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Mayor improvements
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@cnadler86
cnadler86 committed Nov 10, 2024
1 parent 2b61a56 commit dbf1e3a
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Showing 4 changed files with 177 additions and 137 deletions.
21 changes: 13 additions & 8 deletions src/micropython.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,19 @@ target_sources(usermod_mp_camera INTERFACE
${CMAKE_CURRENT_LIST_DIR}/modcamera_api.c
)

target_include_directories(usermod_mp_camera INTERFACE
${CMAKE_CURRENT_LIST_DIR}
${IDF_PATH}/components/esp32-camera/driver/include
${IDF_PATH}/components/esp32-camera/driver/private_include
${IDF_PATH}/components/esp32-camera/conversions/include
${IDF_PATH}/components/esp32-camera/conversions/private_include
${IDF_PATH}/components/esp32-camera/sensors/private_include
)
if(EXISTS "${IDF_PATH}/components/esp32-camera")
target_include_directories(usermod_mp_camera INTERFACE
${CMAKE_CURRENT_LIST_DIR}
${IDF_PATH}/components/esp32-camera/driver/include
${IDF_PATH}/components/esp32-camera/driver/private_include
${IDF_PATH}/components/esp32-camera/conversions/include
${IDF_PATH}/components/esp32-camera/conversions/private_include
${IDF_PATH}/components/esp32-camera/sensors/private_include
)
else()
target_include_directories(usermod_mp_camera INTERFACE
${CMAKE_CURRENT_LIST_DIR})
endif()

if (MICROPY_CAMERA_MODEL)
target_compile_definitions(usermod_mp_camera INTERFACE MICROPY_CAMERA_MODEL_${MICROPY_CAMERA_MODEL}=1)
Expand Down
200 changes: 93 additions & 107 deletions src/modcamera.c
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,59 @@ static inline int get_mapped_jpeg_quality(int8_t quality) {
return map(quality, 0, 100, 63, 0);
}

static inline void check_init(mp_camera_obj_t *self) {
if (!self->initialized) {
mp_raise_OSError(ENOENT);
}
}

static void set_check_xclk_freq(mp_camera_obj_t *self, int32_t xclk_freq_hz) {
if ( xclk_freq_hz > 20000000) {
mp_raise_ValueError(MP_ERROR_TEXT("xclk frequency cannot be grather than 20MHz"));
} else {
self->camera_config.xclk_freq_hz = xclk_freq_hz;
}
}

static void set_check_fb_count(mp_camera_obj_t *self, int fb_count) {
if (fb_count > 2) {
self->camera_config.fb_count = 2;
mp_warning(NULL, "Frame buffer size limited to 2");
} else if (fb_count < 1) {
self->camera_config.fb_count = 1;
mp_warning(NULL, "Frame buffer size must be >0. Setting it to 1");
}
else {
self->camera_config.fb_count = fb_count;
}
}

static void set_check_grab_mode(mp_camera_obj_t *self, mp_camera_grabmode_t grab_mode) {
if (grab_mode != CAMERA_GRAB_WHEN_EMPTY && grab_mode != CAMERA_GRAB_LATEST) {
mp_raise_ValueError(MP_ERROR_TEXT("Invalid grab_mode"));
} else {
self->camera_config.grab_mode = grab_mode;
}
}

static void set_check_pixel_format(mp_camera_obj_t *self, mp_camera_pixformat_t pixel_format) {
if ( pixel_format > PIXFORMAT_RGB555) { //Maximal enum value, but validation should be better since wrong pixelformat leads to reboot.
mp_raise_ValueError(MP_ERROR_TEXT("Invalid pixel_format"));
} else {
self->camera_config.pixel_format = pixel_format;
}
}

static bool init_camera(mp_camera_obj_t *self) {
// Correct the quality before it is passed to esp32 driver and then "undo" the correction in the camera_config
int8_t api_jpeg_quality = self->camera_config.jpeg_quality;
self->camera_config.jpeg_quality = get_mapped_jpeg_quality(api_jpeg_quality);
esp_err_t err = esp_camera_init(&self->camera_config);
self->camera_config.jpeg_quality = api_jpeg_quality;
check_esp_err_(err);
return true;
}

