feat(isp): added isp driver framework and isp af driver

components/esp_driver_isp/CMakeLists.txt

@@ -0,0 +1,12 @@
+set(srcs)
+
+set(public_include "include")
+
+if(CONFIG_SOC_ISP_SUPPORTED)
+    list(APPEND srcs "src/isp.c"
+                     "src/isp_af.c")
+endif()
+
+idf_component_register(SRCS ${srcs}
+                       INCLUDE_DIRS ${public_include}
+                      )

components/esp_driver_isp/Kconfig

@@ -0,0 +1,11 @@
+menu "ESP-Driver:ISP Configurations"
+    depends on SOC_ISP_SUPPORTED
+
+    config ISP_ISR_IRAM_SAFE
+        bool "ISP driver ISR IRAM-Safe"
+        default n
+        help
+            Ensure the ISP driver ISR is IRAM-Safe. When enabled, the ISR handler
+            will be available when the cache is disabled.
+
+endmenu # ISP Configuration

components/esp_driver_isp/include/driver/isp.h

@@ -0,0 +1,87 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "esp_err.h"
+#include "driver/isp_types.h"
+#include "driver/isp_af.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief ISP configurations
+ */
+typedef struct {
+    isp_clk_src_t clk_src;                        ///< Clock source
+    uint32_t clk_hz;                              ///< Clock frequency in Hz, suggest twice higher than cam sensor speed
+    isp_input_data_source_t input_data_source;    ///< Input data source
+    isp_color_t input_data_color_type;            ///< Input color type
+    isp_color_t output_data_color_type;           ///< Output color type
+    bool has_line_start_packet;                   ///< Enable line start packet
+    bool has_line_end_packet;                     ///< Enable line end packet
+    uint32_t h_res;                               ///< Input horizontal resolution, i.e. the number of pixels in a line
+    uint32_t v_res;                               ///< Input vertical resolution, i.e. the number of lines in a frame
+} esp_isp_processor_cfg_t;
+
+/**
+ * @brief New an ISP processor
+ *
+ * @param[in]  proc_config  Pointer to ISP config. Refer to ``esp_isp_processor_cfg_t``.
+ * @param[out] ret_proc     Processor handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_NOT_FOUND     No free interrupt found with the specified flags
+ *         - ESP_ERR_NOT_SUPPORTED Not supported mode
+ *         - ESP_ERR_NO_MEM        If out of memory
+ */
+esp_err_t esp_isp_new_processor(const esp_isp_processor_cfg_t *proc_config, isp_proc_handle_t *ret_proc);
+
+/**
+ * @brief Delete an ISP processor
+ *
+ * @param[in] proc  Processor handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_del_processor(isp_proc_handle_t proc);
+
+/**
+ * @brief Enable an ISP processor
+ *
+ * @param[in] proc  Processor handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_enable(isp_proc_handle_t proc);
+
+/**
+ * @brief Disable an ISP processor
+ *
+ * @param[in] proc  Processor handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_disable(isp_proc_handle_t proc);
+
+#ifdef __cplusplus
+}
+#endif

components/esp_driver_isp/include/driver/isp_af.h

@@ -0,0 +1,220 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "esp_err.h"
+#include "driver/isp_types.h"
+#include "driver/isp.h"
+#include "soc/soc_caps.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief AF controller config
+ */
+typedef struct {
+#if SOC_ISP_AF_WINDOW_NUMS
+    isp_af_window_t window[SOC_ISP_AF_WINDOW_NUMS];    ///< AF window settings
+#endif
+    int edge_thresh;                                   ///< Edge threshold, definition higher than this value will be counted as a valid pixel for calculating AF result
+} esp_isp_af_config_t;
+
+/**
+ * @brief New an ISP AF controller
+ *
+ * @param[in]  isp_proc   ISP Processor handle
+ * @param[in]  af_config  Pointer to AF config. Refer to ``esp_isp_af_config_t``.
+ * @param[out] ret_hdl    AF controller handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid
+ *         - ESP_ERR_INVALID_STATE Invalid state
+ *         - ESP_ERR_NOT_FOUND     No free interrupt found with the specified flags
+ *         - ESP_ERR_NO_MEM        If out of memory
+ */
+esp_err_t esp_isp_new_af_controller(isp_proc_handle_t isp_proc, const esp_isp_af_config_t *af_config, isp_af_ctrlr_t *ret_hdl);
+
+/**
+ * @brief Delete an ISP AF controller
+ *
+ * @param[in] af_ctrlr  AF controller handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_del_af_controller(isp_af_ctrlr_t af_ctrlr);
+
+/**
+ * @brief Enable an ISP AF controller
+ *
+ * @param[in] af_ctrlr  AF controller handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_af_controller_enable(isp_af_ctrlr_t af_ctrlr);
+
+/**
+ * @brief Disable an ISP AF controller
+ *
+ * @param[in] af_ctrlr  AF controller handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_af_controller_disable(isp_af_ctrlr_t af_ctrlr);
+
+/**
+ * @brief Get AF result
+ *
+ * @param[in]  af_ctrlr  AF controller handle
+ * @param[out] out_res   AF result
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_af_controller_get_oneshot_result(isp_af_ctrlr_t af_ctrlr, isp_af_result_t *out_res);
+
+/*---------------------------------------------
+                AF Env Monitor
+----------------------------------------------*/
+/**
+ * @brief AF environment detector config
+ */
+typedef struct {
+    int interval;    ///< Interval between environment detection, in frames
+} esp_isp_af_env_config_t;
+
+/**
+ * @brief Event data structure
+ */
+typedef struct {
+    //empty for future proof
+} esp_isp_af_env_detector_evt_data_t;
+
+/**
+ * @brief Prototype of ISP AF Env detector event callback
+ *
+ * @param[in] handle    ISP Env detector handle
+ * @param[in] edata     ISP AF Env detector event data
+ * @param[in] user_data User registered context, registered when in `esp_isp_af_env_detector_register_event_callbacks()`
+ *
+ * @return Whether a high priority task is woken up by this function
+ */
+typedef bool (*esp_isp_af_env_detector_callback_t)(isp_af_env_detr_t detector, const esp_isp_af_env_detector_evt_data_t *edata, void *user_data);
+
+/**
+ * @brief Group of ISP AF Env detector callbacks
+ *
+ * @note These callbacks are all running in an ISR environment.
+ * @note When CONFIG_ISP_ISR_IRAM_SAFE is enabled, the callback itself and functions called by it should be placed in IRAM.
+ *       Involved variables should be in internal RAM as well.
+ */
+typedef struct {
+    esp_isp_af_env_detector_callback_t on_env_change;    ///< Event callback, invoked when environment change happens.
+} esp_isp_af_env_detector_evt_cbs_t;
+
+/**
+ * @brief New an ISP AF environment detector
+ *
+ * @param[in]  af_ctrlr   AF controller handle
+ * @param[in]  config     Pointer to AF env detector config. Refer to ``esp_isp_af_env_config_t``.
+ * @param[out] ret_hdl    AF env detector handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid
+ *         - ESP_ERR_INVALID_STATE Invalid state
+ *         - ESP_ERR_NO_MEM        If out of memory
+ */
+esp_err_t esp_isp_new_af_env_detector(isp_af_ctrlr_t af_ctrlr, const esp_isp_af_env_config_t *config, isp_af_env_detr_t *ret_hdl);
+
+/**
+ * @brief Delete an ISP AF environment detector
+ *
+ * @param[in] af_env_detector  AF env detector handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_del_af_env_detector(isp_af_env_detr_t af_env_detector);
+
+/**
+ * @brief Enable an ISP AF environment detector
+ *
+ * @param[in] af_env_detector  AF env detector handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_af_env_detector_enable(isp_af_env_detr_t af_env_detector);
+
+/**
+ * @brief Disable an ISP AF environment detector
+ *
+ * @param[in] af_env_detector  AF env detector handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_af_env_detector_disable(isp_af_env_detr_t af_env_detector);
+
+/**
+ * @brief Set ISP AF environment detector detecting threshold
+ *
+ * @param[in] af_env_detector    AF env detector handle
+ * @param[in] definition_thresh  Threshold for definition
+ * @param[in] luminance_thresh   Threshold for luminance
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid.
+ *         - ESP_ERR_INVALID_STATE Driver state is invalid.
+ */
+esp_err_t esp_isp_af_env_detector_set_threshold(isp_af_env_detr_t af_env_detector, int definition_thresh, int luminance_thresh);
+
+/**
+ * @brief Register AF environment detector event callbacks
+ *
+ * @note User can deregister a previously registered callback by calling this function and setting the to-be-deregistered callback member in
+ *       the `cbs` structure to NULL.
+ * @note When CONFIG_ISP_ISR_IRAM_SAFE is enabled, the callback itself and functions called by it should be placed in IRAM.
+ *       Involved variables (including `user_data`) should be in internal RAM as well.
+ *
+ * @param[in] af_env_detector  AF env detector handle
+ * @param[in] cbs              Group of callback functions
+ * @param[in] user_data        User data, which will be delivered to the callback functions directly
+ *
+ * @return
+ *        - ESP_OK:                On success
+ *        - ESP_ERR_INVALID_ARG:   Invalid arguments
+ *        - ESP_ERR_INVALID_STATE: Driver state is invalid, you shouldn't call this API at this moment
+ */
+esp_err_t esp_isp_af_env_detector_register_event_callbacks(isp_af_env_detr_t af_env_detector, const esp_isp_af_env_detector_evt_cbs_t *cbs, void *user_data);
+
+#ifdef __cplusplus
+}
+#endif

