mirror of
https://github.com/MrUnknownDE/OpenIris-ESPIDF.git
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ee5a73895c
# Conflicts: # components/CameraManager/CameraManager/CameraManager.cpp # dependencies.lock # main/openiris_main.cpp # sdkconfig
282 lines
10 KiB
C++
282 lines
10 KiB
C++
#include "CameraManager.hpp"
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const char *CAMERA_MANAGER_TAG = "[CAMERA_MANAGER]";
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CameraManager::CameraManager(std::shared_ptr<ProjectConfig> projectConfig, QueueHandle_t eventQueue)
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: projectConfig(projectConfig), eventQueue(eventQueue) {}
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void CameraManager::setupCameraPinout()
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{
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// Workaround for espM5SStack not having a defined camera
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#ifdef CONFIG_CAMERA_MODULE_NAME
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ESP_LOGI(CAMERA_MANAGER_TAG, "[Camera]: Camera module is %s", CONFIG_CAMERA_MODULE_NAME);
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#else
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ESP_LOGI(CAMERA_MANAGER_TAG, "[Camera]: Camera module is undefined");
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#endif
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// camera external clock signal frequencies
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// 10000000 stable
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// 16500000 optimal freq on ESP32-CAM (default)
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// 20000000 max freq on ESP32-CAM
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// 24000000 optimal freq on ESP32-S3 // 23MHz same fps
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int xclk_freq_hz = CONFIG_CAMERA_WIFI_XCLK_FREQ;
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#if CONFIG_CAMERA_MODULE_ESP_EYE
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/* IO13, IO14 is designed for JTAG by default,
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* to use it as generalized input,
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* firstly declare it as pullup input
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**/
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gpio_reset_pin(13);
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gpio_reset_pin(14);
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gpio_set_direction(13, GPIO_MODE_INPUT);
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gpio_set_direction(14, GPIO_MODE_INPUT);
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gpio_set_pull_mode(13, GPIO_PULLUP_ONLY);
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gpio_set_pull_mode(14, GPIO_PULLUP_ONLY);
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ESP_LOGI(CAMERA_MANAGER_TAG, "ESP_EYE");
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#elif CONFIG_CAMERA_MODULE_CAM_BOARD
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/* IO13, IO14 is designed for JTAG by default,
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* to use it as generalized input,
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* firstly declare it as pullup input
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**/
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gpio_reset_pin(13);
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gpio_reset_pin(14);
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gpio_set_direction(13, GPIO_MODE_INPUT);
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gpio_set_direction(14, GPIO_MODE_INPUT);
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gpio_set_pull_mode(13, GPIO_PULLUP_ONLY);
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gpio_set_pull_mode(14, GPIO_PULLUP_ONLY);
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ESP_LOGI(CAMERA_MANAGER_TAG, "CAM_BOARD");
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#endif
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#if CONFIG_GENERAL_WIRED_MODE
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xclk_freq_hz = CONFIG_CAMERA_USB_XCLK_FREQ;
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#endif
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config = {
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.pin_pwdn = CONFIG_PWDN_GPIO_NUM, // CAM_PIN_PWDN,
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.pin_reset = CONFIG_RESET_GPIO_NUM, // CAM_PIN_RESET,
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.pin_xclk = CONFIG_XCLK_GPIO_NUM, // CAM_PIN_XCLK,
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.pin_sccb_sda = CONFIG_SIOD_GPIO_NUM, // CAM_PIN_SIOD,
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.pin_sccb_scl = CONFIG_SIOC_GPIO_NUM, // CAM_PIN_SIOC,
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.pin_d7 = CONFIG_Y9_GPIO_NUM, /// CAM_PIN_D7,
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.pin_d6 = CONFIG_Y8_GPIO_NUM, /// CAM_PIN_D6,
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.pin_d5 = CONFIG_Y7_GPIO_NUM, // CAM_PIN_D5,
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.pin_d4 = CONFIG_Y6_GPIO_NUM, // CAM_PIN_D4,
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.pin_d3 = CONFIG_Y5_GPIO_NUM, // CAM_PIN_D3,
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.pin_d2 = CONFIG_Y4_GPIO_NUM, // CAM_PIN_D2,
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.pin_d1 = CONFIG_Y3_GPIO_NUM, // CAM_PIN_D1,
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.pin_d0 = CONFIG_Y2_GPIO_NUM, // CAM_PIN_D0,
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.pin_vsync = CONFIG_VSYNC_GPIO_NUM, // CAM_PIN_VSYNC,
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.pin_href = CONFIG_HREF_GPIO_NUM, // CAM_PIN_HREF,
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.pin_pclk = CONFIG_PCLK_GPIO_NUM, // CAM_PIN_PCLK,
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.xclk_freq_hz = xclk_freq_hz, // Set in config
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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// this causes problems
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.pixel_format = PIXFORMAT_JPEG, // YUV422,GRAYSCALE,RGB565,JPEG
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.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.
