Jordan Brack
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/OV2640RegProg.h
- Revision:
- 34:f79db3bc2f86
- Parent:
- 33:e3fcc4d6bb9b
- Child:
- 36:7e747e19f660
--- a/Hardwares/OV2640RegProg.h Fri Mar 03 18:26:44 2017 +0000
+++ b/Hardwares/OV2640RegProg.h Thu Mar 09 19:21:50 2017 +0000
@@ -223,8 +223,226 @@
};
#endif // 800 X 600
+//#if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 320) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 240)
+const struct sensor_reg QVGA[] =
+{
+ {0xff, 0x0},
+ {0x2c, 0xff},
+ {0x2e, 0xdf},
+ {0xff, 0x01},
+ {0x3c, 0x32},
+ {0x11, 0x00},
+ {0x09, 0x02},
+ {0x04, 0x28}, /////////// //Horizontal Mirror
+ {0x13, 0xe5},
+ {0x14, 0x48},
+ {0x2c, 0x0c},
+ {0x33, 0x78},
+ {0x3a, 0x33},
+ {0x3b, 0xfb},
+ {0x3e, 0x00},
+ {0x43, 0x11},
+ {0x16, 0x10},
+ {0x39, 0x02},
+ {0x35, 0x88},
+
+ {0x22, 0x0a},
+ {0x37, 0x40},
+ {0x23, 0x00},
+ {0x34, 0xa0},
+ {0x06, 0x02},
+ {0x06, 0x88},
+ {0x07, 0xc0},
+ {0x0d, 0xb7},
+ {0x0e, 0x01},
+ {0x4c, 0x00},
+ {0x4a, 0x81},
+ {0x21, 0x99},
+ {0x24, 0x40},
+ {0x25, 0x38},
+ {0x26, 0x82},
+ {0x5c, 0x00},
+ {0x63, 0x00},
+ {0x46, 0x22},
+ {0x0c, 0x3a},
+ {0x5d, 0x55},
+ {0x5e, 0x7d},
+ {0x5f, 0x7d},
+ {0x60, 0x55},
+ {0x61, 0x70},
+ {0x62, 0x80},
+ {0x7c, 0x05},
+ {0x20, 0x80},
+ {0x28, 0x30},
+ {0x6c, 0x00},
+ {0x6d, 0x80},
+ {0x6e, 0x00},
+ {0x70, 0x02},
+ {0x71, 0x94},
+ {0x73, 0xc1},
+ {0x3d, 0x34},
+ {0x12, 0x04},
+ {0x5a, 0x57},
+ {0x4f, 0xbb},
+ {0x50, 0x9c},
+ {0xff, 0x00},
+ {0xe5, 0x7f},
+ {0xf9, 0xc0},
+ {0x41, 0x24},
+ {0xe0, 0x14},
+ {0x76, 0xff},
+ {0x33, 0xa0},
+ {0x42, 0x20},
+ {0x43, 0x18},
+ {0x4c, 0x00},
+ {0x87, 0xd0},
+ {0x88, 0x3f},
+ {0xd7, 0x03},
+ {0xd9, 0x10},
+ {0xd3, 0x82},
+ {0xc8, 0x08},
+ {0xc9, 0x80},
+ {0x7c, 0x00},
+ {0x7d, 0x00},
+ {0x7c, 0x03},
+ {0x7d, 0x48},
+ {0x7d, 0x48},
+ {0x7c, 0x08},
+ {0x7d, 0x00}, //Gamma Correction?