components/esp_driver_isp/include/driver/isp_types.h

@@ -0,0 +1,32 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include "hal/isp_types.h"
+#include "hal/color_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Type of ISP processor handle
+ */
+typedef struct isp_processor_t *isp_proc_handle_t;
+
+/**
+ * @brief Type of ISP AF controller handle
+ */
+typedef struct isp_af_controller_t *isp_af_ctrlr_t;
+
+/**
+ * @brief Type of ISP AF Env detector handle
+ */
+typedef struct isp_af_env_detector_t *isp_af_env_detr_t;
+
+#ifdef __cplusplus
+}
+#endif

components/esp_driver_isp/src/isp.c

@@ -0,0 +1,301 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <esp_types.h>
+#include <sys/lock.h>
+#include "sdkconfig.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_heap_caps.h"
+#include "freertos/FreeRTOS.h"
+#include "esp_clk_tree.h"
+#include "driver/isp.h"
+#include "esp_private/periph_ctrl.h"
+#include "esp_private/mipi_csi_share_hw_ctrl.h"
+#include "hal/hal_utils.h"
+#include "hal/isp_types.h"
+#include "hal/isp_hal.h"
+#include "hal/isp_ll.h"
+#include "soc/mipi_csi_bridge_struct.h"
+#include "soc/isp_periph.h"
+#include "isp_internal.h"
+
+#if CONFIG_ISP_ISR_IRAM_SAFE
+#define ISP_INTR_ALLOC_FLAGS    (ESP_INTR_FLAG_IRAM)
+#else
+#define ISP_INTR_ALLOC_FLAGS    0
+#endif
+
+#if CONFIG_ISP_ISR_IRAM_SAFE
+#define ISP_MEM_ALLOC_CAPS   (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
+#else
+#define ISP_MEM_ALLOC_CAPS   MALLOC_CAP_DEFAULT
+#endif
+
+typedef struct isp_platform_t {
+    _lock_t         mutex;
+    isp_processor_t *processors[SOC_ISP_NUMS];
+} isp_platform_t;
+
+static const char *TAG = "ISP";
+static isp_platform_t s_platform;
+
+static esp_err_t s_isp_claim_processor(isp_processor_t *proc)
+{
+    assert(proc);
+
+    _lock_acquire(&s_platform.mutex);
+    bool found = false;
+    for (int i = 0; i < SOC_ISP_NUMS; i ++) {
+        found = !s_platform.processors[i];
+        if (found) {
+            s_platform.processors[i] = proc;
+            proc->proc_id = i;
+            PERIPH_RCC_ATOMIC() {
+                isp_ll_enable_module_clock(proc->hal.hw, true);
+                isp_ll_reset_module_clock(proc->hal.hw);
+            }
+            break;
+        }
+    }
+    _lock_release(&s_platform.mutex);
+
+    if (!found) {
+        return ESP_ERR_NOT_FOUND;
+    }
+    return ESP_OK;
+}
+
+static esp_err_t s_isp_declaim_processor(isp_processor_t *proc)
+{
+    assert(proc);
+
+    _lock_acquire(&s_platform.mutex);
+    s_platform.processors[proc->proc_id] = NULL;
+    PERIPH_RCC_ATOMIC() {
+        isp_ll_enable_module_clock(proc->hal.hw, false);
+    }
+    _lock_release(&s_platform.mutex);
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_new_processor(const esp_isp_processor_cfg_t *proc_config, isp_proc_handle_t *ret_proc)
+{
+    esp_err_t ret = ESP_FAIL;
+    ESP_RETURN_ON_FALSE(proc_config && ret_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(proc_config->input_data_source == ISP_INPUT_DATA_SOURCE_CSI, ESP_ERR_NOT_SUPPORTED, TAG, "only support CSI as input source at this moment");
+
+    isp_processor_t *proc = heap_caps_calloc(1, sizeof(isp_processor_t), ISP_MEM_ALLOC_CAPS);
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_NO_MEM, TAG, "no mem");
+
+    //claim a processor, then do assignment
+    ESP_GOTO_ON_ERROR(s_isp_claim_processor(proc), err, TAG, "no available isp processor");
+#if SOC_ISP_SHARE_CSI_BRG
+    ESP_GOTO_ON_ERROR(mipi_csi_brg_claim(MIPI_CSI_BRG_USER_SHARE, &proc->csi_brg_id), err, TAG, "csi bridge is in use already");
+#endif
+
+    isp_clk_src_t clk_src = !proc_config->clk_src ? ISP_CLK_SRC_DEFAULT : proc_config->clk_src;
+    uint32_t clk_src_freq_hz = 0;
+    ESP_GOTO_ON_ERROR(esp_clk_tree_src_get_freq_hz(clk_src, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &clk_src_freq_hz), err, TAG, "clock source setting fail");
+    ESP_GOTO_ON_FALSE((proc_config->clk_hz > 0 && proc_config->clk_hz <= clk_src_freq_hz), ESP_ERR_INVALID_ARG, err, TAG, "clk hz not supported");
+
+    uint32_t out_clk_freq_hz = 0;
+    hal_utils_clk_div_t clk_div = {};
+    hal_utils_clk_info_t clk_info = {
+        .src_freq_hz = clk_src_freq_hz,
+        .exp_freq_hz = proc_config->clk_hz,
+        .max_integ = ISP_LL_TX_MAX_CLK_INT_DIV,
+        .min_integ = 1,
+        .round_opt = HAL_DIV_ROUND,
+    };
+    out_clk_freq_hz = hal_utils_calc_clk_div_integer(&clk_info, &clk_div.integer);
+    if (out_clk_freq_hz != proc_config->clk_hz) {
+        ESP_LOGW(TAG, "precision loss, real output frequency: %"PRIu32"Hz", out_clk_freq_hz);
+    }
+
+    isp_hal_init(&proc->hal, proc->proc_id);
+    //necessary ISP submodules that needs basic initialisation
+    isp_ll_bf_clk_enable(proc->hal.hw, true);
+    isp_ll_bf_enable(proc->hal.hw, true);
+    isp_ll_ccm_clk_enable(proc->hal.hw, true);
+    isp_ll_ccm_enable(proc->hal.hw, true);
+    isp_ll_color_clk_enable(proc->hal.hw, true);
+    isp_ll_color_enable(proc->hal.hw, true);
+    PERIPH_RCC_ATOMIC() {
+        isp_ll_select_clk_source(proc->hal.hw, clk_src);
+        isp_ll_set_clock_div(proc->hal.hw, &clk_div);
+    }
+
+    proc->isp_fsm = ISP_FSM_INIT;
+    proc->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
+
+    //Input color format
+    bool valid_format = false;
+    color_space_pixel_format_t in_color_format = {
+        .color_type_id = proc_config->input_data_color_type,
+    };
+    valid_format = isp_ll_set_input_data_color_format(proc->hal.hw, in_color_format);
+    ESP_GOTO_ON_FALSE(valid_format, ESP_ERR_INVALID_ARG, err, TAG, "invalid input color space config");
+
+    //Output color format
+    valid_format = false;
+    color_space_pixel_format_t out_color_format = {
+        .color_type_id = proc_config->output_data_color_type,
+    };
+    valid_format = isp_ll_set_output_data_color_format(proc->hal.hw, out_color_format);
+    ESP_GOTO_ON_FALSE(valid_format, ESP_ERR_INVALID_ARG, err, TAG, "invalid output color space config");
+
+    isp_ll_clk_enable(proc->hal.hw, true);
+    isp_ll_set_input_data_source(proc->hal.hw, proc_config->input_data_source);
+    isp_ll_enable_line_start_packet_exist(proc->hal.hw, proc_config->has_line_start_packet);
+    isp_ll_enable_line_end_packet_exist(proc->hal.hw, proc_config->has_line_end_packet);
+    isp_ll_set_intput_data_h_pixel_num(proc->hal.hw, proc_config->h_res);
+    isp_ll_set_intput_data_v_row_num(proc->hal.hw, proc_config->v_res);
+
+    *ret_proc = proc;
+
+    return ESP_OK;
+
+err:
+    free(proc);
+
+    return ret;
+}
+
+esp_err_t esp_isp_del_processor(isp_proc_handle_t proc)
+{
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(proc->isp_fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "processor isn't in init state");
+
+    //declaim first, then do free
+    ESP_RETURN_ON_ERROR(s_isp_declaim_processor(proc), TAG, "declaim processor fail");
+#if SOC_ISP_SHARE_CSI_BRG
+    ESP_RETURN_ON_ERROR(mipi_csi_brg_declaim(proc->csi_brg_id), TAG, "declaim csi bridge fail");
+#endif
+    free(proc);
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_enable(isp_proc_handle_t proc)
+{
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(proc->isp_fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "processor isn't in init state");
+
+    isp_ll_enable(proc->hal.hw, true);
+    proc->isp_fsm = ISP_FSM_ENABLE;
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_disable(isp_proc_handle_t proc)
+{
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(proc->isp_fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "processor isn't in enable state");
+
+    isp_ll_enable(proc->hal.hw, false);
+    proc->isp_fsm = ISP_FSM_INIT;
+
+    return ESP_OK;
+}
+
+/*---------------------------------------------------------------
+                      INTR
+---------------------------------------------------------------*/
+static void IRAM_ATTR s_isp_isr_dispatcher(void *arg)
+{
+    isp_processor_t *proc = (isp_processor_t *)arg;
+    bool need_yield = false;
+
+    //Check and clear hw events
+    uint32_t af_events = isp_hal_check_clear_intr_event(&proc->hal, ISP_LL_EVENT_AF_MASK);
+
+    bool do_dispatch = false;
+    //Deal with hw events
+    if (af_events) {
+        portENTER_CRITICAL_ISR(&proc->spinlock);
+        do_dispatch = proc->af_isr_added;
+        portEXIT_CRITICAL_ISR(&proc->spinlock);
+
+        if (do_dispatch) {
+            need_yield |= esp_isp_af_isr(proc, af_events);
+        }
+        do_dispatch = false;
+    }
+
+    if (need_yield) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+esp_err_t esp_isp_register_isr(isp_proc_handle_t proc, isp_submodule_t submodule)
+{
+    esp_err_t ret = ESP_FAIL;
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+
+    bool do_alloc = false;
+    portENTER_CRITICAL(&proc->spinlock);
+    proc->isr_ref_counts++;
+    if (proc->isr_ref_counts == 1) {
+        assert(!proc->intr_hdl);
+        do_alloc = true;
+    }
+
+    switch (submodule) {
+    case ISP_SUBMODULE_AF:
+        proc->af_isr_added = true;
+        break;
+    default:
+        assert(false);
+    }
+    portEXIT_CRITICAL(&proc->spinlock);
+
+    if (do_alloc) {
+        ret = esp_intr_alloc(isp_hw_info.instances[proc->proc_id].irq, ISP_INTR_ALLOC_FLAGS, s_isp_isr_dispatcher, (void *)proc, &proc->intr_hdl);
+        if (ret != ESP_OK) {
+            ESP_LOGE(TAG, "no intr source");
+            return ret;
+        }
+        esp_intr_enable(proc->intr_hdl);
+    }
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_deregister_isr(isp_proc_handle_t proc, isp_submodule_t submodule)
+{
+    esp_err_t ret = ESP_FAIL;
+    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+
+    bool do_free = false;
+    portENTER_CRITICAL(&proc->spinlock);
+    proc->isr_ref_counts--;
+    assert(proc->isr_ref_counts >= 0);
+    if (proc->isr_ref_counts == 0) {
+        assert(proc->intr_hdl);
+        do_free = true;
+    }
+
+    switch (submodule) {
+    case ISP_SUBMODULE_AF:
+        proc->af_isr_added = false;
+        break;
+    default:
+        assert(false);
+    }
+    portEXIT_CRITICAL(&proc->spinlock);
+
+    if (do_free) {
+        esp_intr_disable(proc->intr_hdl);
+        ret = esp_intr_free(proc->intr_hdl);
+        if (ret != ESP_OK) {
+            return ret;
+        }
+    }
+
+    return ESP_OK;
+}