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.jpeg_quality = 7, // 0-63, for OV series camera sensors, lower number means higher quality // Below 6 stability problems
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.fb_count = 2, // When jpeg mode is used, if fb_count more than one, the driver will work in continuous mode.
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.fb_location = CAMERA_FB_IN_DRAM,
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.grab_mode = CAMERA_GRAB_WHEN_EMPTY,
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};
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}
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void CameraManager::setupBasicResolution()
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{
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if (!esp_psram_is_initialized())
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{
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ESP_LOGE(CAMERA_MANAGER_TAG, "PSRAM not initialized!");
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ESP_LOGD(CAMERA_MANAGER_TAG, "Setting fb_location to CAMERA_FB_IN_DRAM with lower picture quality");
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config.fb_location = CAMERA_FB_IN_DRAM;
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config.jpeg_quality = 7;
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config.fb_count = 2;
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return;
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}
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ESP_LOGE(CAMERA_MANAGER_TAG, "PSRAM size: %u", esp_psram_get_size());
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}
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void CameraManager::setupCameraSensor()
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{
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ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera sensor");
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camera_sensor = esp_camera_sensor_get();
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// fixes corrupted jpegs, https://github.com/espressif/esp32-camera/issues/203
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// documentation https://www.uctronics.com/download/cam_module/OV2640DS.pdf
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camera_sensor->set_reg(
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camera_sensor, 0xff, 0xff,
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0x00); // banksel, here we're directly writing to the registers.
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// 0xFF==0x00 is the first bank, there's also 0xFF==0x01
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camera_sensor->set_reg(camera_sensor, 0xd3, 0xff, 5); // clock
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camera_sensor->set_brightness(camera_sensor, 2); // -2 to 2
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camera_sensor->set_contrast(camera_sensor, 2); // -2 to 2
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camera_sensor->set_saturation(camera_sensor, -2); // -2 to 2
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// white balance control
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camera_sensor->set_whitebal(camera_sensor, 1); // 0 = disable , 1 = enable
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camera_sensor->set_awb_gain(camera_sensor, 0); // 0 = disable , 1 = enable
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camera_sensor->set_wb_mode(camera_sensor,
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0); // 0 to 4 - if awb_gain enabled (0 - Auto, 1 -
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// Sunny, 2 - Cloudy, 3 - Office, 4 - Home)
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// controls the exposure
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camera_sensor->set_exposure_ctrl(camera_sensor,
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0); // 0 = disable , 1 = enable
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camera_sensor->set_aec2(camera_sensor, 0); // 0 = disable , 1 = enable
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camera_sensor->set_ae_level(camera_sensor, 0); // -2 to 2
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camera_sensor->set_aec_value(camera_sensor, 300); // 0 to 1200
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// controls the gain
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camera_sensor->set_gain_ctrl(camera_sensor, 0); // 0 = disable , 1 = enable
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// automatic gain control gain, controls by how much the resulting image
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// should be amplified
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camera_sensor->set_agc_gain(camera_sensor, 2); // 0 to 30
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camera_sensor->set_gainceiling(camera_sensor, (gainceiling_t)6); // 0 to 6
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// black and white pixel correction, averages the white and black spots
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camera_sensor->set_bpc(camera_sensor, 1); // 0 = disable , 1 = enable
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camera_sensor->set_wpc(camera_sensor, 1); // 0 = disable , 1 = enable
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// digital clamp white balance
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camera_sensor->set_dcw(camera_sensor, 0); // 0 = disable , 1 = enable
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// gamma correction
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camera_sensor->set_raw_gma(
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camera_sensor,
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1); // 0 = disable , 1 = enable (makes much lighter and noisy)
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camera_sensor->set_lenc(camera_sensor, 0); // 0 = disable , 1 = enable // 0 =
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// disable , 1 = enable
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camera_sensor->set_colorbar(camera_sensor, 0); // 0 = disable , 1 = enable
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camera_sensor->set_special_effect(
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camera_sensor,
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2); // 0 to 6 (0 - No Effect, 1 - Negative, 2 - Grayscale, 3 - Red Tint,
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// 4 - Green Tint, 5 - Blue Tint, 6 - Sepia)
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// it gets overriden somewhere somehow
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camera_sensor->set_framesize(camera_sensor, FRAMESIZE_240X240);
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ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera sensor done");
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}
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bool CameraManager::setupCamera()
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{
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ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera pinout");
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this->setupCameraPinout();
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ESP_LOGI(CAMERA_MANAGER_TAG, "Setting up camera with resolution");
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// this->setupBasicResolution();
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ESP_LOGI(CAMERA_MANAGER_TAG, "Initializing camera...");
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if (auto const hasCameraBeenInitialized = esp_camera_init(&config); hasCameraBeenInitialized == ESP_OK)
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{
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ESP_LOGI(CAMERA_MANAGER_TAG, "Camera initialized: %s \r\n",
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esp_err_to_name(hasCameraBeenInitialized));
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constexpr auto event = SystemEvent{EventSource::CAMERA, CameraState_e::Camera_Success};
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xQueueSend(this->eventQueue, &event, 10);
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}
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else
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{
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ESP_LOGE(CAMERA_MANAGER_TAG, "Camera initialization failed with error: %s \r\n",
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esp_err_to_name(hasCameraBeenInitialized));
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ESP_LOGE(CAMERA_MANAGER_TAG, "Camera most likely not seated properly in the socket. "
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"Please "
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"fix the "
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"camera and reboot the device.\r\n");
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constexpr auto event = SystemEvent{EventSource::CAMERA, CameraState_e::Camera_Error};
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xQueueSend(this->eventQueue, &event, 10);
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return false;
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}
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#if CONFIG_GENERAL_WIRED_MODE
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const auto temp_sensor = esp_camera_sensor_get();
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// Thanks to lick_it, we discovered that OV5640 likes to overheat when
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// running at higher than usual xclk frequencies.
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// Hence, why we're limiting the faster ones for OV2640
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if (const auto camera_id = temp_sensor->id.PID; camera_id == OV5640_PID) {
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config.xclk_freq_hz = OV5640_XCLK_FREQ_HZ;
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esp_camera_deinit();
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esp_camera_init(&config);
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}
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#endif
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this->setupCameraSensor();
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// this->loadConfigData(); // move this to update method once implemented
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return true;
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}
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void CameraManager::loadConfigData()
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{
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ESP_LOGD(CAMERA_MANAGER_TAG, "Loading camera config data");
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CameraConfig_t cameraConfig = projectConfig->getCameraConfig();
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this->setHFlip(cameraConfig.href);
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this->setVFlip(cameraConfig.vflip);
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this->setCameraResolution(static_cast<framesize_t>(cameraConfig.framesize));
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camera_sensor->set_quality(camera_sensor, cameraConfig.quality);
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camera_sensor->set_agc_gain(camera_sensor, cameraConfig.brightness);
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ESP_LOGD(CAMERA_MANAGER_TAG, "Loading camera config data done");
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}
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int CameraManager::setCameraResolution(const framesize_t frameSize)
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{
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if (camera_sensor->pixformat == PIXFORMAT_JPEG)
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{
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return camera_sensor->set_framesize(camera_sensor, frameSize);
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}
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return -1;
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}
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int CameraManager::setVFlip(const int direction)
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{
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return camera_sensor->set_vflip(camera_sensor, direction);
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}
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int CameraManager::setHFlip(const int direction)
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{
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return camera_sensor->set_hmirror(camera_sensor, direction);
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}
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int CameraManager::setVieWindow(int offsetX,
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int offsetY,
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int outputX,
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int outputY)
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{
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// todo safariMonkey made a PoC, implement it here
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return 0;
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}
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//! either hardware(1) or software(0)
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void CameraManager::resetCamera(bool type)
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{
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// TODO add camera reset
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// if (type)
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// {
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// // power cycle the camera module (handy if camera stops responding)
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// digitalWrite(PWDN_GPIO_NUM, HIGH); // turn power off to camera module
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// Network_Utilities::my_delay(0.3); // a for loop with a delay of 300ms
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// digitalWrite(PWDN_GPIO_NUM, LOW);
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// Network_Utilities::my_delay(0.3);
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// setupCamera();
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// }
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// else
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// {
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// // reset via software (handy if you wish to change resolution or image type
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// // etc. - see test procedure)
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// esp_camera_deinit();
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// Network_Utilities::my_delay(0.05);
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// setupCamera();
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// }
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}
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