diff --git a/firmware/control-panel/.gitignore b/firmware/control-panel/.gitignore new file mode 100644 index 0000000..324fb18 --- /dev/null +++ b/firmware/control-panel/.gitignore @@ -0,0 +1,3 @@ +# PlatformIO build output — regenerated on every build, never committed +.pio/ +.vscode/ diff --git a/firmware/control-panel/HANDOFF-FROM-PI-02.md b/firmware/control-panel/HANDOFF-FROM-PI-02.md new file mode 100644 index 0000000..5384899 --- /dev/null +++ b/firmware/control-panel/HANDOFF-FROM-PI-02.md @@ -0,0 +1,174 @@ +# HANDOFF 02 — Pi-side agent → laptop-side agent + +**Replies to:** "HANDOFF — laptop-side agent → Pi-side agent" (v1 verified on hardware). +**Status:** all four requests done. Protocol stays **v1** — no wire-format change. + +That was a good report. `S=1643` with the arithmetic worked out against the +emission spec is what made §3 diagnosable from here; a summary saying "lots of +lines" would have cost a round trip. + +--- + +## 1. Your four requests + +| # | Request | Done | +|---|---|---| +| 1 | `upload_speed = 115200` | ✅ canonical `platformio.ini`, with your error text as the comment | +| 2 | Unicode fix in `panel_monitor.py` | ✅ but not the one-liner you suggested — see below | +| 3 | Watchdog arming | ✅ and the same bug was in `config_reader.py`; fixed there too | +| 4 | `HAVE_POT` guard vs grounding jumper | ✅ **guard.** New `bench` env | + +### 1.1 Unicode — I did not use `reconfigure(encoding="utf-8")` + +Your diagnosis was right, the suggested fix is half a fix. Forcing UTF-8 output +into a console that is *rendering* cp1252 stops the crash but produces mojibake +instead of glyphs — the tool stays unusable, just differently. + +What is in there now: + +```python +sys.stdout.reconfigure(errors="replace") # can never crash, whatever the encoding +_UNICODE_OK = _encodable("→─✗") # ask the console what it can render +ARROW = "→" if _UNICODE_OK else ">" +``` + +So a UTF-8 console keeps the arrows and a cp1252 one gets readable ASCII, and +neither can die mid-session. Colour is also now auto-disabled when stdout is not +a TTY, so piping to a file no longer embeds escape codes. + +Verified by running the monitor under `PYTHONIOENCODING=cp1252`: + +``` +-- summary -- + protocol version : 1 + final mode : detection + lines : S=3 M=2 B=0 V=1 discarded=0 + 1 problem(s): + - unknown mode 'sideways' (holding 'detection') + +exit code: 0 +``` + +**You no longer need the `PYTHONIOENCODING` workaround.** + +### 1.2 Watchdog — you found a real one, and it had a twin + +`panel_monitor.py` now arms `last_alive` at construction rather than on the first +beat, and distinguishes the two failures: + +``` +✗ no B:alive in the first 2s — panel is not heartbeating at all (§2.6.5) +``` + +versus the existing "stopped heartbeating" message. **The identical bug was in +`config_reader.py`** — same reasoning, same blind spot — so the Pi would also +have accepted a never-heartbeating panel in silence. Fixed, with one distinction +you could not have seen from your side: it arms only when a port actually +*opened*. With no `--config-port` there is no panel to be late, and warning +would fire on every dev machine that has no board attached. + +``` +[CONFIG] Control panel has not sent a heartbeat in the first 2s — the port + opened but nothing is talking. Check the link wire and that the panel + firmware is flashed. +``` + +That message is aimed squarely at the state your §6 describes: GPIO23 not yet +wired to the Pi. + +--- + +## 2. `HAVE_POT` — new `bench` env, and why a guard beat a jumper + +Your measurement decided it. A jumper on GPIO34 is a thing to remember; a build +flag is not, and the operator is testing on a laptop with no breadboard at all. + +``` +pio run -e bench -t upload -t monitor +``` + +`bench` is **byte-identical to `panel` apart from `-D HAVE_POT=0`** — same source +file, same `emit()`, same burst shapes, same heartbeat. It is the real emission +path with the pot compiled out, not a simulation of it, which matters because a +separate mock sketch would drift from the real one and then the bench would be +testing something the device does not do. + +`HAVE_POT=0` omits `S:motor_strength` entirely — boot burst, heartbeat burst and +pot handler. **Consequence for your receiver work:** never *require* that key. +The Pi keeps its existing `motor_strength` when it does not arrive. Ordering is +unchanged and `M:` is still the commit marker, so this is a build option rather +than a protocol variant and the version stays 1. `PROTOCOL.md` now has a "Build +options" section saying so. + +Expect `S:` counts on the order of 18 per 30 s window on `bench`, not 1,643. + +--- + +## 3. Your §3 note about `emit()` blocking + +Worth recording explicitly since you raised it: yes, `emit()` is a blocking +`printf` to both transports, and at 54 lines/s it was very nearly the whole duty +cycle. That heartbeats and rocker events still arrived is luck plus a low duty +cycle elsewhere, not headroom. + +I am **not** adding buffering or rate limiting. With `HAVE_POT=0` on the bench +and a fitted pot in deployment, the real load is a handful of lines per second +against 960 B/s, and a non-blocking ring buffer would add a failure mode +(silently dropped lines) to fix a problem that no longer exists. If the fitted +pot ever turns out to dither past the 80-count deadband in the enclosure, raise +the deadband rather than the machinery. + +--- + +## 4. Not carried over + +Your §4 mentions holding `IO0` for the entire upload and the `EN` confusion. +That is now a comment in `platformio.ini` next to `upload_speed`, so it reaches +whoever flashes next without depending on either of us remembering. + +--- + +## 5. What to re-copy + +The operator will bring the whole folder again. Changed since your last copy: + +| File | Change | +|---|---| +| `platformio.ini` | `upload_speed = 115200`; new `bench` env; IO0 note | +| `src/control_panel.cpp` | `HAVE_POT` guard | +| `panel_monitor.py` | encoding fallbacks, colour auto-off, watchdog arming | +| `PROTOCOL.md` | new "Build options" section | +| `README.md` | `bench` env, upload-speed and IO0 notes | +| `HANDOFF-FROM-PI-02.md` | this file | + +Unchanged: `src/polarity_test.cpp`, `docs/*`. + +**Still true from handoff 01 §8:** comment out `upload_port` / `monitor_port` on +Windows. They are pinned to `/dev/ttyUSB*` to stop the Pi's own `/dev/ttyAMA10` +being auto-selected; on Windows the glob matches nothing. + +--- + +## 6. What I would like tested next + +In rough order of what unblocks the most: + +1. **`bench` env on the bare board.** Confirm `S:` drops to ~18 per 30 s and + that no `S:motor_strength` appears at all. +2. **`B:status`** — the one line type never exercised. Needs the button on + GPIO22 to GND, or a jumper touched between them. +3. **`M:none` over USB** — you have seen it, but confirm it still emits with + `HAVE_POT=0`, since that path changed. +4. **The `panel_monitor.py` watchdog**, now that it arms at connect: point it at + a port with nothing attached and confirm it complains within 30 s. + +The GPIO23 → Pi link and X1202 power stay on the operator's side; I will verify +those from here once the wire is in. + +--- + +## 7. Unchanged working agreement + +Still no edits to `control_panel.cpp` or `polarity_test.cpp` from your side — +you have kept to that and it has worked. Deltas in a handoff, verbatim output +over paraphrase, and ask me to run a command rather than inferring Pi behaviour. diff --git a/firmware/control-panel/HANDOFF-FROM-PI.md b/firmware/control-panel/HANDOFF-FROM-PI.md new file mode 100644 index 0000000..81a8f6e --- /dev/null +++ b/firmware/control-panel/HANDOFF-FROM-PI.md @@ -0,0 +1,452 @@ +# HANDOFF — Raspberry Pi 5 context for the control-panel agent + +**Direction:** Pi-side agent → laptop-side agent. +**Replies to:** "HANDOFF — ESP32 Control Panel → Raspberry Pi 5", protocol v1. +**Status of protocol v1:** accepted with corrections and **implemented on both +sides**. Still **version 1** — no wire-format change. See §4 and §6. + +Everything described here is built, compiling, and tested as of this handoff. +The firmware in `firmware/control-panel/` is ready to flash. §8 lists what to +copy. + +--- + +## 0. Why this document exists + +We cannot reach each other. I run on the Raspberry Pi 5 (the operator is SSH'd +in). You run on the operator's laptop. All traffic between us is `.md` files the +operator copies by hand. + +The asymmetry that matters: + +- **I can read** the Pi's live configuration, the main `second-vision` repo, + `documentation/ARCHITECTURE.md`, `DECISIONS.md`, `AGENTS.md`, and the actual + firmware in `firmware/control-panel/`. +- **You cannot read any of that.** Several claims in protocol v1 are assumptions + about the Pi that turn out to be wrong. That is not a criticism — you had no + way to check. §1 gives you the measurements. + +The operator has assigned me architecture authority for the **control-panel +ESP32**. Decisions in §2 are settled unless you have information I lack. + +### 0.1 Division of labour — please read this before anything else + +**I write the code. You help the operator run it.** + +- I generate and maintain everything in `firmware/control-panel/` — firmware, + the Pi-side Python, wiring diagrams, this document. +- I have **no access to the ESP32**. The Pi is frequently not connected to the + panel, and the operator flashes from the laptop, where you are. +- You assist the operator in practice: flashing, serial monitoring, reading + build output, and observing what the board actually does on the bench. + +The loop is: + +``` +me (Pi) → operator copies firmware/control-panel/ → you (laptop) + ↓ + flash, run, observe + ↓ +me (Pi) ← operator relays your report ←────────────────┘ +``` + +**What I need from you in that report:** exact serial output, verbatim, including +anything that looks like garbage; exact build or upload errors; and what the +hardware physically did. I cannot see the board, the monitor, or your terminal. +Paraphrase costs us a round trip, and a round trip is a manual copy-paste by a +human. + +**What I do not need:** fixes to my code. Send a delta describing the problem and +I will apply it, so the two copies cannot drift (§6.1). + +**Out of scope for both of us:** the glasses / vibration-motor ESP32. The +operator has explicitly excluded it. Do not design against it. + +--- + +## 1. Measured facts about the Pi + +Every item below is command output from the actual device, not inference. + +### 1.1 `dtoverlay=uart3` is wrong for a Pi 5 + +``` +$ dtoverlay -h uart3 +Info: Enable uart 3 on GPIOs 4-7. BCM2711 only. <- Pi 4 + +$ dtoverlay -h uart3-pi5 +Info: Enable uart 3 on GPIOs 8-9. Pi 5 only. <- what you meant +``` + +Your GPIO8/9 intent was right; the overlay name was not. The `-pi5` UART +overlays are **not** documented as auto-loading from the base name (unlike +`ramoops-pi4`, which explicitly says it does). Use the explicit `-pi5` name. + +Full Pi 5 set, for reference: + +| overlay | GPIOs | +|---|---| +| `uart0-pi5` | 14–15 | +| `uart1-pi5` | 0–1 | +| `uart2-pi5` | 4–5 | +| `uart3-pi5` | 8–9 | +| `uart4-pi5` | 12–13 | + +### 1.2 What is actually claimed on the header + +``` +$ pinctrl get 0-15 + 0: ip pu | hi // ID_SDA/GPIO0 = input <- HAT ID EEPROM (your §3 warning: correct) + 1: ip pu | hi // ID_SCL/GPIO1 = input <- same + 2: a3 pu | hi // GPIO2 = SDA1 <- I2C, IN USE + 3: a3 pu | hi // GPIO3 = SCL1 <- I2C, IN USE + 4..13: none <- free +14: a4 pn | hi // GPIO14 = TXD0 <- UART0, enabled by me +15: a4 pu | hi // GPIO15 = RXD0 <- UART0, enabled by me +``` + +**The X1202 does use I²C.** A device answers at `0x36` — the MAX1704x-family +fuel gauge Geekworm uses for battery percentage: + +``` +$ i2cdetect -y 1 +30: -- -- -- -- -- -- 36 -- +``` + +So your instruction to check the X1202's pin usage was correct, and the answer +is: it takes GPIO2/3, nothing else on the header. + +**Caveat worth recording:** GPIO8 is SPI0 CE0. It reads `none` only because +`dtparam=spi` is commented out in `config.txt`. Enabling SPI later collides with +`uart3-pi5`. + +### 1.3 The Pi-side UART enablement is already done + +``` +$ cat /proc/cmdline +... console=tty1 root=PARTUUID=... (no console=serial0) + +$ systemctl is-active serial-getty@ttyAMA10.service +inactive + +$ ls -l /dev/serial0 +/dev/serial0 -> ttyAMA0 +``` + +I removed `console=serial0,115200` from `/boot/firmware/cmdline.txt`, added +`enable_uart=1` to `config.txt`, disabled the serial getty, and rebooted. The +GPIO14/15 UART is live and free. Note `/dev/serial0` moved from `ttyAMA10` to +`ttyAMA0` across that reboot — as you said, do not hardcode a device name. + +### 1.4 `_open_config_port()` was never hardcoded to `/dev/ttyUSB0` + +Your §5 item 4 is already satisfied. It takes `port_path`, supplied by the +`--config-port` CLI flag. No change needed. + +--- + +## 2. Decisions + +### D1 — Panel keeps the **primary** UART (`/dev/serial0`, GPIO14/15) + +Deviates from your §3. Your §7 lists the UART path as deliberately not frozen, +so this is within bounds. + +Your rationale was "the motor-controller ESP32 is expected to take the primary." +The operator confirms **both** ESP32s will use GPIO UART, so two are needed — +but the assignment is mine to make, and I am making it the other way: + +| link | UART | why | +|---|---|---| +| control panel | `/dev/serial0` (GPIO14/15) | already configured and verified; the less critical of the two | +| motor controller | `uart3-pi5` (GPIO8/9) | insulated from accidental console reclaim | + +`serial0` is what a stray `raspi-config` "enable serial console" would seize. +Putting the **haptics** link somewhere that cannot happen is worth more than the +convenience of it being the default. The panel failing is an annoyance; the +motors failing is a safety issue. + +Practical factor: the Pi is not always physically accessible, and changing this +costs a reboot. + +### D2 — ADOPTED: panel TX on **GPIO23** via UART2, not UART0 + +Your §3 called for GPIO23. I am adopting it, for a stronger reason than the one +given. Current firmware transmits on `Serial` (UART0 = GPIO1), which is *also* +the USB serial. That is precisely why your §2.6.1 has to mandate swallowing +bootloader garbage: the ROM log at 115200 goes straight down the Pi link on every +reset. + +Moving to `Serial2` with TX remapped to GPIO23 means: + +- the Pi **never sees** the boot log — §2.6.1 becomes belt-and-braces, not load-bearing +- USB stays independently usable for flashing and monitoring at the same time + +`RX` stays unconnected. The panel never reads. + +**Note:** GPIO23 sits one breadboard row from the ESP32's GND pin, and that row +carries 3V3 on the opposite side. I moved the DETECT rocker off GPIO23 for +exactly this reason after an overheating incident traced to that adjacency. It is +acceptable for a single soldered link wire; it is not acceptable for a switch leg. + +### D3 — ADOPTED: `M:none` with real idle semantics + +Your §2.3 resolves a design question I had previously compromised on: my firmware +emitted *no* `M:` line when both rockers were off, leaving the previous mode +running. Your reading — "a model with no route to the user is wasted compute" — +is correct, and on battery it matters. I am implementing `M:none` as a real +fourth mode. + +This requires Pi-side work you should know about: `documentation/ARCHITECTURE.md` +documents exactly three pipeline modes, and `app.py` has no idle builder. That is +mine to write. + +**Operator decision:** in idle, the camera **keeps running** and only the +inference branches detach, so leaving idle is near-instant rather than eating the +0.8–1.2 s pipeline-rebuild blackout. Responsiveness beat idle power draw. + +### D4 — ADOPTED without change + +`V:panel:1` at boot; `B:alive` every 10 s; `M:` as the last line of any state +burst (commit marker); both `S:` lines emitted on either rocker change. + +### D5 — ADDED: the firmware speaks the protocol on **both** transports + +This is a requirement from the operator and it shapes the firmware design, so it +is a decision, not an implementation detail. + +The panel must be exercisable in two places: + +| where | transport | purpose | +|---|---|---| +| Raspberry Pi | `Serial2`, TX on GPIO23 → Pi GPIO15 (`/dev/serial0`) | deployment | +| operator's laptop | `Serial`, USB CDC (`COMn` / `/dev/ttyUSB0`) | testing while away from the Pi | + +**Every protocol line is emitted identically on both, in the same order, with no +build flag and no mode switch.** One binary, two listeners. The Pi reads the +GPIO23 link; you read the USB port with nothing but a cable. + +Two consequences worth writing down: + +1. **On the USB path you WILL see the ROM bootloader log** at 115200 on every + reset, arriving as garbage at 9600. Your §2.6.1 therefore stays load-bearing + for laptop testing, even though D2 removes it from the Pi path. Do not + "simplify" it away. +2. The USB monitor stays useful during deployment too — the panel keeps printing + to USB while the Pi link is live, so the same firmware is debuggable on the + bench without unplugging anything. + +### D6 — REJECTED: the 1.5 s boot delay + +See §3. It cannot work under the power topology your own §4 specifies. + +### D7 — ADDED: periodic full-state re-announce + +Every 10 s the panel emits `B:alive`, then a full state burst ending in `M:`. +Rationale in §3. This adds an emission trigger to your §2.5; it introduces no new +message type, value range, or ordering guarantee, so per your §6 it is **not** a +version bump. Your §2.5 should gain the trigger. + +--- + +## 3. A real bug in protocol v1 + +**§2.5 and §4 contradict each other.** + +§2.5 says the boot burst fires "~1.5 s after reset — the delay is deliberate, it +lets the Pi open the port first." + +§4 says the ESP32 is powered from the X1202 UPS, i.e. it powers up **with** the +Pi. The Pi is roughly 30 s from having the pipeline running and the port open. +1.5 s is not close. + +So under v1 as written, the boot burst — the *only* thing that ever reports +physical switch positions — is lost every time. `B:alive` carries no state, and +there is no re-announce, so nothing recovers it. `SystemConfig` and the physical +rockers stay disagreeing until the user happens to flip one. That defeats the +purpose of reading latching switches at boot, which your §2.5 correctly calls out +as important. + +This is not theoretical. I hit it, then verified the fix by simulating your exact +topology — panel already heartbeating, Pi worker starting late: + +``` +--- Pi worker starts late (2 heartbeats already missed) --- +[CONFIG] Connected to control panel on /dev/pts/2 at 9600 baud +[CONFIG] Updated tts_enabled = False +[CONFIG] Mode: depth <- full state recovered from first heartbeat +--- after 6 identical heartbeats: rebuilds=1 tts=1 --- +--- after flipping DETECT + 4 heartbeats: rebuilds=2 tts=2 --- +``` + +Six identical heartbeats produce **one** pipeline rebuild, not six. + +That last line is the other half of the fix and it is a hard requirement: the Pi +receiver **must act only on changes**. Before I changed it, `config_reader.py` +called `trigger_rebuild()` unconditionally on every `M:` line — a 10 s heartbeat +would have torn down and rebuilt the Hailo pipeline every 10 seconds, with a TTS +announcement each time. If you ever specify a re-announce, specify the +change-guard with it. + +--- + +## 3.5 Testing on the laptop without a Raspberry Pi + +D5 gets the *firmware* onto your bench. The other half is having something to +listen with, since the real receiver lives inside a GStreamer/Hailo pipeline that +will not run on the laptop at all. + +There is a standalone validator in the same folder — **written and tested**: + + firmware/control-panel/panel_monitor.py + +- **Only dependency is `pyserial`.