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camera.c
1053 lines (945 loc) · 32.1 KB
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camera.c
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/*
* Portions of this file come from OpenMV project (see sensor_* functions in the end of file)
* Here is the copyright for these parts:
* This file is part of the OpenMV project.
* Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
* This work is licensed under the MIT license, see the file LICENSE for details.
*
*
* Rest of the functions are licensed under Apache license as found below:
*/
// 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 "freertos/semphr.h"
#include "rom/lldesc.h"
#include "soc/soc.h"
#include "soc/gpio_sig_map.h"
#include "soc/i2s_reg.h"
#include "soc/i2s_struct.h"
#include "soc/io_mux_reg.h"
#include "driver/gpio.h"
#include "driver/periph_ctrl.h"
#include "esp_intr_alloc.h"
#include "esp_heap_alloc_caps.h"
#include "esp_log.h"
#include "sensor.h"
#include "sccb.h"
#include "wiring.h"
#include "camera.h"
#include "camera_common.h"
#include "xclk.h"
#if CONFIG_OV2640_SUPPORT
#include "ov2640.h"
#endif
#if CONFIG_OV7725_SUPPORT
#include "ov7725.h"
#endif
#if CONFIG_OV7670_SUPPORT
#include "ov7670.h"
#endif
//#define ENABLE_TEST_PATTERN CONFIG_ENABLE_TEST_PATTERN
#define REG_PID 0x0A
#define REG_VER 0x0B
#define REG_MIDH 0x1C
#define REG_MIDL 0x1D
static const char* TAG = "camera";
camera_state_t* s_state = NULL;
const int resolution[][2] = {
{ 40, 30 }, /* 40x30 */
{ 64, 32 }, /* 64x32 */
{ 64, 64 }, /* 64x64 */
{ 88, 72 }, /* QQCIF */
{ 160, 120 }, /* QQVGA */
{ 128, 160 }, /* QQVGA2*/
{ 176, 144 }, /* QCIF */
{ 240, 160 }, /* HQVGA */
{ 320, 240 }, /* QVGA */
{ 352, 288 }, /* CIF */
{ 640, 480 }, /* VGA */
{ 800, 600 }, /* SVGA */
{ 1280, 1024 }, /* SXGA */
{ 1600, 1200 }, /* UXGA */
};
#define min(a,b) ((a)<(b)?(a):(b))
#define max(a,b) ((a)>(b)?(a):(b))
static void i2s_init();
static void i2s_run();
static void IRAM_ATTR gpio_isr(void* arg);
static void IRAM_ATTR i2s_isr(void* arg);
static esp_err_t dma_desc_init();
static void dma_desc_deinit();
static void dma_filter_task(void *pvParameters);
//static void dma_filter_grayscale(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
//static void dma_filter_grayscale_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
//static void dma_filter_jpeg(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst);
static void dma_filter_raw(const dma_elem_t* src, lldesc_t* dma_desc, uint32_t* dst);
static void i2s_stop();
static bool is_hs_mode()
{
return s_state->config.xclk_freq_hz > 10000000;
}
static size_t i2s_bytes_per_sample(i2s_sampling_mode_t mode)
{
switch(mode) {
case SM_0A00_0B00:
return 4;
case SM_0A0B_0B0C:
return 4;
case SM_0A0B_0C0D:
return 2;
default:
assert(0 && "invalid sampling mode");
return 0;
}
}
esp_err_t reset_xclk(camera_config_t* config) {
s_state->config.xclk_freq_hz = config->xclk_freq_hz;
ESP_LOGD(TAG, "Re-enable XCLCK");
camera_enable_out_clock(s_state->config); // ensure timers are kept as before..
// calling reset here will cause a FreeRTOS task related stack overflow due to the delay() that is called...
//ESP_LOGD(TAG, "Doing SW reset of sensor");
//s_state->sensor.reset(&s_state->sensor);
return ESP_OK;
}
esp_err_t reset_pixformat() {
ESP_LOGD(TAG, "Free frame buffer mem / reset RTOS tasks");
// NOTE: Framebuffer stays!
