Camera Controller Driver

[中文]

Introduction

ESP32-P4 has the following hardware that is intended for communication with external camera sensor:

  • MIPI Camera Serial Interface (CSI)

  • ISP Digital Video Port (ISP DVP)

The camera controller driver is designed for this hardware peripheral.

Functional Overview

Resource Allocation

Install Camera Controller Driver

A camera controller driver can be implemented by the CSI peripheral, which requires the configuration that specified by esp_cam_ctlr_csi_config_t.

If the configurations in esp_cam_ctlr_csi_config_t is specified, users can call esp_cam_new_csi_ctlr() to allocate and initialize a CSI camera controller handle. This function will return an CSI camera controller handle if it runs correctly. You can take following code as reference.

esp_cam_ctlr_csi_config_t csi_config = {
    .ctlr_id = 0,
    .h_res = MIPI_CSI_DISP_HSIZE,
    .v_res = MIPI_CSI_DISP_VSIZE_640P,
    .lane_bit_rate_mbps = MIPI_CSI_LANE_BITRATE_MBPS,
    .input_data_color_type = CAM_CTLR_COLOR_RAW8,
    .output_data_color_type = CAM_CTLR_COLOR_RGB565,
    .data_lane_num = 2,
    .byte_swap_en = false,
    .queue_items = 1,
};
esp_cam_ctlr_handle_t handle = NULL;
ESP_ERROR_CHECK(esp_cam_new_csi_ctlr(&csi_config, &handle));

A camera controller driver can be implemented by the ISP DVP peripheral, which requires the configuration that specified by esp_cam_ctlr_isp_dvp_cfg_t.

If the configurations in esp_cam_ctlr_isp_dvp_cfg_t is specified, users can call esp_cam_new_isp_dvp_ctlr() to allocate and initialize a ISP DVP camera controller handle. This function will return an ISP DVP camera controller handle if it runs correctly. You can take following code as reference.

Before calling esp_cam_new_isp_dvp_ctlr(), you should also call esp_isp_new_processor() to create an ISP handle.

isp_proc_handle_t isp_proc = NULL;
esp_isp_processor_cfg_t isp_config = {
    .clk_hz = 120 * 1000 * 1000,
    .input_data_source = ISP_INPUT_DATA_SOURCE_DVP,
    .input_data_color_type = ISP_COLOR_RAW8,
    .output_data_color_type = ISP_COLOR_RGB565,
    .has_line_start_packet = false,
    .has_line_end_packet = false,
    .h_res = MIPI_CSI_DISP_HSIZE,
    .v_res = MIPI_CSI_DISP_VSIZE,
};
ESP_ERROR_CHECK(esp_isp_new_processor(&isp_config, &isp_proc));

esp_cam_ctlr_isp_dvp_cfg_t dvp_ctlr_config = {
    .data_width = 8,
    .data_io = {53, 54, 52, 0, 1, 45, 46, 47, -1, -1, -1, -1, -1, -1, -1, -1},
    .pclk_io = 21,
    .hsync_io = 5,
    .vsync_io = 23,
    .de_io = 22,
    .io_flags.vsync_invert = 1,
    .queue_items = 10,
};
ESP_ERROR_CHECK(esp_cam_new_isp_dvp_ctlr(isp_proc, &dvp_ctlr_config, &cam_handle));

Uninstall Camera Controller Driver

If a previously installed camera controller driver is no longer needed, it's recommended to recycle the resource by calling esp_cam_ctlr_del(), so that to release the underlying hardware.

Enable and Disable Camera Controller Driver

Before starting camera controller operation, you need to enable the camera controller driver first, by calling esp_cam_ctlr_enable(). This function:

  • Switches the driver state from init to enable.

ESP_ERROR_CHECK(esp_cam_ctlr_enable(handle));

Calling esp_cam_ctlr_disable() does the opposite, that is, put the driver back to the init state.

ESP_ERROR_CHECK(esp_cam_ctlr_disable(handle));

Start and Stop Camera Controller Driver

Before receiving camera signal from camera sensor, you need to start the camera controller driver first, by calling esp_cam_ctlr_start(). This function:

  • Switches the driver state from enable to start.

ESP_ERROR_CHECK(esp_cam_ctlr_start(handle));

Calling esp_cam_ctlr_stop() does the opposite, that is, put the driver back to the enable state.

ESP_ERROR_CHECK(esp_cam_ctlr_stop(handle));

Receive from a Camera Sensor

Now you can call esp_cam_ctlr_receive() to receive from a camera sensor or something else.

ESP_ERROR_CHECK(esp_cam_ctlr_receive(handle, &my_trans, ESP_CAM_CTLR_MAX_DELAY));

Register Event Callbacks

After the camera controller driver starts receiving, it can generate a specific event dynamically. If you have some functions that should be called when the event happens, please hook your function to the interrupt service routine by calling esp_cam_ctlr_register_event_callbacks(). All supported event callbacks are listed in esp_cam_ctlr_evt_cbs_t:

  • esp_cam_ctlr_evt_cbs_t::on_get_new_trans sets a callback function which will be called after the camera controller driver finishes previous transaction, and tries to get a new transaction descriptor. It will also be called when in s_ctlr_csi_start(). If this callback does not get a new transaction descriptor, the camera controller driver will use the internal backup buffer if bk_buffer_dis flag is set.