// Camera HAL Funcitons
void mp_camera_hal_construct(
mp_camera_obj_t *self,
Expand All @@ -76,10 +129,6 @@ void mp_camera_hal_construct(
int8_t fb_count,
mp_camera_grabmode_t grab_mode) {
// configure camera based on arguments
self->camera_config.pixel_format = pixel_format;
self->camera_config.frame_size = frame_size;
// self->camera_config.jpeg_quality = (int8_t)map(jpeg_quality,0,100,63,0); //0-63 lower number means higher quality.
self->camera_config.jpeg_quality = jpeg_quality; //save value in here, but will be corrected (with map) before passing it to the esp32-driver
self->camera_config.pin_d0 = data_pins[0];
self->camera_config.pin_d1 = data_pins[1];
self->camera_config.pin_d2 = data_pins[2];
Expand All @@ -96,23 +145,14 @@ void mp_camera_hal_construct(
self->camera_config.pin_xclk = external_clock_pin;
self->camera_config.pin_sscb_sda = sccb_sda_pin;
self->camera_config.pin_sscb_scl = sccb_scl_pin;
if ( xclk_freq_hz > 20000000) {
mp_raise_ValueError(MP_ERROR_TEXT("xclk frequency cannot be grather than 20MHz"));
} else {
self->camera_config.xclk_freq_hz = xclk_freq_hz;
}

if (fb_count > 3) {
self->camera_config.fb_count = 3;
mp_warning(NULL, "Frame buffer size limited to 3");
} else if (fb_count < 1) {
self->camera_config.fb_count = 1;
mp_warning(NULL, "Frame buffer size must be >0. Setting it to 1");
}
else {
self->camera_config.fb_count = fb_count; //if more than one, i2s runs in continuous mode. TODO: Test with others than JPEG
}
self->camera_config.grab_mode = grab_mode;
self->camera_config.frame_size = frame_size;
self->camera_config.jpeg_quality = jpeg_quality; //save value in here, but will be corrected (with map) before passing it to the esp32-driver

set_check_pixel_format(self, pixel_format);
set_check_xclk_freq(self, xclk_freq_hz);
set_check_fb_count(self, fb_count);
set_check_grab_mode(self, grab_mode);

// defaul parameters
self->camera_config.fb_location = CAMERA_FB_IN_PSRAM;
Expand All @@ -133,19 +173,8 @@ void mp_camera_hal_init(mp_camera_obj_t *self) {
}
#endif
ESP_LOGI(TAG, "Initializing camera");
// Correct the quality before it is passed to esp32 driver and then "undo" the correction in the camera_config
int8_t api_jpeg_quality = self->camera_config.jpeg_quality;
self->camera_config.jpeg_quality = get_mapped_jpeg_quality(api_jpeg_quality);
esp_err_t err = esp_camera_init(&self->camera_config);
self->camera_config.jpeg_quality = api_jpeg_quality;
if (err != ESP_OK) {
self->initialized = false;
check_esp_err_(err);
return;
}
self->initialized = true;
self->initialized = init_camera(self);
ESP_LOGI(TAG, "Camera initialized successfully");
return;
}

void mp_camera_hal_deinit(mp_camera_obj_t *self) {
Expand All @@ -162,66 +191,30 @@ void mp_camera_hal_deinit(mp_camera_obj_t *self) {
}

void mp_camera_hal_reconfigure(mp_camera_obj_t *self, mp_camera_framesize_t frame_size, mp_camera_pixformat_t pixel_format, mp_camera_grabmode_t grab_mode, mp_int_t fb_count) {
if (self->initialized) {
ESP_LOGI(TAG, "Reconfiguring camera");
sensor_t *sensor = esp_camera_sensor_get();
camera_sensor_info_t *sensor_info = esp_camera_sensor_get_info(&sensor->id);

if (PIXFORMAT_JPEG == self->camera_config.pixel_format && (!sensor_info->support_jpeg)) {
mp_raise_NotImplementedError(MP_ERROR_TEXT("Sensor does not support JPEG"));
}
check_init(self);
ESP_LOGI(TAG, "Reconfiguring camera");