//if (s_state->fb != NULL) {
// free(s_state->fb);
//}
if (s_state->data_ready) {
vQueueDelete(s_state->data_ready);
}
if (s_state->frame_ready) {
vSemaphoreDelete(s_state->frame_ready);
}
if (s_state->dma_filter_task) {
vTaskDelete(s_state->dma_filter_task);
}
dma_desc_deinit();
// reset camera registers...
ESP_LOGD(TAG, "Doing SW reset of sensor");
s_state->sensor.reset(&s_state->sensor);
return ESP_OK;
}
sensor_t* get_cam_sensor() {
return &s_state->sensor;
}
int cam_set_sensor_reg(uint8_t reg, uint8_t regVal)
{
return SCCB_Write(s_state->sensor.slv_addr, reg, regVal);
}
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_pulldown_en(config->pin_reset); // ov7670 reqd
gpio_set_level(config->pin_reset, 0);
delay(10);
gpio_pulldown_dis(config->pin_reset); // ov7670 reqd
gpio_set_level(config->pin_reset, 1);
delay(10);
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
#if CONFIG_OV7670_SUPPORT
case OV7670_PID:
*out_camera_model = CAMERA_OV7670;
ov7670_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;
}
int print_frame_data(char* outstr) {
int cnt = 0;
char pf[12];
switch(s_state->config.pixel_format) {
case(PIXFORMAT_YUV422):
sprintf(pf,"YUV422");
break;
case(PIXFORMAT_GRAYSCALE):
sprintf(pf,"GRAYSCALE");
break;
case(PIXFORMAT_RGB565):
sprintf(pf,"RGB565");
break;
case(PIXFORMAT_RGB555):
sprintf(pf,"RGB555");
break;
case(PIXFORMAT_RGB444):
sprintf(pf,"RGB444");
break;
default:
sprintf(pf,"unknown");
break;
}
cnt += sprintf(outstr+cnt,"img_%dx%d_%dbpp_%s_%d",s_state->width, s_state->height, s_state->fb_bytes_per_pixel,pf,s_state->frame_count);
return cnt;
}
int get_image_mime_info_str(char* outstr) {
int cnt = 0;
char pf[12]; //* pf = new char[12];
cnt += sprintf(outstr+cnt,"Content-Disposition: attachment;filename=\"");
cnt += print_frame_data(outstr+cnt);
//cnt += sprintf(outstr+cnt,"img_%dx%d_%dbpp_%s",s_state->width, s_state->height, s_state->fb_bytes_per_pixel,pf);
cnt += sprintf(outstr+cnt,"\".img;Content-type: application/octet-stream\r\n\r\n");
return cnt;
// fname: s_state->width, s_state->height, s_state->fb_bytes_per_pixel, s_state->config.pixel_format
}
/*
camera_probe has called sensor.reset() for us...
sensor.set_brightness(0)\n"
" sensor.set_saturation(0)\n"
" sensor.set_gainceiling(8)\n"
" sensor.set_contrast(2)\n"
"\n"
" # Set sensor pixel format\n"
" sensor.set_framesize(sensor.QVGA)\n"
" sensor.set_pixformat(sensor.RGB565)\n"
"\n"
" # Enable colorbar test mode\n"
" sensor.set_colorbar(True)\n"
*/
esp_err_t camera_init(const camera_config_t* config)
{
if (!s_state) {
return ESP_ERR_INVALID_STATE;
}
if (s_state->sensor.id.PID == 0) {
return ESP_ERR_CAMERA_NOT_SUPPORTED;
}
memcpy(&s_state->config, config, sizeof(*config));
esp_err_t err = ESP_OK;
framesize_t frame_size = (framesize_t) config->frame_size;
pixformat_t pix_format = (pixformat_t) config->pixel_format;
s_state->width = resolution[frame_size][0];
s_state->height = resolution[frame_size][1];
ESP_LOGD(TAG, "Setting pixformat");
s_state->sensor.set_pixformat(&s_state->sensor, pix_format);
ESP_LOGD(TAG, "Setting frame size to %dx%d", s_state->width, s_state->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;
}
if (pix_format == PIXFORMAT_YUV422) {
s_state->sensor.set_framerate(&s_state->sensor,0); // lowest fps first...
