File content as of revision 0:2530e24fafa1:

#include "mbed.h"
#include "global.h"
#include "math.h"
#include "ov7670sreg.h"
#include "ov7670s.h"
#include "FastPWM.h"
#include "SPI_TFT_ILI9341.h"

OV7670::OV7670(
    PinName siod,    // Camera I2C port data
    PinName sioc,  // Camera I2C port clock
    PinName xclk, // Pixelclock

    PortName port,
    int mask,
    /*
    XCLK
     VSYNC
     HREF
    PinName d7, // D7
    PinName d6, // D6
    PinName d5, // D5
    PinName d4, // D4
    PinName d3, // D3
    PinName d2, // D2
    PinName d1, // D1
    PinName d0, // D0
    */
    PinName rst // /RESET
):_siod(siod),_sioc(sioc),_xclk(xclk),data(port,mask),_rst(rst)
{
}

//DigitalOut str(PB_3); // internal strobe for debug
//DigitalOut str1(PC_8); // internal strobe for debug

void OV7670::Start()
{
    _sioc=1;
    _siod.output();
    _siod=1;
    wait_us(OV7670_I2CFREQ);
    _siod=0;
    wait_us(OV7670_I2CFREQ);
    _sioc=0;
    wait_us(OV7670_I2CFREQ);

}
void OV7670::End()
{
    _sioc=0;
    _siod.output();
    _siod=0;
    wait_us(OV7670_I2CFREQ);
    _sioc=1;
    wait_us(OV7670_I2CFREQ);
    _siod=1;
    wait_us(OV7670_I2CFREQ);
    _siod.input();
    wait_us(OV7670_I2CFREQ);
}

void OV7670::Reset()
{
    _sioc=1;
    //str=0;
    //str1=0;
    _siod.input();
    _xclk.period_us(CAMERA_CLK_PERIOD);
    _xclk.write(0.5);
    _rst=1;
    wait_us(1000);
    _rst=0;
    wait_us(1000);
    _rst=1;
    wait_us(1000);
    WriteReg(0x12,0x80) ; // RESET CAMERA
    wait_ms(300) ;
    WriteReg(0x12,0x00);
    wait_ms(300) ;
}
void OV7670::WriteBy(int addr)
{
    int tempo=0;
    _siod.output();
    wait_us(1);
    _sioc=0;
    _siod=1;
    for (int i=0; i<8; i++) {
        tempo=addr>>7-i;
        tempo=tempo&0x01;
        _sioc=0;
        _siod=tempo;;
        wait_us(OV7670_I2CFREQ);
        _sioc=1;
        wait_us(OV7670_I2CFREQ);
    }
    _sioc=0;
    _siod=1;
    _siod.input();
    wait_us(OV7670_I2CFREQ);
    _sioc=1;
    wait_us(OV7670_I2CFREQ);
    _sioc=0;
}

int OV7670::ReadBy()
{
    unsigned char data[8];
    int tt=0;
    _siod.input();
    _sioc=0;
    for (int i=0; i<8; i++) {
        _sioc=0;
        wait_us(OV7670_I2CFREQ);
        _sioc=1;
        data[7-i]=_siod;
        wait_us(OV7670_I2CFREQ);
    }
    _sioc=0;
    for (int i=0; i<8; i++) {
        tt=tt|data[7-i];
        if (i<7) {
            tt=tt<<1;
        }
    }
    _siod.output();
    _siod=1;
    wait_us(OV7670_I2CFREQ);
    _sioc=1;
    wait_us(OV7670_I2CFREQ);
    _sioc=0;
    return tt;
}

void OV7670::WriteReg2(int data)
{
    Start();
    WriteBy(OV7670_WRITE);
    WriteBy(data);
    End();
}
void OV7670::WriteReg(int subad,int data)
{
    Start();
    WriteBy(OV7670_WRITE);
    WriteBy(subad);
    WriteBy(data);
    End();
}
void OV7670::capture(void)
{
    pc.printf("capture requested \r\n");
    fp = fopen(desfile, "w");
    for (int i=0; i<38400; i++) {
        fputc(bank[i], fp);
    }
    pc.printf("captured done \r\n");
    TFT.foreground(Green);
    TFT.locate(0,0);
    printf("  capture done");
    fclose(fp);
    captur=false;
}

