Horldsence
4f893ce140
两块 ESP32-S3-WROOM-1-N16R8 图传板（DVP 接口接 OV2640/OV3660/OV5640）， 向队伍客户端与裁判终端推 UDP 图传。固件是跑在 ESP-IDF 上的 Rust，用官方 esp32-camera 组件采集；客户端是 Rust + Slint 桌面程序。 三个 crate 各自独立构建： . firmware，交叉编译到 Xtensa protocol/ 线路格式与帧重组，两端共用，无 ESP-IDF 依赖，有单元测试 client/ Slint 桌面客户端 视频走 UDP 而非 TCP：实测传感器产出 22 fps，TCP MJPEG 只送出 1.9 fps， 且只占用链路能力的 1%——链路是空的，帧堵在队头阻塞后面等一个实时画面 等不起的重传计时器。改为独立数据报、不重传、缺片丢整帧后达到 20.8 fps。 发现是双向的：板子每 2 秒广播 Hello，客户端广播 Subscribe，板子据此定向 推流。板子身份由 MAC 派生，重启不变，所以客户端可以把绑定存进配置。 裁判端同时收两块板子（每个发送方一个重组器），队伍端绑定其中一块并只显示 自己那一边的血量。装甲板接口已预留（ArmorSource trait + ARMOR_PORT）， 当前无数据源，界面显示占位符。 vendor 了 esp32-camera 2.1.7：组件注册表的版本求解器找不到它，且需要打一处 补丁（见 components/esp32-camera/target/esp32s3/ll_cam.c）。 .gitignore 三条 target/ 都锚定在根目录，因为 protocol/ 与 client/ 各自也是 独立 crate；而 components/esp32-camera/target/ 是上游的按芯片分目录，里面是 源码，必须保留。
853 lines
32 KiB
C
853 lines
32 KiB
C
// 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 <stdalign.h>
|
||
#include "esp_heap_caps.h"
|
||
#include "freertos/FreeRTOS.h"
|
||
#include "freertos/task.h"
|
||
#include "ll_cam.h"
|
||
#include "cam_hal.h"
|
||
|
||
#if (ESP_IDF_VERSION_MAJOR == 3) && (ESP_IDF_VERSION_MINOR == 3)
|
||
#include "rom/ets_sys.h"
|
||
#else
|
||
#include "esp_timer.h"
|
||
#include "esp_cache.h"
|
||
#include "hal/cache_hal.h"
|
||
#include "hal/cache_ll.h"
|
||
#include "esp_idf_version.h"
|
||
#ifndef ESP_CACHE_MSYNC_FLAG_DIR_M2C
|
||
#define ESP_CACHE_MSYNC_FLAG_DIR_M2C 0
|
||
#endif
|
||
#if CONFIG_IDF_TARGET_ESP32
|
||
#include "esp32/rom/ets_sys.h" // will be removed in idf v5.0
|
||
#elif CONFIG_IDF_TARGET_ESP32S2
|
||
#include "esp32s2/rom/ets_sys.h"
|
||
#elif CONFIG_IDF_TARGET_ESP32S3
|
||
#include "esp32s3/rom/ets_sys.h"
|
||
#endif
|
||
#endif // ESP_IDF_VERSION_MAJOR
|
||
|
||
#if CONFIG_LOG_DEFAULT_LEVEL_NONE
|
||
#define ESP_CAMERA_ETS_PRINTF(f, ...)
