Diff: main.cpp

Revision:

7:152fba230106

Parent:

6:fe8b32cb9357

Child:

8:221b2fc093e4

--- a/main.cpp	Tue Aug 13 07:51:37 2019 +0000
+++ b/main.cpp	Thu Sep 05 13:04:01 2019 +0000
@@ -12,22 +12,24 @@
 ros::Publisher img_pub("image_data", &img);
 
 
+
 OV7670 camera(
     D14,D15,       // SDA,SCL(I2C / SCCB)
     D9,D8,D11,   // VSYNC,HREF,WEN(FIFO)
     //p18,p17,p16,p15,p11,p12,p14,p13, // D7-D0
-    PortB,0xFF,
-    D13,D12,D6) ; // RRST,OE,RCLK
+    PortB,0x00FF,
+    D13,D12,D6,D2) ; // RRST,OE,RCLK,WRST
 
 //Serial pc(USBTX,USBRX,115200) ;
-Timer t;
+
 
 //#undef QQVGA
 #define QQVGA
 
 #ifdef QQVGA
-# define SIZEX (12)
-# define SIZEY (8)
+# define SIZEX (160)
+# define SIZEY (120)
+# define NUMBYTE (2)
 #else
 # define SIZEX (320)
 # define SIZEY (240)
@@ -35,11 +37,15 @@
 
 
 uint8_t fdata[SIZEX*SIZEY];
+uint8_t fdata_ros[480];
+
+uint8_t dummy;
 
 size_t size = SIZEX*SIZEY;
 
-int main() {
-    int last ;
+int main()
+{
+    wait_ms(1);
 //    pc.baud(115200) ;
     camera.Reset() ;
     nh.advertise(img_pub);
@@ -48,43 +54,42 @@
 //    camera.InitQQVGA565(true,false) ;
     camera.InitQQVGAYUV(false,false);
 
-#else 
+#else
     //camera.InitQVGA565(true,false) ;
 #endif
-    
-    
+
+
     // CAPTURE and SEND LOOP
-    t.start();
-    last = t.read_ms() ;
-    
-    
-    while(1)
-    {
-        
-        img.data_length = size;
-        
+
+
+    while(1) {
+
+            
         camera.CaptureNext() ;
         while(camera.CaptureDone() == false) ;
 
-        last = t.read_ms() ;
         camera.ReadStart() ;
-        
-        
+
         for (int y = 0; y < SIZEX*SIZEY ; y++) {
-                
             camera.ReadOneByte();
             fdata[y]=camera.ReadOneByte();
-
         }
         
-        camera.ReadStop() ; 
-        last = t.read_ms() ;
+        camera.ReadStop() ;
+        
+       for(int x=0; x<40; x++) {
+            for(int y=0; y<480; y++) {
+                fdata_ros[y]=fdata[(480*(x))+y];
+            }
         
-        img.data = &fdata[0]; 
-        img_pub.publish(&img);
-        
+            img.data_length = 480;
+            img.data = &fdata_ros[0];
+            img_pub.publish(&img);
+            nh.spinOnce();
+            wait_ms(600); //max...
+       }
 
-        nh.spinOnce();
-        wait_ms(1); //max...
+
+       
     }
 }