I2S camera - WIP

TODOs:
* proper commit-msg
* add missing docs for `DataFormat`
* add missing example to docs
* should the qa-test example be adapted to the ESP32-CAM instead? which
  board is more prevalent?

Co-Authored-By: Ralph Ursprung <[email protected]>

Author: Dominaezzz

esp-hal/CHANGELOG.md

@@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Support for `rand_core` 0.9 (#3211)
 - `ESP_HAL_CONFIG_STACK_GUARD_OFFSET` and `ESP_HAL_CONFIG_STACK_GUARD_VALUE` to configure Rust's [Stack smashing protection](https://doc.rust-lang.org/rustc/exploit-mitigations.html#stack-smashing-protection) (#3203)
+- ESP32: I2S Camera mode driver (#3219)
 
 ### Changed
 

esp-hal/src/i2s/master/camera.rs

@@ -0,0 +1,369 @@
+//! # I2S in Camera Slave receiving mode.
+//!
+//! ## Overview
+//! The I2S peripheral supports a camera slave mode for high-speed data
+//! transfer from external camera modules.
+//! The driver mandates DMA for efficient data transfer.
+//!
+//! ## Examples
+//! ```rust, no_run
+//! // FIXME: add example
+//! ```
+
+use core::{
+    mem::ManuallyDrop,
+    ops::{Deref, DerefMut},
+};
+
+use crate::{
+    dma::{ChannelRx, DmaEligible, DmaError, DmaRxBuffer, PeripheralRxChannel, Rx, RxChannelFor},
+    gpio::{InputPin, Level, Pull},
+    i2s::master::{Error, ExtendedSignals, RegisterAccess},
+    peripheral::{Peripheral, PeripheralRef},
+    system::PeripheralClockControl,
+    Blocking,
+};
+
+/// Supported data formats
+#[derive(Debug, Clone, Copy, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum DataFormat {
+    /// FIXME: docs
+    DualChannel16   = 0,
+    /// FIXME: docs
+    SingleChannel16 = 1,
+    /// FIXME: docs
+    DualChannel32   = 2,
+    /// FIXME: docs
+    SingleChannel32 = 3,
+}
+
+/// Represents the camera interface.
+pub struct Camera<'d, I2S: DmaEligible> {
+    _i2s: PeripheralRef<'d, I2S>,
+    rx_channel: ChannelRx<'d, Blocking, PeripheralRxChannel<I2S>>,
+}
+
+impl<'d, I2S> Camera<'d, I2S>
+where
+    I2S: RegisterAccess + ExtendedSignals,
+{
+    /// Creates a new `Camera` instance with DMA support.
+    pub fn new<CH: RxChannelFor<I2S>>(
+        i2s: impl Peripheral<P = I2S> + 'd,
+        data_format: DataFormat,
+        channel: impl Peripheral<P = CH> + 'd,
+    ) -> Self {
+        crate::into_ref!(i2s);
+
+        PeripheralClockControl::enable(i2s.peripheral());
+
+        let regs = i2s.regs();
+
+        // Configuration and start/stop bits
+        regs.conf().modify(|_, w| {
+            // Enable slave receiver mode
+            w.rx_slave_mod()
+                .set_bit()
+                // Receive left-channel data first.
+                .rx_right_first()
+                .clear_bit()
+                // Place left-channel data at the MSB in the FIFO
+                .rx_msb_right()
+                .clear_bit()
+                // Do not enable receiver in Philips standard mode
+                .rx_msb_shift()
+                .clear_bit()
+                // Do not enable receiver’s mono mode in PCM standard mode
+                .rx_mono()
+                .clear_bit()
+                // Do not enable receiver in PCM standard mode
+                .rx_short_sync()
+                .clear_bit()
+        });
+
+        // ADC/LCD/camera configuration register
+        regs.conf2().modify(|_, w| {
+            // Enable LCD mode.
+            w.lcd_en()
+                .set_bit()
+                // Enable camera mode.
+                .camera_en()
+                .set_bit()
+        });
+
+        // Configure clock divider
+        regs.clkm_conf().modify(|_, w| unsafe {
+            w.clkm_div_a()
+                .bits(0) // Fractional clock divider’s denominator value (6 bits)
+                .clkm_div_b()
+                .bits(0) // Fractional clock divider’s numerator value. (6 bits)
+                .clkm_div_num()
+                .bits(2) // I2S clock divider’s integral value. (8 bits)
+        });
+
+        regs.fifo_conf().modify(|_, w| unsafe {
+            // Enable I2S DMA mode.
+            w.dscr_en()
+                .set_bit()
+                // Receive FIFO mode configuration bit. (3 bits)
