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Hard&Soft 2013, Timișoara 2, Mbed Camera Code
Raw
common.hpp
#define PIN_CAMERA_XCLK p21
#define PIN_XBEE_TX p28
#define PIN_XBEE_RX p27
#define PIN_CAMERA_SIOD p22
#define PIN_CAMERA_SIOC p23
#define PIN_CAMERA_PCLK p8
#define PIN_CAMERA_P2 p11
#define PIN_CAMERA_P3 p12
#define PIN_CAMERA_P4 p13
#define PIN_CAMERA_P5 p14
#define PIN_CAMERA_P6 p15
#define PIN_CAMERA_P7 p16
#define PIN_CAMERA_P8 p17
#define PIN_CAMERA_P9 p18
#define PIN_CAMERA_HREF p5
#define PIN_CAMERA_VSYNC p6
Raw
FastPWM.cpp
#include "FastPWM.h"
FastPWM::FastPWM(PinName pin) : PWMObject(pin){
//Set clock source
LPC_SC->PCLKSEL0|=1<<12;
_duty=0;
_period=0.02;
if (pin==p26||pin==LED1) {
PWMUnit=1;
MR=&LPC_PWM1->MR1;
}
else if (pin==p25||pin==LED2){
PWMUnit=2;
MR=&LPC_PWM1->MR2;
}
else if (pin==p24||pin==LED3){
PWMUnit=3;
MR=&LPC_PWM1->MR3;
}
else if (pin==p23||pin==LED4){
PWMUnit=4;
MR=&LPC_PWM1->MR4;
}
else if (pin==p22){
PWMUnit=5;
MR=&LPC_PWM1->MR5;
}
else if (pin==p21){
PWMUnit=6;
MR=&LPC_PWM1->MR6;
}
else
error("No hardware PWM pin\n\r");
period(_period);
}
void FastPWM::period(double seconds) {
LPC_PWM1->MR0 = (unsigned int) (seconds * (double)F_CLK);
LPC_PWM1->LER |= 1;
_period = seconds;
pulsewidth(_duty*_period);
}
void FastPWM::period_ms(int ms) {
period((double)ms/1000.0);
}
void FastPWM::period_us(int us) {
period((double)us/1000000.0);
}
void FastPWM::period_us(double us) {
period(us/1000000.0);
}
void FastPWM::pulsewidth(double seconds) {
*MR=(unsigned int) (seconds * (double)F_CLK);
LPC_PWM1->LER |= 1<<PWMUnit;
_duty=seconds/_period;
}
void FastPWM::pulsewidth_ms(int ms) {
pulsewidth((double)ms/1000.0);
}
void FastPWM::pulsewidth_us(int us) {
pulsewidth((double)us/1000000.0);
}
void FastPWM::pulsewidth_us(double us) {
pulsewidth(us/1000000.0);
}
void FastPWM::write(double duty) {
_duty=duty;
pulsewidth(duty*_period);
}
double FastPWM::read( void ) {
return _duty;
}
FastPWM & FastPWM::operator= (double value) {
write(value);
return(*this);
}
FastPWM::operator double() {
return _duty;
}
Raw
FastPWM.h
/*
.---. _....._
/ p `\ .-""`: :`"-.
|__ - | ,' . ' ',
._> \ /: : ; :,
'-. '\`. . : ' \
`. | .'._.' '._.' '._.'. |
`;-\. : : ' '/,__,
.-'`'._ ' . : _.'.__.'
((((-'/ `";--..:..--;"` \
.' / \ \
jgs ((((-' ((((-'
Yeah ASCII art turtle more fun than copyright stuff
*/
#include "mbed.h"
#ifndef FASTPWM_H
#define FASTPWM_H
#ifndef F_CLK
#define F_CLK 96000000
#endif
/** Library that allows faster and/or higher resolution PWM output
*
* Library can directly replace standard mbed PWM library. Only limitation is that the maximum PWM period is four times shorter
* The maximum achievable period is roughly 40 seconds, I dont think that should be a problem.
* Do take into account all PWM objects will run four times faster than default.
*
* Contrary to the default mbed library, this library takes doubles instead of floats. The compiler will autocast if needed,
* but do take into account it is done for a reason, your accuracy will otherwise be limitted by the floating point precision.
*
* In your program you can define F_CLK if you use a different clock frequency than the default one.