sensor_t *sensor = esp_camera_sensor_get();
camera_sensor_info_t *sensor_info = esp_camera_sensor_get_info(&sensor->id);
if (frame_size > sensor_info->max_size) {
mp_warning(NULL, "Frame size will be scaled down to maximal frame size supported by the camera sensor");
self->camera_config.frame_size = sensor_info->max_size;
} else {
self->camera_config.frame_size = frame_size;
}

if (frame_size > sensor_info->max_size) {
mp_warning(NULL, "Frame size will be scaled down to maximal frame size supported by the camera sensor");
self->camera_config.frame_size = sensor_info->max_size;
} else {
self->camera_config.frame_size = frame_size;
}
set_check_pixel_format(self, pixel_format);
set_check_grab_mode(self, grab_mode);
set_check_fb_count(self, fb_count);

if ( pixel_format > PIXFORMAT_RGB555) { //Maximal enum value, but validation should be better since wrong pixelformat leads to reboot.
mp_raise_ValueError(MP_ERROR_TEXT("Invalid pixel_format"));
} else {
self->camera_config.pixel_format = pixel_format;
}

if (grab_mode != CAMERA_GRAB_WHEN_EMPTY && grab_mode != CAMERA_GRAB_LATEST) {
mp_raise_ValueError(MP_ERROR_TEXT("Invalid grab_mode"));
} else {
self->camera_config.grab_mode = grab_mode;
}

if (fb_count > 2) {
self->camera_config.fb_count = 2;
mp_warning(NULL, "Frame buffer size limited to 2");
} else if (fb_count < 1) {
self->camera_config.fb_count = 1;
mp_warning(NULL, "Set to min frame buffer size of 1");
}
else {
self->camera_config.fb_count = fb_count;
}

check_esp_err_(esp_camera_deinit());

// Correct the quality before it is passed to esp32 driver and then "undo" the correction in the camera_config
int8_t api_jpeg_quality = self->camera_config.jpeg_quality;
self->camera_config.jpeg_quality = get_mapped_jpeg_quality(api_jpeg_quality);
esp_err_t err = esp_camera_init(&self->camera_config);
self->camera_config.jpeg_quality = api_jpeg_quality;

if (err != ESP_OK) {
self->initialized = false;
check_esp_err_(err);
} else {
ESP_LOGI(TAG, "Camera reconfigured successfully");
}
}
check_esp_err_(esp_camera_deinit());
self->initialized = false;
self->initialized = init_camera(self);
ESP_LOGI(TAG, "Camera reconfigured successfully");
}

mp_obj_t mp_camera_hal_capture(mp_camera_obj_t *self, int8_t out_format) {
if (!self->initialized) {
mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Failed to capture image: Camera not initialized"));
}
check_init(self);
if (self->captured_buffer) {
esp_camera_fb_return(self->captured_buffer);
self->captured_buffer = NULL;
Expand Down Expand Up @@ -306,7 +299,7 @@ mp_obj_t mp_camera_hal_capture(mp_camera_obj_t *self, int8_t out_format) {
return mp_const_none;
}
}
}
} // mp_camera_hal_capture

bool mp_camera_hal_initialized(mp_camera_obj_t *self){
return self->initialized;
Expand Down Expand Up @@ -379,18 +372,14 @@ const mp_rom_map_elem_t mp_camera_hal_gainceiling_table[] = {

#define SENSOR_GET(type, name, status_field_name) \
type mp_camera_hal_get_##name(mp_camera_obj_t * self) { \
if (!self->initialized) { \
mp_raise_ValueError(MP_ERROR_TEXT("Camera not initialized")); \
} \
check_init(self); \
sensor_t *sensor = esp_camera_sensor_get(); \
return sensor->status_field_name; \
}

