.tau / 24 + hit = rear_at(x + radius * math.cos(theta), + z + radius * math.sin(theta)) + if hit is not None: + samples.append(hit) + # Size the *rear* plane from the farthest-back point under the whole pad so + # its sleeve stays off the mask. + back_y = max(samples) + 2.0 + front_y = min(samples) - 1.0 + # A small sacrificial pad is cut to the nominal shell surface. Actual + # print/glue variation needs filler or a foam/epoxy bond after dry fit. + blank = (Pos(x, back_y, z) * Rot(90, 0, 0) + * cyl(6.0, back_y - front_y)) + pad = blank - shell + # 4.2 mm pilot for a test M3 heat-set insert, inserted from behind. + bore = (Pos(x, back_y + 0.1, z) * Rot(90, 0, 0) + * cyl(2.1, 4.1)) + pad -= bore + return pad, rear_y, back_y + + +pieces = [] +for index, (shell, center) in enumerate(zip(HEAD_HALVES, EYE_CENTERS)): + side = "left" if index == 0 else "right" # mask STEP negative/positive X + sign = -1 if index == 0 else 1 + local_carrier, anchors = carrier(sign) + world_carrier = place_at_eye(local_carrier, center) + world_trim = place_at_eye(trim(), center) + export_step(world_carrier, str(OUT / f"{side}_carrier.step")) + export_stl(local_carrier, str(OUT / f"{side}_carrier.stl")) + export_step(world_trim, str(OUT / f"{side}_trim_gauge.step")) + export_stl(trim(), str(OUT / f"{side}_trim_gauge.stl")) + pieces.extend([world_carrier, world_trim]) + print(f"{side}: carrier {world_carrier.volume:.1f} mm^3, " + f"trim {world_trim.volume:.1f} mm^3") + for number, (lx, ly) in enumerate(anchors, 1): + pad, rear_y, back_y = mask_pad(shell, center[0] + lx, + center[1] + ly) + export_step(pad, str(OUT / f"{side}_pad_{number}.step")) + export_stl(pad, str(OUT / f"{side}_pad_{number}.stl")) + pieces.append(pad) + gap = -6.0 - back_y # carrier front to pad rear face + sleeve_outer_radius = 5.0 if gap > 30.0 else 3.5 + sleeve = (Pos(center[0] + lx, -6.0, center[1] + ly) + * Rot(90, 0, 0) + * (cyl(sleeve_outer_radius, gap) - cyl(1.8, gap))) + export_step(sleeve, str(OUT / f"{side}_sleeve_{number}.step")) + export_stl(cyl(sleeve_outer_radius, gap) - cyl(1.8, gap), + str(OUT / f"{side}_sleeve_{number}.stl")) + pieces.append(sleeve) + print(f" pad {number}: X={center[0]+lx:.1f}, Z={center[1]+ly:.1f}, " + f"rear shell Y={rear_y:.1f}, sleeve={gap:.1f} mm, " + f"pad volume={pad.volume:.1f} mm^3") + +export_step(Compound(children=pieces), str(OUT / "first_fit_mounts_in_mask_coordinates.step")) +export_step(Compound(children=[*HEAD_HALVES, *pieces]), + str(OUT / "mask_with_first_fit_mounts.step")) +print("Exported test-fit STEP and STL parts to", OUT) diff --git a/hardware/eye_mount/first_fit_mounts_in_mask_coordinates.step b/hardware/eye_mount/first_fit_mounts_in_mask_coordinates.step new file mode 100644 index 0000000..f5868e5 --- /dev/null +++ b/hardware/eye_mount/first_fit_mounts_in_mask_coordinates.step @@ -0,0 +1,12569 @@ +ISO-10303-21; 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+#83513 = LINE('',#83514,#83515); +#83514 = CARTESIAN_POINT('',(-18.22918380863,28.977523318444,-12.)); +#83515 = VECTOR('',#83516,1.); +#83516 = DIRECTION('',(-0.429933580392,0.902860518824,0.)); +#83517 = PCURVE('',#83409,#83518); +#83518 = DEFINITIONAL_REPRESENTATION('',(#83519),#83523); +#83519 = LINE('',#83520,#83521); +#83520 = CARTESIAN_POINT('',(0.,0.)); +#83521 = VECTOR('',#83522,1.); +#83522 = DIRECTION('',(0.,1.)); +#83523 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83524 = PCURVE('',#83437,#83525); +#83525 = DEFINITIONAL_REPRESENTATION('',(#83526),#83530); +#83526 = LINE('',#83527,#83528); +#83527 = CARTESIAN_POINT('',(-18.22918380863,28.977523318444)); +#83528 = VECTOR('',#83529,1.); +#83529 = DIRECTION('',(-0.429933580392,0.902860518824)); +#83530 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83531 = ORIENTED_EDGE('',*,*,#83387,.T.); +#83532 = ORIENTED_EDGE('',*,*,#83533,.T.); +#83533 = EDGE_CURVE('',#83390,#83534,#83536,.T.); +#83534 = VERTEX_POINT('',#83535); +#83535 = CARTESIAN_POINT('',(-21.68872065216,36.242550689848,-9.)); +#83536 = SURFACE_CURVE('',#83537,(#83541,#83548),.PCURVE_S1.); +#83537 = LINE('',#83538,#83539); +#83538 = CARTESIAN_POINT('',(-18.22918380863,28.977523318444,-9.)); +#83539 = VECTOR('',#83540,1.); +#83540 = DIRECTION('',(-0.429933580392,0.902860518824,0.)); +#83541 = PCURVE('',#83409,#83542); +#83542 = DEFINITIONAL_REPRESENTATION('',(#83543),#83547); +#83543 = LINE('',#83544,#83545); +#83544 = CARTESIAN_POINT('',(3.,0.)); +#83545 = VECTOR('',#83546,1.); +#83546 = DIRECTION('',(0.,1.)); +#83547 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83548 = PCURVE('',#83490,#83549); +#83549 = DEFINITIONAL_REPRESENTATION('',(#83550),#83554); +#83550 = LINE('',#83551,#83552); +#83551 = CARTESIAN_POINT('',(-18.22918380863,28.977523318444)); +#83552 = VECTOR('',#83553,1.); +#83553 = DIRECTION('',(-0.429933580392,0.902860518824)); +#83554 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83555 = ORIENTED_EDGE('',*,*,#83556,.F.); +#83556 = EDGE_CURVE('',#83510,#83534,#83557,.T.); +#83557 = SURFACE_CURVE('',#83558,(#83562,#83568),.PCURVE_S1.); +#83558 = LINE('',#83559,#83560); +#83559 = CARTESIAN_POINT('',(-21.68872065216,36.242550689849,-12.)); +#83560 = VECTOR('',#83561,1.); +#83561 = DIRECTION('',(0.,0.,1.)); +#83562 = PCURVE('',#83409,#83563); +#83563 = DEFINITIONAL_REPRESENTATION('',(#83564),#83567); +#83564 = B_SPLINE_CURVE_WITH_KNOTS('',1,(#83565,#83566),.UNSPECIFIED., + .F.,.F.,(2,2),(-2.399999999625E-06,3.0000024), + .PIECEWISE_BEZIER_KNOTS.); +#83565 = CARTESIAN_POINT('',(-2.399999999625E-06,8.046677443452)); +#83566 = CARTESIAN_POINT('',(3.0000024,8.046677443452)); +#83567 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83568 = PCURVE('',#83569,#83574); +#83569 = CYLINDRICAL_SURFACE('',#83570,6.); +#83570 = AXIS2_PLACEMENT_3D('',#83571,#83572,#83573); +#83571 = CARTESIAN_POINT('',(-20.,42.,-12.)); +#83572 = DIRECTION('',(0.,0.,1.)); +#83573 = DIRECTION('',(1.,0.,-0.)); +#83574 = DEFINITIONAL_REPRESENTATION('',(#83575),#83578); +#83575 = B_SPLINE_CURVE_WITH_KNOTS('',1,(#83576,#83577),.UNSPECIFIED., + .F.,.F.,(2,2),(0.,3.),.PIECEWISE_BEZIER_KNOTS.); +#83576 = CARTESIAN_POINT('',(10.710265841238,0.)); +#83577 = CARTESIAN_POINT('',(10.710265841238,3.)); +#83578 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83579 = ADVANCED_FACE('',(#83580,#83865,#83977,#84012,#84043,#84078, + #84109,#84221,#84252),#83490,.T.); +#83580 = FACE_BOUND('',#83581,.T.); +#83581 = EDGE_LOOP('',(#83582,#83617,#83645,#83667,#83668,#83669,#83692, + #83721,#83749,#83782,#83810,#83839)); +#83582 = ORIENTED_EDGE('',*,*,#83583,.F.); +#83583 = EDGE_CURVE('',#83584,#83586,#83588,.T.); +#83584 = VERTEX_POINT('',#83585); +#83585 = CARTESIAN_POINT('',(-12.20286857809,34.929786693678,-9.)); +#83586 = VERTEX_POINT('',#83587); +#83587 = CARTESIAN_POINT('',(12.20286857809,34.929786693678,-9.)); +#83588 = SURFACE_CURVE('',#83589,(#83594,#83605),.PCURVE_S1.); +#83589 = CIRCLE('',#83590,37.); +#83590 = AXIS2_PLACEMENT_3D('',#83591,#83592,#83593); +#83591 = CARTESIAN_POINT('',(0.,0.,-9.)); +#83592 = DIRECTION('',(0.,0.,-1.)); +#83593 = DIRECTION('',(-0.329807258867,0.944048289018,0.)); +#83594 = PCURVE('',#83490,#83595); +#83595 = DEFINITIONAL_REPRESENTATION('',(#83596),#83604); +#83596 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#83597,#83598,#83599,#83600 + ,#83601,#83602,#83603),.UNSPECIFIED.,.T.,.F.) +B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0., + 2.094395102393,4.188790204786,6.28318530718,8.377580409573), +.UNSPECIFIED.) CURVE() GEOMETRIC_REPRESENTATION_ITEM() +RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM( + '') ); +#83597 = CARTESIAN_POINT('',(-12.20286857809,34.929786693678)); +#83598 = CARTESIAN_POINT('',(48.297296672904,56.065775069016)); +#83599 = CARTESIAN_POINT('',(36.351516914542,-6.896899159171)); +#83600 = CARTESIAN_POINT('',(24.40573715618,-69.85957338735)); +#83601 = CARTESIAN_POINT('',(-24.14864833645,-28.0328875345)); +#83602 = CARTESIAN_POINT('',(-72.70303382908,13.793798318341)); +#83603 = CARTESIAN_POINT('',(-12.20286857809,34.929786693678)); +#83604 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83605 = PCURVE('',#83606,#83611); +#83606 = CYLINDRICAL_SURFACE('',#83607,37.); +#83607 = AXIS2_PLACEMENT_3D('',#83608,#83609,#83610); +#83608 = CARTESIAN_POINT('',(0.,0.,-12.)); +#83609 = DIRECTION('',(0.,0.,1.)); +#83610 = DIRECTION('',(1.,0.,-0.)); +#83611 = DEFINITIONAL_REPRESENTATION('',(#83612),#83616); +#83612 = LINE('',#83613,#83614); +#83613 = CARTESIAN_POINT('',(8.19008103736,3.)); +#83614 = VECTOR('',#83615,1.); +#83615 = DIRECTION('',(-1.,-0.)); +#83616 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83617 = ORIENTED_EDGE('',*,*,#83618,.T.); +#83618 = EDGE_CURVE('',#83584,#83619,#83621,.T.); +#83619 = VERTEX_POINT('',#83620); +#83620 = CARTESIAN_POINT('',(-14.46583650157,39.682019332988,-9.)); +#83621 = SURFACE_CURVE('',#83622,(#83626,#83633),.PCURVE_S1.); +#83622 = LINE('',#83623,#83624); +#83623 = CARTESIAN_POINT('',(-11.00629965804,32.416991961583,-9.)); +#83624 = VECTOR('',#83625,1.); +#83625 = DIRECTION('',(-0.429933580392,0.902860518824,0.)); +#83626 = PCURVE('',#83490,#83627); +#83627 = DEFINITIONAL_REPRESENTATION('',(#83628),#83632); +#83628 = LINE('',#83629,#83630); +#83629 = CARTESIAN_POINT('',(-11.00629965804,32.416991961583)); +#83630 = VECTOR('',#83631,1.); +#83631 = DIRECTION('',(-0.429933580392,0.902860518824)); +#83632 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83633 = PCURVE('',#83634,#83639); +#83634 = PLANE('',#83635); +#83635 = AXIS2_PLACEMENT_3D('',#83636,#83637,#83638); +#83636 = CARTESIAN_POINT('',(-11.00629965804,32.416991961583,-12.)); +#83637 = DIRECTION('',(-0.902860518824,-0.429933580392,0.)); +#83638 = DIRECTION('',(0.,0.,1.)); +#83639 = DEFINITIONAL_REPRESENTATION('',(#83640),#83644); +#83640 = LINE('',#83641,#83642); +#83641 = CARTESIAN_POINT('',(3.,0.)); +#83642 = VECTOR('',#83643,1.); +#83643 = DIRECTION('',(0.,1.)); +#83644 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83645 = ORIENTED_EDGE('',*,*,#83646,.T.); +#83646 = EDGE_CURVE('',#83619,#83534,#83647,.T.); +#83647 = SURFACE_CURVE('',#83648,(#83653,#83660),.PCURVE_S1.); +#83648 = CIRCLE('',#83649,6.); +#83649 = AXIS2_PLACEMENT_3D('',#83650,#83651,#83652); +#83650 = CARTESIAN_POINT('',(-20.,42.,-9.)); +#83651 = DIRECTION('',(-0.,0.,1.)); +#83652 = DIRECTION('',(0.922360583072,-0.386330111169,0.)); +#83653 = PCURVE('',#83490,#83654); +#83654 = DEFINITIONAL_REPRESENTATION('',(#83655),#83659); +#83655 = CIRCLE('',#83656,6.); +#83656 = AXIS2_PLACEMENT_2D('',#83657,#83658); +#83657 = CARTESIAN_POINT('',(-20.,42.)); +#83658 = DIRECTION('',(0.922360583072,-0.386330111169)); +#83659 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83660 = PCURVE('',#83569,#83661); +#83661 = DEFINITIONAL_REPRESENTATION('',(#83662),#83666); +#83662 = LINE('',#83663,#83664); +#83663 = CARTESIAN_POINT('',(5.886535846513,3.)); +#83664 = VECTOR('',#83665,1.); +#83665 = DIRECTION('',(1.,0.)); +#83666 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83667 = ORIENTED_EDGE('',*,*,#83533,.F.); +#83668 = ORIENTED_EDGE('',*,*,#83475,.F.); +#83669 = ORIENTED_EDGE('',*,*,#83670,.T.); +#83670 = EDGE_CURVE('',#83450,#83671,#83673,.T.); +#83671 = VERTEX_POINT('',#83672); +#83672 = CARTESIAN_POINT('',(-21.45679152134,-32.17953966912,-9.)); 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+#83712 = CARTESIAN_POINT('',(-20.,-38.,-12.)); +#83713 = DIRECTION('',(0.,0.,1.)); +#83714 = DIRECTION('',(1.,0.,-0.)); +#83715 = DEFINITIONAL_REPRESENTATION('',(#83716),#83720); +#83716 = LINE('',#83717,#83718); +#83717 = CARTESIAN_POINT('',(1.816046053985,3.)); +#83718 = VECTOR('',#83719,1.); +#83719 = DIRECTION('',(1.,0.)); +#83720 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83721 = ORIENTED_EDGE('',*,*,#83722,.F.); +#83722 = EDGE_CURVE('',#83723,#83694,#83725,.T.); +#83723 = VERTEX_POINT('',#83724); +#83724 = CARTESIAN_POINT('',(-13.59194722676,-34.41306395229,-9.)); +#83725 = SURFACE_CURVE('',#83726,(#83730,#83737),.PCURVE_S1.); +#83726 = LINE('',#83727,#83728); +#83727 = CARTESIAN_POINT('',(-12.29570582678,-31.95020529231,-9.)); +#83728 = VECTOR('',#83729,1.); +#83729 = DIRECTION('',(-0.465746432833,-0.884918222382,0.)); +#83730 = PCURVE('',#83490,#83731); +#83731 = DEFINITIONAL_REPRESENTATION('',(#83732),#83736); 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CURVE() GEOMETRIC_REPRESENTATION_ITEM() +RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM( + '') ); +#83762 = CARTESIAN_POINT('',(-12.20286857809,34.929786693678)); +#83763 = CARTESIAN_POINT('',(48.297296672904,56.065775069016)); +#83764 = CARTESIAN_POINT('',(36.351516914542,-6.896899159171)); +#83765 = CARTESIAN_POINT('',(24.40573715618,-69.85957338735)); +#83766 = CARTESIAN_POINT('',(-24.14864833645,-28.0328875345)); +#83767 = CARTESIAN_POINT('',(-72.70303382908,13.793798318341)); +#83768 = CARTESIAN_POINT('',(-12.20286857809,34.929786693678)); +#83769 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83770 = PCURVE('',#83771,#83776); +#83771 = CYLINDRICAL_SURFACE('',#83772,37.); +#83772 = AXIS2_PLACEMENT_3D('',#83773,#83774,#83775); +#83773 = CARTESIAN_POINT('',(0.,0.,-12.)); +#83774 = DIRECTION('',(0.,0.,1.)); +#83775 = DIRECTION('',(1.,0.,-0.)); +#83776 = DEFINITIONAL_REPRESENTATION('',(#83777),#83781); +#83777 = LINE('',#83778,#83779); +#83778 = CARTESIAN_POINT('',(8.19008103736,3.)); +#83779 = VECTOR('',#83780,1.); +#83780 = DIRECTION('',(-1.,-0.)); +#83781 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83782 = ORIENTED_EDGE('',*,*,#83783,.T.); +#83783 = EDGE_CURVE('',#83751,#83784,#83786,.T.); +#83784 = VERTEX_POINT('',#83785); +#83785 = CARTESIAN_POINT('',(21.688720652161,36.242550689848,-9.)); +#83786 = SURFACE_CURVE('',#83787,(#83791,#83798),.PCURVE_S1.); +#83787 = LINE('',#83788,#83789); +#83788 = CARTESIAN_POINT('',(18.229183808636,28.977523318444,-9.)); +#83789 = VECTOR('',#83790,1.); +#83790 = DIRECTION('',(0.429933580392,0.902860518824,0.)); +#83791 = PCURVE('',#83490,#83792); +#83792 = DEFINITIONAL_REPRESENTATION('',(#83793),#83797); +#83793 = LINE('',#83794,#83795); +#83794 = CARTESIAN_POINT('',(18.229183808636,28.977523318444)); +#83795 = VECTOR('',#83796,1.); +#83796 = DIRECTION('',(0.429933580392,0.902860518824)); +#83797 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); 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+#83818 = DIRECTION('',(-0.,0.,1.)); +#83819 = DIRECTION('',(0.281453442027,-0.959574885025,0.)); +#83820 = PCURVE('',#83490,#83821); +#83821 = DEFINITIONAL_REPRESENTATION('',(#83822),#83826); +#83822 = CIRCLE('',#83823,6.); +#83823 = AXIS2_PLACEMENT_2D('',#83824,#83825); +#83824 = CARTESIAN_POINT('',(20.,42.)); +#83825 = DIRECTION('',(0.281453442027,-0.959574885025)); +#83826 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83827 = PCURVE('',#83828,#83833); +#83828 = CYLINDRICAL_SURFACE('',#83829,6.); +#83829 = AXIS2_PLACEMENT_3D('',#83830,#83831,#83832); +#83830 = CARTESIAN_POINT('',(20.,42.,-12.)); +#83831 = DIRECTION('',(0.,0.,1.)); +#83832 = DIRECTION('',(1.,0.,-0.)); +#83833 = DEFINITIONAL_REPRESENTATION('',(#83834),#83838); +#83834 = LINE('',#83835,#83836); +#83835 = CARTESIAN_POINT('',(4.99769742671,3.)); +#83836 = VECTOR('',#83837,1.); +#83837 = DIRECTION('',(1.,0.)); +#83838 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); 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+#83878 = DIRECTION('',(1.,0.,-0.)); +#83879 = PCURVE('',#83490,#83880); +#83880 = DEFINITIONAL_REPRESENTATION('',(#83881),#83885); +#83881 = CIRCLE('',#83882,1.8); +#83882 = AXIS2_PLACEMENT_2D('',#83883,#83884); +#83883 = CARTESIAN_POINT('',(-18.83563391791,-35.78770444404)); +#83884 = DIRECTION('',(1.,0.)); +#83885 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83886 = PCURVE('',#83887,#83892); +#83887 = CYLINDRICAL_SURFACE('',#83888,1.8); +#83888 = AXIS2_PLACEMENT_3D('',#83889,#83890,#83891); +#83889 = CARTESIAN_POINT('',(-18.83563391791,-35.78770444404,-13.)); +#83890 = DIRECTION('',(0.,0.,1.)); +#83891 = DIRECTION('',(1.,0.,-0.)); +#83892 = DEFINITIONAL_REPRESENTATION('',(#83893),#83897); +#83893 = LINE('',#83894,#83895); +#83894 = CARTESIAN_POINT('',(0.,4.)); +#83895 = VECTOR('',#83896,1.); +#83896 = DIRECTION('',(1.,0.)); +#83897 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); 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+#83914 = PLANE('',#83915); +#83915 = AXIS2_PLACEMENT_3D('',#83916,#83917,#83918); +#83916 = CARTESIAN_POINT('',(-17.24278111763,-36.62604802314,-13.)); +#83917 = DIRECTION('',(0.884918222382,-0.465746432833,0.)); +#83918 = DIRECTION('',(0.,-0.,1.)); +#83919 = DEFINITIONAL_REPRESENTATION('',(#83920),#83923); +#83920 = B_SPLINE_CURVE_WITH_KNOTS('',1,(#83921,#83922),.UNSPECIFIED., + .F.,.F.,(2,2),(-25.22091055358,-20.22091055358), + .PIECEWISE_BEZIER_KNOTS.); +#83921 = CARTESIAN_POINT('',(4.,5.)); +#83922 = CARTESIAN_POINT('',(4.,0.)); +#83923 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83924 = ORIENTED_EDGE('',*,*,#83925,.F.); +#83925 = EDGE_CURVE('',#83926,#83900,#83928,.T.); +#83926 = VERTEX_POINT('',#83927); +#83927 = CARTESIAN_POINT('',(-22.75721888236,-39.37395197685,-9.)); +#83928 = SURFACE_CURVE('',#83929,(#83934,#83941),.PCURVE_S1.); +#83929 = CIRCLE('',#83930,1.8); +#83930 = AXIS2_PLACEMENT_3D('',#83931,#83932,#83933); 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+#83967 = PLANE('',#83968); +#83968 = AXIS2_PLACEMENT_3D('',#83969,#83970,#83971); +#83969 = CARTESIAN_POINT('',(-20.4284867182,-34.94936086494,-13.)); +#83970 = DIRECTION('',(0.884918222382,-0.465746432833,0.)); +#83971 = DIRECTION('',(0.,-0.,1.)); +#83972 = DEFINITIONAL_REPRESENTATION('',(#83973),#83976); +#83973 = B_SPLINE_CURVE_WITH_KNOTS('',1,(#83974,#83975),.UNSPECIFIED., + .F.,.F.,(2,2),(-25.22091055358,-20.22091055358), + .PIECEWISE_BEZIER_KNOTS.); +#83974 = CARTESIAN_POINT('',(4.,5.)); +#83975 = CARTESIAN_POINT('',(4.,0.)); +#83976 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2) +PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE','' + ) ); +#83977 = FACE_BOUND('',#83978,.T.); +#83978 = EDGE_LOOP('',(#83979)); +#83979 = ORIENTED_EDGE('',*,*,#83980,.T.); +#83980 = EDGE_CURVE('',#83981,#83981,#83983,.T.); +#83981 = VERTEX_POINT('',#83982); +#83982 = CARTESIAN_POINT('',(-14.5,-27.06012,-9.)); +#83983 = SURFACE_CURVE('',#83984,(#83989,#84000),.PCURVE_S1.); +#83984 = CIRCLE('',#83985,3.5); +#83985 = AXIS2_PLACEMENT_3D('',#83986,#83987,#83988); +#83986 = CARTESIAN_POINT('',(-18.,-27.06012,-9.)); +#83987 = DIRECTION('',(0.,0.,-1.)); +#83988 = DIRECTION('',(1.,1.015061051086E-15,0.)); +#83989 = PCURVE('',#83490,#83990); +#83990 = DEFINITIONAL_REPRESENTATION('',(#83991),#83999); +#83991 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#83992,#83993,#83994,#83995 + ,#83996,#83997,#83998),.UNSPECIFIED.,.T.,.F.) +B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0., + 2.094395102393,4.188790204786,6.28318530718,8.377580409573), +.UNSPECIFIED.) CURVE() GEOMETRIC_REPRESENTATION_ITEM() +RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) 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These observations are for a removable behind-the-opening screen mount; no mount geometry is approved for printing yet. + +## Evidence received + +- [Front photo with