components/esp_driver_isp/src/isp_af.c

@@ -0,0 +1,330 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <esp_types.h>
+#include <sys/lock.h>
+#include "sdkconfig.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_heap_caps.h"
+#include "freertos/FreeRTOS.h"
+#include "driver/isp.h"
+#include "hal/isp_hal.h"
+#include "hal/isp_ll.h"
+#include "isp_internal.h"
+
+#if CONFIG_ISP_ISR_IRAM_SAFE
+#define ISP_AF_MEM_ALLOC_CAPS   (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
+#else
+#define ISP_AF_MEM_ALLOC_CAPS   MALLOC_CAP_DEFAULT
+#endif
+
+static const char *TAG = "ISP_AF";
+
+/*---------------------------------------------
+                AF
+----------------------------------------------*/
+static esp_err_t s_isp_claim_af_controller(isp_proc_handle_t isp_proc, isp_af_controller_t *af_ctlr)
+{
+    assert(isp_proc && af_ctlr);
+
+    bool found = false;
+    portENTER_CRITICAL(&isp_proc->spinlock);
+    for (int i = 0; i < SOC_ISP_AF_CTLR_NUMS; i++) {
+        found = !isp_proc->af_ctlr[i];
+        if (found) {
+            isp_proc->af_ctlr[i] = af_ctlr;
+            af_ctlr->id = i;
+
+            break;
+        }
+    }
+    portEXIT_CRITICAL(&isp_proc->spinlock);
+
+    if (!found) {
+        return ESP_ERR_NOT_FOUND;
+    }
+    return ESP_OK;
+}
+
+static esp_err_t s_isp_declaim_af_controller(isp_af_controller_t *af_ctlr)
+{
+    assert(af_ctlr && af_ctlr->isp_proc);
+
+    portENTER_CRITICAL(&af_ctlr->isp_proc->spinlock);
+    af_ctlr->isp_proc->af_ctlr[af_ctlr->id] = NULL;
+    portEXIT_CRITICAL(&af_ctlr->isp_proc->spinlock);
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_new_af_controller(isp_proc_handle_t isp_proc, const esp_isp_af_config_t *af_config, isp_af_ctrlr_t *ret_hdl)
+{
+    esp_err_t ret = ESP_FAIL;
+    ESP_RETURN_ON_FALSE(isp_proc && af_config && ret_hdl, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+
+    bool rgb2yuv_en = isp_ll_is_rgb2yuv_enabled(isp_proc->hal.hw);
+    bool demosaic_en = isp_ll_is_demosaic_enabled(isp_proc->hal.hw);
+    ESP_RETURN_ON_FALSE(demosaic_en && rgb2yuv_en, ESP_ERR_INVALID_STATE, TAG, "RGB2YUV not enabled, please update the output_data_color_type");
+
+    for (int i = 0; i < SOC_ISP_AF_WINDOW_NUMS; i++) {
+        ESP_LOGV(TAG, "af_config->window[%d].top_left_x: %"PRId32, i, af_config->window[i].top_left_x);
+        ESP_LOGV(TAG, "af_config->window[%d].bottom_right_x: %"PRId32, i, af_config->window[i].bottom_right_x);
+        ESP_LOGV(TAG, "af_config->window[%d].bottom_right_y: %"PRId32, i, af_config->window[i].bottom_right_y);
+        ESP_LOGV(TAG, "af_config->window[%d].top_left_y: %"PRId32, i, af_config->window[i].top_left_y);
+
+        ESP_RETURN_ON_FALSE(((af_config->window[i].top_left_x < ISP_LL_AF_WINDOW_MAX_RANGE) &&
+                             (af_config->window[i].bottom_right_x >= af_config->window[i].top_left_x) &&
+                             (af_config->window[i].bottom_right_x < ISP_LL_AF_WINDOW_MAX_RANGE) &&
+                             (af_config->window[i].top_left_y < ISP_LL_AF_WINDOW_MAX_RANGE) &&
+                             (af_config->window[i].bottom_right_y >= af_config->window[i].top_left_y) &&
+                             (af_config->window[i].bottom_right_y < ISP_LL_AF_WINDOW_MAX_RANGE)), ESP_ERR_INVALID_ARG, TAG, "invalid window");
+    }
+    ESP_RETURN_ON_FALSE(af_config->edge_thresh > 0, ESP_ERR_INVALID_ARG, TAG, "edge threshold should be larger than 0");
+
+    isp_af_controller_t *af_ctlr = heap_caps_calloc(1, sizeof(isp_af_controller_t), ISP_AF_MEM_ALLOC_CAPS);
+    ESP_RETURN_ON_FALSE(af_ctlr, ESP_ERR_NO_MEM, TAG, "no mem");
+
+    //claim an AF controller
+    ESP_GOTO_ON_ERROR(s_isp_claim_af_controller(isp_proc, af_ctlr), err, TAG, "no available controller");
+
+    af_ctlr->fsm = ISP_FSM_INIT;
+    af_ctlr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
+    af_ctlr->isp_proc = isp_proc;
+
+    isp_ll_af_enable_auto_update(isp_proc->hal.hw, false);
+    isp_ll_af_enable(isp_proc->hal.hw, false);
+
+    for (int i = 0; i < SOC_ISP_AF_WINDOW_NUMS; i++) {
+        isp_hal_af_window_config(&isp_proc->hal, i, &af_config->window[i]);
+    }
+
+    isp_ll_af_set_edge_thresh_mode(isp_proc->hal.hw, ISP_LL_AF_EDGE_MONITOR_MODE_MANUAL);
+    isp_ll_af_set_edge_thresh(isp_proc->hal.hw, af_config->edge_thresh);
+    isp_ll_clear_intr(isp_proc->hal.hw, ISP_LL_EVENT_AF_MASK);
+
+    *ret_hdl = af_ctlr;
+
+    return ESP_OK;
+
+err:
+    free(af_ctlr);
+
+    return ret;
+}
+
+esp_err_t esp_isp_del_af_controller(isp_af_ctrlr_t af_ctlr)
+{
+    ESP_RETURN_ON_FALSE(af_ctlr && af_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_ERROR(s_isp_declaim_af_controller(af_ctlr), TAG, "controller isn't in use");
+    ESP_RETURN_ON_FALSE(af_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller isn't in init state");
+
+    free(af_ctlr);
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_controller_enable(isp_af_ctrlr_t af_ctlr)
+{
+    ESP_RETURN_ON_FALSE(af_ctlr && af_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(af_ctlr->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "controller isn't in init state");
+
+    isp_ll_af_clk_enable(af_ctlr->isp_proc->hal.hw, true);
+    isp_ll_af_enable(af_ctlr->isp_proc->hal.hw, true);
+    af_ctlr->fsm = ISP_FSM_ENABLE;
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_controller_disable(isp_af_ctrlr_t af_ctlr)
+{
+    ESP_RETURN_ON_FALSE(af_ctlr && af_ctlr->isp_proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(af_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
+
+    isp_ll_af_clk_enable(af_ctlr->isp_proc->hal.hw, false);
+    isp_ll_af_enable(af_ctlr->isp_proc->hal.hw, false);
+    af_ctlr->fsm = ISP_FSM_INIT;
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_controller_get_oneshot_result(isp_af_ctrlr_t af_ctlr, isp_af_result_t *out_res)
+{
+    ESP_RETURN_ON_FALSE_ISR(af_ctlr && out_res, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE_ISR(af_ctlr->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "controller isn't in enable state");
+
+    isp_hal_af_get_oneshot_result(&af_ctlr->isp_proc->hal, out_res);
+
+    return ESP_OK;
+}
+
+/*---------------------------------------------
+                AF Env Monitor
+----------------------------------------------*/
