FireBeetle 2 ESP32-S3试用——识别小猫咪
本帖最后由 aramy 于 2023-8-24 16:08 编辑上次用arduino在vscode+platfomid下实现了读取摄像头。成功玩转这个板子，经过两天努力，也解决了死机问题。其实很简单就是开辟任务时给的内存少了！{:5_126:}
回到这次试用任务,在申请的时候就是想实现一个目的，那就是做一个自动的宠物投放装置。当猫来了，识别猫、狗，自动投喂食物。投喂食物比较简单，用舵机控制就好。宠物的识别就比较困难，需要用到机器学习才好使。在看乐鑫的官网时，有个esp-who的项目，乐鑫有提供的在esp32上实现了机器学习的例程。其中有一个cat_face_detection的项目，就是用来识别猫脸的工程。
首先将项目拉下来，项目是在github上，想要迅速地拉下来可以使用代理，这样拉取的成功率能大大提高。
git clone --recursive https://ghproxy.com/https://github.com/espressif/esp-who.git如果拉取过程中出现了错误，导致部分文件夹没有拉取下来。就进入esp-who文件夹下执行
git submodule update --init --recursive确保各个文件夹都拉取成功。
拉取完成后，在cat_face_detection下有三个项目，lcd是在屏幕上显示，我们这个板子没有屏幕，舍弃，termianl是在终端上显示，web是通过浏览器来显示，这里我选用web的项目。
第一步，先修改设备为ESP32-S3
第二步，打开配置页面，修改配置项。这里要注意PSRAM项：
这里芯片类型配置错误，会导致运行时出现这样的错误。
E (185) quad_psram: PSRAM ID read error: 0x00ffffff
E (186) cpu_start: Failed to init external RAM!怎么查看芯片集成的PSRAM是什么模式的SPI呢？由于ESP-32S3的PSRAM是集成在封装内的，所以直接查看芯片数据手册，这里摘抄了相关的内容。
摄像头设置，我选择ESP-S3-EYE，一会就按这个板子去修改摄像头的管脚。在config页面中设置好WIFI的sid和密码。其它部分flash的大小我修改为16M，关闭了语音相关的配置。
先尝试编译，看是否能够编译成功。
编译没有问题后，来查看主函数
static QueueHandle_t xQueueAIFrame = NULL;
static QueueHandle_t xQueueHttpFrame = NULL;
extern "C" void app_main()
{
app_wifi_main();
app_mdns_main();
xQueueAIFrame = xQueueCreate(2, sizeof(camera_fb_t *));
xQueueHttpFrame = xQueueCreate(2, sizeof(camera_fb_t *));
register_camera(PIXFORMAT_RGB565, FRAMESIZE_QVGA, 2, xQueueAIFrame);
register_cat_face_detection(xQueueAIFrame, NULL, NULL, xQueueHttpFrame);
register_httpd(xQueueHttpFrame, NULL, true);
}
主函数非常简单，一个摄像头注册的方法，一个AI识别的方法，然后一个http服务的方法。顺着摄像头注册的方法找到components\modules\camera\who_camera.c文件。这个文件负责摄像头的初始化。
打开who_camera.h文件，修改摄像头管脚的定义。之前在配置中使用的esp32-s3-eye的配置，这里就修改这个板子对应的管脚配置。
#elif CONFIG_CAMERA_MODULE_ESP_S3_EYE
#define CAMERA_MODULE_NAME "ESP-S3-EYE"
#define CAMERA_PIN_PWDN -1
#define CAMERA_PIN_RESET -1
#define CAMERA_PIN_VSYNC 6
#define CAMERA_PIN_HREF 42
#define CAMERA_PIN_PCLK 5
#define CAMERA_PIN_XCLK 45
#define CAMERA_PIN_SIOD 1
#define CAMERA_PIN_SIOC 2
#define CAMERA_PIN_D0 39
#define CAMERA_PIN_D1 40
#define CAMERA_PIN_D2 41
#define CAMERA_PIN_D3 4
#define CAMERA_PIN_D4 7
#define CAMERA_PIN_D5 8
#define CAMERA_PIN_D6 46
#define CAMERA_PIN_D7 48
然后再回到 who_camera.c文件中，在摄像头启动前，需要先打开一下电源，否则摄像头初始化一定会失败。这里摄像头电源是一颗AXP313A电源芯片控制的，通过IIC与之通讯。所以这里我们添加一段代码，用来打开电源。（需要留意这里是用esp-idf4.4版本编译的，貌似v5版本的i2c写法有点不一样，会编译不过去。）
#include "who_camera.h"
#include "esp_log.h"
#include "esp_system.h"
static const char *TAG = "who_camera";
// ---------------------------------------------
#include "driver/i2c.h"
#define AXP313A_ADDR 0x36
#define I2C_MASTER_SCL_IO 2
