updates

2026-10-02 12:23:58 -04:00
parent f0af1dbbcb
commit ad1e7e6d01
219 changed files with 488314 additions and 0 deletions
@@ -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<unsigned long>(gaze_receiver.rejected_format()),
+                              static_cast<unsigned long>(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<uint8_t>(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));
+}