+ {0x7d, 0x10},
+ {0x7d, 0x0e},
+ {0x90, 0x00},
+ {0x91, 0x0e},
+ {0x91, 0x1a},
+ {0x91, 0x31},
+ {0x91, 0x5a},
+ {0x91, 0x69},
+ {0x91, 0x75},
+ {0x91, 0x7e},
+ {0x91, 0x88},
+ {0x91, 0x8f},
+ {0x91, 0x96},
+ {0x91, 0xa3},
+ {0x91, 0xaf},
+ {0x91, 0xc4},
+ {0x91, 0xd7},
+ {0x91, 0xe8},
+ {0x91, 0x20},
+ {0x92, 0x00},
+
+ {0x93, 0x06},
+ {0x93, 0xe3},
+ {0x93, 0x03},
+ {0x93, 0x03},
+ {0x93, 0x00},
+ {0x93, 0x02},
+ {0x93, 0x00},
+ {0x93, 0x00},
+ {0x93, 0x00},
+ {0x93, 0x00},
+ {0x93, 0x00},
+ {0x93, 0x00},
+ {0x93, 0x00},
+ {0x96, 0x00},
+ {0x97, 0x08},
+ {0x97, 0x19},
+ {0x97, 0x02},
+ {0x97, 0x0c},
+ {0x97, 0x24},
+ {0x97, 0x30},
+ {0x97, 0x28},
+ {0x97, 0x26},
+ {0x97, 0x02},
+ {0x97, 0x98},
+ {0x97, 0x80},
+ {0x97, 0x00},
+ {0x97, 0x00},
+ {0xa4, 0x00},
+ {0xa8, 0x00},
+ {0xc5, 0x11},
+ {0xc6, 0x51},
+ {0xbf, 0x80},
+ {0xc7, 0x10},
+ {0xb6, 0x66},
+ {0xb8, 0xa5},
+ {0xb7, 0x64},
+ {0xb9, 0x7c},
+ {0xb3, 0xaf},
+ {0xb4, 0x97},
+ {0xb5, 0xff},
+ {0xb0, 0xc5},
+ {0xb1, 0x94},
+ {0xb2, 0x0f},
+ {0xc4, 0x5c},
+ {0xa6, 0x00},
+ {0xa7, 0x20},
+ {0xa7, 0xd8},
+ {0xa7, 0x1b},
+ {0xa7, 0x31},
+ {0xa7, 0x00},
+ {0xa7, 0x18},
+ {0xa7, 0x20},
+ {0xa7, 0xd8},
+ {0xa7, 0x19},
+ {0xa7, 0x31},
+ {0xa7, 0x00},
+ {0xa7, 0x18},
+ {0xa7, 0x20},
+ {0xa7, 0xd8},
+ {0xa7, 0x19},
+ {0xa7, 0x31},
+ {0xa7, 0x00},
+ {0xa7, 0x18},
+ {0x7f, 0x00},
+ {0xe5, 0x1f},
+ {0xe1, 0x77},
+ {0xdd, 0x7f},
+ {0xc2, 0x0e},
+
+ {0xff, 0x00},
+ {0xe0, 0x04},
+ {0xc0, 0xc8},
+ {0xc1, 0x96},
+ {0x86, 0x3d},
+ {0x51, 0x90},
+ {0x52, 0x2c},
+ {0x53, 0x00},
+ {0x54, 0x00},
+ {0x55, 0x88},
+ {0x57, 0x00},
+
+ {0x50, 0x92},
#if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 320) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 240)
-const struct sensor_reg QVGA[] =
+ {0x5a, 0x50}, //Zoom
+ {0x5b, 0x3C}, //Zoom
+ {0x5c, 0x00}, //Zoom
+#endif
+
+#if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 160) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 120)
+ {0x5a, 0x28}, //Zoom
+ {0x5b, 0x1E}, //Zoom
+ {0x5c, 0x00}, //Zoom
+#endif
+
+ {0xd3, 0x04},
+ {0xe0, 0x00},
+
+ {0xff, 0x00},
+ {0x05, 0x00},
+
+ {0xda, 0x08},
+ {0xd7, 0x03},
+ {0xe0, 0x00},
+
