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WIP port of camera manager

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Lorow
2024-09-25 21:34:42 +02:00
parent a25a84a4e8
commit 43b7386ac9
8 changed files with 534 additions and 14 deletions
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4
components/CameraManager/CMakeLists.txt Normal file
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@@ -0,0 +1,4 @@
idf_component_register(SRCS "CameraManager/CameraManager.cpp"
INCLUDE_DIRS "CameraManager"
REQUIRES esp32-camera StateManager ProjectConfig driver esp_driver_ledc esp_psram
)

351
components/CameraManager/CameraManager/CameraManager.cpp Normal file
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#include "CameraManager.hpp"
const char *CAMERA_MANAGER_TAG = "[CAMERA_MANAGER]";
CameraManager::CameraManager(ProjectConfig &projectConfig)
: projectConfig(projectConfig) {}
void CameraManager::setupCameraPinout()
{
// Workaround for espM5SStack not having a defined camera
#ifdef CONFIG_CAMERA_MODULE_NAME
ESP_LOGI(CAMERA_MANAGER_TAG, "[Camera]: Camera module is %s", CONFIG_CAMERA_MODULE_NAME);
#else
ESP_LOGI(CAMERA_MANAGER_TAG, "[Camera]: Camera module is undefined");
#endif
// camera external clock signal frequencies
// 10000000 stable
// 16500000 optimal freq on ESP32-CAM (default)
// 20000000 max freq on ESP32-CAM
// 24000000 optimal freq on ESP32-S3
int xclk_freq_hz = DEFAULT_XCLK_FREQ_HZ;
#if CONFIG_CAMERA_MODULE_ESP_EYE
/* IO13, IO14 is designed for JTAG by default,
* to use it as generalized input,
* firstly declare it as pullup input
**/
gpio_reset_pin(13);
gpio_reset_pin(14);
gpio_set_direction(13, GPIO_MODE_INPUT);
gpio_set_direction(14, GPIO_MODE_INPUT);
gpio_set_pull_mode(13, GPIO_PULLUP_ONLY);
gpio_set_pull_mode(14, GPIO_PULLUP_ONLY);
ESP_LOGI(CAMERA_MANAGER_TAG, "ESP_EYE");
#elif CONFIG_CAMERA_MODULE_CAM_BOARD
/* IO13, IO14 is designed for JTAG by default,
* to use it as generalized input,
* firstly declare it as pullup input
**/
gpio_reset_pin(13);
gpio_reset_pin(14);
gpio_set_direction(13, GPIO_MODE_INPUT);
gpio_set_direction(14, GPIO_MODE_INPUT);
gpio_set_pull_mode(13, GPIO_PULLUP_ONLY);
gpio_set_pull_mode(14, GPIO_PULLUP_ONLY);
ESP_LOGI(CAMERA_MANAGER_TAG, "CAM_BOARD");
#endif
#if ETVR_EYE_TRACKER_USB_API
xclk_freq_hz = USB_DEFAULT_XCLK_FREQ_HZ;
#endif
// config = {
// .pin_pwdn = CAM_PIN_PWDN,
// .pin_reset = CAM_PIN_RESET,
// .pin_xclk = CAM_PIN_XCLK,
// .pin_sccb_sda = CAM_PIN_SIOD,
// .pin_sccb_scl = CAM_PIN_SIOC,
// .pin_d7 = CAM_PIN_D7,
// .pin_d6 = CAM_PIN_D6,
// .pin_d5 = CAM_PIN_D5,
// .pin_d4 = CAM_PIN_D4,
// .pin_d3 = CAM_PIN_D3,
// .pin_d2 = CAM_PIN_D2,
// .pin_d1 = CAM_PIN_D1,
// .pin_d0 = CAM_PIN_D0,
// .pin_vsync = CAM_PIN_VSYNC,
// .pin_href = CAM_PIN_HREF,
// .pin_pclk = CAM_PIN_PCLK,
// // XCLK 20MHz or 10MHz for OV2640 double FPS (Experimental)
// .xclk_freq_hz = 20000000,
// .ledc_timer = LEDC_TIMER_0,
// .ledc_channel = LEDC_CHANNEL_0,
// .pixel_format = PIXFORMAT_RGB565, // YUV422,GRAYSCALE,RGB565,JPEG
// .frame_size = FRAMESIZE_QVGA, // QQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.