|
||
#else
|
||
#define ESP_CAMERA_ETS_PRINTF(f, ...) ets_printf(f, ##__VA_ARGS__)
|
||
#endif
|
||
|
||
#if CONFIG_CAMERA_TASK_STACK_SIZE
|
||
#define CAM_TASK_STACK CONFIG_CAMERA_TASK_STACK_SIZE
|
||
#else
|
||
#define CAM_TASK_STACK (4*1024)
|
||
#endif
|
||
|
||
static const char *TAG = "cam_hal";
|
||
static cam_obj_t *cam_obj = NULL;
|
||
#if defined(CONFIG_CAMERA_PSRAM_DMA)
|
||
#define CAMERA_PSRAM_DMA_ENABLED CONFIG_CAMERA_PSRAM_DMA
|
||
#else
|
||
#define CAMERA_PSRAM_DMA_ENABLED 0
|
||
#endif
|
||
|
||
static volatile bool g_psram_dma_mode = CAMERA_PSRAM_DMA_ENABLED;
|
||
static portMUX_TYPE g_psram_dma_lock = portMUX_INITIALIZER_UNLOCKED;
|
||
|
||
/* At top of cam_hal.c – one switch for noisy ISR prints */
|
||
#ifndef CAM_LOG_SPAM_EVERY_FRAME
|
||
#define CAM_LOG_SPAM_EVERY_FRAME 0 /* set to 1 to restore old behaviour */
|
||
#endif
|
||
|
||
/* Number of bytes copied to SRAM for SOI validation when capturing
|
||
* directly to PSRAM. Tunable to probe more of the frame start if needed. */
|
||
#ifndef CAM_SOI_PROBE_BYTES
|
||
#define CAM_SOI_PROBE_BYTES 32
|
||
#endif
|
||
/*
|
||
* PSRAM DMA may bypass the CPU cache. Always call esp_cache_msync() on
|
||
* PSRAM regions that the CPU will read so cached reads see the data written
|
||
* by DMA.
|
||
*/
|
||
|
||
static inline size_t dcache_line_size(void)
|
||
{
|
||
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
|
||
/* cache_hal_get_cache_line_size() added extra argument from IDF 5.2 */
|
||
return cache_hal_get_cache_line_size(CACHE_LL_LEVEL_EXT_MEM, CACHE_TYPE_DATA);
|
||
#else
|
||
/* Older releases only expose the ROM helper, all current targets
|
||
* have a 32‑byte DCache line */
|
||
return 32;
|
||
#endif
|
||
}
|
||
|
||
/*
|
||
* Invalidate CPU data cache lines that cover a region in PSRAM which
|
||
* has just been written by DMA. This guarantees subsequent CPU reads
|
||
* fetch the fresh data from PSRAM rather than stale cache contents.
|
||
* Both address and length are aligned to the data cache line size.
|
||
*/
|
||
static inline void cam_drop_psram_cache(void *addr, size_t len)
|
||
{
|
||
size_t line = dcache_line_size();
|
||
if (line == 0) {
|
||
line = 32; /* sane fallback */
|
||
}
|
||
uintptr_t start = (uintptr_t)addr & ~(line - 1);
|
||
size_t sync_len = (len + ((uintptr_t)addr - start) + line - 1) & ~(line - 1);
|
||
esp_cache_msync((void *)start, sync_len,
|
||
ESP_CACHE_MSYNC_FLAG_DIR_M2C | ESP_CACHE_MSYNC_FLAG_INVALIDATE);
|
||
}
|
||
|
||
/* Throttle repeated warnings printed from tight loops / ISRs.
