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.cpp@40:be98219930e4, 2017-03-22 (annotated)

Committer:
hazheng
Date:
Wed Mar 22 23:43:24 2017 +0000
Revision:
40:be98219930e4
Parent:
37:7074a6118d03
Child:
41:7b21c5e3599e
Added code for UTFT screen. Nothing displayed on screen. Maybe screen is broken?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 28:271fc8445e89 1 #include "ArduCAM.h"
hazheng 28:271fc8445e89 2
hazheng 33:e3fcc4d6bb9b 3
hazheng 29:f87d8790f57d 4 #include "GlobalVariable.h"
hazheng 29:f87d8790f57d 5 #include "SWUSBServer.h"
hazheng 29:f87d8790f57d 6
hazheng 32:5badeff825dc 7 #include "CamRegBuf.h"
hazheng 32:5badeff825dc 8
hazheng 32:5badeff825dc 9 #include <string>
hazheng 32:5badeff825dc 10
hazheng 28:271fc8445e89 11 extern SPI g_spi_port;
hazheng 28:271fc8445e89 12
hazheng 29:f87d8790f57d 13 DigitalOut cam_cs(PIN_ACC_CS);
hazheng 29:f87d8790f57d 14
hazheng 34:f79db3bc2f86 15
hazheng 34:f79db3bc2f86 16 inline void ardu_cam_spi_write_8(int address, int value)
hazheng 29:f87d8790f57d 17 {
hazheng 34:f79db3bc2f86 18 // take the SS pin low to select the chip:
hazheng 34:f79db3bc2f86 19 cam_cs = 0;
hazheng 34:f79db3bc2f86 20 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 21 g_spi_port.write(address | 0x80);
hazheng 34:f79db3bc2f86 22 g_spi_port.write(value);
hazheng 34:f79db3bc2f86 23 // take the SS pin high to de-select the chip:
hazheng 34:f79db3bc2f86 24 cam_cs = 1;
hazheng 34:f79db3bc2f86 25 }
hazheng 34:f79db3bc2f86 26
hazheng 34:f79db3bc2f86 27 inline uint8_t ardu_cam_spi_read_8(int address)
hazheng 34:f79db3bc2f86 28 {
hazheng 34:f79db3bc2f86 29 // take the SS pin low to select the chip:
hazheng 29:f87d8790f57d 30 cam_cs = 0;
hazheng 34:f79db3bc2f86 31 // send in the address and value via SPI:
hazheng 34:f79db3bc2f86 32 g_spi_port.write(address & 0x7F);
hazheng 34:f79db3bc2f86 33 uint8_t value = static_cast<uint8_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 34 // take the SS pin high to de-select the chip:
hazheng 29:f87d8790f57d 35 cam_cs = 1;
hazheng 34:f79db3bc2f86 36 return value;
hazheng 34:f79db3bc2f86 37 }
hazheng 34:f79db3bc2f86 38 /*
hazheng 34:f79db3bc2f86 39 inline void ardu_cam_spi_set_burst()
hazheng 34:f79db3bc2f86 40 {
hazheng 34:f79db3bc2f86 41 cam_cs = 0;
hazheng 34:f79db3bc2f86 42
hazheng 34:f79db3bc2f86 43 g_spi_port.write(BURST_FIFO_READ & 0x7F);
hazheng 29:f87d8790f57d 44
hazheng 34:f79db3bc2f86 45 cam_cs = 1;
hazheng 34:f79db3bc2f86 46 }
hazheng 34:f79db3bc2f86 47
hazheng 34:f79db3bc2f86 48 inline uint16_t ardu_cam_spi_burst_read_16()
hazheng 34:f79db3bc2f86 49 {
hazheng 34:f79db3bc2f86 50 cam_cs = 0;
hazheng 29:f87d8790f57d 51
hazheng 34:f79db3bc2f86 52 uint16_t value = static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 53 value = (value << 8) & 0xFF00;
