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- // Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
- //
- // Licensed under the Apache License, Version 2.0 (the "License");
- // you may not use this file except in compliance with the License.
- // You may obtain a copy of the License at
- //
- // http://www.apache.org/licenses/LICENSE-2.0
- //
- // Unless required by applicable law or agreed to in writing, software
- // distributed under the License is distributed on an "AS IS" BASIS,
- // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- // See the License for the specific language governing permissions and
- // limitations under the License.
- #include <stdio.h>
- #include <stdlib.h>
- #include <string.h>
- #include "time.h"
- #include "sys/time.h"
- #include "freertos/FreeRTOS.h"
- #include "freertos/task.h"
- #include "freertos/semphr.h"
- #include "rom/lldesc.h"
- #include "soc/soc.h"
- #include "soc/gpio_sig_map.h"
- #include "soc/i2s_reg.h"
- #include "soc/i2s_struct.h"
- #include "soc/io_mux_reg.h"
- #include "driver/gpio.h"
- #include "driver/rtc_io.h"
- #include "driver/periph_ctrl.h"
- #include "esp_intr_alloc.h"
- #include "sensor.h"
- #include "sccb.h"
- #include "esp_camera.h"
- #include "camera_common.h"
- #include "xclk.h"
- #if CONFIG_OV2640_SUPPORT
- #include "ov2640.h"
- #endif
- #if CONFIG_OV7725_SUPPORT
- #include "ov7725.h"
- #endif
- #if CONFIG_OV3660_SUPPORT
- #include "ov3660.h"
- #endif
- typedef enum {
- CAMERA_NONE = 0,
- CAMERA_UNKNOWN = 1,
- CAMERA_OV7725 = 7725,
- CAMERA_OV2640 = 2640,
- CAMERA_OV3660 = 3660,
- } camera_model_t;
- #define REG_PID 0x0A
- #define REG_VER 0x0B
- #define REG_MIDH 0x1C
- #define REG_MIDL 0x1D
- #define REG16_CHIDH 0x300A
- #define REG16_CHIDL 0x300B
- #if defined(ARDUINO_ARCH_ESP32) && defined(CONFIG_ARDUHAL_ESP_LOG)
- #include "esp32-hal-log.h"
- #define TAG ""
- #else
- #include "esp_log.h"
- static const char* TAG = "camera";
- #endif
- typedef void (*dma_filter_t)(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
- typedef struct camera_fb_s {
- uint8_t * buf;
- size_t len;
- size_t width;
- size_t height;
- pixformat_t format;
- size_t size;
- uint8_t ref;
- uint8_t bad;
- struct camera_fb_s * next;
- } camera_fb_int_t;
- typedef struct fb_s {
- uint8_t * buf;
- size_t len;
- struct fb_s * next;
- } fb_item_t;
- typedef struct {
- camera_config_t config;
- sensor_t sensor;
- camera_fb_int_t *fb;
- size_t fb_size;
- size_t data_size;
- size_t width;
- size_t height;
- size_t in_bytes_per_pixel;
- size_t fb_bytes_per_pixel;
- size_t dma_received_count;
- size_t dma_filtered_count;
- size_t dma_per_line;
- size_t dma_buf_width;
- size_t dma_sample_count;
- lldesc_t *dma_desc;
- dma_elem_t **dma_buf;
- size_t dma_desc_count;
- size_t dma_desc_cur;
- i2s_sampling_mode_t sampling_mode;
- dma_filter_t dma_filter;
- intr_handle_t i2s_intr_handle;
- QueueHandle_t data_ready;
- QueueHandle_t fb_in;
- QueueHandle_t fb_out;
- SemaphoreHandle_t frame_ready;
- TaskHandle_t dma_filter_task;
- } camera_state_t;
- camera_state_t* s_state = NULL;
- static void i2s_init();
- static int i2s_run();
- static void IRAM_ATTR vsync_isr(void* arg);
- static void IRAM_ATTR i2s_isr(void* arg);
- static esp_err_t dma_desc_init();
- static void dma_desc_deinit();
- static void dma_filter_task(void *pvParameters);
- static void dma_filter_grayscale(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
- static void dma_filter_grayscale_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
- static void dma_filter_yuyv(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
- static void dma_filter_yuyv_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
- static void dma_filter_jpeg(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
- static void i2s_stop(bool* need_yield);
- static bool is_hs_mode()
- {
- return s_state->config.xclk_freq_hz > 10000000;
- }
- static size_t i2s_bytes_per_sample(i2s_sampling_mode_t mode)
- {
- switch(mode) {
- case SM_0A00_0B00:
- return 4;
- case SM_0A0B_0B0C:
- return 4;
- case SM_0A0B_0C0D:
- return 2;
- default:
- assert(0 && "invalid sampling mode");
- return 0;
- }
- }
- static int IRAM_ATTR _gpio_get_level(gpio_num_t gpio_num)
- {
- if (gpio_num < 32) {
- return (GPIO.in >> gpio_num) & 0x1;
- } else {
- return (GPIO.in1.data >> (gpio_num - 32)) & 0x1;
- }
- }
- static void IRAM_ATTR vsync_intr_disable()
- {
- gpio_set_intr_type(s_state->config.pin_vsync, GPIO_INTR_DISABLE);
- }
- static void vsync_intr_enable()
- {
- gpio_set_intr_type(s_state->config.pin_vsync, GPIO_INTR_NEGEDGE);
- }
- static int skip_frame()
- {
- if (s_state == NULL) {
- return -1;
- }
- int64_t st_t = esp_timer_get_time();
- while (_gpio_get_level(s_state->config.pin_vsync) == 0) {
