diff --git a/.gitignore b/.gitignore index 6e0851f..534cb21 100644 --- a/.gitignore +++ b/.gitignore @@ -82,3 +82,4 @@ Desktop.ini *.sln.docstates # Visual Studio .cache/ src/firmware-code/motion-inference/build_cnn1d_sd/esp-idf/esptool_py/app-flash_args.in +.venv_convert/ diff --git a/best_optimized_cnn.pth b/best_optimized_cnn.pth new file mode 100644 index 0000000..24758b3 Binary files /dev/null and b/best_optimized_cnn.pth differ diff --git a/sd_model_template/best_optimized_cnn.espdl b/sd_model_template/best_optimized_cnn.espdl new file mode 100644 index 0000000..bcc24b2 Binary files /dev/null and b/sd_model_template/best_optimized_cnn.espdl differ diff --git a/sd_model_template/best_optimized_cnn.meta.json b/sd_model_template/best_optimized_cnn.meta.json new file mode 100644 index 0000000..afc0955 --- /dev/null +++ b/sd_model_template/best_optimized_cnn.meta.json @@ -0,0 +1,10 @@ +{ + "name": "best_optimized_cnn", + "num_classes": 4, + "labels": [ + "高抬腿", + "展臂", + "深蹲", + "Unknown" + ] +} diff --git a/sd_model_template/readme.md b/sd_model_template/readme.md new file mode 100644 index 0000000..c79cbd7 --- /dev/null +++ b/sd_model_template/readme.md @@ -0,0 +1,2 @@ +需要保证.meta.json 的 num_classes 和模型真实输出数量一致的，如果不一致模型切换会失败并打印错误，避免标签和识别结果错位。 +需要把.meta.json和对应 .espdl 一起放到 SD 卡模型目录里（现在固件会优先读取同名元信息文件） \ No newline at end of file diff --git a/sdcard_models/best_optimized_cnn.espdl b/sdcard_models/best_optimized_cnn.espdl new file mode 100644 index 0000000..bcc24b2 Binary files /dev/null and b/sdcard_models/best_optimized_cnn.espdl differ diff --git a/sdcard_models/best_optimized_cnn.info b/sdcard_models/best_optimized_cnn.info new file mode 100644 index 0000000..5de7fdc --- /dev/null +++ b/sdcard_models/best_optimized_cnn.info @@ -0,0 +1,37346 @@ +model properties: +metadata_props: + + +graph main_graph ( + %input.1[INT8, 1x50x228], exponents: [-5] +) initializers ( + %classifier.4.weight[INT8, 1x1x128x4] + %classifier.1.bias[INT32, 128] + %onnx::Conv_49[INT8, 5x128x256] + %onnx::Conv_47[INT32, 128] + %onnx::Conv_46[INT8, 5x64x128] + %onnx::Conv_44[INT32, 64] + %onnx::Conv_43[INT8, 5x228x64] + %classifier.1.weight[INT8, 1x1x1024x128] + %onnx::Conv_50[INT32, 256] + %classifier.4.bias[INT32, 4] +) { + %/conv1/conv1.2/Relu_output_0 = Conv[activation = 'Relu', dilations = [1], group = 1, kernel_shape = [5], pads = [2, 2], quant_type = 'S8', strides = [1]](%input.1, %onnx::Conv_43, %onnx::Conv_44) + %/conv1/conv1.4/MaxPool_output_0 = MaxPool[ceil_mode = 0, dilations = [1], kernel_shape = [2], pads = [0, 0], quant_type = 'S8', strides = [2]](%/conv1/conv1.2/Relu_output_0) + %/conv2/conv2.2/Relu_output_0 = Conv[activation = 'Relu', dilations = [1], group = 1, kernel_shape = [5], pads = [2, 2], quant_type = 'S8', strides = [1]](%/conv1/conv1.4/MaxPool_output_0, %onnx::Conv_46, %onnx::Conv_47) + %/conv2/conv2.4/MaxPool_output_0 = MaxPool[ceil_mode = 0, dilations = [1], kernel_shape = [2], pads = [0, 0], quant_type = 'S8', strides = [2]](%/conv2/conv2.2/Relu_output_0) + %/conv3/conv3.2/Relu_output_0 = Conv[activation = 'Relu', dilations = [1], group = 1, kernel_shape = [5], pads = [2, 2], quant_type = 'S8', strides = [1]](%/conv2/conv2.4/MaxPool_output_0, %onnx::Conv_49, %onnx::Conv_50) + %/conv3/conv3.4/AveragePool_output_0 = AveragePool[kernel_shape = [3], quant_type = 'S8', strides = [3]](%/conv3/conv3.2/Relu_output_0) + %PPQ_Variable_0 = Transpose[perm = [0, 2, 1], quant_type = 'S8'](%/conv3/conv3.4/AveragePool_output_0) + %/classifier/classifier.0/Flatten_output_0 = Flatten[axis = 1, quant_type = 'S8'](%PPQ_Variable_0) + %/classifier/classifier.2/Relu_output_0 = Gemm[activation = 'Relu', alpha = 1, beta = 1, quant_type = 'S8', transB = 0](%/classifier/classifier.0/Flatten_output_0, %classifier.1.weight, %classifier.1.bias) + %41 = Gemm[activation = 'Linear', alpha = 1, beta = 1, quant_type = 'S8', transB = 0](%/classifier/classifier.2/Relu_output_0, %classifier.4.weight, %classifier.4.bias) + return %41 +} + + +initializers value: +%classifier.4.weight, shape: [1, 1, 128, 4], exponents: [-10, -10, -10, -10], docString: b'layout ==> (N/16)HWC16_UNALIGNED', +value: array([-13, 47, -25, 86, 18, 28, -15, 1, 10, -47, -4, 52, 39, + 25, -33, -13, -41, -9, 63, -75, -7, 79, -33, 54, 9, -56, + 0, 41, -22, 65, -21, 6, 53, -30, -18, 60, 61, -15, 74, + 34, -44, -32, 56, -72, 91, 6, -51, 41, -10, 85, -13, 38, + -55, -82, -20, 17, 85, 51, 59, 58, 72, -82, 64, 81, -45, + -38, 11, -5, -32, -35, -72, -19, -24, 53, -90, 89, 33, 69, + -50, -75, -27, 62, 13, 65, -6, -38, -45, -47, 20, -61, 32, + -5, -1, 15, -52, 5, 2, 60, -60, 64, 51, 65, -53, 81, + -21, 35, -93, -18, -30, 31, 20, 66, 39, -39, -49, -28, -38, + -49, -47, 18, -10, 74, 93, -80, -49, 12, 34, 12, -2, -32, + 60, 88, -53, -55, -10, 68, -2, 26, -58, -30, -41, 31, 47, + 13, -38, -51, -26, 82, 41, -15, 69, 62, -37, -56, 14, -8, + 5, -17, 51, 44, 5, -35, 52, 1, 25, -15, -77, 14, 22, + -59, 56, 21, 35, 55, -24, 84, 6, 6, 72, 39, 18, -35, + 39, 6, -1, -30, 2, -10, 22, -62, -4, -21, 14, 22, -5, + 57, 67, 30, 63, -17, 61, -40, -31, 12, -32, 28, 22, -66, + 55, 38, -3, 81, 52, -73, 7, 52, -57, -58, 32, 60, 48, + 13, 9, 62, -57, -27, 6, 9, -9, 0, 43, 9, -32, -57, + -78, -16, -73, -37, 83, -3, -12, 33, -50, -49, 43, -53, 45, + -65, 69, 37, 47, 25, 6, 2, -10, -65, 77, 40, -60, 41, + -12, 24, 59, -40, 83, -73, 66, -59, 28, -37, 33, 86, 31, + -68, 56, -61, 25, -27, 60, -64, -79, 46, -16, 69, -18, -55, + -49, -56, -70, 59, -42, -28, -67, -82, 7, 32, 57, -14, -8, + 88, 23, 50, 40, 22, 67, -15, 63, -31, -81, 33, -44, -8, + -30, -75, -24, -61, -60, -64, -47, -14, -71, -31, -21, 46, -58, + 20, 7, 61, -81, 46, -42, 81, -68, -20, -82, 10, 45, 42, + -40, -15, 45, -47, 46, -25, -69, 40, 32, 51, -43, 15, -55, + -36, -60, 63, 66, 52, -35, 57, 34, 72, 7, 26, -31, 20, + 7, -63, -61, -23, -26, -10, 28, -12, 36, 26, 104, 8, -48, + 28, -56, 69, -12, 85, -30, -1, 43, -6, -1, 63, 23, -25, + 29, 13, 48, -26, 17, 56, -12, -9, -12, 43, 36, -39, 0, + 49, 4, 13, 5, -47, 56, 3, 36, 82, 76, 6, -2, 10, + 4, 24, -1, 14, 37, 10, 57, 78, -9, -1, 18, 25, 53, + 23, 81, 52, 69, 31, 19, 2, -35, 43, -4, 7, 22, 65, + 16, 3, -19, 30, 8, 13, -31, -3, 5, 9, -2, -17, 43, + 28, 66, -6, -73, 35, -14, 22, -31, 11, 0, 83, 59, 58, + 26, 35, -13, -16, -10, 1, 42, 7, -2, 76, -31, 10, -11, + 8, 12, 26, 6, 22, -20, 26, -4, -24, 61, 30, 19, -18, + 58, 18, 1, 74, -3, -41, -11, -8, 40, -35, 11, 6, 58, + 10, 73, 49, 0, -41], dtype=int8) +%classifier.1.bias, shape: [128], exponents: [-16, -16, -16, -16, -17, -16, -16, -16, -16, -16, -16, -17, -16, -16, -16, -16, -17, -16, -16, -17, -16, -16, -17, -17, -17, -16, -17, -17, -17, -16, -16, -17, -17, -16, -16, -16, -17, -17, -17, -17, -17, -17, -16, -16, -16, -16, -17, -16, -17, -16, -16, -16, -16, -17, -16, -17, -16, -17, -16, -16, -17, -17, -16, -16, -16, -17, -17, -16, -16, -16, -17, -16, -17, -16, -16, -16, -16, -16, -16, -17, -16, -17, -17, -17, -17, -17, -17, -17, -17, -16, -17, -16, -16, -17, -16, -16, -17, -16, -16, -16, 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+%/classifier/classifier.2/Relu_output_0[INT8, 1x128], exponents: [-5] +%/conv2/conv2.2/Relu_output_0[INT8, 1x25x128], exponents: [-5] +%/conv3/conv3.4/AveragePool_output_0[INT8, 1x4x256], exponents: [-6] +%/conv1/conv1.4/MaxPool_output_0[INT8, 1x25x64], exponents: [-4] +%/conv1/conv1.2/Relu_output_0[INT8, 1x50x64], exponents: [-4] +%/conv3/conv3.2/Relu_output_0[INT8, 