// ESP32 Car Camera // dktr 2025 #include "esp_camera.h" #include #include "esp_timer.h" #include "img_converters.h" #include "Arduino.h" #include "fb_gfx.h" #include "soc/soc.h" #include "soc/rtc_cntl_reg.h" #include "esp_http_server.h" #include #include const char *getHTML() { return R"rawliteral( ESP32 CatRacer
Camera Stream
Status: Gotowy do sterowania
)rawliteral"; } const char *ssid = "fifirifi"; const char *password = "tajne_hasło_do_fifirifi"; #define PART_BOUNDARY "123456789000000000000987654321" #define MOTOR_LEFT_PIN1 15 #define MOTOR_LEFT_PIN2 13 #define MOTOR_RIGHT_PIN1 2 #define MOTOR_RIGHT_PIN2 14 #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 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; WebSocketsServer webSocket = WebSocketsServer(81); volatile bool ota_mode = false; void moveForward() { digitalWrite(MOTOR_LEFT_PIN1, HIGH); digitalWrite(MOTOR_LEFT_PIN2, LOW); digitalWrite(MOTOR_RIGHT_PIN1, HIGH); digitalWrite(MOTOR_RIGHT_PIN2, LOW); } void moveBackward() { digitalWrite(MOTOR_LEFT_PIN1, LOW); digitalWrite(MOTOR_LEFT_PIN2, HIGH); digitalWrite(MOTOR_RIGHT_PIN1, LOW); digitalWrite(MOTOR_RIGHT_PIN2, HIGH); } void turnLeft() { digitalWrite(MOTOR_LEFT_PIN1, LOW); digitalWrite(MOTOR_LEFT_PIN2, HIGH); digitalWrite(MOTOR_RIGHT_PIN1, HIGH); digitalWrite(MOTOR_RIGHT_PIN2, LOW); } void turnRight() { digitalWrite(MOTOR_LEFT_PIN1, HIGH); digitalWrite(MOTOR_LEFT_PIN2, LOW); digitalWrite(MOTOR_RIGHT_PIN1, LOW); digitalWrite(MOTOR_RIGHT_PIN2, HIGH); } void stopMotors() { digitalWrite(MOTOR_LEFT_PIN1, LOW); digitalWrite(MOTOR_LEFT_PIN2, LOW); digitalWrite(MOTOR_RIGHT_PIN1, LOW); digitalWrite(MOTOR_RIGHT_PIN2, LOW); } void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length) { if (ota_mode) return; if (type == WStype_TEXT) { String cmd = String((char*)payload); if (cmd == "forward") moveForward(); else if (cmd == "backward") moveBackward(); else if (cmd == "left") turnLeft(); else if (cmd == "right") turnRight(); else if (cmd == "stop") stopMotors(); else if (cmd == "light") digitalWrite(4, !digitalRead(4)); } } 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 (!ota_mode) { fb = esp_camera_fb_get(); if (!fb) { res = ESP_FAIL; break; } if (fb->format != PIXFORMAT_JPEG) { bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len); esp_camera_fb_return(fb); fb = NULL; if (!jpeg_converted) { res = ESP_FAIL; break; } } else { _jpg_buf_len = fb->len; _jpg_buf = fb->buf; } if (res == ESP_OK) { size_t hlen = snprintf(part_buf, 64, _STREAM_PART, _jpg_buf_len); res = httpd_resp_send_chunk(req, 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; } return res; } static esp_err_t index_handler(httpd_req_t *req) { httpd_resp_send(req, getHTML(), HTTPD_RESP_USE_STRLEN); return ESP_OK; } void startCameraServer() { httpd_config_t config = HTTPD_DEFAULT_CONFIG(); config.server_port = 80; config.task_priority = 5; httpd_uri_t index_uri = {.uri = "/", .method = HTTP_GET, .handler = index_handler, .user_ctx = NULL}; httpd_uri_t stream_uri = {.uri = "/img", .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, &stream_uri); } } void setup() { WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); Serial.begin(115200); Serial.println("ESP32-CAM Start"); pinMode(MOTOR_LEFT_PIN1, OUTPUT); pinMode(MOTOR_LEFT_PIN2, OUTPUT); pinMode(MOTOR_RIGHT_PIN1, OUTPUT); pinMode(MOTOR_RIGHT_PIN2, OUTPUT); pinMode(4, OUTPUT); // LED stopMotors(); 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_sccb_sda = SIOD_GPIO_NUM; config.pin_sccb_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; config.frame_size = FRAMESIZE_SVGA; config.jpeg_quality = 15; config.fb_count = 2; esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed: 0x%x", err); return; } WiFi.begin(ssid, password); while (WiFi.status() != WL_CONNECTED) { delay(500); Serial.print("."); } Serial.println(""); Serial.print("WiFi connected: "); Serial.println(WiFi.localIP()); ArduinoOTA.onStart([]() { Serial.println("OTA Start"); ota_mode = true; webSocket.disconnect(); webSocket.close(); if (camera_httpd) { httpd_stop(camera_httpd); camera_httpd = NULL; } esp_camera_deinit(); delay(500); }); ArduinoOTA.onEnd([]() { Serial.println("OTA End"); }); ArduinoOTA.onError([](ota_error_t error) { Serial.printf("OTA Error[%u]: ", error); ESP.restart(); }); ArduinoOTA.begin(); webSocket.begin(); webSocket.onEvent(webSocketEvent); startCameraServer(); Serial.println("ok."); } void rsi() { int rssi = WiFi.RSSI(); String msg = String(rssi); webSocket.broadcastTXT(msg); } int x=0; void loop() { ArduinoOTA.handle(); if (!ota_mode) { webSocket.loop(); x++; if (x==2500) { rsi(); x=0; } } delay(1); }