- if((esp_timer_get_time() - st_t) > 1000000LL){
- goto timeout;
- }
- }
- while (_gpio_get_level(s_state->config.pin_vsync) != 0) {
- if((esp_timer_get_time() - st_t) > 1000000LL){
- goto timeout;
- }
- }
- while (_gpio_get_level(s_state->config.pin_vsync) == 0) {
- if((esp_timer_get_time() - st_t) > 1000000LL){
- goto timeout;
- }
- }
- return 0;
- timeout:
- ESP_LOGE(TAG, "Timeout waiting for VSYNC");
- return -1;
- }
- static void camera_fb_deinit()
- {
- camera_fb_int_t * _fb1 = s_state->fb, * _fb2 = NULL;
- while(s_state->fb) {
- _fb2 = s_state->fb;
- s_state->fb = _fb2->next;
- if(_fb2->next == _fb1) {
- s_state->fb = NULL;
- }
- free(_fb2->buf);
- free(_fb2);
- }
- }
- static esp_err_t camera_fb_init(size_t count)
- {
- if(!count) {
- return ESP_ERR_INVALID_ARG;
- }
- camera_fb_deinit();
- ESP_LOGI(TAG, "Allocating %u frame buffers (%d KB total)", count, (s_state->fb_size * count) / 1024);
- camera_fb_int_t * _fb = NULL, * _fb1 = NULL, * _fb2 = NULL;
- for(size_t i = 0; i < count; i++) {
- _fb2 = (camera_fb_int_t *)malloc(sizeof(camera_fb_int_t));
- if(!_fb2) {
- goto fail;
- }
- memset(_fb2, 0, sizeof(camera_fb_int_t));
- _fb2->size = s_state->fb_size;
- _fb2->buf = (uint8_t*) calloc(_fb2->size, 1);
- if(!_fb2->buf) {
- ESP_LOGI(TAG, "Allocating %d KB frame buffer in PSRAM", s_state->fb_size/1024);
- _fb2->buf = (uint8_t*) heap_caps_calloc(_fb2->size, 1, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
- } else {
- ESP_LOGI(TAG, "Allocating %d KB frame buffer in OnBoard RAM", s_state->fb_size/1024);
- }
- if(!_fb2->buf) {
- free(_fb2);
- ESP_LOGE(TAG, "Allocating %d KB frame buffer Failed", s_state->fb_size/1024);
- goto fail;
- }
- memset(_fb2->buf, 0, _fb2->size);
- _fb2->next = _fb;
- _fb = _fb2;
- if(!i) {
- _fb1 = _fb2;
- }
- }
- if(_fb1) {
- _fb1->next = _fb;
- }
- s_state->fb = _fb;//load first buffer
- return ESP_OK;
- fail:
- while(_fb) {
- _fb2 = _fb;
- _fb = _fb->next;
- free(_fb2->buf);
- free(_fb2);
- }
- return ESP_ERR_NO_MEM;
- }
- static esp_err_t dma_desc_init()
- {
- assert(s_state->width % 4 == 0);
- size_t line_size = s_state->width * s_state->in_bytes_per_pixel *
- i2s_bytes_per_sample(s_state->sampling_mode);
- ESP_LOGD(TAG, "Line width (for DMA): %d bytes", line_size);
- size_t dma_per_line = 1;
- size_t buf_size = line_size;
- while (buf_size >= 4096) {
- buf_size /= 2;
- dma_per_line *= 2;
- }
- size_t dma_desc_count = dma_per_line * 4;
- s_state->dma_buf_width = line_size;
- s_state->dma_per_line = dma_per_line;
- s_state->dma_desc_count = dma_desc_count;
- ESP_LOGD(TAG, "DMA buffer size: %d, DMA buffers per line: %d", buf_size, dma_per_line);
- ESP_LOGD(TAG, "DMA buffer count: %d", dma_desc_count);
- ESP_LOGD(TAG, "DMA buffer total: %d bytes", buf_size * dma_desc_count);
- s_state->dma_buf = (dma_elem_t**) malloc(sizeof(dma_elem_t*) * dma_desc_count);
- if (s_state->dma_buf == NULL) {
- return ESP_ERR_NO_MEM;
- }
- s_state->dma_desc = (lldesc_t*) malloc(sizeof(lldesc_t) * dma_desc_count);
- if (s_state->dma_desc == NULL) {
- return ESP_ERR_NO_MEM;
- }
- size_t dma_sample_count = 0;
- for (int i = 0; i < dma_desc_count; ++i) {
- ESP_LOGD(TAG, "Allocating DMA buffer #%d, size=%d", i, buf_size);
- dma_elem_t* buf = (dma_elem_t*) malloc(buf_size);
- if (buf == NULL) {
- return ESP_ERR_NO_MEM;
- }
- s_state->dma_buf[i] = buf;
- ESP_LOGV(TAG, "dma_buf[%d]=%p", i, buf);
- lldesc_t* pd = &s_state->dma_desc[i];
- pd->length = buf_size;
- if (s_state->sampling_mode == SM_0A0B_0B0C &&
- (i + 1) % dma_per_line == 0) {
- pd->length -= 4;
- }
- dma_sample_count += pd->length / 4;
- pd->size = pd->length;
- pd->owner = 1;
- pd->sosf = 1;
- pd->buf = (uint8_t*) buf;
- pd->offset = 0;
- pd->empty = 0;
- pd->eof = 1;
- pd->qe.stqe_next = &s_state->dma_desc[(i + 1) % dma_desc_count];
- }
- s_state->dma_sample_count = dma_sample_count;
- return ESP_OK;
- }
- static void dma_desc_deinit()
- {
- if (s_state->dma_buf) {
- for (int i = 0; i < s_state->dma_desc_count; ++i) {
- free(s_state->dma_buf[i]);
- }
- }
- free(s_state->dma_buf);
- free(s_state->dma_desc);
- }
- static inline void IRAM_ATTR i2s_conf_reset()
- {
- const uint32_t lc_conf_reset_flags = I2S_IN_RST_M | I2S_AHBM_RST_M
- | I2S_AHBM_FIFO_RST_M;
- I2S0.lc_conf.val |= lc_conf_reset_flags;
- I2S0.lc_conf.val &= ~lc_conf_reset_flags;
- const uint32_t conf_reset_flags = I2S_RX_RESET_M | I2S_RX_FIFO_RESET_M
- | I2S_TX_RESET_M | I2S_TX_FIFO_RESET_M;
- I2S0.conf.val |= conf_reset_flags;
- I2S0.conf.val &= ~conf_reset_flags;
- while (I2S0.state.rx_fifo_reset_back) {
- ;
- }
- }
- static void i2s_init()
- {
- camera_config_t* config = &s_state->config;
- // Configure input GPIOs
- gpio_num_t pins[] = {
- config->pin_d7,
- config->pin_d6,
- config->pin_d5,
