Add camera support board(sp v3/v4 korvo) (#682)

* Add camera support board

* Update esp32_camera.cc

---------

Co-authored-by: Xiaoxia <terrence@tenclass.com>

main/boards/common/camera.h

@@ -7,6 +7,8 @@ class Camera {
 public:
     virtual void SetExplainUrl(const std::string& url, const std::string& token) = 0;
     virtual bool Capture() = 0;
+    virtual bool SetHMirror(bool enabled) = 0;
+    virtual bool SetVFlip(bool enabled) = 0;
     virtual std::string Explain(const std::string& question) = 0;
 };
 

main/boards/common/esp32_camera.cc

@@ -95,6 +95,39 @@ bool Esp32Camera::Capture() {
     }
     return true;
 }
+bool Esp32Camera::SetHMirror(bool enabled) {
+    sensor_t *s = esp_camera_sensor_get();
+    if (s == nullptr) {
+        ESP_LOGE(TAG, "Failed to get camera sensor");
+        return false;
+    }
+    
+    esp_err_t err = s->set_hmirror(s, enabled);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set horizontal mirror: %d", err);
+        return false;
+    }
+    
+    ESP_LOGI(TAG, "Camera horizontal mirror set to: %s", enabled ? "enabled" : "disabled");
+    return true;
+}
+
+bool Esp32Camera::SetVFlip(bool enabled) {
+    sensor_t *s = esp_camera_sensor_get();
+    if (s == nullptr) {
+        ESP_LOGE(TAG, "Failed to get camera sensor");
+        return false;
+    }
+    
+    esp_err_t err = s->set_vflip(s, enabled);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set vertical flip: %d", err);
+        return false;
+    }
+    
+    ESP_LOGI(TAG, "Camera vertical flip set to: %s", enabled ? "enabled" : "disabled");
+    return true;
+}
 
 /**
  * @brief 将摄像头捕获的图像发送到远程服务器进行AI分析和解释

main/boards/common/esp32_camera.h

@@ -30,6 +30,9 @@ public:
 
     virtual void SetExplainUrl(const std::string& url, const std::string& token);
     virtual bool Capture();
+    // 翻转控制函数
+    virtual bool SetHMirror(bool enabled) override;
+    virtual bool SetVFlip(bool enabled) override;
     virtual std::string Explain(const std::string& question);
 };
 

main/boards/esp32s3-korvo2-v3/config.h

@@ -58,5 +58,24 @@
 
 #define DISPLAY_BACKLIGHT_PIN GPIO_NUM_NC
 #define DISPLAY_BACKLIGHT_OUTPUT_INVERT false
+/* Camera pins */
+#define CAMERA_PIN_PWDN -1
+#define CAMERA_PIN_RESET -1
+#define CAMERA_PIN_XCLK 40
+#define CAMERA_PIN_SIOD 17
+#define CAMERA_PIN_SIOC 18
 
+#define CAMERA_PIN_D7 39
+#define CAMERA_PIN_D6 41
+#define CAMERA_PIN_D5 42
+#define CAMERA_PIN_D4 12
+#define CAMERA_PIN_D3 3
+#define CAMERA_PIN_D2 14
+#define CAMERA_PIN_D1 47
+#define CAMERA_PIN_D0 13
+#define CAMERA_PIN_VSYNC 21
+#define CAMERA_PIN_HREF 38
+#define CAMERA_PIN_PCLK 11
+
+#define XCLK_FREQ_HZ 20000000
 #endif // _BOARD_CONFIG_H_

main/boards/esp32s3-korvo2-v3/esp32s3_korvo2_v3_board.cc

@@ -14,6 +14,7 @@
 #include <driver/i2c_master.h>
 #include <driver/spi_common.h>
 #include <wifi_station.h>
+#include "esp32_camera.h"
 
 #define TAG "esp32s3_korvo2_v3"
 
@@ -48,6 +49,7 @@ private:
     i2c_master_bus_handle_t i2c_bus_;
     LcdDisplay* display_;
     esp_io_expander_handle_t io_expander_ = NULL;
+    Esp32Camera* camera_;
 
     void InitializeI2c() {
         // Initialize I2C peripheral
@@ -225,6 +227,39 @@ private:
                                      });
     }
 
