main.c

#define F_CPU 16000000UL
#include <stdint.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/twi.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include "ov7670.h"
/*
PCLK PORTD.2
HREF PORTD.3 PCINT19
*/
volatile uint8_t wantFrame;
volatile uint8_t doneImg;
/*register uint8_t nerd1 asm("r16");
register uint8_t nerd2 asm("r29");
register uint8_t nerd3 asm("r31");*/
/*ISR (INT0_vect)//now in assembly
{
	SPDR=(PINC&15)|(PIND&240);//send part of pixel to SPI
}*/
//#define qqvga
//#define aMega
//#define qvga
//#define rgb565 //yuv422 is higher quality but the tft lcd for arduino uses rgb565
#define rawRGB
inline void spiCSt(void)//selects the RAM chip and resets it
{
	//toggles spi CS used for reseting sram
	PORTB|=6;//cs high for both
	/*asm volatile ("nop");//probley not needed
	asm volatile ("nop");//probley not needed
	asm volatile ("nop");//probley not needed
	asm volatile ("nop");//probley not needed*/
	//_delay_ms(1);
	PORTB&=~4;//cs low for ram keep sd high
}
inline void spiWrB(uint8_t dat)
{
	SPDR = dat;
	// Wait for transmission complete
	while(!(SPSR & (1<<SPIF))) {}
}
void serialWrB(uint8_t dat)
{
	while ( !( UCSR0A & (1<<UDRE0)) ) {} //wait for byte to transmit
	UDR0=dat;
	while ( !( UCSR0A & (1<<UDRE0)) ) {} //wait for byte to transmit
}
void StringPgm(char * str)
{
	do {
		serialWrB(pgm_read_byte_near(str));
	} while(pgm_read_byte_near(++str));
}
void sendNyble(uint8_t nyb)
{
	if (nyb > 9)
		nyb+='7';//'A'- 10 = '7';
	else
		nyb+='0';
	serialWrB(nyb);
}
void sendByteAscii(uint8_t dat)//sends as hexdec format
{
	serialWrB('0');
	serialWrB('x');
	sendNyble(dat>>4);
	sendNyble(dat&15);
	serialWrB('\n');
}
void captureImg(uint16_t ws,uint16_t hs,uint16_t wg,uint8_t hg)
{
	//skip 1 multiplies skip 2 same with get1 and get2
	//first wait for vsync it is on pin 3 (counting from 0) portD
	//start spi ram
	uint16_t ls2,lg2;
	spiCSt();
	spiWrB(2);//sequental write mode
	spiWrB(0);//24 bit address
	spiWrB(0);
	spiWrB(0);
	while (!(PIND&8)) {}//wait for high
	while ((PIND&8)) {}//wait for low
	//if (hs != 0)
	//{
		//for (ls1=0;ls1<hs;ls1++)
		while (hs--)
		{
			//for (ls2=0;ls2<ws;ls2++)
			ls2=ws;
			while (ls2--)
			{
				while (!(PIND&4)) {}//wait for high
				while ((PIND&4)) {}//wait for low
			}
		}// while (--hs);
	//}
	//for (lg1=0;lg1<hg;lg1++)
	while ((uint8_t)hg--)
	{
		//for (lg2=0;lg2<wg;lg2++)
		lg2=wg;
		while (lg2--)
		{
			while (!(PIND&4)) {}//wait for high
			SPDR=(uint8_t)(PINC&15)|(PIND&240);
			while ((PIND&4)) {}//wait for low
		}
	}
}
uint8_t RdSerial(void)
{
	/* Wait for data to be received */
	while ( !(UCSR0A & (1<<RXC0)) );
	/* Get and return received data from buffer */
	return UDR0;
}
void sendRam(uint16_t w,uint16_t h)
{
	spiCSt();
	spiWrB(3);//sequental read mode
	spiWrB(0);//24 bit address
	spiWrB(0);
	spiWrB(0);
	//_delay_ms(2000);
	uint16_t wl,hl;
	for (hl=0;hl<h;hl++)
	{
		StringPgm(PSTR("RDY"));
		for (wl=0;wl<w;wl++)
		{
			while ( !( UCSR0A & (1<<UDRE0)) ) {} //wait for byte to transmit
			SPDR=0;//send dummy value to get byte back
			while(!(SPSR & (1<<SPIF))) {}
			UDR0=SPDR;
		}
	}
	while ( !( UCSR0A & (1<<UDRE0)) ) {} //wait for byte to transmit