- config->pin_d4,
- config->pin_d3,
- config->pin_d2,
- config->pin_d1,
- config->pin_d0,
- config->pin_vsync,
- config->pin_href,
- config->pin_pclk
- };
- gpio_config_t conf = {
- .mode = GPIO_MODE_INPUT,
- .pull_up_en = GPIO_PULLUP_ENABLE,
- .pull_down_en = GPIO_PULLDOWN_DISABLE,
- .intr_type = GPIO_INTR_DISABLE
- };
- for (int i = 0; i < sizeof(pins) / sizeof(gpio_num_t); ++i) {
- if (rtc_gpio_is_valid_gpio(pins[i])) {
- rtc_gpio_deinit(pins[i]);
- }
- conf.pin_bit_mask = 1LL << pins[i];
- gpio_config(&conf);
- }
- // Route input GPIOs to I2S peripheral using GPIO matrix
- gpio_matrix_in(config->pin_d0, I2S0I_DATA_IN0_IDX, false);
- gpio_matrix_in(config->pin_d1, I2S0I_DATA_IN1_IDX, false);
- gpio_matrix_in(config->pin_d2, I2S0I_DATA_IN2_IDX, false);
- gpio_matrix_in(config->pin_d3, I2S0I_DATA_IN3_IDX, false);
- gpio_matrix_in(config->pin_d4, I2S0I_DATA_IN4_IDX, false);
- gpio_matrix_in(config->pin_d5, I2S0I_DATA_IN5_IDX, false);
- gpio_matrix_in(config->pin_d6, I2S0I_DATA_IN6_IDX, false);
- gpio_matrix_in(config->pin_d7, I2S0I_DATA_IN7_IDX, false);
- gpio_matrix_in(config->pin_vsync, I2S0I_V_SYNC_IDX, false);
- gpio_matrix_in(0x38, I2S0I_H_SYNC_IDX, false);
- gpio_matrix_in(config->pin_href, I2S0I_H_ENABLE_IDX, false);
- gpio_matrix_in(config->pin_pclk, I2S0I_WS_IN_IDX, false);
- // Enable and configure I2S peripheral
- periph_module_enable(PERIPH_I2S0_MODULE);
- // Toggle some reset bits in LC_CONF register
- // Toggle some reset bits in CONF register
- i2s_conf_reset();
- // Enable slave mode (sampling clock is external)
- I2S0.conf.rx_slave_mod = 1;
- // Enable parallel mode
- I2S0.conf2.lcd_en = 1;
- // Use HSYNC/VSYNC/HREF to control sampling
- I2S0.conf2.camera_en = 1;
- // Configure clock divider
- I2S0.clkm_conf.clkm_div_a = 1;
- I2S0.clkm_conf.clkm_div_b = 0;
- I2S0.clkm_conf.clkm_div_num = 2;
- // FIFO will sink data to DMA
- I2S0.fifo_conf.dscr_en = 1;
- // FIFO configuration
- I2S0.fifo_conf.rx_fifo_mod = s_state->sampling_mode;
- I2S0.fifo_conf.rx_fifo_mod_force_en = 1;
- I2S0.conf_chan.rx_chan_mod = 1;
- // Clear flags which are used in I2S serial mode
- I2S0.sample_rate_conf.rx_bits_mod = 0;
- I2S0.conf.rx_right_first = 0;
- I2S0.conf.rx_msb_right = 0;
- I2S0.conf.rx_msb_shift = 0;
- I2S0.conf.rx_mono = 0;
- I2S0.conf.rx_short_sync = 0;
- I2S0.timing.val = 0;
- I2S0.timing.rx_dsync_sw = 1;
- // Allocate I2S interrupt, keep it disabled
- esp_intr_alloc(ETS_I2S0_INTR_SOURCE,
- ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_LEVEL1 | ESP_INTR_FLAG_IRAM,
- &i2s_isr, NULL, &s_state->i2s_intr_handle);
- }
- static void IRAM_ATTR i2s_start_bus()
- {
- s_state->dma_desc_cur = 0;
- s_state->dma_received_count = 0;
- //s_state->dma_filtered_count = 0;
- esp_intr_disable(s_state->i2s_intr_handle);
- i2s_conf_reset();
- I2S0.rx_eof_num = s_state->dma_sample_count;
- I2S0.in_link.addr = (uint32_t) &s_state->dma_desc[0];
- I2S0.in_link.start = 1;
- I2S0.int_clr.val = I2S0.int_raw.val;
- I2S0.int_ena.val = 0;
- I2S0.int_ena.in_done = 1;
- esp_intr_enable(s_state->i2s_intr_handle);
- I2S0.conf.rx_start = 1;
- if (s_state->config.pixel_format == PIXFORMAT_JPEG) {
- vsync_intr_enable();
- }
- }
- static int i2s_run()
- {
- for (int i = 0; i < s_state->dma_desc_count; ++i) {
- lldesc_t* d = &s_state->dma_desc[i];
- ESP_LOGV(TAG, "DMA desc %2d: %u %u %u %u %u %u %p %p",
- i, d->length, d->size, d->offset, d->eof, d->sosf, d->owner, d->buf, d->qe.stqe_next);
- memset(s_state->dma_buf[i], 0, d->length);
- }
- // wait for frame
- camera_fb_int_t * fb = s_state->fb;
- while(s_state->config.fb_count > 1) {
- while(s_state->fb->ref && s_state->fb->next != fb) {
- s_state->fb = s_state->fb->next;
- }
- if(s_state->fb->ref == 0) {
- break;
- }
- vTaskDelay(2);
- }
- //todo: wait for vsync
- ESP_LOGV(TAG, "Waiting for negative edge on VSYNC");
- int64_t st_t = esp_timer_get_time();
- while (_gpio_get_level(s_state->config.pin_vsync) != 0) {
- if((esp_timer_get_time() - st_t) > 1000000LL){
- ESP_LOGE(TAG, "Timeout waiting for VSYNC");
- return -1;
- }
- }
- ESP_LOGV(TAG, "Got VSYNC");
- i2s_start_bus();
- return 0;
- }
- static void IRAM_ATTR i2s_stop_bus()
- {
- esp_intr_disable(s_state->i2s_intr_handle);
- vsync_intr_disable();
- i2s_conf_reset();
- I2S0.conf.rx_start = 0;
- }
- static void IRAM_ATTR i2s_stop(bool* need_yield)
- {
- if(s_state->config.fb_count == 1 && !s_state->fb->bad) {
- i2s_stop_bus();
- } else {
- s_state->dma_received_count = 0;
- }
- size_t val = SIZE_MAX;
- BaseType_t higher_priority_task_woken;
- BaseType_t ret = xQueueSendFromISR(s_state->data_ready, &val, &higher_priority_task_woken);
- if(need_yield && !*need_yield) {
- *need_yield = (ret == pdTRUE && higher_priority_task_woken == pdTRUE);
- }
- }
