diff --git a/.cargo/config.toml b/.cargo/config.toml
new file mode 100644
index 0000000..8762107
--- /dev/null
+++ b/.cargo/config.toml
@@ -0,0 +1,55 @@
+[build]
+# Uncomment the relevant target for your chip here (ESP32, ESP32-S2, ESP32-S3 or ESP32-C3)
+target = "xtensa-esp32-espidf"
+#target = "xtensa-esp32s2-espidf"
+#target = "xtensa-esp32s3-espidf"
+#target = "riscv32imc-esp-espidf"
+
+[target.xtensa-esp32-espidf]
+linker = "ldproxy"
+# Uncomment for ESP-IDF 5 and later. Don't forget to also uncomment the `ESP_IDF_VERSION = "release/v5.0"`parameter in the `[env]` section below
+#rustflags = ["--cfg", "espidf_time64"]
+
+[target.xtensa-esp32s2-espidf]
+linker = "ldproxy"
+# Uncomment for ESP-IDF 5 and later. Don't forget to also uncomment the `ESP_IDF_VERSION = "release/v5.0"`parameter in the `[env]` section below
+#rustflags = ["--cfg", "espidf_time64"]
+
+[target.xtensa-esp32s3-espidf]
+linker = "ldproxy"
+# Uncomment for ESP-IDF 5 and later. Don't forget to also uncomment the `ESP_IDF_VERSION = "release/v5.0"`parameter in the `[env]` section below
+#rustflags = ["--cfg", "espidf_time64"]
+
+[target.riscv32imc-esp-espidf]
+linker = "ldproxy"
+# Future - necessary for the experimental "native build" of esp-idf-sys with ESP32C3
+# See also https://github.com/ivmarkov/embuild/issues/16
+rustflags = ["-C", "default-linker-libraries"]
+# Uncomment for ESP-IDF 5 and later. Don't forget to also uncomment the `ESP_IDF_VERSION = "release/v5.0"`parameter in the `[env]` section below
+#rustflags = ["--cfg", "espidf_time64", "-C", "default-linker-libraries"]
+
+[unstable]
+build-std = ["std", "panic_abort"]
+#build-std-features = ["panic_immediate_abort"] # Only necessary if building against ESP-IDF tag `v4.3.2` (the minimum supported version)
+
+[env]
+# Select ESP IDF version in embuild's format described here:
+# https://github.com/esp-rs/esp-idf-sys/blob/master/README.md#esp_idf_version-esp_idf_version-native-builder-only
+#
+# Uncomment this to build against ESP-IDF master (currently unreleased ESP IDF 5.1)
+#ESP_IDF_VERSION = "master"
+# Don't forget to uncomment also the `rustflags` parameter in your "target" section above
+#
+# Uncomment this to build against ESP-IDF 5.0
+# Don't forget to uncomment also the `rustflags` parameter in your "target" section above
+#ESP_IDF_VERSION = "release/v5.0"
+#
+# Comment out this when using the PlatformIO build, i.e. `cargo build --features pio` (it only supports `v4.3.2`)
+ESP_IDF_VERSION = "release/v4.4"
+
+# These configurations will pick up your custom "sdkconfig.release", "sdkconfig.debug" or "sdkconfig.defaults[.*]" files
+# that you might put in the root of the project
+# The easiest way to generate a full "sdkconfig" configuration (as opposed to manually enabling only the necessary flags via "sdkconfig.defaults[.*]"
+# is by running "cargo pio espidf menuconfig" (that is, if using the pio builder)
+#ESP_IDF_SDKCONFIG = "sdkconfig.release;sdkconfig.debug"
+ESP_IDF_SDKCONFIG_DEFAULTS = "sdkconfig.defaults;sdkconfig.defaults.esp32;sdkconfig.defaults.esp32s2"
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..101a548
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+/target
+/Cargo.lock
+/.embuild
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..02204c5
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "esp32-camera"]
+	path = esp32-camera
+	url = https://github.com/espressif/esp32-camera.git
+	branch = master
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..0747acd
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,18 @@
+[package]
+name = "esp-camera-rs"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+esp-idf-hal = "0.40.1"
+esp-idf-sys = "0.32.1"
+
+[patch.crates-io]
+esp-idf-sys = {git = "https://github.com/esp-rs/esp-idf-sys", branch = "master"}
+
+[[package.metadata.esp-idf-sys.extra_components]]
+component_dirs = "esp32-camera"
+bindings_header = "bindings.h"
+bindings_module = "camera"
diff --git a/bindings.h b/bindings.h
new file mode 100644
index 0000000..a4c4232
--- /dev/null
+++ b/bindings.h
@@ -0,0 +1 @@
+#include "esp_camera.h"
diff --git a/esp32-camera b/esp32-camera
new file mode 160000
index 0000000..e689c3b
--- /dev/null
+++ b/esp32-camera
@@ -0,0 +1 @@
+Subproject commit e689c3b082985ee7b90198be32d330ce51ac5367
diff --git a/sdkconfig.defaults b/sdkconfig.defaults
new file mode 100644
index 0000000..753473e
--- /dev/null
+++ b/sdkconfig.defaults
@@ -0,0 +1 @@
+CONFIG_ESP32_SPIRAM_SUPPORT=y
\ No newline at end of file
diff --git a/src/lib.rs b/src/lib.rs
new file mode 100644
index 0000000..dbf345e
--- /dev/null
+++ b/src/lib.rs
@@ -0,0 +1,294 @@
+use std::marker::PhantomData;
+
+use esp_idf_hal::gpio::*;
+use esp_idf_hal::peripheral::Peripheral;
+use esp_idf_sys::*;
+
+pub struct FrameBuffer<'a> {
+    fb: *mut camera::camera_fb_t,