ESP_LOGD(TAG, "Setting framerate to 0 for PIXFORMAT_YUV422");
/*
s_state->sensor.set_brightness(&s_state->sensor,0);
s_state->sensor.set_saturation(&s_state->sensor,0);
s_state->sensor.set_gainceiling(&s_state->sensor,8);
s_state->sensor.set_contrast(&s_state->sensor,2);
*/
}
if (pix_format == PIXFORMAT_RGB565) {
s_state->sensor.set_framerate(&s_state->sensor,0); // lowest fps first...
ESP_LOGD(TAG, "Setting framerate to 0 for PIXFORMAT_RGB565");
}
if (config->test_pattern_enabled) {
/* Test pattern may get handy
if you are unable to get the live image right.
Once test pattern is enable, sensor will output
vertical shaded bars instead of live image.
*/
s_state->sensor.set_colorbar(&s_state->sensor, config->test_pattern_enabled);
ESP_LOGD(TAG, "Test pattern enabled");
}
if ((pix_format == PIXFORMAT_RGB565) || (pix_format == PIXFORMAT_YUV422)) {
ESP_LOGD(TAG, "Sending Raw Bytes from DMA to Framebuffer at %d HZ",s_state->config.xclk_freq_hz);
s_state->fb_size = s_state->width * s_state->height * 2;
s_state->in_bytes_per_pixel = 2; // camera sends YUV422 (2 bytes)
s_state->fb_bytes_per_pixel = 2; // frame buffer stores YUYV
s_state->dma_filter = &dma_filter_raw;
// TODO: Sampling mode testing - allow configuration..
uint8_t highspeed_sampling_mode = 2;
/*
if (is_hs_mode()) {
highspeed_sampling_mode = 2;
} else highspeed_sampling_mode = 1;
*/
if (highspeed_sampling_mode == 0) {
ESP_LOGD(TAG, "Sampling mode SM_0A0B_0C0D (0)");
s_state->sampling_mode = SM_0A0B_0C0D; // sampling mode for ov7670... works well for YUV
} else if (highspeed_sampling_mode == 1) {
ESP_LOGD(TAG, "Sampling mode SM_0A0B_0B0C (1)");
s_state->sampling_mode = SM_0A0B_0B0C;
} else if (highspeed_sampling_mode == 2) {
ESP_LOGD(TAG, "Sampling mode SM_0A00_0B00 (2)");
s_state->sampling_mode = SM_0A00_0B00; //highspeed
}
}
/*
else if (pix_format == PIXFORMAT_GRAYSCALE) {
if ((s_state->sensor.id.PID != OV7725_PID) && (s_state->sensor.id.PID != OV7670_PID)) {
ESP_LOGE(TAG, "Grayscale format is only supported for ov7225 and ov7670");
err = ESP_ERR_NOT_SUPPORTED;
goto fail;
}
if (is_hs_mode()) {
ESP_LOGD(TAG, "Sampling mode SM_0A0B_0B0C (1)");
s_state->sampling_mode = SM_0A0B_0B0C;
s_state->dma_filter = &dma_filter_grayscale_highspeed;
} else {
ESP_LOGD(TAG, "Sampling mode SM_0A0B_0C0D (0)");
s_state->sampling_mode = SM_0A0B_0C0D;
s_state->dma_filter = &dma_filter_grayscale;
}
s_state->in_bytes_per_pixel = 2; // camera sends YUYV
s_state->fb_bytes_per_pixel = 2; // display needs 2bpp...
