Add hermes_vision, build camera_ros on the fork, and bring up WM8960 audio

hermes_vision wraps OpenCV YuNet (Haar fallback) as a plain module plus a node that publishes /vision/faces as vision_msgs/Detection2DArray. It replaces the standalone detect_faces.py. pi/robot-env.sh puts the Raspberry Pi libcamera fork ahead of ROS's own copy, the venv's OpenCV 4.10 ahead of the apt one, and fixes the ROS domain and subnet-only discovery. camera_ros 0.7.0 now runs against the fork and publishes raw and compressed images. The stock wm8960-soundcard overlay fails on Ubuntu 24.04 with "No MCLK configured": it hangs the clock on the sound card's codec link, but the codec driver reads mclk from its own node. hermes-wm8960.dts adds it there, and capture opens at 8-48 kHz. The microphones still read digital zeros; see CONTEXT.md for what has been ruled out. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
2026-10-04 22:55:53 -07:00
parent 5e48b6fa03
commit 8d5033d0a2
14 changed files with 440 additions and 107 deletions
@@ -0,0 +1,87 @@
+/dts-v1/;
+/plugin/;
+
+/*
+ * BrainCraft HAT audio: the WM8960 codec at I2C 0x1a with its 12.288 MHz master clock.
+ *
+ * Same as the kernel's wm8960-soundcard overlay, except that the clock is also attached to the
+ * codec's own node. Ubuntu 24.04's wm8960 driver reads "mclk" from there; the stock overlay only
+ * puts it on the sound card's codec link, so every capture/playback fails with
+ * "wm8960: No MCLK configured". Compiled by pi/install-audio-overlay.sh.
+ */
+/ {
+	compatible = "brcm,bcm2835";
+
+	fragment@0 {
+		target = <&i2s_clk_producer>;
+		__overlay__ {
+			status = "okay";
+		};
+	};
+
+	fragment@1 {
+		target-path = "/";
+		__overlay__ {
+			wm8960_mclk: wm8960_mclk {
+				compatible = "fixed-clock";
+				#clock-cells = <0>;
+				clock-frequency = <12288000>;
+			};
+		};
+	};
+
+	fragment@2 {
+		target = <&i2c1>;
+		__overlay__ {
+			#address-cells = <1>;
+			#size-cells = <0>;
+			status = "okay";
+
+			wm8960: wm8960 {
+				compatible = "wlf,wm8960";
+				reg = <0x1a>;
+				#sound-dai-cells = <0>;
+				clocks = <&wm8960_mclk>;
+				clock-names = "mclk";
+				AVDD-supply = <&vdd_5v0_reg>;
+				DVDD-supply = <&vdd_3v3_reg>;
+			};
+		};
+	};
+
+	fragment@3 {
+		target = <&sound>;
+		slave_overlay: __overlay__ {
+			compatible = "simple-audio-card";
+			simple-audio-card,format = "i2s";
+			simple-audio-card,name = "wm8960-soundcard";
+			status = "okay";
+
+			simple-audio-card,widgets =
+				"Microphone", "Mic Jack",
+				"Line", "Line In",
+				"Line", "Line Out",
+				"Speaker", "Speaker",
+				"Headphone", "Headphone Jack";
+			simple-audio-card,routing =
+				"Headphone Jack", "HP_L",
+				"Headphone Jack", "HP_R",
+				"Speaker", "SPK_LP",
+				"Speaker", "SPK_LN",
+				"LINPUT1", "Mic Jack",
+				"LINPUT3", "Mic Jack",
+				"RINPUT1", "Mic Jack",
+				"RINPUT2", "Mic Jack";
+
+			simple-audio-card,cpu {
+				sound-dai = <&i2s_clk_producer>;
+			};
+
+			dailink0_slave: simple-audio-card,codec {
+				sound-dai = <&wm8960>;
+				clocks = <&wm8960_mclk>;
+				clock-names = "mclk";
+			};
+		};
+	};
+};