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Add camera support board(sp v3/v4 korvo) (#682)
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* Add camera support board

* Update esp32_camera.cc

---------

Co-authored-by: Xiaoxia <terrence@tenclass.com>
This commit is contained in:
Kevincoooool 2025-05-26 18:28:51 +08:00 committed by GitHub
parent 8555b89692
commit 0e42bd2b18
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
9 changed files with 217 additions and 5 deletions
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2
main/boards/common/camera.h
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@ -7,6 +7,8 @@ class Camera {
public:
virtual void SetExplainUrl(const std::string& url, const std::string& token) = 0;
virtual bool Capture() = 0;
virtual bool SetHMirror(bool enabled) = 0;
virtual bool SetVFlip(bool enabled) = 0;
virtual std::string Explain(const std::string& question) = 0;
};

33
main/boards/common/esp32_camera.cc
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@ -95,6 +95,39 @@ bool Esp32Camera::Capture() {
}
return true;
}
bool Esp32Camera::SetHMirror(bool enabled) {
sensor_t *s = esp_camera_sensor_get();
if (s == nullptr) {
ESP_LOGE(TAG, "Failed to get camera sensor");
return false;
}
esp_err_t err = s->set_hmirror(s, enabled);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Failed to set horizontal mirror: %d", err);
return false;
}
ESP_LOGI(TAG, "Camera horizontal mirror set to: %s", enabled ? "enabled" : "disabled");
return true;
}
bool Esp32Camera::SetVFlip(bool enabled) {
sensor_t *s = esp_camera_sensor_get();
if (s == nullptr) {
ESP_LOGE(TAG, "Failed to get camera sensor");
return false;
}
esp_err_t err = s->set_vflip(s, enabled);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Failed to set vertical flip: %d", err);
return false;
}
ESP_LOGI(TAG, "Camera vertical flip set to: %s", enabled ? "enabled" : "disabled");
return true;
}
/**
* @brief 将摄像头捕获的图像发送到远程服务器进行AI分析和解释

3
main/boards/common/esp32_camera.h
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@ -30,6 +30,9 @@ public:
virtual void SetExplainUrl(const std::string& url, const std::string& token);
virtual bool Capture();
// 翻转控制函数
virtual bool SetHMirror(bool enabled) override;
virtual bool SetVFlip(bool enabled) override;
virtual std::string Explain(const std::string& question);
};

19
main/boards/esp32s3-korvo2-v3/config.h
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@ -58,5 +58,24 @@
#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_NC
#define DISPLAY_BACKLIGHT_OUTPUT_INVERT false
/* Camera pins */
#define CAMERA_PIN_PWDN -1
#define CAMERA_PIN_RESET -1
#define CAMERA_PIN_XCLK 40
#define CAMERA_PIN_SIOD 17
#define CAMERA_PIN_SIOC 18
#define CAMERA_PIN_D7 39
#define CAMERA_PIN_D6 41
#define CAMERA_PIN_D5 42
#define CAMERA_PIN_D4 12
#define CAMERA_PIN_D3 3
#define CAMERA_PIN_D2 14
#define CAMERA_PIN_D1 47
#define CAMERA_PIN_D0 13
#define CAMERA_PIN_VSYNC 21
#define CAMERA_PIN_HREF 38
#define CAMERA_PIN_PCLK 11
#define XCLK_FREQ_HZ 20000000
#endif // _BOARD_CONFIG_H_

39
main/boards/esp32s3-korvo2-v3/esp32s3_korvo2_v3_board.cc
View File

@ -14,6 +14,7 @@
#include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include <wifi_station.h>
#include "esp32_camera.h"
#define TAG "esp32s3_korvo2_v3"
@ -48,6 +49,7 @@ private:
i2c_master_bus_handle_t i2c_bus_;
LcdDisplay* display_;
esp_io_expander_handle_t io_expander_ = NULL;
Esp32Camera* camera_;
void InitializeI2c() {
// Initialize I2C peripheral
@ -225,6 +227,39 @@ private:
});
}
void InitializeCamera() {
// Open camera power
camera_config_t config = {};
config.ledc_channel = LEDC_CHANNEL_2; // LEDC通道选择 用于生成XCLK时钟 但是S3不用
config.ledc_timer = LEDC_TIMER_2; // LEDC timer选择 用于生成XCLK时钟 但是S3不用
config.pin_d0 = CAMERA_PIN_D0;
config.pin_d1 = CAMERA_PIN_D1;
config.pin_d2 = CAMERA_PIN_D2;
config.pin_d3 = CAMERA_PIN_D3;
config.pin_d4 = CAMERA_PIN_D4;
config.pin_d5 = CAMERA_PIN_D5;
config.pin_d6 = CAMERA_PIN_D6;
config.pin_d7 = CAMERA_PIN_D7;
config.pin_xclk = CAMERA_PIN_XCLK;
config.pin_pclk = CAMERA_PIN_PCLK;
config.pin_vsync = CAMERA_PIN_VSYNC;
config.pin_href = CAMERA_PIN_HREF;
config.pin_sccb_sda = -1; // 这里写-1 表示使用已经初始化的I2C接口
config.pin_sccb_scl = CAMERA_PIN_SIOC;
config.sccb_i2c_port = 1;
config.pin_pwdn = CAMERA_PIN_PWDN;
config.pin_reset = CAMERA_PIN_RESET;
config.xclk_freq_hz = XCLK_FREQ_HZ;
config.pixel_format = PIXFORMAT_RGB565;
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 12;
config.fb_count = 1;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
camera_ = new Esp32Camera(config);
}
// 物联网初始化，添加对 AI 可见设备
void InitializeIot() {
auto& thing_manager = iot::ThingManager::GetInstance();
@ -238,6 +273,7 @@ public:
InitializeI2c();
I2cDetect();
InitializeTca9554();
InitializeCamera();
InitializeSpi();
InitializeButtons();
#ifdef LCD_TYPE_ILI9341_SERIAL
@ -268,6 +304,9 @@ public:
virtual Display *GetDisplay() override {
return display_;
}
virtual Camera* GetCamera() override {
return camera_;
}
};
DECLARE_BOARD(Esp32S3Korvo2V3Board);