|
||
*
|
||
* counter – static DRAM/IRAM uint16_t you pass in
|
||
* first – literal C string shown on first hit and as prefix of summaries
|
||
*/
|
||
#if CONFIG_LOG_DEFAULT_LEVEL >= 2
|
||
#define CAM_WARN_THROTTLE(counter, first) \
|
||
do { \
|
||
if (++(counter) == 1) { \
|
||
ESP_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: %s\r\n"), first); \
|
||
} else if ((counter) % 100 == 0) { \
|
||
ESP_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: %s - 100 additional misses\r\n"), first); \
|
||
} \
|
||
if ((counter) == 10000) (counter) = 1; \
|
||
} while (0)
|
||
#else
|
||
#define CAM_WARN_THROTTLE(counter, first) do { (void)(counter); } while (0)
|
||
#endif
|
||
|
||
/* JPEG markers (byte-order independent). */
|
||
static const uint8_t JPEG_SOI_MARKER[] = {0xFF, 0xD8, 0xFF}; /* SOI = FF D8 FF */
|
||
#define JPEG_SOI_MARKER_LEN (3)
|
||
static const uint8_t JPEG_EOI_BYTES[] = {0xFF, 0xD9}; /* EOI = FF D9 */
|
||
#define JPEG_EOI_MARKER_LEN (2)
|
||
|
||
/* Compute the scan window for JPEG EOI detection in PSRAM. */
|
||
static inline size_t eoi_probe_window(size_t half, size_t frame_len)
|
||
{
|
||
size_t w = half + (JPEG_EOI_MARKER_LEN - 1);
|
||
return w > frame_len ? frame_len : w;
|
||
}
|
||
|
||
static int cam_verify_jpeg_soi(const uint8_t *inbuf, uint32_t length)
|
||
{
|
||
static uint16_t warn_soi_miss_cnt = 0;
|
||
if (length < JPEG_SOI_MARKER_LEN) {
|
||
CAM_WARN_THROTTLE(warn_soi_miss_cnt,
|
||
"NO-SOI - JPEG start marker missing (len < 3b)");
|
||
return -1;
|
||
}
|
||
|
||
for (uint32_t i = 0; i <= length - JPEG_SOI_MARKER_LEN; i++) {
|
||
if (memcmp(&inbuf[i], JPEG_SOI_MARKER, JPEG_SOI_MARKER_LEN) == 0) {
|
||
//ESP_LOGW(TAG, "SOI: %d", (int) i);
|
||
return i;
|
||
}
|
||
}
|
||
|
||
CAM_WARN_THROTTLE(warn_soi_miss_cnt,
|
||
"NO-SOI - JPEG start marker missing");
|
||
return -1;
|
||
}
|
||
|
||
static int cam_verify_jpeg_eoi(const uint8_t *inbuf, uint32_t length, bool search_forward)
|
||
{
|
||
if (length < JPEG_EOI_MARKER_LEN) {
|
||
return -1;
|
||
}
|
||
|
||
if (search_forward) {
|
||
/* Scan forward to honor the earliest marker in the buffer. This avoids
|
||
* returning an EOI that belongs to a larger previous frame when the tail
|
||
* of that frame still resides in PSRAM. JPEG data is pseudo random, so
|
||
* the first marker byte appears rarely; test four positions per load to
|
||
* reduce memory traffic. */
|
||
const uint8_t *pat = JPEG_EOI_BYTES;
|
||
const uint32_t A = pat[0] * 0x01010101u;
|
||
const uint32_t ONE = 0x01010101u;
|
||
const uint32_t HIGH = 0x80808080u;
|
||
uint32_t i = 0;
|
||
while (i + 4 <= length) {
|
||
uint32_t w;
|
||
memcpy(&w, inbuf + i, 4); /* unaligned load is allowed */
|
||
uint32_t x = w ^ A; /* identify bytes equal to first marker byte */
|
||
uint32_t m = (~x & (x - ONE)) & HIGH; /* mask has high bit set for candidate bytes */
|
||
while (m) { /* handle only candidates to avoid unnecessary memcmp calls */
|
||
unsigned off = __builtin_ctz(m) >> 3;
|
||
uint32_t pos = i + off;
|
||
if (pos + JPEG_EOI_MARKER_LEN <= length &&
|
||
