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feat: add camera functions (ESP-SparkBot) (#687)

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Co-authored-by: lvhaiyu <lvhaiyu@espressif.com>
This commit is contained in:
laride
2025-05-27 11:48:31 +08:00
committed by GitHub
parent 391aa74abe
commit 2b553ce6ff
3 changed files with 112 additions and 7 deletions
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37
main/boards/common/esp32_camera.cc
View File

@@ -30,13 +30,34 @@ Esp32Camera::Esp32Camera(const camera_config_t& config) {
preview_image_.header.cf = LV_COLOR_FORMAT_RGB565;
preview_image_.header.flags = LV_IMAGE_FLAGS_ALLOCATED | LV_IMAGE_FLAGS_MODIFIABLE;
if (config.frame_size == FRAMESIZE_VGA) {
switch (config.frame_size) {
case FRAMESIZE_SVGA:
preview_image_.header.w = 800;
preview_image_.header.h = 600;
break;
case FRAMESIZE_VGA:
preview_image_.header.w = 640;
preview_image_.header.h = 480;
} else if (config.frame_size == FRAMESIZE_QVGA) {
break;
case FRAMESIZE_QVGA:
preview_image_.header.w = 320;
preview_image_.header.h = 240;
break;
case FRAMESIZE_128X128:
preview_image_.header.w = 128;
preview_image_.header.h = 128;
break;
case FRAMESIZE_240X240:
preview_image_.header.w = 240;
preview_image_.header.h = 240;
break;
default:
ESP_LOGE(TAG, "Unsupported frame size: %d, image preview will not be shown", config.frame_size);
preview_image_.data_size = 0;
preview_image_.data = nullptr;
return;
}
preview_image_.header.stride = preview_image_.header.w * 2;
preview_image_.data_size = preview_image_.header.w * preview_image_.header.h * 2;
preview_image_.data = (uint8_t*)heap_caps_malloc(preview_image_.data_size, MALLOC_CAP_SPIRAM);
@@ -81,6 +102,16 @@ bool Esp32Camera::Capture() {
}
}
// 如果预览图片 buffer 为空，则跳过预览
// 但仍返回 true，因为此时图像可以上传至服务器
if (preview_image_.data_size == 0) {
ESP_LOGW(TAG, "Skip preview because of unsupported frame size");
return true;
}
if (preview_image_.data == nullptr) {
ESP_LOGE(TAG, "Preview image data is not initialized");
return true;
}
// 显示预览图片
auto display = Board::GetInstance().GetDisplay();
if (display != nullptr) {
@@ -169,7 +200,7 @@ std::string Esp32Camera::Explain(const std::string& question) {
frame2jpg_cb(fb_, 80, [](void* arg, size_t index, const void* data, size_t len) -> unsigned int {
auto jpeg_queue = (QueueHandle_t)arg;
JpegChunk chunk = {
.data = (uint8_t*)heap_caps_malloc(len, MALLOC_CAP_SPIRAM),
.data = (uint8_t*)heap_caps_aligned_alloc(16, len, MALLOC_CAP_SPIRAM),
.len = len
};
memcpy(chunk.data, data, len);