*
* Only works on LPC1768 for now. If you want support for the other one, send a PM and I will have a look, but I cannot even compile for it.
*/
class FastPWM {
public:
/**
* Create a FastPWM object connected to the specified pin
*
* @param pin - PWM pin to connect to
*/
FastPWM(PinName pin);
/**
* Set the PWM period, specified in seconds (double), keeping the duty cycle the same.
*/
void period(double seconds);
/**
* Set the PWM period, specified in milli-seconds (int), keeping the duty cycle the same.
*/
void period_ms(int ms);
/**
* Set the PWM period, specified in micro-seconds (int), keeping the duty cycle the same.
*/
void period_us(int us);
/**
* Set the PWM period, specified in micro-seconds (double), keeping the duty cycle the same.
*/
void period_us(double us);
/**
* Set the PWM pulsewidth, specified in seconds (double), keeping the period the same.
*/
void pulsewidth(double seconds);
/**
* Set the PWM pulsewidth, specified in milli-seconds (int), keeping the period the same.
*/
void pulsewidth_ms(int ms);
/**
* Set the PWM pulsewidth, specified in micro-seconds (int), keeping the period the same.
*/
void pulsewidth_us(int us);
/**
* Set the PWM pulsewidth, specified in micro-seconds (double), keeping the period the same.
*/
void pulsewidth_us(double us);
/**
* Set the ouput duty-cycle, specified as a percentage (double)
*
* @param duty - A double value representing the output duty-cycle, specified as a percentage. The value should lie between 0.0 (representing on 0%) and 1.0 (representing on 100%).
*/
void write(double duty);
/**
* Return the ouput duty-cycle, specified as a percentage (double)
*
* @param return - A double value representing the output duty-cycle, specified as a percentage.
*/
double read( void );
/**
* An operator shorthand for write()
*/
FastPWM& operator= (double value);
/**
* An operator shorthand for read()
*/
operator double();
private:
PwmOut PWMObject;
double _duty;
double _period;
unsigned int PWMUnit;
__IO uint32_t *MR;
};
#endif
Raw
main.cpp
#include "mbed.h"
#include "FastPWM.h"
#include "OV9655.hpp"
#include "common.hpp"
DigitalOut myled(LED1);
DigitalOut testpin(p22);
FastPWM cameraClock(PIN_CAMERA_XCLK);
Serial pc(PIN_XBEE_TX, PIN_XBEE_RX);
OV9655Cam myCam(PIN_CAMERA_SIOD, PIN_CAMERA_SIOC);
InterruptIn camPCLK(PIN_CAMERA_PCLK);
InterruptIn camHREF(PIN_CAMERA_HREF);
InterruptIn camVSYNC(PIN_CAMERA_VSYNC);
//PortIn cameraData(Port0,0x07878000);
BusIn cameraData(PIN_CAMERA_P2,PIN_CAMERA_P3,PIN_CAMERA_P4,PIN_CAMERA_P5,PIN_CAMERA_P6,PIN_CAMERA_P7,PIN_CAMERA_P8,PIN_CAMERA_P9);
#define LINES_STORED 80
#define LINE_SIZE 320
#define BUFFER_SIZE 25601
char dataStorage[BUFFER_SIZE];
int linesLength[LINES_STORED];
int u8LineStoreIndex = 0;
int u8LineSendIndex = 0;
int u32StoreIndex = 0;
int u32SendIndex = 0;
int startOfLine = 3;
int endOfLine = 1;
bool isPair = true;
int endOfLastImage = 0;
bool endOfImage = false;
void cameraReceiveInterrupt(void);
void vsyncCallbackRise(void)
{
// pc.printf("%d", u8LineSendIndex);
endOfLastImage = u8LineStoreIndex;
endOfImage = true;
u8LineStoreIndex = 0;
u32StoreIndex = 0;
}
void hrefCallbackRise(void)
{
if (isPair){
isPair = false;
linesLength[(u8LineStoreIndex%LINES_STORED)]= u32StoreIndex;
u32StoreIndex = 0;
u8LineStoreIndex++;
camPCLK.rise(&cameraReceiveInterrupt);
}
else
{
isPair = true;
}
}
void hrefCallbackFall(void)
{
camPCLK.rise(0);
}
void cameraReceiveInterrupt(void)
{
dataStorage[(u8LineStoreIndex%LINES_STORED)*LINE_SIZE + u32StoreIndex] = (char) cameraData.read() ;//receiveByte();
// pc.putc(cameraData.read());
u32StoreIndex++;
}
void init ()
{
pc.baud(115200);
//initPLL();
// Start OminiVision XCLK driver
cameraClock.period(1.0/10000000);
cameraClock.write(0.5);
// pc.printf("Merge legatura!\r\n");
if(myCam.WriteRegister(COM7, SCCB_REG_RESET) == true) {
//pc.printf("Am resetat cu succes camera.\r\n");
wait_ms(10);
myCam.QQVGASizeSetup();
// pc.printf("%d",ret);
if(myCam.WriteRegister(CLKRC, 0x1f) != true) {
pc.printf("error writing clock");
}
// pc.printf("Val. registru %x: %x\r\n", i, myCam.ReadRegister(COM11));
}
camVSYNC.rise(&vsyncCallbackRise);
camHREF.rise(&hrefCallbackRise);
camHREF.fall(&hrefCallbackFall);
}
int main() {
char byteToSend;
int tmpShort;
int red,green,blue;
init();
while(1) {
if (u8LineStoreIndex == u8LineSendIndex)
{
}
else if (u32SendIndex ==-1)