1x12x256], exponents: [-5] +%41[INT8, 1x4], exponents: [-6] +%PPQ_Variable_0[INT8, 1x4x256], exponents: [-6] + + +test inputs value: + + + +test outputs value: diff --git a/sdcard_models/best_optimized_cnn.json b/sdcard_models/best_optimized_cnn.json new file mode 100644 index 0000000..5a2cba6 --- /dev/null +++ b/sdcard_models/best_optimized_cnn.json @@ -0,0 +1,2986 @@ +{ + "configs": { + "/conv1/conv1.0/Conv": { + "input.1": { + "bit_width": 8, + "policy": { + "PER_TENSOR": true, + "PER_CHANNEL": false, + "LINEAR": true, + "FLOATING": false, + "SYMMETRICAL": true, + "ASYMMETRICAL": false, + "POWER_OF_2": true, + 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b/sdcard_models/best_optimized_cnn.meta.json @@ -0,0 +1,10 @@ +{ + "name": "best_optimized_cnn", + "num_classes": 4, + "labels": [ + "高抬腿", + "展臂", + "深蹲", + "Unknown" + ] +} diff --git a/sdcard_models/best_optimized_cnn.onnx b/sdcard_models/best_optimized_cnn.onnx new file mode 100644 index 0000000..e24bc88 Binary files /dev/null and b/sdcard_models/best_optimized_cnn.onnx differ diff --git a/src/firmware-code/p4_remote_wifi/main/CMakeLists.txt b/src/firmware-code/p4_remote_wifi/main/CMakeLists.txt index d0f4fb3..53301d4 100644 --- a/src/firmware-code/p4_remote_wifi/main/CMakeLists.txt +++ b/src/firmware-code/p4_remote_wifi/main/CMakeLists.txt @@ -1,2 +1,17 @@ -idf_component_register(SRCS "main.c" "wifi_manager.c" "model_data.c" "nn_model.cpp" "sys_config.c" "csi_source.c" "csi_dsp.cpp" "gesture_detector.c" "gesture_output.c" "model2_data.c" "ui_controller.c" "upload_api.c" - INCLUDE_DIRS ".") +idf_component_register(SRCS "main.c" "wifi_manager.c" "nn_model.cpp" "sys_config.c" "csi_source.c" "csi_dsp.cpp" "gesture_detector.c" "gesture_output.c" "ui_controller.c" "upload_api.c" + INCLUDE_DIRS "." + PRIV_REQUIRES + esp_driver_gpio + esp_driver_sdmmc + esp_driver_spi + esp_driver_uart + esp_event + esp_http_client + esp_netif + esp_timer + esp_wifi + fatfs + heap + json + log + sdmmc) diff --git a/src/firmware-code/p4_remote_wifi/main/gesture_detector.c b/src/firmware-code/p4_remote_wifi/main/gesture_detector.c index 27f2858..266b4b2 100644 --- a/src/firmware-code/p4_remote_wifi/main/gesture_detector.c +++ b/src/firmware-code/p4_remote_wifi/main/gesture_detector.c @@ -10,6 +10,10 @@ void gesture_detector_reset(gesture_detector_t *detector) { memset(detector->accumulated_probs, 0, sizeof(detector->accumulated_probs)); memset(detector->unweighted_probs, 0, sizeof(detector->unweighted_probs)); + detector->class_count = nn_model_get_class_count(); + if (detector->class_count <= 0 || detector->class_count > NN_MODEL_MAX_CLASS_COUNT) { + detector->class_count = 0; + } detector->total_weight = 0.0f; detector->gesture_frames_count = 0; detector->pred_history_count = 0; @@ -23,10 +27,20 @@ void gesture_detector_accumulate(gesture_detector_t *detector, int *out_smoothed_class, float *out_confidence) { + int class_count = nn_model_get_class_count(); + if (class_count <= 0 || class_count > NN_MODEL_MAX_CLASS_COUNT) { + *out_smoothed_class = -1; + *out_confidence = 0.0f; + return; + } + if (detector->class_count != class_count) { + gesture_detector_reset(detector); + } + // 寻找当前帧最大概率对应的类别和置信度 int pred_class = 0; float confidence = probs[0]; - for (int c = 1; c < NUM_CLASSES; c++) { + for (int c = 1; c < class_count; c++) { if (probs[c] > confidence) { confidence = probs[c]; pred_class = c; @@ -40,7 +54,7 @@ void gesture_detector_accumulate(gesture_detector_t *detector, // 过滤置信度低于 0.50 的帧，仅让大于等于 0.50 的帧参与总决策累加 if (confidence >= 0.50f) { - for (int c = 0; c < NUM_CLASSES; c++) { + for (int c = 0; c < class_count; c++) { detector->accumulated_probs[c] += probs[c] * weight; detector->unweighted_probs[c] += probs[c]; } @@ -63,12 +77,15 @@ void gesture_detector_accumulate(gesture_detector_t *detector, // 根据历史记录投票 int smoothed_class = -1; if (detector->pred_history_count > 0) { - int counts[NUM_CLASSES] = {0}; + int counts[NN_MODEL_MAX_CLASS_COUNT] = {0}; for (int i = 0; i < detector->pred_history_count; i++) { - counts[detector->pred_history[i]]++; + int history_class = detector->pred_history[i]; + if (history_class >= 0 && history_class < class_count) { + counts[history_class]++; + } } int max_count = 0; - for (int c = 0; c < NUM_CLASSES; c++) { + for (int c = 0; c < class_count; c++) { if (counts[c] > max_count) { max_count = counts[c]; smoothed_class = c; @@ -86,14 +103,22 @@ bool gesture_detector_get_final(const gesture_detector_t *detector, if (detector->gesture_frames_count <= 0) { return false; } + + int class_count = detector->class_count; + if (class_count <= 0 || class_count > NN_MODEL_MAX_CLASS_COUNT) { + class_count = nn_model_get_class_count(); + } + if (class_count <= 0 || class_count > NN_MODEL_MAX_CLASS_COUNT) { + return false; + } - float final_probs[NUM_CLASSES]; + float final_probs[NN_MODEL_MAX_CLASS_COUNT] = {0.0f}; if (detector->total_weight > 0.0f) { - for (int c = 0; c < NUM_CLASSES; c++) { + for (int c = 0; c < class_count; c++) { final_probs[c] = detector->accumulated_probs[c] / detector->total_weight; } } else { - for (int c = 0; c < NUM_CLASSES; c++) { + for (int c = 0; c < class_count; c++) { final_probs[c] = detector->unweighted_probs[c] / (float)detector->gesture_frames_count; } } @@ -101,7 +126,7 @@ bool gesture_detector_get_final(const gesture_detector_t *detector, // argmax int final_class = 0; float max_prob = final_probs[0]; - for (int c = 1; c < NUM_CLASSES; c++) { + for (int c = 1; c < class_count; c++) { if (final_probs[c] > max_prob) { max_prob = final_probs[c]; final_class = c; @@ -112,7 +137,7 @@ bool gesture_detector_get_final(const gesture_detector_t *detector, *out_final_prob = max_prob; if (out_probs) { - memcpy(out_probs, final_probs, sizeof(final_probs)); + memcpy(out_probs, final_probs, NN_MODEL_MAX_CLASS_COUNT * sizeof(float)); } return true; } diff --git a/src/firmware-code/p4_remote_wifi/main/gesture_detector.h b/src/firmware-code/p4_remote_wifi/main/gesture_detector.h index f18dc23..428d62f 100644 --- a/src/firmware-code/p4_remote_wifi/main/gesture_detector.h +++ b/src/firmware-code/p4_remote_wifi/main/gesture_detector.h @@ -12,8 +12,9 @@ extern "C" { #define GESTURE_SMOOTHING_FRAMES 7 typedef struct { - float accumulated_probs[NUM_CLASSES]; - float unweighted_probs[NUM_CLASSES]; + float accumulated_probs[NN_MODEL_MAX_CLASS_COUNT]; + float unweighted_probs[NN_MODEL_MAX_CLASS_COUNT]; + int class_count; float total_weight; int gesture_frames_count; @@ -54,7 +55,7 @@ void gesture_detector_accumulate(gesture_detector_t *detector, * @param detector 检测器指针 * @param out_final_class 输出判决结果类别 * @param out_final_prob 输出判决结果的加权概率值 - * @param out_probs 输出所有类别的加权后概率数组 (大小需为 NUM_CLASSES，可传 NULL) + * @param out_probs 输出所有类别的加权后概率数组 (大小需为 NN_MODEL_MAX_CLASS_COUNT，可传 NULL) * @return true 判决成功（有高置信度帧积累） * @return false 判决失败（无积累帧） */ diff --git a/src/firmware-code/p4_remote_wifi/main/gesture_output.h b/src/firmware-code/p4_remote_wifi/main/gesture_output.h index 9ecad67..c8c88f4 100644 --- a/src/firmware-code/p4_remote_wifi/main/gesture_output.h +++ b/src/firmware-code/p4_remote_wifi/main/gesture_output.h @@ -11,12 +11,13 @@ extern "C" { typedef struct { int class_id; + int class_count; const char *class_name; float confidence; bool is_realtime; // true 代表每帧实时预测，false 代表动作结束的最终判定结果 // 最终判决时的概率与帧统计 - float final_probs[NUM_CLASSES]; + float final_probs[NN_MODEL_MAX_CLASS_COUNT]; int gesture_frames_count; float