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/********* | |
Rui Santos | |
Complete instructions at https://RandomNerdTutorials.com/esp32-cam-projects-ebook/ | |
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files. | |
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. | |
*********/ | |
#include "esp_camera.h" | |
#include <WiFi.h> | |
#include "esp_timer.h" | |
#include "img_converters.h" | |
#include "Arduino.h" | |
#include "fb_gfx.h" | |
#include "soc/soc.h" // disable brownout problems | |
#include "soc/rtc_cntl_reg.h" // disable brownout problems | |
#include "esp_http_server.h" | |
#include <ESP32Servo.h> | |
// Replace with your network credentials | |
const char* ssid = "REPLACE_WITH_YOUR_SSID"; | |
const char* password = "REPLACE_WITH_YOUR_PASSWORD"; | |
#define PART_BOUNDARY "123456789000000000000987654321" | |
#define CAMERA_MODEL_AI_THINKER | |
//#define CAMERA_MODEL_M5STACK_PSRAM | |
//#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM | |
//#define CAMERA_MODEL_M5STACK_PSRAM_B | |
//#define CAMERA_MODEL_WROVER_KIT | |
#if defined(CAMERA_MODEL_WROVER_KIT) | |
#define PWDN_GPIO_NUM -1 | |
#define RESET_GPIO_NUM -1 | |
#define XCLK_GPIO_NUM 21 | |
#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 19 | |
#define Y4_GPIO_NUM 18 | |
#define Y3_GPIO_NUM 5 | |
#define Y2_GPIO_NUM 4 | |
#define VSYNC_GPIO_NUM 25 | |
#define HREF_GPIO_NUM 23 | |
#define PCLK_GPIO_NUM 22 | |
#elif defined(CAMERA_MODEL_M5STACK_PSRAM) | |
#define PWDN_GPIO_NUM -1 | |
#define RESET_GPIO_NUM 15 | |
#define XCLK_GPIO_NUM 27 | |
#define SIOD_GPIO_NUM 25 | |
#define SIOC_GPIO_NUM 23 | |
#define Y9_GPIO_NUM 19 | |
#define Y8_GPIO_NUM 36 | |
#define Y7_GPIO_NUM 18 | |
#define Y6_GPIO_NUM 39 | |
#define Y5_GPIO_NUM 5 | |
#define Y4_GPIO_NUM 34 | |
#define Y3_GPIO_NUM 35 | |
#define Y2_GPIO_NUM 32 | |
#define VSYNC_GPIO_NUM 22 | |
#define HREF_GPIO_NUM 26 | |
#define PCLK_GPIO_NUM 21 | |
#elif defined(CAMERA_MODEL_M5STACK_WITHOUT_PSRAM) | |
#define PWDN_GPIO_NUM -1 | |
#define RESET_GPIO_NUM 15 | |
#define XCLK_GPIO_NUM 27 | |
#define SIOD_GPIO_NUM 25 | |
#define SIOC_GPIO_NUM 23 | |
#define Y9_GPIO_NUM 19 | |
#define Y8_GPIO_NUM 36 | |
#define Y7_GPIO_NUM 18 | |
#define Y6_GPIO_NUM 39 | |
#define Y5_GPIO_NUM 5 | |
#define Y4_GPIO_NUM 34 | |
#define Y3_GPIO_NUM 35 | |
#define Y2_GPIO_NUM 17 | |
#define VSYNC_GPIO_NUM 22 | |
#define HREF_GPIO_NUM 26 | |
#define PCLK_GPIO_NUM 21 | |
#elif defined(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 | |
#elif defined(CAMERA_MODEL_M5STACK_PSRAM_B) | |
#define PWDN_GPIO_NUM -1 | |
#define RESET_GPIO_NUM 15 | |
#define XCLK_GPIO_NUM 27 | |
#define SIOD_GPIO_NUM 22 | |
#define SIOC_GPIO_NUM 23 | |
#define Y9_GPIO_NUM 19 | |
#define Y8_GPIO_NUM 36 | |
#define Y7_GPIO_NUM 18 | |
#define Y6_GPIO_NUM 39 | |
#define Y5_GPIO_NUM 5 | |
#define Y4_GPIO_NUM 34 | |
#define Y3_GPIO_NUM 35 | |
#define Y2_GPIO_NUM 32 | |
#define VSYNC_GPIO_NUM 25 | |
#define HREF_GPIO_NUM 26 | |
#define PCLK_GPIO_NUM 21 | |
#else | |
#error "Camera model not selected" | |
#endif | |
#define SERVO_1 14 | |
#define SERVO_2 15 | |
#define SERVO_STEP 5 | |
Servo servoN1; | |
Servo servoN2; | |
Servo servo1; | |
Servo servo2; | |
int servo1Pos = 0; | |
int servo2Pos = 0; | |
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY; | |
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n"; | |
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n"; | |
httpd_handle_t camera_httpd = NULL; | |
httpd_handle_t stream_httpd = NULL; | |
static const char PROGMEM INDEX_HTML[] = R"rawliteral( | |
<html> | |
<head> | |
<title>ESP32-CAM Robot</title> | |
<meta name="viewport" content="width=device-width, initial-scale=1"> | |
<style> | |
body { font-family: Arial; text-align: center; margin:0px auto; padding-top: 30px;} | |