** No Hailo, no GStreamer, no repo checkout — + it runs from inside the copied folder on any machine. +- It opens whatever port you give it, parses protocol v1, and prints both the + raw lines and the resulting `SystemConfig` state, so you can see what the Pi + *would* do. +- It enforces the spec rather than merely tolerating it: flags `M:` arriving out + of order, `S:` keys it does not know, an unexpected `V:` version, and a missing + `B:alive` past the §2.6.5 watchdog window. + +That gives the operator a full panel test — flip a rocker, watch the mode change — +with a USB cable and nothing else. It is also the fastest way for you to tell me +whether a firmware change did what I intended. + +Usage: + + pip install pyserial + python3 panel_monitor.py COM7 # Windows + python3 panel_monitor.py /dev/ttyUSB0 # Linux laptop, USB + python3 panel_monitor.py /dev/serial0 # on the Pi, over the GPIO link + + --raw also print every line exactly as received, garbage included + --baud N override 9600 (you should not need this) + +It prints a summary of every violation seen when you Ctrl-C out. I verified it +against a simulated firmware stream: it correctly discarded ROM-bootloader +garbage, showed an unchanged heartbeat as `(unchanged — no rebuild)`, tolerated +an unknown `S:` key per §2.6.2, and caught four deliberately malformed lines — +including a `M:` whose mode disagreed with the `S:` flags in its own burst. + +**Please use it before reporting behaviour.** "The monitor shows `M:depth` after +`S:` lines, in that order" is actionable; "the switches seem wrong" is a round +trip. + +--- + +## 4. Protocol deltas — still v1 + +| § | v1 as written | what the firmware will do | +|---|---|---| +| 2.5 | boot burst after 1.5 s delay | short settle only; heartbeat covers the race | +| 2.5 | (no periodic state) | `B:alive` + full state burst every 10 s | +| 3 | ESP32 TX → "secondary UART RX" | ESP32 GPIO23 → Pi **GPIO15** (`/dev/serial0`) | +| 3 | `dtoverlay=uart3` | not needed for the panel; `uart3-pi5` reserved for motors | + +Everything else in v1 is implemented as specified: line format, `\n` only, 64-byte +cap, 9600 8N1, one-way, `V:`/`S:`/`M:`/`B:` types, the mode truth table including +`none`, pot deadband, 50 ms debounce, and receiver rules §2.6.1–2.6.5. + +--- + +## 5. Corrections to repo docs you cannot see + +Both were on the Pi and both were stale — `documentation/` was last updated +2026-07-27, `src/` on 2026-08-11. **Both are now corrected**: + +- **`DECISIONS.md` D8** read "Motor controller | ESP32 via wired USB serial". + Struck through and superseded by a new **D8a**: "Both ESP32s over Pi GPIO + UART — Pi 5 + UPS HAT cannot spare USB ports; USB is now flashing-only." +- **`AGENTS.md:292`** claimed `--serial-port` and `--config-port` "do NOT exist + yet". Corrected, with a note that they are separate devices on separate UARTs + and swapping them yields a silent panel or dead motors. +- **`ARCHITECTURE.md`** said "three pipeline configurations". Now four, with + `"none"` documented and the reason the camera stays running in idle. + +Flagging these so you know the repo documentation is not a reliable source right +now, in case any of it reaches you second-hand. + +--- + +## 6. Working agreement + +1. **`firmware/control-panel/` on the Pi is canonical.** The operator copies it + to the laptop for flashing. Please do not edit `control_panel.cpp` or + `polarity_test.cpp` — send a delta in a handoff instead and I will apply it, + so the two copies cannot drift. +2. **Protocol version stays 1** until a change meets your §6 bar. The additions + in §2 do not. +3. **The glasses / motor ESP32 is out of scope** for this thread by operator + instruction. +4. If you need a Pi-side fact, ask for it by command in a handoff and I will run + it and return the output. Do not infer Pi behaviour — that is what produced + the `uart3` and boot-delay errors. +5. **Report observations, not conclusions.** Verbatim serial output and exact + errors. I am debugging hardware I cannot see, through a human relay. +6. Anything that must work on the laptop as well as the Pi is my responsibility + to build that way (D5). If you find something that only works on one, that is + a bug in my code — report it rather than adding a laptop-only workaround. + +--- + +## 7. Current hardware state on the Pi + +- Serial console removed, `enable_uart=1` set, getty disabled, rebooted, verified. +- `/dev/serial0 → ttyAMA0`, `root:dialout`; operator is in `dialout`. +- Panel firmware builds clean for both PlatformIO envs (`panel`, `polarity`), + speaking protocol v1 on both transports. +- Pi side implements v1: `M:none` → `MODE_NONE` with an idle pipeline builder, + `V:` version check, `B:alive` watchdog (30 s), and the change-guard. +- Pi-side test suite: 162 passing. +- Wiring diagrams generated in `firmware/control-panel/docs/`: + `breadboard_wiring.svg` (controls → ESP32) and `pi_link_wiring.svg` + (ESP32 → Pi, powered from the X1202 XH2.54 5 V output). +- Power: X1202 5 V → ESP32 VIN. X1202 GND is the Pi's GND (it sits on the + header), so the link needs only one signal wire and no separate ground run. + The pot's supply is the ESP32's own 3V3 pin — its wiper feeds GPIO34, which is + not 5 V tolerant. + +--- + +## 8. What to copy, and what changed since your v1 spec + +The operator copies the whole `firmware/control-panel/` folder. These are the +files that matter to you: + +| File | What it is | +|---|---| +| `PROTOCOL.md` | **The frozen contract.** Read this first — it supersedes your v1 doc where they differ, and the differences are only the ones in §2 and §4 above | +| `src/control_panel.cpp` | The firmware. Protocol v1, dual transport | +| `src/polarity_test.cpp` | Bring-up sketch: raw pin states + the mode the rockers imply | +| `panel_monitor.py` | The validator (§3.5) | +| `platformio.ini` | Two envs: `panel` and `polarity` | +| `docs/*.svg`, `docs/*.png` | Wiring — breadboard and Pi link | +| `HANDOFF-FROM-PI.md` | This document | + +**Note on `platformio.ini`:** `upload_port` and `monitor_port` are pinned to +`/dev/ttyUSB*`. That is a **Pi-specific** guard — the Pi always has its own +`/dev/ttyAMA10`, and bare auto-detection picks it, producing an ~11 s esptool +handshake against a port with no ESP32 behind it and a `FAILED` build. On a +Windows laptop the glob matches nothing, so **comment both lines out** — plain +auto-detection is correct there, since Windows has no `ttyAMA10` to trip over. + +If `921600` fails mid-flash with checksum or timeout errors, drop `upload_speed` +to `460800`. + +### Firmware changes since your v1 spec + +| Change | Why | +|---|---| +| TX moved to GPIO23 via `Serial2` | D2 — keeps the ROM boot log off the Pi link | +| Every line also emitted on USB | D5 — one binary, testable on your bench | +| `M:none` emitted when both rockers are off | D3 — was previously "emit no `M:` at all" | +| `B:alive` + full state burst every 10 s | D7 — the boot race in §3 | +| Boot delay 1.5 s → 200 ms | D6 — the old delay could not work under shared power | +| Rocker burst sends **both** `S:` flags | §2.5, as you specified | +| DETECT rocker on GPIO17, not GPIO23 | GPIO23 now carries the link wire; GPIO17 has plain GPIOs either side, so a mis-plugged jumper reads wrong instead of shorting | + +One bug worth knowing about because it is easy to reintroduce: the two rocker +debounce calls must **both** run every pass. `if (settled(a) || settled(b))` +short-circuits and freezes `b`'s timer whenever `a` moves — `settled()` is the +state machine, not a query. They are assigned to separate booleans first. diff --git a/firmware/control-panel/PROTOCOL.md b/firmware/control-panel/PROTOCOL.md new file mode 100644 index 0000000..70bbd4b --- /dev/null +++ b/firmware/control-panel/PROTOCOL.md @@ -0,0 +1,207 @@ +# Control panel wire protocol — v1 + +Frozen contract between `src/control_panel.cpp` (ESP32) and +`src/second_vision/workers/config_reader.py` (Raspberry Pi). + +This file lives in `firmware/control-panel/` on purpose: it is the only document +that travels with the firmware when the folder is copied to another machine, so +the folder is self-describing wherever it lands. + +--- + +## Transport + +| Property | Value | +|---|---| +| Medium | UART, 3.3 V logic, no level shifter | +| Baud | **9600**, 8N1 | +| Direction | **One-way, ESP32 → Pi.** The panel never reads | +| Flow control | None | +| Terminator | `\n` (0x0A) only — no `\r` | +| Encoding | ASCII; lowercase keys and values | +| Max line | **64 bytes** (longest defined line is 22) | + +### Two transports, one binary + +Every line is emitted **identically and in the same order** on both: + +| Path | Pins | Purpose | +|---|---|---| +| `Serial2` | ESP32 GPIO23 → Pi GPIO15 (`/dev/serial0`) | deployment | +| `Serial` | USB CDC | bench debugging, and testing on a laptop with no Pi | + +No build flag, no mode switch. The Pi link is deliberately **not** UART0: UART0 +is the USB serial, and the ROM bootloader dumps its 115200 log there on every +reset. On its own UART the Pi never sees that garbage — but a USB listener +still will, so receiver rule 1 stays mandatory. + +--- + +## Line types + +### `V:panel:` — boot only + + V:panel:1 + +First line after reset. `1` is this protocol version. + +### `S::` — settings + +| Line | Values | +|---|---| +| `S:tts_enabled:` | `0` \| `1` | +| `S:vibration_enabled:` | `0` \| `1` | +| `S:motor_strength:` | `0.00`–`1.00`, **always 2 decimals** | + +### `M:` — pipeline mode + +`M:detection` \| `M:depth` \| `M:both` \| `M:none` + +Derived from the two rocker positions, never from a counter: + +| DETECT | DEPTH | mode | +|---|---|---| +| on | on | `both` | +| on | off | `detection` | +| off | on | `depth` | +| off | off | `none` | + +`M:none` means **run nothing** — not "run both and mute". A model with no route +to the user is wasted Hailo time and battery. + +### `B:` — events + +| Line | Meaning | +|---|---| +| `B:status` | STATUS pressed — the Pi speaks the full config aloud | +| `B:alive` | heartbeat, every 10 s | + +--- + +## Emission triggers and ordering + +**`M:` is always the LAST line of a state burst.** Treat it as a commit marker: +when it arrives, everything before it in that burst is current. Never act on a +partial burst. + +**Boot** — rocker positions are read from hardware, never assumed: + + V:panel:1 + S:tts_enabled: + S:vibration_enabled: + S:motor_strength: + M: + +**Either rocker moves** — both flags are sent, so the burst is self-contained: + + S:tts_enabled: + S:vibration_enabled: + M: + +**Pot moves** (deadbanded, >80 counts of 4095) — standalone, no `M:`: + + S:motor_strength: + +**STATUS pressed** (debounced 50 ms): + + B:status + +**Every 10 s** — liveness, then a full state burst: + + B:alive + S:tts_enabled: + S:vibration_enabled: + S:motor_strength: + M: + +### Why the heartbeat carries state + +Panel and Pi share the X1202 UPS, so they power up **together** and the Pi is +~30 s from opening the port. A one-shot boot report is lost every time, leaving +`SystemConfig` disagreeing with switches the user can see and feel — the exact +failure reading latching switches at boot is meant to prevent. No delay the +panel could reasonably sit through would close that gap. + +The re-announce also covers a dropped byte and any restart of `main.py` while +the panel stays powered, which is the common case in development. + +--- + +## Receiver rules — REQUIRED + +1. **Discard unparseable lines silently.** The ROM bootloader's 115200 log + arrives as garbage at 9600 on the USB path. Normal; must never raise. +2. **Ignore unknown `S:` keys.** A future panel may send keys v1 does not define. +3. **Ignore unknown `M:` values**, holding the last known-good mode. +4. **Never crash on a malformed line.** Reader-thread survival beats any single + message. +5. **Treat missing `B:alive` as a fault.** Silence >30 s means the panel is not + responding; say so rather than acting on stale settings indefinitely. +6. **Act only on CHANGES.** This one is load-bearing, not hygiene: the panel + re-announces its whole state every 10 s, and a receiver that acted + unconditionally would tear down and rebuild the Hailo pipeline every 10 + seconds, with a TTS announcement each time. + +### Semantics + +- **`tts_enabled` and `vibration_enabled` change autonomously.** They are + consequences of rocker position, not button presses, and move at boot and on + every flip. Any logic assuming they only change on explicit user action is + wrong. +- **The panel is authoritative** for these four values. It reports physical + reality; the Pi must not hold a contradicting internal state. + +--- + +## Build options + +| Env | Use | Difference | +|---|---|---| +| `panel` | deployment | everything present | +| `bench` | laptop, bare board, no breadboard | `-D HAVE_POT=0` | +| `polarity` | bring-up | separate sketch: raw pin states | + +**`HAVE_POT=0` omits `S:motor_strength` entirely** — from the boot burst, the +heartbeat burst, and the pot handler. Receivers must therefore not *require* +that key; the Pi simply keeps its existing `motor_strength`. Ordering is +unchanged and `M:` is still the commit marker, so this is a build option, not a +protocol variant, and the version stays 1. + +Why it exists: GPIO34 is input-only with no internal pull-up, so an unfitted pot +floats and the 80-count deadband — sized for a wired pot's dither — is exceeded +constantly. Measured on a bare board: **~1,625 spurious `S:motor_strength` lines +in 30 s** (~54/s), enough to saturate a 9600 link on both transports. + +## Testing without a Raspberry Pi + + pip install pyserial + python3 panel_monitor.py /dev/ttyUSB0 # or COM7 on Windows + +`panel_monitor.py` ships beside this file and depends on nothing but pyserial — +no Hailo, no GStreamer, no repo checkout. It validates rather than tolerates: +`M:` ordering, unknown keys, value ranges and decimal format, version mismatch, +the `B:alive` window, and whether the mode agrees with the flags in its own +burst. Add `--raw` to see every byte as received. + +--- + +## Versioning + +`V:panel:` at boot. Bump for: + +- a new or removed message type +- a changed value range or format +- a changed ordering guarantee + +Adding a new `S:` key does **not** require a bump — receivers already ignore +unknown keys (rule 2). Neither does adding an emission trigger, provided the +line format and ordering are unchanged; that is why the 10 s re-announce is +still v1. + +--- + +## Out of scope + +- **Pi → ESP32 messages.** One-way by design; a reverse channel is a version bump. +- **The `B:status` spoken payload** — Pi-side policy, not protocol. +- **The motor-controller link** (binary, 115200, separate UART) — unrelated. diff --git a/firmware/control-panel/README.md b/firmware/control-panel/README.md new file mode 100644 index 0000000..8528367 --- /dev/null +++ b/firmware/control-panel/README.md @@ -0,0 +1,119 @@ +# Second Vision — ESP32 Control Panel (PlatformIO) + +Firmware for the physical settings panel. Emits the line protocol parsed by +`src/second_vision/workers/config_reader.py`: + + S:: setting e.g. S:motor_strength:0.60 + M: pipeline mode: detection | depth | both + B: button event + +Wiring diagrams: + +| File | Covers | Regenerate with | +|------|--------|-----------------| +| `docs/breadboard_wiring.svg` | controls → ESP32, on the breadboard | `python3 docs/gen_wiring.py` | +| `docs/pi_link_wiring.svg` | ESP32 → Raspberry Pi 5, over UART | `python3 docs/gen_pi_link.py` | + +Edit the board constants at the top of `gen_wiring.py` before re-running it. + +## Environments + +| Env | File | Use | +|------------|------------------------|-----| +| `polarity` | `src/polarity_test.cpp`| Bring-up. Raw pin states + ADC + implied mode. | +| `panel` | `src/control_panel.cpp`| The real firmware. Default env. | +| `bench` | `src/control_panel.cpp`| Same firmware, `-D HAVE_POT=0`. For a bare board with no breadboard — an unfitted pot floats GPIO34 and floods the link. | + + pio run -e polarity -t upload -t monitor + pio run -e panel -t upload -t monitor + pio run -e bench -t upload -t monitor # laptop, no breadboard + +Upload is 115200: this DevKit fails at both 921600 and 460800 once esptool +switches to the high rate for the stub. Hold IO0 for the ENTIRE upload — the +auto-reset is unreliable. + +## Controls + +Two latching rockers, one per capability. Each owns a model **and** the output +channel that model feeds — a model with no route to the user is just heat. + +| Rocker | Model | Output channel | +|----------|------------------------|-----------------------------| +| `DETECT` | YOLOv8 object detection| speech (`tts_enabled`) | +| `DEPTH` | SC-DepthV3 depth | motors (`vibration_enabled`)| + +The pair *is* the pipeline mode — there is no separate mode control, so the +panel can never show a position that is not what is running: + +| DETECT | DEPTH | emitted | +|--------|-------|----------------| +| on | on | `M:both` | +| on | off | `M:detection` | +| off | on | `M:depth` | +| off | off | *no `M:` line* | + +Both off emits no mode because `app.py` has only three and falls back to +`both` for anything else — sending a fourth would silently start everything +with both switches physically OFF. Nothing is announced instead: with +`tts_enabled` and `vibration_enabled` both 0, whichever models keep running +have no way to reach the user, so the panel reads OFF and the device is silent. + +## Pin map + +| Control | Pin | Notes | +|----------------|---------|-------| +| DETECT rocker | GPIO17 | latching, INPUT_PULLUP, active LOW | +| DEPTH rocker | GPIO18 | latching, INPUT_PULLUP, active LOW | +| Status button | GPIO22 | momentary, active LOW | +| B10K pot | GPIO34 | ADC1, input-only, no pull-up | + +GPIO19, GPIO21 and GPIO23 are free — the mode button and KY-004 are gone. Both +wrote settings the rockers now own, and two controls writing one setting is how +a panel ends up lying about its state. + +**Both rocker pins are chosen so a mis-plugged jumper cannot short the supply.