diff --git a/server/src/Common/Image.cs b/server/src/Common/Image.cs index 00e64b1..d22d5cf 100644 --- a/server/src/Common/Image.cs +++ b/server/src/Common/Image.cs @@ -72,7 +72,7 @@ public class Image var b8 = (byte)((b5 * 255) / 31); // 5位扩展到8位 // 存储到 RGB24 数组 - var rgb24Index = i * 3; + var rgb24Index = (i%2 == 0)?((i+1) * 3):((i-1) * 3); rgb24Data[rgb24Index] = r8; // R rgb24Data[rgb24Index + 1] = g8; // G rgb24Data[rgb24Index + 2] = b8; // B diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs index ccb2e85..1382dc4 100644 --- a/server/src/Peripherals/CameraClient.cs +++ b/server/src/Peripherals/CameraClient.cs @@ -9,7 +9,8 @@ static class CameraAddr public const UInt32 STORE_ADDR = BASE + 0x12; public const UInt32 STORE_NUM = BASE + 0x13; - public const UInt32 CAPTURE_ON = BASE + 0x14; + public const UInt32 EXPECTED_VH = BASE + 0x14; + public const UInt32 CAPTURE_ON = BASE + 0x15; } class Camera @@ -17,7 +18,7 @@ class Camera private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger(); readonly int timeout = 2000; - + readonly int taskID; readonly int port; readonly string address; private IPEndPoint ep; @@ -25,27 +26,25 @@ class Camera const uint CAM_I2C_ADDR = 0x3C; const Peripherals.I2cClient.I2cProtocol CAM_PROTO = Peripherals.I2cClient.I2cProtocol.SCCB; - - const UInt16 ISP_INPUT_SIZE_X = 2624; - const UInt16 ISP_INPUT_SIZE_Y = 1952; - const UInt16 X_OFFSET = 16; - const UInt16 Y_OFFSET = 4; - const UInt16 X_OUTPUT_SIZE = 640; - const UInt16 Y_OUTPUT_SIZE = 480; - const UInt16 X_TOTAL_OUTPUT_SIZE = 2844; - const UInt16 Y_TOTAL_OUTPUT_SIZE = 1968; - const UInt16 PISYCAL_PIXEL_START_X = 336; - const UInt16 PISYCAL_PIXEL_START_Y = 434; - const UInt16 PISYCAL_PIXEL_END_X = PISYCAL_PIXEL_START_X + ISP_INPUT_SIZE_X - 1; - const UInt16 PISYCAL_PIXEL_END_Y = PISYCAL_PIXEL_START_Y + ISP_INPUT_SIZE_Y - 1; - const byte PLL_MUX = 105; - + const UInt16 H_START = 0; //default: 0 + const UInt16 V_START = 0; //default: 0 + const UInt16 DVPHO = 640; //default: 2592 (0xA20) + const UInt16 DVPVO = 480; //default: 1944 (0x798) + const UInt16 H_END = H_START + 1500 - 1; //default: 2624-1 (0xA3F) + const UInt16 V_END = V_START + 1300 - 1; //default: 1951-1 (0x79F) + const UInt16 HTS = 1700; //default: 2844 (0xB1C) + const UInt16 VTS = 1500; //default: 1968 (0x7B0) + const UInt16 H_OFFSET = 16; //default: 16 (0x10) + const UInt16 V_OFFSET = 4; //default: 4 (0x04) + const byte PLL_MUX = 10; const UInt32 FrameAddr = 0x00; - const UInt32 FrameLength = X_OUTPUT_SIZE * Y_OUTPUT_SIZE * 16 / 32; + const UInt32 FrameLength = DVPHO * DVPVO * 16 / 32; static byte[][] InitCmdData = new byte[][] { // Stop streaming - new byte[] { 0x30, 0x08, 0x42 }, + new byte[] { 0x30, 0x08, 0x82 }, //82是复位 + // delay 5ms + new byte[] { 0x30, 0x08, 0x42 }, //42是休眠 new byte[] { 0x31, 0x03, 0x02 }, new byte[] { 0x30, 0x17, 0xff }, new byte[] { 0x30, 0x18, 0xff }, @@ -83,30 +82,30 @@ class Camera new byte[] { 0x3c, 0x04, 0x28 }, new byte[] { 0x3c, 