I took an ESP32 board, with a camera and LCD, and turned it into an autoguiding component for my spectroheliograph setup. Below’s the source code — before you judge it, think about it as an as-is release, half of it written while recording the Sun itself, mostly for fun. Some day in the future I may clean it up. PS: form9 from the printscreen got a decent title.

Note that, for this particular setup featured here:

• the ESP32 / OV2640 / ST7789 development board in the picture doesn’t have remaining free pins (maybe if the SPI/I2C buses are tapped into). My solution reports the center of gravity through the serial port.
• the EQ3 hand controller originally doesn’t have an ST4 connector

Both limitations from above have been overcome in my particular setup: I rebuilt the EQ3’s controller from the ground up, only the stepper motors are from factory, and it includes a special spectroheliograph scan mode. Both the autoguider and the otherwise standalone embedded device  EQ3 controller connect to a desktop app, to the The Soapbox MountPusher Guider assembly. Thus the control is centralized there and Sharpcap, camera cooling, autoguiding etc are all orchestrated in a concert. See the family portrait below.

Some quick photos

2025-02-2x–vnp-esp32cam-solar-autoguider-7

2025-02-2x–vnp-esp32cam-solar-autoguider-4

2025-02-2x–vnp-esp32cam-solar-autoguider-6

2025-02-2x–vnp-esp32cam-solar-autoguider-5

2025-02-2x–vnp-esp32cam-solar-autoguider-2

2025-02-2x–vnp-esp32cam-solar-autoguider-3

2025-02-2x–vnp-esp32cam-solar-autoguider-1

2025.03.13. 100831

#include "esp_camera.h"
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"
#include "driver/rtc_io.h"
#include <stdint.h>
#include <Adafruit_ST7789.h>   // Include Adafruit Hardware-specific library for ST7789

#define TFT_WIDTH_PX 240
#define TFT_HEIGHT_PX 240
#define JPG_QUALITY 16
#define COG_PIXEL_STEP 4

//const framesize_t DEFINED_FRAMESIZE = FRAMESIZE_XGA;
const framesize_t DEFINED_FRAMESIZE = FRAMESIZE_SXGA;

#define asMegaHz(X) (1000UL * 1000UL * X)

#define  APPLY_HORIZONTAL_FLIP 0 
#define APPLY_VERTICAL_FLIP 0

//docs: https://www.atomic14.com/2023/08/31/esp32-s3-adafruit-st7789-hardware-spi

#define CAMERA_MODEL_WROVER_KIT  // Has PSRAM

#define MAGIC_LEVEL 3
#define OBSERVE_MAGIC_LEVEL 0

int lastCogIterations;

typedef struct TSumma {
  int where;
  uint64_t summa;
} TSumma;

typedef struct TcenterOfGravity {
  TSumma row;
  TSumma col;
  uint32_t updatedAtMillis;
  uint32_t index;
  int markedX;
  int markedY;
} TcenterOfGravity;


typedef struct TNormalizedLumin {
  uint16_t brightest;
  uint16_t faintest;
  uint16_t originalBrightest;
  uint16_t originalFaintest;
  uint16_t range;
} TNormalizedLumin;



TcenterOfGravity mycog;

#define OVERRIDE_PINS 1

#if OVERRIDE_PINS 

  #define Y2_GPIO_NUM_OVER 34
  #define Y3_GPIO_NUM_OVER 13
  #define  Y4_GPIO_NUM_OVER 26
  #define  Y5_GPIO_NUM_OVER 35
  #define  Y6_GPIO_NUM_OVER 39
  #define Y7_GPIO_NUM_OVER 38
  #define Y8_GPIO_NUM_OVER 37
  #define Y9_GPIO_NUM_OVER 36
  #define  XCLK_GPIO_NUM_OVER 4
  #define  PCLK_GPIO_NUM_OVER 25
  #define VSYNC_GPIO_NUM_OVER 5
  #define HREF_GPIO_NUM_OVER 27
  #define  SIOD_GPIO_NUM_OVER 18
  #define  SIOC_GPIO_NUM_OVER 23
  #define  PWDN_GPIO_NUM_OVER -1
  #define RESET_GPIO_NUM_OVER -1