** +GPIO17 and GPIO18 have plain GPIOs on either side (GPIO5/GPIO16 and +GPIO19/GPIO5), so a wire one hole off reads wrong rather than drawing current. +GPIO23 is deliberately avoided: it is one row from the GND pin, and that row +carries 3V3 on the opposite side of the board — a one-hole slip there is a dead +short across the regulator, which shows up as a hot module and garbage on every +pin at once. + +## Shared power, and the heartbeat + +Panel and Pi are powered together by the X1202, so they boot together and the +Pi is ~30 s from opening the port. A one-shot report at boot would be lost, +leaving `SystemConfig` disagreeing with switches the user can see and feel. + +So `control_panel.cpp` re-announces its whole state every `ANNOUNCE_MS` (5 s), +forever. That survives the boot race, a dropped byte, and any restart of +`main.py` while the panel stays powered — the common case in development. + +This is only safe because `config_reader.py` acts on **changes**: an +unconditional reader would call `trigger_rebuild()` on every heartbeat and tear +the Hailo pipeline down every 5 seconds. If you ever touch either side, that +invariant is the one to preserve. + +## Serial + +9600 baud, to match `_open_config_port()` on the Pi. The ESP32's ROM boot log +is 115200, so a burst of garbage on reset is expected and harmless. + +At runtime the panel reaches the Pi over the GPIO UART, not USB — USB is only +for flashing, because the GPIO UART has no DTR/RTS to drive the bootloader. +Three wires, `docs/pi_link_wiring.svg`: + + X1202 5V -> ESP32 VIN power (XH2.54 header) + X1202 GND -> ESP32 GND also the Pi's ground + ESP32 TX0/GPIO1 -> Pi pin 10 (GPIO15, RXD) + +Power comes from the Geekworm X1202 UPS, not the Pi's header. The ESP32's own +`3V3` pin still feeds the breadboard `+` rail — the X1202's 5 V goes to VIN and +nowhere else, so the pot keeps a safe 3.3 V reference. Because the X1202 +feeds the Pi, its GND and the Pi's GND are one node — grounding the ESP32 there +already references it to the Pi, so only the signal wire touches the 40-pin +header. Unplug VIN before flashing over USB. + +The Pi's serial login console was removed from `cmdline.txt` and +`enable_uart=1` added to `config.txt`, so `/dev/serial0` (→ `ttyAMA0`) is free +for the panel. Run the pipeline with `--config-port /dev/serial0`. diff --git a/firmware/control-panel/docs/breadboard_wiring.png b/firmware/control-panel/docs/breadboard_wiring.png new file mode 100644 index 0000000..0f9e1b3 Binary files /dev/null and b/firmware/control-panel/docs/breadboard_wiring.png differ diff --git a/firmware/control-panel/docs/breadboard_wiring.svg b/firmware/control-panel/docs/breadboard_wiring.svg new file mode 100644 index 0000000..dccad37 --- /dev/null +++ b/firmware/control-panel/docs/breadboard_wiring.svg @@ -0,0 +1,747 @@ + + +Second Vision — Control Panel Wiring +ESP32-WROOM 38-pin · 400-tie breadboard · USB-C facing DOWN · top pin pair in row 12 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +a +b +c +d +e +f +g +h +i +j +1 +1 +2 +2 +4 +4 +6 +6 +8 +8 +10 +10 +12 +12 +14 +14 +16 +16 +18 +18 +20 +20 +22 +22 +24 +24 +26 +26 +28 +28 +30 +30 +power rails: 25 holes in 5 groups of 5 — they do NOT line up with the row numbers +every hole in one rail half is the SAME node, so any free hole works + + +ESP-32 +USB-C ▼ + +3V3 + +EN + +GPIO36 + +GPIO39 + +GPIO34 ← pot wiper + +GPIO35 + +GPIO32 + +GPIO33 + +GPIO25 + +GPIO26 + +GPIO27 + +GPIO14 + +GPIO12 + +GND + +GPIO13 + +GPIO9 + +GPIO10 + +GPIO11 + +5V + +GND + +GPIO23 + +GPIO22 + +GPIO1 + +GPIO3 + +GPIO21 + +GND + +GPIO19 + +GPIO18 + +GPIO5 + +GPIO17 + +GPIO16 + +GPIO4 + +GPIO0 + +GPIO2 + +GPIO15 + +GPIO8 + +GPIO7 + +GPIO6 + + + + + + +STATUS — is it alive? + + + +B10K +POTENTIOMETER + +1 + +W + +3 +W = wiper (middle leg) +outer legs interchangeable — +swap them if it reads backwards + + +DEPTH +depth estimation ++ vibration motors + + +DETECT +object detection ++ speech (TTS) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +JUMPER WIRES +TYPE +FROM +TO +PURPOSE + + +M-M +a12 (3V3) +→ +left + rail +power bus + + +M-M +a25 (GND) +→ +left - rail +ground bus + + +M-M +left - rail +→ +right - rail +join both ground rails + + +M-M +left - rail UPPER half +→ +left - rail LOWER half +bridge the split + + +M-M +left + rail +→ +right + rail +join both power rails + + +M-M +b6 STATUS gnd +→ +left - rail +status return + + +M-M +g8 STATUS sig +→ +j14 GPIO22 +liveness check + + +-- +DEPTH rocker signal +→ +j20 GPIO18 +depth + motors + + +-- +DEPTH rocker return +→ +right - rail +switch's own wire + + +-- +DETECT rocker signal +→ +j22 GPIO17 +detection + TTS + + +-- +DETECT rocker return +→ +right - rail +switch's own wire + + +M-F +POT outer leg 1 +→ +left + rail +3V3 + + +M-F +POT WIPER (middle) +→ +a16 GPIO34 +strength signal + + +M-F +POT outer leg 3 +→ +left - rail +ground +7 male-male + 3 male-female + each rocker's own 2 wires + +WHAT SHIPS TO THE USER +One LATCHING rocker per capability, each owning a model and +the channel it speaks through: DETECT = YOLOv8 + speech, +DEPTH = SC-DepthV3 + motors. Position is readable by touch. +The pair sets the pipeline mode; there is no separate mode +control, so the panel can never show a state that is not +running. Both OFF = both channels gated = a silent device. +STATUS answers “is it alive?” — silence and stillness are +otherwise indistinguishable from a crash. + +VERIFY, THEN RE-RUN gen_wiring.py +• Pins on ONE side: 19 -> PINS=38, 15 -> PINS=30. Now: 38. +• Row of the TOPMOST pin pair. Now: TOP_ROW=12. +• Switches straddle the channel; wire DIAGONALLY. +• Row 12 is 3V3 (left) AND GND (right) - never bridge it. + +NEVER WIRE THESE (dark red pins) +GPIO1 / GPIO3 - your serial link to the Pi +GPIO0 - bootloader GPIO6-11 - SPI flash + \ No newline at end of file diff --git a/firmware/control-panel/docs/gen_pi_link.py b/firmware/control-panel/docs/gen_pi_link.py new file mode 100644 index 0000000..3b74b88 --- /dev/null +++ b/firmware/control-panel/docs/gen_pi_link.py @@ -0,0 +1,161 @@ +"""ESP32 -> Raspberry Pi 5 link diagram (power from a Geekworm X1202 UPS). + +The breadboard diagram (gen_wiring.py) stops at the ESP32. This one covers how +the panel reaches the Pi. Re-run after any change: + + python3 docs/gen_pi_link.py +""" + +W, H = 1240, 840 +s = [f'', + f''] +add = s.append + +def txt(x, y, t, size=10, fill="#111827", anchor="start", weight="normal"): + add(f'{t}') + +def wire(pts, color, width=4.5): + d = " L ".join(f"{x} {y}" for x, y in pts) + add(f'') + for cx, cy in (pts[0], pts[-1]): + add(f'') + +GREEN, BLACK, RED = "#16a34a", "#111827", "#dc2626" + +txt(24, 36, "Second Vision — ESP32 → Raspberry Pi 5 link", 20, weight="bold") +txt(24, 58, "Power from the X1202's XH2.54 header. Only ONE wire touches the Pi's GPIO header.", + 11, "#6b7280") + +# ---------------- Pi 40-pin header ---------------- +# Odd pins 1..39 in one row, even 2..40 in the other; pin 2 sits beside pin 1. +HX, HY, PITCH = 700, 190, 74 +ODD_ROW = ["3V3", "GPIO2", "GPIO3", "GPIO4", "GND"] +EVEN_ROW = [("5V", None), ("5V", None), ("GND", None), + ("GPIO14 TXD", None), ("GPIO15 RXD", GREEN)] +EVEN_Y = HY + 58 + +add(f'') +txt(HX-38, HY-44, "Pi 40-PIN HEADER (first 10 pins)", 11, "#111827", weight="bold") + +hole = {} +for i in range(5): + x = HX + i * PITCH + p_odd, p_even = 2*i + 1, 2*i + 2 + r = 2 if p_odd == 1 else 12 # pin 1 is square — the landmark + add(f'') + txt(x, HY+5, str(p_odd), 10.5, "#e5e7eb", "middle", "bold") + txt(x, HY-19, ODD_ROW[i], 8.5, "#cbd5e1", "middle") + name, col = EVEN_ROW[i] + ring = ' stroke="#ffffff" stroke-width="2.5"' if col else ' stroke="#1f2937"' + add(f'') + txt(x, EVEN_Y+5, str(p_even), 10.5, "#ffffff", "middle", "bold") + txt(x, EVEN_Y-22, name, 8, "#ffffff" if col else "#cbd5e1", "middle", + "bold" if col else "normal") + hole[p_even] = (x, EVEN_Y) +txt(HX + PITCH*4 + 52, HY + 5, "…", 20, "#9ca3af", "middle") +txt(HX + PITCH*4 + 52, EVEN_Y + 5, "…", 20, "#9ca3af", "middle") + +NX, NY = 330, 92 +add(f'') +txt(NX+13, NY+21, "FIND PIN 1 BEFORE YOU COUNT", 9.5, "#991b1b", weight="bold") +txt(NX+13, NY+38, "It is the only SQUARE pad on the header.", 8.6, "#991b1b") +txt(NX+13, NY+53, "Nearest the USB-C power connector.", 8.6, "#991b1b") +txt(NX+13, NY+68, "Pin 2 sits beside pin 1, in the other row.", 8.6, "#991b1b") +add(f'') + +# ---------------- ESP32 ---------------- +EX, EY, EW, EH = 110, 150, 190, 210 +add(f'') +add(f'') +txt(EX+95, EY+59, "ESP-32", 13, "#1f2937", "middle", "bold") + +tx = (EX + EW, EY + 150) +add(f'') +txt(tx[0]-14, tx[1]+3, "TX0 / GPIO1", 10, "#f9fafb", "end", "bold") +txt(tx[0]-14, tx[1]+17, "j15 on the breadboard", 8, "#9ca3af", "end") + +vin = (EX + 62, EY + EH) +gnd = (EX + 132, EY + EH) +for (px, py), lab, col in ((vin, "VIN", RED), (gnd, "GND", BLACK)): + add(f'') + txt(px, py-14, lab, 9, "#f9fafb", "middle", "bold") + +# ---------------- X1202 ---------------- +XX, XY, XW, XH_ = 110, 470, 190, 86 +add(f'') +txt(XX+XW/2, XY+40, "X1202 UPS", 12, "#f9fafb", "middle", "bold") +txt(XX+XW/2, XY+58, "XH2.54 5V output", 8.5, "#cbd5e1", "middle") +txt(XX+XW/2, XY+104, "powers the Pi → this GND IS the Pi's GND", 8.5, "#6b7280", "middle") +x5v = (XX + 62, XY) +xgnd = (XX + 132, XY) +for (px, py), lab, col in ((x5v, "5V", RED), (xgnd, "GND", BLACK)): + add(f'') + txt(px, py+22, lab, 9, "#f9fafb", "middle", "bold") + +# ---------------- wires ---------------- +wire([x5v, vin], RED) # power pair, straight up +wire([xgnd, gnd], BLACK) +wire([tx, (460, tx[1]), (460, 420), (hole[10][0], 420), # the only Pi-header wire + hole[10]], GREEN) + +# ---------------- table ---------------- +TY = 600 +txt(24, TY, "THE WIRES", 13, weight="bold") +rows = [ + ("X1202 5V", "ESP32 VIN", RED, "power in — never into a Pi GPIO"), + ("X1202 GND", "ESP32 GND", BLACK, "also the Pi's ground: same node, shared reference"), + ("ESP32 TX0 / GPIO1", "Pi pin 10 (GPIO15 · RXD)", GREEN, "panel data → Pi"), +] +yy = TY + 22 +for h, x in (("FROM", 40), ("TO", 250), ("why", 520)): + txt(x, yy, h, 9, "#9ca3af", weight="bold") +yy += 4 +for a, b, col, why in rows: + yy += 28 + add(f'') + add(f'') + txt(40, yy, a, 10.5, weight="bold") + txt(250, yy, b, 10.5, weight="bold") + txt(520, yy, why, 9, "#6b7280") + +# ---------------- notes ---------------- +def box(x, y, w, h, fill, stroke, title, lines, tc): + add(f'') + txt(x+13, y+21, title, 10, tc, weight="bold") + for i, l in enumerate(lines): + txt(x+13, y+40+i*14, l, 8.4, tc) + +BY, BH = 720, 106 +box(24, BY, 388, BH, "#fee2e2", "#fca5a5", "THIS KILLS PINS", [ + "• The X1202's 5V goes to ESP32 VIN and NOWHERE else.", + " Pi GPIO is 3.3 V and not 5 V tolerant.", + "• Never into the ESP32's 3V3 pin either — that bypasses", + " its regulator and puts 5 V on the module.", + "• Pin 8 is the Pi's TXD: land there and you get silence.", +], "#991b1b") + +box(428, BY, 388, BH, "#dbeafe", "#93c5fd", "WHY ONE WIRE TO THE Pi", [ + "The X1202 feeds the Pi, so its GND and the Pi's GND are", + "electrically one node. Grounding the ESP32 at the X1202", + "already references it to the Pi — no separate ground wire", + "to pin 6 is needed. Adding one is harmless (same node) but", + "buys nothing at 9600 baud over this distance.", +], "#1e3a8a") + +box(832, BY, 384, BH, "#fef3c7", "#fbbf24", "WHEN FLASHING OVER USB", [ + "Unplug the X1202 5V from VIN first. Devkits tolerate USB", + "and VIN together via a diode, but powering from both is", + "not worth the risk for the sake of one connector.", + "", + "The signal wire can stay connected throughout.", +], "#78350f") + +add('') +open(__file__.rsplit("/", 1)[0] + "/pi_link_wiring.svg", "w").write("\n".join(s)) +print("wrote pi_link_wiring.svg") diff --git a/firmware/control-panel/docs/gen_wiring.py b/firmware/control-panel/docs/gen_wiring.py new file mode 100644 index 0000000..7e592f7 --- /dev/null +++ b/firmware/control-panel/docs/gen_wiring.py @@ -0,0 +1,266 @@ +"""Second Vision control-panel breadboard wiring diagram. + +EDIT THE CONSTANTS BELOW to match your actual board, then re-run: + python3 local/hardware/gen_wiring.py +""" + +# ============================================================ +# MEASURE YOUR BOARD, THEN EDIT THESE +# ------------------------------------------------------------ +PINS = 38 # count the pins on ONE side: 19 -> use 38, 15 -> use 30 +TOP_ROW = 12 # breadboard row holding the ESP32's TOPMOST pin pair +LEFT_FREE, RIGHT_FREE = "a", "j" # the free hole column beside each pin row +# ============================================================ + +W, H = 1360, 950 +XOFF = 175 + +def y(r): # terminal strip: 30 rows, 0.1" pitch + return 100 + (r - 1) * 20 + +def ry(i): # power rail: 25 holes in 5 groups of 5 + g, h = divmod(i, 5) # groups are separated by a wider gap, and the + return 110 + g * 120 + h * 20 # rail does NOT line up with row numbers + +COL = {c: x + XOFF for c, x in zip("abcde", (110, 130, 150, 170, 190))} +COL.update({c: x + XOFF for c, x in zip("fghij", (250, 270, 290, 310, 330))}) +RAIL_NEG_L, RAIL_POS_L = 40 + XOFF, 62 + XOFF +RAIL_POS_R, RAIL_NEG_R = 380 + XOFF, 402 + XOFF +BOARD_X = 20 + XOFF + +BLUE, RED, BLACK = "#2563eb", "#dc2626", "#111827" +GREEN, YELLOW, TEAL, VIOLET = "#16a34a", "#ca8a04", "#0d9488", "#7c3aed" + +PINOUT = { + 38: (["3V3","EN","GPIO36","GPIO39","GPIO34","GPIO35","GPIO32","GPIO33","GPIO25", + "GPIO26","GPIO27","GPIO14","GPIO12","GND","GPIO13","GPIO9","GPIO10","GPIO11","5V"], + ["GND","GPIO23","GPIO22","GPIO1","GPIO3","GPIO21","GND","GPIO19","GPIO18", + "GPIO5","GPIO17","GPIO16","GPIO4","GPIO0","GPIO2","GPIO15","GPIO8","GPIO7","GPIO6"]), + 30: (["EN","GPIO36","GPIO39","GPIO34","GPIO35","GPIO32","GPIO33","GPIO25","GPIO26", + "GPIO27","GPIO14","GPIO12","GPIO13","GND","VIN"], + ["GPIO23","GPIO22","GPIO1","GPIO3","GPIO21","GPIO19","GPIO18","GPIO5","GPIO17", + "GPIO16","GPIO4","GPIO2","GPIO15","GND","3V3"]), +} +LEFT, RIGHT = PINOUT[PINS] +USED = {"GPIO18","GPIO17","GPIO22","GPIO34","3V3"} +AVOID = {"GPIO1","GPIO3","GPIO0","GPIO6","GPIO7","GPIO8","GPIO9","GPIO10","GPIO11"} + +def find(name): + if name in LEFT: + return TOP_ROW + LEFT.index(name), LEFT_FREE, "L" + return TOP_ROW + RIGHT.index(name), RIGHT_FREE, "R" + +def hole(name): + r, c, _ = find(name) + return COL[c], y(r) + +def label(name): + r, c, _ = find(name) + return f"{c}{r}" + +s = [f'', + f''] +add = s.append + +def txt(x, yy, t, size=10, fill="#111827", anchor="start", weight="normal"): + add(f'{t}') + +def wire(x1, y1, x2, y2, color, width=3.2): + add(f'') + for cx, cy in ((x1, y1), (x2, y2)): + add(f'') + +txt(20, 32, "Second Vision — Control Panel Wiring", 19, weight="bold") +txt(20, 52, f"ESP32-WROOM {PINS}-pin · 400-tie breadboard · USB-C facing DOWN · " + f"top pin pair in row {TOP_ROW}", 11, "#6b7280") + +# ---- breadboard --------------------------------------------------------- +add(f'') +add(f'') + +# rails: printed line is drawn in two halves, because most boards break it +for xr, col in ((RAIL_NEG_L, BLUE), (RAIL_POS_L, RED), (RAIL_POS_R, RED), (RAIL_NEG_R, BLUE)): + add(f'') + add(f'') +# Shade each group of 5 so the 5x5 structure is unmistakable — the rail is +# NOT a continuous strip of 30 holes lined up with the row numbers. +for pair in ((RAIL_NEG_L, RAIL_POS_L), (RAIL_POS_R, RAIL_NEG_R)): + x0, x1 = min(pair) - 11, max(pair) + 11 + for g in range(5): + add(f'') +for i in range(25): + for xr in (RAIL_NEG_L, RAIL_POS_L, RAIL_POS_R, RAIL_NEG_R): + add(f'') + +for r in range(1, 31): + for c in "abcdefghij": + add(f'') +for c in "abcdefghij": + txt(COL[c], 92, c, 9, "#9ca3af", "middle") +for r in range(1, 31): + if r % 2 == 0 or r == 1: + txt(BOARD_X + 68, y(r) + 3, str(r), 8, "#94a3b8", "middle") + txt(BOARD_X + 336, y(r) + 3, str(r), 8, "#94a3b8", "middle") +txt(BOARD_X + 202, 718, "power rails: 25 holes in 5 groups of 5 — they do NOT line up with the row numbers", + 8.5, "#6b7280", "middle") +txt(BOARD_X + 202, 732, "every hole in one rail half is the SAME node, so any free hole works", + 8.5, "#6b7280", "middle") + +# ---- ESP32 -------------------------------------------------------------- +bot = TOP_ROW + len(LEFT) - 1 +add(f'') +add(f'') +txt(COL["e"]+30, y(TOP_ROW+3)+6, "ESP-32", 12, "#1f2937", "middle", "bold") +txt(COL["e"]+30, y(bot)+14, "USB-C ▼", 9, "#9ca3af", "middle") +for names, col, anchor, dx in ((LEFT, "b", "start", 10), (RIGHT, "i", "end", -10)): + for i, name in enumerate(names): + r = TOP_ROW + i + fill = "#fbbf24" if name in USED else ("#7f1d1d" if name in AVOID else "#9ca3af") + add(f'') + t = name + (" ← pot wiper" if name == "GPIO34" else "") + txt(COL[col]+dx, y(r)+3, t, 7.5, "#f9fafb" if name in USED else "#9ca3af", anchor) + +# ---- tactile buttons ---------------------------------------------------- +def button(rt, rb, lab, sub, dim=False): + """dim=True marks a control that is wired for bench testing but is NOT a + shipping user feature — see the note in the legend.""" + body, knob = ("#9ca3af", "#cbd5e1") if dim else ("#374151", "#4b5563") + dash = ' stroke-dasharray="4 3"' if dim else "" + add(f'') + add(f'') + for rr in (rt, rb): + for cc in ("e", "f"): + add(f'') + txt(COL["e"]+30, y(rb)+26, f"{lab} — {sub}", 8.5, + "#6b7280" if dim else "#111827", "middle", "bold") +button(6, 8, "STATUS", "is it alive?") + +# ---- potentiometer ------------------------------------------------------ +PX, PY = 105, 330 +add(f'') +add(f'') +add(f'') +txt(PX, PY-58, "B10K", 11, "#111827", "middle", "bold") +txt(PX, PY-72, "POTENTIOMETER", 9, "#6b7280", "middle") +for lx, lab in ((-30, "1"), (0, "W"), (30, "3")): + add(f'') + txt(PX+lx, PY+74, lab, 8.5, "#6b7280", "middle") +txt(PX, PY+138, "W = wiper (middle leg)", 8, "#6b7280", "middle") +txt(PX, PY+152, "outer legs interchangeable —", 8, "#6b7280", "middle") +txt(PX, PY+164, "swap them if it reads backwards", 8, "#6b7280", "middle") + +# ---- the two rockers ---------------------------------------------------- +# One per capability. Each owns a model AND the output channel that model +# feeds — a model with no route to the user is just heat. +RX = 645 +def rocker(y0, name, sub1, sub2, accent): + add(f'') + add(f'') + txt(RX+52, y0+34, name, 10, "#f9fafb", "middle", "bold") + txt(RX+52, y0+70, sub1, 9, "#111827", "middle", "bold") + txt(RX+52, y0+84, sub2, 8.5, "#6b7280", "middle") + +rocker(300, "DEPTH", "depth estimation", "+ vibration motors", TEAL) +rocker(460, "DETECT", "object detection", "+ speech (TTS)", GREEN) + +# ---- wires -------------------------------------------------------------- +v3x, v3y = hole("3V3") +gx, gy = hole("GND") +v3rail = RAIL_POS_L if find("3V3")[2] == "L" else RAIL_POS_R +gndrail = RAIL_NEG_L if find("GND")[2] == "L" else RAIL_NEG_R + +wire(v3x, v3y, v3rail, ry(9), RED) # 1 3V3 -> + rail +wire(gx, gy, gndrail, ry(20), BLACK) # 2 GND -> - rail +wire(RAIL_NEG_L, ry(0), RAIL_NEG_R, ry(0), BLACK) # 3 join - rails +wire(RAIL_NEG_L, ry(8), RAIL_NEG_L, ry(16), BLACK) # 4 bridge the split +wire(RAIL_POS_L, ry(8), RAIL_POS_R, ry(8), RED) # 5 join + rails +wire(COL["b"], y(6), RAIL_NEG_L, ry(4), BLACK) # 6 STATUS gnd +wire(COL["g"], y(8), *hole("GPIO22"), YELLOW) # 7 STATUS sig +wire(RX, 316, *hole("GPIO18"), TEAL) # DEPTH signal +wire(RX, 340, RAIL_NEG_R, ry(7), BLACK) # DEPTH return +wire(RX, 476, *hole("GPIO17"), GREEN) # DETECT signal +wire(RX, 500, RAIL_NEG_R, ry(13), BLACK) # DETECT return +wire(PX-30, PY+60, RAIL_POS_L, ry(13), RED) # pot leg 1 +wire(PX, PY+60, *hole("GPIO34"), VIOLET) # pot wiper +wire(PX+30, PY+60, RAIL_NEG_L, ry(12), BLACK) # pot leg 3 + +# ---- legend ------------------------------------------------------------- +LX = 795 +add(f'') +txt(LX, 112, "JUMPER WIRES", 13, weight="bold") +rows = [ + ("M-M", f'{label("3V3")} (3V3)', "left + rail", RED, "power bus"), + ("M-M", f'{label("GND")} (GND)', "left - rail", BLACK, "ground bus"), + ("M-M", "left - rail", "right - rail", BLACK, "join both ground rails"), + ("M-M", "left - rail UPPER half", "left - rail LOWER half", BLACK,"bridge the split"), + ("M-M", "left + rail", "right + rail", RED, "join both power rails"), + ("M-M", "b6 STATUS gnd", "left - rail", BLACK, "status return"), + ("M-M", "g8 STATUS sig", f'{label("GPIO22")} GPIO22', YELLOW,"liveness check"), + ("--", "DEPTH rocker signal", f'{label("GPIO18")} GPIO18', TEAL, "depth + motors"), + ("--", "DEPTH rocker return", "right - rail", BLACK, "switch's own wire"), + ("--", "DETECT rocker signal", f'{label("GPIO17")} GPIO17', GREEN, "detection + TTS"), + ("--", "DETECT rocker return", "right - rail", BLACK, "switch's own wire"), + ("M-F", "POT outer leg 1", "left + rail", RED, "3V3"), + ("M-F", "POT WIPER (middle)", f'{label("GPIO34")} GPIO34', VIOLET,"strength signal"), + ("M-F", "POT outer leg 3", "left - rail", BLACK, "ground"), +] +yy = 140 +for h, x in (("TYPE", 0), ("FROM", 52), ("TO", 215), ("PURPOSE", 380)): + txt(LX+x, yy, h, 8.5, "#9ca3af", weight="bold") +yy += 8 +for t, a, b, col, why in rows: + yy += 25 + add(f'') + add(f'') + txt(LX+16, yy, t, 8.5, "#6b7280") + txt(LX+52, yy, a, 10) + txt(LX+203, yy, "→", 10, "#9ca3af") + txt(LX+215, yy, b, 10) + txt(LX+380, yy, why, 8.5, "#6b7280") +yy += 32 +txt(LX, yy, "7 male-male + 3 male-female + each rocker's own 2 wires", 10, weight="bold") + +yy += 26 +add(f'') +for i, line in enumerate([ + "WHAT SHIPS TO THE USER", + "One LATCHING rocker per capability, each owning a model and", + "the channel it speaks through: DETECT = YOLOv8 + speech,", + "DEPTH = SC-DepthV3 + motors. Position is readable by touch.", + "The pair sets the pipeline mode; there is no separate mode", + "control, so the panel can never show a state that is not", + "running. Both OFF = both channels gated = a silent device.", + "STATUS answers \u201cis it alive?