Pipe Inpection Robot
capstone_finish
Dependencies: BufferedSerial motor_sn7544
Diff: ov7670.h
- Revision:
- 0:f3f80a0695ff
- Child:
- 1:509676f3be32
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ov7670.h Fri Feb 17 13:07:18 2012 +0000
@@ -0,0 +1,288 @@
+#include "mbed.h"
+#include "ov7670reg.h"
+
+#define OV7670_WRITE (0x42)
+#define OV7670_READ (0x43)
+#define OV7670_WRITEWAIT (20)
+#define OV7670_NOACK (0)
+#define OV7670_REGMAX (201)
+#define OV7670_I2CFREQ (50000)
+
+//
+// OV7670 + FIFO AL422B camera board test
+//
+class OV7670 : public Base
+{
+public:
+ I2C camera ;
+ InterruptIn vsync,href;
+ DigitalOut wen ;
+ PortIn data ;
+ DigitalOut rrst,oe,rclk ;
+ volatile int LineCounter ;
+ volatile int LastLines ;
+ volatile bool CaptureReq ;
+ volatile bool Busy ;
+ volatile bool Done ;
+
+ OV7670(
+ PinName sda,// Camera I2C port
+ PinName scl,// Camera I2C port
+ PinName vs, // VSYNC
+ PinName hr, // HREF
+ PinName we, // WEN
+ PortName port, // 8bit bus port
+ 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)
+ {
+ camera.stop() ;
+ camera.frequency(OV7670_I2CFREQ) ;
+ vsync.fall(this,&OV7670::VsyncHandler) ;
+ href.rise(this,&OV7670::HrefHandler) ;
+ CaptureReq = false ;
+ Busy = false ;
+ Done = false ;
+ LineCounter = 0 ;
+ rrst = 1 ;
+ oe = 1 ;
+ rclk = 1 ;
+ wen = 0 ;
+ }
+
+ // capture request
+ void CaptureNext(void)
+ {
+ CaptureReq = true ;
+ Busy = true ;
+ }
+
+ // capture done? (with clear)
+ bool CaptureDone(void)
+ {
+ bool result ;
+ if (Busy) {
+ result = false ;
+ } else {
+ result = Done ;
+ Done = false ;
+ }
+ return result ;
+ }
+
+ // write to camera
+ void WriteReg(int addr,int data)
+ {
+ // WRITE 0x42,ADDR,DATA
+ camera.start() ;
+ camera.write(OV7670_WRITE) ;
+ wait_us(OV7670_WRITEWAIT);
+ camera.write(addr) ;
+ wait_us(OV7670_WRITEWAIT);
+ camera.write(data) ;
+ camera.stop() ;
+ }
+
+ // read from camera
+ int ReadReg(int addr)
+ {
+ int data ;
+
+ // WRITE 0x42,ADDR
+ camera.start() ;
+ camera.write(OV7670_WRITE) ;
+ wait_us(OV7670_WRITEWAIT);
+ camera.write(addr) ;
+ camera.stop() ;
+ wait_us(OV7670_WRITEWAIT);
+
+ // WRITE 0x43,READ
+ camera.start() ;
+ camera.write(OV7670_READ) ;
+ wait_us(OV7670_WRITEWAIT);
+ data = camera.read(OV7670_NOACK) ;
+ camera.stop() ;
+
+ return data ;
+ }
+
+ void Reset(void) {
+ WriteReg(0x12,0x80) ; // RESET CAMERA
+ wait_ms(200) ;
+ }
+
+ void InitQQVGA565() {
+ // QQVGA RGB565
+ WriteReg(REG_CLKRC,0x80);
+ WriteReg(REG_COM11,0x0A) ;
+ WriteReg(REG_TSLB,0x04);
+ WriteReg(REG_COM7,0x04) ;
+ WriteReg(REG_RGB444, 0x00);
+ WriteReg(REG_COM15, 0xd0);