total_weight; } gesture_result_t; diff --git a/src/firmware-code/p4_remote_wifi/main/main.c b/src/firmware-code/p4_remote_wifi/main/main.c index 471632c..682fe8f 100644 --- a/src/firmware-code/p4_remote_wifi/main/main.c +++ b/src/firmware-code/p4_remote_wifi/main/main.c @@ -76,7 +76,7 @@ static void console_log_observer(const gesture_result_t *result, void *user_data } else { ESP_LOGI(TAG, "================ GESTURE DETECTED ================"); ESP_LOGI(TAG, "🏆🏆🏆 Final Result: %s (Score: %.1f%%)", result->class_name, result->confidence * 100.0f); - for (int c = 0; c < NUM_CLASSES; c++) { + for (int c = 0; c < result->class_count; c++) { const char *name = nn_model_get_class_name(c); ESP_LOGI(TAG, " - Class %d (%s) Prob: %.2f%%", c, name, result->final_probs[c] * 100.0f); } @@ -100,7 +100,7 @@ static void ai_inference_task(void *pvParameters) gesture_detector_t detector; gesture_detector_init(&detector); - float probs[NUM_CLASSES] = {0.0f}; + float probs[NN_MODEL_MAX_CLASS_COUNT] = {0.0f}; inference_job_t job; while (1) { @@ -109,11 +109,12 @@ static void ai_inference_task(void *pvParameters) // 动作结束，进行加权总决策 int final_class = 0; float final_prob = 0.0f; - float final_probs[NUM_CLASSES] = {0.0f}; + float final_probs[NN_MODEL_MAX_CLASS_COUNT] = {0.0f}; if (gesture_detector_get_final(&detector, &final_class, &final_prob, final_probs)) { gesture_result_t result = { .class_id = final_class, + .class_count = nn_model_get_class_count(), .class_name = nn_model_get_class_name(final_class), .confidence = final_prob, .is_realtime = false, @@ -133,8 +134,12 @@ static void ai_inference_task(void *pvParameters) } else { // 执行 AI 推理并测量时间 int64_t start = esp_timer_get_time(); + memset(probs, 0, sizeof(probs)); int pred_class = nn_model_predict_cnn_with_probs(job.buffer, probs); int64_t end = esp_timer_get_time(); + (void)start; + (void)end; + (void)pred_class; // 立即将使用的缓冲区归还到空闲队列，缩短被占用的时间 float *buf_ptr = job.buffer; @@ -150,6 +155,7 @@ static void ai_inference_task(void *pvParameters) // 实时分发推理结果 gesture_result_t result = { .class_id = smoothed_class, + .class_count = nn_model_get_class_count(), .class_name = nn_model_get_class_name(smoothed_class), .confidence = confidence, .is_realtime = true diff --git a/src/firmware-code/p4_remote_wifi/main/nn_model.cpp b/src/firmware-code/p4_remote_wifi/main/nn_model.cpp index 2dd054c..d177dad 100644 --- a/src/firmware-code/p4_remote_wifi/main/nn_model.cpp +++ b/src/firmware-code/p4_remote_wifi/main/nn_model.cpp @@ -1,56 +1,522 @@ #include "nn_model.h" -#include "model_data.h" -#include "model2_data.h" #include "sys_config.h" #include "csi_dsp.h" #include "dl_model_base.hpp" -#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/sdmmc_host.h" #include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_vfs_fat.h" +#include "sd_pwr_ctrl_by_on_chip_ldo.h" +#include "sdmmc_cmd.h" +#include "cJSON.h" #include +#include #include +#include +#include +#include +#include +#include #define TAG "nn_model" +#define SD_MOUNT_POINT "/sdcard" +#define SD_MODEL_DIR SD_MOUNT_POINT "/models" +#define SD_LEGACY_MODEL_DIR SD_MOUNT_POINT "/sdcard_models" +#define MODEL_NAME_MAX_LEN 24 +#define MODEL_PATH_MAX_LEN 96 +#define MODEL_META_MAX_BYTES (8 * 1024) + +static constexpr gpio_num_t SD_PWR_EN_GPIO = GPIO_NUM_45; +static constexpr int SDMMC_IO_LDO_CHAN_ID = 4; +static constexpr int SD_CARD_SDMMC_SLOT = SDMMC_HOST_SLOT_0; + typedef struct { - const char *name; - const uint8_t *data; - unsigned int len; - const char *class_names[NUM_CLASSES]; + char name[MODEL_NAME_MAX_LEN]; + char path[MODEL_PATH_MAX_LEN]; + char meta_path[MODEL_PATH_MAX_LEN]; + long size; + int class_count; + bool metadata_loaded; + char class_names[NN_MODEL_MAX_CLASS_COUNT][NN_MODEL_CLASS_NAME_MAX_LEN]; dl::Model *model; dl::TensorBase *input; dl::TensorBase *output; } model_slot_t; -static model_slot_t g_model_slots[NN_MODEL_SLOT_COUNT] = { - { - "Model 1", - model_espdl, - model_espdl_len, - {"高抬腿", "展臂", "深蹲", "Unknown"}, - nullptr, - nullptr, - nullptr, - }, - { - "Model 2", - model2_espdl, - model2_espdl_len, - {"Model2-0", "Model2-1", "Model2-2", "Unknown"}, - nullptr, - nullptr, - nullptr, - }, -}; +static model_slot_t g_model_slots[NN_MODEL_MAX_SLOT_COUNT]; +static int g_model_slot_count = 0; +static bool g_sdcard_mounted = false; +static sdmmc_card_t *g_sdcard = nullptr; +static sd_pwr_ctrl_handle_t g_sd_pwr_ctrl = nullptr; // Active model pointers kept hot for real-time inference. static int g_active_model_id = 0; static dl::Model *g_model = nullptr; static dl::TensorBase *g_model_input = nullptr; static dl::TensorBase *g_model_output = nullptr; +static int g_active_class_count = 4; + +static const char *const DEFAULT_CLASS_NAMES[] = { + "高抬腿", "展臂", "深蹲", "Unknown" +}; +static constexpr int DEFAULT_CLASS_COUNT = sizeof(DEFAULT_CLASS_NAMES) / sizeof(DEFAULT_CLASS_NAMES[0]); static bool is_valid_model_id(int model_id) { - return model_id >= 0 && model_id < NN_MODEL_SLOT_COUNT; + return model_id >= 0 && model_id < g_model_slot_count; +} + +static bool has_espdl_extension(const char *name) +{ + if (!name) { + return false; + } + + const char *dot = strrchr(name, '.'); + return dot && strcasecmp(dot, ".espdl") == 0; +} + +static const char *basename_from_path(const char *path) +{ + const char *slash = strrchr(path, '/'); + return slash ? slash + 1 : path; +} + +static void copy_truncated(char *dst, size_t dst_size, const char *src) +{ + if (!dst || dst_size == 0) { + return; + } + + const char *safe_src = src ? src : ""; + size_t len = strlen(safe_src); + if (len >= dst_size) { + len = dst_size - 1; + } + memcpy(dst, safe_src, len); + dst[len] = '\0'; +} + +static void copy_model_display_name(char *dst, size_t dst_size, const char *filename) +{ + if (!dst || dst_size == 0) { + return; + } + + const char *base = basename_from_path(filename); + copy_truncated(dst, dst_size, base ? base : "MODEL"); + + char *dot = strrchr(dst, '.'); + if (dot && strcasecmp(dot, ".espdl") == 0) { + *dot = '\0'; + } + + if (dst[0] == '\0') { + copy_truncated(dst, dst_size, "MODEL"); + } +} + +static void set_default_class_names(model_slot_t *slot) +{ + if (!slot) { + return; + } + + slot->class_count = DEFAULT_CLASS_COUNT; + slot->metadata_loaded = false; + for (int i = 0; i < NN_MODEL_MAX_CLASS_COUNT; i++) { + if (i < DEFAULT_CLASS_COUNT) { + copy_truncated(slot->class_names[i], sizeof(slot->class_names[i]), DEFAULT_CLASS_NAMES[i]); + } else { + snprintf(slot->class_names[i], sizeof(slot->class_names[i]), "Class %d", i); + } + } +} + +static bool replace_extension(char *dst, size_t dst_size, const char *path, const char *extension) +{ + if (!dst || dst_size == 0 || !path || !extension) { + return false; + } + + copy_truncated(dst, dst_size, path); + char *dot = strrchr(dst, '.'); + if (!dot) { + return false; + } + + size_t prefix_len = (size_t)(dot - dst); + size_t ext_len = strlen(extension); + if (prefix_len + ext_len >= dst_size) { + dst[0] = '\0'; + return false; + } + + memcpy(dst + prefix_len, extension, ext_len + 1); + return true; +} + +static bool file_exists(const char *path) +{ + struct stat st; + return path && stat(path, &st) == 0 && !S_ISDIR(st.st_mode); +} + +static cJSON *read_json_file(const char *path) +{ + if (!path || !file_exists(path)) { + return nullptr; + } + + FILE *fp = fopen(path, "rb"); + if (!fp) { + ESP_LOGW(TAG, "metadata open failed: %s", path); + return