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Add better bad frame handling

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This commit is contained in:
me-no-dev
2018-11-28 00:48:42 +01:00
parent f1a7c3588e
commit c95a2400f8
1 changed files with 114 additions and 75 deletions
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189
driver/camera.c
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@@ -71,6 +71,7 @@ typedef struct camera_fb_s {
pixformat_t format; pixformat_t format;
size_t size; size_t size;
uint8_t ref; uint8_t ref;
uint8_t bad;
struct camera_fb_s * next; struct camera_fb_s * next;
} camera_fb_int_t; } camera_fb_int_t;
@@ -116,7 +117,6 @@ typedef struct {
} camera_state_t; } camera_state_t;
camera_state_t* s_state = NULL; camera_state_t* s_state = NULL;
static bool first_vsync = true;
static void i2s_init(); static void i2s_init();
static void i2s_run(); static void i2s_run();
@@ -417,6 +417,28 @@ static void i2s_init()
&i2s_isr, NULL, &s_state->i2s_intr_handle); &i2s_isr, NULL, &s_state->i2s_intr_handle);
} }
static void IRAM_ATTR i2s_start_bus()
{
s_state->dma_desc_cur = 0;
s_state->dma_received_count = 0;
//s_state->dma_filtered_count = 0;
esp_intr_disable(s_state->i2s_intr_handle);
i2s_conf_reset();
I2S0.rx_eof_num = s_state->dma_sample_count;
I2S0.in_link.addr = (uint32_t) &s_state->dma_desc[0];
I2S0.in_link.start = 1;
I2S0.int_clr.val = I2S0.int_raw.val;
I2S0.int_ena.val = 0;
I2S0.int_ena.in_done = 1;
esp_intr_enable(s_state->i2s_intr_handle);
I2S0.conf.rx_start = 1;
if (s_state->config.pixel_format == PIXFORMAT_JPEG) {
vsync_intr_enable();
}
}
static void i2s_run() static void i2s_run()
{ {
for (int i = 0; i < s_state->dma_desc_count; ++i) { for (int i = 0; i < s_state->dma_desc_count; ++i) {
@@ -445,26 +467,7 @@ static void i2s_run()
} }
ESP_LOGV(TAG, "Got VSYNC"); ESP_LOGV(TAG, "Got VSYNC");
s_state->dma_desc_cur = 0; i2s_start_bus();
s_state->dma_received_count = 0;
//s_state->dma_filtered_count = 0;
esp_intr_disable(s_state->i2s_intr_handle);
i2s_conf_reset();
I2S0.rx_eof_num = s_state->dma_sample_count;
I2S0.in_link.addr = (uint32_t) &s_state->dma_desc[0];
I2S0.in_link.start = 1;
I2S0.int_clr.val = I2S0.int_raw.val;
I2S0.int_ena.val = 0;
I2S0.int_ena.in_done = 1;
esp_intr_enable(s_state->i2s_intr_handle);
I2S0.conf.rx_start = 1;
if (s_state->config.pixel_format == PIXFORMAT_JPEG) {
first_vsync = true;
vsync_intr_enable();
}
} }
static void IRAM_ATTR i2s_stop_bus() static void IRAM_ATTR i2s_stop_bus()
@@ -477,7 +480,7 @@ static void IRAM_ATTR i2s_stop_bus()
static void IRAM_ATTR i2s_stop(bool* need_yield) static void IRAM_ATTR i2s_stop(bool* need_yield)
{ {
if(s_state->config.fb_count == 1) { if(s_state->config.fb_count == 1 && !s_state->fb->bad) {
i2s_stop_bus(); i2s_stop_bus();
} else { } else {
s_state->dma_received_count = 0; s_state->dma_received_count = 0;
@@ -496,11 +499,18 @@ static void IRAM_ATTR signal_dma_buf_received(bool* need_yield)
size_t dma_desc_filled = s_state->dma_desc_cur; size_t dma_desc_filled = s_state->dma_desc_cur;