- static void IRAM_ATTR signal_dma_buf_received(bool* need_yield)
- {
- size_t dma_desc_filled = s_state->dma_desc_cur;
- s_state->dma_desc_cur = (dma_desc_filled + 1) % s_state->dma_desc_count;
- s_state->dma_received_count++;
- if(!s_state->fb->ref && s_state->fb->bad){
- *need_yield = false;
- return;
- }
- BaseType_t higher_priority_task_woken;
- BaseType_t ret = xQueueSendFromISR(s_state->data_ready, &dma_desc_filled, &higher_priority_task_woken);
- if (ret != pdTRUE) {
- if(!s_state->fb->ref) {
- s_state->fb->bad = 1;
- }
- //ESP_EARLY_LOGW(TAG, "qsf:%d", s_state->dma_received_count);
- //ets_printf("qsf:%d\n", s_state->dma_received_count);
- }
- *need_yield = (ret == pdTRUE && higher_priority_task_woken == pdTRUE);
- }
- static void IRAM_ATTR i2s_isr(void* arg)
- {
- I2S0.int_clr.val = I2S0.int_raw.val;
- bool need_yield = false;
- signal_dma_buf_received(&need_yield);
- if (s_state->config.pixel_format != PIXFORMAT_JPEG
- && s_state->dma_received_count == s_state->height * s_state->dma_per_line) {
- i2s_stop(&need_yield);
- }
- if (need_yield) {
- portYIELD_FROM_ISR();
- }
- }
- static void IRAM_ATTR vsync_isr(void* arg)
- {
- GPIO.status1_w1tc.val = GPIO.status1.val;
- GPIO.status_w1tc = GPIO.status;
- bool need_yield = false;
- //if vsync is low and we have received some data, frame is done
- if (_gpio_get_level(s_state->config.pin_vsync) == 0) {
- if(s_state->dma_received_count > 0) {
- signal_dma_buf_received(&need_yield);
- //ets_printf("end_vsync\n");
- if(s_state->dma_filtered_count > 1 || s_state->config.fb_count > 1) {
- i2s_stop(&need_yield);
- }
- }
- if(s_state->config.fb_count > 1 || s_state->dma_filtered_count < 2) {
- I2S0.conf.rx_start = 0;
- I2S0.in_link.start = 0;
- I2S0.int_clr.val = I2S0.int_raw.val;
- i2s_conf_reset();
- s_state->dma_desc_cur = (s_state->dma_desc_cur + 1) % s_state->dma_desc_count;
- //I2S0.rx_eof_num = s_state->dma_sample_count;
- I2S0.in_link.addr = (uint32_t) &s_state->dma_desc[s_state->dma_desc_cur];
- I2S0.in_link.start = 1;
- I2S0.conf.rx_start = 1;
- s_state->dma_received_count = 0;
- }
- }
- if (need_yield) {
- portYIELD_FROM_ISR();
- }
- }
- static void IRAM_ATTR camera_fb_done()
- {
- camera_fb_int_t * fb = NULL, * fb2 = NULL;
- BaseType_t taskAwoken = 0;
- if(s_state->config.fb_count == 1) {
- xSemaphoreGive(s_state->frame_ready);
- return;
- }
- fb = s_state->fb;
- if(!fb->ref && fb->len) {
- //add reference
- fb->ref = 1;
- //check if the queue is full
- if(xQueueIsQueueFullFromISR(s_state->fb_out) == pdTRUE) {
- //pop frame buffer from the queue
- if(xQueueReceiveFromISR(s_state->fb_out, &fb2, &taskAwoken) == pdTRUE) {
- //free the popped buffer
- fb2->ref = 0;
- fb2->len = 0;
- //push the new frame to the end of the queue
- xQueueSendFromISR(s_state->fb_out, &fb, &taskAwoken);
- } else {
- //queue is full and we could not pop a frame from it
- }
- } else {
- //push the new frame to the end of the queue
- xQueueSendFromISR(s_state->fb_out, &fb, &taskAwoken);
- }
- } else {
- //frame was referenced or empty
- }
- //return buffers to be filled
- while(xQueueReceiveFromISR(s_state->fb_in, &fb2, &taskAwoken) == pdTRUE) {
- fb2->ref = 0;
- fb2->len = 0;
- }
- //advance frame buffer only if the current one has data
- if(s_state->fb->len) {
- s_state->fb = s_state->fb->next;
- }
- //try to find the next free frame buffer
- while(s_state->fb->ref && s_state->fb->next != fb) {
- s_state->fb = s_state->fb->next;
- }
- //is the found frame buffer free?
- if(!s_state->fb->ref) {
- //buffer found. make sure it's empty
- s_state->fb->len = 0;
- *((uint32_t *)s_state->fb->buf) = 0;
- } else {
- //stay at the previous buffer
- s_state->fb = fb;
- }
- }
- static void IRAM_ATTR dma_finish_frame()
- {
- size_t buf_len = s_state->width * s_state->fb_bytes_per_pixel / s_state->dma_per_line;
- if(!s_state->fb->ref) {
- // is the frame bad?
- if(s_state->fb->bad){
- s_state->fb->bad = 0;
- s_state->fb->len = 0;
- *((uint32_t *)s_state->fb->buf) = 0;
- if(s_state->config.fb_count == 1) {
- i2s_start_bus();
- }
- } else {
- s_state->fb->len = s_state->dma_filtered_count * buf_len;
- if(s_state->fb->len) {
- //find the end marker for JPEG. Data after that can be discarded
- if(s_state->fb->format == PIXFORMAT_JPEG){
- uint8_t * dptr = &s_state->fb->buf[s_state->fb->len - 1];
- while(dptr > s_state->fb->buf){
- if(dptr[0] == 0xFF && dptr[1] == 0xD9 && dptr[2] == 0x00 && dptr[3] == 0x00){
- dptr += 2;
- s_state->fb->len = dptr - s_state->fb->buf;
- if((s_state->fb->len & 0x1FF) == 0){
- s_state->fb->len += 1;
- }
- if((s_state->fb->len % 100) == 0){
- s_state->fb->len += 1;
- }
- break;
- }
- dptr--;
- }
- }
- //send out the frame
- camera_fb_done();
- } else if(s_state->config.fb_count == 1){
- //frame was empty?