19
main/boards/kevin-sp-v3-dev/config.h
View File

@ -41,5 +41,24 @@
#define ML307_RX_PIN GPIO_NUM_12
#define ML307_TX_PIN GPIO_NUM_13
/* Camera pins */
#define CAMERA_PIN_PWDN -1
#define CAMERA_PIN_RESET -1
#define CAMERA_PIN_XCLK 15
#define CAMERA_PIN_SIOD 4
#define CAMERA_PIN_SIOC 5
#define CAMERA_PIN_D7 16
#define CAMERA_PIN_D6 17
#define CAMERA_PIN_D5 18
#define CAMERA_PIN_D4 12
#define CAMERA_PIN_D3 10
#define CAMERA_PIN_D2 8
#define CAMERA_PIN_D1 9
#define CAMERA_PIN_D0 11
#define CAMERA_PIN_VSYNC 6
#define CAMERA_PIN_HREF 7
#define CAMERA_PIN_PCLK 13
#define XCLK_FREQ_HZ 20000000
#endif // _BOARD_CONFIG_H_

45
main/boards/kevin-sp-v3-dev/kevin-sp-v3_board.cc
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@ -14,6 +14,7 @@
#include <esp_lcd_panel_vendor.h>
#include <driver/i2c_master.h>
#include <wifi_station.h>
#include "esp32_camera.h"
#define TAG "kevin-sp-v3"
@ -27,6 +28,7 @@ private:
i2c_master_bus_handle_t display_i2c_bus_;
Button boot_button_;
LcdDisplay* display_;
Esp32Camera* camera_;
void InitializeSpi() {
spi_bus_config_t buscfg = {};
@ -91,6 +93,39 @@ private:
});
}
void InitializeCamera() {
// Open camera power
camera_config_t config = {};
config.ledc_channel = LEDC_CHANNEL_2; // LEDC通道选择 用于生成XCLK时钟 但是S3不用
config.ledc_timer = LEDC_TIMER_2; // LEDC timer选择 用于生成XCLK时钟 但是S3不用
config.pin_d0 = CAMERA_PIN_D0;
config.pin_d1 = CAMERA_PIN_D1;
config.pin_d2 = CAMERA_PIN_D2;
config.pin_d3 = CAMERA_PIN_D3;
config.pin_d4 = CAMERA_PIN_D4;
config.pin_d5 = CAMERA_PIN_D5;
config.pin_d6 = CAMERA_PIN_D6;
config.pin_d7 = CAMERA_PIN_D7;
config.pin_xclk = CAMERA_PIN_XCLK;
config.pin_pclk = CAMERA_PIN_PCLK;
config.pin_vsync = CAMERA_PIN_VSYNC;
config.pin_href = CAMERA_PIN_HREF;
config.pin_sccb_sda = CAMERA_PIN_SIOD; // 这里写-1 表示使用已经初始化的I2C接口
config.pin_sccb_scl = CAMERA_PIN_SIOC;
config.sccb_i2c_port = 1;
config.pin_pwdn = CAMERA_PIN_PWDN;
config.pin_reset = CAMERA_PIN_RESET;
config.xclk_freq_hz = XCLK_FREQ_HZ;
config.pixel_format = PIXFORMAT_RGB565;
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 12;
config.fb_count = 1;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
camera_ = new Esp32Camera(config);
}
// 物联网初始化，添加对 AI 可见设备
void InitializeIot() {
auto& thing_manager = iot::ThingManager::GetInstance();
@ -100,14 +135,12 @@ private:
}
public:
KEVIN_SP_V3Board() :
// Ml307Board(ML307_TX_PIN, ML307_RX_PIN, 4096),
boot_button_(BOOT_BUTTON_GPIO) {
KEVIN_SP_V3Board() : boot_button_(BOOT_BUTTON_GPIO) {
ESP_LOGI(TAG, "Initializing KEVIN_SP_V3 Board");
InitializeSpi();
InitializeButtons();
InitializeSt7789Display();
InitializeCamera();
InitializeIot();
GetBacklight()->RestoreBrightness();
}
@ -132,6 +165,10 @@ public:
static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
return &backlight;
}
virtual Camera* GetCamera() override {
return camera_;
}
};
DECLARE_BOARD(KEVIN_SP_V3Board);