{
if (pc.writeable())
{
switch (startOfLine)
{
case 5: pc.putc(0); break;
case 4: pc.putc(255); break;
case 1: pc.putc(0);break;
case 2: pc.putc(255);break;
case 3: if (u8LineSendIndex == 0 | u8LineSendIndex == 1)
pc.putc(1);
else
pc.putc(0);
break;
}
startOfLine--;
if (startOfLine <=0)
{
startOfLine =5;
u32SendIndex = 0;
}
}
}
else if (linesLength[u8LineSendIndex%LINES_STORED]-1 > u32SendIndex)
{
//prepare next byte to send
tmpShort = (dataStorage[(u8LineSendIndex%LINES_STORED)*LINE_SIZE+u32SendIndex]<<8)|dataStorage[(u8LineSendIndex%LINES_STORED)*LINE_SIZE+u32SendIndex+1];
red= (tmpShort& 0xf800)>>11;
green = (tmpShort&0x07D0)>>5;
blue = tmpShort&0x001F;
byteToSend =(char) ((((int)red)*3.0/10+((int)green)*6.0/20+((int)blue)/10.0)*255/31);
// byteToSend = (char) ( red*2 +green+blue*2)*255/187;
if (pc.writeable())
{
pc.putc(byteToSend);
u32SendIndex+=2;
}
}
else
{
u32SendIndex = -1;
linesLength[u8LineSendIndex%LINES_STORED] = 0;
u8LineSendIndex++;
}
//next line
if ( (endOfImage == true)&&(u8LineSendIndex == endOfLastImage) )
{
endOfImage =false;
endOfLastImage =0;
u8LineSendIndex = 0;
u32SendIndex = -1;
}
}
}
Raw
OV9655.cpp
#include "OV9655.hpp"
OV9655Cam::OV9655Cam(const PinName &siod, const PinName &sioc)
: m_ipWriteAddress(0x60), m_ipReadAddress(0x61) {
m_sioc = new DigitalOut(sioc);
m_siod = new DigitalInOut(siod);
// Initialize the lines
m_siod->output();
m_siod->write(1);
m_sioc->write(1);
wait_us(5);
}
bool OV9655Cam::QVGASetup(){
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x03, 0x02);//diff
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x09, 0x03);//diff
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x0f, 0xc0);//diff bun
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x10, 0x50);//diff
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x12, 0x63);//diff bun
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x13, 0xef);//diff
// wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x14, 0x0A);//automatic gain skilling diff
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x15, 0x10); //No PCLK output, HREF reverse 18
// wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x16, 0x24);//gain
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x17, 0x18);//HSTART diferit
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x18, 0x04);//HSTOP dif
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x1a, 0x81);//vstop dif
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x1e, 0x00); /*0x20*/ //pentru mirror, flip
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x24, 0x3c);//AGC
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x25, 0x36);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x26, 0x72);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x27, 0x08);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x28, 0x08);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x29, 0x15);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x2c, 0x08);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x32, 0x12);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x36, 0x3a);//aref3 default f9
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x38, 0x72);//adc ref cont
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x39, 0x57);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x3a, 0xca);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x3b, 0x04);
//wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x3e, 0x02); zoom function on
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x3f, 0xc1);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x40, 0xd0);//rgb 565
//wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x41, 0x41);scaling down
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x42, 0xc0);
/* wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x4f, 0x98);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x50, 0x98);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x51, 0x00);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x52, 0x28);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x53, 0x70);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x54, 0x98);
*/
//wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x58, 0x1a);
/*