int OV7670::ReadReg(int subad)
{
    int dr=0;
    WriteReg2(subad);
    Start();
    WriteBy(OV7670_READ);
    dr = ReadBy();
    End();
    return dr;
}

void OV7670::exrgbf(int j)
{
   
    int ncl = nc*2;
    int jn,jn1,d1,d2,d3;
    jn =j*ncl/2;
    jn1=(j/2)*ncl*nl/2;



    for(int k=0; k <nl/2; k++) {

        for (int i = jn; i< (j+1)*ncl/2; i=i+2) {
            d1=2*(i-jn)+ncl*2*k;
            d2=i+ncl*k+jn1;
            d3=(2*(i-jn))+ ncl*(2*k+1);
            bankf[d1]=bank[d2];
            bankf[d1+2]=bank[d2];
            bankf[d1+1]=bank[d2+1];
            bankf[d1+3]=bank[d2+1];

            bankf[d3]=bank[d2];
            bankf[d3+2]=bank[d2];
            bankf[d3+1]=bank[d2+1];
            bankf[d3+3]=bank[d2+1];

        }

    }
}
/*
void OV7670::searchpat(int th)
{
    int i,j,k, l, maxi, maxj;
    int  car, tt,n0,n;
    int max ;
    max =th;
    n0=0;
    Time.start();
    for (n=0; n<=nv; n++) {
        for (i =0 ; i < nl-nlta; i++) {
            for (j=0; j<nc-ncta; j++) {
                tt=0;
                for (k=0; k<nlta; k++) {
                    for (l=0; l<ncta; l++) {
                        car= bankta[k][l][n]-banktc[i+k][j+l];
                        tt=tt+car*car;
                        if (tt>th) {
                            k =nlta;
                            l=ncta;
                        }
                    }
                }
                max=tt;
                // pc.printf("1  n: %d max: %d time: %f \r\n",n0,max, Time.read());

                if (max<th) {
                    maxi=i;
                    maxj=j;
                    n0=n;
                    i=nl;
                    j=nc;
                    n=nv;
                    // pc.printf("2  line: %d, column: %d, n: %d max: %d time: %f \r\n",maxi,maxj,n0,max, Time.read());
                }
            }
        }
    }
    Time.stop();
    TFT.Bitmap(160,120,160,120,bank);
    if (tt<th) {
        pc.printf("line: %d, column: %d, n: %d max: %d time: %f \r\n",maxi,maxj,n0,max, Time.read());
        TFT.locate(160,20);
        printf("Pat found %3.2f s",Time.read());
        TFT.locate(160+maxj+(ncta/2),240-maxi-(nlta/2));
        printf("X");
        TFT.rect(160+maxj,240-maxi-nlta,160+maxj+ncta,240-maxi,Red);
    } else {
        TFT.locate(160,20);
        printf("Not found %3.2f s",Time.read());
        pc.printf("not found time: %4f n:%d max: %d \r\n",Time.read(), n0,max);
    }
    Time.reset();
}

*/
// capture request
void OV7670::CaptureNext(void)
{
    __disable_irq();    // Disable Interrupts

    bool cc=true;
    bool h,c,v;
    bool cpr=false;
    int w;
    w=data.read();
    v=w>>12;
    //   waitnegedge(v);
    while(!v) {
        w=data.read();
        v=w>>12;
    };
    while(v) {
        w=data.read();
        v=w>>12;
    };
    if (captur) {
        cpr=true;
        captur=false;
    }
    //waitposedge(v);
    while(v) {
        w=data.read();
        v=w>>12;
    };
    while(!v) {
        w=data.read();
        v=w>>12;
    };
    PixelCounter=0;
    //Time.start();
    while (v) {
        w=data.read();
        v=w>>12;
        h=w>>11&0x01;
        c=w>>10&0x01;

        if (!c && h ) {
            cc=true;
        }
        if (cc && c && h)  {
            bank[PixelCounter]=w>>2;
            PixelCounter++;
            cc=false;

        }
    }

    __enable_irq();     // Enable Interrupts
    if (cpr) {
        capture();
        cpr=false;
    }
}

unsigned char OV7670::reverse(unsigned char b)
{
    b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
    b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
    b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
    return b;
}




int OV7670::Init(char *format, int n)
{

    if (ReadReg(REG_PID) != 0x76) {         // check id camera
        return 0;
    }

    Reset();                                 // Resets all registers to default values
    Reset();                                 // Resets all registers to default values