hazheng 34:f79db3bc2f86 54 value = value | static_cast<uint16_t>(g_spi_port.write(0x00));
hazheng 34:f79db3bc2f86 55
hazheng 34:f79db3bc2f86 56 cam_cs = 1;
hazheng 34:f79db3bc2f86 57 return value;
hazheng 29:f87d8790f57d 58 }
hazheng 29:f87d8790f57d 59 */
hazheng 29:f87d8790f57d 60
hazheng 29:f87d8790f57d 61
hazheng 28:271fc8445e89 62 bool ardu_cam_init()
hazheng 28:271fc8445e89 63 {
hazheng 32:5badeff825dc 64 char buf[20];
hazheng 32:5badeff825dc 65
hazheng 36:7e747e19f660 66 CamRegBuf * camReg = new CamRegBuf(g_core, CAM_SCCB_WRITE, CAM_SCCB_READ);
hazheng 36:7e747e19f660 67
hazheng 36:7e747e19f660 68 camReg->WriteRegSet(ResetProg);
hazheng 32:5badeff825dc 69 wait_ms(5);
hazheng 37:7074a6118d03 70 camReg->WriteRegSet(QVGA);
hazheng 32:5badeff825dc 71 wait_ms(100);
hazheng 32:5badeff825dc 72
hazheng 36:7e747e19f660 73 #if defined(ARDUCAM_OV2640)
hazheng 32:5badeff825dc 74 camReg->SCCBWrite(0xff, 0x01);
hazheng 36:7e747e19f660 75 #endif
hazheng 36:7e747e19f660 76 uint8_t camVer = camReg->SCCBRead(CAM_PID_ADDR);
hazheng 32:5badeff825dc 77 sprintf(buf, "Cam VerH %#x", camVer);
hazheng 32:5badeff825dc 78 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 79
hazheng 36:7e747e19f660 80 camVer = camReg->SCCBRead(CAM_VER_ADDR);
hazheng 32:5badeff825dc 81 sprintf(buf, "Cam VerL %#x", camVer);
hazheng 32:5badeff825dc 82 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 36:7e747e19f660 83
hazheng 36:7e747e19f660 84
hazheng 32:5badeff825dc 85 delete camReg;
hazheng 32:5badeff825dc 86 camReg = NULL;
hazheng 32:5badeff825dc 87
hazheng 32:5badeff825dc 88
hazheng 32:5badeff825dc 89
hazheng 32:5badeff825dc 90
hazheng 34:f79db3bc2f86 91 uint8_t VerNum = ardu_cam_spi_read_8(0x40);
hazheng 34:f79db3bc2f86 92 VerNum = ardu_cam_spi_read_8(0x40);
hazheng 29:f87d8790f57d 93
hazheng 32:5badeff825dc 94
hazheng 29:f87d8790f57d 95 sprintf(buf, "Ardu Ver %#x", VerNum);
hazheng 29:f87d8790f57d 96 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 97
hazheng 34:f79db3bc2f86 98 ardu_cam_spi_write_8(ARDUCHIP_TEST1, ARDUCHIP_TEST_MSG);
hazheng 34:f79db3bc2f86 99 uint8_t testV = ardu_cam_spi_read_8(ARDUCHIP_TEST1);
hazheng 35:ac4fcca21560 100 if(VerNum != ARDUCHIP_VER_NUM || testV != ARDUCHIP_TEST_MSG)
hazheng 29:f87d8790f57d 101 {
hazheng 29:f87d8790f57d 102 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Fa");
hazheng 29:f87d8790f57d 103 return false;
hazheng 29:f87d8790f57d 104 }
hazheng 29:f87d8790f57d 105 g_core.GetUSBServer().PushReliableMsg('D', "CameraInit Su");
hazheng 29:f87d8790f57d 106
hazheng 35:ac4fcca21560 107 //ardu_cam_set_mode(MCU2LCD_MODE);
hazheng 29:f87d8790f57d 108 ardu_cam_start_capture();
hazheng 29:f87d8790f57d 109
hazheng 29:f87d8790f57d 110 wait(0.1);
hazheng 28:271fc8445e89 111