+    _p: PhantomData<&'a camera::camera_fb_t>,
+}
+
+impl<'a> FrameBuffer<'a> {
+    pub fn data(&self) -> &'a [u8] {
+        unsafe { std::slice::from_raw_parts((*self.fb).buf, (*self.fb).len) }
+    }
+
+    pub fn width(&self) -> usize {
+        unsafe { (*self.fb).width }
+    }
+
+    pub fn height(&self) -> usize {
+        unsafe { (*self.fb).height }
+    }
+
+    pub fn format(&self) -> camera::pixformat_t {
+        unsafe { (*self.fb).format }
+    }
+
+    pub fn timestamp(&self) -> camera::timeval {
+        unsafe { (*self.fb).timestamp }
+    }
+}
+
+pub struct CameraSensor<'a> {
+    sensor: *mut camera::sensor_t,
+    _p: PhantomData<&'a camera::sensor_t>,
+}
+
+impl<'a> CameraSensor<'a> {
+    pub fn init_status(&self) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).init_status.unwrap()(self.sensor) })
+    }
+    pub fn reset(&self) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).reset.unwrap()(self.sensor) })
+    }
+    pub fn set_pixformat(&self, format: camera::pixformat_t) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_pixformat.unwrap()(self.sensor, format) })
+    }
+    pub fn set_framesize(&self, framesize: camera::framesize_t) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_framesize.unwrap()(self.sensor, framesize) })
+    }
+    pub fn set_contrast(&self, level: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_contrast.unwrap()(self.sensor, level) })
+    }
+    pub fn set_brightness(&self, level: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_brightness.unwrap()(self.sensor, level) })
+    }
+    pub fn set_saturation(&self, level: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_saturation.unwrap()(self.sensor, level) })
+    }
+    pub fn set_sharpness(&self, level: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_sharpness.unwrap()(self.sensor, level) })
+    }
+    pub fn set_denoise(&self, level: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_denoise.unwrap()(self.sensor, level) })
+    }
+    pub fn set_gainceiling(&self, gainceiling: camera::gainceiling_t) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_gainceiling.unwrap()(self.sensor, gainceiling) })
+    }
+    pub fn set_quality(&self, quality: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_quality.unwrap()(self.sensor, quality) })
+    }
+    pub fn set_colorbar(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_colorbar.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_whitebal(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_whitebal.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_gain_ctrl(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_gain_ctrl.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_exposure_ctrl(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_exposure_ctrl.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_hmirror(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_hmirror.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_vflip(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_vflip.unwrap()(self.sensor, if enable { 1 } else { 0 }) })
+    }
+    pub fn set_aec2(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_aec2.unwrap()(self.sensor, if enable { 1 } else { 0 }) })
+    }
+    pub fn set_awb_gain(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_awb_gain.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_agc_gain(&self, gain: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_agc_gain.unwrap()(self.sensor, gain) })
+    }
+    pub fn set_aec_value(&self, gain: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_aec_value.unwrap()(self.sensor, gain) })
+    }
+    pub fn set_special_effect(&self, effect: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_special_effect.unwrap()(self.sensor, effect) })
+    }
+    pub fn set_wb_mode(&self, mode: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_wb_mode.unwrap()(self.sensor, mode) })
+    }
+    pub fn set_ae_level(&self, level: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_ae_level.unwrap()(self.sensor, level) })
+    }
+    pub fn set_dcw(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_dcw.unwrap()(self.sensor, if enable { 1 } else { 0 }) })
+    }
+    pub fn set_bpc(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_bpc.unwrap()(self.sensor, if enable { 1 } else { 0 }) })
+    }
+    pub fn set_wpc(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_wpc.unwrap()(self.sensor, if enable { 1 } else { 0 }) })
+    }
+    pub fn set_raw_gma(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_raw_gma.unwrap()(self.sensor, if enable { 1 } else { 0 })
+        })
+    }
+    pub fn set_lenc(&self, enable: bool) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_lenc.unwrap()(self.sensor, if enable { 1 } else { 0 }) })
+    }