    WriteReg(REG_RGB444, 0x00);              // Disable RGB444
    WriteReg(REG_COM10, 0x22);               // 0x02   VSYNC negative (http://nasulica.homelinux.org/?p=959)
    WriteReg(REG_MVFP, 0x27);                // mirror image

    WriteReg(REG_CLKRC, 0x80);               // prescaler x1
    WriteReg(DBLV, 0x0a);                    // bypass PLL

    WriteReg(REG_COM11, 0x0A) ;
    WriteReg(REG_TSLB, 0x0D);                // 0D = UYVY  04 = YUYV
    WriteReg(REG_COM13, 0x88);               // connect to REG_TSLB


    if((strcmp("BAW", format) == 0) || (strcmp("YUV", format) == 0)|| (strcmp("RAW", format) == 0)) {   // YUV
        WriteReg(REG_COM7, 0x00);           // YUV
        WriteReg(REG_COM17, 0x00);          // color bar disable
        WriteReg(REG_COM3, 0x04);
        WriteReg(REG_COM15, 0xC0);          // Set normal rgb with Full range

    } else if((strcmp("RGB", format) == 0)) {             // RGB565
        WriteReg(REG_COM7, 0x04);           // RGB + color bar disable
        WriteReg(REG_RGB444, 0x00);         // Disable RGB444
        WriteReg(REG_COM15, 0x10);          // Set rgb565 with Full range    0xD0
        WriteReg(REG_COM3, 0x04);//0x44
        //WriteReg(REG_COM1, 0x40);
        WriteReg(REG_CLKRC, 0x80);          // prescaler x1
    }

    WriteReg(0x70, 0x3A);                   // Scaling Xsc
    WriteReg(0x71, 0x35);                   // Scaling Ysc
    WriteReg(0xA2, 0x02);                   // pixel clock delay

    if(n == 19200) {            // 160*120
        WriteReg(REG_COM14, 0x1a);          // divide by 4
        WriteReg(0x72, 0x22);               // downsample by 4
        WriteReg(0x73, 0xf2);               // divide by 4
        WriteReg(REG_HREF, 0x24);//a4
        WriteReg(REG_HSTART, 0x16);
        WriteReg(REG_HSTOP, 0x04);
        WriteReg(REG_VREF, 0x0a);//0a
        WriteReg(REG_VSTART, 0x02);
        WriteReg(REG_VSTOP, 0x7a);


        WriteReg(0x7a, 0x20);
        WriteReg(0x7b, 0x1c);
        WriteReg(0x7c, 0x28);
        WriteReg(0x7d, 0x3c);
        WriteReg(0x7e, 0x5a);
        WriteReg(0x7f, 0x68);
        WriteReg(0x80, 0x76);
        WriteReg(0x81, 0x80);
        WriteReg(0x82, 0x88);
        WriteReg(0x83, 0x8f);
        WriteReg(0x84, 0x96);
        WriteReg(0x85, 0xa3);
        WriteReg(0x86, 0xaf);
        WriteReg(0x87, 0xc4);
        WriteReg(0x88, 0xd7);
        WriteReg(0x89, 0xe8);

        WriteReg(0x13, 0xe0);
        WriteReg(0x00, 0x00);
        WriteReg(0x10, 0x00);
        WriteReg(0x0d, 0x40);
        WriteReg(0x14, 0x18);
        WriteReg(0xa5, 0x05);
        WriteReg(0xab, 0x07);
        WriteReg(0x24, 0x95);
        WriteReg(0x25, 0x33);
        WriteReg(0x26, 0xe3);
        WriteReg(0x9f, 0x78);
        WriteReg(0xa0, 0x68);
        WriteReg(0xa1, 0x03);
        WriteReg(0xa6, 0xd8);
        WriteReg(0xa7, 0xd8);
        WriteReg(0xa8, 0xf0);
        WriteReg(0xa9, 0x90);
        WriteReg(0xaa, 0x94);
        WriteReg(0x13, 0xe5);

        WriteReg(0x0e, 0x61);
        WriteReg(0x0f, 0x4b);
        WriteReg(0x16, 0x02);