hazheng 28:271fc8445e89 112
hazheng 32:5badeff825dc 113 //unsigned char tempV = ardu_cam_read_reg(ARDUCHIP_MODE);
hazheng 32:5badeff825dc 114 //sprintf(buf, "Ardu Stat %#x", tempV);
hazheng 32:5badeff825dc 115 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 116
hazheng 32:5badeff825dc 117 //tempV = ardu_cam_read_reg(ARDUCHIP_CAP_CTRL);
hazheng 32:5badeff825dc 118 //sprintf(buf, "Ardu FS1 %#x", tempV);
hazheng 32:5badeff825dc 119 //g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 29:f87d8790f57d 120
hazheng 29:f87d8790f57d 121 return true;
hazheng 29:f87d8790f57d 122 }
hazheng 29:f87d8790f57d 123
hazheng 29:f87d8790f57d 124 void ardu_cam_start_capture()
hazheng 29:f87d8790f57d 125 {
hazheng 34:f79db3bc2f86 126 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_CLEAR_MASK);
hazheng 34:f79db3bc2f86 127 ardu_cam_spi_write_8(ARDUCHIP_CAP_CTRL, 0x00);
hazheng 34:f79db3bc2f86 128 ardu_cam_spi_write_8(ARDUCHIP_FIFO, FIFO_START_MASK);
hazheng 29:f87d8790f57d 129 }
hazheng 29:f87d8790f57d 130
hazheng 32:5badeff825dc 131 uint32_t ardu_cam_get_fifo_length()
hazheng 32:5badeff825dc 132 {
hazheng 32:5badeff825dc 133 uint32_t len1,len2,len3,length=0;
hazheng 34:f79db3bc2f86 134 len1 = ardu_cam_spi_read_8(FIFO_SIZE1);
hazheng 34:f79db3bc2f86 135 len2 = ardu_cam_spi_read_8(FIFO_SIZE2);
hazheng 34:f79db3bc2f86 136 len3 = ardu_cam_spi_read_8(FIFO_SIZE3) & 0x07;
hazheng 32:5badeff825dc 137 length = ((len3 << 16) | (len2 << 8) | len1) & 0x07ffff;
hazheng 32:5badeff825dc 138 return length;
hazheng 32:5badeff825dc 139 }
hazheng 32:5badeff825dc 140
hazheng 32:5badeff825dc 141 uint8_t ardu_cam_get_pixel()
hazheng 32:5badeff825dc 142 {
hazheng 34:f79db3bc2f86 143 uint16_t VH = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 144 uint16_t VL = ardu_cam_spi_read_8(SINGLE_FIFO_READ);
hazheng 34:f79db3bc2f86 145 //uint16_t VL = ardu_cam_spi_burst_read_16();
hazheng 32:5badeff825dc 146
hazheng 32:5badeff825dc 147 VL = (VL & 0x00FF) | ((VH << 8) & 0xFF00);
hazheng 33:e3fcc4d6bb9b 148 uint8_t ch = ((VL & 0xF800) >> 9);// << 2;
hazheng 33:e3fcc4d6bb9b 149 float pixel = (static_cast<float>(ch) * 0.21);
hazheng 32:5badeff825dc 150
hazheng 33:e3fcc4d6bb9b 151 ch = ((VL & 0x07E0) >> 3);// << 2;
hazheng 33:e3fcc4d6bb9b 152 pixel += (static_cast<float>(ch) * 0.72);
hazheng 32:5badeff825dc 153
hazheng 33:e3fcc4d6bb9b 154 ch = (VL & 0x001F) << 2;
hazheng 33:e3fcc4d6bb9b 155 pixel += (static_cast<float>(ch) * 0.07);
hazheng 32:5badeff825dc 156
hazheng 32:5badeff825dc 157 return static_cast<uint8_t>(pixel);
hazheng 32:5badeff825dc 158 }
hazheng 32:5badeff825dc 159
hazheng 32:5badeff825dc 160 void ardu_cam_print_debug()
hazheng 32:5badeff825dc 161 {
hazheng 32:5badeff825dc 162 uint32_t len = ardu_cam_get_fifo_length();