+ {0x05, 0x00},
+
+
+ {0xff, 0xff},
+};
+//#endif //320 X 240
+
+#if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 160) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 120)
+const struct sensor_reg QQVGA[]=
{
/*0*/{0xff, 0x0},
{0x2c, 0xff},
@@ -432,8 +650,8 @@
{0x57, 0x0},
{0x50, 0x92},
- {0x5a, 0x50},
- {0x5b, 0x3c},
+ {0x5a, 0x28},
+ {0x5b, 0x1E},
{0x5c, 0x0},
{0xd3, 0x4},
{0xe0, 0x0},
@@ -450,343 +668,6 @@
{0xff,0xff},
};
-#endif //320 X 240
-
-#if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 160) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 120)
-const struct sensor_reg QQVGA[]=
-{
- { 0xff, 0x00 },
- { 0x2c, 0xff },
- { 0x2e, 0xdf },
- { 0xff, 0x01 },
- { 0x3c, 0x32 },
- { 0x11, 0x00 },
- { 0x09, 0x02 },
- { 0x03, 0xcf },
- { 0x04, 0x08 },
- { 0x13, 0xe5 },
- { 0x14, 0x48 },
- { 0x2c, 0x0c },
- { 0x33, 0x78 },
- { 0x3a, 0x33 },
- { 0x3b, 0xfb },
- { 0x3e, 0x00 },
- { 0x43, 0x11 },
- { 0x16, 0x10 },
- { 0x39, 0x02 },
- { 0x35, 0x88 },
- { 0x22, 0x0a },
- { 0x37, 0x40 },
- { 0x23, 0x00 },
- { 0x34, 0xa0 },
- { 0x36, 0x1a },
- { 0x06, 0x02 },
- { 0x07, 0xc0 },
- { 0x0d, 0xb7 },
- { 0x0e, 0x01 },
- { 0x4c, 0x00 },
- { 0x4a, 0x81 },
- { 0x21, 0x99 },
- { 0x24, 0x3a },
- { 0x25, 0x32 },
- { 0x26, 0x82 },
- { 0x5c, 0x00 },
- { 0x63, 0x00 },
- { 0x5d, 0x55 },
- { 0x5e, 0x7d },
- { 0x5f, 0x7d },
- { 0x60, 0x55 },
- { 0x61, 0x70 },
- { 0x62, 0x80 },
- { 0x7c, 0x05 },
- { 0x20, 0x80 },
- { 0x28, 0x30 },
- { 0x6c, 0x00 },
- { 0x6d, 0x80 },
- { 0x6e, 0x00 },
- { 0x70, 0x02 },
- { 0x71, 0x96 },
- { 0x73, 0xe1 },
- { 0x3d, 0x34 },
- { 0x5a, 0x57 },
- { 0x4f, 0xbb },
- { 0x50, 0x9c },
- { 0x0f, 0x43 },
- { 0xff, 0x00 },
- { 0xe5, 0x7f },
- { 0xf9, 0xc0 },
- { 0x41, 0x24 },
- { 0xe0, 0x14 },
- { 0x76, 0xff },
- { 0x33, 0xa0 },
- { 0x42, 0x20 },
- { 0x43, 0x18 },
- { 0x4c, 0x00 },
- { 0x87, 0xd0 },
- { 0x88, 0x3f },
- { 0xd7, 0x03 },
- { 0xd9, 0x10 },
- { 0xd3, 0x82 },
- { 0xc8, 0x08 },
- { 0xc9, 0x80 },
- { 0x7c, 0x00 },
- { 0x7d, 0x02 },
- { 0x7c, 0x03 },
- { 0x7d, 0x48 },
- { 0x7d, 0x48 },
- { 0x7c, 0x08 },
- { 0x7d, 0x20 },
- { 0x7d, 0x10 },
- { 0x7d, 0x0e },
- { 0x90, 0x00 },
- { 0x91, 0x0e },
- { 0x91, 0x1a },