} else if (pix_format == PIXFORMAT_JPEG) {
if (s_state->sensor.id.PID != OV2640_PID) {
ESP_LOGE(TAG, "JPEG format is only supported for ov2640");
err = ESP_ERR_NOT_SUPPORTED;
goto fail;
}
int qp = config->jpeg_quality;
int compression_ratio_bound;
if (qp >= 30) {
compression_ratio_bound = 5;
} else if (qp >= 10) {
compression_ratio_bound = 10;
} else {
compression_ratio_bound = 20;
}
(*s_state->sensor.set_quality)(&s_state->sensor, qp);
size_t equiv_line_count = s_state->height / compression_ratio_bound;
s_state->fb_size = s_state->width * equiv_line_count * 2; // bpp
s_state->dma_filter = &dma_filter_jpeg;
if (is_hs_mode()) {
s_state->sampling_mode = SM_0A0B_0B0C;
} else {
s_state->sampling_mode = SM_0A00_0B00;
}
s_state->in_bytes_per_pixel = 2;
s_state->fb_bytes_per_pixel = 2;
}
*/
else {
ESP_LOGE(TAG, "Requested format is not supported");
err = ESP_ERR_NOT_SUPPORTED;
goto fail;
}
/*
ESP_LOGD(TAG, "in_bpp: %d, fb_bpp: %d, fb_size: %d, mode: %d, width: %d height: %d",
s_state->in_bytes_per_pixel, s_state->fb_bytes_per_pixel,
s_state->fb_size, s_state->sampling_mode,
s_state->width, s_state->height);
*/
ESP_LOGD(TAG, "Frame buffer (%d bytes)", s_state->fb_size);
if (s_state->fb == NULL) {
ESP_LOGD(TAG, "Using 32-bit aligned ram shared with display - 320x240x2bpp");
int max_fb_size = 320 * 240 * 2;
//s_state->width * s_state->height * 2;
if (config->displayBuffer == NULL) {
ESP_LOGE(TAG, "DisplayBuffer is null!!");
err = ESP_ERR_NO_MEM;
goto fail;
}
s_state->fb = (uint32_t*)config->displayBuffer; //(uint8_t*) calloc(max_fb_size, 1);
ESP_LOGD(TAG, "Allocated frame buffer (%d bytes)", max_fb_size);
}
if (s_state->fb == NULL) {
ESP_LOGE(TAG, "Failed to allocate frame buffer");
err = ESP_ERR_NO_MEM;
goto fail;
}
ESP_LOGD(TAG, "Initializing I2S and DMA");
i2s_init();
err = dma_desc_init();
if (err != ESP_OK) {
ESP_LOGE(TAG, "Failed to initialize I2S and DMA");
goto fail;
}
s_state->data_ready = xQueueCreate(16, sizeof(size_t));
s_state->frame_ready = xSemaphoreCreateBinary();
if (s_state->data_ready == NULL || s_state->frame_ready == NULL) {
ESP_LOGE(TAG, "Failed to create semaphores");
err = ESP_ERR_NO_MEM;
goto fail;
}
if (!xTaskCreatePinnedToCore(&dma_filter_task, "dma_filter", 4096, NULL, 10, &s_state->dma_filter_task, 1)) {
ESP_LOGE(TAG, "Failed to create DMA filter task");
err = ESP_ERR_NO_MEM;
goto fail;
}
ESP_LOGD(TAG, "Initializing GPIO interrupts");
gpio_set_intr_type(s_state->config.pin_vsync, GPIO_INTR_NEGEDGE);
gpio_intr_enable(s_state->config.pin_vsync);
if (&s_state->vsync_intr_handle == NULL) {
ESP_LOGD(TAG, "Initializing GPIO ISR Register");
err = gpio_isr_register(&gpio_isr, (void*) TAG,
ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM,
&s_state->vsync_intr_handle);
if (err != ESP_OK) {
ESP_LOGE(TAG, "gpio_isr_register failed (%x)", err);
goto fail;
}
} else {
ESP_LOGD(TAG, "Skipping GPIO ISR Register, already enabled...");
}
// skip at least one frame after changing camera settings
while (gpio_get_level(s_state->config.pin_vsync) == 0) {
;
}
while (gpio_get_level(s_state->config.pin_vsync) != 0) {
;
}
while (gpio_get_level(s_state->config.pin_vsync) == 0) {