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x59, 0x85);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x5a, 0xa9);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x5b, 0x64);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x5c, 0x84);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x5d, 0x53);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x5e, 0x0e);*///AWB
/*wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x62, 0x00);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x63, 0x00);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x64, 0x02);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x65, 0x20);*///lens correction
//wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x6b, 0x0a);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x70, 0x21);
//wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x72, 0x11);
//important
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x74, 0x10);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x75, 0x10);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0x8c, 0x80);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0xa1, 0x1f);
// wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0xa4, 0x50);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0xa8, 0xc1);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0xa9, 0xef);
wait_ms(10);this->WriteRegister((OV9655RegisterAddresses)0xc7, 0x81);
return true;
}
void OV9655Cam::QQVGASizeSetup(void)
{
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x04, 0x03);//AEC low 11
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x0f, 0x40);//manually update VSTART si restul
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x12, 0x64);//YUV 62
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x13, 0xc7);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x14, 0x3a);
// this->WriteRegister((OV9655RegisterAddresses)0x16, 0x24);//dummy frame
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x17, 0x18);//HSTART
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x18, 0x04);//HSTOP
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x19, 0x01);//VSTRT
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x1a, 0x81);//VSTOP
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x1e, 0x20);//mirror flip
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x24, 0x3c);//operating region
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x25, 0x36);//operating region
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x26, 0x72);//fast mode op reg
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x27, 0x08);//fast mode op reg
this->WriteRegister((OV9655RegisterAddresses)0x36, 0x3a);//aref3
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x38, 0x72);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x39, 0x57);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x3a, 0xcc);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x3e, 0x0e); //white pixel corr black pixel corr
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x3f, 0xc1);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x40, 0xd0);//rgb565
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x41, 0x41);//scaling on
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x42, 0xc8);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x43, 0x0a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x44, 0xf0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x45, 0x46);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x46, 0x62);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x47, 0x2a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x48, 0x3c);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x4a, 0xfc);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x4b, 0xfc);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x4c, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x4d, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x4e, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x4f, 0x98);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x50, 0x98);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x51, 0x00);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x52, 0x28);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x53, 0x70);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x54, 0x98);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x58, 0x1a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x59, 