ESP32-IDF CAMERA OpenCV移植研究【doing】

最新推荐文章于 2025-06-07 17:31:25 发布

原创最新推荐文章于 2025-06-07 17:31:25 发布 · 2.1k 阅读

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图像算法嵌入式移植同时被 2 个专栏收录

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本文介绍ESP32上摄像头模块的配置方法与初始化流程，包括GPIO针脚分配、时钟信号设置及不同型号传感器的支持。通过示例代码展示了如何进行硬件配置，并探测连接的摄像头型号。

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    camera_config_t camera_config = {
        .ledc_channel = LEDC_CHANNEL_0,
        .ledc_timer = LEDC_TIMER_0,
        .pin_d0 = CONFIG_D0,
        .pin_d1 = CONFIG_D1,
        .pin_d2 = CONFIG_D2,
        .pin_d3 = CONFIG_D3,
        .pin_d4 = CONFIG_D4,
        .pin_d5 = CONFIG_D5,
        .pin_d6 = CONFIG_D6,
        .pin_d7 = CONFIG_D7,
        .pin_xclk = CONFIG_XCLK,
        .pin_pclk = CONFIG_PCLK,
        .pin_vsync = CONFIG_VSYNC,
        .pin_href = CONFIG_HREF,
        .pin_sscb_sda = CONFIG_SDA,
        .pin_sscb_scl = CONFIG_SCL,
        .pin_reset = CONFIG_RESET,
        .xclk_freq_hz = CONFIG_XCLK_FREQ,
    };

typedef enum {
    CAMERA_NONE = 0,
    CAMERA_UNKNOWN = 1,
    CAMERA_OV7725 = 7725,
    CAMERA_OV2640 = 2640,
} camera_model_t;

typedef struct {
int pin_reset; /*!< GPIO pin for camera reset line */
int pin_xclk; /*!< GPIO pin for camera XCLK line */
int pin_sscb_sda; /*!< GPIO pin for camera SDA line */
int pin_sscb_scl; /*!< GPIO pin for camera SCL line */
int pin_d7; /*!< GPIO pin for camera D7 line */
int pin_d6; /*!< GPIO pin for camera D6 line */
int pin_d5; /*!< GPIO pin for camera D5 line */
int pin_d4; /*!< GPIO pin for camera D4 line */
int pin_d3; /*!< GPIO pin for camera D3 line */
int pin_d2; /*!< GPIO pin for camera D2 line */
int pin_d1; /*!< GPIO pin for camera D1 line */
int pin_d0; /*!< GPIO pin for camera D0 line */
int pin_vsync; /*!< GPIO pin for camera VSYNC line */
int pin_href; /*!< GPIO pin for camera HREF line */
int pin_pclk; /*!< GPIO pin for camera PCLK line */

int xclk_freq_hz; /*!< Frequency of XCLK signal, in Hz */

ledc_timer_t ledc_timer; /*!< LEDC timer to be used for generating XCLK */
ledc_channel_t ledc_channel; /*!< LEDC channel to be used for generating XCLK */

camera_pixelformat_t pixel_format;
camera_framesize_t frame_size;

int jpeg_quality;
} camera_config_t;

esp_err_t camera_probe(const camera_config_t* config,
       camera_model_t* out_camera_model) {
   if (s_state != NULL) {
       return ESP_ERR_INVALID_STATE;
   }

   s_state = (camera_state_t*) calloc(sizeof(*s_state), 1);
   if (!s_state) {
       return ESP_ERR_NO_MEM;
   }

ESP_LOGD(TAG, "Enabling XCLK output");
camera_enable_out_clock(config);

ESP_LOGD(TAG, "Initializing SSCB");
SCCB_Init(config->pin_sscb_sda, config->pin_sscb_scl);

   ESP_LOGD(TAG, "Resetting camera");
   gpio_config_t conf = { 0 };
   conf.pin_bit_mask = 1LL << config->pin_reset;
   conf.mode = GPIO_MODE_OUTPUT;
   gpio_config(&conf);

gpio_set_level(config->pin_reset, 1);
delay(3000);

gpio_set_level(config->pin_reset, 0);
delay(1000);

#if CONFIG_OV2640_SUPPORT
uint8_t buf[] = {0xff, 0x01};
twi_writeTo(0x30, buf, 2, true);
#endif

   ESP_LOGD(TAG, "Searching for camera address");
   /* Probe the sensor */
   delay(10);
   uint8_t slv_addr = SCCB_Probe();
   if (slv_addr == 0) {
       *out_camera_model = CAMERA_NONE;
       return ESP_ERR_CAMERA_NOT_DETECTED;
   }
   s_state->sensor.slv_addr = slv_addr;
   ESP_LOGD(TAG, "Detected camera at address=0x%02x", slv_addr);
   sensor_id_t* id = &s_state->sensor.id;
   id->PID = SCCB_Read(slv_addr, REG_PID);
   id->VER = SCCB_Read(slv_addr, REG_VER);
   id->MIDL = SCCB_Read(slv_addr, REG_MIDL);
   id->MIDH = SCCB_Read(slv_addr, REG_MIDH);

   delay(10);
   ESP_LOGD(TAG, "Camera PID=0x%02x VER=0x%02x MIDL=0x%02x MIDH=0x%02x",
           id->PID, id->VER, id->MIDH, id->MIDL);

   switch (id->PID) {
#if CONFIG_OV2640_SUPPORT
   case OV2640_PID:
   *out_camera_model = CAMERA_OV2640;
   ov2640_init(&s_state->sensor);
   break;
#endif
#if CONFIG_OV7725_SUPPORT
   case OV7725_PID:
   *out_camera_model = CAMERA_OV7725;
   ov7725_init(&s_state->sensor);
   break;
#endif
   default:
       id->PID = 0;
       *out_camera_model = CAMERA_UNKNOWN;
       ESP_LOGD(TAG, "Detected camera not supported.")
       ;
       return ESP_ERR_CAMERA_NOT_SUPPORTED;
   }

ESP_LOGD(TAG, "Doing SW reset of sensor");
s_state->sensor.reset(&s_state->sensor);

return ESP_OK;
}

typedef enum {
    CAMERA_NONE = 0,
    CAMERA_UNKNOWN = 1,
    CAMERA_OV7725 = 7725,
    CAMERA_OV2640 = 2640,
} camera_model_t;

下一步研究OpenCV移植到ESP32

https://github.com/joachimBurket/esp32-opencv

ESP32-IDF CAMERA OpenCV移植 研究 【doing】

ESP32-IDF CAMERA OpenCV移植研究【doing】