0x05, 0x98 }, new byte[] { 0x3c, 0x06, 0x00 }, - new byte[] { 0x3c, 0x07, 0x07 }, + new byte[] { 0x3c, 0x07, 0x08 }, new byte[] { 0x3c, 0x08, 0x00 }, new byte[] { 0x3c, 0x09, 0x1c }, new byte[] { 0x3c, 0x0a, 0x9c }, new byte[] { 0x3c, 0x0b, 0x40 }, - // X_OFFSET/Y_OFFSET - new byte[] { 0x38, 0x10, unchecked((byte)((X_OFFSET >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x11, unchecked((byte)(X_OFFSET & 0xFF)) }, - new byte[] { 0x38, 0x12, unchecked((byte)((Y_OFFSET >> 8) & 0xFF)) }, + // H_OFFSET/V_OFFSET + new byte[] { 0x38, 0x10, unchecked((byte)((H_OFFSET >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x11, unchecked((byte)(H_OFFSET & 0xFF)) }, //0010 + new byte[] { 0x38, 0x12, unchecked((byte)((V_OFFSET >> 8) & 0xFF)) }, new byte[] { 0x37, 0x08, 0x64 }, new byte[] { 0x40, 0x01, 0x02 }, new byte[] { 0x40, 0x05, 0x1a }, new byte[] { 0x30, 0x00, 0x00 }, new byte[] { 0x30, 0x04, 0xff }, - new byte[] { 0x43, 0x00, 0x00 }, // RAW: BGGR - new byte[] { 0x50, 0x1f, 0x03 }, // ISP RAW DPC + new byte[] { 0x43, 0x00, 0x6F }, // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]} + new byte[] { 0x50, 0x1f, 0x01 }, // Format: ISP RGB new byte[] { 0x44, 0x0e, 0x00 }, - new byte[] { 0x50, 0x00, 0x06 }, - new byte[] { 0x3a, 0x0f, 0x78 }, - new byte[] { 0x3a, 0x10, 0x68 }, - new byte[] { 0x3a, 0x1b, 0x78 }, - new byte[] { 0x3a, 0x1e, 0x68 }, - new byte[] { 0x3a, 0x11, 0xD0 }, - new byte[] { 0x3a, 0x1f, 0x40 }, + new byte[] { 0x50, 0x00, 0xA7 }, //ISP控制 + new byte[] { 0x3a, 0x0f, 0x30 }, //AEC控制;stable range in high + new byte[] { 0x3a, 0x10, 0x28 }, //AEC控制;stable range in low + new byte[] { 0x3a, 0x1b, 0x30 }, //AEC控制;stable range out high + new byte[] { 0x3a, 0x1e, 0x26 }, //AEC控制;stable range out low + new byte[] { 0x3a, 0x11, 0x60 }, //AEC控制; fast zone high + new byte[] { 0x3a, 0x1f, 0x14 }, //AEC控制; fast zone low // LENC new byte[] { 0x58, 0x00, 0x23 }, new byte[] { 0x58, 0x01, 0x14 }, new byte[] { 0x58, 0x02, 0x0f }, new byte[] { 0x58, 0x03, 0x0f }, new byte[] { 0x58, 0x04, 0x12 }, new byte[] { 0x58, 0x05, 0x26 }, @@ -164,65 +163,66 @@ class Camera new byte[] { 0x53, 0x0a, 0x30 }, new byte[] { 0x53, 0x0b, 0x04 }, new byte[] { 0x53, 0x0c, 0x06 }, new byte[] { 0x50, 0x25, 0x00 }, // 系统时钟分频 - new byte[] { 0x30, 0x35, 0x21 }, // 30fps + new byte[] { 0x30, 0x35, 0x11 }, // 30fps new byte[] { 0x30, 0x36, PLL_MUX }, // PLL倍频 new byte[] { 0x3c, 0x07, 0x08 }, // 时序控制 - new byte[] { 0x38, 0x20, 0x41 }, // vflip - new byte[] { 0x38, 0x21, 0x00 }, // mirror - new byte[] { 0x38, 0x14, 0x11 }, // timing X inc - new byte[] { 0x38, 0x15, 0x11 }, // timing Y inc - // PISYCAL_PIXEL_START_X/Y - new byte[] { 0x38, 0x00, unchecked((byte)((PISYCAL_PIXEL_START_X >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x01, unchecked((byte)(PISYCAL_PIXEL_START_X & 0xFF)) }, - new byte[] { 0x38, 0x02, unchecked((byte)((PISYCAL_PIXEL_START_Y >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x03, unchecked((byte)(PISYCAL_PIXEL_START_Y & 0xFF)) }, - // PISYCAL_PIXEL_END_X/Y - new byte[] { 0x38, 0x04, unchecked((byte)((PISYCAL_PIXEL_END_X >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x05, unchecked((byte)(PISYCAL_PIXEL_END_X & 0xFF)) }, - new byte[] { 0x38, 0x06, unchecked((byte)((PISYCAL_PIXEL_END_Y >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x07, unchecked((byte)(PISYCAL_PIXEL_END_Y & 0xFF)) }, + new byte[] { 0x38, 0x20, 0x46 }, // vflip + new byte[] { 0x38, 0x21, 0x01 }, // mirror + new byte[] { 0x38, 0x14, 0x31 }, // timing X inc + new byte[] { 0x38, 0x15, 0x31 }, // timing Y inc + // H_START/Y + new byte[] { 0x38, 0x00, unchecked((byte)((H_START >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x01, unchecked((byte)(H_START & 0xFF)) }, + new byte[] { 0x38, 0x02, unchecked((byte)((V_START >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x03, unchecked((byte)(V_START & 0xFF)) }, + // H_END/Y + new byte[] { 0x38, 0x04, unchecked((byte)((H_END >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x05, unchecked((byte)(H_END & 0xFF)) }, + new byte[] { 0x38, 0x06, unchecked((byte)((V_END >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x07, unchecked((byte)(V_END & 0xFF)) }, // 输出像素个数 - new byte[] { 0x38, 0x08, unchecked((byte)((X_OUTPUT_SIZE >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x09, unchecked((byte)(X_OUTPUT_SIZE & 0xFF)) }, - new byte[] { 0x38, 0x0A, unchecked((byte)((Y_OUTPUT_SIZE >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x0B, unchecked((byte)(Y_OUTPUT_SIZE & 0xFF)) }, + new byte[] { 0x38, 0x08, unchecked((byte)((DVPHO >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x09, unchecked((byte)(DVPHO & 0xFF)) }, + new byte[] { 0x38, 0x0A, unchecked((byte)((DVPVO >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x0B, unchecked((byte)(DVPVO & 0xFF)) }, // 总像素 - new byte[] { 0x38, 0x0C, unchecked((byte)((X_TOTAL_OUTPUT_SIZE >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x0D, unchecked((byte)(X_TOTAL_OUTPUT_SIZE & 0xFF)) }, - new byte[] { 0x38, 0x0E, unchecked((byte)((Y_TOTAL_OUTPUT_SIZE >> 8) & 0xFF)) }, - new byte[] { 0x38, 0x0F, unchecked((byte)(Y_TOTAL_OUTPUT_SIZE & 0xFF)) }, - new byte[] { 0x38, 0x13, unchecked((byte)(Y_OFFSET & 0xFF)) }, // Timing Voffset + new byte[] { 0x38, 0x0C, unchecked((byte)((HTS >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x0D, unchecked((byte)(HTS & 0xFF)) }, + new byte[] { 0x38, 0x0E, unchecked((byte)((VTS >> 8) & 0xFF)) }, + new byte[] { 0x38, 0x0F, unchecked((byte)(VTS & 0xFF)) }, + new byte[] { 0x38, 0x13, unchecked((byte)(V_OFFSET & 0xFF)) }, // Timing Voffset new byte[] { 0x36, 0x18, 0x00 }, new byte[] { 0x36, 0x12, 0x29 }, new byte[] { 0x37, 0x09, 0x52 }, new byte[] { 0x37, 0x0c, 0x03 }, - new byte[] { 0x3a, 0x02, 0x17 }, - new byte[] { 0x3a, 0x03, 0x10 }, - new byte[] { 0x3a, 0x14, 0x17 }, - new byte[] { 0x3a, 0x15, 0x10 }, - new byte[] { 0x40, 0x04, 0x02 }, - new byte[] { 0x47, 0x13, 0x00 }, - new byte[] { 0x44, 0x07, 0x04 }, + new byte[] { 0x3a, 0x02, 0x17 }, //60Hz max exposure + new byte[] { 0x3a, 0x03, 0x10 }, //60Hz max exposure + new byte[] { 0x3a, 0x14, 0x17 }, //50Hz max exposure + new byte[] { 0x3a, 0x15, 0x10 }, //50Hz max exposure + new byte[] { 0x40, 0x04, 0x02 }, //BLC(背光) 2 lines + new byte[] { 0x47, 0x13, 0x03 }, //JPEG mode 3 + new byte[] { 0x44, 0x07, 0x04 }, //量化标度 new byte[] { 0x46, 0x0c, 0x20 }, - new byte[] { 0x48, 0x37, 0x22 }, - new byte[] { 0x38, 0x24, 0x02 }, - new byte[] { 0x50, 0x01, 0x80 }, // 关闭缩放 - new byte[] { 0x3b, 0x07, 0x0a }, + new byte[] { 0x48, 0x37, 0x22 }, //DVP CLK divider + new byte[] { 0x38, 0x24, 0x02 }, //DVP CLK divider + new byte[] { 0x50, 0x01, 0xA3 }, //ISP 控制 + new byte[] { 0x3b, 0x07, 0x0a }, //帧曝光模式 // 彩条测试使能 new byte[] { 0x50, 0x3d, 0x00 }, + new byte[] { 0x47, 0x41, 0x00 }, // 闪光灯禁用 - new byte[] { 0x30, 0x16, 0x00 }, - new byte[] { 0x30, 0x1c, 0x00 }, - new byte[] { 0x30, 0x19, 0x00 }, - new byte[] { 0x30, 0x31, 0x08 }, - new byte[] { 0x30, 0x2c, 0xC2 }, - new byte[] { 0x46, 0x00, 0xA0 }, + new byte[] { 0x30, 0x16, 0x02 }, + new byte[] { 0x30, 0x1c, 0x02 }, + new byte[] { 0x30, 0x19, 0x02 }, //开启闪光灯 + new byte[] { 0x30, 0x19, 0x00 }, //关闭闪光灯 + // new byte[] { 0x30, 0x2c, 0xC2 }, //控制驱动能力的 + // new byte[] { 0x46, 0x00, 0xA0 }, // for subsample=OFF - new byte[] { 0x36, 0x18, 0x04 }, - new byte[] { 0x36, 0x12, 0x2b }, - new byte[] { 0x37, 0x09, 0x12 }, - new byte[] { 0x37, 0x0c, 0x00 }, + // new byte[] { 0x36, 0x18, 0x04 }, + // new byte[] { 0x36, 0x12, 0x2b }, + // new byte[] { 0x37, 0x09, 0x12 }, + // new byte[] { 0x37, 0x0c, 0x00 }, // Start streaming new byte[] { 0x30, 0x08, 0x02 } }; @@ -247,7 +247,7 @@ class Camera public async ValueTask> Init() { { - var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.STORE_ADDR, FrameAddr); + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.STORE_ADDR, FrameAddr); if (!ret.IsSuccessful) { logger.Error($"Failed to write STORE_ADDR to camera at {this.address}:{this.port}, error: {ret.Error}"); @@ -261,7 +261,7 @@ class Camera } { - var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.STORE_NUM, FrameLength); + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.STORE_NUM, FrameLength); if (!ret.IsSuccessful) { logger.Error($"Failed to write STORE_NUM to camera at {this.address}:{this.port}, error: {ret.Error}"); @@ -274,7 +274,21 @@ class Camera } } - var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.timeout); + { + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.EXPECTED_VH, (DVPVO)<<16 | (DVPHO*2)); + if (!ret.IsSuccessful) + { + logger.Error($"Failed to write EXPECTED_VH to camera at {this.address}:{this.port}, error: {ret.Error}"); + return new(ret.Error); + } + if (!ret.Value) + { + logger.Error($"EXPECTED_VH write returned false for camera at {this.address}:{this.port}"); + return new(new Exception($"EXPECTED_VH write returned false for camera at {this.address}:{this.port}")); + } + } + + var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout); foreach (var cmd in InitCmdData) { @@ -291,6 +305,12 @@ class Camera logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}"); return false; } + if (cmd[0] == 0x30 && cmd[1] == 0x08 && cmd[2] == 0x82) + { + // 复位命令，等待5MS + await Task.Delay(5); + } + else await Task.Delay(5); // 其他命令延时1ms } return true; @@ -298,7 +318,7 @@ class Camera public async ValueTask> EnableCamera(bool isEnable) { - var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.CAPTURE_ON, Convert.ToUInt32(isEnable)); + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAPTURE_ON, Convert.ToUInt32(isEnable)); if (!ret.IsSuccessful) { logger.Error($"Failed to write CAPTURE_ON to camera at {this.address}:{this.port}, error: {ret.Error}"); @@ -319,14 +339,14 @@ class Camera public async ValueTask> ReadFrame() { // 清除UDP服务器接收缓冲区 - await MsgBus.UDPServer.ClearUDPData(this.address, 2); + await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID); logger.Trace($"Clear up udp server {this.address} receive data"); // 使用UDPClientPool读取图像帧数据 var result = await UDPClientPool.ReadAddr4Bytes( this.ep, - 2, // taskID + this.taskID, // taskID FrameAddr, ((int)FrameLength), this.timeout); diff --git a/server/src/Peripherals/I2cClient.cs b/server/src/Peripherals/I2cClient.cs index 4aab247..66ca4d4 100644 --- a/server/src/Peripherals/I2cClient.cs +++ b/server/src/Peripherals/I2cClient.cs @@ -69,7 +69,7 @@ public class I2c private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger(); readonly int timeout = 2000; - + readonly int taskID; readonly int port; readonly string address; private IPEndPoint ep; @@ -79,13 +79,15 @@ public class I2c /// /// [TODO:parameter] /// [TODO:parameter] + /// [TODO:parameter] /// [TODO:parameter] /// [TODO:return] - public I2c(string address, int port, int timeout = 2000) + public I2c(string address, int port, int taskID,int timeout = 2000) { if (timeout < 0) throw new ArgumentException("Timeout couldn't be negative", nameof(timeout)); this.address = address; + this.taskID = taskID; this.port = port; this.ep = new IPEndPoint(IPAddress.Parse(address), port); this.timeout = timeout; @@ -107,7 +109,7 @@ public class I2c } // 清除UDP服务器接收缓冲区 - await MsgBus.UDPServer.ClearUDPData(this.address, 2); + await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID); logger.Trace($"Clear up udp server {this.address} receive data"); @@ -123,7 +125,7 @@ public class I2c i2cData[i++] = item; } - var ret = await UDPClientPool.WriteAddr(this.ep, 2, I2cAddr.Write, i2cData); + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.Write, i2cData); if (!ret.IsSuccessful) { logger.Error($"Failed to write data to I2C FIFO: {ret.Error}"); @@ -139,7 +141,7 @@ public class I2c // 配置本次传输数据量 { - var ret = await UDPClientPool.WriteAddr(this.ep, 2, I2cAddr.TranConfig, ((uint)(data.Length - 1))); + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.TranConfig, ((uint)(data.Length - 1))); if (!ret.IsSuccessful) { logger.Error($"Failed to configure transfer length: {ret.Error}"); @@ -156,7 +158,7 @@ public class I2c // 配置I2C地址、协议及启动传输 { var ret = await UDPClientPool.WriteAddr( - this.ep, 2, I2cAddr.BaseConfig, (devAddr) | (((uint)proto) << 16) | (1 << 24)); + this.ep, this.taskID, I2cAddr.BaseConfig, (devAddr) | (((uint)proto) << 16) | (1 << 24)); if (!ret.IsSuccessful) { logger.Error($"Failed to configure I2C address/protocol/start: {ret.Error}"); @@ -172,7 +174,7 @@ public class I2c // 等待I2C命令完成 { - var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 2, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF); + var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF); if (!ret.IsSuccessful) { logger.Error($"Failed to wait for I2C command completion: {ret.Error}"); @@ -205,13 +207,13 @@ public class I2c } // 清除UDP服务器接收缓冲区 - await MsgBus.UDPServer.ClearUDPData(this.address, 2); + await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID); logger.Trace($"Clear up udp server {this.address} receive data"); // 配置本次传输数据量 { - var ret = await UDPClientPool.WriteAddr(this.ep, 2, I2cAddr.TranConfig, ((uint)(length - 1))); + var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.TranConfig, ((uint)(length - 1))); if (!ret.IsSuccessful) { logger.Error($"Failed to configure transfer length: {ret.Error}"); @@ -228,7 +230,7 @@ public class I2c // 配置I2C地址、协议及启动传输（读操作） { var ret = await UDPClientPool.WriteAddr( - this.ep, 2, I2cAddr.BaseConfig, (devAddr) | (1 << 8) | (((uint)proto) << 16) | (1 << 24)); + this.ep, this.taskID, I2cAddr.BaseConfig, (devAddr) | (1 << 8) | (((uint)proto) << 16) | (1 << 24)); if (!ret.IsSuccessful) { logger.Error($"Failed to configure I2C address/protocol/start: {ret.Error}"); @@ -244,7 +246,7 @@ public class I2c // 等待I2C命令完成 { - var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 2, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF); + var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF); if (!ret.IsSuccessful) { logger.Error($"Failed to wait for I2C command completion: {ret.Error}"); @@ -260,7 +262,7 @@ public class I2c // 读取数据 { - var ret = await UDPClientPool.ReadAddr(this.ep, 2, I2cAddr.Read, length); + var ret = await UDPClientPool.ReadAddr(this.ep, this.taskID, I2cAddr.Read, length); if (!ret.IsSuccessful) { logger.Error($"Failed to read data from I2C FIFO: {ret.Error}"); diff --git a/server/src/Services/HttpVideoStreamService.cs b/server/src/Services/HttpVideoStreamService.cs index fa4e83a..4522a1c 100644 --- a/server/src/Services/HttpVideoStreamService.cs +++ b/server/src/Services/HttpVideoStreamService.cs @@ -627,7 +627,7 @@ public class HttpVideoStreamService : BackgroundService } // 将 RGB565 转换为 RGB24 - var rgb24Result = Common.Image.ConvertRGB565ToRGB24(rgb565Data, _frameWidth, _frameHeight); + var rgb24Result = Common.Image.ConvertRGB565ToRGB24(rgb565Data, _frameWidth, _frameHeight, isLittleEndian: false); if (!rgb24Result.IsSuccessful) { logger.Error("RGB565转RGB24失败: {Error}", rgb24Result.Error);