+                .rx_fifo_mod()
+                .bits(data_format as _)
+                // The bit should always be set to 1.
+                .rx_fifo_mod_force_en()
+                .set_bit()
+        });
+
+        regs.conf_chan().modify(|_, w| unsafe {
+            // I2S receiver channel mode configuration bit. (2 bits)
+            w.rx_chan_mod().bits(1)
+        });
+
+        // Configure the bit length of I2S receiver channel. (6 bits)
+        regs.sample_rate_conf()
+            .modify(|_, w| unsafe { w.rx_bits_mod().bits(16) });
+
+        // Synchronize signals into the receiver in double sync method.
+        regs.timing().write(|w| w.rx_dsync_sw().set_bit());
+
+        // Default these signals to high in case user doesn't provide them.
+        I2S::v_sync_signal().connect_to(Level::High);
+        I2S::h_sync_signal().connect_to(Level::High);
+        I2S::h_enable_signal().connect_to(Level::High);
+
+        let rx_channel = ChannelRx::new(channel.map(|ch| ch.degrade()));
+
+        Self {
+            _i2s: i2s,
+            rx_channel,
+        }
+    }
+}
+
+impl<I2S> Camera<'_, I2S>
+where
+    I2S: RegisterAccess + ExtendedSignals,
+{
+    /// Configures the data pins for the camera interface.
+    #[allow(clippy::too_many_arguments)]
+    pub fn with_data_pins<
+        D0: InputPin,
+        D1: InputPin,
+        D2: InputPin,
+        D3: InputPin,
+        D4: InputPin,
+        D5: InputPin,
+        D6: InputPin,
+        D7: InputPin,
+    >(
+        self,
+        d0: impl Peripheral<P = D0>,
+        d1: impl Peripheral<P = D1>,
+        d2: impl Peripheral<P = D2>,
+        d3: impl Peripheral<P = D3>,
+        d4: impl Peripheral<P = D4>,
+        d5: impl Peripheral<P = D5>,
+        d6: impl Peripheral<P = D6>,
+        d7: impl Peripheral<P = D7>,
+    ) -> Self {
+        crate::into_mapped_ref!(d0);
+        crate::into_mapped_ref!(d1);
+        crate::into_mapped_ref!(d2);
+        crate::into_mapped_ref!(d3);
+        crate::into_mapped_ref!(d4);
+        crate::into_mapped_ref!(d5);
+        crate::into_mapped_ref!(d6);
+        crate::into_mapped_ref!(d7);
+
+        let pairs = [
+            (d0, I2S::din0_signal()),
+            (d1, I2S::din1_signal()),
+            (d2, I2S::din2_signal()),
+            (d3, I2S::din3_signal()),
+            (d4, I2S::din4_signal()),
+            (d5, I2S::din5_signal()),
+            (d6, I2S::din6_signal()),
+            (d7, I2S::din7_signal()),
+        ];
+
+        for (pin, signal) in pairs {
+            pin.init_input(Pull::None);
+            signal.connect_to(pin);
+        }
+
+        self
+    }
+
+    /// Configures the pixel clock pin for the camera interface.
+    pub fn with_ws<PIN: InputPin>(self, pin: impl Peripheral<P = PIN>) -> Self {
+        crate::into_mapped_ref!(pin);
+        pin.init_input(Pull::None);
+        I2S::ws_in_signal().connect_to(pin);
+        self
+    }
+
+    /// Configures the vertical sync (VSYNC) pin for the camera interface.
+    pub fn with_vsync<PIN: InputPin>(self, pin: impl Peripheral<P = PIN>) -> Self {
+        crate::into_mapped_ref!(pin);
+        pin.init_input(Pull::None);
+        I2S::v_sync_signal().connect_to(pin);
+        self
+    }
+
+    /// Configures the horizontal sync (HSYNC) pin for the camera interface.
+    pub fn with_hsync<PIN: InputPin>(self, pin: impl Peripheral<P = PIN>) -> Self {
+        crate::into_mapped_ref!(pin);
+        pin.init_input(Pull::None);
+        I2S::h_sync_signal().connect_to(pin);
+        self
+    }
+
+    /// Configures the vertical sync enable pin for the camera interface.
+    pub fn with_henable<PIN: InputPin>(self, pin: impl Peripheral<P = PIN>) -> Self {
+        crate::into_mapped_ref!(pin);
+        pin.init_input(Pull::None);
+        I2S::h_enable_signal().connect_to(pin);
+        self
+    }
+}
+
+impl<'d, I2S> Camera<'d, I2S>
+where
+    I2S: RegisterAccess,
+{
+    fn start_rx_transfer<'t, RXBUF>(
+        &'t mut self,
+        buf: &'t mut RXBUF,
+        len: usize,
+    ) -> Result<(), Error>
+    where
+        RXBUF: DmaRxBuffer,
+    {
+        if len % 4 != 0 {
+            return Err(Error::IllegalArgument);