- i2s_start_bus();
- }
- }
- } else if(s_state->fb->len) {
- camera_fb_done();
- }
- s_state->dma_filtered_count = 0;
- }
- static void IRAM_ATTR dma_filter_buffer(size_t buf_idx)
- {
- //no need to process the data if frame is in use or is bad
- if(s_state->fb->ref || s_state->fb->bad) {
- return;
- }
- //check if there is enough space in the frame buffer for the new data
- size_t buf_len = s_state->width * s_state->fb_bytes_per_pixel / s_state->dma_per_line;
- size_t fb_pos = s_state->dma_filtered_count * buf_len;
- if(fb_pos > s_state->fb_size - buf_len) {
- //size_t processed = s_state->dma_received_count * buf_len;
- //ets_printf("[%s:%u] ovf pos: %u, processed: %u\n", __FUNCTION__, __LINE__, fb_pos, processed);
- return;
- }
- //convert I2S DMA buffer to pixel data
- (*s_state->dma_filter)(s_state->dma_buf[buf_idx], &s_state->dma_desc[buf_idx], s_state->fb->buf + fb_pos);
- //first frame buffer
- if(!s_state->dma_filtered_count) {
- //check for correct JPEG header
- if(s_state->sensor.pixformat == PIXFORMAT_JPEG) {
- uint32_t sig = *((uint32_t *)s_state->fb->buf) & 0xFFFFFF;
- if(sig != 0xffd8ff) {
- //ets_printf("bad header\n");
- s_state->fb->bad = 1;
- return;
- }
- }
- //set the frame properties
- s_state->fb->width = resolution[s_state->sensor.status.framesize][0];
- s_state->fb->height = resolution[s_state->sensor.status.framesize][1];
- s_state->fb->format = s_state->sensor.pixformat;
- }
- s_state->dma_filtered_count++;
- }
- static void IRAM_ATTR dma_filter_task(void *pvParameters)
- {
- s_state->dma_filtered_count = 0;
- while (true) {
- size_t buf_idx;
- if(xQueueReceive(s_state->data_ready, &buf_idx, portMAX_DELAY) == pdTRUE) {
- if (buf_idx == SIZE_MAX) {
- //this is the end of the frame
- dma_finish_frame();
- } else {
- dma_filter_buffer(buf_idx);
- }
- }
- }
- }
- static void IRAM_ATTR dma_filter_jpeg(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;
- // manually unrolling 4 iterations of the loop here
- for (size_t i = 0; i < end; ++i) {
- dst[0] = src[0].sample1;
- dst[1] = src[1].sample1;
- dst[2] = src[2].sample1;
- dst[3] = src[3].sample1;
- src += 4;
- dst += 4;
- }
- }
- static void IRAM_ATTR dma_filter_grayscale(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;
- for (size_t i = 0; i < end; ++i) {
- // manually unrolling 4 iterations of the loop here
- dst[0] = src[0].sample1;
- dst[1] = src[1].sample1;
- dst[2] = src[2].sample1;
- dst[3] = src[3].sample1;
- src += 4;
- dst += 4;
- }
- }
- static void IRAM_ATTR dma_filter_grayscale_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 8;
- for (size_t i = 0; i < end; ++i) {
- // manually unrolling 4 iterations of the loop here
- dst[0] = src[0].sample1;
- dst[1] = src[2].sample1;
- dst[2] = src[4].sample1;
- dst[3] = src[6].sample1;
- src += 8;
- dst += 4;
- }
- // the final sample of a line in SM_0A0B_0B0C sampling mode needs special handling
- if ((dma_desc->length & 0x7) != 0) {
- dst[0] = src[0].sample1;
- dst[1] = src[2].sample1;
- }
- }
- static void IRAM_ATTR dma_filter_yuyv(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;
- for (size_t i = 0; i < end; ++i) {
- dst[0] = src[0].sample1;//y0
- dst[1] = src[0].sample2;//u
- dst[2] = src[1].sample1;//y1
- dst[3] = src[1].sample2;//v
- dst[4] = src[2].sample1;//y0
- dst[5] = src[2].sample2;//u
- dst[6] = src[3].sample1;//y1
- dst[7] = src[3].sample2;//v
- src += 4;
- dst += 8;
- }
- }
- static void IRAM_ATTR dma_filter_yuyv_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 8;
- for (size_t i = 0; i < end; ++i) {
- dst[0] = src[0].sample1;//y0
- dst[1] = src[1].sample1;//u
- dst[2] = src[2].sample1;//y1
- dst[3] = src[3].sample1;//v
- dst[4] = src[4].sample1;//y0
- dst[5] = src[5].sample1;//u
- dst[6] = src[6].sample1;//y1
- dst[7] = src[7].sample1;//v
- src += 8;
- dst += 8;
- }
- if ((dma_desc->length & 0x7) != 0) {
- dst[0] = src[0].sample1;//y0
- dst[1] = src[1].sample1;//u
- dst[2] = src[2].sample1;//y1
- dst[3] = src[2].sample2;//v
- }
- }
- static void IRAM_ATTR dma_filter_rgb888(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;
- uint8_t lb, hb;
- for (size_t i = 0; i < end; ++i) {
- hb = src[0].sample1;
- lb = src[0].sample2;
- dst[0] = (lb & 0x1F) << 3;
- dst[1] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[2] = hb & 0xF8;
- hb = src[1].sample1;
- lb = src[1].sample2;
- dst[3] = (lb & 0x1F) << 3;
- dst[4] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[5] = hb & 0xF8;
- hb = src[2].sample1;
- lb = src[2].sample2;
- dst[6] = (lb & 0x1F) << 3;
- dst[7] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[8] = hb & 0xF8;
- hb = src[3].sample1;
- lb = src[3].sample2;
- dst[9] = (lb & 0x1F) << 3;
- dst[10] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[11] = hb & 0xF8;
- src += 4;
- dst += 12;
- }
- }
