You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
473 lines
17 KiB
473 lines
17 KiB
3 years ago
|
// Copyright 2010-2020 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 <string.h>
|
||
|
|
#include "esp_heap_caps.h"
|
||
|
|
#include "ll_cam.h"
|
||
|
|
#include "cam_hal.h"
|
||
|
|
|
||
|
|
static const char *TAG = "cam_hal";
|
||
|
|
|
||
|
|
static cam_obj_t *cam_obj = NULL;
|
||
|
|
|
||
|
|
static const uint32_t JPEG_SOI_MARKER = 0xFFD8FF; // written in little-endian for esp32
|
||
|
|
static const uint16_t JPEG_EOI_MARKER = 0xD9FF; // written in little-endian for esp32
|
||
|
|
|
||
|
|
static int cam_verify_jpeg_soi(const uint8_t *inbuf, uint32_t length)
|
||
|
|
{
|
||
|
|
uint32_t sig = *((uint32_t *)inbuf) & 0xFFFFFF;
|
||
|
|
if(sig != JPEG_SOI_MARKER) {
|
||
|
|
for (uint32_t i = 0; i < length; i++) {
|
||
|
|
sig = *((uint32_t *)(&inbuf[i])) & 0xFFFFFF;
|
||
|
|
if (sig == JPEG_SOI_MARKER) {
|
||
|
|
ESP_LOGW(TAG, "SOI: %d", i);
|
||
|
|
return i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
ESP_LOGW(TAG, "NO-SOI");
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int cam_verify_jpeg_eoi(const uint8_t *inbuf, uint32_t length)
|
||
|
|
{
|
||
|
|
int offset = -1;
|
||
|
|
uint8_t *dptr = (uint8_t *)inbuf + length - 2;
|
||
|
|
while (dptr > inbuf) {
|
||
|
|
uint16_t sig = *((uint16_t *)dptr);
|
||
|
|
if (JPEG_EOI_MARKER == sig) {
|
||
|
|
offset = dptr - inbuf;
|
||
|
|
//ESP_LOGW(TAG, "EOI: %d", length - (offset + 2));
|
||
|
|
return offset;
|
||
|
|
}
|
||
|
|
dptr--;
|
||
|
|
}
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
static bool cam_get_next_frame(int * frame_pos)
|
||
|
|
{
|
||
|
|
if(!cam_obj->frames[*frame_pos].en){
|
||
|
|
for (int x = 0; x < cam_obj->frame_cnt; x++) {
|
||
|
|
if (cam_obj->frames[x].en) {
|
||
|
|
*frame_pos = x;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
static bool cam_start_frame(int * frame_pos)
|
||
|
|
{
|
||
|
|
if (cam_get_next_frame(frame_pos)) {
|
||
|
|
if(ll_cam_start(cam_obj, *frame_pos)){
|
||
|
|
// Vsync the frame manually
|
||
|
|
ll_cam_do_vsync(cam_obj);
|
||
|
|
uint64_t us = (uint64_t)esp_timer_get_time();
|
||
|
|
cam_obj->frames[*frame_pos].fb.timestamp.tv_sec = us / 1000000UL;
|
||
|
|
cam_obj->frames[*frame_pos].fb.timestamp.tv_usec = us % 1000000UL;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
void IRAM_ATTR ll_cam_send_event(cam_obj_t *cam, cam_event_t cam_event, BaseType_t * HPTaskAwoken)
|
||
|
|
{
|
||
|
|
if (xQueueSendFromISR(cam->event_queue, (void *)&cam_event, HPTaskAwoken) != pdTRUE) {
|
||
|
|
ll_cam_stop(cam);
|
||
|
|
cam->state = CAM_STATE_IDLE;
|
||
|
|
ESP_EARLY_LOGE(TAG, "EV-OVF");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//Copy fram from DMA dma_buffer to fram dma_buffer
|
||
|
|
static void cam_task(void *arg)
|
||
|
|
{
|
||
|
|
int cnt = 0;
|
||
|
|
int frame_pos = 0;
|
||
|
|