;
}
s_state->frame_count = 0;
//ESP_LOGD(TAG, "Init done");
return ESP_OK;
fail:
if (s_state->fb != NULL)
free(s_state->fb);
if (s_state->data_ready) {
vQueueDelete(s_state->data_ready);
}
if (s_state->frame_ready) {
vSemaphoreDelete(s_state->frame_ready);
}
if (s_state->dma_filter_task) {
vTaskDelete(s_state->dma_filter_task);
}
dma_desc_deinit();
ESP_LOGE(TAG, "Init Failed");
return err;
}
uint32_t* camera_get_fb()
{
if (s_state == NULL) {
return NULL;
}
return s_state->fb;
}
int camera_get_fb_width()
{
if (s_state == NULL) {
return 0;
}
return s_state->width;
}
int camera_get_fb_height()
{
if (s_state == NULL) {
return 0;
}
return s_state->height;
}
size_t camera_get_data_size()
{
if (s_state == NULL) {
return 0;
}
return s_state->data_size;
}
/*
TaskHandle_t *camera_get_display_task_ptr()
{
if (s_state == NULL) {
return 0;
}
return &s_state->lcd_display_task;
}
void camera_set_display_task(TaskHandle_t *th)
{
if (s_state == NULL) {
return;
}
s_state->lcd_display_task = *th;
}
*/
esp_err_t camera_run()
{
if (s_state == NULL) {
return ESP_ERR_INVALID_STATE;
}
struct timeval tv_start;
gettimeofday(&tv_start, NULL);
#ifndef _NDEBUG
memset(s_state->fb, 0, s_state->fb_size);
#endif // _NDEBUG
i2s_run();
// set
ESP_LOGD(TAG, "Waiting for frame");
xSemaphoreTake(s_state->frame_ready, portMAX_DELAY);
struct timeval tv_end;
gettimeofday(&tv_end, NULL);
int time_ms = (tv_end.tv_sec - tv_start.tv_sec) * 1000 + (tv_end.tv_usec - tv_start.tv_usec) / 1000;
// char frame_info_str[40]; //
// print_frame_data(frame_info_str);
// ESP_LOGI(TAG, "Frame format %s : %d done in %d ms", frame_info_str, s_state->frame_count, time_ms);
ESP_LOGI(TAG, "Frame %d done in %d ms", s_state->frame_count, time_ms);
s_state->frame_count++;
return ESP_OK;
}
static esp_err_t dma_desc_init()
{
assert(s_state->width % 4 == 0);
size_t line_size = s_state->width * s_state->in_bytes_per_pixel *
i2s_bytes_per_sample(s_state->sampling_mode);
ESP_LOGD(TAG, "Line width (for DMA): %d bytes", line_size);
size_t dma_per_line = 1;
size_t buf_size = line_size;
while (buf_size >= 4096) {
buf_size /= 2;
dma_per_line *= 2;
}
size_t dma_desc_count = dma_per_line * 4;
s_state->dma_buf_width = line_size;
s_state->dma_per_line = dma_per_line;
s_state->dma_desc_count = dma_desc_count;
ESP_LOGD(TAG, "DMA buffer size: %d, DMA buffers per line: %d", buf_size, dma_per_line);
ESP_LOGD(TAG, "DMA buffer count: %d", dma_desc_count);
s_state->dma_buf = (dma_elem_t**) malloc(sizeof(dma_elem_t*) * dma_desc_count);
if (s_state->dma_buf == NULL) {
return ESP_ERR_NO_MEM;
}
s_state->dma_desc = (lldesc_t*) malloc(sizeof(lldesc_t) * dma_desc_count);
if (s_state->dma_desc == NULL) {
return ESP_ERR_NO_MEM;
}
size_t dma_sample_count = 0;
for (int i = 0; i < dma_desc_count; ++i) {
ESP_LOGD(TAG, "Allocating DMA buffer #%d, size=%d", i, buf_size);
dma_elem_t* buf = (dma_elem_t*) malloc(buf_size);
if (buf == NULL) {
return ESP_ERR_NO_MEM;
}
s_state->dma_buf[i] = buf;
ESP_LOGV(TAG, "dma_buf[%d]=%p", i, buf);
lldesc_t* pd = &s_state->dma_desc[i];
pd->length = buf_size;
if (s_state->sampling_mode == SM_0A0B_0B0C &&
(i + 1) % dma_per_line == 0) {