  • esp_cam_ctlr_evt_cbs_t::on_trans_finished sets a callback function when the camera controller driver finishes a transaction. As this function is called within the ISR context, you must ensure that the function does not attempt to block (e.g., by making sure that only FreeRTOS APIs with ISR suffix are called from within the function).

Thread Safety

The factory functions:

are guaranteed to be thread safe by the driver, which means, they can be called from different RTOS tasks without protection by extra locks.

Kconfig Options

The following Kconfig options affect the behavior of the interrupt handler when cache is disabled:

IRAM Safe

By default, the CSI interrupt will be deferred when the cache is disabled because of writing or erasing the flash.

There are Kconfig options

that

  • Enables the interrupt being serviced even when the cache is disabled

  • Places all functions that used by the ISR into IRAM

  • Places driver object into DRAM (in case it is mapped to PSRAM by accident)

This allows the interrupt to run while the cache is disabled, but comes at the cost of increased IRAM consumption. So user callbacks need to notice that the code and data inside (the callback) should be IRAM-safe or DRAM-safe, when cache is disabled.

Application Examples

  • peripherals/camera/camera_dsi demonstrates how to use the esp_driver_cam component to capture signals from a camera sensor and display it on an ILI9881C LCD screen via a DSI interface.

API Reference

Header File

  • components/esp_driver_cam/include/esp_cam_ctlr.h

  • This header file can be included with:

    #include "esp_cam_ctlr.h"
    
  • This header file is a part of the API provided by the esp_driver_cam component. To declare that your component depends on esp_driver_cam, add the following to your CMakeLists.txt:

    REQUIRES esp_driver_cam
    

    or

    PRIV_REQUIRES esp_driver_cam
    

Functions

esp_err_t esp_cam_ctlr_enable(esp_cam_ctlr_handle_t handle)

Enable ESP CAM controller.

Parameters

handle -- [in] ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_start(esp_cam_ctlr_handle_t handle)

Start ESP CAM controller.

Parameters

handle -- [in] ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_stop(esp_cam_ctlr_handle_t handle)

Stop ESP CAM controller.

Parameters

handle -- [in] ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_disable(esp_cam_ctlr_handle_t handle)

Disable ESP CAM controller.

Parameters

handle -- [in] ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_receive(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, uint32_t timeout_ms)

Receive data to the given transaction.

Parameters
  • handle -- [in] ESP CAM controller handle

  • trans -- [in] ESP CAM controller transaction type

  • timeout_ms -- [in] Timeout in ms

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_del(esp_cam_ctlr_handle_t handle)

Delete ESP CAM controller handle.

Parameters

handle -- [in] ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_register_event_callbacks(esp_cam_ctlr_handle_t handle, const esp_cam_ctlr_evt_cbs_t *cbs, void *user_data)

Register ESP CAM controller event callbacks.

Parameters
  • handle -- [in] ESP CAM controller handle

  • cbs -- [in] ESP CAM controller event callbacks

  • user_data -- [in] User data

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid state

esp_err_t esp_cam_ctlr_get_frame_buffer(esp_cam_ctlr_handle_t handle, uint32_t fb_num, const void **fb0, ...)

Get ESP CAM controller internal malloced backup buffer(s) addr.

Note

Generally, data in internal buffer is ready when on_trans_finished event

Parameters
  • handle -- [in] ESP CAM controller handle

  • fb_num -- [in] Number of frame buffer(s) to get. This value must be the same as the number of the followed fbN parameters

  • fb0 -- [out] Address of the frame buffer 0 (first frame buffer)

  • ... -- [out] List of other frame buffers if any

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_INVALID_STATE: Invalid driver state

esp_err_t esp_cam_ctlr_get_frame_buffer_len(esp_cam_ctlr_handle_t handle, size_t *ret_fb_len)

Get ESP CAM controller internal backup buffer length.

Parameters
  • handle -- [in] ESP CAM controller handle

  • ret_fb_len -- [out] Optional, The size of each frame buffer, in bytes.

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: NULL ptr

  • ESP_ERR_INVALID_STATE: Invalid driver state

Header File

  • components/esp_driver_cam/include/esp_cam_ctlr_types.h

  • This header file can be included with:

    #include "esp_cam_ctlr_types.h"
    
  • This header file is a part of the API provided by the esp_driver_cam component. To declare that your component depends on esp_driver_cam, add the following to your CMakeLists.txt:

    REQUIRES esp_driver_cam
    

    or

    PRIV_REQUIRES esp_driver_cam
    

Structures

struct esp_cam_ctlr_trans_t

ESP CAM controller transaction type.