- static void IRAM_ATTR dma_filter_rgb888_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
- {
- size_t end = dma_desc->length / sizeof(dma_elem_t) / 8;
- uint8_t lb, hb;
- for (size_t i = 0; i < end; ++i) {
- hb = src[0].sample1;
- lb = src[1].sample1;
- dst[0] = (lb & 0x1F) << 3;
- dst[1] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[2] = hb & 0xF8;
- hb = src[2].sample1;
- lb = src[3].sample1;
- dst[3] = (lb & 0x1F) << 3;
- dst[4] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[5] = hb & 0xF8;
- hb = src[4].sample1;
- lb = src[5].sample1;
- dst[6] = (lb & 0x1F) << 3;
- dst[7] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[8] = hb & 0xF8;
- hb = src[6].sample1;
- lb = src[7].sample1;
- dst[9] = (lb & 0x1F) << 3;
- dst[10] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[11] = hb & 0xF8;
- src += 8;
- dst += 12;
- }
- if ((dma_desc->length & 0x7) != 0) {
- hb = src[0].sample1;
- lb = src[1].sample1;
- dst[0] = (lb & 0x1F) << 3;
- dst[1] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[2] = hb & 0xF8;
- hb = src[2].sample1;
- lb = src[2].sample2;
- dst[3] = (lb & 0x1F) << 3;
- dst[4] = (hb & 0x07) << 5 | (lb & 0xE0) >> 3;
- dst[5] = hb & 0xF8;
- }
- }
- /*
- * Public Methods
- * */
- esp_err_t camera_probe(const camera_config_t* config, camera_model_t* out_camera_model)
- {
- if (s_state != NULL) {
- return ESP_ERR_INVALID_STATE;
- }
- s_state = (camera_state_t*) calloc(sizeof(*s_state), 1);
- if (!s_state) {
- return ESP_ERR_NO_MEM;
- }
- ESP_LOGD(TAG, "Enabling XCLK output");
- camera_enable_out_clock(config);
- ESP_LOGD(TAG, "Initializing SSCB");
- SCCB_Init(config->pin_sscb_sda, config->pin_sscb_scl);
-
- if(config->pin_pwdn >= 0) {
- ESP_LOGD(TAG, "Resetting camera by power down line");
- gpio_config_t conf = { 0 };
- conf.pin_bit_mask = 1LL << config->pin_pwdn;
- conf.mode = GPIO_MODE_OUTPUT;
- gpio_config(&conf);
- // carefull, logic is inverted compared to reset pin
- gpio_set_level(config->pin_pwdn, 1);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- gpio_set_level(config->pin_pwdn, 0);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- }
- if(config->pin_reset >= 0) {
- ESP_LOGD(TAG, "Resetting camera");
- gpio_config_t conf = { 0 };
- conf.pin_bit_mask = 1LL << config->pin_reset;
- conf.mode = GPIO_MODE_OUTPUT;
- gpio_config(&conf);
- #ifdef CONFIG_ESP_EYE
- gpio_set_level(config->pin_reset, 1);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- gpio_set_level(config->pin_reset, 0);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- #else
- // ESP32 Ai Tinker board needs reset reversed (don't know why)
- gpio_set_level(config->pin_reset, 0);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- gpio_set_level(config->pin_reset, 1);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- #endif
- #if (CONFIG_OV2640_SUPPORT && !CONFIG_OV3660_SUPPORT)
- } else {
- //reset OV2640
- SCCB_Write(0x30, 0xFF, 0x01);//bank sensor
- SCCB_Write(0x30, 0x12, 0x80);//reset
- vTaskDelay(10 / portTICK_PERIOD_MS);
- #endif
- }
- ESP_LOGD(TAG, "Searching for camera address");
- vTaskDelay(10 / portTICK_PERIOD_MS);
- uint8_t slv_addr = SCCB_Probe();
- if (slv_addr == 0) {
- *out_camera_model = CAMERA_NONE;
- camera_disable_out_clock();
- return ESP_ERR_CAMERA_NOT_DETECTED;
- }
- s_state->sensor.slv_addr = slv_addr;
- s_state->sensor.xclk_freq_hz = config->xclk_freq_hz;
- //s_state->sensor.slv_addr = 0x30;
- ESP_LOGD(TAG, "Detected camera at address=0x%02x", s_state->sensor.slv_addr);
- sensor_id_t* id = &s_state->sensor.id;
- #if (CONFIG_OV2640_SUPPORT && CONFIG_OV3660_SUPPORT)
- if (slv_addr == 0x30) {
- ESP_LOGD(TAG, "Resetting OV2640");
- //camera might be OV2640. try to reset it
- SCCB_Write(0x30, 0xFF, 0x01);//bank sensor
- SCCB_Write(0x30, 0x12, 0x80);//reset
- vTaskDelay(10 / portTICK_PERIOD_MS);
- slv_addr = SCCB_Probe();
- }
- #endif
- #if CONFIG_OV3660_SUPPORT
- if(s_state->sensor.slv_addr == 0x3c){
- id->PID = SCCB_Read16(s_state->sensor.slv_addr, REG16_CHIDH);
- id->VER = SCCB_Read16(s_state->sensor.slv_addr, REG16_CHIDL);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- ESP_LOGD(TAG, "Camera PID=0x%02x VER=0x%02x", id->PID, id->VER);
- } else {
- #endif
- id->PID = SCCB_Read(s_state->sensor.slv_addr, REG_PID);
- id->VER = SCCB_Read(s_state->sensor.slv_addr, REG_VER);
- id->MIDL = SCCB_Read(s_state->sensor.slv_addr, REG_MIDL);
- id->MIDH = SCCB_Read(s_state->sensor.slv_addr, REG_MIDH);
- vTaskDelay(10 / portTICK_PERIOD_MS);
- ESP_LOGD(TAG, "Camera PID=0x%02x VER=0x%02x MIDL=0x%02x MIDH=0x%02x",
- id->PID, id->VER, id->MIDH, id->MIDL);
- #if CONFIG_OV3660_SUPPORT
- }
- #endif
- switch (id->PID) {
- #if CONFIG_OV2640_SUPPORT
- case OV2640_PID:
- *out_camera_model = CAMERA_OV2640;
- ov2640_init(&s_state->sensor);
- break;
- #endif
- #if CONFIG_OV7725_SUPPORT
- case OV7725_PID:
- *out_camera_model = CAMERA_OV7725;
