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

Diff: Hardwares/Camera.h

Revision:
13:7dcb1642ef99
Parent:
9:b72e18f80f49
Child:
25:6f63053cee81
--- a/Hardwares/Camera.h	Wed Feb 08 18:00:33 2017 +0000
+++ b/Hardwares/Camera.h	Wed Feb 08 23:47:02 2017 +0000
@@ -2,14 +2,21 @@
 #include "mbed.h"
 #include <vector>
 
+#include "OV7725RegBuf.h"
+
 #define CAM_MAX_ROW 480
 #define CAM_MAX_COL 640
 
+namespace SW
+{
+    class Core;
+}
+
 class Camera
 {
 public:
 
-    Camera();
+    Camera(SW::Core & core);
 
     ~Camera();
     
@@ -17,23 +24,36 @@
     
     const unsigned char * GetPicture() const;
     
+    //Blocking method. Do not use during the running state!!
+    void ReadRegisters();
+    
 private:
     
+    Camera();
+    
     void OnPixelClock();
     
     void OnFrameClock();
     
     void OnHorizontalClock();
     
+    //Blocking method. Do not use during the running state!!
+    void SCCBWrite(const uint8_t RegAddr, uint8_t Data);
+    
+    //Blocking method. Do not use during the running state!!
+    uint8_t SCCBRead(const uint8_t RegAddr);
+    
+    SW::Core & m_core;
+    
     InterruptIn m_pClock;
     
     InterruptIn m_href;
     
     InterruptIn m_vsnyc;
     
-    std::vector<DigitalIn> m_dIn;
+    I2C m_sccbCtrl;
     
-    unsigned char  m_pics[2][(CAM_MAX_ROW + 1) * (CAM_MAX_COL + 1)];
+    //unsigned char  m_pics[2][(CAM_MAX_ROW + 1) * (CAM_MAX_COL + 1)];
     
     unsigned char m_currentIndex;
     
@@ -42,4 +62,6 @@
     unsigned int m_currentCol;
     
     bool m_hasPic;
+    
+    OV7725RegBuf m_regBuf;
 };