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esp32-camera/driver/esp_camera.c

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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 "driver/gpio.h"
#include "esp_system.h"
#include "nvs_flash.h"
#include "nvs.h"
#include "sensor.h"
#include "sccb.h"
#include "cam_hal.h"
#include "esp_camera.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
#if CONFIG_OV5640_SUPPORT
#include "ov5640.h"
#endif
#if CONFIG_NT99141_SUPPORT
#include "nt99141.h"
#endif
#if CONFIG_OV7670_SUPPORT
#include "ov7670.h"
#endif
#if CONFIG_GC2145_SUPPORT
#include "gc2145.h"
#endif
#if CONFIG_GC032A_SUPPORT
#include "gc032a.h"
#endif
#if CONFIG_GC0308_SUPPORT
#include "gc0308.h"
#endif
#if CONFIG_BF3005_SUPPORT
#include "bf3005.h"
#endif
#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 struct {
sensor_t sensor;
camera_fb_t fb;
} camera_state_t;
static const char *CAMERA_SENSOR_NVS_KEY = "sensor";
static const char *CAMERA_PIXFORMAT_NVS_KEY = "pixformat";
static camera_state_t *s_state = NULL;
#if CONFIG_IDF_TARGET_ESP32S3 // LCD_CAM module of ESP32-S3 will generate xclk
#define CAMERA_ENABLE_OUT_CLOCK(v)
#define CAMERA_DISABLE_OUT_CLOCK()
#else
#define CAMERA_ENABLE_OUT_CLOCK(v) camera_enable_out_clock((v))
#define CAMERA_DISABLE_OUT_CLOCK() camera_disable_out_clock()
#endif
typedef struct {
int (*detect)(int slv_addr, sensor_id_t *id);
int (*init)(sensor_t *sensor);
} sensor_func_t;
static const sensor_func_t g_sensors[] = {
#if CONFIG_OV7725_SUPPORT
{ov7725_detect, ov7725_init},
#endif
#if CONFIG_OV7670_SUPPORT
{ov7670_detect, ov7670_init},
#endif
#if CONFIG_OV2640_SUPPORT
{ov2640_detect, ov2640_init},
#endif
#if CONFIG_OV3660_SUPPORT
{ov3660_detect, ov3660_init},
#endif
#if CONFIG_OV5640_SUPPORT
{ov5640_detect, ov5640_init},
#endif
#if CONFIG_NT99141_SUPPORT
{nt99141_detect, nt99141_init},
#endif
#if CONFIG_GC2145_SUPPORT
{gc2145_detect, gc2145_init},
#endif
#if CONFIG_GC032A_SUPPORT
{gc032a_detect, gc032a_init},
#endif
#if CONFIG_GC0308_SUPPORT
{gc0308_detect, gc0308_init},
#endif
#if CONFIG_BF3005_SUPPORT
{bf3005_detect, bf3005_init},
#endif
};
static esp_err_t camera_probe(const camera_config_t *config, camera_model_t *out_camera_model)
{
*out_camera_model = CAMERA_NONE;
if (s_state != NULL) {
return ESP_ERR_INVALID_STATE;
}
s_state = (camera_state_t *) calloc(sizeof(camera_state_t), 1);
if (!s_state) {
return ESP_ERR_NO_MEM;
}
if (config->pin_xclk >= 0) {
ESP_LOGD(TAG, "Enabling XCLK output");
CAMERA_ENABLE_OUT_CLOCK(config);
}
if (config->pin_sscb_sda != -1) {
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);
gpio_set_level(config->pin_reset, 0);
vTaskDelay(10 / portTICK_PERIOD_MS);
gpio_set_level(config->pin_reset, 1);
vTaskDelay(10 / portTICK_PERIOD_MS);
}
ESP_LOGD(TAG, "Searching for camera address");
vTaskDelay(10 / portTICK_PERIOD_MS);
uint8_t slv_addr = SCCB_Probe();
if (slv_addr == 0) {
CAMERA_DISABLE_OUT_CLOCK();
return ESP_ERR_NOT_FOUND;
}
ESP_LOGI(TAG, "Detected camera at address=0x%02x", slv_addr);
s_state->sensor.slv_addr = slv_addr;
s_state->sensor.xclk_freq_hz = config->xclk_freq_hz;
/**
* Read sensor ID and then initialize sensor
* Attention: Some sensors have the same SCCB address. Therefore, several attempts may be made in the detection process
*/
sensor_id_t *id = &s_state->sensor.id;
for (size_t i = 0; i < sizeof(g_sensors) / sizeof(sensor_func_t); i++) {
if (g_sensors[i].detect(slv_addr, id)) {
camera_sensor_info_t *info = esp_camera_sensor_get_info(id);
if (NULL != info) {
*out_camera_model = info->model;
ESP_LOGI(TAG, "Detected %s camera", info->name);
g_sensors[i].init(&s_state->sensor);
break;
}
}
}
if (CAMERA_NONE == *out_camera_model) { //If no supported sensors are detected
CAMERA_DISABLE_OUT_CLOCK();
ESP_LOGE(TAG, "Detected camera not supported.");
return ESP_ERR_NOT_SUPPORTED;
}
ESP_LOGI(TAG, "Camera PID=0x%02x VER=0x%02x MIDL=0x%02x MIDH=0x%02x",
id->PID, id->VER, id->MIDH, id->MIDL);
ESP_LOGD(TAG, "Doing SW reset of sensor");
vTaskDelay(10 / portTICK_PERIOD_MS);
s_state->sensor.reset(&s_state->sensor);
return ESP_OK;
}
esp_err_t esp_camera_init(const camera_config_t *config)
{
esp_err_t err;
err = cam_init(config);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Camera init failed with error 0x%x", err);
return err;
}
camera_model_t camera_model = CAMERA_NONE;
err = camera_probe(config, &camera_model);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Camera probe failed with error 0x%x(%s)", err, esp_err_to_name(err));
goto fail;
}
framesize_t frame_size = (framesize_t) config->frame_size;
pixformat_t pix_format = (pixformat_t) config->pixel_format;
if (PIXFORMAT_JPEG == pix_format && (!camera_sensor[camera_model].support_jpeg)) {
ESP_LOGE(TAG, "JPEG format is not supported on this sensor");
err = ESP_ERR_NOT_SUPPORTED;
goto fail;
}
if (frame_size > camera_sensor[camera_model].max_size) {
ESP_LOGW(TAG, "The frame size exceeds the maximum for this sensor, it will be forced to the maximum possible value");
frame_size = camera_sensor[camera_model].max_size;
}
err = cam_config(config, frame_size, s_state->sensor.id.PID);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Camera config failed with error 0x%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", resolution[frame_size].width, resolution[frame_size].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 (pix_format == PIXFORMAT_JPEG) {
s_state->sensor.set_quality(&s_state->sensor, config->jpeg_quality);
}
s_state->sensor.init_status(&s_state->sensor);
cam_start();
return ESP_OK;
fail:
esp_camera_deinit();
return err;
}
esp_err_t esp_camera_deinit()
{
esp_err_t ret = cam_deinit();
CAMERA_DISABLE_OUT_CLOCK();
if (s_state) {
SCCB_Deinit();
free(s_state);
s_state = NULL;
}
return ret;
}
#define FB_GET_TIMEOUT (4000 / portTICK_PERIOD_MS)
camera_fb_t *esp_camera_fb_get()
{
if (s_state == NULL) {
return NULL;
}
camera_fb_t *fb = cam_take(FB_GET_TIMEOUT);
//set the frame properties
if (fb) {
fb->width = resolution[s_state->sensor.status.framesize].width;
fb->height = resolution[s_state->sensor.status.framesize].height;
fb->format = s_state->sensor.pixformat;
}
return fb;
}
void esp_camera_fb_return(camera_fb_t *fb)
{
if (s_state == NULL) {
return;
}
cam_give(fb);
}
sensor_t *esp_camera_sensor_get()
{
if (s_state == NULL) {
return NULL;
}
return &s_state->sensor;
}
esp_err_t esp_camera_save_to_nvs(const char *key)
{
#if ESP_IDF_VERSION_MAJOR > 3
nvs_handle_t handle;
#else
nvs_handle handle;
#endif
esp_err_t ret = nvs_open(key, NVS_READWRITE, &handle);
if (ret == ESP_OK) {
sensor_t *s = esp_camera_sensor_get();
if (s != NULL) {
ret = nvs_set_blob(handle, CAMERA_SENSOR_NVS_KEY, &s->status, sizeof(camera_status_t));
if (ret == ESP_OK) {
uint8_t pf = s->pixformat;
ret = nvs_set_u8(handle, CAMERA_PIXFORMAT_NVS_KEY, pf);
}
return ret;
} else {
return ESP_ERR_CAMERA_NOT_DETECTED;
}
nvs_close(handle);
return ret;
} else {
return ret;
}
}
esp_err_t esp_camera_load_from_nvs(const char *key)
{
#if ESP_IDF_VERSION_MAJOR > 3
nvs_handle_t handle;
#else
nvs_handle handle;
#endif
uint8_t pf;
esp_err_t ret = nvs_open(key, NVS_READWRITE, &handle);
if (ret == ESP_OK) {
sensor_t *s = esp_camera_sensor_get();
camera_status_t st;
if (s != NULL) {
size_t size = sizeof(camera_status_t);
ret = nvs_get_blob(handle, CAMERA_SENSOR_NVS_KEY, &st, &size);
if (ret == ESP_OK) {
s->set_ae_level(s, st.ae_level);
s->set_aec2(s, st.aec2);
s->set_aec_value(s, st.aec_value);
s->set_agc_gain(s, st.agc_gain);
s->set_awb_gain(s, st.awb_gain);
s->set_bpc(s, st.bpc);
s->set_brightness(s, st.brightness);
s->set_colorbar(s, st.colorbar);
s->set_contrast(s, st.contrast);
s->set_dcw(s, st.dcw);
s->set_denoise(s, st.denoise);
s->set_exposure_ctrl(s, st.aec);
s->set_framesize(s, st.framesize);
s->set_gain_ctrl(s, st.agc);
s->set_gainceiling(s, st.gainceiling);
s->set_hmirror(s, st.hmirror);
s->set_lenc(s, st.lenc);
s->set_quality(s, st.quality);
s->set_raw_gma(s, st.raw_gma);
s->set_saturation(s, st.saturation);
s->set_sharpness(s, st.sharpness);
s->set_special_effect(s, st.special_effect);
s->set_vflip(s, st.vflip);
s->set_wb_mode(s, st.wb_mode);
s->set_whitebal(s, st.awb);
s->set_wpc(s, st.wpc);
}
ret = nvs_get_u8(handle, CAMERA_PIXFORMAT_NVS_KEY, &pf);
if (ret == ESP_OK) {
s->set_pixformat(s, pf);
}
} else {
return ESP_ERR_CAMERA_NOT_DETECTED;
}
nvs_close(handle);
return ret;
} else {
ESP_LOGW(TAG, "Error (%d) opening nvs key \"%s\"", ret, key);
return ret;
}
}