cam_obj->state = CAM_STATE_IDLE;
|
||
|
|
cam_event_t cam_event = 0;
|
||
|
|
|
||
|
|
xQueueReset(cam_obj->event_queue);
|
||
|
|
|
||
|
|
while (1) {
|
||
|
|
xQueueReceive(cam_obj->event_queue, (void *)&cam_event, portMAX_DELAY);
|
||
|
|
DBG_PIN_SET(1);
|
||
|
|
switch (cam_obj->state) {
|
||
|
|
|
||
|
|
case CAM_STATE_IDLE: {
|
||
|
|
if (cam_event == CAM_VSYNC_EVENT) {
|
||
|
|
//DBG_PIN_SET(1);
|
||
|
|
if(cam_start_frame(&frame_pos)){
|
||
|
|
cam_obj->frames[frame_pos].fb.len = 0;
|
||
|
|
cam_obj->state = CAM_STATE_READ_BUF;
|
||
|
|
}
|
||
|
|
cnt = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case CAM_STATE_READ_BUF: {
|
||
|
|
camera_fb_t * frame_buffer_event = &cam_obj->frames[frame_pos].fb;
|
||
|
|
size_t pixels_per_dma = (cam_obj->dma_half_buffer_size * cam_obj->fb_bytes_per_pixel) / (cam_obj->dma_bytes_per_item * cam_obj->in_bytes_per_pixel);
|
||
|
|
|
||
|
|
if (cam_event == CAM_IN_SUC_EOF_EVENT) {
|
||
|
|
if(!cam_obj->psram_mode){
|
||
|
|
if (cam_obj->fb_size < (frame_buffer_event->len + pixels_per_dma)) {
|
||
|
|
ESP_LOGW(TAG, "FB-OVF");
|
||
|
|
ll_cam_stop(cam_obj);
|
||
|
|
DBG_PIN_SET(0);
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
frame_buffer_event->len += ll_cam_memcpy(cam_obj,
|
||
|
|
&frame_buffer_event->buf[frame_buffer_event->len],
|
||
|
|
&cam_obj->dma_buffer[(cnt % cam_obj->dma_half_buffer_cnt) * cam_obj->dma_half_buffer_size],
|
||
|
|
cam_obj->dma_half_buffer_size);
|
||
|
|
}
|
||
|
|
//Check for JPEG SOI in the first buffer. stop if not found
|
||
|
|
if (cam_obj->jpeg_mode && cnt == 0 && cam_verify_jpeg_soi(frame_buffer_event->buf, frame_buffer_event->len) != 0) {
|
||
|
|
ll_cam_stop(cam_obj);
|
||
|
|
cam_obj->state = CAM_STATE_IDLE;
|
||
|
|
}
|
||
|
|
cnt++;
|
||
|
|
|
||
|
|
} else if (cam_event == CAM_VSYNC_EVENT) {
|
||
|
|
//DBG_PIN_SET(1);
|
||
|
|
ll_cam_stop(cam_obj);
|
||
|
|
|
||
|
|
if (cnt || !cam_obj->jpeg_mode || cam_obj->psram_mode) {
|
||
|
|
if (cam_obj->jpeg_mode) {
|
||
|
|
if (!cam_obj->psram_mode) {
|
||
|
|
if (cam_obj->fb_size < (frame_buffer_event->len + pixels_per_dma)) {
|
||
|
|
ESP_LOGW(TAG, "FB-OVF");
|
||
|
|
cnt--;
|
||
|
|
} else {
|
||
|
|
frame_buffer_event->len += ll_cam_memcpy(cam_obj,
|
||
|
|
&frame_buffer_event->buf[frame_buffer_event->len],
|
||
|
|
&cam_obj->dma_buffer[(cnt % cam_obj->dma_half_buffer_cnt) * cam_obj->dma_half_buffer_size],
|
||
|
|
cam_obj->dma_half_buffer_size);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
cnt++;
|
||
|
|
}
|
||
|
|
|
||
|
|
cam_obj->frames[frame_pos].en = 0;
|
||
|
|
|
||
|
|
if (cam_obj->psram_mode) {
|
||
|
|
if (cam_obj->jpeg_mode) {
|
||
|
|
frame_buffer_event->len = cnt * cam_obj->dma_half_buffer_size;
|
||
|
|
} else {
|
||
|
|
frame_buffer_event->len = cam_obj->recv_size;
|
||
|
|
}
|
||
|
|
} else if (!cam_obj->jpeg_mode) {
|
||
|
|
if (frame_buffer_event->len != cam_obj->fb_size) {
|
||
|
|
