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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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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();
// }
}

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components/CameraManager/CameraManager/CameraManager.hpp Normal file
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#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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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
};