0x85);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x5a, 0xa9);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x5b, 0x64);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x5c, 0x84);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x5d, 0x53);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x5e, 0x0e);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x5f, 0xf0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x60, 0xf0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x61, 0xf0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x62, 0x00);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x63, 0x00);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x64, 0x02);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x65, 0x20);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x66, 0x00);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x69, 0x0a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x6b, 0x1a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x6c, 0x04);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x6d, 0x55);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x6e, 0x00);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x6f, 0x9d);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x70, 0x21);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x71, 0x78);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x72, 0x22);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x73, 0x01);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x74, 0x10);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x75, 0x10);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x76, 0x01);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x77, 0x02);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x7A, 0x12);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x7B, 0x08);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x7C, 0x16);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x7D, 0x30);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x7E, 0x5e);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x7F, 0x72);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x80, 0x82);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x81, 0x8e);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x82, 0x9a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x83, 0xa4);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x84, 0xac);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x85, 0xb8);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x86, 0xc3);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x87, 0xd6);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x88, 0xe6);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x89, 0xf2);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x8a, 0x24);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x8c, 0x80);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x90, 0x7d);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x91, 0x7b);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x9d, 0x02);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x9e, 0x02);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0x9f, 0x7a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa0, 0x79);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa1, 0x40);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa4, 0x50);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa5, 0x68);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa6, 0x4a);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa8, 0xc1);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xa9, 0xef);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xaa, 0x92);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xab, 0x04);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xac, 0x80);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xad, 0x80);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xae, 0x80);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xaf, 0x80);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xb2, 0xf2);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xb3, 0x20);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xb4, 0x20);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xb5, 0x00);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xb6, 