#else
  #define Y2_GPIO_NUM_OVER Y2_GPIO_NUM
  #define Y3_GPIO_NUM_OVER Y3_GPIO_NUM
  #define  Y4_GPIO_NUM_OVER Y4_GPIO_NUM
  #define  Y5_GPIO_NUM_OVER Y5_GPIO_NUM
  #define  Y6_GPIO_NUM_OVER Y6_GPIO_NUM
  #define Y7_GPIO_NUM_OVER Y7_GPIO_NUM
  #define Y8_GPIO_NUM_OVER Y8_GPIO_NUM
  #define Y9_GPIO_NUM_OVER Y9_GPIO_NUM
  #define  XCLK_GPIO_NUM_OVER XCLK_GPIO_NUM
  #define  PCLK_GPIO_NUM_OVER PCLK_GPIO_NUM
  #define VSYNC_GPIO_NUM_OVER VSYNC_GPIO_NUM
  #define HREF_GPIO_NUM_OVER HREF_GPIO_NUM
  #define  SIOD_GPIO_NUM_OVER SIOD_GPIO_NUM
  #define  SIOC_GPIO_NUM_OVER SIOC_GPIO_NUM
  #define  PWDN_GPIO_NUM_OVER PWDN_GPIO_NUM
  #define RESET_GPIO_NUM_OVER RESET_GPIO_NUM

#endif


// Define ST7789 display pin connection
#define TFT_CS     12   
#define TFT_RST     -1   // Or set to -1 and connect to Arduino RESET pin
#define TFT_DC      15
#define TFT_BK 2
#define TFT_MOSI 19
#define TFT_MISO 22
#define TFT_SCLK 21

Adafruit_ST7789 *tft = NULL; 

void tftSetup(){
  pinMode(TFT_BK, OUTPUT);
  digitalWrite(TFT_BK, HIGH);
  int hardware_spi = 1;

  if (hardware_spi){
    SPIClass *spi = new SPIClass(VSPI);
    spi->begin(TFT_SCLK, TFT_MISO, TFT_MOSI, TFT_CS);
    tft = new Adafruit_ST7789(spi, TFT_CS, TFT_DC, TFT_RST);
    // 80MHz should work, but you may need lower speeds
    tft->init(TFT_WIDTH_PX, TFT_HEIGHT_PX, SPI_MODE3);   // Init ST7789 240x240
    tft->setSPISpeed(asMegaHz(80));
  }else{
    tft = new Adafruit_ST7789(TFT_CS, TFT_DC, TFT_RST);
    tft->init(TFT_WIDTH_PX, TFT_HEIGHT_PX, SPI_MODE3);   // Init ST7789 240x240
  }
  
}

void IRAM_ATTR  DebugPrint(const char *s){
  return ;
  static uint32_t lastPrinted;
  uint32_t present = millis();
  uint32_t age = present - lastPrinted;
  Serial.printf("\r\n%s [%d ms]\r\n", s, age);
  lastPrinted = present;
};


TwoWire myI2C = TwoWire(1);

void Camera_setConfig() {
  camera_config_t config;
  memset(&config, 0, sizeof(config));

  int force_hardware_i2c = 1;
  int sda; 
  int scl;

  if (force_hardware_i2c){
     if (myI2C.begin(SIOD_GPIO_NUM_OVER, SIOC_GPIO_NUM_OVER, 400000)){
        Serial.println("hardware i2c up");
     }else{
        Serial.println("hardware i2c down");
     };
     sda = -1;
     scl = -1;
     config.sccb_i2c_port = 1;
  }else{
     sda = SIOD_GPIO_NUM_OVER;
     scl = SIOC_GPIO_NUM_OVER;
  }


  
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM_OVER;
  config.pin_d1 = Y3_GPIO_NUM_OVER;
  config.pin_d2 = Y4_GPIO_NUM_OVER;
  config.pin_d3 = Y5_GPIO_NUM_OVER;
  config.pin_d4 = Y6_GPIO_NUM_OVER;
  config.pin_d5 = Y7_GPIO_NUM_OVER;
  config.pin_d6 = Y8_GPIO_NUM_OVER;
  config.pin_d7 = Y9_GPIO_NUM_OVER;
  config.pin_xclk = XCLK_GPIO_NUM_OVER;
  config.pin_pclk = PCLK_GPIO_NUM_OVER;
  config.pin_vsync = VSYNC_GPIO_NUM_OVER;
  config.pin_href = HREF_GPIO_NUM_OVER;
  config.pin_sscb_sda = sda;
  config.pin_sscb_scl = scl;
  config.pin_pwdn = PWDN_GPIO_NUM_OVER;
  config.pin_reset = RESET_GPIO_NUM_OVER;
  config.xclk_freq_hz = asMegaHz(20); 
  config.pixel_format = PIXFORMAT_GRAYSCALE;

  config.frame_size = DEFINED_FRAMESIZE; 
  //config.frame_size = FRAMESIZE_SVGA;
  //config.frame_size = FRAMESIZE_XGA;
  //config.frame_size = FRAMESIZE_QQVGA;
  config.jpeg_quality = JPG_QUALITY;
  config.fb_count = 3;
 // config.grab_mode = CAMERA_GRAB_LATEST;
  //config.fb_location = CAMERA_FB_IN_DRAM;