20
main/boards/kevin-sp-v4-dev/config.h
View File

@ -42,5 +42,25 @@
#define ML307_RX_PIN GPIO_NUM_12
#define ML307_TX_PIN GPIO_NUM_13
/* Camera pins */
#define CAMERA_PIN_PWDN -1
#define CAMERA_PIN_RESET -1
#define CAMERA_PIN_XCLK 15
#define CAMERA_PIN_SIOD 4
#define CAMERA_PIN_SIOC 5
#define CAMERA_PIN_D7 16
#define CAMERA_PIN_D6 17
#define CAMERA_PIN_D5 18
#define CAMERA_PIN_D4 12
#define CAMERA_PIN_D3 10
#define CAMERA_PIN_D2 8
#define CAMERA_PIN_D1 9
#define CAMERA_PIN_D0 11
#define CAMERA_PIN_VSYNC 6
#define CAMERA_PIN_HREF 7
#define CAMERA_PIN_PCLK 13
#define XCLK_FREQ_HZ 20000000
#endif // _BOARD_CONFIG_H_

42
main/boards/kevin-sp-v4-dev/kevin-sp-v4_board.cc
View File

@ -12,6 +12,7 @@
#include <esp_lcd_panel_vendor.h>
#include <driver/i2c_master.h>
#include <wifi_station.h>
#include "esp32_camera.h"
#define TAG "kevin-sp-v4"
@ -24,10 +25,11 @@ private:
Button boot_button_;
LcdDisplay* display_;
i2c_master_bus_handle_t codec_i2c_bus_;
Esp32Camera* camera_;
void InitializeCodecI2c() {
// Initialize I2C peripheral
i2c_master_bus_config_t i2c_bus_cfg = {
.i2c_port = I2C_NUM_0,
.i2c_port = I2C_NUM_1,
.sda_io_num = AUDIO_CODEC_I2C_SDA_PIN,
.scl_io_num = AUDIO_CODEC_I2C_SCL_PIN,
.clk_source = I2C_CLK_SRC_DEFAULT,
@ -104,6 +106,39 @@ private:
});
}
void InitializeCamera() {
// Open camera power
camera_config_t config = {};
config.ledc_channel = LEDC_CHANNEL_2; // LEDC通道选择 用于生成XCLK时钟 但是S3不用
config.ledc_timer = LEDC_TIMER_2; // LEDC timer选择 用于生成XCLK时钟 但是S3不用
config.pin_d0 = CAMERA_PIN_D0;
config.pin_d1 = CAMERA_PIN_D1;
config.pin_d2 = CAMERA_PIN_D2;
config.pin_d3 = CAMERA_PIN_D3;
config.pin_d4 = CAMERA_PIN_D4;
config.pin_d5 = CAMERA_PIN_D5;
config.pin_d6 = CAMERA_PIN_D6;
config.pin_d7 = CAMERA_PIN_D7;
config.pin_xclk = CAMERA_PIN_XCLK;
config.pin_pclk = CAMERA_PIN_PCLK;
config.pin_vsync = CAMERA_PIN_VSYNC;
config.pin_href = CAMERA_PIN_HREF;
config.pin_sccb_sda = -1; // 这里写-1 表示使用已经初始化的I2C接口
config.pin_sccb_scl = CAMERA_PIN_SIOC;
config.sccb_i2c_port = 1;
config.pin_pwdn = CAMERA_PIN_PWDN;
config.pin_reset = CAMERA_PIN_RESET;
config.xclk_freq_hz = XCLK_FREQ_HZ;
config.pixel_format = PIXFORMAT_RGB565;
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 12;
config.fb_count = 1;
config.fb_location = CAMERA_FB_IN_PSRAM;
config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
camera_ = new Esp32Camera(config);
}
// 物联网初始化，添加对 AI 可见设备
void InitializeIot() {
auto& thing_manager = iot::ThingManager::GetInstance();
@ -119,6 +154,7 @@ public:
InitializeSpi();
InitializeButtons();
InitializeSt7789Display();
InitializeCamera();
InitializeIot();
GetBacklight()->RestoreBrightness();
}
@ -144,6 +180,10 @@ public:
static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
return &backlight;
}
virtual Camera* GetCamera() override {
return camera_;
}
};
DECLARE_BOARD(KEVIN_SP_V4Board);