0xaf);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xb6, 0xaf);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xbb, 0xae);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xbc, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xbd, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xbe, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xbf, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xbf, 0x7f);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc0, 0xaa);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc1, 0xc0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc2, 0x01);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc3, 0x4e);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc6, 0x05);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc7, 0x82);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xc9, 0xe0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xca, 0xe8);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xcb, 0xf0);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xcc, 0xd8);
wait_ms(10);
this->WriteRegister((OV9655RegisterAddresses)0xcd, 0x93);
wait_ms(10);
}
OV9655Cam::~OV9655Cam() { }
bool OV9655Cam::WriteRegister(OV9655RegisterAddresses regAddress,uint8_t regValue) {
bool stOperatie = true;
GenerateStartCondition();
if (GenerateTransmitPhase(m_ipWriteAddress) == false) {
// First phase - IP Address
stOperatie = false;
} else if (GenerateTransmitPhase((uint8_t)(regAddress)) == false) {
// Second phase - Register Address
stOperatie = false;
} else if (GenerateTransmitPhase(regValue) == false) {
// Third phase - Register Value
stOperatie = false;
}
GenerateStopCondition();
return stOperatie;
}
uint8_t OV9655Cam::ReadRegister(OV9655RegisterAddresses regAddress) {
uint8_t regValue;
// First we generate a 2-Phase write transmission cycle (3.2.1.2)
GenerateStartCondition();
// Phase 1 - IP Address
GenerateTransmitPhase(m_ipWriteAddress);
// Phase 2 - register address
GenerateTransmitPhase((uint8_t)(regAddress));
GenerateStopCondition();
// Then we issue a 2-Phase read transmission cycle (3.2.1.3)
GenerateStartCondition();
// Phase 1 - IP Address
GenerateTransmitPhase(m_ipReadAddress);
// Phase 2 - read data
regValue = GenerateReceivePhase();
GenerateStopCondition();
return regValue;
}
bool OV9655Cam::GenerateTransmitPhase(uint8_t data) {
uint8_t mask = 0x80;
bool stareOp = true;
int i;
// Send the actual data in a MSB manner
m_siod->output();
for (i = 0; i < 8; i++) {
if((mask & data) != 0) {
m_siod->write(1);
} else {
m_siod->write(0);
}
data = data << 1;
wait_us(1);
m_sioc->write(1);
wait_us(1);
m_sioc->write(0);
wait_us(1);
}
// send "Don't Care" (DC) bit
m_siod->input();
if(m_siod->read() != 0) {
stareOp = false;
} else {
stareOp = true;
}
m_sioc->write(1);
wait_us(1);
m_sioc->write(0);
wait_us(1);
m_siod->output();
return stareOp;
}
uint8_t OV9655Cam::GenerateReceivePhase() {
uint8_t readVal = 0x00;
int i;
// Send the actual data in a MSB manner
m_siod->input();
wait_us(3);
for (i = 0; i < 8; i++) {
m_sioc->write(1);
wait_us(1);
readVal = readVal << 1;
if(m_siod->read() != 0) {
readVal |= 0x01;
} else {
readVal |= 0x00;
}
wait_us(1);
m_sioc->write(0);
wait_us(1);
}
// send "Don't Care" (DC) bit
m_siod->output();
m_siod->write(1);
wait_us(1);
m_sioc->write(1);
wait_us(1);
m_sioc->write(0);
return readVal;
}
void OV9655Cam::GenerateStartCondition() {
m_siod->output();
m_siod->write(1);
m_sioc->write(1);
wait_us(1);
m_siod->write(0);
wait_us(1);
m_sioc->write(0);
wait_us(1);
}
void OV9655Cam::GenerateStopCondition() {
m_siod->output();
m_sioc->write(1);
wait_us(1);
m_siod->write(1);
}
Raw
OV9655.hpp
#ifndef __OV9655_h__
#define __OV9655_h__
#include <cstdint>
#include "mbed.h"
#define DCMI_DR_ADDRESS 0x50050028
#define FSMC_LCD_ADDRESS /*0x40011000 | 0x04*/0x6F010000
/* Exported types ------------------------------------------------------------*/
typedef struct
{
uint8_t Manufacturer_ID1;
uint8_t Manufacturer_ID2;
uint8_t Version;
uint8_t PID;
} OV9655_IDTypeDef;
/* Exported constants --------------------------------------------------------*/
// Camera resolution
//#define QQVGA_SIZE /*160x120 */
#define QVGA_SIZE /* 320x240 */
// OV9655 Registers definition
enum OV9655RegisterAddresses {
GAIN = 0x00,
BLUE = 0x01,
RED = 0x02,
VREF = 0x03,
COM1 = 0x04,
BAVE = 0x05,