memcmp(inbuf + pos, pat, JPEG_EOI_MARKER_LEN) == 0) {
|
||
return pos;
|
||
}
|
||
m &= m - 1; /* clear processed candidate */
|
||
}
|
||
i += 4;
|
||
}
|
||
for (; i + JPEG_EOI_MARKER_LEN <= length; i++) {
|
||
if (memcmp(inbuf + i, pat, JPEG_EOI_MARKER_LEN) == 0) {
|
||
return i;
|
||
}
|
||
}
|
||
return -1;
|
||
}
|
||
|
||
const uint8_t *dptr = inbuf + length - JPEG_EOI_MARKER_LEN;
|
||
while (dptr >= inbuf) {
|
||
if (memcmp(dptr, JPEG_EOI_BYTES, JPEG_EOI_MARKER_LEN) == 0) {
|
||
return dptr - inbuf;
|
||
}
|
||
if (dptr == inbuf) {
|
||
break;
|
||
}
|
||
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;
|
||
#if CAM_LOG_SPAM_EVERY_FRAME
|
||
ESP_DRAM_LOGD(TAG, "EV-%s-OVF", cam_event==CAM_IN_SUC_EOF_EVENT ? "EOF" : "VSYNC");
|
||
#else
|
||
static uint16_t ovf_cnt = 0;
|
||
CAM_WARN_THROTTLE(ovf_cnt,
|
||
cam_event==CAM_IN_SUC_EOF_EVENT ? "EV-EOF-OVF" : "EV-VSYNC-OVF");
|
||
#endif
|
||
}
|
||
}
|
||
|
||
//Copy frame from DMA dma_buffer to frame 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_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: FB-OVF\r\n"));
|
||
ll_cam_stop(cam_obj);
|
||
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);
|
||
} else {
|
||
// stop if the next DMA copy would exceed the framebuffer slot
|
||
// size, since we're called only after the copy occurs
|
||
// This effectively reduces maximum usable frame buffer size
|
||
// by one DMA operation, as we can't predict here, if the next
|
||
// cam event will be a VSYNC
|
||
if (cnt + 1 >= cam_obj->frame_copy_cnt) {
|
||
ESP_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: DMA overflow\r\n"));
|
||
ll_cam_stop(cam_obj);
|
||
cam_obj->state = CAM_STATE_IDLE;
|
||
continue;
|
||
}
|
||
}
|
||
|
||
//Check for JPEG SOI in the first buffer. stop if not found
|
||
if (cam_obj->jpeg_mode && cnt == 0) {
|
||
if (cam_obj->psram_mode) {
|
||
/* dma_half_buffer_size already in BYTES (see ll_cam_memcpy()) */
|
||
size_t probe_len = cam_obj->dma_half_buffer_size;
|
||
/* clamp to avoid copying past the end of soi_probe */
|
||
if (probe_len > CAM_SOI_PROBE_BYTES) {
|
||
probe_len = CAM_SOI_PROBE_BYTES;
|
||
}
|
||
/* Invalidate cache lines for the DMA buffer before probing */
|
||
cam_drop_psram_cache(frame_buffer_event->buf, probe_len);
|
||
|
||
uint8_t soi_probe[CAM_SOI_PROBE_BYTES];
|
||
memcpy(soi_probe, frame_buffer_event->buf, probe_len);
|
||
int soi_off = cam_verify_jpeg_soi(soi_probe, probe_len);
|
||
if (soi_off != 0) {
|
||
static uint16_t warn_psram_soi_cnt = 0;
|
||
if (soi_off > 0) {
|
||
CAM_WARN_THROTTLE(warn_psram_soi_cnt,
|
||
"NO-SOI - JPEG start marker not at pos 0 (PSRAM)");
|
||
} else {
|
||
CAM_WARN_THROTTLE(warn_psram_soi_cnt,
|
||
"NO-SOI - JPEG start marker missing (PSRAM)");
|
||
}
|
||
ll_cam_stop(cam_obj);
|
||
cam_obj->state = CAM_STATE_IDLE;
|
||
continue;
|
||
}
|
||
} else {
|
||
int soi_off = cam_verify_jpeg_soi(frame_buffer_event->buf, frame_buffer_event->len);
|
||
if (soi_off != 0) {
|
||
static uint16_t warn_soi_bad_cnt = 0;
|
||
if (soi_off > 0) {
|
||
CAM_WARN_THROTTLE(warn_soi_bad_cnt,
|
||
"NO-SOI - JPEG start marker not at pos 0");