+    void InitializeCamera() {
+        // Open camera power
+
+        camera_config_t config = {};
+        config.ledc_channel = LEDC_CHANNEL_2;  // LEDC通道选择  用于生成XCLK时钟 但是S3不用
+        config.ledc_timer = LEDC_TIMER_2; // LEDC timer选择  用于生成XCLK时钟 但是S3不用
+        config.pin_d0 = CAMERA_PIN_D0;
+        config.pin_d1 = CAMERA_PIN_D1;
+        config.pin_d2 = CAMERA_PIN_D2;
+        config.pin_d3 = CAMERA_PIN_D3;
+        config.pin_d4 = CAMERA_PIN_D4;
+        config.pin_d5 = CAMERA_PIN_D5;
+        config.pin_d6 = CAMERA_PIN_D6;
+        config.pin_d7 = CAMERA_PIN_D7;
+        config.pin_xclk = CAMERA_PIN_XCLK;
+        config.pin_pclk = CAMERA_PIN_PCLK;
+        config.pin_vsync = CAMERA_PIN_VSYNC;
+        config.pin_href = CAMERA_PIN_HREF;
+        config.pin_sccb_sda = -1;   // 这里写-1 表示使用已经初始化的I2C接口
+        config.pin_sccb_scl = CAMERA_PIN_SIOC;
+        config.sccb_i2c_port = 1;
+        config.pin_pwdn = CAMERA_PIN_PWDN;
+        config.pin_reset = CAMERA_PIN_RESET;
+        config.xclk_freq_hz = XCLK_FREQ_HZ;
+        config.pixel_format = PIXFORMAT_RGB565;
+        config.frame_size = FRAMESIZE_VGA;
+        config.jpeg_quality = 12;
+        config.fb_count = 1;
+        config.fb_location = CAMERA_FB_IN_PSRAM;
+        config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
+
+        camera_ = new Esp32Camera(config);
+    }
     // 物联网初始化，添加对 AI 可见设备
     void InitializeIot() {
         auto& thing_manager = iot::ThingManager::GetInstance();
@@ -238,6 +273,7 @@ public:
         InitializeI2c();
         I2cDetect();
         InitializeTca9554();
+        InitializeCamera();
         InitializeSpi();
         InitializeButtons();
         #ifdef LCD_TYPE_ILI9341_SERIAL
@@ -268,6 +304,9 @@ public:
     virtual Display *GetDisplay() override {
         return display_;
     }
+    virtual Camera* GetCamera() override {
+        return camera_;
+    }
 };
 
 DECLARE_BOARD(Esp32S3Korvo2V3Board);

main/boards/kevin-sp-v3-dev/config.h

@@ -41,5 +41,24 @@
 
 #define ML307_RX_PIN GPIO_NUM_12
 #define ML307_TX_PIN GPIO_NUM_13
+/* Camera pins */
+#define CAMERA_PIN_PWDN -1
+#define CAMERA_PIN_RESET -1
+#define CAMERA_PIN_XCLK 15
+#define CAMERA_PIN_SIOD 4
+#define CAMERA_PIN_SIOC 5
 
+#define CAMERA_PIN_D7 16
+#define CAMERA_PIN_D6 17
+#define CAMERA_PIN_D5 18
+#define CAMERA_PIN_D4 12
+#define CAMERA_PIN_D3 10
+#define CAMERA_PIN_D2 8
+#define CAMERA_PIN_D1 9
+#define CAMERA_PIN_D0 11
+#define CAMERA_PIN_VSYNC 6
+#define CAMERA_PIN_HREF 7
+#define CAMERA_PIN_PCLK 13
+
+#define XCLK_FREQ_HZ 20000000
 #endif // _BOARD_CONFIG_H_

main/boards/kevin-sp-v3-dev/kevin-sp-v3_board.cc

@@ -14,6 +14,7 @@
 #include <esp_lcd_panel_vendor.h>
 #include <driver/i2c_master.h>
 #include <wifi_station.h>
+#include "esp32_camera.h"
 