s_state->dma_desc_cur = (dma_desc_filled + 1) % s_state->dma_desc_count; s_state->dma_desc_cur = (dma_desc_filled + 1) % s_state->dma_desc_count;
s_state->dma_received_count++; s_state->dma_received_count++;
if(!s_state->fb->ref && s_state->fb->bad){
*need_yield = false;
return;
}
BaseType_t higher_priority_task_woken; BaseType_t higher_priority_task_woken;
BaseType_t ret = xQueueSendFromISR(s_state->data_ready, &dma_desc_filled, &higher_priority_task_woken); BaseType_t ret = xQueueSendFromISR(s_state->data_ready, &dma_desc_filled, &higher_priority_task_woken);
if (ret != pdTRUE) { if (ret != pdTRUE) {
ESP_EARLY_LOGV(TAG, "queue send failed (%d), dma_received_count=%d", ret, s_state->dma_received_count); if(!s_state->fb->ref) {
ets_printf("qf: %d\n", s_state->dma_received_count); s_state->fb->bad = 1;
}
//ESP_EARLY_LOGW(TAG, "qsf:%d", s_state->dma_received_count);
//ets_printf("qsf:%d\n", s_state->dma_received_count);
} }
*need_yield = (ret == pdTRUE && higher_priority_task_woken == pdTRUE); *need_yield = (ret == pdTRUE && higher_priority_task_woken == pdTRUE);
} }
@@ -511,8 +521,7 @@ static void IRAM_ATTR i2s_isr(void* arg)
bool need_yield = false; bool need_yield = false;
signal_dma_buf_received(&need_yield); signal_dma_buf_received(&need_yield);
if (s_state->config.pixel_format != PIXFORMAT_JPEG if (s_state->config.pixel_format != PIXFORMAT_JPEG
&& s_state->dma_received_count == s_state->height * s_state->dma_per_line) { && s_state->dma_received_count == s_state->height * s_state->dma_per_line) {
//ets_printf("end_enough\n");
i2s_stop(&need_yield); i2s_stop(&need_yield);
} }
if (need_yield) { if (need_yield) {
@@ -533,7 +542,6 @@ static void IRAM_ATTR vsync_isr(void* arg)
if(s_state->dma_filtered_count > 1 || s_state->config.fb_count > 1) { if(s_state->dma_filtered_count > 1 || s_state->config.fb_count > 1) {
i2s_stop(&need_yield); i2s_stop(&need_yield);
} }
first_vsync = false;
} }
if(s_state->config.fb_count > 1 || s_state->dma_filtered_count < 2) { if(s_state->config.fb_count > 1 || s_state->dma_filtered_count < 2) {
I2S0.conf.rx_start = 0; I2S0.conf.rx_start = 0;
@@ -558,6 +566,11 @@ static void IRAM_ATTR camera_fb_done()
camera_fb_int_t * fb = NULL, * fb2 = NULL; camera_fb_int_t * fb = NULL, * fb2 = NULL;
BaseType_t taskAwoken = 0; BaseType_t taskAwoken = 0;
if(s_state->config.fb_count == 1) {
xSemaphoreGive(s_state->frame_ready);
return;
}
fb = s_state->fb; fb = s_state->fb;
if(!fb->ref && fb->len) { if(!fb->ref && fb->len) {
//add reference //add reference
@@ -608,49 +621,62 @@ static void IRAM_ATTR camera_fb_done()
} }
} }
static void IRAM_ATTR dma_filter_buffer(size_t buf_idx) static void IRAM_ATTR dma_finish_frame()
{ {
size_t buf_len = s_state->width * s_state->fb_bytes_per_pixel / s_state->dma_per_line; size_t buf_len = s_state->width * s_state->fb_bytes_per_pixel / s_state->dma_per_line;
if (buf_idx == SIZE_MAX) {
if(!s_state->fb->ref) { if(!s_state->fb->ref) {
s_state->fb->len = s_state->dma_filtered_count * buf_len; // is the frame bad?