28
main/boards/esp-sparkbot/config.h
View File

@@ -68,4 +68,32 @@ typedef enum {
LIGHT_MODE_MAX
} light_mode_t;
/* Camera PINs*/
#define SPARKBOT_CAMERA_XCLK (GPIO_NUM_15)
#define SPARKBOT_CAMERA_PCLK (GPIO_NUM_13)
#define SPARKBOT_CAMERA_VSYNC (GPIO_NUM_6)
#define SPARKBOT_CAMERA_HSYNC (GPIO_NUM_7)
#define SPARKBOT_CAMERA_D0 (GPIO_NUM_11)
#define SPARKBOT_CAMERA_D1 (GPIO_NUM_9)
#define SPARKBOT_CAMERA_D2 (GPIO_NUM_8)
#define SPARKBOT_CAMERA_D3 (GPIO_NUM_10)
#define SPARKBOT_CAMERA_D4 (GPIO_NUM_12)
#define SPARKBOT_CAMERA_D5 (GPIO_NUM_18)
#define SPARKBOT_CAMERA_D6 (GPIO_NUM_17)
#define SPARKBOT_CAMERA_D7 (GPIO_NUM_16)
#define SPARKBOT_CAMERA_PWDN (GPIO_NUM_NC)
#define SPARKBOT_CAMERA_RESET (GPIO_NUM_NC)
#define SPARKBOT_CAMERA_XCLK (GPIO_NUM_15)
#define SPARKBOT_CAMERA_PCLK (GPIO_NUM_13)
#define SPARKBOT_CAMERA_VSYNC (GPIO_NUM_6)
#define SPARKBOT_CAMERA_HSYNC (GPIO_NUM_7)
#define SPARKBOT_CAMERA_XCLK_FREQ (16000000)
#define SPARKBOT_LEDC_TIMER (LEDC_TIMER_0)
#define SPARKBOT_LEDC_CHANNEL (LEDC_CHANNEL_0)
#define SPARKBOT_CAMERA_SIOD (GPIO_NUM_NC)
#define SPARKBOT_CAMERA_SIOC (GPIO_NUM_NC)
#endif // _BOARD_CONFIG_H_

46
main/boards/esp-sparkbot/esp_sparkbot_board.cc
View File

@@ -13,6 +13,8 @@
#include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include "esp32_camera.h"
#define TAG "esp_sparkbot"
LV_FONT_DECLARE(font_puhui_20_4);
@@ -45,6 +47,7 @@ private:
i2c_master_bus_handle_t i2c_bus_;
Button boot_button_;
Display* display_;
Esp32Camera* camera_;
void InitializeI2c() {
// Initialize I2C peripheral
@@ -122,6 +125,44 @@ private:
});
}
void InitializeCamera() {
camera_config_t camera_config = {};
camera_config.pin_pwdn = SPARKBOT_CAMERA_PWDN;
camera_config.pin_reset = SPARKBOT_CAMERA_RESET;
camera_config.pin_xclk = SPARKBOT_CAMERA_XCLK;
camera_config.pin_pclk = SPARKBOT_CAMERA_PCLK;
camera_config.pin_sscb_sda = SPARKBOT_CAMERA_SIOD;
camera_config.pin_sscb_scl = SPARKBOT_CAMERA_SIOC;
camera_config.pin_d0 = SPARKBOT_CAMERA_D0;
camera_config.pin_d1 = SPARKBOT_CAMERA_D1;
camera_config.pin_d2 = SPARKBOT_CAMERA_D2;
camera_config.pin_d3 = SPARKBOT_CAMERA_D3;
camera_config.pin_d4 = SPARKBOT_CAMERA_D4;
camera_config.pin_d5 = SPARKBOT_CAMERA_D5;
camera_config.pin_d6 = SPARKBOT_CAMERA_D6;
camera_config.pin_d7 = SPARKBOT_CAMERA_D7;
camera_config.pin_vsync = SPARKBOT_CAMERA_VSYNC;
camera_config.pin_href = SPARKBOT_CAMERA_HSYNC;
camera_config.pin_pclk = SPARKBOT_CAMERA_PCLK;
camera_config.xclk_freq_hz = SPARKBOT_CAMERA_XCLK_FREQ;
camera_config.ledc_timer = SPARKBOT_LEDC_TIMER;
camera_config.ledc_channel = SPARKBOT_LEDC_CHANNEL;
camera_config.fb_location = CAMERA_FB_IN_PSRAM;
camera_config.sccb_i2c_port = I2C_NUM_0;
camera_config.pixel_format = PIXFORMAT_RGB565;
camera_config.frame_size = FRAMESIZE_240X240;
camera_config.jpeg_quality = 12;
camera_config.fb_count = 1;
camera_config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
camera_ = new Esp32Camera(camera_config);
}
// 物联网初始化，添加对 AI 可见设备
void InitializeIot() {
auto& thing_manager = iot::ThingManager::GetInstance();
@@ -137,6 +178,7 @@ public:
InitializeDisplay();
InitializeButtons();
InitializeIot();
InitializeCamera();
GetBacklight()->RestoreBrightness();
}
@@ -155,6 +197,10 @@ public:
static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
return &backlight;
}
virtual Camera* GetCamera() override {
return camera_;
}
};
DECLARE_BOARD(EspSparkBot);