pd->length -= 4;
}
dma_sample_count += pd->length / 4;
pd->size = pd->length;
pd->owner = 1;
pd->sosf = 1;
pd->buf = (uint8_t*) buf;
pd->offset = 0;
pd->empty = 0;
pd->eof = 1;
pd->qe.stqe_next = &s_state->dma_desc[(i + 1) % dma_desc_count];
}
s_state->dma_done = false;
s_state->dma_sample_count = dma_sample_count;
return ESP_OK;
}
static void dma_desc_deinit()
{
if (s_state->dma_buf) {
for (int i = 0; i < s_state->dma_desc_count; ++i) {
free(s_state->dma_buf[i]);
}
}
free(s_state->dma_buf);
free(s_state->dma_desc);
}
static inline void i2s_conf_reset()
{
// as per nkolban: https://github.com/igrr/esp32-cam-demo/issues/36
const uint32_t lc_conf_reset_flags = I2S_IN_RST_M | I2S_AHBM_RST_M | I2S_AHBM_FIFO_RST_M;
//const uint32_t lc_conf_reset_flags = I2S_IN_RST_S | I2S_AHBM_RST_S
// | I2S_AHBM_FIFO_RST_S;
I2S0.lc_conf.val |= lc_conf_reset_flags;
I2S0.lc_conf.val &= ~lc_conf_reset_flags;
const uint32_t conf_reset_flags = I2S_RX_RESET_M | I2S_RX_FIFO_RESET_M
| I2S_TX_RESET_M | I2S_TX_FIFO_RESET_M;
I2S0.conf.val |= conf_reset_flags;
I2S0.conf.val &= ~conf_reset_flags;
while (I2S0.state.rx_fifo_reset_back) {
;
}
}
static void i2s_init()
{
camera_config_t* config = &s_state->config;
// Configure input GPIOs
gpio_num_t pins[] = {
config->pin_d7,
config->pin_d6,
config->pin_d5,
config->pin_d4,
config->pin_d3,
config->pin_d2,
config->pin_d1,
config->pin_d0,
config->pin_vsync,
config->pin_href,
config->pin_pclk
};
gpio_config_t conf = {
.mode = GPIO_MODE_INPUT,
.pull_up_en = GPIO_PULLUP_ENABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE
};
for (int i = 0; i < sizeof(pins) / sizeof(gpio_num_t); ++i) {
conf.pin_bit_mask = 1LL << pins[i];
gpio_config(&conf);
}
// Route input GPIOs to I2S peripheral using GPIO matrix
gpio_matrix_in(config->pin_d0, I2S0I_DATA_IN0_IDX, false);
gpio_matrix_in(config->pin_d1, I2S0I_DATA_IN1_IDX, false);
gpio_matrix_in(config->pin_d2, I2S0I_DATA_IN2_IDX, false);
gpio_matrix_in(config->pin_d3, I2S0I_DATA_IN3_IDX, false);
gpio_matrix_in(config->pin_d4, I2S0I_DATA_IN4_IDX, false);
gpio_matrix_in(config->pin_d5, I2S0I_DATA_IN5_IDX, false);
gpio_matrix_in(config->pin_d6, I2S0I_DATA_IN6_IDX, false);
gpio_matrix_in(config->pin_d7, I2S0I_DATA_IN7_IDX, false);
gpio_matrix_in(config->pin_vsync, I2S0I_V_SYNC_IDX, false);
gpio_matrix_in(0x38, I2S0I_H_SYNC_IDX, false);
gpio_matrix_in(config->pin_href, I2S0I_H_ENABLE_IDX, false);
gpio_matrix_in(config->pin_pclk, I2S0I_WS_IN_IDX, false);
// Enable and configure I2S peripheral
periph_module_enable(PERIPH_I2S0_MODULE);
// Toggle some reset bits in LC_CONF register
// Toggle some reset bits in CONF register
i2s_conf_reset();
// Enable slave mode (sampling clock is external)
I2S0.conf.rx_slave_mod = 1;
// Enable parallel mode
I2S0.conf2.lcd_en = 1;
// Use HSYNC/VSYNC/HREF to control sampling
I2S0.conf2.camera_en = 1;
// Configure clock divider
I2S0.clkm_conf.clkm_div_a = 1;
I2S0.clkm_conf.clkm_div_b = 0;
I2S0.clkm_conf.clkm_div_num = 2;
// FIFO will sink data to DMA
I2S0.fifo_conf.dscr_en = 1;
// FIFO configuration
I2S0.fifo_conf.rx_fifo_mod = s_state->sampling_mode;
I2S0.fifo_conf.rx_fifo_mod_force_en = 1;