+static esp_err_t s_isp_claim_af_env_detector(isp_af_ctrlr_t af_ctlr, isp_af_env_detector_t *af_env_detector)
+{
+    assert(af_ctlr && af_env_detector);
+
+    bool found = false;
+    portENTER_CRITICAL(&af_ctlr->spinlock);
+    for (int i = 0; i < SOC_ISP_AF_ENV_DETECTOR_NUMS; i++) {
+        found = !af_ctlr->af_env_detector[i];
+        if (found) {
+            af_ctlr->af_env_detector[i] = af_env_detector;
+            af_env_detector->id = i;
+
+            break;
+        }
+    }
+    portEXIT_CRITICAL(&af_ctlr->spinlock);
+
+    if (!found) {
+        return ESP_ERR_NOT_FOUND;
+    }
+    return ESP_OK;
+}
+
+static esp_err_t s_isp_declaim_af_env_detector(isp_af_env_detector_t *af_env_detector)
+{
+    assert(af_env_detector && af_env_detector->af_ctlr);
+
+    portENTER_CRITICAL(&af_env_detector->af_ctlr->spinlock);
+    af_env_detector->af_ctlr->af_env_detector[af_env_detector->id] = NULL;
+    portEXIT_CRITICAL(&af_env_detector->af_ctlr->spinlock);
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_new_af_env_detector(isp_af_ctrlr_t af_ctlr, const esp_isp_af_env_config_t *config, isp_af_env_detr_t *ret_hdl)
+{
+    esp_err_t ret = ESP_FAIL;
+    ESP_RETURN_ON_FALSE(af_ctlr && config && ret_hdl, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+
+    isp_af_env_detector_t *af_env_detector = heap_caps_calloc(1, sizeof(isp_af_env_detector_t), ISP_AF_MEM_ALLOC_CAPS);
+    ESP_RETURN_ON_FALSE(af_env_detector, ESP_ERR_NO_MEM, TAG, "no mem");
+
+    //claim an AF Env detector
+    ESP_GOTO_ON_ERROR(s_isp_claim_af_env_detector(af_ctlr, af_env_detector), err, TAG, "no available env detector");
+
+    af_env_detector->fsm = ISP_FSM_INIT;
+    af_env_detector->config.interval = config->interval;
+    af_env_detector->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
+    af_env_detector->af_ctlr = af_ctlr;
+
+    isp_ll_af_env_monitor_set_period(af_ctlr->isp_proc->hal.hw, 0);
+    isp_ll_clear_intr(af_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_AF_ENV);
+
+    *ret_hdl = af_env_detector;
+
+    return ESP_OK;
+
+err:
+    free(af_env_detector);
+
+    return ret;
+}
+
+esp_err_t esp_isp_del_af_env_detector(isp_af_env_detr_t af_env_detector)
+{
+    ESP_RETURN_ON_FALSE(af_env_detector && af_env_detector->af_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_ERROR(s_isp_declaim_af_env_detector(af_env_detector), TAG, "detector isn't in use");
+    ESP_RETURN_ON_FALSE(af_env_detector->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "detector isn't in init state");
+
+    free(af_env_detector);
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_env_detector_enable(isp_af_env_detr_t af_env_detector)
+{
+    ESP_RETURN_ON_FALSE(af_env_detector && af_env_detector->af_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(af_env_detector->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "detector isn't in init state");
+
+    //try use ratio mode
+    isp_ll_af_env_monitor_set_mode(af_env_detector->af_ctlr->isp_proc->hal.hw, ISP_LL_AF_ENV_MONITOR_MODE_ABS);
+    isp_ll_af_env_monitor_set_period(af_env_detector->af_ctlr->isp_proc->hal.hw, af_env_detector->config.interval);
+    isp_ll_enable_intr(af_env_detector->af_ctlr->isp_proc->hal.hw, ISP_LL_EVENT_AF_ENV, true);
+    af_env_detector->fsm = ISP_FSM_ENABLE;
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_env_detector_disable(isp_af_env_detr_t af_env_detector)
+{
+    ESP_RETURN_ON_FALSE(af_env_detector && af_env_detector->af_ctlr, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    ESP_RETURN_ON_FALSE(af_env_detector->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "detector isn't in enable state");
+
+    isp_ll_af_env_monitor_set_period(af_env_detector->af_ctlr->isp_proc->hal.hw, 0);
+    af_env_detector->fsm = ISP_FSM_INIT;
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_env_detector_register_event_callbacks(isp_af_env_detr_t af_env_detector, const esp_isp_af_env_detector_evt_cbs_t *cbs, void *user_data)
+{
+    ESP_RETURN_ON_FALSE(af_env_detector && cbs, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    ESP_RETURN_ON_FALSE(af_env_detector->fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "detector isn't in the init state");
+
+#if CONFIG_ISP_ISR_IRAM_SAFE
+    if (cbs->on_env_change) {
+        ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_env_change), ESP_ERR_INVALID_ARG, TAG, "on_env_change callback not in IRAM");
+    }
+#endif
+
+    ESP_RETURN_ON_ERROR(esp_isp_register_isr(af_env_detector->af_ctlr->isp_proc, ISP_SUBMODULE_AF), TAG, "fail to register ISR");
+
+    af_env_detector->cbs.on_env_change = cbs->on_env_change;
+    af_env_detector->user_data = user_data;
+
+    return ESP_OK;
+}
+
+esp_err_t esp_isp_af_env_detector_set_threshold(isp_af_env_detr_t af_env_detector, int definition_thresh, int luminance_thresh)
+{
+    ESP_RETURN_ON_FALSE_ISR(af_env_detector, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    ESP_RETURN_ON_FALSE_ISR(af_env_detector->fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "detector isn't in enable state");
+
+    isp_ll_af_env_monitor_set_thresh(af_env_detector->af_ctlr->isp_proc->hal.hw, definition_thresh, luminance_thresh);
+
+    return ESP_OK;
+}
+
+/*---------------------------------------------------------------
+                      INTR
+---------------------------------------------------------------*/
+static bool IRAM_ATTR s_af_env_isr(isp_af_env_detector_t *detector)
+{
+    bool need_yield = false;
+
+    esp_isp_af_env_detector_evt_data_t edata = {};
+    if (detector->cbs.on_env_change(detector, &edata, detector->user_data)) {
+        need_yield |= true;
+    }
+
+    return need_yield;
+}
+
+bool IRAM_ATTR esp_isp_af_isr(isp_proc_handle_t proc, uint32_t af_events)
+{
+    /**
+     * HW events are cleared in the ISP ISR dispatcher.
+     * We only deal with HW events
+     */
+
+    bool need_yield = false;
+
+    if (af_events & ISP_LL_EVENT_AF_ENV) {
+        /**
+         * Now only one detector.
+         * Should decide a detector instance according to the hw event.
+         */
+        isp_af_env_detector_t *detector = proc->af_ctlr[0]->af_env_detector[0];
+
+        need_yield |= s_af_env_isr(detector);
+    }
+
+    return need_yield;
+}