|
||
} else {
|
||
CAM_WARN_THROTTLE(warn_soi_bad_cnt,
|
||
"NO-SOI - JPEG start marker missing");
|
||
}
|
||
ll_cam_stop(cam_obj);
|
||
cam_obj->state = CAM_STATE_IDLE;
|
||
continue;
|
||
}
|
||
}
|
||
}
|
||
|
||
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_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: FB-OVF\r\n"));
|
||
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_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: FB-SIZE: %u != %u\r\n"), frame_buffer_event->len, (unsigned) 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_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: FBQ-SND\r\n"));
|
||
}
|
||
//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_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: FBQ-RCV\r\n"));
|
||
}
|
||
}
|
||
}
|
||
|
||
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(const camera_config_t *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
|
||
if (cam_obj->psram_mode) {
|
||
cam_obj->frame_copy_cnt++;
|
||
}
|
||
|
||
ESP_LOGI(TAG, "buffer_size: %d, half_buffer_size: %d, node_buffer_size: %d, node_cnt: %d, total_cnt: %d",
|
||
(int) cam_obj->dma_buffer_size, (int) cam_obj->dma_half_buffer_size, (int) cam_obj->dma_node_buffer_size,
|
||
(int) cam_obj->dma_node_cnt, (int) cam_obj->frame_copy_cnt);
|
||
|
||
cam_obj->dma_buffer = NULL;
|
||
cam_obj->dma = NULL;
|
||
|
||
cam_obj->frames = (cam_frame_t *)heap_caps_aligned_calloc(alignof(cam_frame_t), 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;
|
||
}
|
||
fb_size += cam_obj->dma_half_buffer_size;
|
||
}
|
||
|
||
/* Allocate memory for frame buffer */
|
||
size_t alloc_size = fb_size * sizeof(uint8_t) + dma_align;
|
||
uint32_t _caps = MALLOC_CAP_8BIT;
|
||
if (CAMERA_FB_IN_DRAM == config->fb_location) {
|
||
_caps |= MALLOC_CAP_INTERNAL;
|
||
} else {
|
||
_caps |= MALLOC_CAP_SPIRAM;
|
||
}
|
||
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;
|
||
ESP_LOGI(TAG, "Allocating %d Byte frame buffer in %s", alloc_size, _caps & MALLOC_CAP_SPIRAM ? "PSRAM" : "OnBoard RAM");
|
||
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 3, 0)
|
||
// In IDF v4.2 and earlier, memory returned by heap_caps_aligned_alloc must be freed using heap_caps_aligned_free.
|
||
// And heap_caps_aligned_free is deprecated on v4.3.
|
||
cam_obj->frames[x].fb.buf = (uint8_t *)heap_caps_aligned_alloc(16, alloc_size, _caps);
|
||
#else
|
||
cam_obj->frames[x].fb.buf = (uint8_t *)heap_caps_malloc(alloc_size, _caps);
|
||
#endif
|
||
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, (unsigned) 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);
|
||
if(NULL == cam_obj->dma_buffer) {
|
||
ESP_LOGE(TAG,"%s(%d): DMA buffer %d Byte malloc failed, the current largest free block:%d Byte", __FUNCTION__, __LINE__,
|
||
(int) cam_obj->dma_buffer_size, (int) heap_caps_get_largest_free_block(MALLOC_CAP_DMA));
|
||
return 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;
|
||
}
|
||
|
||
/* VSYNC polarity used by the next `cam_init()`, and the XCLK frequency the driver
|
||
* was last asked for.