#define I2C_MASTER_SDA_IO 1
#define I2C_MASTER_NUM 0
#define I2C_MASTER_TX_BUF_DISABLE 0
#define I2C_MASTER_RX_BUF_DISABLE 0
#define I2C_MASTER_FREQ_HZ 400000
#define I2C_MASTER_TIMEOUT_MS 1000
static esp_err_t AXP313A_register_write_byte(uint8_t reg_addr, uint8_t data)
{
int ret;
uint8_t write_buf = {reg_addr, data};
ret = i2c_master_write_to_device(I2C_MASTER_NUM, AXP313A_ADDR, write_buf, sizeof(write_buf), I2C_MASTER_TIMEOUT_MS / portTICK_RATE_MS);
return ret;
}
static esp_err_t i2c_master_init(void)
{
int i2c_master_port = I2C_MASTER_NUM;
i2c_config_t conf = {
.mode = I2C_MODE_MASTER,
.sda_io_num = I2C_MASTER_SDA_IO,
.scl_io_num = I2C_MASTER_SCL_IO,
.sda_pullup_en = GPIO_PULLUP_ENABLE,
.scl_pullup_en = GPIO_PULLUP_ENABLE,
.master.clk_speed = I2C_MASTER_FREQ_HZ,
};
i2c_param_config(i2c_master_port, &conf);
return i2c_driver_install(i2c_master_port, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
}
// ---------------------------------------------
static QueueHandle_t xQueueFrameO = NULL;
static void task_process_handler(void *arg)
{
while (true)
{
camera_fb_t *frame = esp_camera_fb_get();
if (frame)
xQueueSend(xQueueFrameO, &frame, portMAX_DELAY);
}
}
void register_camera(const pixformat_t pixel_fromat,
const framesize_t frame_size,
const uint8_t fb_count,
const QueueHandle_t frame_o)
{
ESP_LOGI(TAG, "Camera module is %s", CAMERA_MODULE_NAME);
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//开启摄像头前，先打开电源
ESP_ERROR_CHECK(i2c_master_init());
ESP_LOGI(TAG, "I2C initialized successfully");
ESP_ERROR_CHECK(AXP313A_register_write_byte(0x00,0x04));
vTaskDelay(100);
ESP_ERROR_CHECK(AXP313A_register_write_byte(0x10,0x19));
ESP_ERROR_CHECK(AXP313A_register_write_byte(0x16,0x07)); //1.2v
ESP_ERROR_CHECK(AXP313A_register_write_byte(0x17,23)); //2.8v
ESP_LOGI(TAG, "I2C unitialized successfully");
vTaskDelay(1000);
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#if CONFIG_CAMERA_MODULE_ESP_EYE || CONFIG_CAMERA_MODULE_ESP32_CAM_BOARD
/* IO13, IO14 is designed for JTAG by default,
* to use it as generalized input,
* firstly declair it as pullup input */
gpio_config_t conf;
conf.mode = GPIO_MODE_INPUT;
conf.pull_up_en = GPIO_PULLUP_ENABLE;
conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
conf.intr_type = GPIO_INTR_DISABLE;
conf.pin_bit_mask = 1LL << 13;
gpio_config(&conf);
conf.pin_bit_mask = 1LL << 14;
gpio_config(&conf);
#endif
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = CAMERA_PIN_D0;
config.pin_d1 = CAMERA_PIN_D1;
config.pin_d2 = CAMERA_PIN_D2;
config.pin_d3 = CAMERA_PIN_D3;
