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/*
* Copyright (c) 2006-2026, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2026-04-07 GuEe-GUI the first version
*/
#include <rtthread.h>
#include <rtdevice.h>
#include <drv_camera.h>
/* Pixel format conversion - inlined for performance */
#define DO_CONV_RGB565(r, g, b, dst) \
do { *((rt_uint16_t*)(dst)) = (((r) >> 3) << 11) | (((g) >> 2) << 5) | ((b) >> 3); } while(0)
#define DO_CONV_ARGB888(r, g, b, dst) \
do { *((rt_uint32_t*)(dst)) = (0xFF << 24) | ((r) << 16) | ((g) << 8) | (b); } while(0)
#define DO_CONV_ABGR888(r, g, b, dst) \
do { *((rt_uint32_t*)(dst)) = (0xFF << 24) | ((b) << 16) | ((g) << 8) | (r); } while(0)
/* Blend camera frame into framebuffer at specified position */
static void blend_camera_to_fb(rt_uint8_t *cam_fb, rt_uint8_t *fb,
int cam_w, int cam_h,
int fb_w, int fb_h, int fb_pitch,
int dst_x, int dst_y,
int pixel_format)
{
int x, y;
rt_uint8_t *dst, *src_row;
/* Calculate actual draw region (clip to framebuffer bounds) */
int draw_w = (dst_x + cam_w > fb_w) ? (fb_w - dst_x) : cam_w;
int draw_h = (dst_y + cam_h > fb_h) ? (fb_h - dst_y) : cam_h;
if (draw_w <= 0 || draw_h <= 0)
{
return;
}
/* Optimized conversion based on pixel format */
switch (pixel_format)
{
case RTGRAPHIC_PIXEL_FORMAT_RGB565:
{
rt_uint16_t *dst_pixel;
for (y = 0; y < draw_h; ++y)
{
src_row = cam_fb + y * cam_w * 3;
dst = fb + (dst_y + y) * fb_pitch + dst_x * 2;
dst_pixel = (rt_uint16_t*)dst;
for (x = 0; x < draw_w; ++x)
{
rt_uint8_t r = src_row[x * 3 + 0];
rt_uint8_t g = src_row[x * 3 + 1];
rt_uint8_t b = src_row[x * 3 + 2];
DO_CONV_RGB565(r, g, b, dst_pixel + x);
}
}
break;
}
case RTGRAPHIC_PIXEL_FORMAT_ARGB888:
{
rt_uint32_t *dst_pixel;
for (y = 0; y < draw_h; ++y)
{
src_row = cam_fb + y * cam_w * 3;
dst = fb + (dst_y + y) * fb_pitch + dst_x * 4;
dst_pixel = (rt_uint32_t*)dst;
for (x = 0; x < draw_w; ++x)
{
rt_uint8_t r = src_row[x * 3 + 0];
rt_uint8_t g = src_row[x * 3 + 1];
rt_uint8_t b = src_row[x * 3 + 2];
DO_CONV_ARGB888(r, g, b, dst_pixel + x);
}
}
break;
}
case RTGRAPHIC_PIXEL_FORMAT_ABGR888:
{
rt_uint32_t *dst_pixel;
for (y = 0; y < draw_h; ++y)
{
src_row = cam_fb + y * cam_w * 3;
dst = fb + (dst_y + y) * fb_pitch + dst_x * 4;
dst_pixel = (rt_uint32_t*)dst;
for (x = 0; x < draw_w; ++x)
{
rt_uint8_t r = src_row[x * 3 + 0];
rt_uint8_t g = src_row[x * 3 + 1];
rt_uint8_t b = src_row[x * 3 + 2];
DO_CONV_ABGR888(r, g, b, dst_pixel + x);
}
}
break;
}
default:
/* Fallback: direct copy for RGB888 */
for (y = 0; y < draw_h; ++y)
{
src_row = cam_fb + y * cam_w * 3;
dst = fb + (dst_y + y) * fb_pitch + dst_x * 3;
rt_memcpy(dst, src_row, draw_w * 3);
}
break;
}
}
static int camera(int argc, char**argv)
{
rt_err_t err;
struct rt_device *cdev, *gdev;
struct rt_device_graphic_info info;
int cam_w, cam_h;
void *cam_fb;
int dst_x, dst_y;
cdev = rt_device_find(argc > 1 ? argv[1] : "camera0");
if (!cdev)
{
rt_kputs("Camera device not found\n");
return -1;
}
gdev = rt_device_find(argc > 2 ? argv[2] : "fb0");
if (!gdev)
{
rt_kputs("Framebuffer device not found\n");
return -1;
}
if ((err = rt_device_open(cdev, 0)))
{
rt_kprintf("Open camera failed: %d\n", err);
return (int)err;
}
if ((err = rt_device_open(gdev, 0)))
{
rt_kprintf("Open framebuffer failed: %d\n", err);
goto _close_camera;
}
if ((err = rt_device_control(gdev, RTGRAPHIC_CTRL_GET_INFO, &info)))
{
rt_kprintf("Get framebuffer info failed: %d\n", err);
goto _close_fb;
}
/* Get camera resolution */
rt_device_control(cdev, RT_DEVICE_CTRL_CAMERA_GET_WIDTH, &cam_w);
rt_device_control(cdev, RT_DEVICE_CTRL_CAMERA_GET_HEIGHT, &cam_h);
/* Check pixel format support */
if (info.pixel_format != RTGRAPHIC_PIXEL_FORMAT_RGB565 &&
info.pixel_format != RTGRAPHIC_PIXEL_FORMAT_ARGB888 &&
info.pixel_format != RTGRAPHIC_PIXEL_FORMAT_ABGR888 &&
info.pixel_format != RTGRAPHIC_PIXEL_FORMAT_RGB888)
{
rt_kprintf("Unsupported pixel format: %d\n", info.pixel_format);
goto _close_fb;
}
/* Get direct framebuffer access */
rt_device_control(cdev, RT_DEVICE_CTRL_CAMERA_GET_FRAMEBUFFER, &cam_fb);
/* Center camera on framebuffer */
dst_x = (info.width - cam_w) / 2;
dst_y = (info.height - cam_h) / 2;
if (dst_x < 0) dst_x = 0;
if (dst_y < 0) dst_y = 0;
/* Main loop - read and display frames: ~10 seconds at 30 FPS */
for (int frame_count = 0; frame_count < 300;)
{
/* Wait for new frame (short timeout for low latency) */
if (rt_device_read(cdev, 0, RT_NULL, 0) > 0)
{
/* Blend camera into framebuffer */
blend_camera_to_fb(cam_fb, info.framebuffer,
cam_w, cam_h,
info.width, info.height, info.pitch,
dst_x, dst_y,
info.pixel_format);
++frame_count;
}
}
_close_fb:
rt_device_close(gdev);
_close_camera:
rt_device_close(cdev);
return err;
}
MSH_CMD_EXPORT(camera, camera show in framebuffer);
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