- { 0x91, 0x31 },
- { 0x91, 0x5a },
- { 0x91, 0x69 },
- { 0x91, 0x75 },
- { 0x91, 0x7e },
- { 0x91, 0x88 },
- { 0x91, 0x8f },
- { 0x91, 0x96 },
- { 0x91, 0xa3 },
- { 0x91, 0xaf },
- { 0x91, 0xc4 },
- { 0x91, 0xd7 },
- { 0x91, 0xe8 },
- { 0x91, 0x20 },
- { 0x92, 0x00 },
- { 0x93, 0x06 },
- { 0x93, 0xe3 },
- { 0x93, 0x05 },
- { 0x93, 0x05 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x93, 0x00 },
- { 0x96, 0x00 },
- { 0x97, 0x08 },
- { 0x97, 0x19 },
- { 0x97, 0x02 },
- { 0x97, 0x0c },
- { 0x97, 0x24 },
- { 0x97, 0x30 },
- { 0x97, 0x28 },
- { 0x97, 0x26 },
- { 0x97, 0x02 },
- { 0x97, 0x98 },
- { 0x97, 0x80 },
- { 0x97, 0x00 },
- { 0x97, 0x00 },
- { 0xc3, 0xed },
- { 0xa4, 0x00 },
- { 0xa8, 0x00 },
- { 0xbf, 0x00 },
- { 0xba, 0xf0 },
- { 0xbc, 0x64 },
- { 0xbb, 0x02 },
- { 0xb6, 0x3d },
- { 0xb8, 0x57 },
- { 0xb7, 0x38 },
- { 0xb9, 0x4e },
- { 0xb3, 0xe8 },
- { 0xb4, 0xe1 },
- { 0xb5, 0x66 },
- { 0xb0, 0x67 },
- { 0xb1, 0x5e },
- { 0xb2, 0x04 },
- { 0xc7, 0x00 },
- { 0xc6, 0x51 },
- { 0xc5, 0x11 },
- { 0xc4, 0x9c },
- { 0xcf, 0x02 },
- { 0xa6, 0x00 },
- { 0xa7, 0xe0 },
- { 0xa7, 0x10 },
- { 0xa7, 0x1e },
- { 0xa7, 0x21 },
- { 0xa7, 0x00 },
- { 0xa7, 0x28 },
- { 0xa7, 0xd0 },
- { 0xa7, 0x10 },
- { 0xa7, 0x16 },
- { 0xa7, 0x21 },
- { 0xa7, 0x00 },
- { 0xa7, 0x28 },
- { 0xa7, 0xd0 },
- { 0xa7, 0x10 },
- { 0xa7, 0x17 },
- { 0xa7, 0x21 },
- { 0xa7, 0x00 },
- { 0xa7, 0x28 },
- { 0xc0, 0xc8 },
- { 0xc1, 0x96 },
- { 0x86, 0x1d },
- { 0x50, 0x00 },
- { 0x51, 0x90 },
- { 0x52, 0x18 },
- { 0x53, 0x00 },
- { 0x54, 0x00 },
- { 0x55, 0x88 },
- { 0x57, 0x00 },
- { 0x5a, 0x90 },
- { 0x5b, 0x18 },
- { 0x5c, 0x05 },
- { 0xc3, 0xef },
- { 0x7f, 0x00 },
- { 0xda, 0x00 },
- { 0xe5, 0x1f },
- { 0xe1, 0x67 },
- { 0xe0, 0x00 },
- { 0xdd, 0xff },
- { 0x05, 0x00 },
- { 0xff, 0x01 },
- { 0xff, 0x01 },
- { 0x12, 0x00 },
- { 0x17, 0x11 },
- { 0x18, 0x75 },
- { 0x19, 0x01 },
- { 0x1a, 0x97 },
- { 0x32, 0x36 },
- { 0x4f, 0xbb },
- { 0x6d, 0x80 },
- { 0x3d, 0x34 },
- { 0x39, 0x02 },
- { 0x35, 0x88 },
- { 0x22, 0x0a },
- { 0x37, 0x40 },
- { 0x23, 0x00 },
- { 0x34, 0xa0 },
- { 0x36, 0x1a },
- { 0x06, 0x02 },
- { 0x07, 0xc0 },
- { 0x0d, 0xb7 },
- { 0x0e, 0x01 },