 #define TAG "kevin-sp-v3"
 
@@ -27,6 +28,7 @@ private:
     i2c_master_bus_handle_t display_i2c_bus_;
     Button boot_button_;
     LcdDisplay* display_;
+    Esp32Camera* camera_;
 
     void InitializeSpi() {
         spi_bus_config_t buscfg = {};
@@ -91,6 +93,39 @@ private:
                             });
     }
 
+    void InitializeCamera() {
+        // Open camera power
+
+        camera_config_t config = {};
+        config.ledc_channel = LEDC_CHANNEL_2;  // LEDC通道选择  用于生成XCLK时钟 但是S3不用
+        config.ledc_timer = LEDC_TIMER_2; // LEDC timer选择  用于生成XCLK时钟 但是S3不用
+        config.pin_d0 = CAMERA_PIN_D0;
+        config.pin_d1 = CAMERA_PIN_D1;
+        config.pin_d2 = CAMERA_PIN_D2;
+        config.pin_d3 = CAMERA_PIN_D3;
+        config.pin_d4 = CAMERA_PIN_D4;
+        config.pin_d5 = CAMERA_PIN_D5;
+        config.pin_d6 = CAMERA_PIN_D6;
+        config.pin_d7 = CAMERA_PIN_D7;
+        config.pin_xclk = CAMERA_PIN_XCLK;
+        config.pin_pclk = CAMERA_PIN_PCLK;
+        config.pin_vsync = CAMERA_PIN_VSYNC;
+        config.pin_href = CAMERA_PIN_HREF;
+        config.pin_sccb_sda = CAMERA_PIN_SIOD;   // 这里写-1 表示使用已经初始化的I2C接口
+        config.pin_sccb_scl = CAMERA_PIN_SIOC;
+        config.sccb_i2c_port = 1;
+        config.pin_pwdn = CAMERA_PIN_PWDN;
+        config.pin_reset = CAMERA_PIN_RESET;
+        config.xclk_freq_hz = XCLK_FREQ_HZ;
+        config.pixel_format = PIXFORMAT_RGB565;
+        config.frame_size = FRAMESIZE_VGA;
+        config.jpeg_quality = 12;
+        config.fb_count = 1;
+        config.fb_location = CAMERA_FB_IN_PSRAM;
+        config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
+
+        camera_ = new Esp32Camera(config);
+    }
     // 物联网初始化，添加对 AI 可见设备
     void InitializeIot() {
         auto& thing_manager = iot::ThingManager::GetInstance();
@@ -100,14 +135,12 @@ private:
     }
 
 public:
-    KEVIN_SP_V3Board() : 
+    KEVIN_SP_V3Board() :  boot_button_(BOOT_BUTTON_GPIO) {
-    // Ml307Board(ML307_TX_PIN, ML307_RX_PIN, 4096),
-    boot_button_(BOOT_BUTTON_GPIO) {
         ESP_LOGI(TAG, "Initializing KEVIN_SP_V3 Board");
-
         InitializeSpi();
         InitializeButtons();
         InitializeSt7789Display();  
+        InitializeCamera();
         InitializeIot();
         GetBacklight()->RestoreBrightness();
     }
@@ -132,6 +165,10 @@ public:
         static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
         return &backlight;
     }
+    
+    virtual Camera* GetCamera() override {
+        return camera_;
+    }
 };
 
 DECLARE_BOARD(KEVIN_SP_V3Board);

main/boards/kevin-sp-v4-dev/config.h

@@ -42,5 +42,25 @@
 
 #define ML307_RX_PIN GPIO_NUM_12
 #define ML307_TX_PIN GPIO_NUM_13
+/* Camera pins */
+#define CAMERA_PIN_PWDN -1
+#define CAMERA_PIN_RESET -1
+#define CAMERA_PIN_XCLK 15
+#define CAMERA_PIN_SIOD 4
+#define CAMERA_PIN_SIOC 5
+
+#define CAMERA_PIN_D7 16
+#define CAMERA_PIN_D6 17
+#define CAMERA_PIN_D5 18
+#define CAMERA_PIN_D4 12
+#define CAMERA_PIN_D3 10
+#define CAMERA_PIN_D2 8
+#define CAMERA_PIN_D1 9
+#define CAMERA_PIN_D0 11
+#define CAMERA_PIN_VSYNC 6
+#define CAMERA_PIN_HREF 7
+#define CAMERA_PIN_PCLK 13
+
+#define XCLK_FREQ_HZ 20000000
 
