kyleandClaude Sonnet 5.5
8d5033d0a2
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
88 lines
1.9 KiB
Devicetree
88 lines
1.9 KiB
Devicetree
/dts-v1/;
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/plugin/;
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/*
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* BrainCraft HAT audio: the WM8960 codec at I2C 0x1a with its 12.288 MHz master clock.
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*
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* Same as the kernel's wm8960-soundcard overlay, except that the clock is also attached to the
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* codec's own node. Ubuntu 24.04's wm8960 driver reads "mclk" from there; the stock overlay only
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* puts it on the sound card's codec link, so every capture/playback fails with
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* "wm8960: No MCLK configured". Compiled by pi/install-audio-overlay.sh.
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*/
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/ {
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compatible = "brcm,bcm2835";
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fragment@0 {
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target = <&i2s_clk_producer>;
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__overlay__ {
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status = "okay";
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};
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};
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fragment@1 {
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target-path = "/";
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__overlay__ {
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wm8960_mclk: wm8960_mclk {
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compatible = "fixed-clock";
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#clock-cells = <0>;
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clock-frequency = <12288000>;
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};
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};
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};
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fragment@2 {
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target = <&i2c1>;
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__overlay__ {
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#address-cells = <1>;
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#size-cells = <0>;
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status = "okay";
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wm8960: wm8960 {
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compatible = "wlf,wm8960";
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reg = <0x1a>;
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#sound-dai-cells = <0>;
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clocks = <&wm8960_mclk>;
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clock-names = "mclk";
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AVDD-supply = <&vdd_5v0_reg>;
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DVDD-supply = <&vdd_3v3_reg>;
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};
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};
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};
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fragment@3 {
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target = <&sound>;
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slave_overlay: __overlay__ {
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compatible = "simple-audio-card";
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simple-audio-card,format = "i2s";
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simple-audio-card,name = "wm8960-soundcard";
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status = "okay";
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simple-audio-card,widgets =
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"Microphone", "Mic Jack",
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"Line", "Line In",
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"Line", "Line Out",
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"Speaker", "Speaker",
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"Headphone", "Headphone Jack";
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simple-audio-card,routing =
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"Headphone Jack", "HP_L",
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"Headphone Jack", "HP_R",
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"Speaker", "SPK_LP",
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"Speaker", "SPK_LN",
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"LINPUT1", "Mic Jack",
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"LINPUT3", "Mic Jack",
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"RINPUT1", "Mic Jack",
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"RINPUT2", "Mic Jack";
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simple-audio-card,cpu {
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sound-dai = <&i2s_clk_producer>;
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};
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dailink0_slave: simple-audio-card,codec {
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sound-dai = <&wm8960>;
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clocks = <&wm8960_mclk>;
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clock-names = "mclk";
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};
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};
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};
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};
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