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
Hardwares/OV2640RegProg.h
- Committer:
- hazheng
- Date:
- 2017-04-20
- Revision:
- 100:ffbeefc9e218
- Parent:
- 91:7b1910ca3ad6
File content as of revision 100:ffbeefc9e218:
/** * @file OV2640RegProg.h * @brief The header file for all OV2640 register programs. Note: Part of the register program come from the ArduCam Arduino source code. * @author Jordan Brack <jabrack@mix.wvu.edu>, Haofan Zheng <hazheng@mix.wvu.edu> * */ #pragma once #ifndef OV2640_REG_PROG_H #define OV2640_REG_PROG_H #include "CamRegDefinitions.h" #if defined(ARDUCAM_OV2640) #define CAM_SCCB_WRITE 0x60 /*!< @brief SCCB slave write address for OV2640. */ #define CAM_SCCB_READ 0x61 /*!< @brief SCCB slave read address for OV2640. */ #define CAM_PID_VALUE 0x26 /*!< @brief PID value for the OV2640. */ #define CAM_VER_VALUE 0x42 /*!< @brief VER value for the OV2640. */ #define CAM_PID_ADDR 0x0A /*!< @brief Address that stores the PID value for the OV2640. */ #define CAM_VER_ADDR 0x0B /*!< @brief Address that stores the VER value for the OV2640. */ //namespace OV2640Prog //{ const struct sensor_reg ResetProg[] = /*!< @brief The register program used to reset the camera chip. */ { {0xff, 0x01}, {0x12, 0x80}, {0xff, 0xff}, }; #if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 800) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 600) const struct sensor_reg SVGA[] = /*!< @brief The register program used to init the SVGA RGB565 output. */ { {0xff, 0x00}, {0x2c, 0xff}, {0x2e, 0xdf}, {0xff, 0x01}, {0x3c, 0x32}, // {0x11, 0x00}, {0x09, 0x02}, {0x04, 0x28}, {0x13, 0xe5}, {0x14, 0x48}, {0x2c, 0x0c}, {0x33, 0x78}, {0x3a, 0x33}, {0x3b, 0xfB}, // {0x3e, 0x00}, {0x43, 0x11}, {0x16, 0x10}, // {0x39, 0x92}, // {0x35, 0xda}, {0x22, 0x1a}, {0x37, 0xc3}, {0x23, 0x00}, {0x34, 0xc0}, {0x36, 0x1a}, {0x06, 0x88}, {0x07, 0xc0}, {0x0d, 0x87}, {0x0e, 0x41}, {0x4c, 0x00}, {0x48, 0x00}, {0x5B, 0x00}, {0x42, 0x03}, // {0x4a, 0x81}, {0x21, 0x99}, // {0x24, 0x40}, {0x25, 0x38}, {0x26, 0x82}, {0x5c, 0x00}, {0x63, 0x00}, {0x46, 0x22}, {0x0c, 0x3c}, // {0x61, 0x70}, {0x62, 0x80}, {0x7c, 0x05}, // {0x20, 0x80}, {0x28, 0x30}, {0x6c, 0x00}, {0x6d, 0x80}, {0x6e, 0x00}, {0x70, 0x02}, {0x71, 0x94}, {0x73, 0xc1}, // {0x12, 0x40}, {0x17, 0x11}, {0x18, 0x43}, {0x19, 0x00}, {0x1a, 0x4b}, {0x32, 0x09}, {0x37, 0xc0}, {0x4f, 0xca}, {0x50, 0xa8}, {0x5a, 0x23}, {0x6d, 0x00}, {0x3d, 0x38}, // {0xff, 0x00}, {0xe5, 0x7f}, {0xf9, 0xc0}, {0x41, 0x24}, {0xe0, 0x14}, {0x76, 0xff}, {0x33, 0xa0}, {0x42, 0x20}, {0x43, 0x18}, {0x4c, 0x00}, {0x87, 0xd5}, {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, 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, 0x04}, {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}, {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}, // {0xc0, 0x64}, {0xc1, 0x4B}, {0x8c, 0x00}, {0x86, 0x3D}, {0x50, 0x00}, {0x51, 0xC8}, {0x52, 0x96}, {0x53, 0x00}, {0x54, 0x00}, {0x55, 0x00}, {0x5a, 0xC8}, {0x5b, 0x96}, {0x5c, 0x00}, {0xd3, 0x82}, // {0xc3, 0xed}, {0x7f, 0x00}, // {0xda, 0x08}, // {0xe5, 0x1f}, {0xe1, 0x67}, {0xe0, 0x00}, {0xdd, 0x7f}, {0x05, 0x00}, {0xff, 0xff} }; #endif // 800 X 600 //#if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 320) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 240) const struct sensor_reg QVGA[] = /*!< @brief The register program used to init the VGA, QVGA, QQVGA in RGB565 output. */ { {0xff, 0x00}, //Bank 0 {0x2c, 0xff}, {0x2e, 0xdf}, {0xff, 0x01}, //Bank 1 {0x3c, 0x32}, {0x11, 0x80}, /////////// //CLCK Speed {0x09, 0x02}, {0x04, 0x68}, /////////// //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}, ///////////////// {0x8c, 0x00}, {0xc0, 0xc8}, {0xc1, 0x96}, ///////////////// {0x86, 0x3d}, ///////////////// {0x51, 0x90}, {0x52, 0x2c}, {0x53, 0x00}, {0x54, 0x00}, {0x55, 0x88}, {0x57, 0x00}, //////////////// #if (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 320) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 240) {0x50, 0x92}, {0x5a, 0x50}, //Zoom {0x5b, 0x3C}, //Zoom {0x5c, 0x00}, //Zoom #elif (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 160) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 120) {0x50, 0x92}, {0x5a, 0x28}, //Zoom {0x5b, 0x1E}, //Zoom {0x5c, 0x00}, //Zoom #elif (defined(RESOLUTION_WIDTH) && RESOLUTION_WIDTH == 80) && (defined(RESOLUTION_HEIGHT) && RESOLUTION_HEIGHT == 60) {0x50, 0xA4}, {0x5a, 0x14}, //Zoom {0x5b, 0x0F}, //Zoom {0x5c, 0x00}, //Zoom #else #error Must pick one valid resolution!! #endif {0xd3, 0x04}, {0xe0, 0x00}, {0xff, 0x00}, {0x05, 0x00}, {0xda, 0x08}, {0xd7, 0x03}, {0xe0, 0x00}, {0x05, 0x00}, {0xff, 0xff}, }; //#endif //320 X 240 #endif //ARDUCAM_OV2640 #endif //OV2640_REG_PROG_H