components/esp_driver_isp/src/isp_internal.h

@@ -0,0 +1,90 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <esp_types.h>
+#include "sdkconfig.h"
+#include "esp_attr.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_heap_caps.h"
+#include "esp_intr_alloc.h"
+#include "freertos/FreeRTOS.h"
+#include "hal/isp_hal.h"
+#include "hal/isp_types.h"
+#include "soc/isp_periph.h"
+#include "soc/soc_caps.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    ISP_FSM_INIT,
+    ISP_FSM_ENABLE,
+} isp_fsm_t;
+
+/*---------------------------------------------------------------
+            Driver Context
+---------------------------------------------------------------*/
+typedef enum {
+    ISP_SUBMODULE_AF,
+} isp_submodule_t;
+
+typedef struct isp_af_env_detector_t isp_af_env_detector_t;
+typedef struct isp_af_controller_t isp_af_controller_t;
+typedef struct isp_processor_t isp_processor_t;
+
+struct isp_af_env_detector_t {
+    int                                id;
+    isp_fsm_t                          fsm;
+    esp_isp_af_env_config_t            config;
+    portMUX_TYPE                       spinlock;
+    esp_isp_af_env_detector_evt_cbs_t  cbs;
+    void                               *user_data;
+    isp_af_controller_t                *af_ctlr;
+};
+
+struct isp_af_controller_t {
+    int                    id;
+    isp_fsm_t              fsm;
+    portMUX_TYPE           spinlock;
+    isp_processor_t        *isp_proc;
+    isp_af_env_detector_t  *af_env_detector[SOC_ISP_AF_ENV_DETECTOR_NUMS];
+};
+
+struct isp_processor_t {
+    int                  proc_id;
+    isp_hal_context_t    hal;
+#if SOC_ISP_SHARE_CSI_BRG
+    int                  csi_brg_id;
+    void                 *csi_brg_hw;
+#endif
+    isp_fsm_t            isp_fsm;
+    portMUX_TYPE         spinlock;
+    intr_handle_t        intr_hdl;
+
+    /* sub module contexts */
+    isp_af_controller_t  *af_ctlr[SOC_ISP_AF_CTLR_NUMS];
+
+    /* should be accessed within isp_processor_t spinlock */
+    int                  isr_ref_counts;
+    bool                 af_isr_added;
+};
+
+/*---------------------------------------------------------------
+                      INTR
+---------------------------------------------------------------*/
+esp_err_t esp_isp_register_isr(isp_proc_handle_t proc, isp_submodule_t submodule);
+esp_err_t esp_isp_deregister_isr(isp_proc_handle_t proc, isp_submodule_t submodule);
+bool esp_isp_af_isr(isp_proc_handle_t proc, uint32_t af_events);
+
+#ifdef __cplusplus
+}
+#endif

components/esp_driver_isp/test_apps/.build-test-rules.yml

@@ -0,0 +1,5 @@
+components/esp_driver_isp/test_apps/isp:
+  disable:
+    - if: SOC_ISP_SUPPORTED != 1
+  depends_components:
+    - esp_driver_isp

components/esp_driver_isp/test_apps/isp/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.16)
+
+list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+
+set(COMPONENTS main)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_isp)

components/esp_driver_isp/test_apps/isp/README.md

@@ -0,0 +1,2 @@
+| Supported Targets | ESP32-P4 |
+| ----------------- | -------- |

components/esp_driver_isp/test_apps/isp/main/CMakeLists.txt

@@ -0,0 +1,16 @@
+set(srcs "test_app_main.c"
+         "test_isp_driver.c")
+
+if(CONFIG_SOC_ISP_SHARE_CSI_BRG)
+    list(APPEND srcs "test_isp_csi.c")
+endif()
+
+set(priv_requires
+        unity
+        esp_driver_isp
+)
+
+idf_component_register(SRCS ${srcs}
+                       INCLUDE_DIRS "."
+                       PRIV_REQUIRES ${priv_requires}
+                       WHOLE_ARCHIVE TRUE)