  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Failed to init camera, error 0x%x", err);
    return;
  }

  sensor_t * cameraModule = esp_camera_sensor_get();

  // (-2 to 2)
  cameraModule->set_brightness(cameraModule, 0);

  // (-2 to 2)
  cameraModule->set_contrast(cameraModule, 0);

  // (-2 to 2)
  cameraModule->set_saturation(cameraModule, 0);

  cameraModule->set_special_effect(cameraModule, 0);
  cameraModule->set_whitebal(cameraModule, 1);
  cameraModule->set_awb_gain(cameraModule, 1);
  cameraModule->set_wb_mode(cameraModule, 0);
  cameraModule->set_exposure_ctrl(cameraModule, 1);
  cameraModule->set_aec2(cameraModule, 0);
  cameraModule->set_ae_level(cameraModule, 0);  
  // (0 to 1200)
  cameraModule->set_aec_value(cameraModule, 300);
  cameraModule->set_gain_ctrl(cameraModule, 1);
  // (0 to 30)
  cameraModule->set_agc_gain(cameraModule, 0);
  // (0 to 6)step
  cameraModule->set_gainceiling(cameraModule, (gainceiling_t)0);
  cameraModule->set_bpc(cameraModule, 0);
  cameraModule->set_wpc(cameraModule, 1);
  cameraModule->set_raw_gma(cameraModule, 1);
  cameraModule->set_lenc(cameraModule, 0);
  cameraModule->set_hmirror(cameraModule, APPLY_HORIZONTAL_FLIP);
  cameraModule->set_vflip(cameraModule, APPLY_VERTICAL_FLIP);
  cameraModule->set_dcw(cameraModule, 1);
  cameraModule->set_colorbar(cameraModule, 0);
}



void printToSerialAsAsciiArt(camera_fb_t  * fb){    
  int step = (fb->height / 50);
  if (step < 1){
    step = 1;
  }
  int lineX =  mycog.markedX;
  int lineY =  mycog.markedY;
  int drawnX = 0;
  int drawnY = 0;

  for (int y=0; y<fb->height; y += step){
    for (int x=0; x<fb->width; x += step){
      int py = y;
      int px = x;      

      if ((abs(y - lineY) <= step)&&(0 == drawnY)){
        py = lineY;
        //drawnY = 1;
      }
      if ((abs(x - lineX) <= step)&&(0 == drawnX)){
        px = lineX;
        //drawnX = 1;
      }
      uint8_t b = fb->buf[py*fb->width + px];
      char levels[] = { '@', 'B', 'h', ':', '.', ' ', 0};
      int i = b / (256 / strlen(levels));
      if (i == strlen(levels)){
        i--;
      }
      char n[2] = { levels[i], 0 };
      if (OBSERVE_MAGIC_LEVEL){
        if (MAGIC_LEVEL == b){
          n[0] = '#';
        }
      }
      char m[16];
      strcpy(m, n);
      // double it, for the serial monitor's character width/height
      strcat(m, n);
      Serial.print(m);
    }
    Serial.println();
  }  
}


uint8_t scanLine[8192];

void IRAM_ATTR  NormalizeLuminosities_init(camera_fb_t  * fb, TNormalizedLumin *n, uint8_t *actualFrameBuf){
  n->brightest = 0;
  n->faintest = 255;

  uint32_t brightestLum = 50;
  uint32_t faintestLum = 256;
  size_t step = COG_PIXEL_STEP;
  uint32_t linesFittingIntoTheScanlineBuffer = 1; //sizeof(scanLine) / fb->width;
  uint32_t linesInTheFramebuffer = 0;
  uint32_t linesOffset = 0;
  for (size_t y=0; y < fb->height; y+= step){
    if (0 == linesInTheFramebuffer){
      memcpy(scanLine, actualFrameBuf + (y*fb->width), fb->width * linesFittingIntoTheScanlineBuffer); 
      linesInTheFramebuffer = linesFittingIntoTheScanlineBuffer;
      linesOffset = 0;
    }
    for (size_t x=0; x < fb->width; x+= step){
      uint8_t lum = scanLine[linesOffset*fb->width + x];      
      if (lum > brightestLum){
        brightestLum = lum;
      }
      if (lum < faintestLum){
        faintestLum = lum;
      }
    }
    linesOffset++;
    linesInTheFramebuffer--;
  };    
  n->originalBrightest = brightestLum;
  n->originalFaintest  = faintestLum;  

