Pipe Inpection Robot
capstone_finish
Dependencies: BufferedSerial motor_sn7544
Diff: ov7670.h
- Revision:
- 7:152fba230106
- Parent:
- 6:fe8b32cb9357
--- a/ov7670.h Tue Aug 13 07:51:37 2019 +0000
+++ b/ov7670.h Thu Sep 05 13:04:01 2019 +0000
@@ -6,11 +6,11 @@
#define OV7670_WRITEWAIT (20)
#define OV7670_NOACK (0)
#define OV7670_REGMAX (201)
-#define OV7670_I2CFREQ (40000)
+#define OV7670_I2CFREQ (10000)
//
// OV7670 + FIFO AL422B camera board test
-//
+//wen =1일 때 read시작 wen = 0일때 안읽음
class OV7670
{
public:
@@ -18,7 +18,7 @@
InterruptIn vsync,href;
DigitalOut wen ;
PortIn data ;
- DigitalOut rrst,oe,rclk ;
+ DigitalOut rrst,oe,rclk,wrst ;
volatile int LineCounter ;
volatile int LastLines ;
volatile bool CaptureReq ;
@@ -35,18 +35,20 @@
int mask, // 0b0000_0M65_4000_0321_L000_0000_0000_0000 = 0x07878000
PinName rt, // /RRST
PinName o, // /OE
- PinName rc // RCLK
- ) : _i2c(sda,scl),vsync(vs),href(hr),wen(we),data(port,mask),rrst(rt),oe(o),rclk(rc)
+ PinName rc,
+ PinName wt // RCLK
+ ) : _i2c(sda,scl),vsync(vs),href(hr),wen(we),data(port,mask),rrst(rt),oe(o),rclk(rc),wrst(wt)
{
_i2c.stop() ;
_i2c.frequency(OV7670_I2CFREQ) ;
vsync.fall(this,&OV7670::VsyncHandler) ;
- href.rise(this,&OV7670::HrefHandler) ;
+// vsync.rise(this,&OV7670::VsyncHandler) ;
CaptureReq = false ;
Busy = false ;
Done = false ;
LineCounter = 0 ;
rrst = 1 ;
+
oe = 1 ;
rclk = 1 ;
wen = 0 ;
@@ -75,30 +77,31 @@
// write to camera
void WriteReg(int addr,int data)
{
- int status;
- char data_write[2];
- data_write[0]= addr;
- data_write[1]= data;
- status = _i2c.write(OV7670_WRITE,data_write,2,0);
- if(status!=0){
-// printf("I2C configuration error(adr: %x)!\r\n",addr);
- while(1){
+ wait_us(10);
+ int status;
+ char data_write[2];
+ data_write[0]= addr;
+ data_write[1]= data;
+ status = _i2c.write(OV7670_WRITE,data_write,2,0);
+ if(status!=0) {
+ printf("I2C configuration error(adr: %x)!\r\n",addr);
+ while(1) {
+ }
}
}
- }
// read from camera
int ReadReg(int addr)
{
- char data_write[2];
- char data_read[2];
- int data;
- int status;
-
- data_write[0]=addr;
- _i2c.write(OV7670_WRITE, data_write, 1, 0);
- status =_i2c.read(OV7670_READ, data_read, 1, 0);
- data = (int)data_read[0];
+ char data_write[2];
+ char data_read[2];
+ int data;
+ int status;
+
+ data_write[0]=addr;
+ _i2c.write(OV7670_WRITE, data_write, 1, 0);
+ status =_i2c.read(OV7670_READ, data_read, 1, 0);
+ data = (int)data_read[0];
// printf("Data is %x\r\n",data);
// printf("Status is %d\r\n",status);
return data ;
@@ -106,15 +109,18 @@
void Reset(void)
{
+
