Pipe Inpection Robot
capstone_finish
Dependencies: BufferedSerial motor_sn7544
Diff: ov7670.h
- Revision:
- 2:e98408458d2b
- Parent:
- 1:509676f3be32
- Child:
- 3:2a3664dc6634
--- a/ov7670.h Fri Feb 17 15:06:15 2012 +0000
+++ b/ov7670.h Mon Aug 12 07:12:38 2019 +0000
@@ -11,7 +11,7 @@
//
// OV7670 + FIFO AL422B camera board test
//
-class OV7670 : public Base
+class OV7670
{
public:
I2C camera ;
@@ -35,8 +35,8 @@
int mask, // 0b0000_0M65_4000_0321_L000_0000_0000_0000 = 0x07878000
PinName rt, // /RRST
PinName o, // /OE
- PinName rc // RCLK
- ) : camera(sda,scl),vsync(vs),href(hr),wen(we),data(port,mask),rrst(rt),oe(o),rclk(rc)
+ PinName rc // RCLK
+ ) : camera(sda,scl),vsync(vs),href(hr),wen(we),data(port,mask),rrst(rt),oe(o),rclk(rc)
{
camera.stop() ;
camera.frequency(OV7670_I2CFREQ) ;
@@ -58,7 +58,7 @@
CaptureReq = true ;
Busy = true ;
}
-
+
// capture done? (with clear)
bool CaptureDone(void)
{
@@ -96,7 +96,7 @@
wait_us(OV7670_WRITEWAIT);
camera.write(addr) ;
camera.stop() ;
- wait_us(OV7670_WRITEWAIT);
+ wait_us(OV7670_WRITEWAIT);
// WRITE 0x43,READ
camera.start() ;
@@ -104,19 +104,21 @@
wait_us(OV7670_WRITEWAIT);
data = camera.read(OV7670_NOACK) ;
camera.stop() ;
-
+
return data ;
}
- void Reset(void) {
+ void Reset(void)
+ {
WriteReg(0x12,0x80) ; // RESET CAMERA
wait_ms(200) ;
}
-
- void InitQQVGA565(bool flipv,bool fliph) {
+
+ 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);
@@ -158,9 +160,10 @@
WriteReg(0x6f,0x9f);
WriteReg(0xb0,0x84);
- }
+ }
- void InitQVGA565(bool flipv,bool fliph) {
+ void InitQVGA565(bool flipv,bool fliph)
+ {
// QVGA RGB565
WriteReg(REG_CLKRC,0x80);
WriteReg(REG_COM11,0x0A) ;
@@ -205,7 +208,190 @@
WriteReg(0x6f,0x9f);
WriteReg(0xb0,0x84);
- }
+ }
+ void InitQVGAYUV(bool flipv,bool fliph)
+ {
+ WriteReg(REG_COM7, 0x00); // YUV
+ WriteReg(REG_COM17, 0x00); // color bar disable
+ WriteReg(REG_COM3, 0x0C);
+ 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_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(0x7a, 0x20);
+ WriteReg(0x7b, 0x1c);
+ WriteReg(0x7c, 0x28);
+ WriteReg(0x7d, 0x3c);
+ WriteReg(0x7e, 0x5a);
+ WriteReg(0x7f, 0x68);
+ WriteReg(0x80, 0x76);
+ WriteReg(0x81, 0x80);
+ WriteReg(0x82, 0x88);
+ WriteReg(0x83, 0x8f);
+ WriteReg(0x84, 0x96);
+ WriteReg(0x85, 0xa3);
+ WriteReg(0x86, 0xaf);
+ WriteReg(0x87, 0xc4);