  // linear stretch
  int range = (brightestLum - faintestLum);
  if (0 == range){
    range = 1;
  }
  n->range = range;
/*
  for (size_t y=0; y < fb->height; y++){
    memcpy(scanLine,  actualFrameBuf + (y*fb->width), fb->width); 
    int changes = 0;
    for (size_t x=0; x < fb->width; x++){
      int lum = scanLine[x];
      lum -= faintestLum;
      int f = 256 / range;
      lum *= f;
      if (lum > 255){
        lum = 255;
      }
      if (lum != scanLine[x]){
        scanLine[x] = lum;      
        changes++;
      }
    }
    if (changes > 0){
      memcpy(actualFrameBuf + (y*fb->width), scanLine, fb->width); 
    }
  };    
*/
  n->brightest = 255;
  n->faintest  = 0;
}

uint8_t IRAM_ATTR NormalizeLuminosities_getScaledLuminance(uint8_t originalLum, TNormalizedLumin *n){
  int lum = originalLum;

  lum -= n->originalFaintest;
  int f = 256 / n->range;
  lum *= f;
  if (lum > 255){
    lum = 255;
  }
  return (uint8_t) lum;
}



void IRAM_ATTR  findCenterOfMass(camera_fb_t  * fb, TcenterOfGravity *cog, uint8_t *actualFrameBuf){
  static uint32_t lastEvalDone = 0;
  if (millis() - lastEvalDone < 500){
    return ;
  }
  size_t step = COG_PIXEL_STEP;

  size_t x_start;
  size_t y_start;
  size_t x_end;
  size_t y_end;


  //take a square
  if (fb->width > fb->height){
     y_start = 0;
     y_end = fb->height;
     x_start = (fb->width - fb->height) / 2;
     x_end = x_start + y_end;
  }else{
     x_start = 0;
     x_end = fb->width;
     y_start = (fb->height - fb->width) / 2;
     y_end = y_start + x_end;
  }

  TNormalizedLumin n;
  NormalizeLuminosities_init(fb, &n, actualFrameBuf);
  DebugPrint("normalize init done");

  uint32_t brightestLum = n.brightest;


  int32_t moment_x = 0;
  int32_t moment_y = 0;
  int32_t count = 0;
  int retries = 5;
  lastCogIterations = 0;

  while (0 == count){
    lastCogIterations++;
    brightestLum *= 8;
    brightestLum /= 10;

    for (size_t y=y_start; y < y_end; y += step){
      memcpy(scanLine, actualFrameBuf + (y*fb->width), x_end); 
      int changes = 0;
      int firstChange = -1;
      int lastChange = 0;
      for (size_t x=x_start; x < x_end; x += step){
        uint8_t lum = NormalizeLuminosities_getScaledLuminance(scanLine[x], &n);
        if (lum >= brightestLum){
          count++;
          moment_x += (x - x_start);
          moment_y += (y - y_start);
        }
        if (OBSERVE_MAGIC_LEVEL){
          if (MAGIC_LEVEL == scanLine[x]){
            scanLine[x]++;
            changes++;
            if (-1 == firstChange){
              firstChange = x;
            }
            lastChange = x; 
          }
        }
      }
      if (changes > 0){
        //prevent the magic level from showing up
        size_t changeSize = lastChange - firstChange + 1;
        memcpy(actualFrameBuf + (y*fb->width)+firstChange, scanLine+firstChange, changeSize); 
      }
    };    
    if (0 == retries){
      break;
    }
    retries--;
  } 


  DebugPrint("cog scan done");


  if (count > 0){

    cog->col.where = (moment_x / count) - ((x_end - x_start) / 2);
    cog->row.where = (moment_y / count) - ((y_end - y_start) / 2);
    cog->updatedAtMillis = millis();
    cog->index++;