annotations](../reference_images/freddy-mask-eye-measurements.png): 2.48 in (62.99 mm) is marked vertically across the photo-left opening and horizontally across the photo-right opening. The irregular rims mean this is **not** a caliper measurement of the narrowest opening in both axes of both eyes. +- [Rear photo](../reference_images/freddy-mask-eye-rear-view.png): the eye rims sit in a curved, faceted shell. Brow and muzzle/bridge geometry occupy space close to the openings; a center seam and glue are visible. No flat eye-board mounting land or verified connector route is evident from this view alone. +- [Rear dry-fit photo](../reference_images/IMG_6528.jpeg) and [side dry-fit photo](../reference_images/IMG_6529.jpeg): one unpowered Waveshare board has been held behind an eye opening. Its bare body appears to clear enough to occupy this hand-held position, and its rear mounting standoffs are exposed. The board's inner edge is close to the glued center bridge. The side photo shows a setback/angle relationship to the printed rim, but includes no scale, so depth and glass-to-rim clearance cannot be quantified. +- [Connected rear photo](../reference_images/IMG_6530.jpeg): in a held position, the `USB` power cable and 4-pin UART header plug are both inserted. The UART wires leave near the glued center bridge; the separate UART USB-C port appears unplugged. This confirms plug insertion is possible on the photographed eye, not that a fixed mount leaves sufficient bend radius, strain relief, or clearance on both sides. +- [Front close-up 1](../reference_images/IMG_6532.jpeg) and [front close-up 2](../reference_images/IMG_6533.jpeg): the dark, unpowered module sits behind the opening. A narrow bright sliver appears at the photo-right edge, but the unlit view does not distinguish the active screen from its surround and the deeper socket. With the screen off and no scale, these views alone do not establish active-pixel visibility, final eye appearance, or exact alignment. +- [Powered close-up](../reference_images/IMG_6534.jpeg), [wider front view](../reference_images/IMG_6535.jpeg), and [another held orientation](../reference_images/IMG_6536.jpeg): the rendered blue iris/white eye is clearly visible through one opening. These views clarify that a substantial dark portion of the socket remains visible around the illuminated display, especially above and to one side; the earlier bright edge was not sufficient to judge the overall fit. The board's apparent position and rotation change between shots (the on-screen label rotates), so none establishes a fixed center or final orientation. In the last view a red light is visible near the photo-right edge of the socket; check whether that onboard indicator would be visible to visitors in the installed position. The screen is not visibly clipped in these views, but the photos do not show both eyes installed together or measured clearances. +- [Shapr3D mask STEP](../stls/freddy_fazbear_mask.step): AP242 export in millimetres, with 17 solids. The two main head halves are separate solids, as are the muzzle, jaw, ears, and smaller parts. Its overall bounds are 518.761 × 227.383 × 386.090 mm **across the assembly**, not eye-opening dimensions. The older [STL export](<../stls/freddy_original_solids_cut_parts.step (3).stl>) has matching overall bounds but loses the STEP's units and solid structure. The earlier `freddy-fazbear-mask-BBL.3mf` and `EYES_For_MESH.stl` mentioned in records are not currently present in this workspace. +- The Waveshare ESP32-S3-Touch-LCD-2.1 is nominally 75 mm across per [Waveshare's dimensions](https://www.waveshare.com/wiki/ESP32-S3-Touch-LCD-2.1). Waveshare also publishes an [official 3D assembly](https://files.waveshare.com/wiki/ESP32-S3-Touch-LCD-2.1/ESP32-S3-Touch-LCD-2.1_structure.zip); its overall CAD envelope measures 75 × 75 × 9.5 mm. Confirm this reference assembly matches Joshua's Rev2.0 boards before treating small features as final. It does **not** include the plugged-in USB and UART cables. The board cannot pass through either front eye opening and must be placed from behind. + +## STEP-based eye geometry + +I imported the mask STEP with the Shapr3D CAD connection and measured front-to-back clear sightlines on a 0.5 mm X/Z grid using [this repeatable analysis](analyze_mask_step.py). Coordinates below are in the STEP's millimetres; front is approximately negative Y. These are **projected clear apertures**, not caliper measurements of the printed rim or a guaranteed mount clearance. + +| STEP head half | Clear X bounds | Clear Z bounds | Widest horizontal span | Tallest vertical span | Clear-area center | Largest fully clear circle | +| --- | ---: | ---: | ---: | ---: | ---: | ---: | +| Negative X | −66 to −3 mm | 168.5 to 223.5 mm | ~62.5 mm | ~54.5 mm | (−33, 194.9) mm | ~52.2 mm diameter at (−30, 196) mm | +| Positive X | 29 to 92 mm | 168.5 to 223.5 mm | ~62.5 mm | ~54.5 mm | (58.9, 194.9) mm | ~52.2 mm diameter at (56, 196) mm | + +The clear-area centers are about 92 mm apart; the centers that maximize an unoccluded circular view are about 86 mm apart. Those are different aesthetic placement choices, not prescribed mounting-hole positions. The mask aperture is wider than it is high. The nominal 2.1-inch display circle is about 53 mm, so a perfectly full, unobstructed display circle is unlikely at every angle; a narrow, deliberate edge overlap may look more integrated. In a coarse 2 mm scan of an untilted 75 mm disc centered at either largest-circle point, the head shell extends rearward to approximately Y = −20.5 mm near the upper rim. The shell depth varies strongly around the opening, making the adjustable rear cradle and tapered cosmetic surround useful. + +For a **candidate straight-on CAD pose**, I rotated the official board model so its display faces toward negative Y, placed its center at (X, Z) = (−30, 196) or (56, 196) mm, and checked the 75 mm circular body plus the main display/PCB/standoff solids against the corresponding STEP head half. At board-origin Y = −18 mm the negative-X 75 mm body still intersects the shell by about 7 mm³; at Y = −17 mm that body no longer intersects. At Y = −15 mm, none of the selected major board solids intersects either head half. This is a starting position only: it does not quantify minimum surface gap, include all 513 vendor sub-solids or plugged-in cables, prove the 3D model matches the Rev2.0 units, or prove a good off-axis view. The chosen powered appearance may require changing center, tilt, or setback and rechecking interference. + +## Provisional mount approach + +Use two independent, removable rear cradles or retainers, one per eye, with the lit display centered behind the visible opening. Support the module by its housing/PCB mounting points with nonconductive spacers; do not clamp the glass, touch surface, display ribbon, or components. Keep a small adjustable setback so the display does not bear on the uneven printed rim. Provide access to the eye boards' `USB` ports for service/power and to the 4-pin UART headers for camera RX/common ground; leave the separate UART USB-C ports unplugged because they disable the headers. Route wires with strain relief and clearance from the brow/bridge/muzzle. The final print should be split or removable so either eye can be replaced without removing the whole mask. + +Joshua's chosen appearance is **integrated with the mask**, rather than an exposed deep black socket. Pair each rear cradle with a separate, removable cosmetic eye surround that follows the irregular printed opening and visually carries the mask surface inward toward the lit circle. An opaque, matte inner wall should conceal the open cavity, gray display bezel, wiring, and any visible indicator light; finish its visible face to match the mask's eventual paint/texture. Leave a narrow, even dark reveal at the display edge instead of pressing trim against the glass or covering active pixels. The surround may need a tapered/stepped profile because the printed rim and display are at different depths. Keep the two eyes independently serviceable, and allow small center/tilt/setback adjustments before locking their positions. + +This design direction now has [dimensioned first-fit carrier CAD](eye_mount/README.md). It is still a prototype, not print-fit approval: its separate trim annulus is only an appearance gauge, not the final tapered surround. Avoid bonding the PCB directly to the glued center seam. Do not glue or cut the printed mask based on the 2.48 in front annotation alone. A first print should be a low-cost test fit of one eye, not the finished pair. + +## Remaining checks before mount CAD + +1. Confirm the STEP export is the same scale and assembly state as the printed mask. The CAD removes the need to estimate the two projected eye silhouettes by hand, but glue, print tolerance, and assembly alignment can change the real fit. +2. Register the official board 3D assembly against each STEP head half at a chosen center, tilt, rotation, and setback; test interference with the shell, brow, bridge, and muzzle. The 75 mm reference-disc check above is only a conservative starting envelope. +3. Verify the **actual** board's rear mounting-point/thread geometry and its powered visible circle against the vendor CAD, then reserve space for the inserted USB and UART plugs, cable bend, and strain relief. Those cables are absent from both CAD models. +4. With both boards temporarily held at the selected positions, compare straight-on powered views at normal visitor distance with close-ups. Confirm the finish/color of the mask and whether the thin