I2S0.conf_chan.rx_chan_mod = 1;
// Clear flags which are used in I2S serial mode
I2S0.sample_rate_conf.rx_bits_mod = 0;
I2S0.conf.rx_right_first = 0;
I2S0.conf.rx_msb_right = 0;
I2S0.conf.rx_msb_shift = 0;
I2S0.conf.rx_mono = 0;
I2S0.conf.rx_short_sync = 0;
I2S0.timing.val = 0;
// Allocate I2S interrupt, keep it disabled
esp_intr_alloc(ETS_I2S0_INTR_SOURCE,
ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_LEVEL1 | ESP_INTR_FLAG_IRAM,
&i2s_isr, NULL, &s_state->i2s_intr_handle);
}
static void i2s_stop()
{
esp_intr_disable(s_state->i2s_intr_handle);
esp_intr_disable(s_state->vsync_intr_handle);
i2s_conf_reset();
I2S0.conf.rx_start = 0;
size_t val = SIZE_MAX;
BaseType_t higher_priority_task_woken;
xQueueSendFromISR(s_state->data_ready, &val, &higher_priority_task_woken);
}
static void i2s_run()
{
#ifndef _NDEBUG
for (int i = 0; i < s_state->dma_desc_count; ++i) {
lldesc_t* d = &s_state->dma_desc[i];
ESP_LOGV(TAG, "DMA desc %2d: %u %u %u %u %u %u %p %p",
i, d->length, d->size, d->offset, d->eof, d->sosf, d->owner, d->buf, d->qe.stqe_next);
memset(s_state->dma_buf[i], 0, d->length);
}
#endif
// wait for vsync
ESP_LOGD(TAG, "Waiting for positive edge on VSYNC");
while (gpio_get_level(s_state->config.pin_vsync) == 0) {
;
}
while (gpio_get_level(s_state->config.pin_vsync) != 0) {
;
}
ESP_LOGD(TAG, "Got VSYNC");
s_state->dma_done = false;
s_state->dma_desc_cur = 0;
s_state->dma_received_count = 0;
s_state->dma_filtered_count = 0;
esp_intr_disable(s_state->i2s_intr_handle);
i2s_conf_reset();
I2S0.rx_eof_num = s_state->dma_sample_count;
I2S0.in_link.addr = (uint32_t) &s_state->dma_desc[0];
I2S0.in_link.start = 1;
I2S0.int_clr.val = I2S0.int_raw.val;
I2S0.int_ena.val = 0;
I2S0.int_ena.in_done = 1;
esp_intr_enable(s_state->i2s_intr_handle);
if (s_state->config.pixel_format == CAMERA_PF_JPEG) {
esp_intr_enable(s_state->vsync_intr_handle);
}
I2S0.conf.rx_start = 1;
}
static void IRAM_ATTR signal_dma_buf_received(bool* need_yield)
{
size_t dma_desc_filled = s_state->dma_desc_cur;
s_state->dma_desc_cur = (dma_desc_filled + 1) % s_state->dma_desc_count;
s_state->dma_received_count++;
BaseType_t higher_priority_task_woken;
BaseType_t ret = xQueueSendFromISR(s_state->data_ready, &dma_desc_filled, &higher_priority_task_woken);
if (ret != pdTRUE) {
ESP_EARLY_LOGW(TAG, "queue send failed (%d), dma_received_count=%d", ret, s_state->dma_received_count);
}
*need_yield = (ret == pdTRUE && higher_priority_task_woken == pdTRUE);
}
static void IRAM_ATTR i2s_isr(void* arg)
{
I2S0.int_clr.val = I2S0.int_raw.val;
bool need_yield;
signal_dma_buf_received(&need_yield);
ESP_EARLY_LOGV(TAG, "isr, cnt=%d", s_state->dma_received_count);
if (s_state->dma_received_count == s_state->height * s_state->dma_per_line) {
i2s_stop();
}
if (need_yield) {
portYIELD_FROM_ISR();
}
}
static void IRAM_ATTR gpio_isr(void* arg)
{
GPIO.status1_w1tc.val = GPIO.status1.val;
GPIO.status_w1tc = GPIO.status;
bool need_yield = false;
ESP_EARLY_LOGV(TAG, "gpio isr, cnt=%d", s_state->dma_received_count);
if (gpio_get_level(s_state->config.pin_vsync) == 0 &&
s_state->dma_received_count > 0 &&
!s_state->dma_done) {