\u201d \u2014 silence and stillness are", + "otherwise indistinguishable from a crash.", +]): + txt(LX+10, yy+4+i*16, line, 8.5 if i else 10, "#1e3a8a", weight="bold" if i == 0 else "normal") + +yy += 174 +add(f'') +for i, line in enumerate([ + "VERIFY, THEN RE-RUN gen_wiring.py", + f"• Pins on ONE side: 19 -> PINS=38, 15 -> PINS=30. Now: {PINS}.", + f"• Row of the TOPMOST pin pair. Now: TOP_ROW={TOP_ROW}.", + "• Switches straddle the channel; wire DIAGONALLY.", + "• Row 12 is 3V3 (left) AND GND (right) - never bridge it.", +]): + txt(LX+10, yy+4+i*16, line, 8.5 if i else 10, "#78350f", weight="bold" if i == 0 else "normal") + +yy += 110 +add(f'') +txt(LX+10, yy+4, "NEVER WIRE THESE (dark red pins)", 10, "#991b1b", weight="bold") +txt(LX+10, yy+21, "GPIO1 / GPIO3 - your serial link to the Pi", 9, "#991b1b") +txt(LX+10, yy+37, "GPIO0 - bootloader GPIO6-11 - SPI flash", 9, "#991b1b") + +add('') +open(__file__.rsplit("/", 1)[0] + "/breadboard_wiring.svg", "w").write("\n".join(s)) +print(f"wrote breadboard_wiring.svg (PINS={PINS}, TOP_ROW={TOP_ROW})") diff --git a/firmware/control-panel/docs/pi_link_wiring.png b/firmware/control-panel/docs/pi_link_wiring.png new file mode 100644 index 0000000..65f2ef1 Binary files /dev/null and b/firmware/control-panel/docs/pi_link_wiring.png differ diff --git a/firmware/control-panel/docs/pi_link_wiring.svg b/firmware/control-panel/docs/pi_link_wiring.svg new file mode 100644 index 0000000..75457d7 --- /dev/null +++ b/firmware/control-panel/docs/pi_link_wiring.svg @@ -0,0 +1,112 @@ + + +Second Vision — ESP32 → Raspberry Pi 5 link +Power from the X1202's XH2.54 header. Only ONE wire touches the Pi's GPIO header. + +Pi 40-PIN HEADER (first 10 pins) + +1 +3V3 + +2 +5V + +3 +GPIO2 + +4 +5V + +5 +GPIO3 + +6 +GND + +7 +GPIO4 + +8 +GPIO14 TXD + +9 +GND + +10 +GPIO15 RXD +… +… + +FIND PIN 1 BEFORE YOU COUNT +It is the only SQUARE pad on the header. +Nearest the USB-C power connector. +Pin 2 sits beside pin 1, in the other row. + + + +ESP-32 + +TX0 / GPIO1 +j15 on the breadboard + +VIN + +GND + +X1202 UPS +XH2.54 5V output +powers the Pi → this GND IS the Pi's GND + +5V + +GND + + + + + + + + + +THE WIRES +FROM +TO +why + + +X1202 5V +ESP32 VIN +power in — never into a Pi GPIO + + +X1202 GND +ESP32 GND +also the Pi's ground: same node, shared reference + + +ESP32 TX0 / GPIO1 +Pi pin 10 (GPIO15 · RXD) +panel data → Pi + +THIS KILLS PINS +• The X1202's 5V goes to ESP32 VIN and NOWHERE else. + Pi GPIO is 3.3 V and not 5 V tolerant. +• Never into the ESP32's 3V3 pin either — that bypasses + its regulator and puts 5 V on the module. +• Pin 8 is the Pi's TXD: land there and you get silence. + +WHY ONE WIRE TO THE Pi +The X1202 feeds the Pi, so its GND and the Pi's GND are +electrically one node. Grounding the ESP32 at the X1202 +already references it to the Pi — no separate ground wire +to pin 6 is needed. Adding one is harmless (same node) but +buys nothing at 9600 baud over this distance. + +WHEN FLASHING OVER USB +Unplug the X1202 5V from VIN first. Devkits tolerate USB +and VIN together via a diode, but powering from both is +not worth the risk for the sake of one connector. + +The signal wire can stay connected throughout. + \ No newline at end of file diff --git a/firmware/control-panel/panel_monitor.py b/firmware/control-panel/panel_monitor.py new file mode 100755 index 0000000..98761bd --- /dev/null +++ b/firmware/control-panel/panel_monitor.py @@ -0,0 +1,278 @@ +#!/usr/bin/env python3 +""" +Second Vision — control-panel protocol monitor and validator (PROTOCOL v1). + +Runs anywhere pyserial does. No Hailo, no GStreamer, no repo checkout — it is +self-contained inside this folder on purpose, so the panel can be exercised on a +laptop with nothing but a USB cable when the Raspberry Pi is not to hand. + + pip install pyserial + python3 panel_monitor.py COM7 # Windows + python3 panel_monitor.py /dev/ttyUSB0 # Linux laptop, USB + python3 panel_monitor.py /dev/serial0 # on the Pi, over the GPIO link + + --raw also print every line exactly as received, garbage included + --baud N override 9600 (you should not need this) + +It does not merely tolerate the protocol, it CHECKS it, because the point is to +tell whether the firmware is right — not to be lenient about it: + + * V: version present at boot, and equal to 1 + * M: arrives LAST in a burst (it is the commit marker) + * S: keys are known, values are in range and correctly formatted + * B:alive within the watchdog window (protocol §2.6.5) + * mode agrees with the two rocker flags that preceded it + +Exit with Ctrl-C; a summary of every problem seen is printed on the way out. +""" + +import argparse +import sys +import time + +try: + import serial +except ImportError: + sys.exit("pyserial is required: pip install pyserial") + +PROTOCOL_VERSION = 1 +BAUD = 9600 +ALIVE_TIMEOUT = 30.0 # §2.6.5: no B:alive for >30 s is a fault +MAX_LINE = 64 + +BOOL_KEYS = {"tts_enabled", "vibration_enabled"} +FLOAT_KEYS = {"motor_strength"} +VALID_MODES = {"detection", "depth", "both", "none"} + +# Never let an encoding fault kill the monitor mid-session: a Windows console +# defaults to cp1252, which cannot encode the box-drawing and arrow glyphs, and +# the traceback took the summary down with it. +try: + sys.stdout.reconfigure(errors="replace") +except (AttributeError, ValueError): # pragma: no cover — very old interpreters + pass + + +def _encodable(text): + """True if this console can actually render `text`.""" + try: + text.encode(sys.stdout.encoding or "ascii") + return True + except (UnicodeEncodeError, LookupError, TypeError): + return False + + +# Prefer the nicer glyphs, fall back to ASCII on a console that cannot encode +# them. `errors="replace"` above stops a crash either way; this stops the output +# turning into a field of question marks on cp1252. +_UNICODE_OK = _encodable("→─✗") +ARROW = "→" if _UNICODE_OK else ">" +RULE = "──" if _UNICODE_OK else "--" +CROSS = "✗" if _UNICODE_OK else "x" +BULLET = "•" if _UNICODE_OK else "-" + +# ANSI colour is meaningless when piped to a file, and legacy consoles print the +# escapes literally. +_COLOR = sys.stdout.isatty() +RESET, BOLD, DIM = ("\033[0m", "\033[1m", "\033[2m") if _COLOR else ("", "", "") +RED, GREEN, YELLOW, CYAN = ( + ("\033[31m", "\033[32m", "\033[33m", "\033[36m") if _COLOR else ("", "", "", "")) + + +class Monitor: + def __init__(self, raw=False): + self.raw = raw + self.state = {} # the SystemConfig the Pi would end up with + self.mode = None + self.version = None + self.problems = [] + # Armed at construction, NOT left None until the first beat. A panel + # that never heartbeats at all is the failure most worth catching — and + # is exactly what broken B:alive looks like — so the first window has to + # count from when we opened the port. + self.last_alive = time.monotonic() + self.ever_alive = False + self.pending = [] # S: lines since the last commit marker + self.counts = {"S": 0, "M": 0, "B": 0, "V": 0, "garbage": 0} + + def problem(self, msg): + self.problems.append(msg) + print(f" {RED}{CROSS} {msg}{RESET}") + + # ---- the four line types ------------------------------------------ + + def on_version(self, body): + self.counts["V"] += 1 + parts = body.split(":") + if len(parts) != 2 or parts[0] != "panel": + return self.problem(f"malformed version line: V:{body}") + try: + v = int(parts[1]) + except ValueError: + return self.problem(f"non-numeric version: V:{body}") + self.version = v + if v != PROTOCOL_VERSION: + self.problem(f"protocol version {v}, this monitor speaks " + f"{PROTOCOL_VERSION} — expect disagreement") + else: + print(f" {GREEN}panel booted, protocol v{v}{RESET}") + + def on_setting(self, body): + self.counts["S"] += 1 + parts = body.split(":") + if len(parts) != 2: + return self.problem(f"malformed setting: S:{body}") + key, raw = parts + + if key in BOOL_KEYS: + if raw not in ("0", "1"): + return self.problem(f"{key} should be 0 or 1, got {raw!r}") + value = raw == "1" + elif key in FLOAT_KEYS: + # §2.2 says always two decimals — a bare "1" would still parse as a + # float, so check the format rather than only the value. + if len(raw.split(".")[-1]) != 2 or "." not in raw: + self.problem(f"{key} must have exactly 2 decimals, got {raw!r}") + try: + value = float(raw) + except ValueError: + return self.problem(f"{key} is not a number: {raw!r}") + if not 0.0 <= value <= 1.0: + self.problem(f"{key} out of range 0.00-1.00: {value}") + else: + # §2.6.2 — a future panel may send keys this version does not know. + # Not an error; worth showing so a typo does not hide as one. + print(f" {YELLOW}? unknown setting {key}={raw} (ignored, per " + f"§2.6.2){RESET}") + return + + prev = self.state.get(key) + self.state[key] = value + self.pending.append(key) + marker = " " if prev == value else f"{CYAN}{ARROW}{RESET}" + print(f" {marker} {key} = {value}") + + def on_mode(self, body): + self.counts["M"] += 1 + if body not in VALID_MODES: + # §2.6.3 — ignore and hold the last known-good mode. + return self.problem(f"unknown mode {body!r} (holding {self.mode!r})") + + # M: is the commit marker: whatever preceded it in this burst is current. + expected = self._mode_from_flags() + if expected and body != expected: + self.problem(f"mode {body!r} disagrees with the flags in this burst " + f"(tts/vibration imply {expected!r})") + + changed = body != self.mode + self.mode = body + self.pending.clear() + tag = f"{CYAN}{ARROW}{RESET}" if changed else " " + note = "" if changed else f" {DIM}(unchanged — no rebuild){RESET}" + print(f" {tag} MODE = {BOLD}{body}{RESET}{note}") + + def on_event(self, body): + self.counts["B"] += 1 + if body == "alive": + gap = time.monotonic() - self.last_alive if self.ever_alive else None + self.last_alive = time.monotonic() + self.ever_alive = True + g = "" if gap is None else f" {DIM}(+{gap:.1f}s){RESET}" + print(f" {DIM}heartbeat{RESET}{g}") + elif body == "status": + print(f" {BOLD}STATUS pressed{RESET} — Pi would speak the full config") + else: + print(f" {YELLOW}? unknown event B:{body}{RESET}") + + def _mode_from_flags(self): + """The mode the two rocker flags imply, if we have both.""" + det, dep = self.state.get("tts_enabled"), self.state.get("vibration_enabled") + if det is None or dep is None: + return None + return ("both" if det and dep else + "detection" if det else + "depth" if dep else "none") + + # ---- dispatch ------------------------------------------------------ + + def feed(self, line): + if self.raw: + print(f"{DIM}{line!r}{RESET}") + if not line: + return + if len(line) > MAX_LINE: + self.problem(f"line exceeds {MAX_LINE} bytes ({len(line)})") + + kind, _, body = line.partition(":") + if not body: + # Not a protocol line at all. The ESP32 ROM bootloader emits its log + # at 115200 on every reset; at 9600 that arrives as mojibake. §2.6.1 + # requires discarding it silently — count it so it is visible, but + # never treat it as an error. + self.counts["garbage"] += 1 + return + handler = {"V": self.on_version, "S": self.on_setting, + "M": self.on_mode, "B": self.on_event}.get(kind) + if handler: + handler(body) + else: + self.counts["garbage"] += 1 + + def check_watchdog(self): + if time.monotonic() - self.last_alive > ALIVE_TIMEOUT: + what = ("no B:alive for >%.0fs — panel fault (§2.6.5)" % ALIVE_TIMEOUT + if self.ever_alive else + "no B:alive in the first %.0fs — panel is not heartbeating " + "at all (§2.6.5)" % ALIVE_TIMEOUT) + self.problem(what) + self.last_alive = time.monotonic() # report once per window + + def summary(self): + print(f"\n{BOLD}{RULE} summary {RULE}{RESET}") + print(f" protocol version : {self.version}") + print(f" final mode : {self.mode}") + for k in sorted(self.state): + print(f" {k:<17}: {self.state[k]}") + c = self.counts + print(f" lines : S={c['S']} M={c['M']} B={c['B']} " + f"V={c['V']} discarded={c['garbage']}") + if self.problems: + print(f"\n {RED}{len(self.problems)} problem(s):{RESET}") + for p in self.problems: + print(f" {RED}{BULLET}{RESET} {p}") + else: + print(f"\n {GREEN}no protocol violations seen{RESET}") + + +def main(): + ap = argparse.ArgumentParser(description=__doc__, + formatter_class=argparse.RawDescriptionHelpFormatter) + ap.add_argument("port", help="serial device, e.g. COM7 or /dev/ttyUSB0") + ap.add_argument("--baud", type=int, default=BAUD) + ap.add_argument("--raw", action="store_true", + help="also print every line exactly as received") + args = ap.parse_args() + + try: + port = serial.Serial(args.port, args.baud, timeout=1.0) + except Exception as exc: + sys.exit(f"could not open {args.port}: {exc}") + + print(f"{BOLD}listening on {args.port} @ {args.baud}{RESET} — flip a rocker, " + f"turn the knob, press STATUS. Ctrl-C to stop.\n") + mon = Monitor(raw=args.raw) + try: + while True: + raw = port.readline() + if raw: + mon.feed(raw.decode(errors="ignore").strip()) + mon.check_watchdog() + except KeyboardInterrupt: + pass + finally: + port.close() + mon.summary() + + +if __name__ == "__main__": + main() diff --git a/firmware/control-panel/platformio.ini b/firmware/control-panel/platformio.ini new file mode 100644 index 0000000..f5d2f78 --- /dev/null +++ b/firmware/control-panel/platformio.ini @@ -0,0 +1,72 @@ +; Second Vision — ESP32 physical control panel +; +; Several build environments share one source folder. build_src_filter picks +; which file compiles, so the sketches live side by side without a second +; project: +; +; pio run -e polarity -t upload bring-up: prints raw pin states +; pio run -e panel -t upload the real panel firmware +; pio run -e bench -t upload panel firmware, pot compiled out +; +; In VS Code, switch environments from the PlatformIO toolbar at the bottom. + +[platformio] +default_envs = panel +src_dir = src + +[env] +platform = espressif32 +framework = arduino + +; Must match _open_config_port() in +; src/second_vision/workers/config_reader.py. The ESP32's own boot log is +; emitted at 115200, so expect a burst of garbage on reset — that is the ROM +; bootloader, not a baud mismatch in your code. +monitor_speed = 9600 +; 115200, not 921600. Verified on the real board (ESP32-D0WD-V3 rev 3.1): chip +; identification succeeds at the handshake, then BOTH 921600 and 460800 die the +; moment esptool switches to the high rate for the stub — +; "A fatal error occurred: Serial data stream stopped: Possible serial noise +; or corruption." +; 115200 writes the whole image in ~14 s. Slow is not the problem; a flash that +; fails two thirds of the time is. +; +; This DevKit's auto-reset is also unreliable: hold IO0 for the ENTIRE upload, +; not just at the start. Releasing early gives "Wrong boot mode detected (0x13)" +; or "No serial data received"; holding EN by mistake gives the latter too. +upload_speed = 115200 + +; Decodes stack traces into file:line if the firmware ever panics. +monitor_filters = esp32_exception_decoder + +build_flags = -Wall + +[env:panel] +; Deployment build: real controls, pot fitted. +board = esp32dev ; generic ESP32-WROOM devkit (30- and 38-pin) +build_src_filter = -<*> + +upload_port = /dev/ttyUSB* +monitor_port = /dev/ttyUSB* + +[env:polarity] +board = esp32dev ; generic ESP32-WROOM devkit (30- and 38-pin) +build_src_filter = -<*> + +upload_port = /dev/ttyUSB* +monitor_port = /dev/ttyUSB* + +[env:bench] +; Laptop testing with a bare board and no breadboard. +; +; Same firmware as `panel` with the potentiometer compiled out. GPIO34 is +; input-only with no internal pull-up, so an unfitted pot floats and the +; 80-count deadband — sized for a wired pot's dither — is exceeded constantly: +; ~1,625 spurious S:motor_strength lines measured in a 30 s window, about 54/s, +; which saturates the 9600 link on both transports. +; +; Everything else is byte-identical to `panel`, so this exercises the real +; emission path rather than a simulation of it. +board = esp32dev ; generic ESP32-WROOM devkit (30- and 38-pin) +build_src_filter = -<*> + +build_flags = ${env.build_flags} -D HAVE_POT=0 +upload_port = /dev/ttyUSB* +monitor_port = /dev/ttyUSB* \ No newline at end of file diff --git a/firmware/control-panel/src/control_panel.cpp b/firmware/control-panel/src/control_panel.cpp new file mode 100644 index 0000000..eb0ee53 --- /dev/null +++ b/firmware/control-panel/src/control_panel.cpp @@ -0,0 +1,253 @@ +/* + * Second Vision — physical control panel (ESP32-WROOM-32, 38-pin DevKit) + * + * Speaks PROTOCOL v1 (see PROTOCOL.md). One-way, ESP32 -> Pi, 9600 8N1, + * lines terminated with '\n' only, 64 bytes max: + * + * V:panel: protocol version, boot only + * S:: setting + * M: detection | depth | both | none + * B: event + * + * TWO LATCHING ROCKERS, one per capability. Each owns a model AND the output + * channel that model feeds, because a model with no way to reach the user is + * just heat: + * + * DETECT rocker -> YOLOv8 object detection + speech (tts_enabled) + * DEPTH rocker -> SC-DepthV3 depth + motors (vibration_enabled) + * + * Wiring: docs/breadboard_wiring.svg (controls) and docs/pi_link_wiring.svg + * (link to the Pi, powered from the X1202 UPS). + */ +#include +#include + +const uint32_t BAUD = 9600; +const uint8_t PROTOCOL_VERSION = 1; +const uint16_t DEBOUNCE_MS = 50; // generous — the rockers' contacts need it +const size_t MAX_LINE = 64; // protocol cap, enforced in emit() + +/* + * The link to the Pi is UART2 with TX remapped to GPIO23 — deliberately NOT + * UART0. UART0 is the USB serial, and the ROM bootloader dumps its 115200 log + * there on every reset; on a shared UART that garbage lands in the Pi's parser. + * On its own UART the Pi never sees it, and USB stays free for flashing and + * monitoring at the same time. + * + * RX is unused. The panel never reads — a reverse channel is a version bump. + */ +const int8_t PIN_LINK_TX = 23; +const int8_t PIN_LINK_RX = -1; +#define LINK Serial2 + +/* + * Panel and Pi share the X1202, so they power up together and the Pi is ~30 s + * from opening the port. A one-shot report at boot would be lost, leaving + * SystemConfig disagreeing with switches the user can see and feel. So the + * whole state is re-announced on this timer, forever: it survives the boot + * race, a dropped byte, and any restart of main.py while the panel stays + * powered — the common case in development. + * + * Safe ONLY because config_reader.py acts on CHANGES. An unconditional reader + * would rebuild the Hailo pipeline on every one of these. + */ +const uint32_t HEARTBEAT_MS = 10000; + +struct Input { + uint8_t pin; + bool activeLow; + int stable; + int lastRead; + uint32_t changedAt; +}; + +/* + * Pin choice is a safety