+    pub fn get_reg(&self, reg: i32, mask: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).get_reg.unwrap()(self.sensor, reg, mask) })
+    }
+    pub fn set_reg(&self, reg: i32, mask: i32, value: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_reg.unwrap()(self.sensor, reg, mask, value) })
+    }
+    pub fn set_res_raw(
+        &self,
+        start_x: i32,
+        start_y: i32,
+        end_x: i32,
+        end_y: i32,
+        offset_x: i32,
+        offset_y: i32,
+        total_x: i32,
+        total_y: i32,
+        output_x: i32,
+        output_y: i32,
+        scale: bool,
+        binning: bool,
+    ) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_res_raw.unwrap()(
+                self.sensor,
+                start_x,
+                start_y,
+                end_x,
+                end_y,
+                offset_x,
+                offset_y,
+                total_x,
+                total_y,
+                output_x,
+                output_y,
+                scale,
+                binning,
+            )
+        })
+    }
+    pub fn set_pll(
+        &self,
+        bypass: i32,
+        mul: i32,
+        sys: i32,
+        root: i32,
+        pre: i32,
+        seld5: i32,
+        pclken: i32,
+        pclk: i32,
+    ) -> Result<(), EspError> {
+        esp!(unsafe {
+            (*self.sensor).set_pll.unwrap()(
+                self.sensor,
+                bypass,
+                mul,
+                sys,
+                root,
+                pre,
+                seld5,
+                pclken,
+                pclk,
+            )
+        })
+    }
+    pub fn set_xclk(&self, timer: i32, xclk: i32) -> Result<(), EspError> {
+        esp!(unsafe { (*self.sensor).set_xclk.unwrap()(self.sensor, timer, xclk) })
+    }
+}
+
+pub struct Camera<'a> {
+    _p: PhantomData<&'a ()>,
+}
+
+impl<'a> Camera<'a> {
+    pub fn new(
+        pin_pwdn: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_reset: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_xclk: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d0: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d1: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d2: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d3: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d4: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d5: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d6: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_d7: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_vsync: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_href: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+        pin_pclk: impl Peripheral<P = impl InputPin + OutputPin> + 'a,
+    ) -> Result<Self, esp_idf_sys::EspError> {
+        esp_idf_hal::into_ref!(
+            pin_pwdn, pin_reset, pin_xclk, pin_d0, pin_d1, pin_d2, pin_d3, pin_d4, pin_d5, pin_d6,
+            pin_d7, pin_vsync, pin_href, pin_pclk
+        );
+        let config = camera::camera_config_t {
+            pin_pwdn: pin_pwdn.pin(),
+            pin_reset: pin_reset.pin(),
+            pin_xclk: pin_xclk.pin(),
+
+            pin_d0: pin_d0.pin(),
+            pin_d1: pin_d1.pin(),
+            pin_d2: pin_d2.pin(),
+            pin_d3: pin_d3.pin(),
+            pin_d4: pin_d4.pin(),
+            pin_d5: pin_d5.pin(),
+            pin_d6: pin_d6.pin(),
+            pin_d7: pin_d7.pin(),
+            pin_vsync: pin_vsync.pin(),
+            pin_href: pin_href.pin(),
+            pin_pclk: pin_pclk.pin(),
+
+            xclk_freq_hz: 20000000,
+            ledc_timer: esp_idf_sys::ledc_timer_t_LEDC_TIMER_0,
+            ledc_channel: esp_idf_sys::ledc_channel_t_LEDC_CHANNEL_0,
+
+            pixel_format: camera::pixformat_t_PIXFORMAT_RGB565,
+            frame_size: camera::framesize_t_FRAMESIZE_QVGA,
+
+            jpeg_quality: 12,
+            fb_count: 1,
+            grab_mode: camera::camera_grab_mode_t_CAMERA_GRAB_WHEN_EMPTY,
+
+            ..Default::default()
+        };
+
+        esp_idf_sys::esp!(unsafe { camera::esp_camera_init(&config) })?;
+        Ok(Self { _p: PhantomData })
+    }
+
+    pub fn get_framebuffer(&self) -> Option<FrameBuffer> {
+        let fb = unsafe { camera::esp_camera_fb_get() };
+        return if fb.is_null() {
+            None
+        } else {
+            Some(FrameBuffer {
+                fb,
+                _p: PhantomData,
+            })
+        };
+    }
+
+    pub fn sensor(&self) -> CameraSensor<'a> {
+        CameraSensor {
+            sensor: unsafe { camera::esp_camera_sensor_get() },
+            _p: PhantomData,
+        }
+    }
+}
+
+impl<'a> Drop for Camera<'a> {
+    fn drop(&mut self) {
+        esp!(unsafe { camera::esp_camera_deinit() }).expect("error during esp_camera_deinit")
+    }
+}