 #endif // _BOARD_CONFIG_H_

main/boards/kevin-sp-v4-dev/kevin-sp-v4_board.cc

@@ -12,6 +12,7 @@
 #include <esp_lcd_panel_vendor.h>
 #include <driver/i2c_master.h>
 #include <wifi_station.h>
+#include "esp32_camera.h"
 
 #define TAG "kevin-sp-v4"
 
@@ -24,10 +25,11 @@ private:
     Button boot_button_;
     LcdDisplay* display_;
     i2c_master_bus_handle_t codec_i2c_bus_;
+    Esp32Camera* camera_;
     void InitializeCodecI2c() {
         // Initialize I2C peripheral
         i2c_master_bus_config_t i2c_bus_cfg = {
-            .i2c_port = I2C_NUM_0,
+            .i2c_port = I2C_NUM_1,
             .sda_io_num = AUDIO_CODEC_I2C_SDA_PIN,
             .scl_io_num = AUDIO_CODEC_I2C_SCL_PIN,
             .clk_source = I2C_CLK_SRC_DEFAULT,
@@ -104,6 +106,39 @@ private:
                             });
     }
 
+    void InitializeCamera() {
+        // Open camera power
+
+        camera_config_t config = {};
+        config.ledc_channel = LEDC_CHANNEL_2;  // LEDC通道选择  用于生成XCLK时钟 但是S3不用
+        config.ledc_timer = LEDC_TIMER_2; // LEDC timer选择  用于生成XCLK时钟 但是S3不用
+        config.pin_d0 = CAMERA_PIN_D0;
+        config.pin_d1 = CAMERA_PIN_D1;
+        config.pin_d2 = CAMERA_PIN_D2;
+        config.pin_d3 = CAMERA_PIN_D3;
+        config.pin_d4 = CAMERA_PIN_D4;
+        config.pin_d5 = CAMERA_PIN_D5;
+        config.pin_d6 = CAMERA_PIN_D6;
+        config.pin_d7 = CAMERA_PIN_D7;
+        config.pin_xclk = CAMERA_PIN_XCLK;
+        config.pin_pclk = CAMERA_PIN_PCLK;
+        config.pin_vsync = CAMERA_PIN_VSYNC;
+        config.pin_href = CAMERA_PIN_HREF;
+        config.pin_sccb_sda = -1;   // 这里写-1 表示使用已经初始化的I2C接口
+        config.pin_sccb_scl = CAMERA_PIN_SIOC;
+        config.sccb_i2c_port = 1;
+        config.pin_pwdn = CAMERA_PIN_PWDN;
+        config.pin_reset = CAMERA_PIN_RESET;
+        config.xclk_freq_hz = XCLK_FREQ_HZ;
+        config.pixel_format = PIXFORMAT_RGB565;
+        config.frame_size = FRAMESIZE_VGA;
+        config.jpeg_quality = 12;
+        config.fb_count = 1;
+        config.fb_location = CAMERA_FB_IN_PSRAM;
+        config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
+
+        camera_ = new Esp32Camera(config);
+    }
     // 物联网初始化，添加对 AI 可见设备
     void InitializeIot() {
         auto& thing_manager = iot::ThingManager::GetInstance();
@@ -119,6 +154,7 @@ public:
         InitializeSpi();
         InitializeButtons();
         InitializeSt7789Display();  
+        InitializeCamera();
         InitializeIot();
         GetBacklight()->RestoreBrightness();
     }
@@ -144,6 +180,10 @@ public:
         static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
         return &backlight;
     }
+    
+    virtual Camera* GetCamera() override {
+        return camera_;
+    }
 };
 
 DECLARE_BOARD(KEVIN_SP_V4Board);