property, not a preference. GPIO17 and GPIO18 both sit + * with plain GPIOs either side of them (GPIO5/GPIO16 and GPIO19/GPIO5), so a + * jumper one hole off reads wrong instead of shorting. GPIO23 is NOT safe for a + * switch — it is one row from the GND pin, on a row that carries 3V3 on the + * opposite side of the board — which is why it carries the single soldered link + * wire and nothing else. + */ +// pin activeLow +Input detect = { 17, true, HIGH, HIGH, 0 }; // rocker — LATCHING — detection + TTS +Input depth = { 18, true, HIGH, HIGH, 0 }; // rocker — LATCHING — depth + motors +Input statBtn = { 22, true, HIGH, HIGH, 0 }; // tactile button + +/* + * HAVE_POT=0 omits the potentiometer entirely — no reads, no S:motor_strength. + * + * This is not a convenience flag. GPIO34 is input-only with NO internal pull-up + * (correct for a pot, and on ADC1 so it survives WiFi being switched on; ADC2 + * would not). Unconnected, it FLOATS, and the 80-count deadband — sized for a + * wired pot's dither — is exceeded constantly. + * + * Measured on a bare board: ~1,625 spurious S:motor_strength lines in 30 s, + * about 54/s, at 22 bytes each on both transports. Against a 960 B/s budget at + * 9600 baud that leaves emit() blocking almost continuously. Heartbeats and + * rocker events still got through, but on the Pi that noise competes with the + * pipeline for the link. + * + * A grounding jumper on GPIO34 fixes it too, but a jumper is a thing to + * remember and a build flag is not. + */ +#ifndef HAVE_POT +# define HAVE_POT 1 +#endif + +#if HAVE_POT +// Input-only pin, no internal pull-up — correct for a pot, and it is on ADC1, +// which keeps working if WiFi is ever switched on. ADC2 would not. +const uint8_t PIN_KNOB = 34; // B10K wiper +#endif + +#if HAVE_POT +// Hysteresis-filtered knob reading, shared by the pot handler and the state +// burst. The burst must resend the SETTLED value, not a fresh analogRead(): +// the ADC's last bits dither, and a raw read would flip the %.2f output between +// neighbouring values and look like a change on every heartbeat. +int lastRaw = -1000; +#endif + +bool isOn(const Input &in) { + return in.activeLow ? in.stable == LOW : in.stable == HIGH; +} + +// True when the debounced level CHANGED. Both rockers act on BOTH directions — +// which is the entire reason to use latching switches for the two settings you +// most need to feel the position of without looking. +bool settled(Input &in) { + int now = digitalRead(in.pin); + if (now != in.lastRead) { in.lastRead = now; in.changedAt = millis(); } + if (now != in.stable && millis() - in.changedAt > DEBOUNCE_MS) { + in.stable = now; + return true; + } + return false; +} + +/* + * Every protocol line goes out BOTH transports, identically and in the same + * order: LINK for the Pi, USB for the bench and for testing on a laptop with no + * Raspberry Pi attached. One binary, two listeners, no build flag. + * + * On the USB path the ROM bootloader's 115200 log still arrives as garbage at + * 9600 — receivers must discard unparseable lines (protocol §2.6.1). + */ +void emit(const char *fmt, ...) { + char buf[MAX_LINE + 1]; + va_list ap; + va_start(ap, fmt); + vsnprintf(buf, sizeof buf, fmt, ap); + va_end(ap); + LINK.print(buf); + Serial.print(buf); +} + +/* + * Pipeline mode is a pure function of the two rockers — there is no independent + * mode state to drift out of sync with them, which is why the old cycling mode + * button had to go: two controls writing one setting means the panel can show a + * position that is not what is running. + * + * Both off is "none": run nothing. Not "run both and mute" — a model with no + * route to the user is wasted compute, and this device runs on a battery. + */ +const char* modeFor(bool det, bool dep) { + if (det && dep) return "both"; + if (det) return "detection"; + if (dep) return "depth"; + return "none"; +} + +// M: is the COMMIT MARKER. It is always the last line of a state burst, so a +// receiver knows everything before it is current and can ignore partial bursts. +void emitMode() { + emit("M:%s\n", modeFor(isOn(detect), isOn(depth))); +} + +// Either rocker moved. Both flags are sent, not just the one that changed, so +// the burst is self-contained. +void emitRockers() { + emit("S:tts_enabled:%d\n", isOn(detect) ? 1 : 0); + emit("S:vibration_enabled:%d\n", isOn(depth) ? 1 : 0); + emitMode(); +} + +// Everything the Pi needs to reconstruct the panel from scratch. +void emitFullState() { + emit("S:tts_enabled:%d\n", isOn(detect) ? 1 : 0); + emit("S:vibration_enabled:%d\n", isOn(depth) ? 1 : 0); +#if HAVE_POT + emit("S:motor_strength:%.2f\n", lastRaw / 4095.0f); +#endif + emitMode(); +} + +void setup() { + Serial.begin(BAUD); // USB + LINK.begin(BAUD, SERIAL_8N1, PIN_LINK_RX, PIN_LINK_TX); // the Pi + + pinMode(detect.pin, INPUT_PULLUP); + pinMode(depth.pin, INPUT_PULLUP); + pinMode(statBtn.pin, INPUT_PULLUP); + + // Just long enough for both UARTs to settle. We do NOT wait for the Pi here: + // it shares our power supply and is ~30 s behind us, so no delay we could + // reasonably sit through would help. The heartbeat is what closes that gap. + delay(200); + + // Latching switches already have a position before we boot. Read both from + // hardware and report them, never assume — or the physical rockers and + // SystemConfig disagree until they are next flipped, which is the exact + // failure a stateful control exists to prevent. + detect.stable = detect.lastRead = digitalRead(detect.pin); + depth.stable = depth.lastRead = digitalRead(depth.pin); +#if HAVE_POT + lastRaw = analogRead(PIN_KNOB); +#endif + + emit("V:panel:%d\n", PROTOCOL_VERSION); + emitFullState(); +} + +void loop() { + // A rocker moving changes both a capability and its output channel, so the + // flags go out before the mode. The Pi gates speech and motors on those + // flags: switching a capability OFF must silence its channel before the + // pipeline rebuild, never after. + // Both settled() calls must run every pass — they ARE the debounce state + // machines, not just queries. `settled(a) || settled(b)` would short-circuit + // and freeze b's timer on any pass where a changed. + bool detMoved = settled(detect); + bool depMoved = settled(depth); + if (detMoved || depMoved) + emitRockers(); + + if (settled(statBtn) && isOn(statBtn)) + emit("B:status\n"); // Pi speaks the full config aloud + + // Potentiometer -> motor_strength. Hysteresis matters: the ADC's last bits + // dither by a few counts even on a motionless knob, and at 9600 baud an + // unfiltered read would fill the link with meaningless updates and starve the + // switch events behind them. Standalone — the mode has not changed, so no M:. +#if HAVE_POT + int raw = analogRead(PIN_KNOB); // 0..4095 + if (abs(raw - lastRaw) > 80) { + lastRaw = raw; + emit("S:motor_strength:%.2f\n", raw / 4095.0f); + } +#endif + + // Liveness, then state. B:alive is what a receiver's watchdog looks for; the + // burst after it is what lets a Pi that started late catch up. Cheap: five + // short lines per 10 s is ~7 B/s against 960 B/s of 9600-baud budget. + static uint32_t lastBeat = 0; + if (millis() - lastBeat >= HEARTBEAT_MS) { + lastBeat = millis(); + emit("B:alive\n"); + emitFullState(); + } + + delay(5); +} diff --git a/firmware/control-panel/src/polarity_test.cpp b/firmware/control-panel/src/polarity_test.cpp new file mode 100644 index 0000000..f32dbdc --- /dev/null +++ b/firmware/control-panel/src/polarity_test.cpp @@ -0,0 +1,41 @@ +/* + * STEP 3 — polarity check. Upload this BEFORE the real firmware. + * Serial Monitor @ 9600. Actuate each control and watch which number flips. + * + * Expected at rest (both rockers OFF): 17=1 18=1 22=1 pot=0..4095 + * Flipping a rocker ON must take its number to 0 and LEAVE it there — these + * are LATCHING switches, so a number that springs back means you have wired a + * momentary part by mistake. + * Turning the pot end to end must sweep the last number smoothly. + * + * 17 = DETECT rocker -> object detection + TTS + * 18 = DEPTH rocker -> depth estimation + vibration motors + * 22 = status button (momentary — 1 at rest, 0 only while held) + */ +#include + +void setup() { + Serial.begin(9600); + pinMode(17, INPUT_PULLUP); // detect rocker — LATCHING + pinMode(18, INPUT_PULLUP); // depth rocker — LATCHING + pinMode(22, INPUT_PULLUP); // status button — momentary + // GPIO34 is input-only with no internal pull-up — correct for a pot, + // and it needs no pinMode() call at all. +} + +void loop() { + int det = digitalRead(17); + int dep = digitalRead(18); + + // Spell out the mode the pair implies, so you can confirm the two rockers + // combine correctly BEFORE trusting the real firmware to send it. Active LOW: + // 0 means the switch is ON. + const char *mode = (!det && !dep) ? "both" + : (!det) ? "detection" + : (!dep) ? "depth" + : "(none - both off, nothing announced)"; + + Serial.printf("17=%d 18=%d 22=%d pot=%4d mode=%s\n", + det, dep, digitalRead(22), analogRead(34), mode); + delay(200); +} diff --git a/firmware/esp32_haptic_feedback/.gitignore b/firmware/esp32_haptic_feedback/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/firmware/esp32_haptic_feedback/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/firmware/esp32_haptic_feedback/.vscode/extensions.json b/firmware/esp32_haptic_feedback/.vscode/extensions.json new file mode 100644 index 0000000..a91ca8f --- /dev/null +++ b/firmware/esp32_haptic_feedback/.vscode/extensions.json @@ -0,0 +1,11 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack", + "pioarduino.pioarduino-ide" + ] +} diff --git a/firmware/esp32_haptic_feedback/firmware.code-workspace b/firmware/esp32_haptic_feedback/firmware.code-workspace new file mode 100644 index 0000000..6527689 --- /dev/null +++ b/firmware/esp32_haptic_feedback/firmware.code-workspace @@ -0,0 +1,12 @@ +{ + "folders": [ + { + "path": ".." + }, + { + "name": "esp32_haptic_feedback", + "path": "." + } + ], + "settings": {} +} \ No newline at end of file diff --git a/firmware/esp32_haptic_feedback/platformio.ini b/firmware/esp32_haptic_feedback/platformio.ini new file mode 100644 index 0000000..7289abd --- /dev/null +++ b/firmware/esp32_haptic_feedback/platformio.ini @@ -0,0 +1,13 @@ +[platformio] +src_dir = src +include_dir = include + +[env:esp32c3_haptics] +platform = espressif32 +board = seeed_xiao_esp32c3 +framework = arduino +monitor_speed = 115200 +upload_speed = 115200 +lib_deps = + bblanchon/ArduinoJson @ ^7.0.0 + DFRobot/DFRobot_BMI160 @ ^1.0.0 \ No newline at end of file diff --git a/firmware/esp32_haptic_feedback/src/main.cpp b/firmware/esp32_haptic_feedback/src/main.cpp new file mode 100644 index 0000000..91a30b6 --- /dev/null +++ b/firmware/esp32_haptic_feedback/src/main.cpp @@ -0,0 +1,390 @@ +#include +#include +#include +#include + +// --- CONFIGURATION & MODES --- +// Set to true for MAC / Standalone testing (cycles incremental test vibrations) +// Set to false for Deployment mode (listens for binary UART packets from the +// Raspberry Pi 5 on the dedicated PiSerial link, see below) +bool MAC_MODE = true; + +// --- Pins for the Motors (Using XIAO ESP32-C3 mappings) --- +const int leftMotorPin = D0; +const int centerMotorPin = D1; +const int rightMotorPin = D2; + +// --- UART link to the Raspberry Pi (XIAO ESP32-C3) --- +// D6 (TX) / D7 (RX) map to GPIO21 / GPIO20 on this board — confirmed wiring, +// not the default USB debug port. The ESP32-C3's UART peripherals are +// GPIO-matrix-routable, so binding UART1 to these two pins is a config +// choice, not a fixed-function requirement; it keeps the Pi link off `Serial` +// (native USB CDC) entirely, so debug prints never collide with command bytes +// the way they would if both shared one port. +#define PI_TX_PIN D6 +#define PI_RX_PIN D7 +HardwareSerial PiSerial(1); + +// --- Wire protocol (matches src/second_vision/workers/serial_worker.py) --- +// Every packet starts with 0xAA. The byte after that selects the type, which +// fixes how many bytes follow it: +// +// 0x01 motor update left, center, right + 1 checksum byte +// 0x04 hazard alert severity, pattern + 1 checksum byte +// 0xFE heartbeat (no payload) + 1 checksum byte +// +// checksum = msgType XOR every payload byte (0 payload bytes for heartbeat, +// so its checksum is just 0xFE). The board answers every *valid* packet with +// 0xAA 0xFF — that 2-byte prefix is what serial_worker.py scans for. +const uint8_t START_BYTE = 0xAA; +const uint8_t ACK_TYPE = 0xFF; +const uint8_t MSG_MOTOR_UPDATE = 0x01; +const uint8_t MSG_IMU_TELEMETRY = 0x02; // ESP32 -> Pi, no ACK expected back +const uint8_t MSG_HAZARD_ALERT = 0x04; +const uint8_t MSG_HEARTBEAT = 0xFE; + +const uint8_t MOTOR_UPDATE_PAYLOAD_LEN = 3; // left, center, right +const uint8_t HAZARD_ALERT_PAYLOAD_LEN = 2; // severity, pattern + +// IMU telemetry states, sent as a single byte instead of the JSON string used +// on the USB debug path — cheap to add a fourth value later, but the Pi side +// must be updated in lockstep since these are positional, not named. +const uint8_t IMU_STATE_NORMAL = 0; +const uint8_t IMU_STATE_HEAD_MOVING = 1; +const uint8_t IMU_STATE_WRONG_PITCH = 2; + +// A packet that stops arriving mid-way (cable pulled, Pi crashed while +// writing) must not wedge the reader forever waiting for bytes that are never +// coming. Anything slower than this between bytes of the SAME packet is +// treated as a dead packet, and the reader resyncs on the next 0xAA. +const unsigned long BYTE_TIMEOUT_MS = 50; + +// The Pi treats >2.5 s of no ACK as the board being gone (ACK_TIMEOUT_SECONDS +// in serial_worker.py) and stops trusting the link. Symmetrically, the board +// must not keep the motors running on a command the Pi sent a long time ago — +// mirrors the "ESP32 zeroes the motors after 3 s without traffic" contract +// serial_worker.py's heartbeat comment documents. +const unsigned long WATCHDOG_TIMEOUT_MS = 3000; + +// How long a hazard alert overrides the per-zone motor duty before the last +// known-good motor update is restored. Short and blunt on purpose — a ground +// hazard is meant to read as distinct from the continuous per-zone channel, +// not as a fourth intensity level on it. +const unsigned long HAZARD_PULSE_MS = 150; + +// --- Reader state machine --- +enum ReadState { + WAIT_START, + WAIT_TYPE, + READ_PAYLOAD, + READ_CHECKSUM, +}; + +ReadState readState = WAIT_START; +uint8_t currentType = 0; +uint8_t packetPayload[MOTOR_UPDATE_PAYLOAD_LEN]; +uint8_t payloadLen = 0; +uint8_t payloadIndex = 0; +unsigned long lastByteAt = 0; + +// --- Motor state (shared with DEPLOYMENT mode's binary receiver) --- +uint8_t motorDuty[3] = {0, 0, 0}; // left, center, right — last valid update +unsigned long lastPacketAt = 0; +bool motorsZeroed = true; // starts true: nothing commanded yet + +bool hazardActive = false; +unsigned long hazardEndsAt = 0; + +// --- SAFETY FEATURE: Hardware Governor --- +// Raised to 255 (100% full power) to maximize vibration intensity +const int MAX_PWM = 255; + +DFRobot_BMI160 bmi160; +unsigned long lastSensorTime = 0; +const int sensorInterval = 200; + +// --- INCREMENTAL PULSE VARIABLES (MAC MODE) --- +unsigned long lastFadeTime = 0; +const int fadeInterval = 50; // Increases PWM every 50ms +int currentPWM = 0; +const int fadeStep = 15; // How much the power increases per step + +bool imuHealthy = false; + +void applyMotorDuty(uint8_t left, uint8_t center, uint8_t right) { + analogWrite(leftMotorPin, left); + analogWrite(centerMotorPin, center); + analogWrite(rightMotorPin, right); +} + +void sendAck(uint8_t msgType) { + uint8_t ackPacket[] = {START_BYTE, ACK_TYPE, msgType}; + PiSerial.write(ackPacket, sizeof(ackPacket)); +} + +// Outbound ESP32 -> Pi. Big-endian (high byte first) for the two int16 +// fields, matching typical wire-protocol convention; the Pi-side parser must +// agree on this byte order. No ACK is expected back for this message type — +// unlike the inbound motor/hazard/heartbeat packets, nothing on the ESP32 +// currently needs to know the Pi received it. +void sendImuTelemetry(uint8_t state, int16_t rawPitch, int16_t rawYaw) { + uint8_t pitchHi = (uint8_t)((rawPitch >> 8) & 0xFF); + uint8_t pitchLo = (uint8_t)(rawPitch & 0xFF); + uint8_t yawHi = (uint8_t)((rawYaw >> 8) & 0xFF); + uint8_t yawLo = (uint8_t)(rawYaw & 0xFF); + uint8_t checksum = MSG_IMU_TELEMETRY ^ state ^ pitchHi ^ pitchLo ^ yawHi ^ yawLo; + + uint8_t packet[] = {START_BYTE, MSG_IMU_TELEMETRY, state, + pitchHi, pitchLo, yawHi, yawLo, checksum}; + PiSerial.write(packet, sizeof(packet)); +} + +void resetReader() { + readState = WAIT_START; + payloadIndex = 0; +} + +// Applies the effect of one fully-received, checksum-valid packet. Any valid +// packet — including a heartbeat — counts as link traffic and feeds the +// watchdog; only a motor update changes what the motors are doing. +void handlePacket(uint8_t msgType, const uint8_t *body, uint8_t bodyLen) { + lastPacketAt = millis(); + + if (msgType == MSG_MOTOR_UPDATE) { + motorDuty[0] = body[0]; + motorDuty[1] = body[1]; + motorDuty[2] = body[2]; + motorsZeroed = false; + if (!hazardActive) { + applyMotorDuty(motorDuty[0], motorDuty[1], motorDuty[2]); + } + // BENCH-TEST DEBUG — REMOVE AFTER RPi->MOTOR PATH IS VERIFIED. This + // packet is normally applied silently (see the file's top-level note on + // pollPiSerial()/applyMotorDuty()); this print exists only so the + // depth-estimation-to-motor-duty values arriving from the Pi are visible + // on the USB debug console during bench testing, without needing to + // trust the Pi-side log alone. + Serial.printf("[BENCH MOTOR] left=%u center=%u right=%u\n", + motorDuty[0], motorDuty[1], motorDuty[2]); + } else if (msgType == MSG_HAZARD_ALERT) { + uint8_t severity = body[0]; + // `pattern` (body[1]) is reserved on the Pi side for future variants and + // is always 1 today — every pattern value drives the same pulse for now, + // per the "ignore unknown/future values, don't crash" rule the rest of + // this project's protocols already follow. + hazardActive = true; + hazardEndsAt = millis() + HAZARD_PULSE_MS; + applyMotorDuty(severity, severity, severity); + } + // MSG_HEARTBEAT: nothing to apply beyond the watchdog feed above. + + sendAck(msgType); +} + +void pollPiSerial() { + while (PiSerial.available() > 0) { + uint8_t byteIn = PiSerial.read(); + unsigned long now = millis(); + + // A byte that shows up after the in-progress packet has gone stale is + // treated as the start of a fresh attempt rather than being stitched onto + // a dead one. + if (readState != WAIT_START && (now - lastByteAt) > BYTE_TIMEOUT_MS) { + resetReader(); + } + lastByteAt = now; + + switch (readState) { + case WAIT_START: + if (byteIn == START_BYTE) { + readState = WAIT_TYPE; + } + // Anything else is noise (boot chatter, line noise) — discard and + // keep scanning. + break; + + case WAIT_TYPE: + currentType = byteIn; + if (currentType == MSG_MOTOR_UPDATE) { + payloadLen = MOTOR_UPDATE_PAYLOAD_LEN; + } else if (currentType == MSG_HAZARD_ALERT) { + payloadLen = HAZARD_ALERT_PAYLOAD_LEN; + } else if (currentType == MSG_HEARTBEAT) { + payloadLen = 0; + } else { + // Unknown type: its length isn't known, so the packet can't be + // framed at all. Drop just this byte and resync on the next 0xAA + // rather than guessing a length and misreading everything after. + resetReader(); + break; + } + payloadIndex = 0; + readState = (payloadLen == 0) ? READ_CHECKSUM : READ_PAYLOAD; + break; + + case READ_PAYLOAD: + packetPayload[payloadIndex++] = byteIn; + if (payloadIndex >= payloadLen) { + readState = READ_CHECKSUM; + } + break; + + case READ_CHECKSUM: { + uint8_t checksum = currentType; + for (uint8_t i = 0; i < payloadLen; i++) { + checksum ^= packetPayload[i]; + } + if (byteIn == checksum) { + handlePacket(currentType, packetPayload, payloadLen); + } + // A bad checksum is dropped silently: acting on a corrupted motor + // command is worse than a skipped frame, and the next frame is only + // ~33 ms behind it. + resetReader(); + break; + } + } + } +} + +void applyWatchdog() { + if (motorsZeroed) { + return; + } + if (millis() - lastPacketAt > WATCHDOG_TIMEOUT_MS) { + motorDuty[0] = motorDuty[1] = motorDuty[2] = 0; + hazardActive = false; + applyMotorDuty(0, 0, 0); + motorsZeroed = true; + Serial.println("[WATCHDOG] No traffic from Pi for 3s — motors zeroed."); + } +} + +void applyHazardExpiry() { + if (hazardActive && millis() >= hazardEndsAt) { + hazardActive = false; + applyMotorDuty(motorDuty[0], motorDuty[1], motorDuty[2]); + } +} + +void setup() { + Serial.begin(115200); + + // Dedicated UART to the Pi — separate from the USB `Serial` used for debug + // prints and IMU telemetry above, so command bytes never share a port with + // log output. + PiSerial.begin(115200, SERIAL_8N1, PI_RX_PIN, PI_TX_PIN); + + pinMode(leftMotorPin, OUTPUT); + pinMode(centerMotorPin, OUTPUT); + pinMode(rightMotorPin, OUTPUT); + analogWrite(leftMotorPin, 0); + analogWrite(centerMotorPin, 0); + analogWrite(rightMotorPin, 0); + + // Initialize I2C for IMU sensor (BMI160) + Wire.begin(D4, D5); + bmi160.softReset(); + + if (bmi160.I2cInit(0x69) == 0) { + imuHealthy = true; + Serial.println("[SYSTEM] BMI160 IMU Initialized Successfully."); + } else { + imuHealthy = false; + Serial.println("[ERROR] BMI160 IMU Initialization Failed! Check wiring."); + } + + Serial.println(MAC_MODE ? "\n[SYSTEM] --- BOOTED IN MAC (INCREMENTAL FADE) MODE ---" : "\n[SYSTEM] --- BOOTED IN DEPLOYMENT (UART) MODE ---"); +} + +void loop() { + unsigned long currentMillis = millis(); + + // ================================================================= + // MODE 1: MAC MODE (Incremental Power: Low to High, then Loop) + // ================================================================= + if (MAC_MODE) { + if (currentMillis - lastFadeTime >= fadeInterval) { + lastFadeTime = currentMillis; + + // Apply current power to all motors + analogWrite(leftMotorPin, currentPWM); + analogWrite(centerMotorPin, currentPWM); + analogWrite(rightMotorPin, currentPWM); + + Serial.printf("[MAC MODE] Motors vibrating at PWM: %d\n", currentPWM); + + // Increment power + currentPWM += fadeStep; + + // Loop back to low once it exceeds maximum power + if (currentPWM > MAX_PWM) { + currentPWM = 0; + Serial.println("[MAC MODE] --- Max power reached. Looping back to 0 ---"); + } + } + } + // ================================================================= + // MODE 2: DEPLOYMENT MODE (Connected to RPi5 via PiSerial, D6/D7) + // ================================================================= + // Binary protocol matching src/second_vision/workers/serial_worker.py — + // see the packet definitions and pollPiSerial() above. Motor duty arrives + // pre-shaped (0-255) from the Pi's HapticMapper; this stage applies it + // as-is and does not add its own curve or floor. + else { + pollPiSerial(); + applyHazardExpiry(); + applyWatchdog(); + } + + // ================================================================= + // SENSOR READING & WALKING TOLERANCE (IMU Telemetry) + // ================================================================= + if (currentMillis - lastSensorTime >= sensorInterval) { + lastSensorTime = currentMillis; + + if (imuHealthy) { + int16_t sensorData[6] = {0}; + if(bmi160.getAccelGyroData(sensorData) == 0) { + int16_t gyroYaw = sensorData[2]; + int16_t accelPitch = sensorData[4]; + + // --- SELF-HEALING BROWNOUT RECOVERY --- + if (gyroYaw == 0 && accelPitch == 0) { + Serial.println("[WARNING] SENSOR BROWNOUT DETECTED. REBOOTING IMU..."); + imuHealthy = (bmi160.I2cInit(0x69) == 0); + return; + } + + String currentState = "normal"; + uint8_t stateByte = IMU_STATE_NORMAL; + if (abs(gyroYaw) > 20000) { + currentState = "head_moving"; + stateByte = IMU_STATE_HEAD_MOVING; + } else if (abs(accelPitch) > 14000) { + currentState = "wrong_pitch"; + stateByte = IMU_STATE_WRONG_PITCH; + } + + // Binary packet to the Pi, over the real PiSerial link (D6/D7) — see + // MSG_IMU_TELEMETRY above. Sent every tick regardless of MAC_MODE; + // harmless if nothing is listening on the other end. + sendImuTelemetry(stateByte, accelPitch, gyroYaw); + + // USB debug mirror — unchanged, still JSON, still on Serial (not the + // Pi link). + JsonDocument outDoc; + outDoc["state"] = currentState; + outDoc["raw_pitch"] = accelPitch; + outDoc["raw_yaw"] = gyroYaw; + + Serial.print("[IMU TELEMETRY] "); + serializeJson(outDoc, Serial); + Serial.println(); + } else { + imuHealthy = false; + Serial.println("[ERROR] Lost connection to BMI160 IMU! Telemetry suspended."); + } + } + } +} \ No newline at end of file diff --git a/hardware/.DS_Store b/hardware/.DS_Store new file mode 100644 index 0000000..981d1c6 Binary files /dev/null and b/hardware/.DS_Store differ diff --git a/hardware/PCB/.DS_Store b/hardware/PCB/.DS_Store new file mode 100644 index 0000000..966c41c Binary files /dev/null and b/hardware/PCB/.DS_Store differ diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/.DS_Store b/hardware/PCB/SecondVision_Haptic_Mainboard/.DS_Store new file mode 100644 index 0000000..684fa9a Binary files /dev/null and b/hardware/PCB/SecondVision_Haptic_Mainboard/.DS_Store differ diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/.history b/hardware/PCB/SecondVision_Haptic_Mainboard/.history new file mode 160000 index 0000000..7b0a407 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/.history @@ -0,0 +1 @@ +Subproject commit 7b0a407037e7a7cfd96712a850601df9f15d50e1 diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/Left_Stem_Board.kicad_pcb b/hardware/PCB/SecondVision_Haptic_Mainboard/Left_Stem_Board.kicad_pcb new file mode 100644 index 0000000..a07f994 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/Left_Stem_Board.kicad_pcb @@ -0,0 +1,3620 @@ +(kicad_pcb + (version 20260206) + (generator "pcbnew") + (generator_version "10.0") + (general + (thickness 1.6) + (legacy_teardrops no) + ) + (paper "A4") + (layers + (0 "F.Cu" signal) + (2 "B.Cu" signal) + (9 "F.Adhes" user "F.Adhesive") + (11 "B.Adhes" user "B.Adhesive") + (13 "F.Paste" user) + (15 "B.Paste" user) + (5 "F.SilkS" user "F.Silkscreen") + (7 "B.SilkS" user "B.Silkscreen") + (1 "F.Mask" user) + (3 "B.Mask" user) + (17 "Dwgs.User" user "User.Drawings") + (19 "Cmts.User" user "User.Comments") + (21 "Eco1.User" user "User.Eco1") + (23 "Eco2.User" user "User.Eco2") + (25 "Edge.Cuts" user) + (27 "Margin" user) + (31 "F.CrtYd" user "F.Courtyard") + (29 "B.CrtYd" user "B.Courtyard") + (35 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b/hardware/PCB/SecondVision_Haptic_Mainboard/_restore_backup_2026-08-01T22-42-44-172/SecondVision_Haptic_Mainboard.kicad_pcb new file mode 100644 index 0000000..c150106 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/_restore_backup_2026-08-01T22-42-44-172/SecondVision_Haptic_Mainboard.kicad_pcb @@ -0,0 +1,5017 @@ +(kicad_pcb + (version 20260206) + (generator "pcbnew") + (generator_version "10.0") + (general + (thickness 1.6) + (legacy_teardrops no) + ) + (paper "A4") + (layers + (0 "F.Cu" signal) + (2 "B.Cu" signal) + (9 "F.Adhes" user "F.Adhesive") + (11 "B.Adhes" user "B.Adhesive") + (13 "F.Paste" user) + (15 "B.Paste" user) + (5 "F.SilkS" user "F.Silkscreen") + (7 "B.SilkS" user "B.Silkscreen") + (1 "F.Mask" user) + (3 "B.Mask" user) + (17 "Dwgs.User" user "User.Drawings") + (19 "Cmts.User" user "User.Comments") + (21 "Eco1.User" user "User.Eco1") + (23 "Eco2.User" user "User.Eco2") + (25 "Edge.Cuts" user) + (27 "Margin" user) + (31 "F.CrtYd" user "F.Courtyard") + 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(uuid "c692b5f6-9fec-4df3-b4e2-36ac529c2065") + (property "Reference" "#PWR013" + (at 184.15 130.81 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Value" "GND" + (at 181.61 130.8099 90) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify right) + ) + ) + (property "Footprint" "" + (at 177.8 130.81 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Datasheet" "" + (at 177.8 130.81 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Description" "Power symbol creates a global label with name \"GND\" , ground" + (at 177.8 130.81 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (pin "1" + (uuid "df7ac83c-04af-45ea-9465-2088f7c5035e") + ) + (instances + (project "SecondVision_Haptic_Mainboard" + (path "/cad207f3-ec3a-4154-9cb6-fd94223df428" + (reference "#PWR013") + (unit 1) + ) + ) + ) + ) + (symbol + (lib_id "Connector_Generic:Conn_01x01") + (at 59.69 82.55 180) + (unit 1) + (body_style 1) + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (in_pos_files yes) + (dnp no) + (fields_autoplaced yes) + (uuid "ca90c5fd-9e8a-4170-9b49-337562cfbf73") + (property "Reference" "PAD_GND_L1" + (at 57.15 83.8201 0) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify left) + ) + ) + (property "Value" "Conn_01x01" + (at 57.15 81.2801 0) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify left) + ) + ) + (property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical" + (at 59.69 82.55 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Datasheet" "" + (at 59.69 82.55 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Description" "Generic connector, single row, 01x01, script generated (kicad-library-utils/schlib/autogen/connector/)" + (at 59.69 82.55 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (pin "1" + (uuid "c2ec234c-6f1e-4e8c-b52e-3378cb432c5b") + ) + (instances + (project "SecondVision_Haptic_Mainboard" + (path "/cad207f3-ec3a-4154-9cb6-fd94223df428" + (reference "PAD_GND_L1") + (unit 1) + ) + ) + ) + ) + (symbol + (lib_id "Connector_Generic:Conn_01x01") + (at 59.69 107.95 180) + (unit 1) + (body_style 1) + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (in_pos_files yes) + (dnp no) + (fields_autoplaced yes) + (uuid "d1fb695f-a0b8-461b-80f6-378b0b61106d") + (property "Reference" "PAD_VOL_DOWN1" + (at 57.15 109.2201 0) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify left) + ) + ) + (property "Value" "Conn_01x01" + (at 57.15 106.6801 0) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify left) + ) + ) + (property "Footprint" "Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical" + (at 59.69 107.95 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Datasheet" "" + (at 59.69 107.95 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Description" "Generic connector, single row, 01x01, script generated (kicad-library-utils/schlib/autogen/connector/)" + (at 59.69 107.95 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (pin "1" + (uuid "6c83f448-2cbd-484c-9a10-839705230eb5") + ) + (instances + (project "SecondVision_Haptic_Mainboard" + (path "/cad207f3-ec3a-4154-9cb6-fd94223df428" + (reference "PAD_VOL_DOWN1") + (unit 1) + ) + ) + ) + ) + (symbol + (lib_id "BMI160:BMI160") + (at 154.94 115.57 0) + (unit 1) + (body_style 1) + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (in_pos_files yes) + (dnp no) + (fields_autoplaced yes) + (uuid "e15bc432-1ca5-4c96-bee0-45b3ac34fa60") + (property "Reference" "U2" + (at 154.94 92.71 0) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Value" "BMI160" + (at 154.94 95.25 0) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Footprint" "Custom_Parts:PQFN50P250X300X88-14N" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "Datasheet" "" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Description" "BMI160 series Accelerometer, Gyroscope, 6 Axis Sensor Evaluation Board" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "MF" "Bosch" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "MAXIMUM_PACKAGE_HEIGHT" "0.88 mm" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "Package" "LGA-14 Bosch" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "Price" "None" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "Check_prices" "https://www.snapeda.com/parts/BMI160/Bosch/view-part/?ref=eda" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "STANDARD" "IPC 7351B" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "PARTREV" "1.0" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "SnapEDA_Link" "https://www.snapeda.com/parts/BMI160/Bosch/view-part/?ref=snap" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "MP" "BMI160" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "Availability" "In Stock" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (property "MANUFACTURER" "Bosch" + (at 154.94 115.57 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify bottom) + ) + ) + (pin "3" + (uuid "e4b2fa5b-fd53-4b8c-9dfd-d39463080fdc") + ) + (pin "2" + (uuid "c6e855f5-9925-4028-a992-ddd4a34b8347") + ) + (pin "1" + (uuid "dc584a57-6ee0-417c-b81b-abf4bf3e7872") + ) + (pin "4" + (uuid "1c0c9c32-96bd-4c0d-a11d-db04f3e3f350") + ) + (pin "5" + (uuid "31119920-58eb-45a1-a1db-8155fcf0c04c") + ) + (pin "6" + (uuid "e70d0ef8-2e87-44c9-8d6e-34fa606fc79a") + ) + (pin "7" + (uuid "266901bb-6cba-41ea-a48a-2b04dcd757ce") + ) + (pin "8" + (uuid "743e60f7-4461-4baa-ba89-67d99dcca457") + ) + (pin "9" + (uuid "bf366778-8197-49bc-8a0b-990e67771aea") + ) + (pin "10" + (uuid "37db11df-1fd8-456d-a040-dac9ec605a84") + ) + (pin "11" + (uuid "aae366e4-7771-486a-b7f5-d3ad44e16da5") + ) + (pin "12" + (uuid "c3d55106-7e54-43fa-a706-47ec1f879ce8") + ) + (pin "13" + (uuid "72a6be11-7eec-4e84-9001-5c88ca51b4b3") + ) + (pin "14" + (uuid "582cb0b5-b3b8-43ec-a75d-b9d684bdba1e") + ) + (instances + (project "SecondVision_Haptic_Mainboard" + (path "/cad207f3-ec3a-4154-9cb6-fd94223df428" + (reference "U2") + (unit 1) + ) + ) + ) + ) + (symbol + (lib_id "power:GND") + (at 90.17 95.25 90) + (unit 1) + (body_style 1) + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (in_pos_files yes) + (dnp no) + (fields_autoplaced yes) + (uuid "f453a1aa-2912-49c3-9151-178daa30062e") + (property "Reference" "#PWR09" + (at 96.52 95.25 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Value" "GND" + (at 93.98 95.2499 90) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + (justify right) + ) + ) + (property "Footprint" "" + (at 90.17 95.25 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Datasheet" "" + (at 90.17 95.25 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Description" "Power symbol creates a global label with name \"GND\" , ground" + (at 90.17 95.25 0) + (hide yes) + (show_name no) + (do_not_autoplace no) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (pin "1" + (uuid "ddbe9fce-0ce2-4079-b3c0-2b154626bbf1") + ) + (instances + (project "SecondVision_Haptic_Mainboard" + (path "/cad207f3-ec3a-4154-9cb6-fd94223df428" + (reference "#PWR09") + (unit 1) + ) + ) + ) + ) + (sheet_instances + (path "/" + (page "1") + ) + ) + (embedded_fonts no) +) diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/fabrication-toolkit-options.json b/hardware/PCB/SecondVision_Haptic_Mainboard/fabrication-toolkit-options.json new file mode 100644 index 0000000..fe45bf7 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/fabrication-toolkit-options.json @@ -0,0 +1 @@ +{"ARCHIVE_NAME": "Right_Stem_Board", "EXTRA_LAYERS": "", "ALL_ACTIVE_LAYERS": false, "EXTEND_EDGE_CUT": false, "ALTERNATIVE_EDGE_CUT": false, "AUTO TRANSLATE": true, "AUTO FILL": true, "EXCLUDE DNP": false, "OPEN BROWSER": true, "BACKUP_OPT": true} \ No newline at end of file diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/.DS_Store b/hardware/PCB/SecondVision_Haptic_Mainboard/production/.DS_Store new file mode 100644 index 0000000..4b5e200 Binary files /dev/null and b/hardware/PCB/SecondVision_Haptic_Mainboard/production/.DS_Store differ diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board.zip b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board.zip new file mode 100644 index 0000000..70513c1 Binary files /dev/null and b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board.zip differ diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_bom.csv b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_bom.csv new file mode 100644 index 0000000..b84845a --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_bom.csv @@ -0,0 +1,7 @@ +Designator,Footprint,Quantity,Value,LCSC Part # +"BTN_VOL_DOWN1, BTN_VOL_UP1",SW_SPST_B3U-1000P,2,SW_Push, +D1,D_SOD-123,1,1N5401, +"PAD_5V_L1, PAD_D0_LEFT1, PAD_GND_L1, PAD_VOL_DOWN1, PAD_VOL_UP1",PinHeader_1x01_P2.54mm_Vertical,5,Conn_01x01, +Q1,SOT-23,1,2N7000, +R1,0603,1,R, +VIB_LEFT1,PinHeader_1x02_P2.54mm_Vertical,1,Conn_01x02, diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_designators.csv b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_designators.csv new file mode 100644 index 0000000..ca2c492 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_designators.csv @@ -0,0 +1,11 @@ +BTN_VOL_DOWN1:1 +BTN_VOL_UP1:1 +D1:1 +PAD_5V_L1:1 +PAD_D0_LEFT1:1 +PAD_GND_L1:1 +PAD_VOL_DOWN1:1 +PAD_VOL_UP1:1 +Q1:1 +R1:1 +VIB_LEFT1:1 diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_positions.csv b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_positions.csv new file mode 100644 index 0000000..c14193c --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Left_Stem_Board_positions.csv @@ -0,0 +1,12 @@ +Designator,Mid X,Mid Y,Rotation,Layer +BTN_VOL_DOWN1,141.3,-101.0,90.0,top +BTN_VOL_UP1,141.3,-97.0,90.0,top +D1,139.0,-107.0,0.0,top +PAD_5V_L1,138.5,-82.0,0.0,top +PAD_D0_LEFT1,143.5,-86.0,0.0,top +PAD_GND_L1,143.5,-82.0,0.0,top +PAD_VOL_DOWN1,138.5,-90.0,0.0,top +PAD_VOL_UP1,138.5,-86.0,0.0,top +Q1,143.4375,-105.05,0.0,top +R1,143.675,-108.0,180.0,top +VIB_LEFT1,143.0,-91.23,180.0,top diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board.zip b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board.zip new file mode 100644 index 0000000..2445b2d Binary files /dev/null and b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board.zip differ diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_bom.csv b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_bom.csv new file mode 100644 index 0000000..25368c7 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_bom.csv @@ -0,0 +1,6 @@ +Designator,Footprint,Quantity,Value,LCSC Part # +"D2, D3",D_SOD-123,2,1N5401, +"PAD_5V_R1, PAD_D1_CENTER1, PAD_D2_RIGHT1, PAD_GND_R1",PinHeader_1x01_P2.54mm_Vertical,4,Conn_01x01, +"Q2, Q3",SOT-23,2,2N7000, +"R2, R3",0603,2,R, +"VIB_CENTER1, VIB_RIGHT1",PinHeader_1x02_P2.54mm_Vertical,2,Conn_01x02, diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_designators.csv b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_designators.csv new file mode 100644 index 0000000..c7521b0 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_designators.csv @@ -0,0 +1,12 @@ +D2:1 +D3:1 +PAD_5V_R1:1 +PAD_D1_CENTER1:1 +PAD_D2_RIGHT1:1 +PAD_GND_R1:1 +Q2:1 +Q3:1 +R2:1 +R3:1 +VIB_CENTER1:1 +VIB_RIGHT1:1 diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_positions.csv b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_positions.csv new file mode 100644 index 0000000..4c0e90a --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/Right_Stem_Board_positions.csv @@ -0,0 +1,13 @@ +Designator,Mid X,Mid Y,Rotation,Layer +D2,163.0,-82.15,90.0,top +D3,162.5,-94.15,270.0,top +PAD_5V_R1,157.0,-107.0,0.0,top +PAD_D1_CENTER1,161.5,-99.5,0.0,top +PAD_D2_RIGHT1,157.0,-102.5,0.0,top +PAD_GND_R1,162.0,-107.0,0.0,top +Q2,156.5,-86.4375,270.0,top +Q3,157.0625,-96.0,180.0,top +R2,159.0,-89.675,270.0,top +R3,156.0,-92.175,270.0,top +VIB_CENTER1,158.23,-82.0,90.0,top +VIB_RIGHT1,162.0,-88.27,0.0,top diff --git a/hardware/PCB/SecondVision_Haptic_Mainboard/production/netlist.ipc b/hardware/PCB/SecondVision_Haptic_Mainboard/production/netlist.ipc new file mode 100644 index 0000000..708c079 --- /dev/null +++ b/hardware/PCB/SecondVision_Haptic_Mainboard/production/netlist.ipc @@ -0,0 +1,26 @@ +P CODE 00 +P UNITS CUST 0 +P arrayDim N +317NET-(D3-A) VIB_RI-1 D0394PA00X+063780Y-034252X0669Y0669R000S0 +317+5V VIB_RI-2 D0394PA00X+063780Y-035252X0669Y0000R000S0 +317_RIGHT1-PIN_1) PAD_D2-1 D0394PA00X+061811Y-040354X0669Y0669R000S0 +327GND Q3 -1 A01X+061467Y-037421X0581Y0236R000S2 +327_RIGHT1-PIN_1) Q3 -2 A01X+061467Y-038169X0581Y0236R000S2 +327NET-(D3-A) Q3 -3 A01X+062205Y-037795X0581Y0236R000S2 +327+5V D3 -1 A01X+063976Y-036417X0354Y0472R090S2 +327NET-(D3-A) D3 -2 A01X+063976Y-037717X0354Y0472R090S2 +317CENTER1-PIN_1) PAD_D1-1 D0394PA00X+063583Y-039173X0669Y0669R000S0 +317NET-(D2-A) VIB_CE-1 D0394PA00X+061795Y-032283X0669Y0669R270S0 +317+5V VIB_CE-2 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b/hardware/PCB/snapmagic_libs/Custom_Parts.pretty/MODULE_XIAO_ESP32C3.kicad_mod @@ -0,0 +1,43 @@ + +(footprint MODULE_XIAO_ESP32C3 (layer F.Cu) (tedit 6A67144D) + (descr "") + (fp_text reference REF** (at -5.715 -13.135 0) (layer F.SilkS) + (effects (font (size 1.0 1.0) (thickness 0.15))) + ) + (fp_text value MODULE_XIAO_ESP32C3 (at 3.175 11.615 0) (layer F.Fab) + (effects (font (size 1.0 1.0) (thickness 0.15))) + ) + (pad 11 thru_hole circle (at 7.62 0.0635) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 10 thru_hole circle (at 7.62 2.6035) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 9 thru_hole circle (at 7.62 5.1435) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 8 thru_hole circle (at 7.62 7.6835) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 12 thru_hole circle (at 7.62 -2.4765) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 13 thru_hole circle (at 7.62 -5.0165) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 14 thru_hole circle (at 7.62 -7.5565) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 4 thru_hole circle (at -7.62 0.0635) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 5 thru_hole circle (at -7.62 2.6035) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 6 thru_hole circle (at -7.62 5.1435) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 7 thru_hole circle (at -7.62 7.6835) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 3 thru_hole circle (at -7.62 -2.4765) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 2 thru_hole circle (at -7.62 -5.0165) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (pad 1 thru_hole rect (at -7.62 -7.5565) (size 1.358 1.358) (drill 0.85) (layers *.Cu *.Mask) (solder_mask_margin 0.102)) + (fp_line (start 8.89 -10.4775) (end 8.89 10.4775) (layer F.SilkS) (width 0.127)) + (fp_line (start -8.89 10.4775) (end -8.89 -10.4775) (layer F.SilkS) (width 0.127)) + (fp_line (start -8.89 -10.4775) (end 8.89 -10.4775) (layer F.SilkS) (width 0.127)) + (fp_line (start 8.89 10.4775) (end -8.89 10.4775) (layer F.SilkS) (width 0.127)) + (fp_line (start 9.14 -12.2375) (end -9.14 -12.2375) (layer F.CrtYd) (width 0.05)) + (fp_line (start -9.14 -12.2375) (end -9.14 10.7275) (layer F.CrtYd) (width 0.05)) + (fp_line (start -9.14 10.7275) (end 9.14 10.7275) (layer F.CrtYd) (width 0.05)) + (fp_line (start 9.14 10.7275) (end 9.14 -12.2375) (layer F.CrtYd) (width 0.05)) + (fp_circle (center -9.5 -7.6835) (end -9.4 -7.6835) (layer F.SilkS) (width 0.2)) + (fp_circle (center -9.5 -7.6835) (end -9.4 -7.6835) (layer F.Fab) (width 0.2)) + (fp_line (start 8.89 -10.4775) (end 8.89 10.4775) (layer F.Fab) (width 0.127)) + (fp_line (start -8.89 10.4775) (end -8.89 -10.4775) (layer F.Fab) (width 0.127)) + (fp_line (start -8.89 -10.4775) (end -4.5 -10.4775) (layer F.Fab) (width 0.127)) + (fp_line (start -4.5 -10.4775) (end 4.5 -10.4775) (layer F.Fab) (width 0.127)) + (fp_line (start 4.5 -10.4775) (end 8.89 -10.4775) (layer F.Fab) (width 0.127)) + (fp_line (start 8.89 10.4775) (end -8.89 10.4775) (layer F.Fab) (width 0.127)) + (fp_line (start -4.5 -10.4775) (end -4.5 -11.9875) (layer F.Fab) (width 0.127)) + (fp_line (start -4.5 -11.9875) (end 4.5 -11.9875) (layer F.Fab) (width 0.127)) + (fp_line (start 4.5 -11.9875) (end 4.5 -10.4775) (layer F.Fab) (width 0.127)) +) \ No newline at end of file diff --git a/hardware/PCB/snapmagic_libs/Custom_Parts.pretty/PQFN50P250X300X88-14N.kicad_mod b/hardware/PCB/snapmagic_libs/Custom_Parts.pretty/PQFN50P250X300X88-14N.kicad_mod new file mode 100644 index 0000000..ffbaea1 --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Custom_Parts.pretty/PQFN50P250X300X88-14N.kicad_mod @@ -0,0 +1,39 @@ + +(footprint PQFN50P250X300X88-14N (layer F.Cu) (tedit 6A671963) + (descr "") + (attr smd) + (fp_text reference REF** (at 0.032 -1.9064 0) (layer F.SilkS) + (effects (font (size 0.64 0.64) (thickness 0.15))) + ) + (fp_text value PQFN50P250X300X88-14N (at 6.5344 1.9064 0) (layer F.Fab) + (effects (font (size 0.64 0.64) (thickness 0.15))) + ) + (pad 1 smd roundrect (roundrect_rratio 0.125) (at -1.165 -0.75) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 2 smd roundrect (roundrect_rratio 0.125) (at -1.165 -0.25) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 3 smd roundrect (roundrect_rratio 0.125) (at -1.165 0.25) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 4 smd roundrect (roundrect_rratio 0.125) (at -1.165 0.75) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 5 smd roundrect (roundrect_rratio 0.125) (at -0.5 0.915) (size 0.35 0.59) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 6 smd roundrect (roundrect_rratio 0.125) (at 0.0 0.915) (size 0.35 0.59) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 7 smd roundrect (roundrect_rratio 0.125) (at 0.5 0.915) (size 0.35 0.59) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 8 smd roundrect (roundrect_rratio 0.125) (at 1.165 0.75) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 9 smd roundrect (roundrect_rratio 0.125) (at 1.165 0.25) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 10 smd roundrect (roundrect_rratio 0.125) (at 1.165 -0.25) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 11 smd roundrect (roundrect_rratio 0.125) (at 1.165 -0.75) (size 0.59 0.35) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 12 smd roundrect (roundrect_rratio 0.125) (at 0.5 -0.915) (size 0.35 0.59) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 13 smd roundrect (roundrect_rratio 0.125) (at 0.0 -0.915) (size 0.35 0.59) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (pad 14 smd roundrect (roundrect_rratio 0.125) (at -0.5 -0.915) (size 0.35 0.59) (layers F.Cu F.Mask F.Paste) (solder_mask_margin 0.102)) + (fp_line (start -1.5 -1.25) (end 1.5 -1.25) (layer F.Fab) (width 0.127)) + (fp_line (start 1.5 -1.25) (end 1.5 1.25) (layer F.Fab) (width 0.127)) + (fp_line (start 1.5 1.25) (end -1.5 1.25) (layer F.Fab) (width 0.127)) + (fp_line (start -1.5 1.25) (end -1.5 -1.25) (layer F.Fab) (width 0.127)) + (fp_line (start -1.5 -1.25) (end -0.995 -1.25) (layer F.SilkS) (width 0.127)) + (fp_line (start 1.5 -1.25) (end 0.995 -1.25) (layer F.SilkS) (width 0.127)) + (fp_line (start 1.5 1.25) (end 0.995 1.25) (layer F.SilkS) (width 0.127)) + (fp_line (start -1.5 1.25) (end -0.995 1.25) (layer F.SilkS) (width 0.127)) + (fp_line (start -1.75 -1.5) (end 1.75 -1.5) (layer F.CrtYd) (width 0.05)) + (fp_line (start 1.75 -1.5) (end 1.75 1.5) (layer F.CrtYd) (width 0.05)) + (fp_line (start 1.75 1.5) (end -1.75 1.5) (layer F.CrtYd) (width 0.05)) + (fp_line (start -1.75 1.5) (end -1.75 -1.5) (layer F.CrtYd) (width 0.05)) + (fp_circle (center -2.0 -0.8) (end -1.9 -0.8) (layer F.SilkS) (width 0.2)) + (fp_circle (center -2.0 -0.8) (end -1.9 -0.8) (layer F.Fab) (width 0.2)) +) \ No newline at end of file diff --git a/hardware/PCB/snapmagic_libs/Panelization.pretty/README.md b/hardware/PCB/snapmagic_libs/Panelization.pretty/README.md new file mode 100644 index 0000000..7215d6f --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Panelization.pretty/README.md @@ -0,0 +1,44 @@ + +Panelization.pretty +=================== + +LAYOUT FILES: KiCad footprints useful for PCB panelization (mouse-bites...). + +## How to add the footprints: + +1. Download/clone this repo. +2. open Footprint editor in KiCad, there "File / Import footprint from KiCad File..." +3. Select one of the mouse-bite kicad_mod files +4. Save it to your project or make a local library + +Or place the full Panelization.pretty folder in your KiCad library folder. + +## How to use the footprints: + +1. Place the footprint on your pcb edge +2. Connect the Edge.Cuts layer to the footprint +3. draw the half circles on the Edge.Cuts layer +4. enjoy + +## Examples: + +the 5mm wide mouse bites: + +![grafik](https://user-images.githubusercontent.com/1591573/142768275-5d10dfa5-b7f1-4350-a840-ed46f035b56c.png) + +2mm wide connecting different layouts: + +![grafik](https://user-images.githubusercontent.com/1591573/142768418-415e3ee7-1b69-4f26-ba47-e184d0816b06.png) + +## panelization: + +when your PCB is ready, mark everything, then right click and "Create Array". Choose a grid that the spacing matches the choosen mouse bite width. + +![grafik](https://user-images.githubusercontent.com/1591573/142768813-ece31682-33f7-49fe-8298-cfc120e7bace.png) + +then place mouse bite footprint and modify the Edge.Cuts layer on the first pcb. Then just "Create Array" on this again. + +A Video showing different ways to make panels in KiCad: +[![Watch the video](https://user-images.githubusercontent.com/1591573/142769347-8eac12c2-11e9-4f84-a7fc-1b08710edaf1.png)](https://youtu.be/_Syjz8m-2fw) + + diff --git a/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-1mm-slot.kicad_mod b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-1mm-slot.kicad_mod new file mode 100644 index 0000000..e2f8ce7 --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-1mm-slot.kicad_mod @@ -0,0 +1,22 @@ +(module mouse-bite-1mm-slot (layer F.Cu) (tedit 551DB9EF) + (fp_text reference mouse-bite-1mm-slot (at 0 -2) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_text value VAL** (at 0 2.1) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_circle (center 1.5 0) (end 1.56 0) (layer Dwgs.User) (width 0.05)) + (fp_circle (center -1.5 0) (end -1.44 0) (layer Dwgs.User) (width 0.05)) + (fp_arc (start 1.5 0) (end 1.5 0.5) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_arc (start -1.5 0) (end -1.5 -0.5) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_line (start -1.5 0) (end -1.5 0) (layer Eco1.User) (width 1)) + (fp_line (start 1.5 0) (end 1.5 0) (layer Eco1.User) (width 1)) + (pad "" np_thru_hole circle (at 0.35 -1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -1.15 0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 1.15 0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -1.15 -0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.35 -1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 1.15 -0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.35 1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.35 1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) +) diff --git a/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-2.54mm-slot.kicad_mod b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-2.54mm-slot.kicad_mod new file mode 100644 index 0000000..9bcebee --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-2.54mm-slot.kicad_mod @@ -0,0 +1,20 @@ +(module mouse-bite-2.54mm-slot (layer F.Cu) (tedit 551DB929) + (fp_text reference mouse-bite-2.54mm-slot (at 0 -2) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_text value VAL** (at 0 2.1) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_line (start -2.33 0) (end -2.33 0) (layer Eco1.User) (width 2.54)) + (fp_line (start 2.33 0) (end 2.33 0) (layer Eco1.User) (width 2.54)) + (fp_arc (start 2.33 0) (end 2.33 1.27) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_circle (center 2.33 0) (end 2.33 -0.06) (layer Dwgs.User) (width 0.05)) + (fp_circle (center -2.33 0) (end -2.27 0) (layer Dwgs.User) (width 0.05)) + (fp_arc (start -2.33 0) (end -2.33 1.27) (angle -180) (layer F.SilkS) (width 0.1)) + (pad "" np_thru_hole circle (at 0 -1.1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0 1.1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.8 -1.1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.8 -1.1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.8 1.1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.8 1.1) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) +) diff --git a/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-2mm-slot.kicad_mod b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-2mm-slot.kicad_mod new file mode 100644 index 0000000..03cce77 --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-2mm-slot.kicad_mod @@ -0,0 +1,20 @@ +(module mouse-bite-2mm-slot (layer F.Cu) (tedit 551DB891) + (fp_text reference mouse-bite-2mm-slot (at 0 -2) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_text value VAL** (at 0 2.1) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_arc (start -2 0) (end -2 -1) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_arc (start 2 0) (end 2 1) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_circle (center 2 0) (end 2.06 0) (layer Dwgs.User) (width 0.05)) + (fp_circle (center -2 0) (end -2 -0.06) (layer Dwgs.User) (width 0.05)) + (fp_line (start -2 0) (end -2 0) (layer Eco1.User) (width 2)) + (fp_line (start 2 0) (end 2 0) (layer Eco1.User) (width 2)) + (pad "" np_thru_hole circle (at 0 -0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0 0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.75 -0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.75 -0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.75 0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.75 0.75) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) +) diff --git a/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-3mm-slot.kicad_mod b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-3mm-slot.kicad_mod new file mode 100644 index 0000000..2903b0a --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-3mm-slot.kicad_mod @@ -0,0 +1,24 @@ +(module mouse-bite-3mm-slot (layer F.Cu) (tedit 619A2474) + (fp_text reference mouse-bite-3mm-slot (at 0 -2.5) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_text value VAL** (at 0 2.5) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_line (start 3 0) (end 3 0) (layer Eco1.User) (width 3)) + (fp_line (start -3 0) (end -3 0) (layer Eco1.User) (width 3)) + (fp_circle (center -3 0) (end -3 -0.06) (layer Dwgs.User) (width 0.05)) + (fp_circle (center 3 0) (end 3.06 0) (layer Dwgs.User) (width 0.05)) + (fp_arc (start -3 0) (end -3 -1.5) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_arc (start 3 0) (end 3 1.5) (angle 180) (layer F.SilkS) (width 0.1)) + (pad "" np_thru_hole circle (at -0.75 -1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -0.762 1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0 -1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -1.512 -1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -1.512 1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0 1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.75 1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0.75 -1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 1.524 -1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 1.524 1.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) +) diff --git a/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-5mm-slot.kicad_mod b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-5mm-slot.kicad_mod new file mode 100644 index 0000000..1e5a61d --- /dev/null +++ b/hardware/PCB/snapmagic_libs/Panelization.pretty/mouse-bite-5mm-slot.kicad_mod @@ -0,0 +1,38 @@ +(module mouse-bite-5mm-slot (layer F.Cu) (tedit 619A1FA6) + (fp_text reference mouse-bite-5mm-slot (at 0 -3.25) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_text value VAL** (at 0 3.5) (layer F.SilkS) hide + (effects (font (size 1 1) (thickness 0.2))) + ) + (fp_line (start 5 0) (end 5 0) (layer Eco1.User) (width 5)) + (fp_line (start -5 0) (end -5 0) (layer Eco1.User) (width 5)) + (fp_circle (center -5 0) (end -4.94 0) (layer Dwgs.User) (width 0.05)) + (fp_circle (center 5 0) (end 5.06 0) (layer Dwgs.User) (width 0.05)) + (fp_arc (start -5 0) (end -5 -2.5) (angle 180) (layer F.SilkS) (width 0.1)) + (fp_arc (start 5 0) (end 5 2.5) (angle 180) (layer F.SilkS) (width 0.1)) + (pad "" np_thru_hole circle (at 1.5 -2.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -3.75 -2.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 0 -2.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -1.5 -2.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at -2.25 -2.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole circle (at 2.25 -2.5) (size 0.5 0.5) (drill 0.5) (layers *.Cu *.Mask)) + (pad "" np_thru_hole 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a/scripts/sv-main.sh b/scripts/sv-main.sh index c0b80aa..8691c34 100755 --- a/scripts/sv-main.sh +++ b/scripts/sv-main.sh @@ -1,3 +1,3 @@ #!/bin/bash cd "$(dirname "$0")/.." -python3 src/second_vision/main.py --input /dev/video0 --width 640 --height 480 --use-frame +python3 src/second_vision/main.py --input /dev/video0 --width 640 --height 480 --use-frame --serial-port /dev/serial0 diff --git a/scripts/test_motor_packet.py b/scripts/test_motor_packet.py new file mode 100644 index 0000000..089aedf --- /dev/null +++ b/scripts/test_motor_packet.py @@ -0,0 +1,35 @@ +"""Bench-test only: sends one MSG_MOTOR_UPDATE (0x01) packet to the ESP32 +over the Pi's UART, to verify the wired link independently of the full +second_vision pipeline. Matches serial_worker.py's _pack_motor_update(). + +Usage (on the RPi5): python3 scripts/test_motor_packet.py /dev/serial0 +""" +import struct +import sys +import time + +import serial + +PORT = sys.argv[1] if len(sys.argv) > 1 else "/dev/serial0" +BAUD = 115200 + + +def pack_motor_update(left, center, right): + msg_type = 0x01 + payload = struct.pack("BBB", left, center, right) + checksum = msg_type ^ left ^ center ^ right + return struct.pack("BB3sB", 0xAA, msg_type, payload, checksum) + + +port = serial.Serial(PORT, BAUD, timeout=1) +time.sleep(0.2) # let the line settle + +for left, center, right in [(80, 0, 0), (0, 150, 0), (0, 0, 220), (0, 0, 0)]: + packet = pack_motor_update(left, center, right) + port.write(packet) + print(f"sent left={left} center={center} right={right} -> {packet.hex()}") + ack = port.read(3) + print(f"ack bytes: {ack.hex() if ack else ''}") + time.sleep(1) + +port.close() diff --git a/src/custom_depth_detection/sv_pipeline_v4.py b/src/custom_depth_detection/sv_pipeline_v4.py new file mode 100644 index 0000000..6705606 --- /dev/null +++ b/src/custom_depth_detection/sv_pipeline_v4.py @@ -0,0 +1,193 @@ +import os +from pathlib import Path + +os.environ["GST_PLUGIN_FEATURE_RANK"] = "vaapidecodebin:NONE" + +import gi +import setproctitle + +gi.require_version("Gst", "1.0") +from gi.repository import Gst + +from hailo_apps.python.core.common.core import ( + get_pipeline_parser, + get_resource_path, + handle_list_models_flag, + resolve_hef_path, +) +from hailo_apps.python.core.common.defines import ( + DEPTH_APP_TITLE, + DEPTH_PIPELINE, + DEPTH_POSTPROCESS_FUNCTION, + DEPTH_POSTPROCESS_SO_FILENAME, + RESOURCES_SO_DIR_NAME, + RESOURCES_VIDEOS_DIR_NAME, + DETECTION_APP_TITLE, + DETECTION_PIPELINE, + DETECTION_POSTPROCESS_FUNCTION, + DETECTION_POSTPROCESS_SO_FILENAME, +) +from hailo_apps.python.core.common.hef_utils import get_hef_labels_json + +from hailo_apps.python.core.common.hailo_logger import get_logger +from hailo_apps.python.core.gstreamer.gstreamer_app import ( + GStreamerApp, + app_callback_class, + dummy_callback, +) +from hailo_apps.python.core.gstreamer.gstreamer_helper_pipelines import ( + + INFERENCE_PIPELINE, + INFERENCE_PIPELINE_WRAPPER, + USER_CALLBACK_PIPELINE, + TRACKER_PIPELINE, + QUEUE, +) + +hailo_logger = get_logger(__name__) + +class GStreamerParallelApp(GStreamerApp): + def __init__(self, app_callback, user_data, parser=None): + if parser is None: + parser = get_pipeline_parser() + + parser.add_argument( + "--labels-json", + default=None, + help="Path to custom labels JSON file", + ) + + parser.add_argument( + "--det-hef-path", + default="yolov8n.hef", + help="Specific HEF model to use for detection (default: yolov8n.hef)", + ) + + # Handle list models flags for both + handle_list_models_flag(parser, DEPTH_PIPELINE) + handle_list_models_flag(parser, DETECTION_PIPELINE) + + hailo_logger.info("Initializing Parallel Depth & Detection App V4...") + + super().