intentional display-edge overlap and cosmetic surround achieve the desired integrated appearance. + +The first-fit rear carrier/pad/sleeve set is now modeled and clears both mask head halves in CAD. The official vendor assembly also clears the carrier and trim at this candidate pose; the printed Rev2.0 boards and plugged cables still need checking. Print one test set, verify both physical sides and the powered front appearance, then finalize the retained cosmetic surrounds and service removal. One eye has photographed powered placement and plugs inserted; the final center/rotation/setback, second eye, repeatable attachment, fixed cable routing, and strain relief remain unverified. Do not size the final surround from these perspective photos alone. diff --git a/hardware/gaze-link-bench.md b/hardware/gaze-link-bench.md new file mode 100644 index 0000000..5773574 --- /dev/null +++ b/hardware/gaze-link-bench.md @@ -0,0 +1,30 @@ +# Wired gaze-link bench — 2026-09-27 + +Hardware: DFRobot DFR1154 V1.1 camera (MAC `E8:F6:0A:87:0B:4C`), Waveshare eye Board 1 (`…CF:F8`), and Board 2 (`…D2:10`). Camera GPIO43 TX fans out to both eye GPIO44 RX pins, with common ground. All three use their separate USB diagnostic/power ports; the eye UART USB-C ports are unplugged. + +## Normal tracking + +Command: `python3 firmware/tools/capture_gaze.py --camera /dev/cu.usbmodem11401 --eye1 /dev/cu.usbmodem11201 --eye2 /dev/cu.usbmodem11101 --duration 12`. Both receivers reported `GAZE_READY ... recent=1 bad_format=0 bad_sequence=0` and accepted the same live sequence/coordinates, including `seq=31 x=655 y=774 valid=1` and `seq=37 x=830 y=715 valid=1`. Both also accepted `valid=0` idle commands. Joshua confirmed both screens switched to `TRACK` and their irises followed together when moving left and right in front of the camera. This is a user-observed bench result; no video was saved. + +## Malformed/stale injection + +The camera was temporarily built with `FREDDY_GAZE_LINK_SELF_TEST=1` and flashed to its MAC-verified board. At boot it sent sequence 61440 (`valid=0`), the duplicate 61440, old sequence 61439, a wrong-version 61441, a bad-CRC 61441, and fresh recovery sequence 61442. Both eye USB logs showed: + +```text +39.227 eye1 GAZE_ACCEPT board=1 seq=61440 x=500 y=500 valid=0 +39.229 eye2 GAZE_ACCEPT board=2 seq=61440 x=500 y=500 valid=0 +39.385 eye1 GAZE_REJECT board=1 reason=sequence +39.543 eye1 GAZE_REJECT board=1 reason=sequence +39.545 eye2 GAZE_REJECT board=2 reason=sequence +39.545 eye2 GAZE_REJECT board=2 reason=sequence +39.701 eye1 GAZE_REJECT board=1 reason=format +39.702 eye2 GAZE_REJECT board=2 reason=format +39.859 eye1 GAZE_REJECT board=1 reason=format +39.861 eye2 GAZE_REJECT board=2 reason=format +40.018 eye1 GAZE_ACCEPT board=1 seq=61442 x=500 y=500 valid=0 +40.097 eye2 GAZE_ACCEPT board=2 seq=61442 x=500 y=500 valid=0 +``` + +Each board's next `GAZE_READY` reported `bad_format=2 bad_sequence=2`. The diagnostic send is compiled out in the normal build. After restoring that build, the camera application flash was hash-verified and both eyes again accepted matching normal sequences, including 43–46. The restored application SHA-256 is `0acc763624b20a09afbf512e20afad51ffc9de4276102ffa639a0345d39d70a5`. + +The camera was powered/reset during this bench, and the receivers reported `recent=0`, but no active-`TRACK` loss-of-signal timeout was observed. That visual test remains open. diff --git a/hardware/photos/board-1-back.png b/hardware/photos/board-1-back.png new file mode 100644 index 0000000..f2bb856 Binary files /dev/null and b/hardware/photos/board-1-back.png differ diff --git a/hardware/photos/board-1-display.png b/hardware/photos/board-1-display.png new file mode 100644 index 0000000..a1d6ddf Binary files /dev/null and b/hardware/photos/board-1-display.png differ diff --git a/hardware/photos/board-2-back.png b/hardware/photos/board-2-back.png new file mode 100644 index 0000000..3b3a7b3 Binary files /dev/null and b/hardware/photos/board-2-back.png differ diff --git a/hardware/photos/board-2-display.png b/hardware/photos/board-2-display.png new file mode 100644 index 0000000..8a3fb09 Binary files /dev/null and b/hardware/photos/board-2-display.png differ diff --git a/hardware/tracking-drop-diagnosis.md b/hardware/tracking-drop-diagnosis.md new file mode 100644 index 0000000..2e0293a --- /dev/null +++ b/hardware/tracking-drop-diagnosis.md @@ -0,0 +1,13 @@ +# Intermittent person lock — 2026-09-27 + +Joshua reported that the camera finds a person but does not stay locked. He confirmed he was in the camera view during the live trace. The camera's person detector alternated `PERSON` and `NO_PERSON` roughly every 250 ms, and many bounding boxes were anchored to the top-left image edge (for example, `box=0,0,95,124` with score 0.433). The current three-frame gate clears immediately on `NO_PERSON`, which explains the `TRACK`/`IDLE` flicker. It also selects the highest-scoring box independently each frame, so it can jump between detections. + +A temporary JPEG diagnostic build produced [frame 41](camera-captures/tracking-drop-2026-09-27-frame-41.jpg), [frame 61](camera-captures/tracking-drop-2026-09-27-frame-61.jpg), [frame 81](camera-captures/tracking-drop-2026-09-27-frame-81.jpg), and the [paired log](camera-captures/tracking-drop-2026-09-27.log). The image shows mostly ceiling/window, with only part of Joshua at the far left edge; the view also appears sideways relative to an upright person. The detector's edge boxes match this poor framing. This is the primary issue to correct before tuning temporal tracking, because a hold filter would otherwise preserve an unreliable target. + +The diagnostic JPEG build was removed, and the previous normal camera application (SHA-256 `0acc763624b20a09afbf512e20afad51ffc9de4276102ffa639a0345d39d70a5`) was rebuilt, flashed, and hash-verified. No target-selection code changed in this diagnostic pass. + +Next: re-aim/rotate the camera so a person's head and upper body are upright and near image center at the intended approach distance. Capture a new image and 15–20 second movement trace. If detections still intermittently drop with good framing, add short miss hysteresis and spatial association to the existing target-selection logic, then retest empty-scene false positives and target departure. + +## Re-aimed retest + +Joshua re-aimed/rotated the camera and stood in view while moving left to right. In a 20-second three-board serial capture, the camera reported `PERSON` on all 80 results and `NO_PERSON` on none; 77 commands were `gaze_valid=1`, with three brief `gaze_valid=0` results from the current position-consistency gate. Both eye consoles received matching valid gaze sequences. Joshua then confirmed both eyes stayed on `TRACK` and followed throughout the movement. This resolves the observed bench lock loss by correcting the camera view, without changing the tracking code. Installed-position walk-bys and empty-scene false positives still need testing. A future hold/association filter should be judged against those tests, not inferred to be needed from the original poorly framed view alone. diff --git a/hardware/tracking-filter-2026-10-01.md b/hardware/tracking-filter-2026-10-01.md new file mode 100644 index 0000000..c9b0fe3 --- /dev/null +++ b/hardware/tracking-filter-2026-10-01.md @@ -0,0 +1,11 @@ +# Tracking and empty-view check — 2026-10-01 + +The two ESP32 eyes had just received firmware that turns red when a gaze frame has `valid=1` and blue when it has `valid=0` or the UART times out. Joshua confirmed the visible color change, initially reported that tracking dropped quickly and the eyes looked unsynchronized, and later said their movement appeared synchronized. + +The [first 20-second three-board capture](camera-captures/tracking-sync-2026-10-01-before.log) had 60 `PERSON` and 20 `NO_PERSON` camera results; 34 gaze results were valid. Both eyes accepted the same 80 sequence numbers and validity flags with no mismatches. Joshua subsequently said he and his wife might have been in the camera's peripheral view, so this capture **cannot** measure empty-scene false positives. The repeated valid/invalid changes explain the rapid red/blue switching. Separate blink and glow-pulse phases are still generated locally by each eye; the shared gaze packets do not synchronize those phases. + +Joshua then aimed the camera at a clearly empty area. The [second 20-second capture](camera-captures/tracking-sync-2026-10-01-empty.log) had 15 `PERSON` results and 65 `NO_PERSON`; one result was `gaze_valid=1`. All 15 reported boxes extended from the top edge through at least 95% of the 240-pixel image height. In the previously saved held-person center, left, and right logs, none of the 203 matched detections had that box geometry. The eye USB logs temporarily showed no incoming packets during this sample, but a later check showed both receivers accepting the camera stream again. Wiring/connector movement remains a possible cause of transient loss. + +The camera firmware was then changed to reject this nearly full-height, top-edge box shape and to hold a previously confirmed target for at most one second through brief detector misses. A native tracking-gate test passed. The camera on `/dev/cu.usbmodem1201` was confirmed as MAC `E8:F6:0A:87:0B:4C`, flashed over USB, and its written images passed hash verification. Application SHA-256: `76d16c8817db9e9568eaf2485a486a0debaa2687fc5a8447954d0cd0d80d468a`. + +The [third 20-second capture](camera-captures/tracking-sync-2026-10-01-after.log) used the still-empty view. Of 80 camera