+ WriteReg(0x88, 0xd7);
+ WriteReg(0x89, 0xe8);
+
+ WriteReg(0x13, 0xe0);
+ WriteReg(0x00, 0x00);
+ WriteReg(0x10, 0x00);
+ WriteReg(0x0d, 0x40);
+ WriteReg(0x14, 0x18);
+ WriteReg(0xa5, 0x05);
+ WriteReg(0xab, 0x07);
+ WriteReg(0x24, 0x95);
+ WriteReg(0x25, 0x33);
+ WriteReg(0x26, 0xe3);
+ WriteReg(0x9f, 0x78);
+ WriteReg(0xa0, 0x68);
+ WriteReg(0xa1, 0x03);
+ WriteReg(0xa6, 0xd8);
+ WriteReg(0xa7, 0xd8);
+ WriteReg(0xa8, 0xf0);
+ WriteReg(0xa9, 0x90);
+ WriteReg(0xaa, 0x94);
+ WriteReg(0x13, 0xe5);
+
+ WriteReg(0x0e, 0x61);
+ WriteReg(0x0f, 0x4b);
+ WriteReg(0x16, 0x02);
+
+ WriteReg(0x21, 0x02);
+ WriteReg(0x22, 0x91);
+ WriteReg(0x29, 0x07);
+ WriteReg(0x33, 0x0b);
+ WriteReg(0x35, 0x0b);
+ WriteReg(0x37, 0x1d);
+ WriteReg(0x38, 0x71);
+ WriteReg(0x39, 0x2a);
+ WriteReg(0x3c, 0x78);
+ WriteReg(0x4d, 0x40);
+ WriteReg(0x4e, 0x20);
+ WriteReg(0x69, 0x00);
+
+ WriteReg(0x74, 0x10);
+ WriteReg(0x8d, 0x4f);
+ WriteReg(0x8e, 0x00);
+ WriteReg(0x8f, 0x00);
+ WriteReg(0x90, 0x00);
+ WriteReg(0x91, 0x00);
+ WriteReg(0x92, 0x00);
+
+ WriteReg(0x96, 0x00);
+ WriteReg(0x9a, 0x80);
+ WriteReg(0xb0, 0x84);
+ WriteReg(0xb1, 0x0c);
+ WriteReg(0xb2, 0x0e);
+ WriteReg(0xb3, 0x82);
+ WriteReg(0xb8, 0x0a);
+
+ WriteReg(0x43, 0x0a);
+ WriteReg(0x44, 0xf0);
+ WriteReg(0x45, 0x34);
+ WriteReg(0x46, 0x58);
+ WriteReg(0x47, 0x28);
+ WriteReg(0x48, 0x3a);
+ WriteReg(0x59, 0x88);
+ WriteReg(0x5a, 0x88);
+ WriteReg(0x5b, 0x44);
+ WriteReg(0x5c, 0x67);
+ WriteReg(0x5d, 0x49);
+ WriteReg(0x5e, 0x0e);
+ WriteReg(0x64, 0x04);
+ WriteReg(0x65, 0x20);
+ WriteReg(0x66, 0x05);
+ WriteReg(0x94, 0x04);
+ WriteReg(0x95, 0x08);
+
+ WriteReg(0x6c, 0x0a);
+ WriteReg(0x6d, 0x55);
+ WriteReg(0x6e, 0x11);
+ WriteReg(0x6f, 0x9f);
+ WriteReg(0x6a, 0x40);
+ WriteReg(0x01, 0x40);
+ WriteReg(0x02, 0x40);
+ WriteReg(0x13, 0xe7);
+ WriteReg(0x15, 0x02);
+
+ WriteReg(0x4f, 0x80);
+ WriteReg(0x50, 0x80);
+ WriteReg(0x51, 0x00);
+ WriteReg(0x52, 0x22);
+ WriteReg(0x53, 0x5e);
+ WriteReg(0x54, 0x80);
+ WriteReg(0x58, 0x9e);
+
+ WriteReg(0x41, 0x08);
+ WriteReg(0x3f, 0x00);
+ WriteReg(0x75, 0x05);
+ WriteReg(0x76, 0xe1);
+ WriteReg(0x4c, 0x00);
+ WriteReg(0x77, 0x01);
+ WriteReg(0x3d, 0xc1);
+ WriteReg(0x4b, 0x09);
+ WriteReg(0xc9, 0x60);
+ WriteReg(0x41, 0x38);
+ WriteReg(0x56, 0x40);
+
+ WriteReg(0x34, 0x11);