__init__(parser, user_data) + + # Adjust dimensions for detection defaults + if self.video_width == 1280: + self.video_width = 640 + if self.video_height == 720: + self.video_height = 640 + + # Adjust batch size for detection defaults + if self.batch_size == 1: + self.batch_size = 2 + + self.app_callback = app_callback + setproctitle.setproctitle("Parallel-Depth-Detection-V4") + + # ---- Depth App Parameters ---- + self.depth_hef_path = resolve_hef_path( + self.hef_path, app_name=DEPTH_PIPELINE, arch=self.arch + ) + self.depth_post_process_so = get_resource_path( + DEPTH_PIPELINE, RESOURCES_SO_DIR_NAME, self.arch, DEPTH_POSTPROCESS_SO_FILENAME + ) + self.depth_post_function_name = DEPTH_POSTPROCESS_FUNCTION + + # ---- Detection Parameters ---- + self.det_hef_path = resolve_hef_path( + self.options_menu.det_hef_path, app_name=DETECTION_PIPELINE, arch=self.arch + ) + self.det_post_process_so = get_resource_path( + DETECTION_PIPELINE, RESOURCES_SO_DIR_NAME, self.arch, DETECTION_POSTPROCESS_SO_FILENAME + ) + self.det_post_function_name = DETECTION_POSTPROCESS_FUNCTION + + self.labels_json = self.options_menu.labels_json + if self.labels_json is None: # if no labels JSON file is provided, try auto-detect it from the HEF file + self.labels_json = get_hef_labels_json(self.det_hef_path) + if self.labels_json is not None: + hailo_logger.info("Auto detected Labels JSON: %s", self.labels_json) + + nms_score_threshold = 0.3 + nms_iou_threshold = 0.45 + self.thresholds_str = ( + f"nms-score-threshold={nms_score_threshold} " + f"nms-iou-threshold={nms_iou_threshold} " + f"output-format-type=HAILO_FORMAT_TYPE_FLOAT32" + ) + + # Validate resource paths + for path, name in [ + (self.depth_hef_path, "Depth HEF"), + (self.depth_post_process_so, "Depth Postprocess SO"), + (self.det_hef_path, "Detection HEF"), + (self.det_post_process_so, "Detection Postprocess SO") + ]: + if path is None or not Path(path).exists(): + hailo_logger.error(f"{name} path is invalid or missing: %s", path) + + self.create_pipeline() + hailo_logger.debug("Pipeline created successfully") + + def get_pipeline_string(self): + source_pipeline = self.get_source_pipeline(no_webcam_compression=True) + + # 1. Depth Branch + depth_pipeline = INFERENCE_PIPELINE( + hef_path=self.depth_hef_path, + post_process_so=self.depth_post_process_so, + post_function_name=self.depth_post_function_name, + name="depth_inference", + ) + depth_pipeline_wrapper = INFERENCE_PIPELINE_WRAPPER( + depth_pipeline, name="inference_wrapper_depth" + ).replace("use-letterbox=true", "use-letterbox=false") + depth_callback = USER_CALLBACK_PIPELINE(name="depth_callback") + depth_sink = f"fakesink name=depth_sink sync=false" + + # 2. Detection Branch + detection_pipeline = INFERENCE_PIPELINE( + hef_path=self.det_hef_path, + post_process_so=self.det_post_process_so, + post_function_name=self.det_post_function_name, + batch_size=self.batch_size, + config_json=self.labels_json, + additional_params=self.thresholds_str, + name="det_inference" + ) + detection_pipeline_wrapper = INFERENCE_PIPELINE_WRAPPER( + detection_pipeline, name="inference_wrapper_det" + ) + tracker_pipeline = TRACKER_PIPELINE( + class_id=-1, + kalman_dist_thr=0.8, # Increased to allow for larger velocity predictions (default: 0.7) + iou_thr=0.6, # Lowered so fast objects with less overlap still match (default: 0.9) + init_iou_thr=0.6, # Pickier about new object matching to reduce phantom IDs (default: 0.7) + keep_new_frames=3, # 100ms grace period for new detections to stabilize (default: 2) + keep_tracked_frames=10, # 333ms before tracked→lost, reduces ghost duration (default: 15) + keep_lost_frames=8, # 266ms grace for fast objects blurring out of YOLO (default: 2) + name="det_tracker" + ) + det_callback = USER_CALLBACK_PIPELINE(name="det_callback") + det_sink = f"fakesink name=det_sink sync=false" + + # 3. Parallel tee architecture (display handled by cv2 in callbacks) + pipeline_str = ( + f"{source_pipeline} ! tee name=t " + f"t. ! {QUEUE(name='depth_branch_q')} ! {depth_pipeline_wrapper} ! {depth_callback} ! {depth_sink} " + f"t. ! {QUEUE(name='det_branch_q')} ! {detection_pipeline_wrapper} ! {tracker_pipeline} ! {det_callback} ! {det_sink}" + ) + + hailo_logger.info("Generated Pipeline string:\n%s", pipeline_str) + return pipeline_str + +def main(): + hailo_logger.info("Creating user data for the app callback...") + user_data = app_callback_class() + app_callback = dummy_callback + app = GStreamerParallelApp(app_callback, user_data) + app.run() + +if __name__ == "__main__": + hailo_logger.info("Starting Parallel Depth & Detection App V4...") + main() \ No newline at end of file diff --git a/src/second_vision/core/calibration.py b/src/second_vision/core/calibration.py new file mode 100644 index 0000000..e049e0d --- /dev/null +++ b/src/second_vision/core/calibration.py @@ -0,0 +1,312 @@ +""" +Depth calibration capture + analysis (Second Vision, depth post-processing). + +The depth post-processing thresholds (MIN_DEPTH_M, MAX_DEPTH_M, WALL_VARIANCE_MAX) +are in the model's RELATIVE units, not meters, so they are placeholders until +measured on the real device. This module turns that measurement into a repeatable +procedure: + + CAPTURE (runs inside the live pipeline, headless — no video window, so it works + even while the VNC preview is frozen): + 1) SV_CALIBRATE=1 ./scripts/sv-main.sh (or ./scripts/run.sh --input usb) + 2) place an object at a known distance, then in a SECOND ssh terminal: + echo "0.5m" > calib_label.txt # tag the current samples + move it and retag. Capture ALL of these to resolve every threshold: + 0.5m 1m 2m 3m — object centred at measured distances + wall — camera ~1 m from a blank wall, filling the view + open — open corridor, nothing close + pole — broomstick/cane at ~1 m (thin object) + stairs (or curb)— floor visible, real ground break in the strip + Rows stream to depth_calibration.csv, throttled to the terminal. + + ANALYSE (offline, no hardware): + python3 -m second_vision.core.calibration --analyze depth_calibration.csv + Groups rows by label and prints per-distance stats plus suggested threshold + values you can drop into depth_utils.py. + +Nothing here runs on the normal (non-calibration) path. +""" +import argparse +import csv +import os +import queue +import threading +import time +from collections import defaultdict + +import numpy as np + +from second_vision.core.depth_utils import ( + ground_break_stats, + local_flatness, + zone_warning_breakdown, +) + +# Per-scope stats recorded for every frame. Kept small and fixed so the CSV +# schema is stable and easy to analyse. +# +# IMPORTANT: the per-zone measures come from depth_utils (local_flatness, +# zone_warning_breakdown) rather than being reimplemented here. A previous +# version recorded a zone-GLOBAL std while the detector compared a median +# per-cell std — ~2x apart on a real wall, and on opposite sides of the +# threshold, so calibrating from it would have degraded the detector. +_STAT_NAMES = ("p10", "p50", "std", "min", "max", "flatness", "coverage") +_SCOPES = ("frame", "left", "center", "right") +_GROUND_NAMES = ("max_grad", "median_grad", "signed_break") + + +def _scope_stats(a: np.ndarray) -> dict: + """Depth distribution + the exact measures the detectors threshold on.""" + stats = { + "p10": float(np.percentile(a, 10)), + "p50": float(np.percentile(a, 50)), + "std": float(np.std(a)), # kept for reference; NOT the wall metric + "min": float(np.min(a)), + "max": float(np.max(a)), + # what detect_blank_wall actually compares to WALL_VARIANCE_MAX + "flatness": local_flatness(a), + } + # what the T/N shape split compares to BROAD_COVERAGE_MIN + stats["coverage"] = float(zone_warning_breakdown(a)["coverage"]) + return stats + + +def zone_depth_stats(depth_map: np.ndarray) -> dict: + """ + Flat {scope_stat: value} dict for the whole frame and the L/C/R zones, + using the same 25/50/25 split as compute_zone_intensities, plus the ground + strip's row-gradient stats (for the hazard / floor-to-wall thresholds). + """ + w = depth_map.shape[1] + regions = { + "frame": depth_map, + "left": depth_map[:, :w // 4], + "center": depth_map[:, w // 4: 3 * w // 4], + "right": depth_map[:, 3 * w // 4:], + } + out = {} + for scope, region in regions.items(): + for name, val in _scope_stats(region).items(): + out[f"{scope}_{name}"] = val + for name, val in ground_break_stats(depth_map, depth_map.shape[0]).items(): + out[f"ground_{name}"] = val + return out + + +def _columns() -> list: + cols = ["timestamp", "frame", "label"] + for scope in _SCOPES: + for name in _STAT_NAMES: + cols.append(f"{scope}_{name}") + cols += [f"ground_{n}" for n in _GROUND_NAMES] + return cols + + +class CalibrationLogger: + """ + Streams per-frame depth stats to a CSV and a throttled terminal line, tagging + each row with a distance label read live from a small text file (so you can + change it from another ssh session without touching the running pipeline). + + THREADING: log() runs on the GStreamer streaming thread and must stay near + free — it only copies the small (12 KB) array onto a queue. The stats math + (three detectors x four regions) and the CSV/SD-card writes happen in a + background worker thread; flushes are batched. Doing all of that inline + starved the video branch and blurred the camera preview (live finding). + Frames are dropped when the worker is busy — calibration averages over many + frames, so sampling is fine and the pipeline must never wait. + """ + + def __init__(self, csv_path="depth_calibration.csv", label_file="calib_label.txt", + print_every=8, sample_every=2, flush_every=20): + self.csv_path = csv_path + self.label_file = label_file + self.print_every = max(int(print_every), 1) + self.sample_every = max(int(sample_every), 1) + self.flush_every = max(int(flush_every), 1) + self._cols = _columns() + new_file = not os.path.exists(csv_path) or os.path.getsize(csv_path) == 0 + self._fh = open(csv_path, "a", newline="") + self._writer = csv.DictWriter(self._fh, fieldnames=self._cols) + if new_file: + self._writer.writeheader() + self._fh.flush() + self._rows = 0 + self._queue: queue.Queue = queue.Queue(maxsize=8) + self._worker_thread = threading.Thread( + target=self._worker, name="calib-logger", daemon=True) + self._worker_thread.start() + print(f"[CALIB] logging to {csv_path} | set distance with: echo \"0.5m\" > {label_file}") + + def _current_label(self) -> str: + try: + with open(self.label_file) as f: + label = f.readline().strip() + if label: + return label + except OSError: + pass + return os.environ.get("SV_CALIB_LABEL", "unlabeled") + + def log(self, small: np.ndarray, frame_count: int) -> None: + """Streaming-thread side: copy + hand off. Never computes, never blocks.""" + if frame_count % self.sample_every: + return + try: + self._queue.put_nowait((small.copy(), frame_count, time.time())) + except queue.Full: + pass # worker busy (e.g. SD flush) — drop rather than stall the pipeline + + def _worker(self) -> None: + while True: + item = self._queue.get() + if item is None: + return + small, frame_count, ts = item + try: + label = self._current_label() + stats = zone_depth_stats(small) + self._writer.writerow( + {"timestamp": ts, "frame": frame_count, "label": label, **stats}) + self._rows += 1 + if self._rows % self.flush_every == 0: + self._fh.flush() + if self._rows % self.print_every == 0: + print(f"[CALIB] frame {frame_count} label={label!r} | " + f"p10/p50={stats['frame_p10']:.2f}/{stats['frame_p50']:.2f} " + f"flat={stats['center_flatness']:.2f} cov={stats['center_coverage']:.0%} | " + f"L/C/R p10={stats['left_p10']:.1f}/{stats['center_p10']:.1f}/{stats['right_p10']:.1f}") + except Exception as e: # never let the logger kill the session + print(f"[CALIB] worker error: {e}") + + def close(self) -> None: + try: + self._queue.put(None, timeout=1.0) + self._worker_thread.join(timeout=5.0) + except Exception: + pass + try: + self._fh.flush() + self._fh.close() + except Exception: + pass + + +# --------------------------------------------------------------------------- # +# Offline analysis +# --------------------------------------------------------------------------- # + +def _grouped_means(csv_path: str): + """Return {label: {col: mean}} and the ordered list of labels seen.""" + sums, counts, order = defaultdict(lambda: defaultdict(float)), defaultdict(int), [] + with open(csv_path, newline="") as f: + for row in csv.DictReader(f): + label = row["label"] + if label not in order: + order.append(label) + counts[label] += 1 + for col, val in row.items(): + if col in ("timestamp", "frame", "label"): + continue + try: + sums[label][col] += float(val) + except (TypeError, ValueError): + pass + means = {lbl: {c: sums[lbl][c] / counts[lbl] for c in sums[lbl]} for lbl in order} + return means, order, counts + + +def analyze_csv(csv_path: str) -> None: + means, order, counts = _grouped_means(csv_path) + if not order: + print("No rows found in", csv_path) + return + + print(f"\n=== Calibration summary: {csv_path} ===") + print(f"{'label':<12}{'n':>6}{'p10':>8}{'p50':>8}{'flatness':>10}{'coverage':>10}" + f"{'g_max':>8}{'g_med':>8}{'break':>9}") + for lbl in order: + m = means[lbl] + print(f"{lbl:<12}{counts[lbl]:>6}{m['frame_p10']:>8.2f}{m['frame_p50']:>8.2f}" + f"{m['center_flatness']:>10.2f}{m['center_coverage']:>10.0%}" + f"{m['ground_max_grad']:>8.2f}{m['ground_median_grad']:>8.2f}" + f"{m['ground_signed_break']:>9.2f}") + print(" (flatness/coverage are CENTRE-zone; break: + = drop-off, - = step-up)") + + def pick(*names): + for n in names: + for l in order: + if l.lower() == n or n in l.lower(): + return l + return None + + print("\n--- Suggested thresholds (depth_utils.py) ---") + + # MIN_DEPTH_M: nearest reading the model emits -> smallest frame_p10 seen. + near_lbl = min(order, key=lambda l: means[l]["frame_p10"]) + print(f"MIN_DEPTH_M ~ {means[near_lbl]['frame_p10']:.1f}" + f" (nearest p10, from {near_lbl!r})") + + # MAX_DEPTH_M: safe-zone cutoff -> the p10 of the open / clear scene. + far_lbl = pick("open", "clear", "far") or max(order, key=lambda l: means[l]["frame_p10"]) + print(f"MAX_DEPTH_M ~ {means[far_lbl]['frame_p10']:.1f}" + f" (safe-zone cutoff, from {far_lbl!r})") + + # WALL_VARIANCE_MAX: between a wall's local flatness and an open scene's. + wall_lbl, open_lbl = pick("wall"), pick("open", "clear", "far") + if wall_lbl and open_lbl: + wf, of = means[wall_lbl]["center_flatness"], means[open_lbl]["center_flatness"] + print(f"WALL_VARIANCE_MAX ~ {(wf + of) / 2:.2f}" + f" (between wall {wf:.2f} and open {of:.2f})") + else: + print("WALL_VARIANCE_MAX : need a 'wall' label and an 'open' label") + + # BROAD_COVERAGE_MIN: between a thin object's coverage and a wall's. + pole_lbl = pick("pole", "thin", "stick") + if pole_lbl and wall_lbl: + pc, wc = means[pole_lbl]["center_coverage"], means[wall_lbl]["center_coverage"] + print(f"BROAD_COVERAGE_MIN ~ {(pc + wc) / 2:.2f}" + f" (between pole {pc:.0%} and wall {wc:.0%})") + else: + print("BROAD_COVERAGE_MIN : need a 'pole' label and a 'wall' label") + + # HAZARD_MIN_STEP: above the largest gradient seen on SAFE ground. + safe_lbls = [l for l in order if l.lower() in ("open", "clear", "far", "wall")] + if safe_lbls: + worst_safe = max(means[l]["ground_max_grad"] for l in safe_lbls) + print(f"HAZARD_MIN_STEP ~ {worst_safe * 1.5:.2f}" + f" (1.5x the worst safe-ground gradient {worst_safe:.2f})") + else: + print("HAZARD_MIN_STEP : need an 'open' or 'wall' label") + + # HAZARD_MAX_JUMP / FLOOR_WALL_MIN_JUMP: from a real ground break. + haz_lbl = pick("stair", "dropoff", "drop", "curb", "step") + if haz_lbl: + g = means[haz_lbl]["ground_max_grad"] + d = "drop-off" if means[haz_lbl]["ground_signed_break"] > 0 else "step-up" + print(f"HAZARD_MAX_JUMP ~ {g:.2f} (saturate at the {haz_lbl!r} break, a {d})") + print(f"FLOOR_WALL_MIN_JUMP ~ {max(g * 0.3, 1.0):.2f}" + f" (0.3x that break; confirm against a floor+wall capture)") + else: + print("HAZARD_MAX_JUMP : need a 'stairs' or 'curb' label") + print("FLOOR_WALL_MIN_JUMP : need a 'stairs' or 'curb' label") + + # WALL_CONFIRM_SATURATE: feel decision, informed by the point-blank wall. + if wall_lbl: + print(f"WALL_CONFIRM_SATURATE : feel decision — a confirmed wall at " + f"p10 {means[wall_lbl]['frame_p10']:.1f} should read max buzz; " + f"agree the cut-in distance with the haptics owner") + + print("\nNote: starting points from the captured means — sanity-check against " + "the per-label table above, then re-run the unit tests.\n") + + +def main(): + ap = argparse.ArgumentParser(description="Depth calibration analysis") + ap.add_argument("--analyze", metavar="CSV", required=True, help="calibration CSV to summarise") + args = ap.parse_args() + analyze_csv(args.analyze) + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/src/second_vision/core/capture.py b/src/second_vision/core/capture.py new file mode 100644 index 0000000..d544f24 --- /dev/null +++ b/src/second_vision/core/capture.py @@ -0,0 +1,196 @@ +""" +Depth frame capture — build a labelled corpus of REAL model output on the Pi. + +Why this exists: every edge-case detector in depth_utils.py was written and +unit-tested against SYNTHETIC arrays. Real SC-DepthV3 output on the OV2640 does +not look like those arrays — the "wall reads as a dome" finding +(depth_utils.detect_blank_wall) proved that the hard way, live, by eye. This +module turns live scenes into .npy files so the detectors can be re-scored +offline, repeatably, as many times as thresholds change. + +It is the missing PRODUCER for verify_scene.py, which has always been able to +replay a "captured on the Pi" .npy but had nothing to write one. + + CAPTURE (headless — no video window, works even if the preview is frozen): + 1) SV_CAPTURE=1 ./scripts/sv-main.sh (or ./scripts/run.sh --input usb) + 2) point the camera at a scene, then in a SECOND ssh terminal: + echo "wall_far" > calib_label.txt + re-tag as you move ("open", "thin_pole", "stairs", ...). Frames stream + to depth_corpus/