cam_obj->frames[frame_pos].en = 1;
|
||
|
|
ESP_LOGE(TAG, "FB-SIZE: %u != %u", frame_buffer_event->len, cam_obj->fb_size);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
//send frame
|
||
|
|
if(!cam_obj->frames[frame_pos].en && xQueueSend(cam_obj->frame_buffer_queue, (void *)&frame_buffer_event, 0) != pdTRUE) {
|
||
|
|
//pop frame buffer from the queue
|
||
|
|
camera_fb_t * fb2 = NULL;
|
||
|
|
if(xQueueReceive(cam_obj->frame_buffer_queue, &fb2, 0) == pdTRUE) {
|
||
|
|
//push the new frame to the end of the queue
|
||
|
|
if (xQueueSend(cam_obj->frame_buffer_queue, (void *)&frame_buffer_event, 0) != pdTRUE) {
|
||
|
|
cam_obj->frames[frame_pos].en = 1;
|
||
|
|
ESP_LOGE(TAG, "FBQ-SND");
|
||
|
|
}
|
||
|
|
//free the popped buffer
|
||
|
|
cam_give(fb2);
|
||
|
|
} else {
|
||
|
|
//queue is full and we could not pop a frame from it
|
||
|
|
cam_obj->frames[frame_pos].en = 1;
|
||
|
|
ESP_LOGE(TAG, "FBQ-RCV");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if(!cam_start_frame(&frame_pos)){
|
||
|
|
cam_obj->state = CAM_STATE_IDLE;
|
||
|
|
} else {
|
||
|
|
cam_obj->frames[frame_pos].fb.len = 0;
|
||
|
|
}
|
||
|
|
cnt = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
DBG_PIN_SET(0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static lldesc_t * allocate_dma_descriptors(uint32_t count, uint16_t size, uint8_t * buffer)
|
||
|
|
{
|
||
|
|
lldesc_t *dma = (lldesc_t *)heap_caps_malloc(count * sizeof(lldesc_t), MALLOC_CAP_DMA);
|
||
|
|
if (dma == NULL) {
|
||
|
|
return dma;
|
||
|
|
}
|
||
|
|
|
||
|
|
for (int x = 0; x < count; x++) {
|
||
|
|
dma[x].size = size;
|
||
|
|
dma[x].length = 0;
|
||
|
|
dma[x].sosf = 0;
|
||
|
|
dma[x].eof = 0;
|
||
|
|
dma[x].owner = 1;
|
||
|
|
dma[x].buf = (buffer + size * x);
|
||
|
|
dma[x].empty = (uint32_t)&dma[(x + 1) % count];
|
||
|
|
}
|
||
|
|
return dma;
|
||
|
|
}
|
||
|
|
|
||
|
|
static esp_err_t cam_dma_config()
|
||
|
|
{
|
||
|
|
bool ret = ll_cam_dma_sizes(cam_obj);
|
||
|
|
if (0 == ret) {
|
||
|
|
return ESP_FAIL;
|
||
|
|
}
|
||
|
|
|
||
|
|
cam_obj->dma_node_cnt = (cam_obj->dma_buffer_size) / cam_obj->dma_node_buffer_size; // Number of DMA nodes
|
||
|
|
cam_obj->frame_copy_cnt = cam_obj->recv_size / cam_obj->dma_half_buffer_size; // Number of interrupted copies, ping-pong copy
|
||
|
|
|
||
|
|
ESP_LOGI(TAG, "buffer_size: %d, half_buffer_size: %d, node_buffer_size: %d, node_cnt: %d, total_cnt: %d",
|
||
|
|
cam_obj->dma_buffer_size, cam_obj->dma_half_buffer_size, cam_obj->dma_node_buffer_size, cam_obj->dma_node_cnt, cam_obj->frame_copy_cnt);
|
||
|
|
|
||
|
|
cam_obj->dma_buffer = NULL;
|
||
|
|
cam_obj->dma = NULL;
|
||
|
|
|
||
|
|
cam_obj->frames = (cam_frame_t *)heap_caps_calloc(1, cam_obj->frame_cnt * sizeof(cam_frame_t), MALLOC_CAP_DEFAULT);
|
||
|
|
CAM_CHECK(cam_obj->frames != NULL, "frames malloc failed", ESP_FAIL);
|
||
|
|
|
||
|
|
uint8_t dma_align = 0;
|
||
|
