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

Co-authored-by: lvhaiyu <[email protected]>

Author: laride

main/boards/common/esp32_camera.cc

@@ -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) {
-        preview_image_.header.w = 640;
-        preview_image_.header.h = 480;
-    } else if (config.frame_size == FRAMESIZE_QVGA) {
-        preview_image_.header.w = 320;
-        preview_image_.header.h = 240;
+    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;
+            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);

main/boards/esp-sparkbot/config.h

@@ -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_

main/boards/esp-sparkbot/esp_sparkbot_board.cc

@@ -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 @@ class EspSparkBot : public WifiBoard {
     i2c_master_bus_handle_t i2c_bus_;
     Button boot_button_;
     Display* display_;
+    Esp32Camera* camera_;
 
     void InitializeI2c() {
         // Initialize I2C peripheral
@@ -122,6 +125,44 @@ class EspSparkBot : public WifiBoard {
                                     });
     }
 
+    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 @@ class EspSparkBot : public WifiBoard {
         InitializeDisplay();
         InitializeButtons();
         InitializeIot();
+        InitializeCamera();
         GetBacklight()->RestoreBrightness();
     }
 
@@ -155,6 +197,10 @@ class EspSparkBot : public WifiBoard {
         static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
         return &backlight;
     }
+
+    virtual Camera* GetCamera() override {
+        return camera_;
+    }
 };
 
 DECLARE_BOARD(EspSparkBot);