components/esp_driver_isp/test_apps/isp/main/test_app_main.c

@@ -0,0 +1,40 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ */
+
+#include "unity.h"
+#include "unity_test_utils.h"
+#include "esp_heap_caps.h"
+#include "sdkconfig.h"
+
+#define TEST_MEMORY_LEAK_THRESHOLD (400)
+
+void setUp(void)
+{
+    unity_utils_record_free_mem();
+}
+
+void tearDown(void)
+{
+    unity_utils_evaluate_leaks_direct(TEST_MEMORY_LEAK_THRESHOLD);
+}
+
+void app_main(void)
+{
+    /*
+     ____________________  ___________
+    /_  __/ __/ __/_  __/ /  _/ __/ _ \
+     / / / _/_\ \  / /   _/ /_\ \/ ___/
+    /_/ /___/___/ /_/   /___/___/_/
+
+    */
+
+    printf(" ____________________  ___________\n");
+    printf("/_  __/ __/ __/_  __/ /  _/ __/ _ \\\n");
+    printf(" / / / _/_\\ \\  / /   _/ /_\\ \\/ ___/\n");
+    printf("/_/ /___/___/ /_/   /___/___/_/\n");
+
+    unity_run_menu();
+}

components/esp_driver_isp/test_apps/isp/main/test_isp_driver.c

@@ -0,0 +1,94 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <stdio.h>
+#include "sdkconfig.h"
+#include "unity.h"
+#include "driver/isp.h"
+
+#include "esp_rom_sys.h"
+
+TEST_CASE("ISP processor exhausted allocation", "[isp]")
+{
+    esp_isp_processor_cfg_t isp_config = {
+        .clk_hz = 80 * 1000 * 1000,
+        .input_data_source = ISP_INPUT_DATA_SOURCE_CSI,
+        .input_data_color_type = ISP_COLOR_RAW8,
+        .output_data_color_type = ISP_COLOR_RGB565,
+    };
+    isp_proc_t isp_proc[SOC_ISP_NUMS + 1] = {};
+
+    for (int i = 0; i < SOC_ISP_NUMS; i++) {
+        TEST_ESP_OK(esp_isp_new_processor(&isp_config, &isp_proc[i]));
+        esp_rom_printf("first alloc ok\n");
+    }
+
+    TEST_ASSERT(esp_isp_new_processor(&isp_config, &isp_proc[SOC_ISP_NUMS]) == ESP_ERR_NOT_FOUND);
+
+    for (int i = 0; i < SOC_ISP_NUMS; i++) {
+        TEST_ESP_OK(esp_isp_del_processor(isp_proc[i]));
+    }
+}
+
+TEST_CASE("ISP AF controller exhausted allocation", "[isp]")
+{
+    esp_isp_processor_cfg_t isp_config = {
+        .clk_hz = 80 * 1000 * 1000,
+        .input_data_source = ISP_INPUT_DATA_SOURCE_CSI,
+        .input_data_color_type = ISP_COLOR_RAW8,
+        .output_data_color_type = ISP_COLOR_RGB565,
+    };
+    isp_proc_t isp_proc = NULL;
+    TEST_ESP_OK(esp_isp_new_processor(&isp_config, &isp_proc));
+
+    esp_isp_af_config_t af_config = {
+        .edge_thresh = 128,
+    };
+    isp_af_ctrlr_t af_ctrlr[SOC_ISP_AF_CTLR_NUMS + 1] = {};
+    for (int i = 0; i < SOC_ISP_AF_CTLR_NUMS; i++) {
+        TEST_ESP_OK(esp_isp_new_af_controller(isp_proc, &af_config, &af_ctrlr[i]));
+    }
+
+    TEST_ASSERT(esp_isp_new_af_controller(isp_proc, &af_config, &af_ctrlr[SOC_ISP_AF_CTLR_NUMS]) == ESP_ERR_NOT_FOUND);
+
+    for (int i = 0; i < SOC_ISP_AF_CTLR_NUMS; i++) {
+        TEST_ESP_OK(esp_isp_del_af_controller(af_ctrlr[i]));
+    }
+    TEST_ESP_OK(esp_isp_del_processor(isp_proc));
+}
+
+TEST_CASE("ISP AF env detector exhausted allocation", "[isp]")
+{
+    esp_isp_processor_cfg_t isp_config = {
+        .clk_hz = 80 * 1000 * 1000,
+        .input_data_source = ISP_INPUT_DATA_SOURCE_CSI,
+        .input_data_color_type = ISP_COLOR_RAW8,
+        .output_data_color_type = ISP_COLOR_RGB565,
+    };
+    isp_proc_t isp_proc = NULL;
+    TEST_ESP_OK(esp_isp_new_processor(&isp_config, &isp_proc));
+
+    esp_isp_af_config_t af_config = {
+        .edge_thresh = 128,
+    };
+    isp_af_ctrlr_t af_ctrlr = NULL;
+    TEST_ESP_OK(esp_isp_new_af_controller(isp_proc, &af_config, &af_ctrlr));
+
+    esp_isp_af_env_config_t env_config = {
+        .interval = 10,
+    };
+    isp_af_env_detr_t env_detector[SOC_ISP_AF_ENV_DETECTOR_NUMS + 1]  = {};
+    for (int i = 0; i < SOC_ISP_AF_ENV_DETECTOR_NUMS; i++) {
+        TEST_ESP_OK(esp_isp_new_af_env_detector(af_ctrlr, &env_config, &env_detector[i]));
+    }
+
+    TEST_ASSERT(esp_isp_new_af_env_detector(af_ctrlr, &env_config, &env_detector[SOC_ISP_AF_ENV_DETECTOR_NUMS]) == ESP_ERR_NOT_FOUND);
+
+    for (int i = 0; i < SOC_ISP_AF_ENV_DETECTOR_NUMS; i++) {
+        TEST_ESP_OK(esp_isp_del_af_env_detector(env_detector[i]));
+    }
+    TEST_ESP_OK(esp_isp_del_af_controller(af_ctrlr));
+    TEST_ESP_OK(esp_isp_del_processor(isp_proc));
+}

components/esp_driver_isp/test_apps/isp/pytest_isp.py

@@ -0,0 +1,7 @@
+# SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: CC0-1.0
+from pytest_embedded_idf import IdfDut
+
+
+def test_isp(dut: IdfDut) -> None:
+    dut.run_all_single_board_cases()

components/esp_driver_isp/test_apps/isp/sdkconfig.defaults

@@ -0,0 +1,2 @@
+CONFIG_FREERTOS_HZ=1000
+CONFIG_ESP_TASK_WDT_EN=n

components/esp_hw_support/mipi_csi_share_hw_ctrl.c

@@ -73,6 +73,7 @@ esp_err_t mipi_csi_brg_declaim(int id)
 
     s_ctx.ref_cnt[id]--;
     if (s_ctx.ref_cnt[id] < 0) {
+        s_ctx.ref_cnt[id] = 0;
         portEXIT_CRITICAL(&s_ctx.spinlock);
         ESP_LOGE(TAG, "%s called, but s_ctx.ref_cnt[%d] == 0", __func__, id);
         return ESP_ERR_INVALID_STATE;

components/hal/esp32p4/include/hal/isp_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,6 +10,7 @@
 #include "esp_attr.h"
 #include "hal/misc.h"
 #include "hal/assert.h"
+#include "hal/hal_utils.h"
 #include "hal/isp_types.h"
 #include "hal/color_types.h"
 #include "soc/isp_struct.h"
@@ -23,6 +24,11 @@ extern "C" {
 
 #define ISP_LL_GET_HW(num)            (((num) == 0) ? (&ISP) : NULL)
 
+/*---------------------------------------------------------------
+                      Clock
+---------------------------------------------------------------*/
+#define ISP_LL_TX_MAX_CLK_INT_DIV             0x100
+
 
 /*---------------------------------------------------------------
                       INTR
@@ -151,11 +157,12 @@ static inline void isp_ll_select_clk_source(isp_dev_t *hw, soc_periph_isp_clk_sr
  * @brief Set ISP clock div
  *
  * @param hw     Hardware instance address
- * @param div    divider value
+ * @param div    Clock division with integral and decimal part
  */
-static inline void isp_ll_set_clock_div(isp_dev_t *hw, uint32_t div)
+static inline void isp_ll_set_clock_div(isp_dev_t *hw, const hal_utils_clk_div_t *clk_div)
 {
-    HP_SYS_CLKRST.peri_clk_ctrl26.reg_isp_clk_div_num = div;
+    HAL_ASSERT(clk_div->integer > 0 && clk_div->integer <= ISP_LL_TX_MAX_CLK_INT_DIV);
+    HAL_FORCE_MODIFY_U32_REG_FIELD(HP_SYS_CLKRST.peri_clk_ctrl26, reg_isp_clk_div_num, clk_div->integer - 1);
 }
 