        WriteReg(0x21, 0x02);
        WriteReg(0x22, 0x91);
        WriteReg(0x29, 0x07);
        WriteReg(0x33, 0x0b);
        WriteReg(0x35, 0x0b);
        WriteReg(0x37, 0x1d);
        WriteReg(0x38, 0x71);
        WriteReg(0x39, 0x2a);
        WriteReg(0x3c, 0x78);
        WriteReg(0x4d, 0x40);
        WriteReg(0x4e, 0x20);
        WriteReg(0x69, 0x00);

        WriteReg(0x74, 0x10);
        WriteReg(0x8d, 0x4f);
        WriteReg(0x8e, 0x00);
        WriteReg(0x8f, 0x00);
        WriteReg(0x90, 0x00);
        WriteReg(0x91, 0x00);
        WriteReg(0x92, 0x00);

        WriteReg(0x96, 0x00);
        WriteReg(0x9a, 0x80);
        WriteReg(0xb0, 0x84);
        WriteReg(0xb1, 0x0c);
        WriteReg(0xb2, 0x0e);
        WriteReg(0xb3, 0x82);
        WriteReg(0xb8, 0x0a);

        WriteReg(0x43, 0x0a);
        WriteReg(0x44, 0xf0);
        WriteReg(0x45, 0x34);
        WriteReg(0x46, 0x58);
        WriteReg(0x47, 0x28);
        WriteReg(0x48, 0x3a);
        WriteReg(0x59, 0x88);
        WriteReg(0x5a, 0x88);
        WriteReg(0x5b, 0x44);
        WriteReg(0x5c, 0x67);
        WriteReg(0x5d, 0x49);
        WriteReg(0x5e, 0x0e);
        WriteReg(0x64, 0x04);
        WriteReg(0x65, 0x20);
        WriteReg(0x66, 0x05);
        WriteReg(0x94, 0x04);
        WriteReg(0x95, 0x08);

        WriteReg(0x6c, 0x0a);
        WriteReg(0x6d, 0x55);
        WriteReg(0x6e, 0x11);
        WriteReg(0x6f, 0x9f);
        WriteReg(0x6a, 0x40);
        WriteReg(0x01, 0x40);
        WriteReg(0x02, 0x40);
        WriteReg(0x13, 0xe7);
        WriteReg(0x15, 0x02);

        WriteReg(0x4f, 0x80);
        WriteReg(0x50, 0x80);
        WriteReg(0x51, 0x00);
        WriteReg(0x52, 0x22);
        WriteReg(0x53, 0x5e);
        WriteReg(0x54, 0x80);
        WriteReg(0x58, 0x9e);

        WriteReg(0x41, 0x08);
        WriteReg(0x3f, 0x00);
        WriteReg(0x75, 0x05);
        WriteReg(0x76, 0xe1);
        WriteReg(0x4c, 0x00);
        WriteReg(0x77, 0x01);
        WriteReg(0x3d, 0xc1);
        WriteReg(0x4b, 0x09);
        WriteReg(0xc9, 0x60);
        WriteReg(0x41, 0x38);
        WriteReg(0x56, 0x40);

        WriteReg(0x34, 0x11);
        WriteReg(0x3b, 0x02);
        WriteReg(0xa4, 0x88);
        WriteReg(0x96, 0x00);
        WriteReg(0x97, 0x30);
        WriteReg(0x98, 0x20);
        WriteReg(0x99, 0x30);
        WriteReg(0x9a, 0x84);
        WriteReg(0x9b, 0x29);
        WriteReg(0x9c, 0x03);
        WriteReg(0x9d, 0x4c);
        WriteReg(0x9e, 0x3f);
        WriteReg(0x78, 0x04);

        WriteReg(0x79, 0x01);
        WriteReg(0xc8, 0xf0);
        WriteReg(0x79, 0x0f);
        WriteReg(0xc8, 0x00);
        WriteReg(0x79, 0x10);
        WriteReg(0xc8, 0x7e);
        WriteReg(0x79, 0x0a);
        WriteReg(0xc8, 0x80);
        WriteReg(0x79, 0x0b);
        WriteReg(0xc8, 0x01);
        WriteReg(0x79, 0x0c);
        WriteReg(0xc8, 0x0f);
        WriteReg(0x79, 0x0d);
        WriteReg(0xc8, 0x20);
        WriteReg(0x79, 0x09);
        WriteReg(0xc8, 0x80);
        WriteReg(0x79, 0x02);
        WriteReg(0xc8, 0xc0);
        WriteReg(0x79, 0x03);
        WriteReg(0xc8, 0x40);
        WriteReg(0x79, 0x05);
        WriteReg(0xc8, 0x30);
        WriteReg(0x79, 0x26);
        WriteReg(0x09, 0x03);
        WriteReg(0x3b, 0x42);