WriteReg(0x12,0x80) ; // RESET CAMERA
wait_ms(200) ;
+ wait_us(1) ;
+
}
void InitQQVGA565(bool flipv,bool fliph)
{
// QQVGA RGB565
WriteReg(REG_CLKRC,0x80);
- WriteReg(REG_COM11,0x0A) ;
+ WriteReg(REG_COM11,0x0A) ;
WriteReg(REG_TSLB,0x04);
WriteReg(REG_COM7,0x04) ;
WriteReg(REG_RGB444, 0x00);
@@ -206,37 +212,35 @@
WriteReg(0xb0,0x84);
}
void InitQQVGAYUV(bool flipv,bool fliph)
- {
- WriteReg(0x11,0x01);
+ {
+ WriteReg(REG_COM10,0x02) ;
+// WriteReg(0x11,0x81);
+ WriteReg(REG_HSTART,0x16) ;
+ WriteReg(REG_HSTOP,0x04) ;
+ WriteReg(REG_HREF,0x24) ;
+ WriteReg(REG_VSTART,0x02) ;
+ WriteReg(REG_VSTOP,0x7a) ;
+ WriteReg(REG_VREF,0x0a) ;
+ WriteReg(REG_COM14, 0x1a);
+ WriteReg(0x72, 0x22);
+ WriteReg(0x73, 0xf2);
+ WriteReg(0x70,0x3A);
+ WriteReg(0x71,0x35);
+ WriteReg(REG_TSLB,0x0C);
+ WriteReg(0xA2,0x02);
+
+
WriteReg(REG_COM7, 0x00); // YUV
WriteReg(REG_COM17, 0x00); // color bar disable
WriteReg(REG_COM3, 0x04);
- WriteReg(0x12, 0x00);//COM7
-
+ WriteReg(0x8C, 0x00);//RGB444
+ WriteReg(0x04, 0x00);//COM1
+ WriteReg(0x40, 0xC0);//COM15
WriteReg(0x14, 0x1A);//COM9
WriteReg(0x3D, 0x40);//COM13
- WriteReg(REG_COM15, 0xC0);
- WriteReg(REG_TSLB,0x0C);
- WriteReg(REG_COM14, 0x1a); // divide by 4
- WriteReg(0x72, 0x22); // downsample by 4
- WriteReg(0x73, 0xf2); // divide by 4
-// WriteReg(REG_HREF, 0xa4);
-// WriteReg(REG_HSTART, 0x16);
-// WriteReg(REG_HSTOP, 0x04);
-// WriteReg(REG_VREF, 0x0a);
-// WriteReg(REG_VSTART, 0x02);
-// WriteReg(REG_VSTOP, 0x7a);
- WriteReg(0x70,0x3A);
- WriteReg(0x71,0x35);
+
- WriteReg(0xA2,0x02);
-
-
-
-
-
-
- /* END MARKER */
+ /* END MARKER */
}
@@ -245,12 +249,15 @@
{
// Capture Enable
if (CaptureReq) {
+ wrst=0;
+ wait_us(1);
wen = 1 ;
+ wrst=1;
Done = false ;
CaptureReq = false ;
} else {
wen = 0 ;
- if (Busy) {
+ if (Busy) { //next exit
Busy = false ;
Done = true ;
}
@@ -272,8 +279,8 @@
{
int result ;
rclk = 1 ;
-// wait_us(1) ;
- result = data ;
+ wait_us(1);
+ result = data.read() ;
rclk = 0 ;
return result ;
}
@@ -299,29 +306,36 @@
int r,r1,r2;
rclk=1;
- r = data;
+ wait_us(1);
+ r = data.read();
rclk=0;
- r1 = r<<8;
+// wait_us(50);
+ r1 = r;
+ wait_us(1);
rclk=1;
- r= data;
+ wait_us(1);
+ r= data.read();
rclk=0;
r2 = r;
-
- return r2+r1 ;
+// wait_us(50);
+ return r2 ;
}
// Data Start
void ReadStart(void)
{
- rrst = 0 ;
+ rrst=0;
oe = 0 ;
- wait_us(1) ;
rclk = 0 ;
+ wait_us(1);
+ rclk = 1 ;
wait_us(1) ;
- rclk = 1 ;
- wait_us(1) ;
- rrst = 1 ;
+ rclk = 0 ;
+ rrst=1;
+
+// wait_us(1);
+
}
// Data Stop
@@ -332,3 +346,4 @@
rclk = 1 ;
}
};
+
\ No newline at end of file