config.pin_d4 = CAMERA_PIN_D4;
config.pin_d5 = CAMERA_PIN_D5;
config.pin_d6 = CAMERA_PIN_D6;
config.pin_d7 = CAMERA_PIN_D7;
config.pin_xclk = CAMERA_PIN_XCLK;
config.pin_pclk = CAMERA_PIN_PCLK;
config.pin_vsync = CAMERA_PIN_VSYNC;
config.pin_href = CAMERA_PIN_HREF;
config.pin_sscb_sda = CAMERA_PIN_SIOD;
config.pin_sscb_scl = CAMERA_PIN_SIOC;
config.pin_pwdn = CAMERA_PIN_PWDN;
config.pin_reset = CAMERA_PIN_RESET;
config.xclk_freq_hz = XCLK_FREQ_HZ;
config.pixel_format = pixel_fromat;
config.frame_size = frame_size;
config.jpeg_quality = 12;
config.fb_count = fb_count;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK)
{
ESP_LOGE(TAG, "Camera init failed with error 0x%x", err);
return;
}
sensor_t *s = esp_camera_sensor_get();
s->set_vflip(s, 0); // flip it back
// initial sensors are flipped vertically and colors are a bit saturated
if (s->id.PID == OV3660_PID)
{
s->set_brightness(s, 1);// up the blightness just a bit
s->set_saturation(s, -2); // lower the saturation
}
xQueueFrameO = frame_o;
xTaskCreatePinnedToCore(task_process_handler, TAG, 2 * 1024, NULL, 5, NULL, 1);
}
接下来编译、烧写、运行。
Waiting for the device to reconnect.
I (1430) who_camera: I2C unitialized successfully
W (1450) wifi:<ba-add>idx:0 (ifx:0, 0e:0d:9e:22:81:c4), tid:7, ssn:2, winSize:64
I (2360) esp_netif_handlers: sta ip: 192.168.129.33, mask: 255.255.255.128, gw: 192.168.129.1
I (2360) camera wifi: got ip:192.168.129.33
W (2940) wifi:<ba-add>idx:1 (ifx:0, 0e:0d:9e:22:81:c4), tid:0, ssn:0, winSize:64
I (11430) s3 ll_cam: DMA Channel=4
I (11430) cam_hal: cam init ok
I (11430) sccb: pin_sda 1 pin_scl 2
I (11450) camera: Detected camera at address=0x30
I (11450) camera: Detected OV2640 camera
I (11450) camera: Camera PID=0x26 VER=0x42 MIDL=0x7f MIDH=0xa2
I (11520) s3 ll_cam: node_size: 3840, nodes_per_line: 1, lines_per_node: 6
I (11520) s3 ll_cam: dma_half_buffer_min:3840, dma_half_buffer: 15360, lines_per_half_buffer: 24, dma_buffer_size: 30720
I (11520) cam_hal: buffer_size: 30720, half_buffer_size: 15360, node_buffer_size: 3840, node_cnt: 8, total_cnt: 10
I (11520) cam_hal: Allocating 153600 Byte frame buffer in PSRAM
I (11520) cam_hal: Allocating 153600 Byte frame buffer in PSRAM
I (11520) cam_hal: cam config ok
I (11520) ov2640: Set PLL: clk_2x: 1, clk_div: 3, pclk_auto: 1, pclk_div: 8
I (11590) camera_httpd: Starting web server on port: '80'
I (11590) camera_httpd: Starting stream server on port: '81'
然后打开同一个局域网内的电脑浏览器，用手机打开小猫咪的照片。
FireBeetle 2 ESP32-S3就能够识别出猫咪图片，并且标记出猫咪在图片中的位置啦！
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