 /// use a macro to wrap the function, force the caller to use it in a critical section
@@ -518,6 +525,7 @@ static inline void isp_ll_af_set_window_range(isp_dev_t *hw, uint32_t window_id,
         break;
     default:
         HAL_ASSERT(false);
+        break;
     }
 }
 
@@ -540,6 +548,7 @@ static inline uint32_t isp_ll_af_get_window_sum(isp_dev_t *hw, uint32_t window_i
         return hw->af_sum_c.af_sumc;
     default:
         HAL_ASSERT(false);
+        return 0;
     }
 }
 
@@ -562,6 +571,7 @@ static inline uint32_t isp_ll_af_get_window_lum(isp_dev_t *hw, uint32_t window_i
         return hw->af_lum_c.af_lumc;
     default:
         HAL_ASSERT(false);
+        return 0;
     }
 }
 

components/soc/CMakeLists.txt

@@ -67,6 +67,10 @@ if(CONFIG_SOC_SDM_SUPPORTED)
     list(APPEND srcs "${target_folder}/sdm_periph.c")
 endif()
 
+if(CONFIG_SOC_ISP_SUPPORTED)
+    list(APPEND srcs "${target}/isp_periph.c")
+endif()
+
 if(CONFIG_SOC_I2S_SUPPORTED)
     list(APPEND srcs "${target_folder}/i2s_periph.c")
 endif()

components/soc/esp32p4/include/soc/Kconfig.soc_caps.in

@@ -127,6 +127,10 @@ config SOC_LEDC_SUPPORTED
     bool
     default y
 
+config SOC_ISP_SUPPORTED
+    bool
+    default y
+
 config SOC_I2C_SUPPORTED
     bool
     default y

components/soc/esp32p4/include/soc/soc_caps.h

@@ -53,6 +53,7 @@
 #define SOC_SDM_SUPPORTED               1
 #define SOC_GPSPI_SUPPORTED             1
 #define SOC_LEDC_SUPPORTED              1
+#define SOC_ISP_SUPPORTED               1
 #define SOC_I2C_SUPPORTED               1
 #define SOC_SYSTIMER_SUPPORTED          1
 #define SOC_AES_SUPPORTED               1

components/soc/esp32p4/isp_periph.c

@@ -0,0 +1,24 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "soc/periph_defs.h"
+#include "soc/isp_periph.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+const isp_info_t isp_hw_info = {
+    .instances = {
+        [0] = {
+            .irq = ETS_ISP_INTR_SOURCE,
+        }
+    }
+};
+
+#ifdef __cplusplus
+}
+#endif

components/soc/include/soc/isp_periph.h

@@ -0,0 +1,29 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "soc/soc_caps.h"
+#include "soc/periph_defs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if SOC_ISP_SUPPORTED
+typedef struct {
+    struct {
+        const uint32_t irq;
+    } instances[SOC_ISP_NUMS];
+} isp_info_t;
+
+extern const isp_info_t isp_hw_info;
+#endif
+
+#ifdef __cplusplus
+}
+#endif

examples/peripherals/isp/auto_focus/components/isp_af_schemes/include/isp_af_scheme_sa.h

@@ -0,0 +1,85 @@
+/*
+ * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "sdkconfig.h"
+#include "isp_af_scheme.h"
+#include "driver/isp_af.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*---------------------------------------------------------------
+        ISP AF Step Approximation Scheme (SA Scheme)
+---------------------------------------------------------------*/
+typedef struct {
+    int first_step_val;        ///< Step of the camera sensor focus value for first stage approximation
+    int first_approx_cycles;   ///< First stage approximation cycles
+    int second_step_val;       ///< Step of the camera sensor focus value for second stage approximation
+    int second_approx_cycles;  ///< Second stage approximation cycles
+} isp_af_sa_scheme_config_t;
+
+typedef struct {
+    int focus_val_max;         ///< Max camera sensor focus value
+} isp_af_sa_scheme_sensor_info_t;
+
+typedef struct {
+    /**
+     * @brief Sensor driver API to set sensor focus value
+     *
+     * @param[in] focus_val  Camera sensor focus value
+     */
+    esp_err_t (*af_sensor_set_focus)(int focus_val);
+
+} isp_af_sa_scheme_sensor_drv_t;
+
+/**
+ * @brief Create an AF step approximation scheme
+ *
+ * @param[in]  af_ctrlr    AF controller handle
+ * @param[in]  config      AF SA scheme configurations, see `isp_af_sa_scheme_config_t`
+ * @param[out] ret_scheme  AF scheme handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid
+ *         - ESP_ERR_INVALID_STATE Invalid state
+ *         - ESP_ERR_NO_MEM        If out of memory
+ */
+esp_err_t isp_af_create_sa_scheme(isp_af_ctrlr_t af_ctrlr, const isp_af_sa_scheme_config_t *config, isp_af_scheme_handle_t *ret_scheme);
+
+/**
+ * @brief Delete an AF step approximation scheme
+ *
+ * @param[in] scheme  AF scheme handle
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid
+ *         - ESP_ERR_INVALID_STATE Invalid state
+ *         - ESP_ERR_NO_MEM        If out of memory
+ */
+esp_err_t isp_af_delete_sa_scheme(isp_af_scheme_handle_t scheme);
+
+/**
+ * @brief Register camera sensor driver to the SA scheme
+ *
+ * @param[in] scheme      AF scheme handle
+ * @param[in] sensor_drv  Sensor driver, see `isp_af_sa_scheme_sensor_drv_t`
+ * @param[in] info        Sensor info
+ *
+ * @return
+ *         - ESP_OK                On success
+ *         - ESP_ERR_INVALID_ARG   If the combination of arguments is invalid
+ *         - ESP_ERR_INVALID_STATE Invalid state
+ */
+esp_err_t isp_af_sa_scheme_register_sensor_driver(isp_af_scheme_handle_t scheme, const isp_af_sa_scheme_sensor_drv_t *sensor_drv, const isp_af_sa_scheme_sensor_info_t *info);
+
+#ifdef __cplusplus
+}
+#endif

examples/peripherals/isp/auto_focus/components/isp_af_schemes/src/isp_af_scheme_sa.c

