cv_process and helpers (frame_diff, extract_blob, find_centroids) now read
diff_thresh, min_blob_px, max_move, max_missed, and line_offset from
state.tuning instead of file-scope static const constants. The four
thresholds are promoted to file-local constexpr defaults in cv.cpp
(CV_DEFAULT_*) and are no longer part of the public cv.h API — external
code can't depend on them.
cv_process signature drops the line_pct parameter; callers use
state.tuning.line_offset instead. This eliminates the drift hazard of
having two sources of truth (DeviceConfig.line_offset vs
CVTuning.line_offset); the former is deleted.
main.cpp now calls config_load_tuning(g_cv.tuning) after cv_init on boot
so previously persisted tuning survives reboot; logs whether tuning came
from NVS or defaults.
The legacy NVS key "line_offset" is intentionally left alone — harmless
and flash_device.py may still write it during provisioning. Migration is
out of scope.
Tests: 12/12 passing (11 existing + 1 new
test_cv_process_respects_runtime_min_blob proving the runtime-read path).
Flash: 1,414,069 bytes (89.9%).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Adds CVTuning to CVState, populates defaults from existing file-scope
constants in cv_init, and introduces config_load_tuning/config_save_tuning
backed by the doorcounter NVS namespace. No runtime behavior change yet;
CV code still reads the existing constants (Task 2 will migrate reads).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
loopTask: cv_init() created a CVState{} temporary (9KB background
array) on the stack — fixed by initializing members directly.
cam task: cv_process() had uint8_t fg[CV_PIXELS] (9KB) as a local
variable — made static, matching the existing fg_copy fix.
cam task stack bumped from 4096 to 8192 for headroom.
Also: switch to 4MB OTA partition table (TimerCamera-F has 4MB flash,
not 8MB), add CONFIG_ARDUINO_LOOP_STACK_SIZE=16384 build flag,
upload_speed=115200 and --no-stub for reliable CH340 flashing.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add BFS flood-fill blob extraction, centroid finding, and nearest-neighbour track matching/spawning inside cv_process. Add test verifying a new blob spawns a track.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