Public Members

void *buffer

Transaction buffer.

size_t buflen

Len of the transaction buffer.

size_t received_size

Received size, this received_size will be written by the driver, indicating the real received size.

struct esp_cam_ctlr_evt_cbs_t

ESP CAM controller event callbacks.

Public Members

bool (*on_get_new_trans)(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data)

On get new transaction callback.

Param handle

[in] ESP CAM controller handle

Param trans

[in] New transaction

Param user_data

[in] User registered data

Return

Whether a high priority task is woken up by this function

bool (*on_trans_finished)(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data)

On transaction finish callback.

Param handle

[in] ESP CAM controller handle

Param trans

[out] Finished transaction

Param user_data

[in] User registered data

Return

Whether a high priority task is woken up by this function

Macros

ESP_CAM_CTLR_MAX_DELAY

ESP CAM controller max timeout value.

Type Definitions

typedef struct esp_cam_ctlr_t *esp_cam_ctlr_handle_t

ESP CAM controller handle.

Header File

  • components/esp_driver_cam/csi/include/esp_cam_ctlr_csi.h

  • This header file can be included with:

    #include "esp_cam_ctlr_csi.h"
    
  • This header file is a part of the API provided by the esp_driver_cam component. To declare that your component depends on esp_driver_cam, add the following to your CMakeLists.txt:

    REQUIRES esp_driver_cam
    

    or

    PRIV_REQUIRES esp_driver_cam
    

Functions

esp_err_t esp_cam_new_csi_ctlr(const esp_cam_ctlr_csi_config_t *config, esp_cam_ctlr_handle_t *ret_handle)

New ESP CAM CSI controller.

Parameters
  • config -- [in] CSI controller configurations

  • ret_handle -- [out] Returned ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_NO_MEM: Out of memory

  • ESP_ERR_NOT_SUPPORTED: Currently not support modes or types

  • ESP_ERR_NOT_FOUND: CSI is registered already

Structures

struct esp_cam_ctlr_csi_config_t

ESP CAM CSI controller configurations.

Public Members

int ctlr_id

CSI controller ID.

mipi_csi_phy_clock_source_t clk_src

CSI phy clock source.

uint32_t h_res

Input horizontal resolution, i.e. the number of pixels in a line.

uint32_t v_res

Input vertical resolution, i.e. the number of lines in a frame.

uint8_t data_lane_num

Data lane num.

int lane_bit_rate_mbps

Lane bit rate in Mbps.

cam_ctlr_color_t input_data_color_type

Input color type.

cam_ctlr_color_t output_data_color_type

Output color type.

int queue_items

Queue items.

uint32_t byte_swap_en

Enable byte swap.

uint32_t bk_buffer_dis

Disable backup buffer.

struct esp_cam_ctlr_csi_config_t::[anonymous] [anonymous]

Boolean Flags.

Header File

  • components/esp_driver_cam/isp_dvp/include/esp_cam_ctlr_isp_dvp.h

  • This header file can be included with:

    #include "esp_cam_ctlr_isp_dvp.h"
    
  • This header file is a part of the API provided by the esp_driver_cam component. To declare that your component depends on esp_driver_cam, add the following to your CMakeLists.txt:

    REQUIRES esp_driver_cam
    

    or

    PRIV_REQUIRES esp_driver_cam
    

Functions

esp_err_t esp_cam_new_isp_dvp_ctlr(isp_proc_handle_t isp_proc, const esp_cam_ctlr_isp_dvp_cfg_t *ctlr_config, esp_cam_ctlr_handle_t *ret_handle)

New ESP CAM ISP DVP controller.

Parameters
  • isp_proc -- [in] Processor handle

  • ctlr_config -- [in] ISP DVP controller configurations

  • ret_handle -- [out] Returned ESP CAM controller handle

Returns

  • ESP_OK

  • ESP_ERR_INVALID_ARG: Invalid argument

  • ESP_ERR_NO_MEM: Out of memory

  • ESP_ERR_NOT_SUPPORTED: Currently not support modes or types

  • ESP_ERR_NOT_FOUND: ISP DVP is registered already

Structures

struct esp_cam_ctlr_isp_dvp_cfg_t

ESP CAM ISP DVP controller configurations.

Public Members

cam_ctlr_data_width_t data_width

Number of data lines.

int data_io[ISP_DVP_DATA_SIG_NUM]

ISP DVP data-in IO numbers.

int pclk_io

ISP DVP pclk IO numbers.

int hsync_io

ISP DVP hsync IO numbers.

int vsync_io

ISP DVP vsync IO numbers.

int de_io

ISP DVP de IO numbers.

uint32_t pclk_invert

The pclk is inverted.

uint32_t hsync_invert

The hsync signal is inverted.

uint32_t vsync_invert

The vsync signal is inverted.

uint32_t de_invert

The de signal is inverted.

struct esp_cam_ctlr_isp_dvp_cfg_t::[anonymous] io_flags

ISP DVP IO flags.

int queue_items

Queue items.

uint32_t byte_swap_en

Enable byte swap.

uint32_t bk_buffer_dis

Disable backup buffer.


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