results, 78 were `NO_PERSON` after filtering and 2 were `PERSON` candidates; **none sent valid gaze**. Fifteen full-height candidates were explicitly rejected. Eye 1 captured sequences 260–339 and Eye 2 captured 261–338; all 78 overlapping sequences had the same invalid state, with zero format or sequence rejections. The two non-overlapping packets were at the capture boundaries. The eyes remained in blue/idle according to received state. A person-in-view retest of this exact camera build, particularly someone close enough to fill the frame height, is still required before relying on it outdoors. diff --git a/planning/concealed-camera.md b/planning/concealed-camera.md new file mode 100644 index 0000000..fe9e3c0 --- /dev/null +++ b/planning/concealed-camera.md @@ -0,0 +1,20 @@ +# Concealed camera placement + +**2026-10-01 update:** Joshua now wants to try an Arducam OV5647 day/night camera with its two IR emitters in Freddy's mouth. See [the mouth placement trial](mouth-camera.md). The DFRobot chair-armrest pod described below remains a backup, not the selected location for the Pi trial. + +The DFRobot DFR1154 V1.1 camera does not have to sit on Freddy's face or hat. It only needs a repeatable view of the front-door approach; its person position can be mapped to eye movement during calibration. Joshua rejected a front-of-hat badge because the lens and four onboard IR emitters would be obvious. + +## Preferred placement to test + +The mask will sit in a fake skeleton's lap on the **single wicker chair** in Joshua's [actual-chair photo](../reference_images/wicker_chair_skeleton.png), facing open concrete. Visitors approach from both sides. Try the [strap-on camera pod](../hardware/chair_camera_pod/README.md) beneath the **front half of the photo-right armrest**, with the lens and IR openings just below the front/outer woven lip. This is above the obscured seat underside and forward of the skeleton's hand. No mounting point is selected until live frames show both approach directions clearly and the pod remains inconspicuous from the walkway. + +Do not put all five optical elements behind one close clear window: earlier IR testing washed out when the lens faced a nearby surface. A smoked or IR-pass cover would need measured transmission and opaque separation between the lens and emitters; it is not assumed to work. Likewise, a deep tunnel in front of the 160° lens would narrow its view. A concealed position is preferable to trying to camouflage a visible front-facing box. + +## Position test before CAD is finalized + +1. Hold the camera just beneath the photo-right armrest's front half using a temporary non-damaging support. Aim it across the part of the path where visitors approach the door from either side. Keep the lens and IR emitters clear of the wicker edge and the skeleton's hand. +2. Save a frame with a person at the far, middle, and near points, and one empty frame. The head and upper body should remain in view. Check that the armrest, skeleton, mask, and door frame do not block the lower or side frame. +3. Repeat at night with onboard IR. From the walking path, check that the camera is not conspicuous, the IR image is usable, and nearby surfaces do not reflect into the lens. +4. Measure the usable underside opening, strap route, desired camera angle, cable route, and nearest source of power. Adjust the pod or its mounting angle to those measurements before the final print. + +The eventual housing should have a removable back or board tray, wire strain relief and a drip loop, dark non-reflective surfaces around the lens, and mounting that permits aiming after installation. It still needs protection from wind-driven rain and condensation even under the porch roof. diff --git a/planning/mouth-camera.md b/planning/mouth-camera.md new file mode 100644 index 0000000..08612c6 --- /dev/null +++ b/planning/mouth-camera.md @@ -0,0 +1,12 @@ +# Freddy mouth camera placement trial + +Joshua wants to try the Arducam OV5647 day/night camera with two IR LED boards inside Freddy's mouth. The goal is to make the hardware read as part of the character while the mask rests in the seated skeleton's lap. This is a placement trial, not yet a verified fit or sightline. The previous chair-armrest DFRobot pod is a fallback; its geometry is not reusable without redesign. + +The [Arducam B003503-type module](https://www.arducam.com/arducam-m12-night-vision-ir-cut-raspberry-pi-camera.html) uses a 36 × 36 mm camera board, two separate IR LED boards, and an automatically switched IR-cut filter. Its lens is about 105° horizontally. The IR lighting and filter respond to ambient light rather than person detection, so their visible appearance will not automatically pulse with the red-eye tracking state. The full three-board assembly, heat sinks, flex bend, mouth opening, teeth, and muzzle clearances must be measured from the actual parts and mask. Do not cut the mask or design a final housing from the product photo alone. + +1. Hold the unpowered camera assembly in the mouth at the mask's intended seated angle. Check the view from visitors approaching left, center, and right; avoid letting the upper muzzle or teeth block the lens or LEDs. +2. Boot the Pi and capture day and night frames from that temporary position. Compare with the DFRobot's view, checking person size, usable horizontal coverage, focus, and IR reflections from the mouth interior. Keep each emitter optically separated from the lens, especially if a front cover is used. +3. View the unlit and IR-lit mouth from the walkway. The IR emitters may show only faint red points rather than an area glow; their exact wavelength is not established. If a visible eerie aura is wanted, prototype a separate low-brightness visible red light, visually diffused around the mouth and shielded from the camera lens. Its on/off timing can later follow the same valid-person state as the eyes. +4. Only after the images and appearance work, measure a removable mount, cable exit, LED heat-sink clearance, rain shielding, and service access. Retain a clear, non-reflective optical path; do not put lens and emitters behind one close, shared clear window. + +The Pi still sends one gaze packet stream to both ESP32 eyes. Mouth position changes camera-to-eye calibration, so tune gaze mapping after the mount angle is fixed. Person-detector speed and reliability on the Pi remain unmeasured. diff --git a/planning/outdoor-deployment.md b/planning/outdoor-deployment.md new file mode 100644 index 0000000..4e9fe73 --- /dev/null +++ b/planning/outdoor-deployment.md @@ -0,0 +1,24 @@ +# Outdoor camera deployment + +**2026-10-01 update:** For the proposed Pi trial, Joshua prefers to test the Arducam day/night camera in Freddy's mouth, using its paired IR emitters as part of the character effect. See [mouth placement](mouth-camera.md). The DFRobot chair-armrest placement below remains the current hardware's fallback plan. The mouth trial needs its own lens/IR reflection, sightline, and weather checks. + +The Freddy mask is intended as a stationary prop on a covered porch beside the front door, following people who walk up to the house. The DFRobot DFR1154 V1.1 is a plausible camera for this close, sheltered position, but reliability there is not yet established. Indoor held-position tests produced coordinates at approximately four updates per second with a typical 233 ms capture-to-result time. Empty-room tests also produced false detections at the current score threshold. + +DFRobot specifies an OV3660 camera with a 160° field of view, visible/940 nm IR sensitivity, onboard IR illumination, and an operating temperature of -10 to 60 °C. Its [product documentation](https://wiki.dfrobot.com/dfr1154/) does not state a water or dust protection rating. The porch roof helps, but the bare board, USB connector, and camera flex still need protection from wind-driven rain, condensation, and insects. A mask cavity alone is not assumed to be sealed. + +## Camera placement + +- The mask will sit in a skeleton's lap on the single wicker chair in the [actual-chair photo](../reference_images/wicker_chair_skeleton.png). The camera and its four IR emitters must be hidden from visitors' normal view; an exposed hat badge was rejected. The [armrest underside pod](../hardware/chair_camera_pod/README.md) is a first-fit candidate beneath the front half of the photo-right armrest. The lens and IR openings must sit below the front/outer wicker edge, clear of the skeleton's hand, with useful person-detection frames from both approach directions. A separate camera viewpoint can still supply coordinates to the eyes after calibration. +- Aim the camera at the front-door approach rather than the whole yard. The very wide field of view makes distant people small in the 320 × 240 frames used by the current detector, but visitors near the door should be much larger. Measure the actual approach distance and inspect saved frames before fixing the mount. +- Give the lens an unobstructed view. Keep any protective window clean and separated from the onboard IR LEDs, or place IR illumination outside that window. A close surface already caused an IR-lit purple washout during bench testing. +- Use the porch roof as shade while preserving a view of the approach. Check for strong backlight from the yard and reflections from the front door or sidelights; indoor success does not predict performance under those conditions. + +## Outdoor acceptance test + +1. Place the camera at the proposed chair-armrest height and angle with its intended housing. Record the path distance and a frame with a