- ov7725_init(&s_state->sensor);
- break;
- #endif
- #if CONFIG_OV3660_SUPPORT
- case OV3660_PID:
- *out_camera_model = CAMERA_OV3660;
- ov3660_init(&s_state->sensor);
- break;
- #endif
- default:
- id->PID = 0;
- *out_camera_model = CAMERA_UNKNOWN;
- camera_disable_out_clock();
- ESP_LOGE(TAG, "Detected camera not supported.");
- return ESP_ERR_CAMERA_NOT_SUPPORTED;
- }
- ESP_LOGD(TAG, "Doing SW reset of sensor");
- s_state->sensor.reset(&s_state->sensor);
- return ESP_OK;
- }
- esp_err_t camera_init(const camera_config_t* config)
- {
- if (!s_state) {
- return ESP_ERR_INVALID_STATE;
- }
- if (s_state->sensor.id.PID == 0) {
- return ESP_ERR_CAMERA_NOT_SUPPORTED;
- }
- memcpy(&s_state->config, config, sizeof(*config));
- esp_err_t err = ESP_OK;
- framesize_t frame_size = (framesize_t) config->frame_size;
- pixformat_t pix_format = (pixformat_t) config->pixel_format;
- s_state->width = resolution[frame_size][0];
- s_state->height = resolution[frame_size][1];
- if (pix_format == PIXFORMAT_GRAYSCALE) {
- s_state->fb_size = s_state->width * s_state->height;
- if (s_state->sensor.id.PID == OV3660_PID) {
- if (is_hs_mode()) {
- s_state->sampling_mode = SM_0A00_0B00;
- s_state->dma_filter = &dma_filter_yuyv_highspeed;
- } else {
- s_state->sampling_mode = SM_0A0B_0C0D;
- s_state->dma_filter = &dma_filter_yuyv;
- }
- s_state->in_bytes_per_pixel = 1; // camera sends Y8
- } else {
- if (is_hs_mode()) {
- s_state->sampling_mode = SM_0A00_0B00;
- s_state->dma_filter = &dma_filter_grayscale_highspeed;
- } else {
- s_state->sampling_mode = SM_0A0B_0C0D;
- s_state->dma_filter = &dma_filter_grayscale;
- }
- s_state->in_bytes_per_pixel = 2; // camera sends YU/YV
- }
- s_state->fb_bytes_per_pixel = 1; // frame buffer stores Y8
- } else if (pix_format == PIXFORMAT_YUV422 || pix_format == PIXFORMAT_RGB565) {
- s_state->fb_size = s_state->width * s_state->height * 2;
- if (is_hs_mode()) {
- s_state->sampling_mode = SM_0A00_0B00;
- s_state->dma_filter = &dma_filter_yuyv_highspeed;
- } else {
- s_state->sampling_mode = SM_0A0B_0C0D;
- s_state->dma_filter = &dma_filter_yuyv;
- }
- s_state->in_bytes_per_pixel = 2; // camera sends YU/YV
- s_state->fb_bytes_per_pixel = 2; // frame buffer stores YU/YV/RGB565
- } else if (pix_format == PIXFORMAT_RGB888) {
- s_state->fb_size = s_state->width * s_state->height * 3;
- if (is_hs_mode()) {
- s_state->sampling_mode = SM_0A00_0B00;
- s_state->dma_filter = &dma_filter_rgb888_highspeed;
- } else {
- s_state->sampling_mode = SM_0A0B_0C0D;
- s_state->dma_filter = &dma_filter_rgb888;
- }
- s_state->in_bytes_per_pixel = 2; // camera sends RGB565
- s_state->fb_bytes_per_pixel = 3; // frame buffer stores RGB888
- } else if (pix_format == PIXFORMAT_JPEG) {
- if (s_state->sensor.id.PID != OV2640_PID && s_state->sensor.id.PID != OV3660_PID) {
- ESP_LOGE(TAG, "JPEG format is only supported for ov2640 and ov3660");
- err = ESP_ERR_NOT_SUPPORTED;
- goto fail;
- }
- int qp = config->jpeg_quality;
- int compression_ratio_bound = 1;
- if (qp > 10) {
- compression_ratio_bound = 16;
- } else if (qp > 5) {
- compression_ratio_bound = 10;
- } else {
- compression_ratio_bound = 4;
- }
- (*s_state->sensor.set_quality)(&s_state->sensor, qp);
- s_state->in_bytes_per_pixel = 2;
- s_state->fb_bytes_per_pixel = 2;
- s_state->fb_size = (s_state->width * s_state->height * s_state->fb_bytes_per_pixel) / compression_ratio_bound;
- s_state->dma_filter = &dma_filter_jpeg;
- s_state->sampling_mode = SM_0A00_0B00;
- } else {
- ESP_LOGE(TAG, "Requested format is not supported");
- err = ESP_ERR_NOT_SUPPORTED;
- goto fail;
- }
- ESP_LOGD(TAG, "in_bpp: %d, fb_bpp: %d, fb_size: %d, mode: %d, width: %d height: %d",
- s_state->in_bytes_per_pixel, s_state->fb_bytes_per_pixel,
- s_state->fb_size, s_state->sampling_mode,
- s_state->width, s_state->height);
- i2s_init();
- err = dma_desc_init();
- if (err != ESP_OK) {
- ESP_LOGE(TAG, "Failed to initialize I2S and DMA");
- goto fail;
- }
- //s_state->fb_size = 75 * 1024;
- err = camera_fb_init(s_state->config.fb_count);
- if (err != ESP_OK) {
- ESP_LOGE(TAG, "Failed to allocate frame buffer");
- goto fail;
- }
- s_state->data_ready = xQueueCreate(16, sizeof(size_t));
- if (s_state->data_ready == NULL) {
- ESP_LOGE(TAG, "Failed to dma queue");
- err = ESP_ERR_NO_MEM;
- goto fail;
- }
- if(s_state->config.fb_count == 1) {
- s_state->frame_ready = xSemaphoreCreateBinary();
- if (s_state->frame_ready == NULL) {
- ESP_LOGE(TAG, "Failed to create semaphore");
- err = ESP_ERR_NO_MEM;
- goto fail;
- }
- } else {
- s_state->fb_in = xQueueCreate(s_state->config.fb_count, sizeof(camera_fb_t *));
- s_state->fb_out = xQueueCreate(1, sizeof(camera_fb_t *));
- if (s_state->fb_in == NULL || s_state->fb_out == NULL) {
- ESP_LOGE(TAG, "Failed to fb queues");
- err = ESP_ERR_NO_MEM;
- goto fail;
- }
- }
- //ToDo: core affinity?