signal_dma_buf_received(&need_yield);
i2s_stop();
}
if (need_yield) {
portYIELD_FROM_ISR();
}
}
static size_t get_fb_pos()
{
return s_state->dma_filtered_count * s_state->width *
s_state->fb_bytes_per_pixel / s_state->dma_per_line;
}
static void IRAM_ATTR dma_filter_task(void *pvParameters)
{
while (true) {
size_t buf_idx;
xQueueReceive(s_state->data_ready, &buf_idx, portMAX_DELAY);
if (buf_idx == SIZE_MAX) {
s_state->data_size = get_fb_pos();
xSemaphoreGive(s_state->frame_ready);
continue;
}
//uint8_t* pfb = s_state->fb + get_fb_pos();
uint32_t* pfb = s_state->fb + get_fb_pos()/4;
const dma_elem_t* buf = s_state->dma_buf[buf_idx];
lldesc_t* desc = &s_state->dma_desc[buf_idx];
ESP_LOGV(TAG, "dma_flt: pos=%d ", get_fb_pos()/4);
(*s_state->dma_filter)(buf, desc, pfb);
s_state->dma_filtered_count++;
ESP_LOGV(TAG, "dma_flt: flt_count=%d ", s_state->dma_filtered_count);
}
}
inline uint32_t pack(uint8_t byte0, uint8_t byte1, uint8_t byte2, uint8_t byte3) {
long result;
result = byte0;
result |= byte1 << 8;
result |= byte2 << 16;
result |= byte3 << 24;
return result;
}
/*
typedef union {
struct {
uint8_t b1;
uint8_t b2;
uint8_t b3;
uint8_t b4;
};
uint32_t val;
} display_buff_elem_t;
*/
/*
static void IRAM_ATTR dma_filter_grayscale(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
{
assert(s_state->sampling_mode == SM_0A0B_0C0D);
size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;
for (size_t i = 0; i < end; ++i) {
// manually unrolling 4 iterations of the loop here
dst[0] = src[0].sample1;
dst[1] = src[1].sample1;
dst[2] = src[2].sample1;
dst[3] = src[3].sample1;
src += 4;
dst += 4;
}
}
static void IRAM_ATTR dma_filter_grayscale_highspeed(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
{
assert(s_state->sampling_mode == SM_0A0B_0B0C);
size_t end = dma_desc->length / sizeof(dma_elem_t) / 8;
for (size_t i = 0; i < end; ++i) {
// manually unrolling 4 iterations of the loop here
dst[0] = src[0].sample1;
dst[1] = src[2].sample1;
dst[2] = src[4].sample1;
dst[3] = src[6].sample1;
src += 8;
dst += 4;
}
// the final sample of a line in SM_0A0B_0B0C sampling mode needs special handling
if ((dma_desc->length & 0x7) != 0) {
dst[0] = src[0].sample1;
dst[1] = src[2].sample1;
}
}
static void IRAM_ATTR dma_filter_jpeg(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
{
assert(s_state->sampling_mode == SM_0A0B_0B0C ||
s_state->sampling_mode == SM_0A00_0B00 );
size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;
// manually unrolling 4 iterations of the loop here
for (size_t i = 0; i < end; ++i) {
dst[0] = src[0].sample1;
dst[1] = src[1].sample1;
dst[2] = src[2].sample1;
dst[3] = src[3].sample1;
src += 4;
dst += 4;
}
// the final sample of a line in SM_0A0B_0B0C sampling mode needs special handling
if ((dma_desc->length & 0x7) != 0) {
dst[0] = src[0].sample1;
dst[1] = src[1].sample1;
dst[2] = src[2].sample1;
dst[3] = src[2].sample2;
}
}
*/
// basically bytes in == bytes out in this mode
static void IRAM_ATTR dma_filter_raw(const dma_elem_t* src, lldesc_t* dma_desc, uint32_t* dst)
{
if (s_state->sampling_mode == SM_0A0B_0C0D) {
size_t end = dma_desc->length / sizeof(dma_elem_t) / 4;