|
||
*
|
||
* These are set through cam_set_vsync_invert() before esp_camera_init() and read
|
||
* back afterwards. The polarity in particular is not a free choice: a mismatch
|
||
* between the sensor's VSYNC level and what the LCD_CAM expects does not fail
|
||
* loudly, it just makes the driver latch frames on the wrong edge, which shows up
|
||
* as a valid but very low frame rate. esp32-camera defaults to inverting because
|
||
* most DVP sensors are active-low; a board that inverts VSYNC needs the other. */
|
||
static bool s_vsync_invert = true;
|
||
static int s_xclk_hz = 0;
|
||
|
||
void cam_set_vsync_invert(bool invert)
|
||
{
|
||
s_vsync_invert = invert;
|
||
}
|
||
|
||
bool cam_get_vsync_invert(void)
|
||
{
|
||
return s_vsync_invert;
|
||
}
|
||
|
||
void cam_set_xclk_hz(int hz)
|
||
{
|
||
s_xclk_hz = hz;
|
||
}
|
||
|
||
int cam_get_xclk_hz(void)
|
||
{
|
||
return s_xclk_hz;
|
||
}
|
||
|
||
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 = s_vsync_invert;
|
||
s_xclk_hz = (int)config->xclk_freq_hz;
|
||
|
||
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, uint16_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_CHECK_GOTO(ret == ESP_OK, "ll_cam_set_sample_mode failed", err);
|
||
|
||
cam_obj->jpeg_mode = config->pixel_format == PIXFORMAT_JPEG;
|
||
#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
|
||
cam_obj->psram_mode = g_psram_dma_mode;
|
||
#else
|
||
cam_obj->psram_mode = false;
|
||
#endif
|
||
ESP_LOGI(TAG, "PSRAM DMA mode %s", cam_obj->psram_mode ? "enabled" : "disabled");
|
||
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){
|
||
#ifdef CONFIG_CAMERA_JPEG_MODE_FRAME_SIZE_AUTO
|
||
cam_obj->recv_size = cam_obj->width * cam_obj->height / 5;
|
||
#else
|
||
cam_obj->recv_size = CONFIG_CAMERA_JPEG_MODE_FRAME_SIZE;
|
||
#endif
|
||
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(config);
|
||
CAM_CHECK_GOTO(ret == ESP_OK, "cam_dma_config failed", err);
|
||
|
||
size_t queue_size = cam_obj->dma_half_buffer_cnt - 1;
|
||
if (queue_size == 0) {
|
||
queue_size = 1;
|
||
}
|
||
cam_obj->event_queue = xQueueCreate(queue_size, 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", CAM_TASK_STACK, NULL, configMAX_PRIORITIES - 2, &cam_obj->task_handle, 0);
|
||
#elif CONFIG_CAMERA_CORE1
|
||
xTaskCreatePinnedToCore(cam_task, "cam_task", CAM_TASK_STACK, NULL, configMAX_PRIORITIES - 2, &cam_obj->task_handle, 1);
|
||
#else
|
||
xTaskCreate(cam_task, "cam_task", CAM_TASK_STACK, 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();
|
||
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);
|
||
}
|
||
|
||
ll_cam_deinit(cam_obj);
|
||
|
||
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);
|
||
}
|
||
|
||
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;
|
||
const TickType_t start = xTaskGetTickCount();
|
||
#if CONFIG_IDF_TARGET_ESP32S3
|
||
uint16_t dma_reset_counter = 0;
|
||
static const uint8_t MAX_GDMA_RESETS = 3;
|
||
#else
|
||
/* throttle repeated NULL frame warnings */
|
||
static uint16_t warn_null_cnt = 0;
|
||
#endif
|
||
/* throttle repeated NO-EOI warnings */
|
||
static uint16_t warn_eoi_miss_cnt = 0;
|
||
|
||
for (;;)
|
||
{
|
||
TickType_t elapsed = xTaskGetTickCount() - start; /* TickType_t is unsigned so rollover is safe */
|
||
if (elapsed >= timeout) {
|
||
ESP_LOGW(TAG, "Failed to get frame: timeout");
|
||
return NULL;
|
||
}
|
||
TickType_t remaining = timeout - elapsed;
|
||
|
||
if (xQueueReceive(cam_obj->frame_buffer_queue, (void *)&dma_buffer, remaining) == pdFALSE) {
|
||
continue;
|
||
}
|
||
|
||
if (!dma_buffer) {
|
||
/* Work-around for ESP32-S3 GDMA freeze when Wi-Fi STA starts.