if(s_state->fb->format == PIXFORMAT_JPEG){ if(s_state->fb->bad){
//find end of file 0xFF 0xD9 s_state->fb->bad = 0;
uint8_t * dptr = &s_state->fb->buf[s_state->fb->len - 1]; s_state->fb->len = 0;
while(dptr > s_state->fb->buf){ *((uint32_t *)s_state->fb->buf) = 0;
if(dptr[0] == 0xFF && dptr[1] == 0xD9 && dptr[2] == 0x00 && dptr[3] == 0x00){
dptr += 2;
s_state->fb->len = dptr - s_state->fb->buf;
if((s_state->fb->len & 0x1FF) == 0){
s_state->fb->len += 1;
}
if((s_state->fb->len % 100) == 0){
s_state->fb->len += 1;
}
break;
}
dptr--;
}
}
}
if(s_state->fb->len) {
if(s_state->config.fb_count == 1) { if(s_state->config.fb_count == 1) {
xSemaphoreGive(s_state->frame_ready); i2s_start_bus();
} else { }
} else {
s_state->fb->len = s_state->dma_filtered_count * buf_len;
if(s_state->fb->len) {
//find the end marker for JPEG. Data after that can be discarded
if(s_state->fb->format == PIXFORMAT_JPEG){
uint8_t * dptr = &s_state->fb->buf[s_state->fb->len - 1];
while(dptr > s_state->fb->buf){
if(dptr[0] == 0xFF && dptr[1] == 0xD9 && dptr[2] == 0x00 && dptr[3] == 0x00){
dptr += 2;
s_state->fb->len = dptr - s_state->fb->buf;
if((s_state->fb->len & 0x1FF) == 0){
s_state->fb->len += 1;
}
if((s_state->fb->len % 100) == 0){
s_state->fb->len += 1;
}
break;
}
dptr--;
}
}
//send out the frame
camera_fb_done(); camera_fb_done();
} else if(s_state->config.fb_count == 1){
//frame was empty?
i2s_start_bus();
} }
} }
s_state->dma_filtered_count = 0; } else if(s_state->fb->len) {
camera_fb_done();
}
s_state->dma_filtered_count = 0;
}
static void IRAM_ATTR dma_filter_buffer(size_t buf_idx)
{
//no need to process the data if frame is in use or is bad
if(s_state->fb->ref || s_state->fb->bad) {
return; return;
} }
if(s_state->fb->ref) { //check if there is enough space in the frame buffer for the new data
return; size_t buf_len = s_state->width * s_state->fb_bytes_per_pixel / s_state->dma_per_line;
}
const dma_elem_t* buf = s_state->dma_buf[buf_idx];
lldesc_t* desc = &s_state->dma_desc[buf_idx];
size_t fb_pos = s_state->dma_filtered_count * buf_len; size_t fb_pos = s_state->dma_filtered_count * buf_len;
if(fb_pos > s_state->fb_size - buf_len) { if(fb_pos > s_state->fb_size - buf_len) {
//size_t processed = s_state->dma_received_count * buf_len; //size_t processed = s_state->dma_received_count * buf_len;
@@ -658,11 +684,23 @@ static void IRAM_ATTR dma_filter_buffer(size_t buf_idx)
return; return;
} }
uint8_t* pfb = s_state->fb->buf + fb_pos; //convert I2S DMA buffer to pixel data
(*s_state->dma_filter)(buf, desc, pfb); (*s_state->dma_filter)(s_state->dma_buf[buf_idx], &s_state->dma_desc[buf_idx], s_state->fb->buf + fb_pos);
//first frame buffer
if(!s_state->dma_filtered_count) { if(!s_state->dma_filtered_count) {
s_state->fb->width = resolution[s_state->sensor.framesize][0]; //check for correct JPEG header
s_state->fb->height = resolution[s_state->sensor.framesize][1]; if(s_state->sensor.pixformat == PIXFORMAT_JPEG) {
uint32_t sig = *((uint32_t *)s_state->fb->buf) & 0xFFFFFF;
if(sig != 0xffd8ff) {
//ets_printf("bad header\n");
s_state->fb->bad = 1;
return;
}
}
//set the frame properties
s_state->fb->width = resolution[s_state->sensor.status.framesize][0];