+ WriteReg(0x3b, 0x02);
+ WriteReg(0xa4, 0x88);
+ WriteReg(0x96, 0x00);
+ WriteReg(0x97, 0x30);
+ WriteReg(0x98, 0x20);
+ WriteReg(0x99, 0x30);
+ WriteReg(0x9a, 0x84);
+ WriteReg(0x9b, 0x29);
+ WriteReg(0x9c, 0x03);
+ WriteReg(0x9d, 0x4c);
+ WriteReg(0x9e, 0x3f);
+ WriteReg(0x78, 0x04);
+
+ WriteReg(0x79, 0x01);
+ WriteReg(0xc8, 0xf0);
+ WriteReg(0x79, 0x0f);
+ WriteReg(0xc8, 0x00);
+ WriteReg(0x79, 0x10);
+ WriteReg(0xc8, 0x7e);
+ WriteReg(0x79, 0x0a);
+ WriteReg(0xc8, 0x80);
+ WriteReg(0x79, 0x0b);
+ WriteReg(0xc8, 0x01);
+ WriteReg(0x79, 0x0c);
+ WriteReg(0xc8, 0x0f);
+ WriteReg(0x79, 0x0d);
+ WriteReg(0xc8, 0x20);
+ WriteReg(0x79, 0x09);
+ WriteReg(0xc8, 0x80);
+ WriteReg(0x79, 0x02);
+ WriteReg(0xc8, 0xc0);
+ WriteReg(0x79, 0x03);
+ WriteReg(0xc8, 0x40);
+ WriteReg(0x79, 0x05);
+ WriteReg(0xc8, 0x30);
+ WriteReg(0x79, 0x26);
+ WriteReg(0x09, 0x03);
+ WriteReg(0x3b, 0x42);
+
+ WriteReg(0xff, 0xff); /* END MARKER */
+ }
// vsync handler
@@ -228,13 +414,13 @@
LastLines = LineCounter ;
LineCounter = 0 ;
}
-
+
// href handler
void HrefHandler(void)
{
LineCounter++ ;
}
-
+
// Data Read
int ReadOneByte(void)
{
@@ -249,37 +435,49 @@
// Data Read (PortIn)
int ReadOneWord(void)
{
- int r,r1,r2,r3,r4 ;
- rclk = 1 ;
- r = data ;
- rclk = 0 ;
- r1 = r & 0x07800000 ;
- r1 = r1 >> (26-7-0) ; // bit26 to bit7
- r2 = r & 0x00078000 ;
- r2 = r2 >> (18-3-0) ; // bit18 to bit3
- rclk = 1 ;
- r = data ;
- rclk = 0 ;
- r3 = r & 0x07800000 ;
- r3 = r3 >> (26-7-8) ; // bit26 to bit7
- r4 = r & 0x00078000 ;
- r4 = r4 >> (18-3-8) ; // bit18 to bit3
- return r4+r3+r2+r1 ;
+ // int r,r1,r2,r3,r4 ;
+// rclk = 1 ;
+// r = data ;
+// rclk = 0 ;
+// r1 = r & 0x07800000 ;
+// r1 = r1 >> (26-7-0) ; // bit26 to bit7
+// r2 = r & 0x00078000 ;
+// r2 = r2 >> (18-3-0) ; // bit18 to bit3
+// rclk = 1 ;
+// r = data ;
+// rclk = 0 ;
+// r3 = r & 0x07800000 ;
+// r3 = r3 >> (26-7-8) ; // bit26 to bit7
+// r4 = r & 0x00078000 ;
+// r4 = r4 >> (18-3-8) ; // bit18 to bit3
+
+ int r,r1,r2;
+ rclk=1;
+ r = data;
+ rclk=0;
+ r1 = r<<8;
+ rclk=1;
+ r= data;
+ rclk=0;
+ r2 = r;
+
+
+ return r2+r1 ;
}
-
+
// Data Start
void ReadStart(void)
- {
+ {
rrst = 0 ;
oe = 0 ;
wait_us(1) ;
rclk = 0 ;
wait_us(1) ;
rclk = 1 ;
- wait_us(1) ;
+ wait_us(1) ;
rrst = 1 ;
}
-
+
// Data Stop
void ReadStop(void)
{