|
||
* See esp32-camera commit 984999f (issue #620). */
|
||
#if CONFIG_IDF_TARGET_ESP32S3
|
||
if (dma_reset_counter < MAX_GDMA_RESETS) {
|
||
ll_cam_dma_reset(cam_obj);
|
||
dma_reset_counter++;
|
||
continue; /* retry with queue timeout */
|
||
}
|
||
if (dma_reset_counter == MAX_GDMA_RESETS) {
|
||
ESP_CAMERA_ETS_PRINTF(DRAM_STR("cam_hal: Giving up GDMA reset after %u tries\r\n"),
|
||
(unsigned) dma_reset_counter);
|
||
dma_reset_counter++; /* suppress further logs */
|
||
}
|
||
#else
|
||
/* Early warning for misbehaving sensors on other chips */
|
||
CAM_WARN_THROTTLE(warn_null_cnt,
|
||
"Unexpected NULL frame on " CONFIG_IDF_TARGET);
|
||
#endif
|
||
vTaskDelay(1); /* immediate yield once resets are done */
|
||
continue; /* go to top of loop */
|
||
}
|
||
|
||
if (cam_obj->jpeg_mode) {
|
||
/* find the end marker for JPEG. Data after that can be discarded */
|
||
int offset_e = -1;
|
||
if (cam_obj->psram_mode) {
|
||
/* Search forward from (JPEG_EOI_MARKER_LEN - 1) bytes before the final
|
||
* DMA block. We prefer forward search to pick the earliest EOI in the
|
||
* last DMA node, avoiding stale markers from a larger prior frame. */
|
||
size_t probe_len = eoi_probe_window(cam_obj->dma_node_buffer_size,
|
||
dma_buffer->len);
|
||
if (probe_len < JPEG_EOI_MARKER_LEN) {
|
||
goto skip_eoi_check;
|
||
}
|
||
uint8_t *probe_start = dma_buffer->buf + dma_buffer->len - probe_len;
|
||
cam_drop_psram_cache(probe_start, probe_len);
|
||
int off = cam_verify_jpeg_eoi(probe_start, probe_len, true);
|
||
if (off >= 0) {
|
||
offset_e = dma_buffer->len - probe_len + off;
|
||
}
|
||
} else {
|
||
offset_e = cam_verify_jpeg_eoi(dma_buffer->buf, dma_buffer->len, false);
|
||
}
|
||
|
||
if (offset_e >= 0) {
|
||
dma_buffer->len = offset_e + JPEG_EOI_MARKER_LEN;
|
||
if (cam_obj->psram_mode) {
|
||
/* DMA may bypass cache, ensure full frame is visible */
|
||
cam_drop_psram_cache(dma_buffer->buf, dma_buffer->len);
|
||
}
|
||
return dma_buffer;
|
||
}
|
||
|
||
skip_eoi_check:
|
||
|
||
CAM_WARN_THROTTLE(warn_eoi_miss_cnt,
|
||
"NO-EOI - JPEG end marker missing");
|
||
cam_give(dma_buffer);
|
||
continue; /* wait for another frame */
|
||
} else if (cam_obj->psram_mode &&
|
||
cam_obj->in_bytes_per_pixel != cam_obj->fb_bytes_per_pixel) {
|
||
/* currently used only for YUV to GRAYSCALE */
|
||
dma_buffer->len = ll_cam_memcpy(cam_obj, dma_buffer->buf, dma_buffer->buf, dma_buffer->len);
|
||
}
|
||
|
||
if (cam_obj->psram_mode) {
|
||
/* DMA may bypass cache, ensure full frame is visible to the app */
|
||
cam_drop_psram_cache(dma_buffer->buf, dma_buffer->len);
|
||
}
|
||
|
||
return dma_buffer;
|
||
}
|
||
}
|
||
|
||
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;
|
||
}
|
||
}
|
||
}
|
||
|
||
void cam_give_all(void) {
|
||
for (int x = 0; x < cam_obj->frame_cnt; x++) {
|
||
cam_obj->frames[x].en = 1;
|
||
}
|
||
}
|
||
|
||
bool cam_get_available_frames(void)
|
||
{
|
||
return 0 < uxQueueMessagesWaiting(cam_obj->frame_buffer_queue);
|
||
}
|
||
|
||
void cam_set_psram_mode(bool enable)
|
||
{
|
||
portENTER_CRITICAL(&g_psram_dma_lock);
|
||
g_psram_dma_mode = enable;
|
||
portEXIT_CRITICAL(&g_psram_dma_lock);
|
||
}
|
||
|
||
bool cam_get_psram_mode(void)
|
||
{
|
||
return g_psram_dma_mode;
|
||
}
|