s_state->fb->height = resolution[s_state->sensor.status.framesize][1];
s_state->fb->format = s_state->sensor.pixformat; s_state->fb->format = s_state->sensor.pixformat;
} }
s_state->dma_filtered_count++; s_state->dma_filtered_count++;
@@ -674,7 +712,12 @@ static void IRAM_ATTR dma_filter_task(void *pvParameters)
while (true) { while (true) {
size_t buf_idx; size_t buf_idx;
if(xQueueReceive(s_state->data_ready, &buf_idx, portMAX_DELAY) == pdTRUE) { if(xQueueReceive(s_state->data_ready, &buf_idx, portMAX_DELAY) == pdTRUE) {
dma_filter_buffer(buf_idx); if (buf_idx == SIZE_MAX) {
//this is the end of the frame
dma_finish_frame();
} else {
dma_filter_buffer(buf_idx);
}
} }
} }
} }
@@ -691,13 +734,6 @@ static void IRAM_ATTR dma_filter_jpeg(const dma_elem_t* src, lldesc_t* dma_desc,
src += 4; src += 4;
dst += 4; dst += 4;
} }
// the final sample of a line in SM_0A0B_0B0C sampling mode needs special handling
if ((dma_desc->length & 0x7) != 0) {
dst[0] = src[0].sample1;
dst[1] = src[1].sample1;
dst[2] = src[2].sample1;
dst[3] = src[2].sample2;
}
} }
static void IRAM_ATTR dma_filter_grayscale(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst) static void IRAM_ATTR dma_filter_grayscale(const dma_elem_t* src, lldesc_t* dma_desc, uint8_t* dst)
@@ -807,11 +843,13 @@ esp_err_t camera_probe(const camera_config_t* config, camera_model_t* out_camera
vTaskDelay(10 / portTICK_PERIOD_MS); vTaskDelay(10 / portTICK_PERIOD_MS);
gpio_set_level(config->pin_reset, 1); gpio_set_level(config->pin_reset, 1);
vTaskDelay(10 / portTICK_PERIOD_MS); vTaskDelay(10 / portTICK_PERIOD_MS);
#if CONFIG_OV2640_SUPPORT
} else { } else {
//reset OV2640 //reset OV2640
SCCB_Write(0x30, 0xFF, 0x01);//bank sensor SCCB_Write(0x30, 0xFF, 0x01);//bank sensor
SCCB_Write(0x30, 0x12, 0x80);//reset SCCB_Write(0x30, 0x12, 0x80);//reset
vTaskDelay(10 / portTICK_PERIOD_MS); vTaskDelay(10 / portTICK_PERIOD_MS);
#endif
} }
ESP_LOGD(TAG, "Searching for camera address"); ESP_LOGD(TAG, "Searching for camera address");
@@ -986,7 +1024,7 @@ esp_err_t camera_init(const camera_config_t* config)
goto fail; goto fail;
} }
s_state->sensor.framesize = frame_size; s_state->sensor.status.framesize = frame_size;
s_state->sensor.pixformat = pix_format; s_state->sensor.pixformat = pix_format;
ESP_LOGD(TAG, "Setting frame size to %dx%d", s_state->width, s_state->height); ESP_LOGD(TAG, "Setting frame size to %dx%d", s_state->width, s_state->height);
if (s_state->sensor.set_framesize(&s_state->sensor, frame_size) != 0) { if (s_state->sensor.set_framesize(&s_state->sensor, frame_size) != 0) {
@@ -1004,10 +1042,11 @@ esp_err_t camera_init(const camera_config_t* config)
} }
skip_frame(); skip_frame();
//for some reason the first set of the quality does not work. //todo: for some reason the first set of the quality does not work.
if (pix_format == PIXFORMAT_JPEG) { if (pix_format == PIXFORMAT_JPEG) {
(*s_state->sensor.set_quality)(&s_state->sensor, config->jpeg_quality); (*s_state->sensor.set_quality)(&s_state->sensor, config->jpeg_quality);
} }
s_state->sensor.init_status(&s_state->sensor);
return ESP_OK; return ESP_OK;
fail: fail: