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/Camera.cpp@13:7dcb1642ef99, 2017-02-08 (annotated)

Committer:
hazheng
Date:
Wed Feb 08 23:47:02 2017 +0000
Revision:
13:7dcb1642ef99
Parent:
9:b72e18f80f49
Child:
25:6f63053cee81
Finished reading SCCB from camera.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 3:c8867972ffc7 1 #include "Camera.h"
hazheng 3:c8867972ffc7 2
hazheng 13:7dcb1642ef99 3 #include "Core.h"
hazheng 13:7dcb1642ef99 4 #include "OV7725RegAddr.h"
hazheng 13:7dcb1642ef99 5 #include "PinAssignment.h"
hazheng 13:7dcb1642ef99 6 #include "SWUSBServer.h"
hazheng 13:7dcb1642ef99 7
hazheng 13:7dcb1642ef99 8
hazheng 3:c8867972ffc7 9 DigitalOut testLED(LED_BLUE, 1);
hazheng 3:c8867972ffc7 10
hazheng 3:c8867972ffc7 11 void Camera::OnPixelClock()
hazheng 3:c8867972ffc7 12 {
hazheng 13:7dcb1642ef99 13 /*
hazheng 3:c8867972ffc7 14 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[0].read();
hazheng 3:c8867972ffc7 15 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[1].read();
hazheng 3:c8867972ffc7 16 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[2].read();
hazheng 3:c8867972ffc7 17 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[3].read();
hazheng 3:c8867972ffc7 18 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[4].read();
hazheng 3:c8867972ffc7 19 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[5].read();
hazheng 3:c8867972ffc7 20 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[6].read();
hazheng 3:c8867972ffc7 21 m_pics[m_currentIndex][(m_currentRow * CAM_MAX_COL) + m_currentCol++] = 0;//m_dIn[7].read();
hazheng 13:7dcb1642ef99 22 */
hazheng 3:c8867972ffc7 23 }
hazheng 3:c8867972ffc7 24
hazheng 3:c8867972ffc7 25 void Camera::OnHorizontalClock()
hazheng 3:c8867972ffc7 26 {
hazheng 3:c8867972ffc7 27 m_currentRow++;
hazheng 3:c8867972ffc7 28 m_currentCol = 0;
hazheng 3:c8867972ffc7 29 }
hazheng 3:c8867972ffc7 30
hazheng 3:c8867972ffc7 31 void Camera::OnFrameClock()
hazheng 3:c8867972ffc7 32 {
hazheng 3:c8867972ffc7 33 m_currentIndex = m_currentIndex == 0 ? 1 : 0;
hazheng 3:c8867972ffc7 34 m_currentRow = 0;
hazheng 3:c8867972ffc7 35 m_currentCol = 0;
hazheng 3:c8867972ffc7 36 m_hasPic = true;
hazheng 3:c8867972ffc7 37
hazheng 3:c8867972ffc7 38 testLED = testLED.read() == 1 ? 0 : 1;
hazheng 3:c8867972ffc7 39 }
hazheng 3:c8867972ffc7 40
hazheng 13:7dcb1642ef99 41 Camera::Camera(SW::Core & core) :
hazheng 13:7dcb1642ef99 42 m_core(core),
hazheng 3:c8867972ffc7 43 m_pClock(InterruptIn(PTD7)),
hazheng 3:c8867972ffc7 44 m_href(InterruptIn(PTD6)),
hazheng 3:c8867972ffc7 45 m_vsnyc(InterruptIn(PTA17)),
hazheng 13:7dcb1642ef99 46 m_sccbCtrl(I2C(PIN_CC_SDA, PIN_CC_SCL)),
hazheng 3:c8867972ffc7 47 m_currentIndex(0),
hazheng 3:c8867972ffc7 48 m_currentRow(0),
hazheng 3:c8867972ffc7 49 m_currentCol(0),
hazheng 3:c8867972ffc7 50 m_hasPic(false)
hazheng 3:c8867972ffc7 51 {
hazheng 13:7dcb1642ef99 52 /*
hazheng 3:c8867972ffc7 53 m_dIn.push_back(DigitalIn(PTE5));
hazheng 3:c8867972ffc7 54 m_dIn.push_back(DigitalIn(PTE4));
hazheng 3:c8867972ffc7 55 m_dIn.push_back(DigitalIn(PTE3));
hazheng 3:c8867972ffc7 56 m_dIn.push_back(DigitalIn(PTE2));
hazheng 3:c8867972ffc7 57 m_dIn.push_back(DigitalIn(PTB11));
hazheng 3:c8867972ffc7 58 m_dIn.push_back(DigitalIn(PTB10));
hazheng 3:c8867972ffc7 59 m_dIn.push_back(DigitalIn(PTB9));
hazheng 3:c8867972ffc7 60 m_dIn.push_back(DigitalIn(PTB8));
hazheng 13:7dcb1642ef99 61 */
hazheng 3:c8867972ffc7 62 //m_pClock.fall(callback(this, &Camera::OnPixelClock));
hazheng 13:7dcb1642ef99 63 //m_href.rise(callback(this, &Camera::OnHorizontalClock));
hazheng 13:7dcb1642ef99 64 //m_vsnyc.rise(callback(this, &Camera::OnFrameClock));
hazheng 3:c8867972ffc7 65
hazheng 3:c8867972ffc7 66 }
hazheng 3:c8867972ffc7 67
hazheng 3:c8867972ffc7 68 Camera::~Camera()
hazheng 3:c8867972ffc7 69 {
hazheng 3:c8867972ffc7 70
hazheng 3:c8867972ffc7 71 }
hazheng 3:c8867972ffc7 72
hazheng 3:c8867972ffc7 73 bool Camera::HasPicture() const
hazheng 3:c8867972ffc7 74 {
hazheng 3:c8867972ffc7 75 return m_hasPic;
hazheng 3:c8867972ffc7 76 }
hazheng 3:c8867972ffc7 77
hazheng 3:c8867972ffc7 78 const unsigned char * Camera::GetPicture() const
hazheng 3:c8867972ffc7 79 {
hazheng 13:7dcb1642ef99 80 return NULL; //m_pics[m_currentIndex == 0 ? 1 : 0];
hazheng 13:7dcb1642ef99 81 }
hazheng 13:7dcb1642ef99 82
hazheng 13:7dcb1642ef99 83 //Blocking method. Do not use during the running state!!
hazheng 13:7dcb1642ef99 84 void Camera::SCCBWrite(uint8_t RegAddr, uint8_t Data)
hazheng 13:7dcb1642ef99 85 {
hazheng 13:7dcb1642ef99 86 m_sccbCtrl.start();
hazheng 13:7dcb1642ef99 87 m_sccbCtrl.write(OV7725_WRITE);
hazheng 13:7dcb1642ef99 88 wait_us(OV7725_WRITEWAIT);
hazheng 13:7dcb1642ef99 89 m_sccbCtrl.write(RegAddr);
hazheng 13:7dcb1642ef99 90 wait_us(OV7725_WRITEWAIT);
hazheng 13:7dcb1642ef99 91 m_sccbCtrl.write(Data);
hazheng 13:7dcb1642ef99 92 m_sccbCtrl.stop();
hazheng 13:7dcb1642ef99 93 }
hazheng 13:7dcb1642ef99 94
hazheng 13:7dcb1642ef99 95 //Blocking method. Do not use during the running state!!
hazheng 13:7dcb1642ef99 96 uint8_t Camera::SCCBRead(const uint8_t RegAddr)
hazheng 13:7dcb1642ef99 97 {
hazheng 13:7dcb1642ef99 98 m_sccbCtrl.start();
hazheng 13:7dcb1642ef99 99 m_sccbCtrl.write(OV7725_WRITE);
hazheng 13:7dcb1642ef99 100 wait_us(OV7725_WRITEWAIT);
hazheng 13:7dcb1642ef99 101 m_sccbCtrl.write(RegAddr);
hazheng 13:7dcb1642ef99 102 m_sccbCtrl.stop();
hazheng 13:7dcb1642ef99 103 wait_us(OV7725_WRITEWAIT);
hazheng 13:7dcb1642ef99 104
hazheng 13:7dcb1642ef99 105 m_sccbCtrl.start();
hazheng 13:7dcb1642ef99 106 m_sccbCtrl.write(OV7725_READ);
hazheng 13:7dcb1642ef99 107 wait_us(OV7725_WRITEWAIT);
hazheng 13:7dcb1642ef99 108 char readValue = m_sccbCtrl.read(OV7725_NOACK);
hazheng 13:7dcb1642ef99 109 m_sccbCtrl.stop();
hazheng 13:7dcb1642ef99 110
hazheng 13:7dcb1642ef99 111 return readValue;
hazheng 13:7dcb1642ef99 112 }
hazheng 13:7dcb1642ef99 113
hazheng 13:7dcb1642ef99 114 //Blocking method. Do not use during the running state!!
hazheng 13:7dcb1642ef99 115 void Camera::ReadRegisters()
hazheng 13:7dcb1642ef99 116 {
hazheng 13:7dcb1642ef99 117
hazheng 13:7dcb1642ef99 118 m_sccbCtrl.lock();
hazheng 13:7dcb1642ef99 119 m_sccbCtrl.frequency(100000);
hazheng 13:7dcb1642ef99 120 for(int i = 0; i < OV7725_LAST_ADDR + 1; ++i)
hazheng 13:7dcb1642ef99 121 {
hazheng 13:7dcb1642ef99 122 if(!OV7725RegBuf::IsAddressReserved(i))
hazheng 13:7dcb1642ef99 123 {
hazheng 13:7dcb1642ef99 124 char buf[10];
hazheng 13:7dcb1642ef99 125 sprintf(buf, "%#x-%#x", i, SCCBRead(i));
hazheng 13:7dcb1642ef99 126 m_core.GetUSBServer().PushUnreliableMsg('D', buf);
hazheng 13:7dcb1642ef99 127
hazheng 13:7dcb1642ef99 128 wait(0.1);
hazheng 13:7dcb1642ef99 129 }
hazheng 13:7dcb1642ef99 130 }
hazheng 13:7dcb1642ef99 131 m_sccbCtrl.unlock();
hazheng 3:c8867972ffc7 132 }