|
size_t fb_size = cam_obj->fb_size;
|
||
|
|
if (cam_obj->psram_mode) {
|
||
|
|
dma_align = ll_cam_get_dma_align(cam_obj);
|
||
|
|
if (cam_obj->fb_size < cam_obj->recv_size) {
|
||
|
|
fb_size = cam_obj->recv_size;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
for (int x = 0; x < cam_obj->frame_cnt; x++) {
|
||
|
|
cam_obj->frames[x].dma = NULL;
|
||
|
|
cam_obj->frames[x].fb_offset = 0;
|
||
|
|
cam_obj->frames[x].en = 0;
|
||
|
|
cam_obj->frames[x].fb.buf = (uint8_t *)heap_caps_malloc(fb_size * sizeof(uint8_t) + dma_align, MALLOC_CAP_SPIRAM);
|
||
|
|
CAM_CHECK(cam_obj->frames[x].fb.buf != NULL, "frame buffer malloc failed", ESP_FAIL);
|
||
|
|
if (cam_obj->psram_mode) {
|
||
|
|
//align PSRAM buffer. TODO: save the offset so proper address can be freed later
|
||
|
|
cam_obj->frames[x].fb_offset = dma_align - ((uint32_t)cam_obj->frames[x].fb.buf & (dma_align - 1));
|
||
|
|
cam_obj->frames[x].fb.buf += cam_obj->frames[x].fb_offset;
|
||
|
|
ESP_LOGI(TAG, "Frame[%d]: Offset: %u, Addr: 0x%08X", x, cam_obj->frames[x].fb_offset, (uint32_t)cam_obj->frames[x].fb.buf);
|
||
|
|
cam_obj->frames[x].dma = allocate_dma_descriptors(cam_obj->dma_node_cnt, cam_obj->dma_node_buffer_size, cam_obj->frames[x].fb.buf);
|
||
|
|
CAM_CHECK(cam_obj->frames[x].dma != NULL, "frame dma malloc failed", ESP_FAIL);
|
||
|
|
}
|
||
|
|
cam_obj->frames[x].en = 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!cam_obj->psram_mode) {
|
||
|
|
cam_obj->dma_buffer = (uint8_t *)heap_caps_malloc(cam_obj->dma_buffer_size * sizeof(uint8_t), MALLOC_CAP_DMA);
|
||
|
|
CAM_CHECK(cam_obj->dma_buffer != NULL, "dma_buffer malloc failed", ESP_FAIL);
|
||
|
|
|
||
|
|
cam_obj->dma = allocate_dma_descriptors(cam_obj->dma_node_cnt, cam_obj->dma_node_buffer_size, cam_obj->dma_buffer);
|
||
|
|
CAM_CHECK(cam_obj->dma != NULL, "dma malloc failed", ESP_FAIL);
|
||
|
|
}
|
||
|
|
|
||
|
|
return ESP_OK;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t cam_init(const camera_config_t *config)
|
||
|
|
{
|
||
|
|
CAM_CHECK(NULL != config, "config pointer is invalid", ESP_ERR_INVALID_ARG);
|
||
|
|
|
||
|
|
esp_err_t ret = ESP_OK;
|
||
|
|
cam_obj = (cam_obj_t *)heap_caps_calloc(1, sizeof(cam_obj_t), MALLOC_CAP_DMA);
|
||
|
|
CAM_CHECK(NULL != cam_obj, "lcd_cam object malloc error", ESP_ERR_NO_MEM);
|
||
|
|
|
||
|
|
cam_obj->swap_data = 0;
|
||
|
|
cam_obj->vsync_pin = config->pin_vsync;
|
||
|
|
cam_obj->vsync_invert = true;
|
||
|
|
|
||
|
|
ll_cam_set_pin(cam_obj, config);
|
||
|
|
ret = ll_cam_config(cam_obj, config);
|
||
|
|
CAM_CHECK_GOTO(ret == ESP_OK, "ll_cam initialize failed", err);
|
||
|
|
|
||
|
|
#if CAMERA_DBG_PIN_ENABLE
|
||
|
|
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[DBG_PIN_NUM], PIN_FUNC_GPIO);
|
||
|
|
gpio_set_direction(DBG_PIN_NUM, GPIO_MODE_OUTPUT);
|
||
|
|
gpio_set_pull_mode(DBG_PIN_NUM, GPIO_FLOATING);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
