NielschB
commented
3 years ago Ok, so stripped the code to minimum, just a loop getting framebuffers and serial printing the time it takes.
#include "esp_camera.h"
#include "Arduino.h"
#include "soc/soc.h" // Disable brownout problems
#include "soc/rtc_cntl_reg.h" // Disable brownout problems
#include "driver/rtc_io.h"
// Pin definition for CAMERA_MODEL_AI_THINKER
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
// Camera vars
camera_config_t config;
camera_fb_t * fb0 = NULL; // Framebuffer 0 pointer
camera_fb_t * fb1 = NULL; // Framebuffer 1 pointer
camera_fb_t * fb2 = NULL; // Framebuffer 2 pointer
camera_fb_t * fb3 = NULL; // Framebuffer 3 pointer
sensor_t * s = NULL; // Sensor settings pointer
void camera_init(void){
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 10000000; // 20000000;
config.pixel_format = PIXFORMAT_JPEG;
config.frame_size = FRAMESIZE_UXGA; // FRAMESIZE_ + QVGA|CIF|VGA|SVGA|XGA|SXGA|UXGA
config.jpeg_quality = 2;
config.fb_count = 4; // Seems that 4 just fits in the PSRAM
// Init Camera
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
Serial.printf("PSRAM total/available: %u / %u", ESP.getPsramSize(), ESP.getFreePsram()); Serial.println("");
s = esp_camera_sensor_get();
s->set_brightness(s, 0); // -2 to 2
s->set_contrast(s, 0); // -2 to 2
s->set_saturation(s, 0); // -2 to 2
s->set_special_effect(s, 0); // 0 to 6 (0 - No Effect, 1 - Negative, 2 - Grayscale, 3 - Red Tint, 4 - Green Tint, 5 - Blue Tint, 6 - Sepia)
s->set_whitebal(s, 1); // 0 = disable , >1 = enable
s->set_awb_gain(s, 1); // 0 = disable , >1 = enable
s->set_wb_mode(s, 1); // 0 to 4 - if awb_gain enabled (>0 - Auto, 1 - Sunny, 2 - Cloudy, 3 - Office, 4 - Home)
s->set_exposure_ctrl(s, 0); // 0 = disable , 1 = enable
s->set_aec2(s, 0); // 0 = disable , 1 = enable
s->set_ae_level(s, 1); // -2 to 2
s->set_aec_value(s, 500); // 0 to 1200
s->set_gain_ctrl(s, 1); // 0 = disable , 1 = enable
s->set_agc_gain(s, 3); // 0 to 30
s->set_gainceiling(s, (gainceiling_t)1); // 0 to 6
s->set_bpc(s, 0); // 0 = disable , 1 = enable
s->set_wpc(s, 1); // 0 = disable , 1 = enable
s->set_raw_gma(s, 1); // 0 = disable , 1 = enable
s->set_lenc(s, 1); // 0 = disable , 1 = enable
s->set_hmirror(s, 0); // 0 = disable , 1 = enable
s->set_vflip(s, 0); // 0 = disable , 1 = enable
s->set_dcw(s, 1); // 0 = disable , 1 = enable
s->set_colorbar(s, 0); // 0 = disable , 1 = enable
// Fetch initial data and block the buffers
fb0 = esp_camera_fb_get();
fb1 = esp_camera_fb_get();
fb2 = esp_camera_fb_get();
fb3 = esp_camera_fb_get();
}
void setup() {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
Serial.begin(115200);
// Powerdown camera manually with longer time as default time triggers fail occasionally
pinMode(PWDN_GPIO_NUM, OUTPUT);
digitalWrite(PWDN_GPIO_NUM, HIGH); // HIGH = powerdown because its a PMOS
Serial.println("Camera init");
// Cam reset time
delay(500);
camera_init();
}
void loop() {
// Make sure to start at a defined moment to expect a constant capture time, rising edge of Vsync
// (Not falling edge as this might just trigger frame start)
while(digitalRead(VSYNC_GPIO_NUM)){ delay(0.1);}
while(!digitalRead(VSYNC_GPIO_NUM)){ delay(0.1);}
uint32_t total_runtime=millis();
Serial.print("Capture");
esp_camera_fb_return(fb0);
esp_camera_fb_return(fb1);
esp_camera_fb_return(fb2);
esp_camera_fb_return(fb3);
fb0 = esp_camera_fb_get();
fb1 = esp_camera_fb_get();
fb2 = esp_camera_fb_get();
fb3 = esp_camera_fb_get();
total_runtime=millis()-total_runtime;
Serial.printf(" %ums done",total_runtime); Serial.println("");
}This is the output which shows the non-constant camera fb time:
Capture 795ms done Capture 795ms done Capture 795ms done Capture 795ms done Capture 976ms done <<< Capture 1274ms done <<< Capture 955ms done <<< Capture 795ms done Capture 795ms done Capture 795ms done Capture 795ms done Capture 795ms done Capture 795ms done
jameszah
Hi I am using Arduino environment 1.8.13 with ESP32 package 1.0.5-rc6 (also tested 1.0.4) with with an attempt to synchronize multiple cameras. AiThinker camera module with PSRAM and OV2640 cam.
I have observed that the time to get the framebuffer sometimes is longer than expected, e.g. Xclk = 10MHz, so a single frame takes 160ms (Vsync measured) When requesting the framebuffer at a certain moment this generally seems to take the 160ms as expected, but occasionally (1 out of 20 frames) this time increases to 2 frames or even 3. Even observed an additional delay < frame delay and it seems to take a few frames for it to 'recover'.
I have tried lowering the Xclk frequency, camera Pclk frequency, all with the expected results, but not solving this issue. I first had the impression this was a timing issue, but now I doubt this. as the xclk and pclk timing settings do not solve it. Tried running xclk 20MHz, with default pclk settings, jpg quality lowered, shows same issue.
I have observed the Vsync signal from the camera which seems fine.
Also ran my code on several ESP32-cam AiThinker modules from different manufacturers (Original and clone), no difference. Tried fb_count = 1 up to 4, no difference. JPG quality settings tried: 2,3,4,5,6 with xclk 20Mhz down to 6MHz
I have the feeling the rootcasue might be an interrupt disturbing the receival of the jpg data, but I am not sure what interrupts are used by the camera.
I'll try to strip down my code to bare minimum and attach it, just wanted to check for now if anybody has already observed this behaviour.
Any help would be appreciated, thanks!