ESP32-IDF CAMERA OpenCV移植 研究 doing

Posted 2021-05-15 knowform

    camera_config_t camera_config = {
        .ledc_channel = LEDC_CHANNEL_0,
        .ledc_timer = LEDC_TIMER_0,
        .pin_d0 = CONFIG_D0,
        .pin_d1 = CONFIG_D1,
        .pin_d2 = CONFIG_D2,
        .pin_d3 = CONFIG_D3,
        .pin_d4 = CONFIG_D4,
        .pin_d5 = CONFIG_D5,
        .pin_d6 = CONFIG_D6,
        .pin_d7 = CONFIG_D7,
        .pin_xclk = CONFIG_XCLK,
        .pin_pclk = CONFIG_PCLK,
        .pin_vsync = CONFIG_VSYNC,
        .pin_href = CONFIG_HREF,
        .pin_sscb_sda = CONFIG_SDA,
        .pin_sscb_scl = CONFIG_SCL,
        .pin_reset = CONFIG_RESET,
        .xclk_freq_hz = CONFIG_XCLK_FREQ,
    };

typedef enum {
    CAMERA_NONE = 0,
    CAMERA_UNKNOWN = 1,
    CAMERA_OV7725 = 7725,
    CAMERA_OV2640 = 2640,
} camera_model_t;

typedef struct {
    int pin_reset;          /*!< GPIO pin for camera reset line */
    int pin_xclk;           /*!< GPIO pin for camera XCLK line */
    int pin_sscb_sda;       /*!< GPIO pin for camera SDA line */
    int pin_sscb_scl;       /*!< GPIO pin for camera SCL line */
    int pin_d7;             /*!< GPIO pin for camera D7 line */
    int pin_d6;             /*!< GPIO pin for camera D6 line */
    int pin_d5;             /*!< GPIO pin for camera D5 line */
    int pin_d4;             /*!< GPIO pin for camera D4 line */
    int pin_d3;             /*!< GPIO pin for camera D3 line */
    int pin_d2;             /*!< GPIO pin for camera D2 line */
    int pin_d1;             /*!< GPIO pin for camera D1 line */
    int pin_d0;             /*!< GPIO pin for camera D0 line */
    int pin_vsync;          /*!< GPIO pin for camera VSYNC line */
    int pin_href;           /*!< GPIO pin for camera HREF line */
    int pin_pclk;           /*!< GPIO pin for camera PCLK line */

    int xclk_freq_hz;       /*!< Frequency of XCLK signal, in Hz */

    ledc_timer_t ledc_timer;        /*!< LEDC timer to be used for generating XCLK  */
    ledc_channel_t ledc_channel;    /*!< LEDC channel to be used for generating XCLK  */

    camera_pixelformat_t pixel_format;
    camera_framesize_t frame_size;

    int jpeg_quality;
} camera_config_t;

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);

    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, 1);
    delay(3000);

    gpio_set_level(config->pin_reset, 0);
    delay(1000);

#if CONFIG_OV2640_SUPPORT
    uint8_t buf[] = {0xff, 0x01};
    twi_writeTo(0x30, buf, 2, true);
#endif

    ESP_LOGD(TAG, "Searching for camera address");
    /* Probe the sensor */
    delay(10);
    uint8_t slv_addr = SCCB_Probe();
    if (slv_addr == 0) {
        *out_camera_model = CAMERA_NONE;
        return ESP_ERR_CAMERA_NOT_DETECTED;
    }
    s_state->sensor.slv_addr = slv_addr;
    ESP_LOGD(TAG, "Detected camera at address=0x%02x", slv_addr);
    sensor_id_t* id = &s_state->sensor.id;
    id->PID = SCCB_Read(slv_addr, REG_PID);
    id->VER = SCCB_Read(slv_addr, REG_VER);
    id->MIDL = SCCB_Read(slv_addr, REG_MIDL);
    id->MIDH = SCCB_Read(slv_addr, REG_MIDH);

    delay(10);
    ESP_LOGD(TAG, "Camera PID=0x%02x VER=0x%02x MIDL=0x%02x MIDH=0x%02x",
            id->PID, id->VER, id->MIDH, id->MIDL);

    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
    default:
        id->PID = 0;
        *out_camera_model = CAMERA_UNKNOWN;
        ESP_LOGD(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;
}

typedef enum {
    CAMERA_NONE = 0,
    CAMERA_UNKNOWN = 1,
    CAMERA_OV7725 = 7725,
    CAMERA_OV2640 = 2640,
} camera_model_t;

下一步研究OpenCV移植到ESP32

https://github.com/joachimBurket/esp32-opencv