nullptr; + } + + if (fseek(fp, 0, SEEK_END) != 0) { + fclose(fp); + return nullptr; + } + long size = ftell(fp); + if (size <= 0 || size > MODEL_META_MAX_BYTES) { + fclose(fp); + ESP_LOGD(TAG, "skip non-metadata-sized json: %s (%ld bytes)", path, size); + return nullptr; + } + rewind(fp); + + char *buf = (char *)malloc((size_t)size + 1); + if (!buf) { + fclose(fp); + ESP_LOGW(TAG, "metadata allocation failed: %s", path); + return nullptr; + } + + size_t read_len = fread(buf, 1, (size_t)size, fp); + fclose(fp); + buf[read_len] = '\0'; + + cJSON *root = cJSON_Parse(buf); + free(buf); + if (!root) { + ESP_LOGW(TAG, "metadata parse failed: %s", path); + } + return root; +} + +static cJSON *get_json_item_any(cJSON *root, const char *name_a, const char *name_b) +{ + cJSON *item = cJSON_GetObjectItemCaseSensitive(root, name_a); + if (!item && name_b) { + item = cJSON_GetObjectItemCaseSensitive(root, name_b); + } + return item; +} + +static bool load_model_metadata_from_json(model_slot_t *slot, const char *path) +{ + cJSON *root = read_json_file(path); + if (!root) { + return false; + } + + cJSON *labels = get_json_item_any(root, "labels", "classes"); + if (!cJSON_IsArray(labels)) { + cJSON_Delete(root); + return false; + } + + int label_count = cJSON_GetArraySize(labels); + if (label_count <= 0 || label_count > NN_MODEL_MAX_CLASS_COUNT) { + ESP_LOGW(TAG, "metadata label count out of range: %s (%d)", path, label_count); + cJSON_Delete(root); + return false; + } + + cJSON *class_count_item = get_json_item_any(root, "num_classes", "class_count"); + int class_count = cJSON_IsNumber(class_count_item) ? class_count_item->valueint : label_count; + if (class_count != label_count) { + ESP_LOGW(TAG, "metadata class count mismatch: %s (%d labels, count=%d)", + path, + label_count, + class_count); + cJSON_Delete(root); + return false; + } + + cJSON *name = get_json_item_any(root, "name", "display_name"); + if (cJSON_IsString(name) && name->valuestring && name->valuestring[0] != '\0') { + copy_truncated(slot->name, sizeof(slot->name), name->valuestring); + } + + slot->class_count = class_count; + for (int i = 0; i < class_count; i++) { + cJSON *label = cJSON_GetArrayItem(labels, i); + if (!cJSON_IsString(label) || !label->valuestring || label->valuestring[0] == '\0') { + ESP_LOGW(TAG, "metadata label %d invalid: %s", i, path); + cJSON_Delete(root); + set_default_class_names(slot); + return false; + } + copy_truncated(slot->class_names[i], sizeof(slot->class_names[i]), label->valuestring); + } + for (int i = class_count; i < NN_MODEL_MAX_CLASS_COUNT; i++) { + snprintf(slot->class_names[i], sizeof(slot->class_names[i]), "Class %d", i); + } + + copy_truncated(slot->meta_path, sizeof(slot->meta_path), path); + slot->metadata_loaded = true; + ESP_LOGI(TAG, "loaded metadata for %s: %d classes from %s", slot->name, slot->class_count, path); + cJSON_Delete(root); + return true; +} + +static void load_model_metadata(model_slot_t *slot) +{ + char meta_path[MODEL_PATH_MAX_LEN]; + + if (replace_extension(meta_path, sizeof(meta_path), slot->path, ".meta.json") && + load_model_metadata_from_json(slot, meta_path)) { + return; + } + + if (replace_extension(meta_path, sizeof(meta_path), slot->path, ".labels.json") && + load_model_metadata_from_json(slot, meta_path)) { + return; + } + + if (replace_extension(meta_path, sizeof(meta_path), slot->path, ".json") && + load_model_metadata_from_json(slot, meta_path)) { + return; + } + + ESP_LOGW(TAG, + "no usable metadata found for %s; using default %d-class labels", + slot->path, + DEFAULT_CLASS_COUNT); +} + +static int infer_output_class_count(dl::TensorBase *output) +{ + if (!output) { + return 0; + } + + int size = output->get_size(); + if (size <= 0 || size > NN_MODEL_MAX_CLASS_COUNT) { + ESP_LOGW(TAG, "model output size out of supported range: %d (max=%d)", + size, + NN_MODEL_MAX_CLASS_COUNT); + return 0; + } + return size; +} + +static void free_model_slots(void) +{ + for (int i = 0; i < g_model_slot_count; i++) { + if (g_model_slots[i].model != nullptr) { + delete g_model_slots[i].model; + g_model_slots[i].model = nullptr; + } + g_model_slots[i].input = nullptr; + g_model_slots[i].output = nullptr; + } + g_model = nullptr; + g_model_input = nullptr; + g_model_output = nullptr; + g_active_model_id = 0; + g_active_class_count = DEFAULT_CLASS_COUNT; +} + +static float tensor_value_as_float(dl::TensorBase *tensor, int index) +{ + if (!tensor) { + return 0.0f; + } + + switch (tensor->get_dtype()) { + case dl::DATA_TYPE_INT8: + return (float)tensor->get_element_ptr()[index] * std::pow(2.0f, tensor->get_exponent()); + case dl::DATA_TYPE_INT16: + return (float)tensor->get_element_ptr()[index] * std::pow(2.0f, tensor->get_exponent()); + case dl::DATA_TYPE_INT32: + return (float)tensor->get_element_ptr()[index] * std::pow(2.0f, tensor->get_exponent()); + case dl::DATA_TYPE_FLOAT: + return tensor->get_element_ptr()[index]; + default: + ESP_LOGW(TAG, "unsupported output dtype: %s", tensor->get_dtype_string()); + return 0.0f; + } +} + +static esp_err_t enable_sdcard_power(void) +{ + gpio_config_t io_conf = { + .pin_bit_mask = 1ULL << SD_PWR_EN_GPIO, + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE, +#if SOC_GPIO_SUPPORT_PIN_HYS_FILTER + .hys_ctrl_mode = GPIO_HYS_SOFT_DISABLE, +#endif + }; + esp_err_t ret = gpio_config(&io_conf); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "failed to configure SD power gpio: %s", esp_err_to_name(ret)); + return ret; + } + + // ESP32-P4-Function-EV-Board uses an active-low SD_PWRn enable on GPIO45. + ret = gpio_set_level(SD_PWR_EN_GPIO, 0); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "failed to enable SD power: %s", esp_err_to_name(ret)); + } + return ret; +} + +static esp_err_t mount_sdcard_once(void) +{ + if (g_sdcard_mounted) { + return ESP_OK; + } + + esp_err_t ret = enable_sdcard_power(); + if (ret != ESP_OK) { + return ret; + } + + esp_vfs_fat_sdmmc_mount_config_t mount_config = { + .format_if_mount_failed = false, + .max_files = 6, + .allocation_unit_size = 16 * 1024, + .disk_status_check_enable = false, + .use_one_fat = false, + }; + + sd_pwr_ctrl_ldo_config_t ldo_config = { + .ldo_chan_id = SDMMC_IO_LDO_CHAN_ID, + }; + ret = sd_pwr_ctrl_new_on_chip_ldo(&ldo_config, &g_sd_pwr_ctrl); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "failed to create SDMMC IO LDO power control: %s", esp_err_to_name(ret)); + g_sd_pwr_ctrl = nullptr; + return ret; + } + + sdmmc_host_t host = SDMMC_HOST_DEFAULT(); + // ESP32-P4 board SD-card socket is on slot 0; ESP-Hosted Wi-Fi uses slot 1. + host.slot = SD_CARD_SDMMC_SLOT; + host.pwr_ctrl_handle = g_sd_pwr_ctrl; + sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT(); + slot_config.width = 4; + slot_config.flags |= SDMMC_SLOT_FLAG_INTERNAL_PULLUP; + + ESP_LOGI(TAG, "mounting SD card at %s via SDMMC slot %d", SD_MOUNT_POINT, host.slot); + ret = esp_vfs_fat_sdmmc_mount(SD_MOUNT_POINT, &host, &slot_config, &mount_config, &g_sdcard); + if (ret != ESP_OK) { + if (ret == ESP_FAIL) { + ESP_LOGE(TAG, "failed to mount FAT filesystem on SD card"); + } else { + ESP_LOGE(TAG, "failed to initialize SD card: %s", esp_err_to_name(ret)); + } + sd_pwr_ctrl_del_on_chip_ldo(g_sd_pwr_ctrl); + g_sd_pwr_ctrl = nullptr; + g_sdcard = nullptr; + return ret; + } + + sdmmc_card_print_info(stdout, g_sdcard); + g_sdcard_mounted = true; + return ESP_OK; +} + +static bool add_model_file(const