	//StringPgm(PSTR("RDY"));
	//_delay_ms(10);
	//UDR0=0xFF;
}
int main(void)
{
	cli();//disable interupts
	DDRB|=47;//clock as output and SPI pins as output except MISO
	PORTB|=6;//set both CS pins to high
	DDRC&=~15;//low d0-d3 camera
	DDRD&=~252;//d7-d4 and interupt pins
	//DDRB&=~2;//href as input
	//EICRA=11;//int0 rising int1 falling
	//EIMSK=2;//disable int0 and enable int1
	//disable pin change interupt
	//PCICR=0;
	//PCMSK0=2;
	//set up twi for 100khz
	TWSR&=~3;//disable prescaler for TWI
	TWBR=72;//set to 100khz
	//enable serial
	//UBRR0H = (unsigned char)(MYUBRR>>8);
	//UBRR0L = (unsigned char)MYUBRR&255;
	UBRR0H=0;
	UBRR0L=3;//3 = 0.5M 2M baud rate = 0 7 = 250k 207 is 9600 baud rate
	UCSR0A|=2;//double speed aysnc
	UCSR0B = (1<<RXEN0)|(1<<TXEN0);//Enable receiver and transmitter
	UCSR0C=6;//async 1 stop bit 8bit char no parity bits
	//enable spi
	SPCR=80;//spi enable master
	SPSR=1;//double speed
	//set up camera
	wrReg(0x15,32);//pclk does not toggle on HBLANK COM10
	wrReg(0x11,32);//using scaler for divider
	wrReg(REG_RGB444, 0x00);             // Disable RGB444
	wrReg(REG_COM11,226);//enable nigh mode 1/8 frame rate COM11*/
	wrReg(REG_TSLB,0x04);                // 0D = UYVY  04 = YUYV
 	wrReg(REG_COM13,0x88);               // connect to REG_TSLB
	//wrReg(REG_COM13,0x8);               // connect to REG_TSLB disable gamma
	#ifdef rgb565
	wrReg(REG_COM7, 0x04);           // RGB + color bar disable
        wrReg(REG_COM15, 0xD0);          // Set rgb565 with Full range    0xD0
	#elif defined rawRGB
	wrReg(REG_COM7,1);//raw rgb bayer
	wrReg(REG_COM15, 0xC0);          //Full range
	#else
	wrReg(REG_COM7, 0x00);           // YUV
        //wrReg(REG_COM17, 0x00);          // color bar disable
	wrReg(REG_COM15, 0xC0);          //Full range
	#endif
        //wrReg(REG_COM3, 0x04);
	#if defined qqvga || defined qvga
	wrReg(REG_COM3,4);    // REG_COM3
	#else
	wrReg(REG_COM3,0);    // REG_COM3
	#endif
        //wrReg(0x3e,0x00);        //  REG_COM14
     //   wrReg(0x72,0x11);        //
       // wrReg(0x73,0xf0);        //
	#ifdef qqvga
	wrReg(REG_COM14, 0x1a);          // divide by 4
        wrReg(0x72, 0x22);               // downsample by 4
        wrReg(0x73, 0xf2);               // divide by 4
        wrReg(REG_HSTART,0x16);
        wrReg(REG_HSTOP,0x04);
        wrReg(REG_HREF,0xa4);
        wrReg(REG_VSTART,0x02);
        wrReg(REG_VSTOP,0x7a);
        wrReg(REG_VREF,0x0a);
	#endif
	#ifdef qvga
	wrReg(REG_COM14, 0x19);
        wrReg(0x72, 0x11);
        wrReg(0x73, 0xf1);
        wrReg(REG_HSTART,0x16);
        wrReg(REG_HSTOP,0x04);
        wrReg(REG_HREF,0x24);
        wrReg(REG_VSTART,0x02);
        wrReg(REG_VSTOP,0x7a);
        wrReg(REG_VREF,0x0a);
	#else
        wrReg(0x32,246);        // was B6
        wrReg(0x17,0x13);        // HSTART
        wrReg(0x18,0x01);        // HSTOP
        wrReg(0x19,0x02);        // VSTART
        wrReg(0x1a,0x7a);        // VSTOP
        wrReg(0x03,0x0a);        // VREF
	#endif
       // wrReg(0x70, 0x3a);       // Scaling Xsc
        //wrReg(0x71, 0x35);       // Scaling Ysc
        //wrReg(0xA2, 0x02);       // pixel clock delay

        wrReg(REG_COM1, 0x00);
  // COLOR SETTING

    wrReg(REG_COM8,0x8F);        // AGC AWB AEC Unlimited step size
    wrReg(0xAA,0x14);            // Average-based AEC algorithm
    wrReg(REG_BRIGHT,0x00);      // 0x00(Brightness 0) - 0x18(Brightness +1) - 0x98(Brightness -1)
    wrReg(REG_CONTRAS,0x40);     // 0x40(Contrast 0) - 0x50(Contrast +1) - 0x38(Contrast -1)
    wrReg(0xB1,0xB1);            // Automatic Black level Calibration

    wrReg(MTX1,0x80);
    wrReg(MTX2,0x80);
    wrReg(MTX3,0x00);
    wrReg(MTX4,0x22);
    wrReg(MTX5,0x5e);
    wrReg(MTX6,0x80);
    wrReg(MTXS,0x9e);
    wrReg(AWBC7,0x88);
    wrReg(AWBC8,0x88);
    wrReg(AWBC9,0x44);
    wrReg(AWBC10,0x67);
    wrReg(AWBC11,0x49);
    wrReg(AWBC12,0x0e);
	wrReg(REG_GFIX,0x00);
	wrReg(GGAIN,0x40);
	wrReg(AWBCTR3,0x0a);
	wrReg(AWBCTR2,0x55);
	wrReg(AWBCTR1,0x11);
	wrReg(AWBCTR0,0x9f);
	wrReg(0xb0,0x84);//not sure what this does
	wrReg(REG_COM16,COM16_AWBGAIN);//disable auto denoise and edge enhancment
	//wrReg(REG_COM16,0);
	wrReg(0x4C,0);//disable denoise
	wrReg(0x76,0);//disable denoise
	wrReg(0x77,0);//disable denoise
	wrReg(0x7B,4);//brighten up shadows a bit end point 4
	wrReg(0x7C,8);//brighten up shadows a bit end point 8
	//wrReg(0x88,238);//darken highligts end point 176
	//wrReg(0x89,211);//try to get more highlight detail
	//wrReg(0x7A,60);//slope
	//wrReg(0x26,0xB4);//lower maxium stable operating range for AEC
	//hueSatMatrix(0,100);
	//ov7670_store_cmatrix();
	//wrReg(0x20,12);//set ADC range to 1.5x
	wrReg(0x2D,16);//1 dummy line
	wrReg(0x11,4);//using scaler for divider
	//wrReg(0x2a,5);//href delay
	spiCSt();
	spiWrB(1);
	spiWrB(64);//sequental mode
	spiCSt();
	spiWrB(2);//sequental write mode
	spiWrB(0);//24 bit address
	spiWrB(0);
	spiWrB(0);
	/*uint32_t x;
	uint8_t y=0;

	for (x=0;x<122880;x++)
	{
		SPDR=y;
		y++;
		while(!(SPSR & (1<<SPIF))) {}
	}*/
	/*sendRam(1280,96);//send test frame first
	sendRam(1280,96);
	sendRam(1280,96);
	sendRam(1280,96);
	sendRam(1280,96);*/
	//sei();//enable interupts
	//UDR0=0;

	while (1)
	{
		/* Note: One frame is broken down into 5 smaller captures this allows for a whole frame to be captured at 640x480 which is nice
		however it could mean that there could be slight differences between each frame capture
		I think the improvment of resolution outweights the cons of the slight changes per frame if any
		The image will take about 15 seconds to reach the computer per frame*/
		//hueSatMatrix(0,y);
		//_delay_ms(100);
		#ifdef qqvga
		captureImg(0,0,320,120);
		sendRam(320,120);
		#endif
		#ifdef qvga
		captureImg(0,0,640,120);
		sendRam(640,120);
		captureImg(640,120,640,120);
		sendRam(640,120);
		#else
		#ifdef rawRGB
		uint8_t z;
		//for (z=0;z<64;z++)
		//{
		//wrReg(0x11,z);//using scaler for divider
		//_delay_ms(1000);
		captureImg(0,0,640,160);
		sendRam(640,160);
		captureImg(640,160,640,160);
		sendRam(640,160);
		captureImg(640,320,640,160);
		sendRam(640,160);
		//}
		#else
		captureImg(0,0,1280,96);//each pixel is 2 bytes so 1280 instead of 640 for width
		sendRam(1280,96);
		captureImg(1280,96,1280,96);
		sendRam(1280,96);
		captureImg(1280,192,1280,96);
		sendRam(1280,96);
		captureImg(1280,288,1280,96);
		sendRam(1280,96);
		captureImg(1280,384,1280,96);
		sendRam(1280,96);
		#endif
		#endif
		//frameByLine();
		/*doneImg=0;
		wantFrame=1;
		sei();//enable interupts
		//_delay_ms(1000);
		while (doneImg==0) {} //wait for image to complete
		cli();//disable interupts
		//_delay_ms(1000);
		spiCSt();
		spiWrB(3);//sequental read mode
		spiWrB(0);//24 bit address
		spiWrB(0);
		spiWrB(0);
		for (x=0;x<50688;x++)
		{
			SPDR=0;//send dummy value to get byte back
			while(!(SPSR & (1<<SPIF))) {}
			UDR0=SPDR;
			while ( !( UCSR0A & (1<<UDRE0)) ) {} //wait for byte to transmit
		}*/

	}

}