table { margin-left: auto; margin-right: auto; } | |
td { padding: 8 px; } | |
.button { | |
background-color: #2f4468; | |
border: none; | |
color: white; | |
padding: 10px 20px; | |
text-align: center; | |
text-decoration: none; | |
display: inline-block; | |
font-size: 18px; | |
margin: 6px 3px; | |
cursor: pointer; | |
-webkit-touch-callout: none; | |
-webkit-user-select: none; | |
-khtml-user-select: none; | |
-moz-user-select: none; | |
-ms-user-select: none; | |
user-select: none; | |
-webkit-tap-highlight-color: rgba(0,0,0,0); | |
} | |
img { width: auto ; | |
max-width: 100% ; | |
height: auto ; | |
} | |
</style> | |
</head> | |
<body> | |
<h1>ESP32-CAM Pan and Tilt</h1> | |
<img src="" id="photo" > | |
<table> | |
<tr><td colspan="3" align="center"><button class="button" onmousedown="toggleCheckbox('up');" ontouchstart="toggleCheckbox('up');">Up</button></td></tr> | |
<tr><td align="center"><button class="button" onmousedown="toggleCheckbox('left');" ontouchstart="toggleCheckbox('left');">Left</button></td><td align="center"></td><td align="center"><button class="button" onmousedown="toggleCheckbox('right');" ontouchstart="toggleCheckbox('right');">Right</button></td></tr> | |
<tr><td colspan="3" align="center"><button class="button" onmousedown="toggleCheckbox('down');" ontouchstart="toggleCheckbox('down');">Down</button></td></tr> | |
</table> | |
<script> | |
function toggleCheckbox(x) { | |
var xhr = new XMLHttpRequest(); | |
xhr.open("GET", "/action?go=" + x, true); | |
xhr.send(); | |
} | |
window.onload = document.getElementById("photo").src = window.location.href.slice(0, -6) + ":8021/stream"; | |
</script> | |
</body> | |
</html> | |
)rawliteral"; | |
static esp_err_t index_handler(httpd_req_t *req){ | |
httpd_resp_set_type(req, "text/html"); | |
return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML)); | |
} | |
static esp_err_t stream_handler(httpd_req_t *req){ | |
camera_fb_t * fb = NULL; | |
esp_err_t res = ESP_OK; | |
size_t _jpg_buf_len = 0; | |
uint8_t * _jpg_buf = NULL; | |
char * part_buf[64]; | |
res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE); | |
if(res != ESP_OK){ | |
return res; | |
} | |
while(true){ | |
fb = esp_camera_fb_get(); | |
if (!fb) { | |
Serial.println("Camera capture failed"); | |
res = ESP_FAIL; | |
} else { | |
if(fb->width > 400){ | |
if(fb->format != PIXFORMAT_JPEG){ | |
bool jpeg_converted = frame2jpg(fb, 8020, &_jpg_buf, &_jpg_buf_len); | |
esp_camera_fb_return(fb); | |
fb = NULL; | |
if(!jpeg_converted){ | |
Serial.println("JPEG compression failed"); | |
res = ESP_FAIL; | |
} | |
} else { | |
_jpg_buf_len = fb->len; | |
_jpg_buf = fb->buf; | |
} | |
} | |
} | |
if(res == ESP_OK){ | |
size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len); | |
res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen); | |
} | |
if(res == ESP_OK){ | |
res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len); | |
} | |
if(res == ESP_OK){ | |
res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY)); | |
} | |
if(fb){ | |
esp_camera_fb_return(fb); | |
fb = NULL; | |
_jpg_buf = NULL; | |
} else if(_jpg_buf){ | |
free(_jpg_buf); | |
_jpg_buf = NULL; | |
} | |
if(res != ESP_OK){ | |
break; | |
} | |
//Serial.printf("MJPG: %uB\n",(uint32_t)(_jpg_buf_len)); | |
} | |
return res; | |
} | |
static esp_err_t cmd_handler(httpd_req_t *req){ | |
char* buf; | |
size_t buf_len; | |
char variable[32] = {0,}; | |
buf_len = httpd_req_get_url_query_len(req) + 1; | |
if (buf_len > 1) { | |
buf = (char*)malloc(buf_len); | |
if(!buf){ | |
httpd_resp_send_500(req); | |
return ESP_FAIL; | |
} | |
if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) { | |
if (httpd_query_key_value(buf, "go", variable, sizeof(variable)) == ESP_OK) { | |