hazheng 32:5badeff825dc 163 char buf[20];
hazheng 32:5badeff825dc 164 sprintf(buf, "Cam L %#x", len);
hazheng 32:5badeff825dc 165 g_core.GetUSBServer().PushReliableMsg('D', buf);
hazheng 32:5badeff825dc 166
hazheng 33:e3fcc4d6bb9b 167 //if(len < (RESOLUTION_HEIGHT * RESOLUTION_WIDTH * 2))
hazheng 33:e3fcc4d6bb9b 168 // return;
hazheng 33:e3fcc4d6bb9b 169
hazheng 33:e3fcc4d6bb9b 170 //Begin output the picture
hazheng 32:5badeff825dc 171 std::string lineBuf;
hazheng 37:7074a6118d03 172 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 173 lineBuf.resize((RESOLUTION_WIDTH / 2) + 1);
hazheng 37:7074a6118d03 174 #else
hazheng 33:e3fcc4d6bb9b 175 lineBuf.resize(RESOLUTION_WIDTH + 1);
hazheng 37:7074a6118d03 176 #endif
hazheng 32:5badeff825dc 177
hazheng 34:f79db3bc2f86 178 //ardu_cam_spi_set_burst();
hazheng 33:e3fcc4d6bb9b 179 ardu_cam_get_pixel(); //Get the first dummy pixel
hazheng 33:e3fcc4d6bb9b 180
hazheng 33:e3fcc4d6bb9b 181 for (uint8_t i = 0; i < RESOLUTION_HEIGHT; ++i)
hazheng 32:5badeff825dc 182 {
hazheng 37:7074a6118d03 183 #if defined(MANUAL_REDUCE_RESULOTION_BY2)
hazheng 37:7074a6118d03 184 lineBuf[0] = i / 2;
hazheng 37:7074a6118d03 185
hazheng 37:7074a6118d03 186 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 37:7074a6118d03 187 {
hazheng 37:7074a6118d03 188 if(i % 2 == 0 || j % 2 == 0)
hazheng 37:7074a6118d03 189 {
hazheng 37:7074a6118d03 190 ardu_cam_get_pixel();
hazheng 37:7074a6118d03 191 }
hazheng 37:7074a6118d03 192 else
hazheng 37:7074a6118d03 193 {
hazheng 37:7074a6118d03 194 lineBuf[(j / 2) + 1] = ardu_cam_get_pixel();
hazheng 37:7074a6118d03 195 }
hazheng 37:7074a6118d03 196 }
hazheng 37:7074a6118d03 197
hazheng 37:7074a6118d03 198 if(i % 2 == 0)
hazheng 37:7074a6118d03 199 {
hazheng 37:7074a6118d03 200
hazheng 37:7074a6118d03 201 }
hazheng 37:7074a6118d03 202 else
hazheng 37:7074a6118d03 203 {
hazheng 37:7074a6118d03 204 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 37:7074a6118d03 205 wait(0.35);
hazheng 37:7074a6118d03 206 }
hazheng 37:7074a6118d03 207
hazheng 37:7074a6118d03 208 #else
hazheng 37:7074a6118d03 209
hazheng 32:5badeff825dc 210 lineBuf[0] = i;
hazheng 32:5badeff825dc 211
hazheng 33:e3fcc4d6bb9b 212 for (int j = 0; j < RESOLUTION_WIDTH; ++j)
hazheng 32:5badeff825dc 213 {
hazheng 33:e3fcc4d6bb9b 214 //uint8_t p = ardu_cam_get_pixel();
hazheng 33:e3fcc4d6bb9b 215 lineBuf[j + 1] = ardu_cam_get_pixel();
hazheng 32:5badeff825dc 216 }
hazheng 32:5badeff825dc 217
hazheng 32:5badeff825dc 218 g_core.GetUSBServer().PushReliableMsg('P', lineBuf);
hazheng 35:ac4fcca21560 219 wait(0.35);
hazheng 37:7074a6118d03 220
hazheng 37:7074a6118d03 221 #endif
hazheng 37:7074a6118d03 222
hazheng 32:5badeff825dc 223 }
hazheng 32:5badeff825dc 224
hazheng 32:5badeff825dc 225 }