    // mark it with a cross
    cog->markedY = (cog->row.where + fb->height /2);
    cog->markedX = (cog->col.where + fb->width/2);

    if (OBSERVE_MAGIC_LEVEL){
      memcpy(scanLine, actualFrameBuf + (cog->markedY*fb->width), fb->width); 
      for (int x=0; x<fb->width; x++){      
        scanLine[x] = MAGIC_LEVEL;      
      }
      memcpy(actualFrameBuf + (cog->markedY*fb->width), scanLine, fb->width); 

      for (int y=0; y<fb->height; y++){
        actualFrameBuf[y *fb->width + cog->markedX] = MAGIC_LEVEL;      
      }
      DebugPrint("cog cross drawn");

    }
  }
  lastEvalDone = millis();
}

uint16_t tftBuffer[TFT_WIDTH_PX];

uint16_t IRAM_ATTR  rgbToRGB565(uint8_t r, uint8_t g, uint8_t b){
  uint16_t red = r >> 3;
  uint16_t blue = b >> 3;
  uint16_t green = g >> 2;
  uint16_t ret = (red << 6+5) | (green << 5) | blue;
  return ret;
}


void IRAM_ATTR  printToTft(camera_fb_t  * fb){
  int step = (fb->height / TFT_WIDTH_PX);
  if (step < 1){
    step = 1;
  }
  int lineX =  mycog.markedX;
  int lineY =  mycog.markedY;
  int destX = 0;
  int destY = 0;
  int lastPy = -1;


  for (int y=0; y<TFT_HEIGHT_PX; y++){    
    memset(tftBuffer, 0, sizeof(tftBuffer));        
    
    int py = y * fb->height / TFT_HEIGHT_PX;      
    int py_next = (y+1) * fb->height / TFT_HEIGHT_PX;      
    if ((lineY >= py)&&(lineY < py_next)){
      py = lineY;
    }
    if (py != lastPy){
      memcpy(scanLine, fb->buf + (py*fb->width), fb->width);      
      lastPy = py;
    }
    for (int x=0; x<TFT_WIDTH_PX; x++){
      int px = x * fb->width / TFT_WIDTH_PX;
      int px_next = (x+1) * fb->width / TFT_WIDTH_PX;

      if ((lineX >= px)&&(lineX<px_next)){
        px = lineX;
      }

      uint8_t grey = scanLine[px];
      uint16_t col = rgbToRGB565(grey, grey, grey);
      if ((py == lineY) || (px == lineX)){
        col = rgbToRGB565(0, 255, 0);
      }
      if ((MAGIC_LEVEL == grey)&&(OBSERVE_MAGIC_LEVEL)){
        col = rgbToRGB565(0, 255, 0);
      }
      tftBuffer[ x] = col;
    }
    destX = 0;
    tft->drawRGBBitmap(destX, destY, (uint16_t *)&tftBuffer, TFT_WIDTH_PX, 1);
    destY++;
  }
}  

void printOut(camera_fb_t  * fb){
  static uint32_t lastPrint = 0;
  if (millis() - lastPrint > 1000){
    //printToSerialAsAsciiArt(fb);
    DebugPrint("ascii art done");
    printToTft(fb);
    DebugPrint("tft done");
    lastPrint = millis();
  }
};

void  takeNewPhoto(void) {
  DebugPrint("getting frame");
  camera_fb_t  * fb = esp_camera_fb_get();
  if (!fb) {
    Serial.println("failed to get image frame");
    delay(1000);
    return;
  }
  DebugPrint("frame gotten");
  Serial.print("f");
  Serial.printf("we have a photo %d %d %d\r\n", fb->len, fb->width, fb->height);
  findCenterOfMass(fb, &mycog, fb->buf);
  Serial.printf("##mass[%d]: %d %d\r\n", mycog.index, mycog.col.where, mycog.row.where);

  char lci[32];
  strcpy(lci, "cog found ");
  itoa(lastCogIterations, lci+strlen(lci), 10);
  DebugPrint(lci);
  printOut(fb);
  DebugPrint("printout done");
  esp_camera_fb_return(fb);
  DebugPrint("framevuffer returned");
  delay(100);
}


void setup() {
  memset(&mycog, 0, sizeof(mycog));
  Serial.begin(115200);
  tftSetup();
  Serial.print("init camera...");  
  Camera_setConfig();
  Serial.println("Camera OK!");

  

  
}
void loop() {
  takeNewPhoto();   
}