Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/ArduCAM.h@64:43ab429a37e0, 2017-04-10 (annotated)

Committer:
hazheng
Date:
Mon Apr 10 16:44:31 2017 +0000
Revision:
64:43ab429a37e0
Parent:
57:0d8a155d511d
Child:
65:295c222fdf88
Auto terminate when hit the end of the loop. Commented out all the IMU code, because of the memory space problem.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 28:271fc8445e89 1 #pragma once
hazheng 28:271fc8445e89 2 #ifndef ARDU_CAM_H
hazheng 28:271fc8445e89 3 #define ARDU_CAM_H
hazheng 28:271fc8445e89 4
hazheng 29:f87d8790f57d 5 #include <mbed.h>
hazheng 44:15de535c4005 6 #include <rtos.h>
hazheng 28:271fc8445e89 7 #include "PinAssignment.h"
hazheng 28:271fc8445e89 8
hazheng 57:0d8a155d511d 9 #define RESOLUTION_WIDTH 160
hazheng 57:0d8a155d511d 10 #define RESOLUTION_HEIGHT 120
hazheng 41:7b21c5e3599e 11 //#define MANUAL_REDUCE_RESULOTION_BY2
hazheng 57:0d8a155d511d 12 #define CAM_ROI_UPPER_LIMIT 8
hazheng 38:0fb273b28cee 13
hazheng 36:7e747e19f660 14
hazheng 36:7e747e19f660 15 //=====Must pick one and only one here!=====
hazheng 37:7074a6118d03 16 //#define ARDUCAM_SHIELD_OV2640
hazheng 36:7e747e19f660 17 //#define ARDUCAM_SHIELD_OV7725
hazheng 38:0fb273b28cee 18 //#define ARDUCAM_SHIELD_OV7670
hazheng 38:0fb273b28cee 19 #define ARDUCAM_MINI_OV2640
hazheng 36:7e747e19f660 20 //==========================================
hazheng 36:7e747e19f660 21
hazheng 37:7074a6118d03 22
hazheng 37:7074a6118d03 23 #if defined(ARDUCAM_SHIELD_OV2640) || defined(ARDUCAM_SHIELD_OV7725) || defined(ARDUCAM_SHIELD_OV7670)
hazheng 36:7e747e19f660 24 #define ARDUCAM_SHIELD
hazheng 36:7e747e19f660 25 #elif defined(ARDUCAM_MINI_OV2640)
hazheng 36:7e747e19f660 26 #define ARDUCAM_MINI
hazheng 36:7e747e19f660 27 #else
hazheng 36:7e747e19f660 28 #error Must pick one and only one ArduCam type!
hazheng 36:7e747e19f660 29 #endif
hazheng 36:7e747e19f660 30
hazheng 36:7e747e19f660 31 #if defined(ARDUCAM_SHIELD_OV2640) || defined(ARDUCAM_MINI_OV2640)
hazheng 36:7e747e19f660 32 #define ARDUCAM_OV2640
hazheng 36:7e747e19f660 33 #elif defined(ARDUCAM_SHIELD_OV7725)
hazheng 36:7e747e19f660 34 #define ARDUCAM_OV7725
hazheng 37:7074a6118d03 35 #elif defined(ARDUCAM_SHIELD_OV7670)
hazheng 37:7074a6118d03 36 #define ARDUCAM_OV7670
hazheng 36:7e747e19f660 37 #else
hazheng 36:7e747e19f660 38 #error Must pick one and only one ArduCam type!
hazheng 36:7e747e19f660 39 #endif
hazheng 36:7e747e19f660 40
hazheng 36:7e747e19f660 41 #if defined(ARDUCAM_OV2640)
hazheng 36:7e747e19f660 42 #include "OV2640RegProg.h"
hazheng 46:a5eb9bd3bb55 43 //using namespace OV2640Prog;
hazheng 36:7e747e19f660 44 #elif defined(ARDUCAM_OV7725)
hazheng 36:7e747e19f660 45 #include "OV7725RegProg.h"
hazheng 46:a5eb9bd3bb55 46 //using namespace OV7725Prog;
hazheng 37:7074a6118d03 47 #elif defined(ARDUCAM_OV7670)
hazheng 37:7074a6118d03 48 #include "OV7670RegProg.h"
hazheng 46:a5eb9bd3bb55 49 //using namespace OV7670Prog;
hazheng 36:7e747e19f660 50 #endif
hazheng 36:7e747e19f660 51
hazheng 36:7e747e19f660 52 #if defined(ARDUCAM_SHIELD)
hazheng 36:7e747e19f660 53 #define ARDUCHIP_VER_NUM 0x61
hazheng 36:7e747e19f660 54 #elif defined(ARDUCAM_MINI)
hazheng 36:7e747e19f660 55 #define ARDUCHIP_VER_NUM 0x55
hazheng 36:7e747e19f660 56 #endif
hazheng 36:7e747e19f660 57
hazheng 29:f87d8790f57d 58 #define ARDUCHIP_TEST1 0x00 //TEST register