person at the near, middle, and far parts of the intended tracking zone. +2. Record repeated normal-speed walk-bys in daylight, deep shade, dusk, and darkness. Include approach from both directions and a clear path. Measure detection rate, missed runs, false triggers, and capture-to-coordinate latency from saved logs and images. +3. Verify whether the onboard IR lights improve the night walk-by results at the installed distance. Check the window for IR glare and the camera for condensation after a temperature change. +4. Test two people crossing and short occlusion. A stable target should continue through a brief miss and clear when the person leaves. The current raw model output is not yet suitable to command the eyes directly because of observed false positives. +5. Run the complete protected installation for at least 30 minutes with its final power supply. Confirm stable camera and eye behavior, clear lens, dry connections, and acceptable internal temperature. + +If people remain too small or tracking is too slow at the real path distance, adjust camera aim and resolution/model first, then consider a narrower-field camera or different detector. Keep the installed sensor choice contingent on these tests. diff --git a/planning/pi-vision.md b/planning/pi-vision.md new file mode 100644 index 0000000..7db9505 --- /dev/null +++ b/planning/pi-vision.md @@ -0,0 +1,64 @@ +# Pi Zero 2 W vision-controller trial + +Joshua wants to keep both Waveshare ESP32-S3 eye displays and trial his Raspberry Pi Zero 2 W for person detection, target selection, synchronization, and diagnostic logs. He identified an [InnoMaker CAM-OV5647 with an M12 90° diagonal IR-filter lens](https://www.inno-maker.com/product/cam-ov5647/) and showed two Arducam alternatives; his current placement preference is the Arducam day/night camera in Freddy's mouth. This is the preferred **trial architecture**, not yet a measured replacement for the DFRobot camera. The Pi now boots Raspberry Pi OS Lite and is reachable by SSH as `overseer@10.60.1.215`. On 2026-10-01, `rpicam-hello --list-cameras` detected an **IMX708 Camera Module 3** at CSI0; this is not either of the Arducam modules shown earlier. The IMX708 sensor identification does not establish whether the module is the standard or NoIR variant. Physical availability of the Arducam board is unconfirmed. The portable [Pi gaze sender](../firmware/pi_vision/README.md) encodes the existing ESP32 packet and passes local tests, but has not sent a command from the Pi to either eye. Keep the working DFRobot setup available until a Pi walk-by test meets the same gaze-link behavior. + +## Hardware split + +```text +Pi CSI camera → Pi Zero 2 W (detection, one target, tracking state, logs) + GPIO14 TX, 3.3 V UART, shared ground + ├── eye 1 GPIO44 RX → local eye animation + └── eye 2 GPIO44 RX → local eye animation +``` + +The Pi sends the existing [12-byte gaze frame](../protocol/gaze.md) at 115200 baud to both eyes. `valid=1` already means the eyes track and glow red; `valid=0` means idle and blue. Their firmware, Wi-Fi OTA path, iris art, blink, and display wiring do not need changing for the first Pi trial. Disconnect the DFRobot camera's TX from the shared UART line before connecting Pi TX; two transmitter outputs must not be tied together. Join the Pi and both eye grounds, but do not join 3.3 V output rails. The Pi's primary UART is on GPIO14/pin 8; enable UART hardware and disable the serial login console. On Zero 2 W the default primary UART is a mini UART, so consider Raspberry Pi's `disable-bt` overlay if its timing proves unreliable at 115200 baud. [Raspberry Pi UART documentation](https://www.raspberrypi.com/documentation/computers/configuration.html). + +Both eye boards also have a USB-to-UART Type-C port. A Pi USB OTG host adapter and hub could connect both as separate serial devices and send the same gaze packet to each **without reflashing the eye firmware**. That port's connection disables the eye's 4-pin UART header, so do not use the two paths simultaneously. USB needs a hub, two serial-port writes and stable device identification; the GPIO fan-out is the simpler final arrangement and delivers the same packet to both eyes on one wire. The separate Type-C port labeled `USB` remains available for eye power, diagnostics, and flashing while the 4-pin UART header is used. [Waveshare interface map](https://docs.waveshare.com/ESP32-S3-Touch-LCD-2.1). + +Pi serial state after Joshua ran `raspi-config` and rebooted on 2026-10-01: `/dev/serial0` points to `/dev/ttyS0`; `enable_uart=1` is set; the kernel command line has only `console=tty1`; GPIO14 is in TXD1 mode. The `overseer` account belongs to `dialout`. The Pi sender now uses Python's built-in `termios`, so it needs no serial package. The physical Pi-to-eye connection and packet delivery still need verification. + +Camera check on 2026-10-01: `rpicam-hello --list-cameras` initially found the IMX708 and a 640 × 480 `rpicam-still` capture completed. The first frame is saved at [`../diagnostics/pi_imx708_first_frame.jpg`](../diagnostics/pi_imx708_first_frame.jpg), but the lens was blocked. After the UART-config reboot, automatic camera detection failed, even after the ribbon was checked and the Pi rebooted again. `vcgencmd get_throttled` returned `0x0`; the boot device tree had no `imx708` node. Joshua ran `sudo dtoverlay imx708` as a **temporary runtime diagnostic**, after which `rpicam-hello --list-cameras` immediately found the sensor and still capture worked. This points to failed automatic overlay loading at boot, not a disconnected sensor. The overlay will not persist across a reboot; tomorrow's different IR camera may need a different sensor overlay. + +The latest useful stills are [`../diagnostics/pi_imx708_rotated_view.jpg`](../diagnostics/pi_imx708_rotated_view.jpg) and [`../diagnostics/pi_imx708_person_view.jpg`](../diagnostics/pi_imx708_person_view.jpg). The module currently produces a 180°-inverted frame, corrected by `--rotation 180` in `rpicam-still` or `Transform(hflip=1, vflip=1)` in Picamera2. The second image shows a full standing person in the indoor view. `python3-picamera2` and `python3-opencv` were installed on the Pi for the benchmark. + +The Pi-to-eye GPIO link was exercised twice with [`smoke_test_link.py`](../firmware/pi_vision/smoke_test_link.py). The second run was visually confirmed by Joshua: both eyes moved left, center, right together while red, then returned to blue idle. This establishes the Pi UART wiring and packet compatibility but does not yet prove camera-driven tracking. + +## 2026-10-01 IMX708 person-tracking trial + +- At 320 × 240 with OpenCV's built-in full-body HOG detector, a 15-second empty-room sample processed **94 frames at 6.09 fps** with zero detections. A 20-second stationary-person sample processed **126 frames at 6.16 fps**, detecting a person in 106 frames. Median detector time was about 156 ms. Logs: [`../diagnostics/pi_hog_20261001-200202.jsonl`](../diagnostics/pi_hog_20261001-200202.jsonl) and [`../diagnostics/pi_hog_20261001-200343.jsonl`](../diagnostics/pi_hog_20261001-200343.jsonl). +- A 25-second moving-person live trial initially detected a person in only 43/157 raw frames. The longest raw gap was 3.34 seconds; a 2-second hold allowed three red-to-blue drops, and Joshua saw flicker. The gaze link kept both eyes synchronized. Log: [`../diagnostics/pi_eye_trial_20261001-201006.jsonl`](../diagnostics/pi_eye_trial_20261001-201006.jsonl). +- Replaying that log with a 3.5-second hold eliminated its three intermediate red-to-blue drops. A new 25-second live trial processed **158 frames**, detected a person in 92 raw frames, and held valid tracking for 140 frames. Gaze X ranged 109–605/1000, with **zero intermediate red-to-blue drops**. Joshua visually confirmed both eyes stayed red and followed together. Log: [`../diagnostics/pi_eye_trial_20261001-201350.jsonl`](../diagnostics/pi_eye_trial_20261001-201350.jsonl). +- This establishes camera-to-Pi-to-both-eyes integration indoors. The HOG detector still misses moving people for seconds at a time; during a held miss, eye gaze freezes at the last position, and after departure red can linger for up to 3.5 seconds. IMX708 detection at boot has been intermittent, and multiple-person selection is naive. The porch night result is recorded below. The Arducam IR camera swap requires a new sensor identification and may need its own overlay before repeating the benchmarks. + +## Porch relocation check — 2026-10-01 night + +- After a clean shutdown and move, the Pi rejoined Wi-Fi and `/dev/serial0` remained available. On this reboot the IMX708 **was** auto-detected without a manual overlay, so the earlier intermittent boot-detection failure is unresolved rather than permanent. The porch-mounted Pi-to-eye smoke test again made both displays look left, center, and right together in red, then return to blue; Joshua confirmed it visually. +- The camera still needs 180° software rotation. The unlit upright frame [`../diagnostics/pi_imx708_porch_upright.jpg`](../diagnostics/pi_imx708_porch_upright.jpg) shows the railing/posts but almost no usable detail in the visitor path. With the porch light on, [`../diagnostics/pi_imx708_porch_lit.jpg`](../diagnostics/pi_imx708_porch_lit.jpg) shows Joshua, though the image remains dim and his lower body is cut off. +- A 12-second **detector-only** lit-porch sample processed 76 frames at 6.05 fps and detected a person in just **2 frames**, while Joshua confirmed he was visible most of the time. Evidence: [`../diagnostics/pi_hog_20261001-202712.jsonl`](../diagnostics/pi_hog_20261001-202712.jsonl). **No-go for using this IMX708/HOG combination as a dependable night visitor trigger in the current porch view.