@@ -0,0 +1,208 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <esp_types.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_check.h"
+#include "esp_heap_caps.h"
+#include "driver/isp_af.h"
+#include "isp_af_scheme_sa.h"
+#include "isp_af_scheme_interface.h"
+
+#define ISP_AF_SCHEME_SA_DEFAULT_WINDOW_NUMS       3
+#define ISP_AF_SCHEME_SA_ENV_THRESH_SEARCH_NUMS    30
+
+static const char *TAG = "AF_SCHEME";
+
+typedef struct {
+    isp_af_ctrlr_t af_ctlr;
+    int first_step_val;
+    int first_approx_cycles;
+    int second_step_val;
+    int second_approx_cycles;
+
+    isp_af_sa_scheme_sensor_info_t sensor_info;
+    isp_af_sa_scheme_sensor_drv_t sensor_drv;
+} af_scheme_context_t;
+
+/* ------------------------ Interface Functions --------------------------- */
+static esp_err_t s_af_process(void *arg, int *out_definition_thresh, int *out_luminance_thresh);
+
+/* ------------------------- Public API ------------------------------------- */
+esp_err_t isp_af_create_sa_scheme(isp_af_ctrlr_t af_ctlr, const isp_af_sa_scheme_config_t *config, isp_af_scheme_handle_t *ret_scheme)
+{
+    esp_err_t ret = ESP_FAIL;
+    ESP_RETURN_ON_FALSE(af_ctlr && config && ret_scheme, ESP_ERR_INVALID_ARG, TAG, "invalid arg: null pointer");
+
+    isp_af_scheme_t *scheme = (isp_af_scheme_t *)heap_caps_calloc(1, sizeof(isp_af_scheme_t), MALLOC_CAP_DEFAULT);
+    ESP_RETURN_ON_FALSE(scheme, ESP_ERR_NO_MEM, TAG, "no mem for scheme");
+
+    af_scheme_context_t *ctx = (af_scheme_context_t *)heap_caps_calloc(1, sizeof(af_scheme_context_t), MALLOC_CAP_DEFAULT);
+    ESP_GOTO_ON_FALSE(ctx, ESP_ERR_NO_MEM, err, TAG, "no mem scheme context");
+
+    scheme->af_process = s_af_process;
+    scheme->ctx = ctx;
+
+    ctx->af_ctlr = af_ctlr;
+    ctx->first_step_val = config->first_step_val;
+    ctx->first_approx_cycles = config->first_approx_cycles;
+    ctx->second_step_val = config->second_step_val;
+    ctx->second_approx_cycles = config->second_approx_cycles;
+
+    *ret_scheme = scheme;
+
+    return ESP_OK;
+
+err:
+    free(scheme);
+
+    return ret;
+}
+
+esp_err_t isp_af_delete_sa_scheme(isp_af_scheme_handle_t scheme)
+{
+    ESP_RETURN_ON_FALSE(scheme, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+
+    free(scheme->ctx);
+    scheme->ctx = NULL;
+
+    free(scheme);
+    scheme = NULL;
+
+    return ESP_OK;
+}
+
+esp_err_t isp_af_sa_scheme_register_sensor_driver(isp_af_scheme_handle_t scheme, const isp_af_sa_scheme_sensor_drv_t *sensor_drv, const isp_af_sa_scheme_sensor_info_t *info)
+{
+    ESP_RETURN_ON_FALSE(scheme, ESP_ERR_INVALID_ARG, TAG, "invalid arg: null pointer");
+    ESP_RETURN_ON_FALSE(scheme->ctx, ESP_ERR_INVALID_STATE, TAG, "no scheme created yet");
+
+    af_scheme_context_t *ctx = scheme->ctx;
+    ctx->sensor_drv.af_sensor_set_focus = sensor_drv->af_sensor_set_focus;
+    ctx->sensor_info.focus_val_max = info->focus_val_max;
+
+    return ESP_OK;
+}
+
+/* ------------------------ Interface Functions --------------------------- */
+static esp_err_t s_af_process(void *arg, int *out_definition_thresh, int *out_luminance_thresh)
+{
+    //arg pointer is checked in the upper layer
+
+    af_scheme_context_t *ctx = arg;
+    ESP_RETURN_ON_FALSE(ctx->af_ctlr, ESP_ERR_INVALID_STATE, TAG, "no AF controller registered");
+    ESP_RETURN_ON_FALSE(ctx->sensor_drv.af_sensor_set_focus, ESP_ERR_INVALID_STATE, TAG, "no sensor driver function `af_sensor_set_focus` registered");
+
+    int af_sum = 0;
+    int af_lum = 0;
+    int af_sum_max = 0;
+
+    int af_current_base = 0;
+    int af_current = 0;
+    int af_current_best = 0;
+
+    int af_sum_env_th = 0;
+    int af_lum_env_th = 0;
+    int af_sum_tmp[ISP_AF_SCHEME_SA_ENV_THRESH_SEARCH_NUMS] = {0};
+    int af_lum_tmp[ISP_AF_SCHEME_SA_ENV_THRESH_SEARCH_NUMS] = {0};
+
+    int ref_x = ISP_AF_SCHEME_SA_ENV_THRESH_SEARCH_NUMS;
+    int ref_x_fallback = ISP_AF_SCHEME_SA_ENV_THRESH_SEARCH_NUMS - 1;
+
+    isp_af_result_t result = {};
+
+    ESP_RETURN_ON_ERROR(ctx->sensor_drv.af_sensor_set_focus(0), TAG, "sensor set focus val fail");
+
+    ESP_LOGV(TAG, "//----------- af start ----------//");
+
+    // first search
+    ESP_LOGV(TAG, "//----------- first search ----------//");
+    af_sum_max = 0;
+    af_current_base = 0;
+
+    for (int x = 0; x <= ctx->first_approx_cycles; x++) {
+        af_current = af_current_base + x * ctx->first_step_val;
+        ESP_RETURN_ON_ERROR(ctx->sensor_drv.af_sensor_set_focus(af_current), TAG, "sensor set focus val fail");
+        ESP_RETURN_ON_ERROR(esp_isp_af_controller_get_oneshot_result(ctx->af_ctlr, &result), TAG, "get AF result fail");
+        af_sum = result.definition[0] + result.definition[1] + result.definition[2];
+        if (af_sum > af_sum_max) {
+            af_sum_max = af_sum;
+            af_current_best = af_current;
+        }
+
+        ESP_LOGV(TAG, "af_sum: %d, af_current: %d.%d", af_sum, (int)af_current, (int)((int)(af_current * 1000) % 1000));
+    }
+
+    // second search
+    ESP_LOGV(TAG, "//----------- second search ----------//");
+    af_sum_max = 0;
+    af_current_base = af_current_best + 10;
+
+    if (af_current_base > ctx->sensor_info.focus_val_max) {
+        af_current_base = ctx->sensor_info.focus_val_max;
+    }
+
+    for (int x = 0; x <= ctx->second_approx_cycles; x++) {
+        af_current = af_current_base - x * ctx->second_step_val;
+        if (af_current < 0) {
+            af_current = 0;
+        }
+
+        ESP_RETURN_ON_ERROR(ctx->sensor_drv.af_sensor_set_focus(af_current), TAG, "sensor set focus val fail");
+        ESP_RETURN_ON_ERROR(esp_isp_af_controller_get_oneshot_result(ctx->af_ctlr, &result), TAG, "get AF result fail");
+        af_sum = result.definition[0] + result.definition[1] + result.definition[2];
+        if (af_sum > af_sum_max) {
+            af_sum_max = af_sum;
+            af_current_best = af_current;
+        }
+        ESP_LOGV(TAG, "af_sum: %d, af_current: %d.%d", af_sum, (int)af_current, (int)((int)(af_current * 1000) % 1000));
+    }
+
+    // af done
+    ESP_LOGV(TAG, "//----------- af done ----------//");
+    ESP_LOGV(TAG, "af_sum_max: %d, af_current_best: %d.%d", af_sum_max, (int)af_current_best, (int)((int)(af_current_best * 1000) % 1000));
+    ESP_RETURN_ON_ERROR(ctx->sensor_drv.af_sensor_set_focus(af_current_best), TAG, "sensor set focus val fail");
+
+    // update env threshold
+    ESP_LOGV(TAG, "//------- update env threshold -------//");
+
+    bool use_fallback_th = true;
+    for (int x = 0; x < ref_x; x++) {
+        ESP_RETURN_ON_ERROR(esp_isp_af_controller_get_oneshot_result(ctx->af_ctlr, &result), TAG, "get AF result fail");
+        af_sum_tmp[x] = result.definition[0] + result.definition[1] + result.definition[2];
+        af_lum_tmp[x] = result.luminance[0] + result.luminance[1] + result.luminance[2];
+
+        if ((x >= 1) && (abs(af_sum_tmp[x] - af_sum_max) < af_sum_max * 0.3) && (abs(af_sum_tmp[x - 1] - af_sum_max) < af_sum_max * 0.3)) {
+            ref_x = x;
+            use_fallback_th = false;
+            break;
+        }
+    }
+
+    if (use_fallback_th) {
+        ref_x = ref_x_fallback;
+    }
+
+    af_sum = af_sum_tmp[ref_x];
+    af_lum = af_lum_tmp[ref_x];
+    af_sum_env_th = af_sum * 0.5;
+    af_lum_env_th = af_lum * 0.05;
+    *out_definition_thresh = af_sum_env_th;
+    *out_luminance_thresh = af_lum_env_th;
+
+    for (int x = 0; x < ref_x; x++) {
+        ESP_LOGV(TAG, "af_sum[%d]: %d, af_lum[%d]: %d", x, af_sum_tmp[x], x, af_lum_tmp[x]);
+    }
+    ESP_LOGV(TAG, "//------- update af env threshold done -------//");
+    ESP_LOGV(TAG, "af_sum: %d, af_sum_env_th: %d", af_sum, af_sum_env_th);
+    ESP_LOGV(TAG, "af_lum: %d, af_lum_env_th: %d", af_lum, af_lum_env_th);
+    ESP_LOGV(TAG, "//----------- af update done ----------//\n\n");
+
+    return ESP_OK;
+}