GbAVE = 0x06,
GrAVE = 0x07,
RAVE = 0x08,
COM2 = 0x09,
PID = 0x0A,
VER = 0x0B,
COM3 = 0x0C,
COM4 = 0x0D,
COM5 = 0x0E,
COM6 = 0x0F,
AEC = 0x10,
CLKRC = 0x11,
COM7 = 0x12,
COM8 = 0x13,
COM9 = 0x14,
COM10 = 0x15,
REG16 = 0x16,
HSTART = 0x17,
HSTOP = 0x18,
VSTART = 0x19,
VSTOP = 0x1A,
PSHFT = 0x1B,
MIDH = 0x1C,
MIDL = 0x1D,
MVFP = 0x1E,
BOS = 0x20,
GBOS = 0x21,
GROS = 0x22,
ROS = 0x23,
AEW = 0x24,
AEB = 0x25,
VPT = 0x26,
BBIAS = 0x27,
GbBIAS = 0x28,
PREGAIN = 0x29,
EXHCH = 0x2A,
EXHCL = 0x2B,
RBIAS = 0x2C,
ADVFL = 0x2D,
ADVFH = 0x2E,
YAVE = 0x2F,
HSYST = 0x30,
HSYEN = 0x31,
HREF = 0x32,
CHLF = 0x33,
AREF1 = 0x34,
AREF2 = 0x35,
AREF3 = 0x36,
ADC1 = 0x37,
ADC2 = 0x38,
AREF4 = 0x39,
TSLB = 0x3A,
COM11 = 0x3B,
COM12 = 0x3C,
COM13 = 0x3D,
COM14 = 0x3E,
EDGE = 0x3F,
COM15 = 0x40,
COM16 = 0x41,
COM17 = 0x42,
MTX1 = 0x4F,
MTX2 = 0x50,
MTX3 = 0x51,
MTX4 = 0x52,
MTX5 = 0x53,
MTX6 = 0x54,
BRTN = 0x55,
CNST1 = 0x56,
CNST2 = 0x57,
MTXS = 0x58,
AWBOP1 = 0x59,
AWBOP2 = 0x5A,
AWBOP3 = 0x5B,
AWBOP4 = 0x5C,
AWBOP5 = 0x5D,
AWBOP6 = 0x5E,
BLMT = 0x5F,
RLMT = 0x60,
GLMT = 0x61,
LCC1 = 0x62,
LCC2 = 0x63,
LCC3 = 0x64,
LCC4 = 0x65,
MANU = 0x66,
MANV = 0x67,
MANY = 0x68,
VARO = 0x69,
BD50MAX = 0x6A,
DBLV = 0x6B,
DNSTH = 0x70,
POIDX = 0x72,
PCKDV = 0x73,
XINDX = 0x74,
YINDX = 0x75,
SLOP = 0x7A,
GAM1 = 0x7B,
GAM2 = 0x7C,
GAM3 = 0x7D,
GAM4 = 0x7E,
GAM5 = 0x7F,
GAM6 = 0x80,
GAM7 = 0x81,
GAM8 = 0x82,
GAM9 = 0x83,
GAM10 = 0x84,
GAM11 = 0x85,
GAM12 = 0x86,
GAM13 = 0x87,
GAM14 = 0x88,
GAM15 = 0x89,
COM18 = 0x8B,
COM19 = 0x8C,
COM20 = 0x8D,
DMLNL = 0x92,
DMLNH = 0x93,
LCC6 = 0x9D,
LCC7 = 0x9E,
AECH = 0xA1,
BD50 = 0xA2,
BD60 = 0xA3,
COM21 = 0xA4,
GREEN = 0xA6,
VZST = 0xA7,
REFA8 = 0xA8,
REFA9 = 0xA9,
BLC1 = 0xAC,
BLC2 = 0xAD,
BLC3 = 0xAE,
BLC4 = 0xAF,
BLC5 = 0xB0,
BLC6 = 0xB1,
BLC7 = 0xB2,
BLC8 = 0xB3,
CTRLB4 = 0xB4,
FRSTL = 0xB7,
FRSTH = 0xB8,
ADBOFF = 0xBC,
ADROFF = 0xBD,
ADGbOFF = 0xBE,
ADGrOFF = 0xBF,
COM23 = 0xC4,
BD60MAX = 0xC5,
COM24 = 0xC7
};
/* Registers bit definition */
/* COM1 Register */
#define CCIR656_FORMAT 0x40
#define HREF_SKIP_0 0x00
#define HREF_SKIP_1 0x04
#define HREF_SKIP_3 0x08
/* COM2 Register */
#define SOFT_SLEEP_MODE 0x10
#define ODCAP_1x 0x00
#define ODCAP_2x 0x01
#define ODCAP_3x 0x02
#define ODCAP_4x 0x03
/* COM3 Register */
#define COLOR_BAR_OUTPUT 0x80
#define OUTPUT_MSB_LAS_SWAP 0x40
#define PIN_REMAP_RESETB_EXPST 0x08
#define RGB565_FORMAT 0x00
#define RGB_OUTPUT_AVERAGE 0x04
#define SINGLE_FRAME 0x01
/* COM5 Register */
#define SLAM_MODE_ENABLE 0x40
#define EXPOSURE_NORMAL_MODE 0x01
/* COM7 Register */
#define SCCB_REG_RESET 0x80
#define FORMAT_CTRL_15fpsVGA 0x00
#define FORMAT_CTRL_30fpsVGA_NoVArioPixel 0x50
#define FORMAT_CTRL_30fpsVGA_VArioPixel 0x60
#define OUTPUT_FORMAT_RAWRGB 0x00
#define OUTPUT_FORMAT_RAWRGB_DATA 0x00
#define OUTPUT_FORMAT_RAWRGB_INTERP 0x01
#define OUTPUT_FORMAT_YUV 0x02
#define OUTPUT_FORMAT_RGB 0x03
/* COM9 Register */
#define GAIN_2x 0x00
#define GAIN_4x 0x10
#define GAIN_8x 0x20
#define GAIN_16x 0x30
#define GAIN_32x 0x40
#define GAIN_64x 0x50
#define GAIN_128x 0x60
#define DROP_VSYNC 0x04
#define DROP_HREF 0x02
/* COM10 Register */
#define RESETb_REMAP_SLHS 0x80
#define HREF_CHANGE_HSYNC 0x40
#define PCLK_ON 0x00
#define PCLK_OFF 0x20
#define PCLK_POLARITY_REV 0x10
#define HREF_POLARITY_REV 0x08
#define RESET_ENDPOINT 0x04
#define VSYNC_NEG 0x02
#define HSYNC_NEG 0x01
/* TSLB Register */
#define PCLK_DELAY_0 0x00
#define PCLK_DELAY_2 0x40
#define PCLK_DELAY_4 0x80
#define PCLK_DELAY_6 0xC0
#define OUTPUT_BITWISE_REV 0x20
#define UV_NORMAL 0x00
#define UV_FIXED 0x10
#define YUV_SEQ_YUYV 0x00
#define YUV_SEQ_YVYU 0x02
#define YUV_SEQ_VYUY 0x04
#define YUV_SEQ_UYVY 0x06
#define BANDING_FREQ_50 0x02
#define RGB_NORMAL 0x00
#define RGB_565 0x10
#define RGB_555 0x30
class OV9655Cam {
public:
OV9655Cam(const PinName &siod, const PinName &sioc);
~OV9655Cam();
bool QVGASetup();
void QQVGASizeSetup(void);
bool WriteRegister(OV9655RegisterAddresses regAddress,uint8_t regValue);
uint8_t ReadRegister(OV9655RegisterAddresses regAddress);
private:
uint8_t m_ipWriteAddress;
uint8_t m_ipReadAddress;
DigitalOut *m_sioc;
DigitalInOut *m_siod;
void GenerateStartCondition();
bool GenerateTransmitPhase(uint8_t data);
uint8_t GenerateReceivePhase();
void GenerateStopCondition();
};
#endif
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