// .jpeg_quality = 12, // 0-63, for OV series camera sensors, lower number means higher quality
// .fb_count = 1, // When jpeg mode is used, if fb_count more than one, the driver will work in continuous mode.
// .fb_location = CAMERA_FB_IN_PSRAM,
// .grab_mode = CAMERA_GRAB_WHEN_EMPTY,
// };
// todo fix pinout in sdkconfig lmao
config = {
.pin_pwdn = -1, // CAM_PIN_PWDN,
.pin_reset = -1, // CAM_PIN_RESET,
.pin_xclk = 10, // CAM_PIN_XCLK,
.pin_sccb_sda = 40, // CAM_PIN_SIOD,
.pin_sccb_scl = 39, // CAM_PIN_SIOC,
.pin_d7 = 48, /// CAM_PIN_D7,
.pin_d6 = 11, /// CAM_PIN_D6,
.pin_d5 = 12, // CAM_PIN_D5,
.pin_d4 = 14, // CAM_PIN_D4,
.pin_d3 = 16, // CAM_PIN_D3,
.pin_d2 = 18, // CAM_PIN_D2,
.pin_d1 = 17, // CAM_PIN_D1,
.pin_d0 = 15, // CAM_PIN_D0,
.pin_vsync = 38, // CAM_PIN_VSYNC,
.pin_href = 47, // CAM_PIN_HREF,
.pin_pclk = 13, // CAM_PIN_PCLK,
// XCLK 20MHz or 10MHz for OV2640 double FPS (Experimental)
.xclk_freq_hz = 16500000,
.ledc_timer = LEDC_TIMER_0,
.ledc_channel = LEDC_CHANNEL_0,
// this causes problems
.pixel_format = PIXFORMAT_JPEG, // YUV422,GRAYSCALE,RGB565,JPEG
.frame_size = FRAMESIZE_240X240, // QQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.
.jpeg_quality = 7, // 0-63, for OV series camera sensors, lower number means higher quality
.fb_count = 3, // When jpeg mode is used, if fb_count more than one, the driver will work in continuous mode.
.fb_location = CAMERA_FB_IN_PSRAM, // maybe it cannot put them fully in psram?
.grab_mode = CAMERA_GRAB_LATEST,
// .pin_pwdn = CONFIG_PWDN_GPIO_NUM,
// .pin_reset = CONFIG_RESET_GPIO_NUM,
// .pin_xclk = CONFIG_XCLK_GPIO_NUM,
// .pin_sccb_sda = CONFIG_SIOD_GPIO_NUM,
// .pin_sccb_scl = CONFIG_SIOC_GPIO_NUM,
// .pin_d7 = CONFIG_Y2_GPIO_NUM,
// .pin_d6 = CONFIG_Y3_GPIO_NUM,
// .pin_d5 = CONFIG_Y4_GPIO_NUM,
// .pin_d4 = CONFIG_Y5_GPIO_NUM,
// .pin_d3 = CONFIG_Y6_GPIO_NUM,
// .pin_d2 = CONFIG_Y7_GPIO_NUM,
// .pin_d1 = CONFIG_Y8_GPIO_NUM,
// .pin_d0 = CONFIG_Y9_GPIO_NUM,
// .pin_vsync = CONFIG_VSYNC_GPIO_NUM,
// .pin_href = CONFIG_HREF_GPIO_NUM,
// .pin_pclk = CONFIG_PCLK_GPIO_NUM,
// .xclk_freq_hz = xclk_freq_hz,
// .ledc_timer = LEDC_TIMER_0,
// .ledc_channel = LEDC_CHANNEL_0,
// .pixel_format = PIXFORMAT_JPEG,
// .frame_size = FRAMESIZE_240X240,
// .jpeg_quality = 7,
// .fb_count = 3,
// .fb_location = CAMERA_FB_IN_PSRAM,
// .grab_mode = CAMERA_GRAB_LATEST,
};
}
void CameraManager::setupBasicResolution()
{
if (!esp_psram_is_initialized())
{
ESP_LOGE(CAMERA_MANAGER_TAG, "PSRAM not initialized!");
config.fb_location = CAMERA_FB_IN_DRAM;
config.jpeg_quality = 9;
config.fb_count = 2;
return;
}
else
{
ESP_LOGE(CAMERA_MANAGER_TAG, "PSRAM size: %u", esp_psram_get_size());
}
ESP_LOGD(CAMERA_MANAGER_TAG, "Setting fb_location to CAMERA_FB_IN_PSRAM");
}
void CameraManager::setupCameraSensor()
{
ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera sensor");
camera_sensor = esp_camera_sensor_get();
// fixes corrupted jpegs, https://github.com/espressif/esp32-camera/issues/203
// documentation https://www.uctronics.com/download/cam_module/OV2640DS.pdf