#define SENSOR_SET(type, name, setter_function_name) \
void mp_camera_hal_set_##name(mp_camera_obj_t * self, type value) { \
if (!self->initialized) { \
mp_raise_ValueError(MP_ERROR_TEXT("Camera not initialized")); \
} \
check_init(self); \
sensor_t *sensor = esp_camera_sensor_get(); \
if (!sensor->setter_function_name) { \
mp_raise_ValueError(MP_ERROR_TEXT("No attribute " #name)); \
Expand All @@ -403,9 +392,7 @@ const mp_rom_map_elem_t mp_camera_hal_gainceiling_table[] = {
#define SENSOR_SET_IN_RANGE(type, name, setter_function_name, min_val, max_val) \
void mp_camera_hal_set_##name(mp_camera_obj_t * self, type value) { \
sensor_t *sensor = esp_camera_sensor_get(); \
if (!self->initialized) { \
mp_raise_ValueError(MP_ERROR_TEXT("Camera not initialized")); \
} \
check_init(self); \
if (value < min_val || value > max_val) { \
mp_raise_ValueError(MP_ERROR_TEXT(#name " value must be between " #min_val " and " #max_val)); \
} \
Expand Down Expand Up @@ -444,10 +431,7 @@ SENSOR_STATUS_GETSET(bool, raw_gma, raw_gma, set_raw_gma);
SENSOR_STATUS_GETSET(bool, lenc, lenc, set_lenc);

void mp_camera_hal_set_frame_size(mp_camera_obj_t * self, framesize_t value) {
if (!self->initialized) {
mp_raise_ValueError(MP_ERROR_TEXT("Camera not initialized"));
}

check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
if (!sensor->set_framesize) {
mp_raise_ValueError(MP_ERROR_TEXT("No attribute frame_size"));
Expand All @@ -466,16 +450,12 @@ void mp_camera_hal_set_frame_size(mp_camera_obj_t * self, framesize_t value) {
}

int mp_camera_hal_get_quality(mp_camera_obj_t * self) {
if (!self->initialized) {
mp_raise_ValueError(MP_ERROR_TEXT("Camera not initialized"));
}
check_init(self);
return self->camera_config.jpeg_quality;
}

void mp_camera_hal_set_quality(mp_camera_obj_t * self, int value) {
if (!self->initialized) {
mp_raise_ValueError(MP_ERROR_TEXT("Camera not initialized"));
}
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
if (!sensor->set_quality) {
mp_raise_ValueError(MP_ERROR_TEXT("No attribute quality"));
Expand All @@ -500,36 +480,42 @@ int mp_camera_hal_get_fb_count(mp_camera_obj_t *self) {
}

const char *mp_camera_hal_get_sensor_name(mp_camera_obj_t *self) {
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
camera_sensor_info_t *sensor_info = esp_camera_sensor_get_info(&sensor->id);
return sensor_info->name;
}

bool mp_camera_hal_get_supports_jpeg(mp_camera_obj_t *self) {
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
camera_sensor_info_t *sensor_info = esp_camera_sensor_get_info(&sensor->id);
return sensor_info->support_jpeg;
}

mp_camera_framesize_t mp_camera_hal_get_max_frame_size(mp_camera_obj_t *self) {
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
camera_sensor_info_t *sensor_info = esp_camera_sensor_get_info(&sensor->id);
return sensor_info->max_size;
}

int mp_camera_hal_get_address(mp_camera_obj_t *self) {
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
camera_sensor_info_t *sensor_info = esp_camera_sensor_get_info(&sensor->id);
return sensor_info->sccb_addr;
}

int mp_camera_hal_get_pixel_width(mp_camera_obj_t *self) {
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
framesize_t framesize = sensor->status.framesize;
return resolution[framesize].width;
}

int mp_camera_hal_get_pixel_height(mp_camera_obj_t *self) {
check_init(self);
sensor_t *sensor = esp_camera_sensor_get();
framesize_t framesize = sensor->status.framesize;
return resolution[framesize].height;
Expand Down
2 changes: 1 addition & 1 deletion src/modcamera_api.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ static mp_obj_t mp_camera_make_new(const mp_obj_type_t *type, size_t n_args, siz
}
return MP_OBJ_FROM_PTR(self);
}
}
} // camera_construct

// Main methods
static mp_obj_t camera_capture(size_t n_args, const mp_obj_t *args){
Expand Down
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