- { 0x4c, 0x00 },
- { 0xff, 0x00 },
- { 0xe0, 0x04 },
- { 0x8c, 0x00 },
- { 0x87, 0xd0 },
- { 0xe0, 0x00 },
- { 0xff, 0x00 },
- { 0xe0, 0x14 },
- { 0xe1, 0x77 },
- { 0xe5, 0x1f },
- { 0xd7, 0x03 },
- { 0xda, 0x10 },
- { 0xe0, 0x00 },
- { 0xff, 0x00 },
- { 0xe0, 0x04 },
- { 0xc0, 0xc8 },
- { 0xc1, 0x96 },
- { 0x86, 0x1d },
- { 0x50, 0x00 },
- { 0x51, 0x90 },
- { 0x52, 0x2c },
- { 0x53, 0x00 },
- { 0x54, 0x00 },
- { 0x55, 0x88 },
- { 0x57, 0x00 },
- { 0x5a, 0x90 },
- { 0x5b, 0x2c },
- { 0x5c, 0x05 },
- { 0xe0, 0x00 },
- { 0xd3, 0x04 },
- { 0xff, 0x00 },
- { 0xc3, 0xef },
- { 0xa6, 0x00 },
- { 0xa7, 0xdd },
- { 0xa7, 0x78 },
- { 0xa7, 0x7e },
- { 0xa7, 0x24 },
- { 0xa7, 0x00 },
- { 0xa7, 0x25 },
- { 0xa6, 0x06 },
- { 0xa7, 0x20 },
- { 0xa7, 0x58 },
- { 0xa7, 0x73 },
- { 0xa7, 0x34 },
- { 0xa7, 0x00 },
- { 0xa7, 0x25 },
- { 0xa6, 0x0c },
- { 0xa7, 0x28 },
- { 0xa7, 0x58 },
- { 0xa7, 0x6d },
- { 0xa7, 0x34 },
- { 0xa7, 0x00 },
- { 0xa7, 0x25 },
- { 0xff, 0x00 },
- { 0xe0, 0x04 },
- { 0xe1, 0x67 },
- { 0xe5, 0x1f },
- { 0xd7, 0x01 },
- { 0xda, 0x08 },
- { 0xda, 0x09 },
- { 0xe0, 0x00 },
- { 0x98, 0x00 },
- { 0x99, 0x00 },
- { 0xff, 0x01 },
- { 0x04, 0x28 },
- { 0xff, 0x01 },
-
- { 0x12, 0x40 },
-
- { 0x17, 0x11 },
- { 0x18, 0x43 },
- { 0x19, 0x00 },
- { 0x1a, 0x4b },
- { 0x32, 0x09 },
- { 0x4f, 0xca },
- { 0x50, 0xa8 },
- { 0x5a, 0x23 },
- { 0x6d, 0x00 },
- { 0x39, 0x12 },
- { 0x35, 0xda },
- { 0x22, 0x1a },
- { 0x37, 0xc3 },
- { 0x23, 0x00 },
- { 0x34, 0xc0 },
- { 0x36, 0x1a },
- { 0x06, 0x88 },
- { 0x07, 0xc0 },
- { 0x0d, 0x87 },
- { 0x0e, 0x41 },
- { 0x4c, 0x00 },
- { 0xff, 0x00 },
- { 0xe0, 0x04 },
- { 0xc0, 0x64 },
- { 0xc1, 0x4b },
- { 0x86, 0x35 },
- { 0x50, 0x92 },
- { 0x51, 0xc8 },
- { 0x52, 0x96 },
- { 0x53, 0x00 },
- { 0x54, 0x00 },
- { 0x55, 0x00 },
- { 0x57, 0x00 },
- { 0x5a, 0x28 },
- { 0x5b, 0x1e },
- { 0x5c, 0x00 },
- { 0xe0, 0x00 },
- { 0xff, 0x01 },
- { 0x11, 0x00 },
- { 0x3d, 0x38 },
- { 0x2d, 0x00 },
- { 0x50, 0x65 },
- { 0xff, 0x00 },
- { 0xd3, 0x04 },
- { 0x7c, 0x00 },
- { 0x7d, 0x04 },
- { 0x7c, 0x09 },
- { 0x7d, 0x28 },
- { 0x7d, 0x00 },
- {0xff,0xff},
-};
#endif //160 * 120
#ifdef CAMERA_JPEG_FORMAT