ESP_LOGI(TAG, "cam init ok");
|
||
|
|
return ESP_OK;
|
||
|
|
|
||
|
|
err:
|
||
|
|
free(cam_obj);
|
||
|
|
cam_obj = NULL;
|
||
|
|
return ESP_FAIL;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t cam_config(const camera_config_t *config, framesize_t frame_size, uint8_t sensor_pid)
|
||
|
|
{
|
||
|
|
CAM_CHECK(NULL != config, "config pointer is invalid", ESP_ERR_INVALID_ARG);
|
||
|
|
esp_err_t ret = ESP_OK;
|
||
|
|
|
||
|
|
ret = ll_cam_set_sample_mode(cam_obj, (pixformat_t)config->pixel_format, config->xclk_freq_hz, sensor_pid);
|
||
|
|
|
||
|
|
cam_obj->jpeg_mode = config->pixel_format == PIXFORMAT_JPEG;
|
||
|
|
#if CONFIG_IDF_TARGET_ESP32
|
||
|
|
cam_obj->psram_mode = false;
|
||
|
|
#else
|
||
|
|
cam_obj->psram_mode = (config->xclk_freq_hz == 16000000);
|
||
|
|
#endif
|
||
|
|
cam_obj->frame_cnt = config->fb_count;
|
||
|
|
cam_obj->width = resolution[frame_size].width;
|
||
|
|
cam_obj->height = resolution[frame_size].height;
|
||
|
|
|
||
|
|
if(cam_obj->jpeg_mode){
|
||
|
|
cam_obj->recv_size = cam_obj->width * cam_obj->height / 5;
|
||
|
|
cam_obj->fb_size = cam_obj->recv_size;
|
||
|
|
} else {
|
||
|
|
cam_obj->recv_size = cam_obj->width * cam_obj->height * cam_obj->in_bytes_per_pixel;
|
||
|
|
cam_obj->fb_size = cam_obj->width * cam_obj->height * cam_obj->fb_bytes_per_pixel;
|
||
|
|
}
|
||
|
|
|
||
|
|
ret = cam_dma_config();
|
||
|
|
CAM_CHECK_GOTO(ret == ESP_OK, "cam_dma_config failed", err);
|
||
|
|
|
||
|
|
cam_obj->event_queue = xQueueCreate(cam_obj->dma_half_buffer_cnt - 1, sizeof(cam_event_t));
|
||
|
|
CAM_CHECK_GOTO(cam_obj->event_queue != NULL, "event_queue create failed", err);
|
||
|
|
|
||
|
|
size_t frame_buffer_queue_len = cam_obj->frame_cnt;
|
||
|
|
if (config->grab_mode == CAMERA_GRAB_LATEST && cam_obj->frame_cnt > 1) {
|
||
|
|
frame_buffer_queue_len = cam_obj->frame_cnt - 1;
|
||
|
|
}
|
||
|
|
cam_obj->frame_buffer_queue = xQueueCreate(frame_buffer_queue_len, sizeof(camera_fb_t*));
|
||
|
|
CAM_CHECK_GOTO(cam_obj->frame_buffer_queue != NULL, "frame_buffer_queue create failed", err);
|
||
|
|
|
||
|
|
ret = ll_cam_init_isr(cam_obj);
|
||
|
|
CAM_CHECK_GOTO(ret == ESP_OK, "cam intr alloc failed", err);
|
||
|
|
|
||
|
|
|
||
|
|
#if CONFIG_CAMERA_CORE0
|
||
|
|
xTaskCreatePinnedToCore(cam_task, "cam_task", 2048, NULL, configMAX_PRIORITIES - 2, &cam_obj->task_handle, 0);
|
||
|
|
#elif CONFIG_CAMERA_CORE1
|
||
|
|
xTaskCreatePinnedToCore(cam_task, "cam_task", 2048, NULL, configMAX_PRIORITIES - 2, &cam_obj->task_handle, 1);
|
||
|
|
#else
|
||
|
|
xTaskCreate(cam_task, "cam_task", 2048, NULL, configMAX_PRIORITIES - 2, &cam_obj->task_handle);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
ESP_LOGI(TAG, "cam config ok");
|
||
|
|
return ESP_OK;
|
||
|
|
|
||
|
|
err:
|
||
|
|
cam_deinit();
|
||
|
|
return ESP_FAIL;
|
||
|
|
}
|
||
|
|
|
||
|
|
esp_err_t cam_deinit(void)
|
||