- #if CONFIG_CAMERA_CORE0
- if (!xTaskCreatePinnedToCore(&dma_filter_task, "dma_filter", 4096, NULL, 10, &s_state->dma_filter_task, 0))
- #elif CONFIG_CAMERA_CORE1
- if (!xTaskCreatePinnedToCore(&dma_filter_task, "dma_filter", 4096, NULL, 10, &s_state->dma_filter_task, 1))
- #else
- if (!xTaskCreate(&dma_filter_task, "dma_filter", 4096, NULL, 10, &s_state->dma_filter_task))
- #endif
- {
- ESP_LOGE(TAG, "Failed to create DMA filter task");
- err = ESP_ERR_NO_MEM;
- goto fail;
- }
- vsync_intr_disable();
- gpio_install_isr_service(ESP_INTR_FLAG_LEVEL1 | ESP_INTR_FLAG_IRAM);
- err = gpio_isr_handler_add(s_state->config.pin_vsync, &vsync_isr, NULL);
- if (err != ESP_OK) {
- ESP_LOGE(TAG, "vsync_isr_handler_add failed (%x)", err);
- goto fail;
- }
- s_state->sensor.status.framesize = frame_size;
- s_state->sensor.pixformat = pix_format;
- ESP_LOGD(TAG, "Setting frame size to %dx%d", s_state->width, s_state->height);
- if (s_state->sensor.set_framesize(&s_state->sensor, frame_size) != 0) {
- ESP_LOGE(TAG, "Failed to set frame size");
- err = ESP_ERR_CAMERA_FAILED_TO_SET_FRAME_SIZE;
- goto fail;
- }
- s_state->sensor.set_pixformat(&s_state->sensor, pix_format);
- if (s_state->sensor.id.PID == OV2640_PID) {
- s_state->sensor.set_gainceiling(&s_state->sensor, GAINCEILING_2X);
- s_state->sensor.set_bpc(&s_state->sensor, false);
- s_state->sensor.set_wpc(&s_state->sensor, true);
- s_state->sensor.set_lenc(&s_state->sensor, true);
- }
- if (skip_frame()) {
- err = ESP_ERR_CAMERA_FAILED_TO_SET_OUT_FORMAT;
- goto fail;
- }
- //todo: for some reason the first set of the quality does not work.
- if (pix_format == PIXFORMAT_JPEG) {
- (*s_state->sensor.set_quality)(&s_state->sensor, config->jpeg_quality);
- }
- s_state->sensor.init_status(&s_state->sensor);
- return ESP_OK;
- fail:
- esp_camera_deinit();
- return err;
- }
- esp_err_t esp_camera_init(const camera_config_t* config)
- {
- camera_model_t camera_model = CAMERA_NONE;
- esp_err_t err = camera_probe(config, &camera_model);
- if (err != ESP_OK) {
- ESP_LOGE(TAG, "Camera probe failed with error 0x%x", err);
- goto fail;
- }
- if (camera_model == CAMERA_OV7725) {
- ESP_LOGD(TAG, "Detected OV7725 camera");
- if(config->pixel_format == PIXFORMAT_JPEG) {
- ESP_LOGE(TAG, "Camera does not support JPEG");
- err = ESP_ERR_CAMERA_NOT_SUPPORTED;
- goto fail;
- }
- } else if (camera_model == CAMERA_OV2640) {
- ESP_LOGD(TAG, "Detected OV2640 camera");
- } else if (camera_model == CAMERA_OV3660) {
- ESP_LOGD(TAG, "Detected OV3660 camera");
- } else {
- ESP_LOGE(TAG, "Camera not supported");
- err = ESP_ERR_CAMERA_NOT_SUPPORTED;
- goto fail;
- }
- err = camera_init(config);
- if (err != ESP_OK) {
- ESP_LOGE(TAG, "Camera init failed with error 0x%x", err);
- return err;
- }
- return ESP_OK;
- fail:
- free(s_state);
- s_state = NULL;
- camera_disable_out_clock();
- return err;
- }
- esp_err_t esp_camera_deinit()
- {
- if (s_state == NULL) {
- return ESP_ERR_INVALID_STATE;
- }
- if (s_state->dma_filter_task) {
- vTaskDelete(s_state->dma_filter_task);
- }
- if (s_state->data_ready) {
- vQueueDelete(s_state->data_ready);
- }
- if (s_state->fb_in) {
- vQueueDelete(s_state->fb_in);
- }
- if (s_state->fb_out) {
- vQueueDelete(s_state->fb_out);
- }
- if (s_state->frame_ready) {
- vSemaphoreDelete(s_state->frame_ready);
- }
- gpio_isr_handler_remove(s_state->config.pin_vsync);
- if (s_state->i2s_intr_handle) {
- esp_intr_disable(s_state->i2s_intr_handle);
- esp_intr_free(s_state->i2s_intr_handle);
- }
- dma_desc_deinit();
- camera_fb_deinit();
- free(s_state);
- s_state = NULL;
- camera_disable_out_clock();
- periph_module_disable(PERIPH_I2S0_MODULE);
- return ESP_OK;
- }
- camera_fb_t* esp_camera_fb_get()
- {
- if (s_state == NULL) {
- return NULL;
- }
- if(!I2S0.conf.rx_start) {
- if(s_state->config.fb_count > 1) {
- ESP_LOGD(TAG, "i2s_run");
- }
- if (i2s_run() != 0) {
- return NULL;
- }
- }
- if(s_state->config.fb_count == 1) {
- xSemaphoreTake(s_state->frame_ready, portMAX_DELAY);
- }
- if(s_state->config.fb_count == 1) {
- return (camera_fb_t*)s_state->fb;
- }
- camera_fb_int_t * fb = NULL;
- if(s_state->fb_out) {
- xQueueReceive(s_state->fb_out, &fb, portMAX_DELAY);
- }
- return (camera_fb_t*)fb;
- }
- void esp_camera_fb_return(camera_fb_t * fb)
- {
- if(fb == NULL || s_state == NULL || s_state->config.fb_count == 1 || s_state->fb_in == NULL) {
- return;
- }
- xQueueSend(s_state->fb_in, &fb, portMAX_DELAY);
- }
- sensor_t * esp_camera_sensor_get()
- {
- if (s_state == NULL) {
- return NULL;
- }
- return &s_state->sensor;
- }
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