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

Committer:
hazheng
Date:
2017-03-14
Revision:
37:7074a6118d03
Parent:
36:7e747e19f660
Child:
38:0fb273b28cee

File content as of revision 37:7074a6118d03:

#pragma once
#ifndef ARDU_CAM_H
#define ARDU_CAM_H

#include <mbed.h>
#include "PinAssignment.h"

#define RESOLUTION_WIDTH 320
#define RESOLUTION_HEIGHT 240

//=====Must pick one and only one here!=====
//#define ARDUCAM_SHIELD_OV2640
//#define ARDUCAM_SHIELD_OV7725
#define ARDUCAM_SHIELD_OV7670
//#define ARDUCAM_MINI_OV2640
//==========================================

#define MANUAL_REDUCE_RESULOTION_BY2

#if defined(ARDUCAM_SHIELD_OV2640) || defined(ARDUCAM_SHIELD_OV7725) || defined(ARDUCAM_SHIELD_OV7670)
    #define ARDUCAM_SHIELD
#elif defined(ARDUCAM_MINI_OV2640)
    #define ARDUCAM_MINI
#else
    #error Must pick one and only one ArduCam type!
#endif

#if defined(ARDUCAM_SHIELD_OV2640) || defined(ARDUCAM_MINI_OV2640)
    #define ARDUCAM_OV2640
#elif defined(ARDUCAM_SHIELD_OV7725)
    #define ARDUCAM_OV7725
#elif defined(ARDUCAM_SHIELD_OV7670)
    #define ARDUCAM_OV7670
#else
    #error Must pick one and only one ArduCam type!
#endif

#if defined(ARDUCAM_OV2640)
    #include "OV2640RegProg.h"
    using namespace OV2640Prog;
#elif defined(ARDUCAM_OV7725)
    #include "OV7725RegProg.h"
    using namespace OV7725Prog;
#elif defined(ARDUCAM_OV7670)
    #include "OV7670RegProg.h"
    using namespace OV7670Prog;
#endif

#if defined(ARDUCAM_SHIELD)
    #define ARDUCHIP_VER_NUM        0x61
#elif defined(ARDUCAM_MINI)
    #define ARDUCHIP_VER_NUM        0x55
#endif

#define ARDUCHIP_TEST1          0x00  //TEST register
#define ARDUCHIP_TEST_MSG       0x72

#define ARDUCHIP_CAP_CTRL       0x01  //Capture Control Register

#define ARDUCHIP_MODE           0x02  //Mode register
//#define MCU2LCD_MODE            0x00
//#define CAM2LCD_MODE            0x01
#define MCU2LCD_MODE            0x01
#define CAM2LCD_MODE            0x02
//#define LCD2MCU_MODE            0x04

#define ARDUCHIP_FIFO           0x04  //FIFO and I2C control
#define FIFO_CLEAR_MASK         0x01
#define FIFO_START_MASK         0x02
#define FIFO_RDPTR_RST_MASK     0x10
#define FIFO_WRPTR_RST_MASK     0x20

#define FIFO_SIZE1              0x42  //Camera write FIFO size[7:0] for burst to read
#define FIFO_SIZE2              0x43  //Camera write FIFO size[15:8]
#define FIFO_SIZE3              0x44  //Camera write FIFO size[18:16

#define BURST_FIFO_READ         0x3C  //Burst FIFO read operation
#define SINGLE_FIFO_READ        0x3D  //Single FIFO read operation

bool ardu_cam_init();

void ardu_cam_set_mode(uint8_t mode);

void ardu_cam_start_capture();

uint32_t ardu_cam_get_fifo_length();

void ardu_cam_print_debug();

//uint8_t ardu_cam_read_reg(uint8_t addr);

//void ardu_cam_write_reg(uint8_t addr, uint8_t data);

//int ardu_cam_bus_write(int address, int value);

//uint8_t ardu_cam_bus_read(int address);

#endif //ARDU_CAM_H