|
|
{
|
||
|
|
if (!cam_obj) {
|
||
|
|
return ESP_FAIL;
|
||
|
|
}
|
||
|
|
|
||
|
|
cam_stop();
|
||
|
|
gpio_isr_handler_remove(cam_obj->vsync_pin);
|
||
|
|
if (cam_obj->task_handle) {
|
||
|
|
vTaskDelete(cam_obj->task_handle);
|
||
|
|
}
|
||
|
|
if (cam_obj->event_queue) {
|
||
|
|
vQueueDelete(cam_obj->event_queue);
|
||
|
|
}
|
||
|
|
if (cam_obj->frame_buffer_queue) {
|
||
|
|
vQueueDelete(cam_obj->frame_buffer_queue);
|
||
|
|
}
|
||
|
|
if (cam_obj->dma) {
|
||
|
|
free(cam_obj->dma);
|
||
|
|
}
|
||
|
|
if (cam_obj->dma_buffer) {
|
||
|
|
free(cam_obj->dma_buffer);
|
||
|
|
}
|
||
|
|
if (cam_obj->frames) {
|
||
|
|
for (int x = 0; x < cam_obj->frame_cnt; x++) {
|
||
|
|
free(cam_obj->frames[x].fb.buf - cam_obj->frames[x].fb_offset);
|
||
|
|
if (cam_obj->frames[x].dma) {
|
||
|
|
free(cam_obj->frames[x].dma);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
free(cam_obj->frames);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (cam_obj->cam_intr_handle) {
|
||
|
|
esp_intr_free(cam_obj->cam_intr_handle);
|
||
|
|
}
|
||
|
|
|
||
|
|
free(cam_obj);
|
||
|
|
cam_obj = NULL;
|
||
|
|
return ESP_OK;
|
||
|
|
}
|
||
|
|
|
||
|
|
void cam_stop(void)
|
||
|
|
{
|
||
|
|
ll_cam_vsync_intr_enable(cam_obj, false);
|
||
|
|
ll_cam_stop(cam_obj);
|
||
|
|
}
|
||
|
|
|
||
|
|
void cam_start(void)
|
||
|
|
{
|
||
|
|
ll_cam_vsync_intr_enable(cam_obj, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
camera_fb_t *cam_take(TickType_t timeout)
|
||
|
|
{
|
||
|
|
camera_fb_t *dma_buffer = NULL;
|
||
|
|
TickType_t start = xTaskGetTickCount();
|
||
|
|
xQueueReceive(cam_obj->frame_buffer_queue, (void *)&dma_buffer, timeout);
|
||
|
|
if (dma_buffer) {
|
||
|
|
if(cam_obj->jpeg_mode){
|
||
|
|
// find the end marker for JPEG. Data after that can be discarded
|
||
|
|
int offset_e = cam_verify_jpeg_eoi(dma_buffer->buf, dma_buffer->len);
|
||
|
|
if (offset_e >= 0) {
|
||
|
|
// adjust buffer length
|
||
|
|
dma_buffer->len = offset_e + sizeof(JPEG_EOI_MARKER);
|
||
|
|
return dma_buffer;
|
||
|
|
} else {
|
||
|
|
ESP_LOGW(TAG, "NO-EOI");
|
||
|
|
cam_give(dma_buffer);
|
||
|
|
return cam_take(timeout - (xTaskGetTickCount() - start));//recurse!!!!
|
||
|
|
}
|
||
|
|
} else if(cam_obj->psram_mode && cam_obj->in_bytes_per_pixel != cam_obj->fb_bytes_per_pixel){
|
||
|
|
//currently this is used only for YUV to GRAYSCALE
|
||
|
|
dma_buffer->len = ll_cam_memcpy(cam_obj, dma_buffer->buf, dma_buffer->buf, dma_buffer->len);
|
||
|
|
}
|
||
|
|
return dma_buffer;
|
||
|
|
} else {
|
||
|
|
ESP_LOGI(TAG, "Failed to get the frame on time!");
|
||
|
|
}
|
||
|
|
return NULL;
|
||
|
|
}
|
||
|
|
|
||
|
|
void cam_give(camera_fb_t *dma_buffer)
|
||
|
|
{
|
||
|
|
for (int x = 0; x < cam_obj->frame_cnt; x++) {
|
||
|
|
if (&cam_obj->frames[x].fb == dma_buffer) {
|
||
|
|
cam_obj->frames[x].en = 1;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|