char *path) +{ + if (!path || g_model_slot_count >= NN_MODEL_MAX_SLOT_COUNT) { + return false; + } + + struct stat st; + if (stat(path, &st) != 0 || st.st_size <= 0) { + ESP_LOGW(TAG, "skip unreadable model file: %s", path); + return false; + } + if (S_ISDIR(st.st_mode)) { + return false; + } + + model_slot_t *slot = &g_model_slots[g_model_slot_count]; + memset(slot, 0, sizeof(*slot)); + copy_model_display_name(slot->name, sizeof(slot->name), path); + copy_truncated(slot->path, sizeof(slot->path), path); + slot->size = (long)st.st_size; + set_default_class_names(slot); + load_model_metadata(slot); + + ESP_LOGI(TAG, "found SD model %d: %s (%ld bytes, %d classes)", + g_model_slot_count, + slot->path, + slot->size, + slot->class_count); + g_model_slot_count++; + return true; +} + +static void scan_model_dir(const char *dir_path) +{ + DIR *dir = opendir(dir_path); + if (!dir) { + ESP_LOGW(TAG, "model directory not found or unreadable: %s", dir_path); + return; + } + + struct dirent *entry = nullptr; + while ((entry = readdir(dir)) != nullptr) { + if (g_model_slot_count >= NN_MODEL_MAX_SLOT_COUNT) { + ESP_LOGW(TAG, "model slot limit reached (%d)", NN_MODEL_MAX_SLOT_COUNT); + break; + } + if (entry->d_name[0] == '.' || !has_espdl_extension(entry->d_name)) { + continue; + } + + char path[MODEL_PATH_MAX_LEN]; + int written = snprintf(path, sizeof(path), "%s/%s", dir_path, entry->d_name); + if (written < 0 || written >= (int)sizeof(path)) { + ESP_LOGW(TAG, "skip model with too long path: %s/%s", dir_path, entry->d_name); + continue; + } + add_model_file(path); + } + closedir(dir); +} + +static void scan_sd_models(void) +{ + free_model_slots(); + g_model_slot_count = 0; + memset(g_model_slots, 0, sizeof(g_model_slots)); + + if (mount_sdcard_once() != ESP_OK) { + return; + } + + scan_model_dir(SD_MOUNT_POINT); + scan_model_dir(SD_MODEL_DIR); + scan_model_dir(SD_LEGACY_MODEL_DIR); + + if (g_model_slot_count == 0) { + ESP_LOGW(TAG, + "no .espdl models found in %s, %s or %s", + SD_MOUNT_POINT, + SD_MODEL_DIR, + SD_LEGACY_MODEL_DIR); + } } static esp_err_t ensure_model_loaded(int model_id) @@ -60,7 +526,7 @@ static esp_err_t ensure_model_loaded(int model_id) } model_slot_t *slot = &g_model_slots[model_id]; - if (slot->len == 0 || slot->data == nullptr) { + if (slot->path[0] == '\0' || slot->size <= 0) { ESP_LOGW(TAG, "%s is not installed", slot->name); return ESP_ERR_NOT_FOUND; } @@ -69,8 +535,13 @@ static esp_err_t ensure_model_loaded(int model_id) return ESP_OK; } - ESP_LOGI(TAG, "Loading %s from memory...", slot->name); - slot->model = new dl::Model((const char *)slot->data, fbs::MODEL_LOCATION_IN_FLASH_RODATA); + ESP_LOGI(TAG, "Loading %s from SD card: %s", slot->name, slot->path); + slot->model = new dl::Model(slot->path, + fbs::MODEL_LOCATION_IN_SDCARD, + 16 * 1024, + dl::MEMORY_MANAGER_GREEDY, + nullptr, + false); if (!slot->model) { ESP_LOGE(TAG, "Failed to load %s", slot->name); return ESP_FAIL; @@ -80,14 +551,43 @@ static esp_err_t ensure_model_loaded(int model_id) std::map model_outputs = slot->model->get_outputs(); if (model_inputs.empty() || model_outputs.empty()) { ESP_LOGE(TAG, "%s has invalid tensor metadata", slot->name); + delete slot->model; + slot->model = nullptr; return ESP_FAIL; } slot->input = model_inputs.begin()->second; slot->output = model_outputs.begin()->second; - ESP_LOGI(TAG, "%s loaded. Size: %u bytes, Input Exp: %d, Output Exp: %d", + int output_class_count = infer_output_class_count(slot->output); + if (output_class_count <= 0) { + delete slot->model; + slot->model = nullptr; + slot->input = nullptr; + slot->output = nullptr; + return ESP_FAIL; + } + + if (slot->metadata_loaded) { + if (slot->class_count != output_class_count) { + ESP_LOGE(TAG, + "%s metadata class count (%d) does not match model output (%d)", + slot->name, + slot->class_count, + output_class_count); + delete slot->model; + slot->model = nullptr; + slot->input = nullptr; + slot->output = nullptr; + return ESP_ERR_INVALID_SIZE; + } + } else { + slot->class_count = output_class_count; + } + + ESP_LOGI(TAG, "%s loaded. Size: %ld bytes, Classes: %d, Input Exp: %d, Output Exp: %d", slot->name, - slot->len, + slot->size, + slot->class_count, slot->input->get_exponent(), slot->output->get_exponent()); return ESP_OK; @@ -95,16 +595,32 @@ static esp_err_t ensure_model_loaded(int model_id) void nn_model_init(void) { + scan_sd_models(); + + if (g_model_slot_count <= 0) { + ESP_LOGE(TAG, "No SD-card models available; inference will stay disabled."); + return; + } + int requested_id = sys_config_get_active_model_id(); + if (!is_valid_model_id(requested_id)) { + requested_id = 0; + } + if (nn_model_select(requested_id) != ESP_OK) { - ESP_LOGW(TAG, "Falling back to Model 1"); + ESP_LOGW(TAG, "Falling back to first SD-card model"); (void)nn_model_select(0); } } +void nn_model_rescan(void) +{ + scan_sd_models(); +} + int nn_model_get_slot_count(void) { - return NN_MODEL_SLOT_COUNT; + return g_model_slot_count; } bool nn_model_is_installed(int model_id) @@ -112,7 +628,7 @@ bool nn_model_is_installed(int model_id) if (!is_valid_model_id(model_id)) { return false; } - return g_model_slots[model_id].data != nullptr && g_model_slots[model_id].len > 0; + return g_model_slots[model_id].path[0] != '\0' && g_model_slots[model_id].size > 0; } esp_err_t nn_model_select(int model_id) @@ -127,8 +643,9 @@ esp_err_t nn_model_select(int model_id) g_model = slot->model; g_model_input = slot->input; g_model_output = slot->output; + g_active_class_count = slot->class_count; sys_config_set_active_model_id(model_id); - ESP_LOGI(TAG, "Active model switched to %s", slot->name); + ESP_LOGI(TAG, "Active model switched to %s (%d classes)", slot->name, g_active_class_count); return ESP_OK; } @@ -142,21 +659,34 @@ const char *nn_model_get_active_name(void) return nn_model_get_slot_name(g_active_model_id); } +int nn_model_get_class_count(void) +{ + return g_active_class_count; +} + +int nn_model_get_slot_class_count(int model_id) +{ + if (!is_valid_model_id(model_id)) { + return 0; + } + return g_model_slots[model_id].class_count; +} + const char *nn_model_get_slot_name(int model_id) { if (!is_valid_model_id(model_id)) { - return "Invalid"; + return "NO MODEL"; } return g_model_slots[model_id].name; } const char *nn_model_get_class_name(int class_id) { - if (class_id < 0 || class_id >= NUM_CLASSES) { + if (class_id < 0 || class_id >= g_active_class_count || !is_valid_model_id(g_active_model_id)) { return "Unknown"; } const char *name = g_model_slots[g_active_model_id].class_names[class_id]; - return name ? name : "Unknown"; + return name[0] != '\0' ? name : "Unknown"; } int nn_model_predict(float x, float y) @@ -165,34 +695,38 @@ int nn_model_predict(float x, float y) ESP_LOGE(TAG, "Model not initialized!"); return -1; } - + int input_exponent = g_model_input->get_exponent(); - + // Quantize inputs: float_val / (2^input_exponent) int8_t q_x = std::round(x / std::pow(2.0f, input_exponent)); int8_t q_y = std::round(y / std::pow(2.0f, input_exponent)); - + // Fill input tensor data int8_t *input_data = (int8_t *)g_model_input->data; input_data[0] = q_x; input_data[1] = q_y; - + // Run forward pass g_model->run(); - + // Read quantized outputs - int8_t *output_data = (int8_t *)g_model_output->data; - + int class_count = nn_model_get_class_count(); + if (class_count <= 0) { + return -1; + } + // Find class with the maximum score (argmax) int max_class = 0; - int8_t max_val = output_data[0]; - for (int c = 1; c < NUM_CLASSES; c++) { - if (output_data[c] > max_val) { - max_val = output_data[c]; + float max_val = tensor_value_as_float(g_model_output, 0); + for (int c = 1; c < class_count; c++) { + float val = tensor_value_as_float(g_model_output, c); + if (val > max_val) { + max_val = val; max_class = c; } } - + return max_class; } @@ -202,7 +736,7 @@ int nn_model_predict_cnn(float *raw_csi) ESP_LOGE(TAG, "Model not initialized!"); return -1; } - + static float *preprocessed_features = nullptr; if (preprocessed_features == nullptr) { preprocessed_features = (float *)heap_caps_malloc(CSI_DSP_TOTAL_FEATURES * sizeof(float), MALLOC_CAP_SPIRAM); @@ -211,15 +745,15 @@ int nn_model_predict_cnn(float *raw_csi) return -1; } } - + // Perform on-board preprocessing csi_dsp_preprocess_fusion(raw_csi, preprocessed_features); - + int input_exponent = g_model_input->get_exponent(); - float inv_scale = 1.0f / std::pow(2.0f, input_exponent); - + float inv_scale = 1.0f / std::pow(2.0f, input_exponent); + int8_t *input_data = (int8_t *)g_model_input->data; - + // Quantize 11400 features into the input tensor using fast multiplication for (int i = 0; i < CSI_DSP_TOTAL_FEATURES; i++) { float q_val = std::round(preprocessed_features[i] * inv_scale); @@ -228,23 +762,27 @@ int nn_model_predict_cnn(float *raw_csi) else if (qi < -128) qi = -128; input_data[i] = (int8_t)qi; } - + // Run forward pass g_model->run(); - + // Read output tensor data - int8_t *output_data = (int8_t *)g_model_output->data; - + int class_count = nn_model_get_class_count(); + if (class_count <= 0) { + return -1; + } + // Find class with the maximum score (argmax among classes) int max_class = 0; - int8_t max_val = output_data[0]; - for (int c = 1; c < NUM_CLASSES; c++) { - if (output_data[c] > max_val) { - max_val = output_data[c]; + float max_val = tensor_value_as_float(g_model_output, 0); + for (int c = 1; c < class_count; c++) { + float val = tensor_value_as_float(g_model_output, c); + if (val > max_val) { + max_val = val; max_class = c; } } - + return max_class; } @@ -257,7 +795,7 @@ int nn_model_predict_cnn_with_probs(float *raw_csi, float *out_probs) if (raw_csi == nullptr || out_probs == nullptr) { return -1; } - + static float *preprocessed_features = nullptr; if (preprocessed_features == nullptr) { preprocessed_features = (float *)heap_caps_malloc(CSI_DSP_TOTAL_FEATURES * sizeof(float), MALLOC_CAP_SPIRAM); @@ -266,15 +804,15 @@ int nn_model_predict_cnn_with_probs(float *raw_csi, float *out_probs) return -1; } } - + // Perform on-board preprocessing csi_dsp_preprocess_fusion(raw_csi, preprocessed_features); - + int input_exponent = g_model_input->get_exponent(); - float inv_scale = 1.0f / std::pow(2.0f, input_exponent); - + float inv_scale = 1.0f / std::pow(2.0f, input_exponent); + int8_t *input_data = (int8_t *)g_model_input->data; - + // Quantize features using fast multiplication for (int i = 0; i < CSI_DSP_TOTAL_FEATURES; i++) { float q_val = std::round(preprocessed_features[i] * inv_scale); @@ -283,35 +821,45 @@ int nn_model_predict_cnn_with_probs(float *raw_csi, float *out_probs) else if (qi < -128) qi = -128; input_data[i] = (int8_t)qi; } - + // Run forward pass g_model->run(); - - // Read output tensor data - int8_t *output_data = (int8_t *)g_model_output->data; - int output_exponent = g_model_output->get_exponent(); - float output_scale = std::pow(2.0f, output_exponent); - + + int class_count = nn_model_get_class_count(); + if (class_count <= 0) { + return -1; + } + // Calculate Softmax probabilities float sum_exp = 0.0f; - float float_logits[NUM_CLASSES]; - for (int c = 0; c < NUM_CLASSES; c++) { - float_logits[c] = (float)output_data[c] * output_scale; - sum_exp += expf(float_logits[c]); + float float_logits[NN_MODEL_MAX_CLASS_COUNT]; + float max_logit = tensor_value_as_float(g_model_output, 0); + for (int c = 1; c < class_count; c++) { + float val = tensor_value_as_float(g_model_output, c); + if (val > max_logit) { + max_logit = val; + } + } + for (int c = 0; c < class_count; c++) { + float_logits[c] = tensor_value_as_float(g_model_output, c); + sum_exp += expf(float_logits[c] - max_logit); } - for (int c = 0; c < NUM_CLASSES; c++) { - out_probs[c] = expf(float_logits[c]) / sum_exp; + for (int c = 0; c < class_count; c++) { + out_probs[c] = expf(float_logits[c] - max_logit) / sum_exp; } - + for (int c = class_count; c < NN_MODEL_MAX_CLASS_COUNT; c++) { + out_probs[c] = 0.0f; + } + // Find class with the maximum score int max_class = 0; float max_prob = out_probs[0]; - for (int c = 1; c < NUM_CLASSES; c++) { + for (int c = 1; c < class_count; c++) { if (out_probs[c] > max_prob) { max_prob = out_probs[c]; max_class = c; } } - + return max_class; } diff --git a/src/firmware-code/p4_remote_wifi/main/nn_model.h b/src/firmware-code/p4_remote_wifi/main/nn_model.h index bfc3786..6efe64c 100644 --- a/src/firmware-code/p4_remote_wifi/main/nn_model.h +++ b/src/firmware-code/p4_remote_wifi/main/nn_model.h @@ -4,8 +4,10 @@ #include #include "esp_err.h" -#define NUM_CLASSES 4 -#define NN_MODEL_SLOT_COUNT 2 +#define NN_MODEL_MAX_CLASS_COUNT 32 +#define NN_MODEL_CLASS_NAME_MAX_LEN 64 +#define NUM_CLASSES NN_MODEL_MAX_CLASS_COUNT +#define NN_MODEL_MAX_SLOT_COUNT 8 #ifdef __cplusplus extern "C" { @@ -16,6 +18,11 @@ extern "C" { */ void nn_model_init(void); +/** + * @brief Rescan SD card model files without changing the active model. + */ +void nn_model_rescan(void); + /** * @brief Return the number of supported model slots. */ @@ -41,6 +48,16 @@ int nn_model_get_active_id(void); */ const char *nn_model_get_active_name(void); +/** + * @brief Return the active model class count loaded from SD metadata/model output. + */ +int nn_model_get_class_count(void); + +/** + * @brief Return a model slot class count loaded from SD metadata, or default count. + */ +int nn_model_get_slot_class_count(int model_id); + /** * @brief Return a model slot display name. */ @@ -56,7 +73,7 @@ const char *nn_model_get_class_name(int class_id); * * @param x X-coordinate value * @param y Y-coordinate value - * @return int Predicted quadrant class (0-3), or -1 on error + * @return int Predicted class, or -1 on error */ int nn_model_predict(float x, float y); @@ -64,7 +81,7 @@ int nn_model_predict(float x, float y); * @brief Run inference on preprocessed 1D-CNN features * * @param raw_csi Pointer to 11400 floats (50 time steps * 228 features) - * @return int Predicted class (0: wave/cut, 1: grip, 2: circle/draw_o, 3: unknown), or -1 on error + * @return int Predicted class, or -1 on error */ int nn_model_predict_cnn(float *raw_csi); @@ -72,8 +89,8 @@ int nn_model_predict_cnn(float *raw_csi); * @brief Run inference on preprocessed 1D-CNN features and output class probabilities * * @param raw_csi Pointer to 11400 floats (50 time steps * 228 features) - * @param out_probs Pointer to float array of size 4 to output probabilities - * @return int Predicted class (0: wave/cut, 1: grip, 2: circle/draw_o, 3: unknown), or -1 on error + * @param out_probs Pointer to float array of size NN_MODEL_MAX_CLASS_COUNT to output probabilities + * @return int Predicted class, or -1 on error */ int nn_model_predict_cnn_with_probs(float *raw_csi, float *out_probs); diff --git a/src/firmware-code/p4_remote_wifi/main/sys_config.c b/src/firmware-code/p4_remote_wifi/main/sys_config.c index 