+        }
+
+        // Reset RX unit and RX FIFO
+        self._i2s.reset_rx();
+
+        // Enable corresponding interrupts if needed
+
+        // configure DMA outlink
+        unsafe {
+            self.rx_channel
+                .prepare_transfer(self._i2s.dma_peripheral(), buf)
+                .and_then(|_| self.rx_channel.start_transfer())?;
+        }
+
+        // set I2S_RX_STOP_EN if needed
+
+        // start: set I2S_RX_START
+        self._i2s.rx_start(len);
+        Ok(())
+    }
+
+    /// Starts a DMA transfer to receive data from the camera peripheral.
+    pub fn receive<BUF: DmaRxBuffer>(
+        mut self,
+        mut buf: BUF,
+        len: usize,
+    ) -> Result<CameraTransfer<'d, I2S, BUF>, Error> {
+        self.start_rx_transfer(&mut buf, len)?;
+        Ok(CameraTransfer {
+            camera: ManuallyDrop::new(self),
+            buffer_view: ManuallyDrop::new(buf.into_view()),
+        })
+    }
+}
+
+/// Represents an ongoing (or potentially stopped) transfer from the Camera to a
+/// DMA buffer.
+pub struct CameraTransfer<'d, I2S: DmaEligible + RegisterAccess, BUF: DmaRxBuffer> {
+    camera: ManuallyDrop<Camera<'d, I2S>>,
+    buffer_view: ManuallyDrop<BUF::View>,
+}
+
+impl<'d, I2S: RegisterAccess, BUF: DmaRxBuffer> CameraTransfer<'d, I2S, BUF> {
+    /// Returns true when [Self::wait] will not block.
+    pub fn is_done(&self) -> bool {
+        self.camera.rx_channel.has_dscr_empty_error() // IN_DSCR_EMPTY (i.e. No more buffer space)
+            || self.camera.rx_channel.has_error() // IN_DSCR_ERR (i.e. bad
+                                                  // descriptor)
+    }
+
+    /// Stops this transfer on the spot and returns the peripheral and buffer.
+    pub fn stop(mut self) -> (Camera<'d, I2S>, BUF) {
+        self.stop_peripherals();
+        let (camera, view) = self.release();
+        (camera, BUF::from_view(view))
+    }
+
+    /// Waits for the transfer to stop and returns the peripheral and buffer.
+    ///
+    /// Note: The camera doesn't really "finish" its transfer, so what you're
+    /// really waiting for here is a DMA Error. You typically just want to
+    /// call [Self::stop] once you have the data you need.
+    pub fn wait(mut self) -> (Result<(), DmaError>, Camera<'d, I2S>, BUF) {
+        while !self.is_done() {}
+
+        // Stop the DMA as it doesn't know that the camera has stopped.
+        self.camera.rx_channel.stop_transfer();
+
+        // Note: There is no "done" interrupt to clear.
+
+        let (camera, view) = self.release();
+
+        let result = if camera.rx_channel.has_error() {
+            Err(DmaError::DescriptorError)
+        } else {
+            Ok(())
+        };
+
+        (result, camera, BUF::from_view(view))
+    }
+
+    fn release(mut self) -> (Camera<'d, I2S>, BUF::View) {
+        // SAFETY: Since forget is called on self, we know that self.camera and
+        // self.buffer_view won't be touched again.
+        let result = unsafe {
+            let camera = ManuallyDrop::take(&mut self.camera);
+            let view = ManuallyDrop::take(&mut self.buffer_view);
+            (camera, view)
+        };
+        core::mem::forget(self);
+        result
+    }
+
+    fn stop_peripherals(&mut self) {
+        self.camera._i2s.rx_stop();
+    }
+}
+
+impl<I2S: DmaEligible + RegisterAccess, BUF: DmaRxBuffer> Deref for CameraTransfer<'_, I2S, BUF> {
+    type Target = BUF::View;
+
+    fn deref(&self) -> &Self::Target {
+        &self.buffer_view
+    }
+}
+
+impl<I2S: DmaEligible + RegisterAccess, BUF: DmaRxBuffer> DerefMut
+    for CameraTransfer<'_, I2S, BUF>
+{
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        &mut self.buffer_view
+    }
+}
+
+impl<I2S: DmaEligible + RegisterAccess, BUF: DmaRxBuffer> Drop for CameraTransfer<'_, I2S, BUF> {
+    fn drop(&mut self) {
+        self.stop_peripherals();
+
+        // SAFETY: This is Drop, we know that self.camera and self.buffer_view
+        // won't be touched again.
+        unsafe {
+            ManuallyDrop::drop(&mut self.camera);
+            ManuallyDrop::drop(&mut self.buffer_view);
+        }
+    }
+}