+ 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_COM10,0x02) ;
+ WriteReg(REG_COM3, 0x04);
+ WriteReg(REG_COM14, 0x1a);
+ WriteReg(0x72, 0x22);
+ WriteReg(0x73, 0xf2);
+
+ // COLOR SETTING
+ WriteReg(0x4f,0x80);
+ WriteReg(0x50,0x80);
+ WriteReg(0x51,0x00);
+ WriteReg(0x52,0x22);
+ WriteReg(0x53,0x5e);
+ WriteReg(0x54,0x80);
+ WriteReg(0x56,0x40);
+ WriteReg(0x58,0x9e);
+ WriteReg(0x59,0x88);
+ WriteReg(0x5a,0x88);
+ WriteReg(0x5b,0x44);
+ WriteReg(0x5c,0x67);
+ WriteReg(0x5d,0x49);
+ WriteReg(0x5e,0x0e);
+ WriteReg(0x69,0x00);
+ WriteReg(0x6a,0x40);
+ WriteReg(0x6b,0x0a);
+ WriteReg(0x6c,0x0a);
+ WriteReg(0x6d,0x55);
+ WriteReg(0x6e,0x11);
+ WriteReg(0x6f,0x9f);
+
+ WriteReg(0xb0,0x84);
+ }
+
+ void InitQVGA565() {
+ // QVGA RGB565
+ WriteReg(REG_CLKRC,0x80);
+ WriteReg(REG_COM11,0x0A) ;
+ WriteReg(REG_TSLB,0x04);
+ WriteReg(REG_COM7,0x04) ;
+ WriteReg(REG_RGB444, 0x00);
+ WriteReg(REG_COM15, 0xd0);
+ WriteReg(REG_HSTART,0x16) ;
+ WriteReg(REG_HSTOP,0x04) ;
+ WriteReg(REG_HREF,0x80) ;
+ WriteReg(REG_VSTART,0x02) ;
+ WriteReg(REG_VSTOP,0x7a) ;
+ WriteReg(REG_VREF,0x0a) ;
+ WriteReg(REG_COM10,0x02) ;
+ WriteReg(REG_COM3, 0x04);
+ WriteReg(REG_COM14, 0x19);
+ WriteReg(0x72, 0x11);
+ WriteReg(0x73, 0xf1);
+
+ // COLOR SETTING
+ WriteReg(0x4f,0x80);
+ WriteReg(0x50,0x80);
+ WriteReg(0x51,0x00);
+ WriteReg(0x52,0x22);
+ WriteReg(0x53,0x5e);
+ WriteReg(0x54,0x80);
+ WriteReg(0x56,0x40);
+ WriteReg(0x58,0x9e);
+ WriteReg(0x59,0x88);
+ WriteReg(0x5a,0x88);
+ WriteReg(0x5b,0x44);
+ WriteReg(0x5c,0x67);
+ WriteReg(0x5d,0x49);
+ WriteReg(0x5e,0x0e);
+ WriteReg(0x69,0x00);
+ WriteReg(0x6a,0x40);
+ WriteReg(0x6b,0x0a);
+ WriteReg(0x6c,0x0a);
+ WriteReg(0x6d,0x55);
+ WriteReg(0x6e,0x11);
+ WriteReg(0x6f,0x9f);
+
+ WriteReg(0xb0,0x84);
+ }
+
+
+ // vsync handler
+ void VsyncHandler(void)
+ {
+ // Capture Enable
+ if (CaptureReq) {
+ wen = 1 ;
+ Done = false ;
+ CaptureReq = false ;
+ } else {
+ wen = 0 ;
+ if (Busy) {
+ Busy = false ;
+ Done = true ;
+ }
+ }
+
+ // Hline Counter
+ LastLines = LineCounter ;
+ LineCounter = 0 ;
+ }
+
+ // href handler
+ void HrefHandler(void)
+ {
+ LineCounter++ ;
+ }
+
+ // Data Read
+ int ReadOneByte(void)
+ {
+ int result ;
+ rclk = 1 ;
+// wait_us(1) ;
+ result = data ;
+ rclk = 0 ;
+ return result ;
+ }
+
+ // 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 ;
+ }
+
+ // Data Start
+ void ReadStart(void)
+ {
+ rrst = 0 ;
+ oe = 0 ;
+ wait_us(1) ;
+ rclk = 0 ;
+ wait_us(1) ;
+ rclk = 1 ;
+ wait_us(1) ;
+ rrst = 1 ;
+ }
+
+ // Data Stop
+ void ReadStop(void)
+ {
+ oe = 1 ;
+ ReadOneByte() ;
+ rclk = 1 ;
+ }
+};