6a5f1e1..005a4f8 100644 --- a/src/firmware-code/p4_remote_wifi/main/sys_config.c +++ b/src/firmware-code/p4_remote_wifi/main/sys_config.c @@ -3,6 +3,7 @@ #include #include "freertos/FreeRTOS.h" #include "freertos/task.h" +#include "nn_model.h" #define MOTION_THRESHOLD_MIN_X10 10 #define MOTION_THRESHOLD_MAX_X10 100 @@ -13,7 +14,7 @@ #define DEBOUNCE_MIN_FRAMES 1 #define DEBOUNCE_MAX_FRAMES 50 #define MODEL_ID_MIN 0 -#define MODEL_ID_MAX 1 +#define MODEL_ID_MAX (NN_MODEL_MAX_SLOT_COUNT - 1) typedef struct { const char *label; diff --git a/src/firmware-code/p4_remote_wifi/main/ui_controller.c b/src/firmware-code/p4_remote_wifi/main/ui_controller.c index f14ffdb..180e1de 100644 --- a/src/firmware-code/p4_remote_wifi/main/ui_controller.c +++ b/src/firmware-code/p4_remote_wifi/main/ui_controller.c @@ -11,6 +11,7 @@ #include "esp_err.h" #include "esp_log.h" #include "freertos/FreeRTOS.h" +#include "freertos/queue.h" #include "freertos/task.h" #include "nn_model.h" @@ -43,6 +44,21 @@ #define BUTTON_LONG_PRESS_MS 800 #endif +#define UI_EVENT_QUEUE_LEN 32 +#define UI_TASK_PRIORITY 6 + +typedef enum { + UI_GPIO_EVENT_ENCODER = 0, + UI_GPIO_EVENT_BUTTON, +} ui_gpio_event_type_t; + +typedef struct { + ui_gpio_event_type_t type; + TickType_t tick; + uint8_t encoder_state; + bool button_pressed; +} ui_gpio_event_t; + typedef enum { BUTTON_EVENT_NONE = 0, BUTTON_EVENT_CLICK, @@ -64,6 +80,17 @@ static sys_config_param_id_t g_selected_param = SYS_CONFIG_PARAM_MOTION_THRESHOL static int g_model_cursor = 0; static char g_notice[24] = {0}; static TickType_t g_notice_until = 0; +static QueueHandle_t g_ui_event_queue = NULL; + +static bool g_button_raw_pressed_last = false; +static bool g_button_stable_pressed = false; +static bool g_button_long_press_reported = false; +static TickType_t g_button_last_raw_change_tick = 0; +static TickType_t g_button_press_start_tick = 0; + +static bool g_encoder_initialized = false; +static uint8_t g_encoder_last_state = 0; +static int g_encoder_accumulator = 0; static const int8_t g_encoder_table[16] = { 0, -1, 1, 0, @@ -407,22 +434,47 @@ static void oled_draw_param_screen(void) static void oled_draw_model_screen(void) { char line[32]; + int count = nn_model_get_slot_count(); + const int visible_rows = 4; oled_clear_fb(); oled_draw_text_center(0, "SELECT MODEL", false); - for (int i = 0; i < nn_model_get_slot_count(); i++) { - bool selected = (i == g_model_cursor); - const char *state = nn_model_is_installed(i) ? "READY" : "EMPTY"; - int page = 2 + i; + if (count <= 0) { + oled_draw_text_center(3, "NO SD MODEL", false); + oled_draw_text_center(6, "CHECK SD", false); + oled_flush(); + return; + } + + int start = g_model_cursor - visible_rows + 1; + if (start < 0) { + start = 0; + } + if (start > count - visible_rows) { + start = count - visible_rows; + } + if (start < 0) { + start = 0; + } + + for (int row = 0; row < visible_rows && start + row < count; row++) { + int model_id = start + row; + bool selected = (model_id == g_model_cursor); + const char *state = nn_model_is_installed(model_id) ? "READY" : "EMPTY"; + int page = 2 + row; if (selected) { oled_fill_page(page, 0xff); } - snprintf(line, sizeof(line), "%s", nn_model_get_slot_name(i)); + snprintf(line, sizeof(line), "%s", nn_model_get_slot_name(model_id)); oled_draw_text_ex(6, page, line, selected); oled_draw_text_right(124, page, state, selected); } - oled_draw_text_center(6, "CLICK OK", false); + snprintf(line, sizeof(line), "%u/%u", + (unsigned)(g_model_cursor + 1), + (unsigned)count); + oled_draw_text(0, 7, line); + oled_draw_text_right(124, 7, "CLICK OK", false); oled_flush(); } @@ -538,12 +590,52 @@ static esp_err_t encoder_init(void) .mode = GPIO_MODE_INPUT, .pull_up_en = GPIO_PULLUP_ENABLE, .pull_down_en = GPIO_PULLDOWN_DISABLE, - .intr_type = GPIO_INTR_DISABLE, + .intr_type = GPIO_INTR_ANYEDGE, }; ESP_RETURN_ON_ERROR(gpio_config(&input_cfg), TAG, "encoder GPIO config failed"); return ESP_OK; } +static void IRAM_ATTR ui_gpio_isr_handler(void *arg) +{ + if (g_ui_event_queue == NULL) { + return; + } + + gpio_num_t gpio = (gpio_num_t)(intptr_t)arg; + ui_gpio_event_t event = { + .type = (gpio == ENCODER_SW_GPIO) ? UI_GPIO_EVENT_BUTTON : UI_GPIO_EVENT_ENCODER, + .tick = xTaskGetTickCountFromISR(), + .encoder_state = (uint8_t)(((gpio_get_level(ENCODER_A_GPIO) ? 1 : 0) << 1) | + (gpio_get_level(ENCODER_B_GPIO) ? 1 : 0)), + .button_pressed = (gpio_get_level(ENCODER_SW_GPIO) == 0), + }; + + BaseType_t high_task_woken = pdFALSE; + (void)xQueueSendFromISR(g_ui_event_queue, &event, &high_task_woken); + if (high_task_woken == pdTRUE) { + portYIELD_FROM_ISR(); + } +} + +static esp_err_t ui_gpio_interrupts_init(void) +{ + esp_err_t ret = gpio_install_isr_service(0); + if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG, "GPIO ISR service init failed: %s", esp_err_to_name(ret)); + return ret; + } + + ESP_RETURN_ON_ERROR(gpio_isr_handler_add(ENCODER_A_GPIO, ui_gpio_isr_handler, (void *)(intptr_t)ENCODER_A_GPIO), + TAG, "encoder A ISR add failed"); + ESP_RETURN_ON_ERROR(gpio_isr_handler_add(ENCODER_B_GPIO, ui_gpio_isr_handler, (void *)(intptr_t)ENCODER_B_GPIO), + TAG, "encoder B ISR add failed"); + ESP_RETURN_ON_ERROR(gpio_isr_handler_add(ENCODER_SW_GPIO, ui_gpio_isr_handler, (void *)(intptr_t)ENCODER_SW_GPIO), + TAG, "encoder button ISR add failed"); + + return ESP_OK; +} + static void enter_notice(const char *text, uint32_t duration_ms) { snprintf(g_notice, sizeof(g_notice), "%s", text ? text : ""); @@ -564,6 +656,10 @@ static void handle_encoder_delta(int delta) if (g_screen == UI_SCREEN_MODEL_SELECT) { int count = nn_model_get_slot_count(); + if (count <= 0) { + ui_render(); + return; + } g_model_cursor = (g_model_cursor + delta) % count; if (g_model_cursor < 0) { g_model_cursor += count; @@ -583,7 +679,10 @@ static void handle_short_click(void) } if (g_screen == UI_SCREEN_MODEL_SELECT) { - if (nn_model_is_installed(g_model_cursor)) { + int count = nn_model_get_slot_count(); + if (count <= 0) { + enter_notice("NO SD MODEL", 1200); + } else if (nn_model_is_installed(g_model_cursor)) { if (nn_model_select(g_model_cursor) == ESP_OK) { g_screen = UI_SCREEN_PARAMS; ui_render(); @@ -591,7 +690,7 @@ static void handle_short_click(void) enter_notice("MODEL ERR", 1200); } } else { - enter_notice("MODEL 2 EMPTY", 1200); + enter_notice("MODEL EMPTY", 1200); } return; } @@ -602,109 +701,181 @@ static void handle_short_click(void) static void handle_long_press(void) { + if (nn_model_get_slot_count() <= 0) { + nn_model_rescan(); + } g_screen = UI_SCREEN_MODEL_SELECT; g_model_cursor = nn_model_get_active_id(); + int count = nn_model_get_slot_count(); + if (count <= 0) { + g_model_cursor = 0; + } else if (g_model_cursor >= count) { + g_model_cursor = count - 1; + } ui_render(); } -static int encoder_poll_delta(void) +static uint8_t encoder_read_state(void) { - static bool initialized = false; - static uint8_t last_state = 0; - static int accumulator = 0; + return (uint8_t)(((gpio_get_level(ENCODER_A_GPIO) ? 1 : 0) << 1) | + (gpio_get_level(ENCODER_B_GPIO) ? 1 : 0)); +} - uint8_t current_state = ((gpio_get_level(ENCODER_A_GPIO) ? 1 : 0) << 1) | - (gpio_get_level(ENCODER_B_GPIO) ? 