        WriteReg(0xff, 0xff);   /* END MARKER */
        WriteReg(DBLV, 0x4a); // clock multiplication by 4 4a
        //WriteReg(REG_CLKRC, 0x80);          // prescaler x1
        WriteReg(REG_CLKRC, 0x03);          // prescaler x2
    }
    if(n == 76800) {            // 320*240


    }
    if(n == 307200) {           // 640*480

    }

    return 1;
}


/*
int OV7670::BMP_tofile(unsigned int x, unsigned int y, const char *Name_BMP)
{

#define OffsetPixelWidth    18
#define OffsetPixelHeigh    22
#define OffsetFileSize      34
#define OffsetPixData       10
#define OffsetBPP           28

    char filename[50];
    unsigned char BMP_Header[54];
    unsigned short BPP_t;
    unsigned int PixelWidth,PixelHeigh,start_data;
    unsigned int    i,off;
    int padd,j;
    unsigned short *line;

    // get the filename
    i=0;
    while (*Name_BMP!='\0') {
        filename[i++]=*Name_BMP++;
    }
    filename[i] = 0;

    FILE *Image = fopen((const char *)&filename[0], "rb");  // open the bmp file
    if (!Image) {
        return(0);      // error file not found !
    }

    fread(&BMP_Header[0],1,54,Image);      // get the BMP Header

    if (BMP_Header[0] != 0x42 || BMP_Header[1] != 0x4D) {  // check magic byte
        fclose(Image);
        return(-1);     // error no BMP file
    }

    BPP_t = BMP_Header[OffsetBPP] + (BMP_Header[OffsetBPP + 1] << 8);
    if (BPP_t != 0x0010) {
        fclose(Image);
        return(-2);     // error no 16 bit BMP
    }

    PixelHeigh = BMP_Header[OffsetPixelHeigh] + (BMP_Header[OffsetPixelHeigh + 1] << 8) + (BMP_Header[OffsetPixelHeigh + 2] << 16) + (BMP_Header[OffsetPixelHeigh + 3] << 24);
    PixelWidth = BMP_Header[OffsetPixelWidth] + (BMP_Header[OffsetPixelWidth + 1] << 8) + (BMP_Header[OffsetPixelWidth + 2] << 16) + (BMP_Header[OffsetPixelWidth + 3] << 24);
    if (PixelHeigh > TFT.height() + y || PixelWidth > TFT.width() + x) {
        fclose(Image);
        return(-3);      // to big
    }

    start_data = BMP_Header[OffsetPixData] + (BMP_Header[OffsetPixData + 1] << 8) + (BMP_Header[OffsetPixData + 2] << 16) + (BMP_Header[OffsetPixData + 3] << 24);

    line = (unsigned short *) malloc (2 * PixelWidth); // we need a buffer for a line
    if (line == NULL) {
        return(-4);         // error no memory
    }

    // the bmp lines are padded to multiple of 4 bytes
    padd = -1;
    do {
        padd ++;
    } while ((PixelWidth * 2 + padd)%4 != 0);

    // GraphicsDisplay.window(x, y,PixelWidth ,PixelHeigh);
    //GraphicsDisplay.wr_cmd(0x2C);  // send pixel
    //GraphicsDisplay.spi_16(1);
    int compt=38400;
    unsigned char c,c1;
    for (j = PixelHeigh - 1; j >= 0; j--) {               //Lines bottom up
        off = j * (PixelWidth  * 2 + padd) + start_data;   // start of line
        fseek(Image, off ,SEEK_SET);
        fread(line,1,PixelWidth * 2,Image);       // read a line - slow
        //   for (i = 0; i < PixelWidth; i++) {        // copy pixel data to TFT
        for (int i = PixelWidth-1; i >=0; i--) {        // copy pixel data to TFT
            compt = compt -1;
            c=line[i]&0x00FF;
            c1=line[i]>>8;
            bank[compt] =c1      ;
            compt = compt -1;
            bank[compt] =c;          // one 16 bit pixel
        }
    }
    //spi_bsy();
    //_cs = 1;
    //spi_16(0);
    free (line);
    fclose(Image);
    //WindowMax();
    return(1);
}

*/