** Do not leave `run_hog_eye.py --drive-eyes` running unattended on this evidence. The Arducam IR camera arriving 2026-10-02 should be evaluated with its actual night image and full-body framing; better illumination alone may not fix the HOG detector's failure on partial bodies. + +The [InnoMaker listing](https://www.amazon.com/dp/B07G9VLPZH) says this OV5647 module includes both standard and Pi Zero camera ribbons, though the actual cables in Joshua's kit should be checked. Its 39 × 39 mm board and manual-focus M12 lens need a new physical fit check; the existing DFRobot chair pod is not assumed to fit. Raspberry Pi's camera software supports the OV5647 sensor, but the image still needs verification on this third-party board. [Raspberry Pi camera software](https://www.raspberrypi.com/documentation/computers/camera_software.html). + +The identified lens has an IR filter, so do not assume a separate IR illuminator will provide useful night vision. Test with the real porch lighting. If the night image is inadequate, check whether Joshua owns another NoIR camera or a confirmed compatible no-IR-filter lens before changing hardware. The camera and lighting still need the concealed chair placement and weather protection described in [outdoor deployment](outdoor-deployment.md). + +## Additional camera candidates identified 2026-10-01 + +Joshua showed an [Arducam 8 MP IMX219 NoIR](https://www.arducam.com/8mp-imx219-noir-for-raspberry-pi-b0395.html) and an [Arducam 5 MP OV5647 day/night camera with switchable IR-cut filter and two IR LED boards](https://www.arducam.com/arducam-for-raspberry-pi-noir-5mp-ov5647-camera-module-motorized-ir-cut-filter-for-daylight-and-night-vision-support-pi-4-zero-pi-3.html). Do not assume these are physically in hand until Joshua confirms. Both list Zero 2 W support and Pi Zero camera cables. The NoIR's 25 × 24 mm board is easier to conceal, but its fixed lens covers about 62° horizontally and needs separate IR illumination. The switchable OV5647 covers about 105° horizontally, offers daytime color and night IR, and has a 36 × 36 mm camera board plus two adjacent IR LED boards. Camera capture rate does not establish Pi person-detection rate; benchmark the detector separately. + +Joshua's preferred first placement trial for the switchable OV5647 is **inside Freddy's mouth**, not behind the eyes or under the chair armrest. In this character location the two IR emitters may contribute a faint visible red point-glow, but their wavelength and appearance are unverified; do not count on them to produce a broad red aura. A separate dim visible LED effect could supply that look if desired. The mouth cavity must leave lens and both emitters with a clear forward sightline, separate them from reflective teeth/muzzle surfaces, and provide cable/heat clearance. See [mouth camera placement](mouth-camera.md). The earlier chair-armrest DFRobot pod remains a backup and does not fit the Arducam by assumption. + +## Trial sequence + +1. Confirm which camera is physically available, check its 15-to-22-pin Pi Zero ribbon, and boot the Pi with Raspberry Pi OS and that camera attached. Verify it appears in `rpicam-hello --list-cameras`. Save a daylight frame and, if using the InnoMaker or switchable OV5647, set manual focus for the visitor path. Check a night frame with the actual porch lighting before choosing an IR solution. +2. Benchmark a lightweight person detector on the Zero 2 W using the actual camera view. This Pi has a quad-core 1 GHz CPU and 512 MB RAM, so person-detection speed and memory must be measured before assuming it improves on the roughly four-results-per-second ESP32 baseline. Record frames processed per second, detection latency, CPU/memory use, and example frames with and without people. [Pi Zero 2 W specifications](https://www.raspberrypi.com/news/new-raspberry-pi-zero-2-w-2/). +3. Add one-target continuity and a short miss hold, then translate the chosen bounding-box center into the existing 0–1000 gaze coordinates. Emit exactly one serial stream to both eyes. Log timestamp, detector confidence and box, selected target, gaze validity and coordinates, and transmitted sequence locally with rotation; video need not be recorded continuously. +4. Disconnect DFRobot TX, connect Pi TX and common ground, and confirm both eyes accept the same frame sequences. Compare their visible gaze direction and red/blue state during approach, departure, an empty scene, and two-person crossings. +5. Evaluate from the actual concealed chair position in daylight, dusk, and darkness before retiring the DFRobot camera. A Pi-side change cannot by itself synchronize independent eye blink or glow-pulse phase; if those effects need frame-accurate synchronization, extend the gaze protocol with a shared animation cue in a later step. + +If CPU-only inference cannot meet the measured response target, a Pi AI Camera is a potential later upgrade: Raspberry Pi documents its IMX500 on-camera object detection and says it can be used with Zero 2 W with minor setup changes. This is a fallback, not a purchase recommendation before benchmarking the camera Joshua already owns. [Raspberry Pi AI Camera documentation](https://www.raspberrypi.com/documentation/accessories/ai-camera.html). + +## Acceptance gate + +- Both eyes receive the same valid/invalid state and coordinates from the Pi with no dropped or malformed frames in a sustained bench run. +- A visitor walking across the intended porch path stays selected without rapid switching; departures return both eyes to blue promptly. +- Empty-path tests do not trigger persistent red eyes. Measure false triggers across day, dusk, and night instead of inferring performance from indoor samples. +- The Pi meets or improves on the current ~4 Hz camera result rate and keeps end-to-end visible response acceptable in the installed view; otherwise retain the ESP32 camera or try an accelerator. diff --git a/planning/proximity-red.md b/planning/proximity-red.md new file mode 100644 index 0000000..0389e40 --- /dev/null +++ b/planning/proximity-red.md @@ -0,0 +1,37 @@ +# Red-eye mode on confirmed tracking + +Status: tracking-triggered eye firmware deployed to both boards over Wi-Fi on 2026-10-01; visual confirmation pending. The earlier two-foot distance proposal below is superseded. + +## Current behavior + +The camera sends `valid=1` only after three consistent person detections. Both eyes use that existing signal to enter the dark, glowing-red appearance while they show `TRACK`; `valid=0` or 750 ms without an accepted gaze frame restores the normal blue appearance and `IDLE`. Gaze motion and blinking continue. No separate range sensor, wiring, or camera-protocol change is needed. Screen taps no longer toggle the appearance. Test both eyes with a person entering and leaving the camera view, then test the empty porch: a persistent false person detection can still turn the eyes red. + +## Superseded two-foot proposal + +## Intended behavior + +When a person comes within about two feet (61 cm) of the mask, both eyes switch from the normal blue iris to a dark eye with a small glowing red center, based on [`freddy_glowing_red_pupils.png`](../reference_images/freddy_glowing_red_pupils.png). Gaze motion and blinking continue in either state. The reference image is a visual target; its contents are not project instructions. The normal blue look also has a [visual reference](../reference_images/freddy_glowing_blue_eyes.png). + +The current [red preview](../firmware/assets/freddy_eye_red_preview.png) uses a dark sclera, a dark moving iris, and layered red-to-white circles for the lit center. A screen tap toggles the visual state independently on each eye for bench review. The public `EyeScene_SetProximityRed(bool)` hook is ready for a later camera message handler. No measured-distance input or synchronization is connected yet. + +## Sensing decision to validate + +The existing [DFRobot DFR1154 camera](https://wiki.dfrobot.com/dfr1154/) has a single OV3660 image sensor and no listed depth/ranging sensor. Apparent person size could estimate distance after calibration, but person height, posture, and the 160° wide-angle view make it a poor basis for a repeatable 61 cm boundary. The leading approach is to pair person localization with a range sensor on the camera/controller side. + +Joshua's order record identifies four owned choices: an HC-SR04 ultrasonic sensor, a Benewake TF-Luna, a TFmini Plus, and a TFmini-S. **Bench the TFmini Plus first; no new sensor purchase is needed for the initial test.