1 : 0); - if (!initialized) { - last_state = current_state; - initialized = true; +static bool button_read_pressed(void) +{ + return gpio_get_level(ENCODER_SW_GPIO) == 0; +} + +static int encoder_process_state(uint8_t current_state) +{ + if (!g_encoder_initialized) { + g_encoder_last_state = current_state; + g_encoder_initialized = true; return 0; } - int8_t movement = g_encoder_table[(last_state << 2) | current_state]; - last_state = current_state; + int8_t movement = g_encoder_table[(g_encoder_last_state << 2) | current_state]; + g_encoder_last_state = current_state; if (movement == 0) { return 0; } - accumulator += movement; + g_encoder_accumulator += movement; if (current_state == 0x03) { - if (accumulator >= 4) { - accumulator = 0; + if (g_encoder_accumulator >= 4) { + g_encoder_accumulator = 0; return 1; } - if (accumulator <= -4) { - accumulator = 0; + if (g_encoder_accumulator <= -4) { + g_encoder_accumulator = 0; return -1; } - accumulator = 0; + g_encoder_accumulator = 0; } return 0; } -static button_event_t button_poll_event(void) +static void button_note_raw_state(bool raw_pressed, TickType_t tick) { - static bool raw_pressed_last = false; - static bool stable_pressed = false; - static bool long_press_reported = false; - static TickType_t last_raw_change_tick = 0; - static TickType_t press_start_tick = 0; - - TickType_t now = xTaskGetTickCount(); - bool raw_pressed = gpio_get_level(ENCODER_SW_GPIO) == 0; - - if (raw_pressed != raw_pressed_last) { - raw_pressed_last = raw_pressed; - last_raw_change_tick = now; + if (raw_pressed != g_button_raw_pressed_last) { + g_button_raw_pressed_last = raw_pressed; + g_button_last_raw_change_tick = tick; } +} - if ((now - last_raw_change_tick) >= pdMS_TO_TICKS(BUTTON_DEBOUNCE_MS) && - raw_pressed != stable_pressed) { - stable_pressed = raw_pressed; - if (stable_pressed) { - press_start_tick = now; - long_press_reported = false; - } else if (!long_press_reported) { +static button_event_t button_process_timers(TickType_t now) +{ + if ((now - g_button_last_raw_change_tick) >= pdMS_TO_TICKS(BUTTON_DEBOUNCE_MS) && + g_button_raw_pressed_last != g_button_stable_pressed) { + g_button_stable_pressed = g_button_raw_pressed_last; + if (g_button_stable_pressed) { + g_button_press_start_tick = now; + g_button_long_press_reported = false; + } else if (!g_button_long_press_reported) { return BUTTON_EVENT_CLICK; } } - if (stable_pressed && !long_press_reported && - (now - press_start_tick) >= pdMS_TO_TICKS(BUTTON_LONG_PRESS_MS)) { - long_press_reported = true; + if (g_button_stable_pressed && !g_button_long_press_reported && + (now - g_button_press_start_tick) >= pdMS_TO_TICKS(BUTTON_LONG_PRESS_MS)) { + g_button_long_press_reported = true; return BUTTON_EVENT_LONG_PRESS; } return BUTTON_EVENT_NONE; } -static void ui_task(void *pvParameters) +static bool ui_tick_due(TickType_t now, TickType_t deadline) { - ESP_LOGI(TAG, "Starting UI task on Core %d", xPortGetCoreID()); + return (TickType_t)(now - deadline) < (TickType_t)(portMAX_DELAY / 2); +} - ui_render(); +static TickType_t ui_ticks_until(TickType_t now, TickType_t deadline) +{ + if (ui_tick_due(now, deadline)) { + return 0; + } + return deadline - now; +} - while (true) { - int encoder_delta = encoder_poll_delta(); +static TickType_t ui_min_wait(TickType_t current, TickType_t candidate) +{ + return (candidate < current) ? candidate : current; +} + +static TickType_t ui_next_wait_ticks(void) +{ + TickType_t now = xTaskGetTickCount(); + TickType_t wait_ticks = portMAX_DELAY; + + if (g_button_raw_pressed_last != g_button_stable_pressed) { + TickType_t deadline = g_button_last_raw_change_tick + pdMS_TO_TICKS(BUTTON_DEBOUNCE_MS); + wait_ticks = ui_min_wait(wait_ticks, ui_ticks_until(now, deadline)); + } + + if (g_button_stable_pressed && !g_button_long_press_reported) { + TickType_t deadline = g_button_press_start_tick + pdMS_TO_TICKS(BUTTON_LONG_PRESS_MS); + wait_ticks = ui_min_wait(wait_ticks, ui_ticks_until(now, deadline)); + } + + if (g_screen == UI_SCREEN_NOTICE) { + wait_ticks = ui_min_wait(wait_ticks, ui_ticks_until(now, g_notice_until)); + } + + return wait_ticks; +} + +static void ui_process_button_event(button_event_t button_event) +{ + if (button_event == BUTTON_EVENT_CLICK) { + handle_short_click(); + } else if (button_event == BUTTON_EVENT_LONG_PRESS) { + handle_long_press(); + } +} + +static void ui_process_timers(void) +{ + TickType_t now = xTaskGetTickCount(); + ui_process_button_event(button_process_timers(now)); + + if (g_screen == UI_SCREEN_NOTICE && ui_tick_due(now, g_notice_until)) { + g_screen = UI_SCREEN_PARAMS; + ui_render(); + } +} + +static void ui_process_gpio_event(const ui_gpio_event_t *event) +{ + if (event->type == UI_GPIO_EVENT_ENCODER) { + int encoder_delta = encoder_process_state(event->encoder_state); if (encoder_delta != 0) { handle_encoder_delta(encoder_delta); } + return; + } - button_event_t button_event = button_poll_event(); - if (button_event == BUTTON_EVENT_CLICK) { - handle_short_click(); - } else if (button_event == BUTTON_EVENT_LONG_PRESS) { - handle_long_press(); - } + button_note_raw_state(event->button_pressed, event->tick); +} - if (g_screen == UI_SCREEN_NOTICE && xTaskGetTickCount() >= g_notice_until) { - g_screen = UI_SCREEN_PARAMS; - ui_render(); +static void ui_task(void *pvParameters) +{ + ESP_LOGI(TAG, "Starting UI task on Core %d", xPortGetCoreID()); + + ui_render(); + + while (true) { + ui_process_timers(); + + ui_gpio_event_t event; + if (xQueueReceive(g_ui_event_queue, &event, ui_next_wait_ticks()) == pdTRUE) { + do { + ui_process_gpio_event(&event); + } while (xQueueReceive(g_ui_event_queue, &event, 0) == pdTRUE); } - // 修复：更改为 10ms 延时以防 pdMS_TO_TICKS(2) 得到 0 并引起看门狗溢出 - vTaskDelay(pdMS_TO_TICKS(10)); + ui_process_timers(); } } @@ -721,12 +892,34 @@ esp_err_t ui_controller_init(void) return ret; } + g_encoder_last_state = encoder_read_state(); + g_encoder_initialized = true; + g_encoder_accumulator = 0; + + g_button_raw_pressed_last = button_read_pressed(); + g_button_stable_pressed = g_button_raw_pressed_last; + g_button_long_press_reported = false; + g_button_last_raw_change_tick = xTaskGetTickCount(); + g_button_press_start_tick = g_button_last_raw_change_tick; + + g_ui_event_queue = xQueueCreate(UI_EVENT_QUEUE_LEN, sizeof(ui_gpio_event_t)); + if (g_ui_event_queue == NULL) { + ESP_LOGE(TAG, "Failed to create UI event queue"); + return ESP_ERR_NO_MEM; + } + + ret = ui_gpio_interrupts_init(); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "UI GPIO interrupt init failed: %s", esp_err_to_name(ret)); + return ret; + } + BaseType_t task_ret = xTaskCreatePinnedToCore( ui_task, "ui_task", 4096, NULL, - 2, + UI_TASK_PRIORITY, NULL, 1); if (task_ret != pdPASS) { diff --git a/src/firmware-code/p4_remote_wifi/sdkconfig b/src/firmware-code/p4_remote_wifi/sdkconfig index 769d608..4781541 100644 --- a/src/firmware-code/p4_remote_wifi/sdkconfig +++ b/src/firmware-code/p4_remote_wifi/sdkconfig @@ -1660,8 +1660,8 @@ CONFIG_ESP_COREDUMP_ENABLE_TO_NONE=y # FAT Filesystem support # CONFIG_FATFS_VOLUME_COUNT=2 -CONFIG_FATFS_LFN_NONE=y -# CONFIG_FATFS_LFN_HEAP is not set +# CONFIG_FATFS_LFN_NONE is not set +CONFIG_FATFS_LFN_HEAP=y # CONFIG_FATFS_LFN_STACK is not set # CONFIG_FATFS_SECTOR_512 is not set CONFIG_FATFS_SECTOR_4096=y @@ -1688,6 +1688,9 @@ CONFIG_FATFS_CODEPAGE_437=y # CONFIG_FATFS_CODEPAGE_949 is not set # CONFIG_FATFS_CODEPAGE_950 is not set CONFIG_FATFS_CODEPAGE=437 +CONFIG_FATFS_MAX_LFN=255 +CONFIG_FATFS_API_ENCODING_ANSI_OEM=y +# CONFIG_FATFS_API_ENCODING_UTF_8 is not set CONFIG_FATFS_FS_LOCK=0 CONFIG_FATFS_TIMEOUT_MS=10000 CONFIG_FATFS_PER_FILE_CACHE=y