} else { | |
free(buf); | |
httpd_resp_send_404(req); | |
return ESP_FAIL; | |
} | |
} else { | |
free(buf); | |
httpd_resp_send_404(req); | |
return ESP_FAIL; | |
} | |
free(buf); | |
} else { | |
httpd_resp_send_404(req); | |
return ESP_FAIL; | |
} | |
sensor_t * s = esp_camera_sensor_get(); | |
//flip the camera vertically | |
//s->set_vflip(s, 1); // 0 = disable , 1 = enable | |
// mirror effect | |
//s->set_hmirror(s, 1); // 0 = disable , 1 = enable | |
int res = 0; | |
if(!strcmp(variable, "up")) { | |
if(servo1Pos <= 170) { | |
servo1Pos += 10; | |
servo1.write(servo1Pos); | |
} | |
Serial.println(servo1Pos); | |
Serial.println("Up"); | |
} | |
else if(!strcmp(variable, "left")) { | |
if(servo2Pos <= 170) { | |
servo2Pos += 10; | |
servo2.write(servo2Pos); | |
} | |
Serial.println(servo2Pos); | |
Serial.println("Left"); | |
} | |
else if(!strcmp(variable, "right")) { | |
if(servo2Pos >= 10) { | |
servo2Pos -= 10; | |
servo2.write(servo2Pos); | |
} | |
Serial.println(servo2Pos); | |
Serial.println("Right"); | |
} | |
else if(!strcmp(variable, "down")) { | |
if(servo1Pos >= 10) { | |
servo1Pos -= 10; | |
servo1.write(servo1Pos); | |
} | |
Serial.println(servo1Pos); | |
Serial.println("Down"); | |
} | |
else { | |
res = -1; | |
} | |
if(res){ | |
return httpd_resp_send_500(req); | |
} | |
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); | |
return httpd_resp_send(req, NULL, 0); | |
} | |
void startCameraServer(){ | |
httpd_config_t config = HTTPD_DEFAULT_CONFIG(); | |
config.server_port = 8020; | |
httpd_uri_t index_uri = { | |
.uri = "/", | |
.method = HTTP_GET, | |
.handler = index_handler, | |
.user_ctx = NULL | |
}; | |
httpd_uri_t cmd_uri = { | |
.uri = "/action", | |
.method = HTTP_GET, | |
.handler = cmd_handler, | |
.user_ctx = NULL | |
}; | |
httpd_uri_t stream_uri = { | |
.uri = "/stream", | |
.method = HTTP_GET, | |
.handler = stream_handler, | |
.user_ctx = NULL | |
}; | |
if (httpd_start(&camera_httpd, &config) == ESP_OK) { | |
httpd_register_uri_handler(camera_httpd, &index_uri); | |
httpd_register_uri_handler(camera_httpd, &cmd_uri); | |
} | |
config.server_port += 1; | |
config.ctrl_port += 1; | |
if (httpd_start(&stream_httpd, &config) == ESP_OK) { | |
httpd_register_uri_handler(stream_httpd, &stream_uri); | |
} | |
} | |
void setup() { | |
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector | |
servo1.setPeriodHertz(50); // standard 50 hz servo | |
servo2.setPeriodHertz(50); // standard 50 hz servo | |
servoN1.attach(2, 1000, 2000); | |
servoN2.attach(13, 1000, 2000); | |
servo1.attach(SERVO_1, 1000, 2000); | |
servo2.attach(SERVO_2, 1000, 2000); | |
servo1.write(servo1Pos); | |
servo2.write(servo2Pos); | |
Serial.begin(115200); | |
Serial.setDebugOutput(false); | |
camera_config_t config; | |
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 = 20000000; | |
config.pixel_format = PIXFORMAT_JPEG; | |
if(psramFound()){ | |
config.frame_size = FRAMESIZE_VGA; | |
config.jpeg_quality = 10; | |
config.fb_count = 2; | |
} else { | |
config.frame_size = FRAMESIZE_SVGA; | |
config.jpeg_quality = 12; | |
config.fb_count = 1; | |
} | |
// Camera init | |
esp_err_t err = esp_camera_init(&config); | |
if (err != ESP_OK) { | |
Serial.printf("Camera init failed with error 0x%x", err); | |
return; | |
} | |
// Wi-Fi connection | |
WiFi.begin(ssid, password); | |
while (WiFi.status() != WL_CONNECTED) { | |
delay(500); | |
Serial.print("."); | |
} | |
Serial.println(""); | |
Serial.println("WiFi connected"); | |
Serial.print("Camera Stream Ready! Go to: http://"); | |
Serial.println(WiFi.localIP()); | |
// Start streaming web server | |
startCameraServer(); | |
} | |
void loop() { | |
} |
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