camera_sensor->set_reg(
camera_sensor, 0xff, 0xff,
0x00); // banksel, here we're directly writing to the registers.
// 0xFF==0x00 is the first bank, there's also 0xFF==0x01
camera_sensor->set_reg(camera_sensor, 0xd3, 0xff, 5); // clock
camera_sensor->set_brightness(camera_sensor, 2); // -2 to 2
camera_sensor->set_contrast(camera_sensor, 2); // -2 to 2
camera_sensor->set_saturation(camera_sensor, -2); // -2 to 2
// white balance control
camera_sensor->set_whitebal(camera_sensor, 1); // 0 = disable , 1 = enable
camera_sensor->set_awb_gain(camera_sensor, 0); // 0 = disable , 1 = enable
camera_sensor->set_wb_mode(camera_sensor,
0); // 0 to 4 - if awb_gain enabled (0 - Auto, 1 -
// Sunny, 2 - Cloudy, 3 - Office, 4 - Home)
// controls the exposure
camera_sensor->set_exposure_ctrl(camera_sensor,
0); // 0 = disable , 1 = enable
camera_sensor->set_aec2(camera_sensor, 0); // 0 = disable , 1 = enable
camera_sensor->set_ae_level(camera_sensor, 0); // -2 to 2
camera_sensor->set_aec_value(camera_sensor, 300); // 0 to 1200
// controls the gain
camera_sensor->set_gain_ctrl(camera_sensor, 0); // 0 = disable , 1 = enable
// automatic gain control gain, controls by how much the resulting image
// should be amplified
camera_sensor->set_agc_gain(camera_sensor, 2); // 0 to 30
camera_sensor->set_gainceiling(camera_sensor, (gainceiling_t)6); // 0 to 6
// black and white pixel correction, averages the white and black spots
camera_sensor->set_bpc(camera_sensor, 1); // 0 = disable , 1 = enable
camera_sensor->set_wpc(camera_sensor, 1); // 0 = disable , 1 = enable
// digital clamp white balance
camera_sensor->set_dcw(camera_sensor, 0); // 0 = disable , 1 = enable
// gamma correction
camera_sensor->set_raw_gma(
camera_sensor,
1); // 0 = disable , 1 = enable (makes much lighter and noisy)
camera_sensor->set_lenc(camera_sensor, 0); // 0 = disable , 1 = enable // 0 =
// disable , 1 = enable
camera_sensor->set_colorbar(camera_sensor, 0); // 0 = disable , 1 = enable
camera_sensor->set_special_effect(
camera_sensor,
2); // 0 to 6 (0 - No Effect, 1 - Negative, 2 - Grayscale, 3 - Red Tint,
// 4 - Green Tint, 5 - Blue Tint, 6 - Sepia)
ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera sensor done");
}
bool CameraManager::setupCamera()
{
ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera pinout");
this->setupCameraPinout();
ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera with resolution");
// this->setupBasicResolution();
ESP_LOGI(CAMERA_MANAGER_TAG, "Initializing camera...");
esp_err_t hasCameraBeenInitialized = esp_camera_init(&config);
if (hasCameraBeenInitialized == ESP_OK)
{
ESP_LOGI(CAMERA_MANAGER_TAG, "Camera initialized: %s \r\n",
esp_err_to_name(hasCameraBeenInitialized));
cameraStateManager.setState(CameraState_e::Camera_Success);
}
else
{
ESP_LOGE(CAMERA_MANAGER_TAG, "Camera initialization failed with error: %s \r\n",
esp_err_to_name(hasCameraBeenInitialized));
ESP_LOGE(CAMERA_MANAGER_TAG, "Camera most likely not seated properly in the socket. "
"Please "
"fix the "
"camera and reboot the device.\r\n");
ledStateManager.setState(LEDStates_e::_Camera_Error);
cameraStateManager.setState(CameraState_e::Camera_Error);
return false;
}
#if CONFIG_ETVR_EYE_TRACKER_USB_API
auto temp_sensor = esp_camera_sensor_get();
auto camera_id = temp_sensor->id.PID;
switch (camera_id)
{
// Thanks to lick_it, we discovered that OV5640 likes to overheat when
// running at higher than usual xclk frequencies.
// Hence why we're limit the faster ones for OV2640
case OV5640_PID:
config.xclk_freq_hz = OV5640_XCLK_FREQ_HZ;
esp_camera_deinit();
esp_camera_init(&config);
break;
default:
break;
}
#endif
// this->setupCameraSensor();
// this->loadConfigData(); // move this to update method once implemented
return true;
}
void CameraManager::loadConfigData()
{
ESP_LOGD(CAMERA_MANAGER_TAG, "Loading camera config data");
ProjectConfig::CameraConfig_t cameraConfig = projectConfig.getCameraConfig();
this->setHFlip(cameraConfig.href);
this->setVFlip(cameraConfig.vflip);
this->setCameraResolution((framesize_t)cameraConfig.framesize);
camera_sensor->set_quality(camera_sensor, cameraConfig.quality);
camera_sensor->set_agc_gain(camera_sensor, cameraConfig.brightness);
ESP_LOGD(CAMERA_MANAGER_TAG, "Loading camera config data done");
}
int CameraManager::setCameraResolution(framesize_t frameSize)
{
if (camera_sensor->pixformat == PIXFORMAT_JPEG)
{
return camera_sensor->set_framesize(camera_sensor, frameSize);
}
return -1;
}
int CameraManager::setVFlip(int direction)
{
return camera_sensor->set_vflip(camera_sensor, direction);
}
int CameraManager::setHFlip(int direction)
{
return camera_sensor->set_hmirror(camera_sensor, direction);
}
int CameraManager::setVieWindow(int offsetX,
int offsetY,
int outputX,
int outputY)
{
// todo safariMonkey made a PoC, implement it here
return 0;
}
//! either hardware(1) or software(0)
void CameraManager::resetCamera(bool type)
{
// TODO add camera reset
// if (type)
// {
// // power cycle the camera module (handy if camera stops responding)
// digitalWrite(PWDN_GPIO_NUM, HIGH); // turn power off to camera module
// Network_Utilities::my_delay(0.3); // a for loop with a delay of 300ms
// digitalWrite(PWDN_GPIO_NUM, LOW);
// Network_Utilities::my_delay(0.3);
// setupCamera();
// }
// else
// {
// // reset via software (handy if you wish to change resolution or image type
// // etc. - see test procedure)
// esp_camera_deinit();
// Network_Utilities::my_delay(0.05);
// setupCamera();
// }
}

43
components/CameraManager/CameraManager/CameraManager.hpp Normal file
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@@ -0,0 +1,43 @@
#pragma once
#ifndef _CAMERAMANAGER_HPP_
#define _CAMERAMANAGER_HPP_
#include "esp_log.h"
#include "esp_camera.h"
#include "driver/gpio.h"
#include "esp_psram.h"
#include <StateManager.hpp>
#include <ProjectConfig.hpp>
#ifndef DEFAULT_XCLK_FREQ_HZ
#define DEFAULT_XCLK_FREQ_HZ 16500000
#define USB_DEFAULT_XCLK_FREQ_HZ 24000000
#define OV5640_XCLK_FREQ_HZ DEFAULT_XCLK_FREQ_HZ
#endif
class CameraManager
{
private:
sensor_t *camera_sensor;
ProjectConfig &projectConfig;
camera_config_t config;
public:
CameraManager(ProjectConfig &projectConfigl);
int setCameraResolution(framesize_t frameSize);
bool setupCamera(); // todo, once we have observers, make it private
int setVFlip(int direction);
int setHFlip(int direction);
int setVieWindow(int offsetX, int offsetY, int outputX, int outputY);
void resetCamera(bool type = 0);
private:
void loadConfigData();
void setupCameraPinout();
void setupCameraSensor();
void setupBasicResolution();
};
#endif // _CAMERAMANAGER_HPP_

107
components/CameraManager/Kconfig.projbuild Normal file
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@@ -0,0 +1,107 @@
menu "Camera sensor pinout configuration"
orsource "$IDF_PATH/examples/common_components/env_caps/$IDF_TARGET/Kconfig.env_caps"
config CAMERA_MODULE_NAME
string "Camera module name"
default "ESP32S3_XIAO_SENSE"
help
Camera module name
config PWDN_GPIO_NUM
int "Power Down GPIO Number"
default -1
help
Power Down GPIO number
config RESET_GPIO_NUM
int "Reset GPIO Number"
default -1
help
Reset GPIO number
config XCLK_GPIO_NUM
int "External Clock (XCLK) GPIO Number"
default 10
help
External Clock GPIO number (set to GPIO 4)
config SIOD_GPIO_NUM
int "Serial Data I/O (SIOD) GPIO Number"
default 40
help
Serial Data I/O (SDA) GPIO number (set to GPIO 18)
config SIOC_GPIO_NUM
int "Serial Clock (SIOC) GPIO Number"
default 39
help
Serial Clock (SCL) GPIO number (set to GPIO 23)
config Y9_GPIO_NUM
int "Y9 Data Bit GPIO Number"
default 48
help
Y9 Data bit GPIO number (set to GPIO 36)
config Y8_GPIO_NUM
int "Y8 Data Bit GPIO Number"
default 11
help
Y8 Data bit GPIO number (set to GPIO 37)
config Y7_GPIO_NUM
int "Y7 Data Bit GPIO Number"
default 12
help
Y7 Data bit GPIO number (set to GPIO 38)
config Y6_GPIO_NUM
int "Y6 Data Bit GPIO Number"
default 14
help
Y6 Data bit GPIO number (set to GPIO 39)
config Y5_GPIO_NUM
int "Y5 Data Bit GPIO Number"
default 16
help
Y5 Data bit GPIO number (set to GPIO 14)
config Y4_GPIO_NUM
int "Y4 Data Bit GPIO Number"
default 18
help
Y4 Data bit GPIO number (set to GPIO 19)
config Y3_GPIO_NUM
int "Y3 Data Bit GPIO Number"
default 17
help
Y3 Data bit GPIO number (set to GPIO 13)
config Y2_GPIO_NUM
int "Y2 Data Bit GPIO Number"
default 15
help
Y2 Data bit GPIO number (set to GPIO 34)
config VSYNC_GPIO_NUM
int "Vertical Sync (VSYNC) GPIO Number"
default 38
help
Vertical Sync GPIO number (set to GPIO 5)
config HREF_GPIO_NUM
int "Horizontal Reference (HREF) GPIO Number"
default 47
help
Horizontal Reference GPIO number (set to GPIO 27)
config PCLK_GPIO_NUM
int "Pixel Clock (PCLK) GPIO Number"
default 13
help
Pixel Clock GPIO number (set to GPIO 25)
endmenu

1
components/StateManager/StateManager/StateManager.hpp
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@@ -70,7 +70,6 @@ struct DeviceStates
{
Camera_Disconnected,
Camera_Success,
Camera_Connected,
Camera_Error
};

1
main/CMakeLists.txt
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@@ -1,2 +1,3 @@
idf_component_register(SRCS "openiris_main.cpp"
INCLUDE_DIRS ".")
component_compile_options(-Wno-error=format= -Wno-format)

2
main/Kconfig.projbuild
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@@ -1,4 +1,4 @@
menu "Example Configuration"
menu "OpenIris basic configuration"
orsource "$IDF_PATH/examples/common_components/env_caps/$IDF_TARGET/Kconfig.env_caps"

39
main/openiris_main.cpp
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@@ -1,11 +1,3 @@
/* Blink Example
This example code is in the Public Domain (or CC0 licensed, at your option.)
Unless required by applicable law or agreed to in writing, this
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
CONDITIONS OF ANY KIND, either express or implied.
*/
#include <stdio.h>
#include <string>
#include "freertos/FreeRTOS.h"
@@ -13,16 +5,17 @@
#include "driver/gpio.h"
#include "esp_log.h"
#include "sdkconfig.h"
#include "usb_device_uvc.h"
#include "esp_camera.h"
#include "esp_log.h"
#include "nvs_flash.h"
#include "esp_psram.h"
#include <openiris_logo.hpp>
#include <wifiManager.hpp>
#include <ProjectConfig.hpp>
#include <LEDManager.hpp>
#include <MDNSManager.hpp>
#include <CameraManager.hpp>
#define BLINK_GPIO (gpio_num_t) CONFIG_BLINK_GPIO
@@ -50,9 +43,10 @@ extern "C" void app_main(void)
// State Management - done
// then port the led manager as this will be fairly easy - done
// then port the mdns stuff - done
// then port the camera manager - in progress
// then port the streaming stuff (web and uvc) - in progress
// then add ADHOC and support for more networks in wifi manager
// then port the camera manager
// then port the streaming stuff (web and uvc)
// then port the async web server
// then port the Elegant OTA stuff
// then port the serial manager
@@ -62,8 +56,9 @@ extern "C" void app_main(void)
ProjectConfig deviceConfig("openiris", "openiristracker");
WiFiManager wifiManager;
MDNSManager mdnsManager(deviceConfig);
CameraManager cameraHandler(deviceConfig);
#ifdef USE_ILLUMNATIOR_PIN
#ifdef CONFIG_USE_ILLUMNATIOR_PIN
// LEDManager ledManager(BLINK_GPIO, ILLUMINATOR_PIN);
LEDManager ledManager(BLINK_GPIO, 1);
#else
@@ -77,10 +72,30 @@ extern "C" void app_main(void)
deviceConfig.load();
wifiManager.Begin();
mdnsManager.start();
cameraHandler.setupCamera();
while (1)
{
ledManager.handleLED();
ESP_LOGI(TAG, "Free heap: %u, free PSRAM: %u", esp_get_free_heap_size(), esp_get_free_internal_heap_size());
heap_caps_print_heap_info(MALLOC_CAP_SPIRAM);
if (cameraStateManager.getCurrentState() != CameraState_e::Camera_Success)
return;
ESP_LOGI(TAG, "Taking picture...");
camera_fb_t *pic = esp_camera_fb_get();
// use pic->buf to access the image
if (pic == NULL)
{
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
ESP_LOGI(TAG, "Picture taken! Its size was: %zu bytes", pic->len);
esp_camera_fb_return(pic);
vTaskDelay(CONFIG_BLINK_PERIOD / portTICK_PERIOD_MS);
}
}