hazheng 29:f87d8790f57d 59 #define ARDUCHIP_TEST_MSG 0x72
hazheng 29:f87d8790f57d 60
hazheng 29:f87d8790f57d 61 #define ARDUCHIP_CAP_CTRL 0x01 //Capture Control Register
hazheng 29:f87d8790f57d 62
hazheng 40:be98219930e4 63 #if defined(ARDUCAM_SHIELD)
hazheng 40:be98219930e4 64 #define ARDUCHIP_MODE 0x02 //Mode register
hazheng 40:be98219930e4 65 //#define MCU2LCD_MODE 0x00
hazheng 40:be98219930e4 66 //#define CAM2LCD_MODE 0x01
hazheng 40:be98219930e4 67 #define MCU2LCD_MODE 0x01
hazheng 40:be98219930e4 68 #define CAM2LCD_MODE 0x02
hazheng 40:be98219930e4 69 //#define LCD2MCU_MODE 0x04
hazheng 40:be98219930e4 70 #endif
hazheng 29:f87d8790f57d 71
hazheng 29:f87d8790f57d 72 #define ARDUCHIP_FIFO 0x04 //FIFO and I2C control
hazheng 29:f87d8790f57d 73 #define FIFO_CLEAR_MASK 0x01
hazheng 29:f87d8790f57d 74 #define FIFO_START_MASK 0x02
hazheng 29:f87d8790f57d 75 #define FIFO_RDPTR_RST_MASK 0x10
hazheng 29:f87d8790f57d 76 #define FIFO_WRPTR_RST_MASK 0x20
hazheng 29:f87d8790f57d 77
hazheng 44:15de535c4005 78 #define ARDUCHIP_TRIG 0x41 //Trigger source
hazheng 44:15de535c4005 79 #define VSYNC_MASK 0x01
hazheng 44:15de535c4005 80 #define SHUTTER_MASK 0x02
hazheng 44:15de535c4005 81 #define CAP_DONE_MASK 0x08
hazheng 44:15de535c4005 82
hazheng 32:5badeff825dc 83 #define FIFO_SIZE1 0x42 //Camera write FIFO size[7:0] for burst to read
hazheng 32:5badeff825dc 84 #define FIFO_SIZE2 0x43 //Camera write FIFO size[15:8]
hazheng 44:15de535c4005 85 #define FIFO_SIZE3 0x44 //Camera write FIFO size[18:16]
hazheng 32:5badeff825dc 86
hazheng 32:5badeff825dc 87 #define BURST_FIFO_READ 0x3C //Burst FIFO read operation
hazheng 32:5badeff825dc 88 #define SINGLE_FIFO_READ 0x3D //Single FIFO read operation
hazheng 29:f87d8790f57d 89
hazheng 46:a5eb9bd3bb55 90 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 91 extern "C" {
hazheng 46:a5eb9bd3bb55 92 #endif
hazheng 46:a5eb9bd3bb55 93
hazheng 28:271fc8445e89 94 bool ardu_cam_init();
hazheng 28:271fc8445e89 95
hazheng 29:f87d8790f57d 96 void ardu_cam_start_capture();
hazheng 29:f87d8790f57d 97
hazheng 32:5badeff825dc 98 uint32_t ardu_cam_get_fifo_length();
hazheng 32:5badeff825dc 99
hazheng 32:5badeff825dc 100 void ardu_cam_print_debug();
hazheng 32:5badeff825dc 101
hazheng 44:15de535c4005 102 volatile const uint8_t* ardu_cam_get_center_array();
hazheng 44:15de535c4005 103
hazheng 44:15de535c4005 104 uint8_t ardu_cam_is_capture_finished();
hazheng 43:0d1886f4848a 105
hazheng 46:a5eb9bd3bb55 106 void ardu_cam_display_img_utft();
hazheng 46:a5eb9bd3bb55 107
hazheng 57:0d8a155d511d 108 void image_processing();
hazheng 57:0d8a155d511d 109
hazheng 64:43ab429a37e0 110 uint8_t ardu_cam_get_is_encounter_terminate();
hazheng 64:43ab429a37e0 111
hazheng 46:a5eb9bd3bb55 112 #ifdef __cplusplus
hazheng 46:a5eb9bd3bb55 113 }
hazheng 46:a5eb9bd3bb55 114 #endif
hazheng 46:a5eb9bd3bb55 115
hazheng 34:f79db3bc2f86 116 //uint8_t ardu_cam_read_reg(uint8_t addr);
hazheng 34:f79db3bc2f86 117
hazheng 34:f79db3bc2f86 118 //void ardu_cam_write_reg(uint8_t addr, uint8_t data);
hazheng 34:f79db3bc2f86 119
hazheng 34:f79db3bc2f86 120 //int ardu_cam_bus_write(int address, int value);
hazheng 34:f79db3bc2f86 121
hazheng 34:f79db3bc2f86 122 //uint8_t ardu_cam_bus_read(int address);
hazheng 34:f79db3bc2f86 123
hazheng 28:271fc8445e89 124 #endif //ARDU_CAM_H