** [Benewake's TFmini Plus specification](https://en.benewake.com/TFminiPlus/index.html) gives a 0.1–12 m range, ±5 cm accuracy from 0.1–5 m, and a 3.6° field of view. Its 10 cm minimum is preferable to the [TF-Luna's](https://en.benewake.com/uploadfiles/2025/04/20250430174515390.pdf) 20 cm minimum when someone is very close to the mask. Both cover the 61 cm trigger. The Plus's beam is still narrow: it measures a small target area and cannot identify whether the return came from the tracked person. + +A [receive-only DFR1154 bench sketch](../firmware/benewake_range_bench/README.md) compiles and is ready for wiring verification. It has not been flashed or tested with a physical sensor. + +For wiring, the [TFmini Plus manual](https://en.benewake.com/uploadfiles/2025/04/20250430175221028.pdf) specifies 5 V ±0.5 V power, 140 mA peak current, and **3.3 V UART signaling** at 115200 baud by default. Use a regulated supply and common ground; do not power it from a 3.3 V signal pin. The camera board's available power rail, board identity, and exact UART connector pinout must be verified before connecting it. Confirm the actual sensor cable against the manual before applying power; the order screenshot identifies the model, not the individual wire colors on the unit at hand. + +The [TFmini-S](https://en.benewake.com/TFminiS/index.html) also starts at 10 cm and is lighter; it remains a useful mounting comparison. The [HC-SR04 datasheet](https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf) specifies 2–400 cm range and a roughly 15° measuring angle. It is a useful wider-beam comparison, but its 5 V Echo signal needs level shifting or a voltage divider before an ESP32 input. All four sensors detect objects, so pair a valid range with camera-confirmed person presence and test false triggers from nearby props. + +The previously considered [VL53L1X](https://www.st.com/en/imaging-and-photonics-solutions/vl53l1X) and [VL53L5CX](https://www.st.com/resource/en/datasheet/vl53l5cx.pdf) remain future options only if the owned sensors cannot cover the desired approach area. + +Proposed state logic for bench testing: enter red after a valid person and matched range at or below 610 mm for 200 ms; return to normal when range exceeds 760 mm for 300 ms or the person/range signal becomes stale. Hysteresis prevents rapid color flicker near the boundary. These timings are starting values, not measured results. Both eye boards should receive the same state in the versioned camera message, then fall back to normal idle animation if messages stop. + +## Acceptance checks + +- Test TFmini Plus readings at 10, 20, 45, 60, and 75 cm, plus a very-close approach, off-center positions, and a nearby non-person object; record range errors and false triggers. Compare TF-Luna, TFmini-S, or HC-SR04 if the narrow beam or mounting position causes missed triggers. +- Show both eyes enter and leave red together, with gaze and blinks uninterrupted. +- Show sensor/camera disconnection returns both eyes to normal without a reboot. diff --git a/protocol/gaze.md b/protocol/gaze.md new file mode 100644 index 0000000..b2061bf --- /dev/null +++ b/protocol/gaze.md @@ -0,0 +1,35 @@ +# Camera-to-eyes gaze link (version 1) + +The DFRobot DFR1154 broadcasts one 3.3 V UART stream to the RXD pin of both Waveshare ESP32-S3-Touch-LCD-2.1 Rev2.0 boards. Its GPIO43 / Gravity 43 is TX. Each eye uses GPIO44 / RXD on the 4-pin UART header. Join all three grounds. Leave both eye TXD pins disconnected. **Do not join the boards' 3V3 output pins or power one board from another's 3V3 pin.** Supply power separately, with a common ground and an eventual measured power budget. The Waveshare UART USB-C port must be unplugged while using the 4-pin header; that port switches the header out. The separate Waveshare `USB` port remains available for flashing and power. Verify the physical connector orientation and labels on the actual boards before wiring. + +References: [Waveshare interface map](https://docs.waveshare.com/ESP32-S3-Touch-LCD-2.1) (UART header GPIO43/44 and USB-C switch) and [DFRobot DFR1154 pinout](https://wiki.dfrobot.com/dfr1154/) (Gravity 43 TX and 44 RX). Camera USB remains the ESP-IDF diagnostic console. The gaze stream uses UART1 at 115200 baud, 8 data bits, no parity, 1 stop bit. + +## Frame + +Twelve bytes, little-endian for 16-bit fields: + +| Offset | Field | Value | +| --- | --- | --- | +| 0–1 | Preamble | `A5 5A` | +| 2 | Version | `01` | +| 3 | Flags | bit 0: person target valid; other bits zero | +| 4–5 | Sequence | increments for every result, modulo 65536 | +| 6–7 | X | 0–1000, left to right in camera image | +| 8–9 | Y | 0–1000, top to bottom in camera image | +| 10–11 | CRC | CRC-16/CCITT-FALSE over bytes 0–9, initial `FFFF`, polynomial `1021` | + +The camera sends one frame after each completed person-detection result, normally about four per second. It sends `valid=0`, X=Y=500 when no person is detected. To avoid reacting to a single isolated result, the current prototype requires three consecutive detections with centers within 80 horizontal and 60 vertical image pixels of the previous center. This is only a first gate: repeated false positives on a static scene feature can still qualify, and two-person identity tracking has not been validated. + +Each eye rejects bad preambles, versions, flags, CRCs, coordinate ranges, duplicate sequences, and old sequences. A sequence that advances by 1–32767 modulo 65536 is fresh. After 750 ms without an accepted frame, the eye returns to autonomous idle movement and allows a restarted camera to begin a new sequence. A fresh `valid=0` frame also returns it to idle. Since 2026-10-01, `valid=1` also selects the glowing-red eye and `valid=0` or timeout restores blue; no distance reading is involved. Both eyes use the same camera coordinates and ease independently toward the corresponding gaze position. Blink animation continues in either mode. Horizontal and vertical calibration remain to be checked with the actual mounted camera and displays; the current centered mapping spans ±52 and ±31 display pixels. Each eye prints `GAZE_ACCEPT board=...`, `GAZE_REJECT board=... reason=...`, and `GAZE_TIMEOUT board=...` on its USB console for the bench log. + +The camera's diagnostic JPEG hex output is disabled by default for the gaze build to avoid periodic serial stalls. Set `FREDDY_CAMERA_DIAGNOSTIC_JPEG=1` at compile time when saving matched image frames for diagnosis. The camera also rejects model boxes covering at least 90% of both image dimensions, based on a repeated empty-scene full-frame artifact. This geometry rule is not a substitute for installed-view false-positive testing. + +On 2026-09-27 all three MAC-checked boards were flashed with the link firmware and wired. A simultaneous USB capture showed both eyes accepting the same live camera coordinates (for example, sequence 31 at X=655, Y=774, valid=1, and sequence 37 at X=830, Y=715, valid=1). Joshua moved left and right in front of the camera and confirmed both displays showed `TRACK` and the irises followed together. The wired delivery and visible bench synchronization are verified. Use `python3 firmware/tools/capture_gaze.py --camera PORT --eye1 PORT --eye2 PORT --duration 15` from the repository root to repeat the capture; any one or two port options can also be used. + +A bench-only diagnostic camera build then sent a valid frame, a duplicate, an older sequence, a wrong-version frame, a bad-CRC frame, and a fresh recovery frame. **Both** eye boards reported two sequence rejections and two format rejections, then accepted recovery sequence 61442. The normal camera build was restored, hash-verified after flashing, and both receivers again accepted matching sequence numbers. See [the bench log](../hardware/gaze-link-bench.md). The diagnostic sender is compiled out by default (`FREDDY_GAZE_LINK_SELF_TEST=0`). + +## Remaining integration checks + +1. With the eyes and camera in their final stationary positions, calibrate horizontal/vertical direction and travel and measure end-to-end response on walk-bys. +2. During an active `TRACK` state, interrupt the camera UART for more than 750 ms and confirm both screens return to `IDLE`, then recover on reconnection. The receiver timeout currently passes native tests but has not been visually verified on hardware. +3. 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b/vendor/README.md @@ -0,0 +1,26 @@ +# Waveshare reference package + +The local `ESP32-S3-Touch-LCD-2.1-Demo.zip` was downloaded from [Waveshare's official resource page](https://docs.waveshare.com/ESP32-S3-Touch-LCD-2.1/Resources-And-Documents) on 2026-09-21. + +- Source URL: `https://files.waveshare.com/wiki/ESP32-S3-Touch-LCD-2.1/ESP32-S3-Touch-LCD-2.1-Demo.zip` +- SHA-256: `ddb55c65b37cc204f071b505abc7636504a657485ae9f3fabcf8bcd9418654aa` +- Relevant sketch: `Arduino/examples/LVGL_Arduino/` +- Bundled LVGL library: `Arduino/libraries/lvgl/` (Waveshare documents version 8.3.10) + +The downloaded archive and extracted reference source are ignored by Git; this file preserves where they came from. The archive includes Waveshare's complete demo and additional third-party libraries. The local extraction currently includes only the Arduino sketch and LVGL library needed for build evaluation. + +Arduino's installed `ctags` helper is x86_64-only on this Apple Silicon laptop. A local arm64 build of [Arduino ctags 5.8-arduino11](https://github.com/arduino/ctags/releases/tag/5.8-arduino11) lives under `vendor/ctags-tool/bin/`. To compile that older source on current macOS, its internal `__unused__` macro was renamed to `CTAGS_UNUSED` in the ignored source tree to avoid a system-header macro collision. No system toolchain files were changed. + +## Compile-only verification + +The unmodified Waveshare `LVGL_Arduino` example compiled successfully on 2026-09-21. It was not uploaded to a board. Board settings: ESP32S3 Dev Module, 16 MB flash, OPI PSRAM, 3 MB app partition. Result: 1,431,075 bytes program storage (45%) and 104,656 bytes static RAM (31%). + +```sh +arduino-cli compile \ + --fqbn esp32:esp32:esp32s3:FlashSize=16M,PSRAM=opi,PartitionScheme=app3M_fat9M_16MB \ + --libraries vendor/extracted/Arduino/libraries \ + --build-path vendor/build \ + --build-property runtime.tools.ctags.path="$PWD/vendor/ctags-tool/bin" \ + --build-property runtime.tools.ctags-5.8-arduino11.path="$PWD/vendor/ctags-tool/bin" \ + --jobs 4 vendor/extracted/Arduino/examples/LVGL_Arduino +```