OV7670 Arduino Камера

Arduino Камера OV7670 - в настоящий момент является самым доступным модулем получения видео и фото для Arduino и ESP8266. Камера OV7670 основана на однокристальном КМОП сенсоре с разрешением 0,3 Мп. Поддержка VGA, CIF форматов. Для OV7670 существуют множество настроек. К примеру можно использовать такие форматы кадра: VGA (640 х 480), QVGA (320 х 240), CIF (352 х 240), QCIF (176 × 144), ручное масштабирование.

Характеристики камеры OV7670

Матрица пикселей: 640 x 480
Напряжение питания: 2.5 В .. 3.0 В
Потребляемая мощность: 60 МВт
Установлен объектив F1.8 / 6mm
потребление в режиме сна: Рабочая температура: -30 .. +70 °C
Выходной формат: YUV/YCbCr4:2:2, RGB565/555/444, GRB4:2:2, RAW
Размер объектива: 1/6"
Угол: 25 градусов
Макс. Частота кадров: 30 fps VGA
Чувствительность: 1.3 В/(Люкс-сек)
Соотношение сигнал/шум: 46 дБ
Размер пикселя: 3.6 мкм x 3.6 мкм
Размер камеры: 3.5 x 3.5 см

Код Ардуино, для получения изображения с камеры OV7670::

#include <avr io.h>
#include <util twi.h>
#include <util delay.h>
#include <avr pgmspace.h>

#define F_CPU 16000000UL
#define vga     0
#define qvga     1
#define qqvga     2
#define yuv422     0
#define rgb565     1
#define bayerRGB     2
#define camAddr_WR    0x42
#define camAddr_RD    0x43

/* регистры камеры */
#define REG_GAIN        0x00    /* Gain lower 8 bits (rest in vref) */
#define REG_BLUE        0x01    /* blue gain */
#define REG_RED            0x02    /* red gain */
#define REG_VREF        0x03    /* Pieces of GAIN, VSTART, VSTOP */
#define REG_COM1        0x04    /* Control 1 */
#define COM1_CCIR656    0x40    /* CCIR656 enable */

#define REG_BAVE        0x05    /* U/B Average level */
#define REG_GbAVE        0x06    /* Y/Gb Average level */
#define REG_AECHH        0x07    /* AEC MS 5 bits */
#define REG_RAVE        0x08    /* V/R Average level */
#define REG_COM2        0x09    /* Control 2 */
#define COM2_SSLEEP            0x10    /* Soft sleep mode */
#define REG_PID                0x0a    /* Product ID MSB */
#define REG_VER                0x0b    /* Product ID LSB */
#define REG_COM3        0x0c    /* Control 3 */
#define COM3_SWAP            0x40    /* Byte swap */
#define COM3_SCALEEN            0x08    /* Enable scaling */
#define COM3_DCWEN            0x04    /* Enable downsamp/crop/window */
#define REG_COM4        0x0d    /* Control 4 */
#define REG_COM5        0x0e    /* All "reserved" */
#define REG_COM6        0x0f    /* Control 6 */
#define REG_AECH        0x10    /* More bits of AEC value */
#define REG_CLKRC        0x11    /* Clocl control */
#define CLK_EXT                0x40    /* Use external clock directly */
#define CLK_SCALE        0x3f    /* Mask for internal clock scale */
#define REG_COM7        0x12    /* Control 7 */ //REG mean address.
#define COM7_RESET            0x80    /* Register reset */
#define COM7_FMT_MASK            0x38
#define COM7_FMT_VGA            0x00
#define    COM7_FMT_CIF            0x20    /* CIF format */
#define COM7_FMT_QVGA            0x10    /* QVGA format */
#define COM7_FMT_QCIF            0x08    /* QCIF format */
#define    COM7_RGB            0x04    /* bits 0 and 2 - RGB format */
#define    COM7_YUV            0x00    /* YUV */
#define    COM7_BAYER            0x01    /* Bayer format */
#define    COM7_PBAYER            0x05    /* "Processed bayer" */
#define REG_COM8        0x13    /* Control 8 */
#define COM8_FASTAEC            0x80    /* Enable fast AGC/AEC */
#define COM8_AECSTEP            0x40    /* Unlimited AEC step size */
#define COM8_BFILT        0x20    /* Band filter enable */
#define COM8_AGC        0x04    /* Auto gain enable */
#define COM8_AWB        0x02    /* White balance enable */
#define COM8_AEC        0x01    /* Auto exposure enable */
#define REG_COM9        0x14    /* Control 9- gain ceiling */
#define REG_COM10        0x15    /* Control 10 */
#define COM10_HSYNC            0x40    /* HSYNC instead of HREF */
#define COM10_PCLK_HB            0x20    /* Suppress PCLK on horiz blank */
#define COM10_HREF_REV            0x08    /* Reverse HREF */
#define COM10_VS_LEAD            0x04    /* VSYNC on clock leading edge */
#define COM10_VS_NEG            0x02    /* VSYNC negative */
#define COM10_HS_NEG            0x01    /* HSYNC negative */
#define REG_HSTART        0x17    /* Horiz start high bits */
#define REG_HSTOP        0x18    /* Horiz stop high bits */
#define REG_VSTART        0x19    /* Vert start high bits */
#define REG_VSTOP        0x1a    /* Vert stop high bits */
#define REG_PSHFT        0x1b    /* Pixel delay after HREF */
#define REG_MIDH        0x1c    /* Manuf. ID high */
#define REG_MIDL        0x1d    /* Manuf. ID low */
#define REG_MVFP        0x1e    /* Mirror / vflip */
#define MVFP_MIRROR            0x20    /* Mirror image */
#define MVFP_FLIP        0x10    /* Vertical flip */

#define REG_AEW                0x24    /* AGC upper limit */
#define REG_AEB                0x25      /* AGC lower limit */
#define REG_VPT                0x26    /* AGC/AEC fast mode op region */
#define REG_HSYST        0x30    /* HSYNC rising edge delay */
#define REG_HSYEN        0x31    /* HSYNC falling edge delay */
#define REG_HREF        0x32    /* HREF pieces */
#define REG_TSLB        0x3a    /* lots of stuff */
#define TSLB_YLAST        0x04    /* UYVY or VYUY - see com13 */
#define REG_COM11        0x3b    /* Control 11 */
#define COM11_NIGHT            0x80    /* NIght mode enable */
#define COM11_NMFR            0x60    /* Two bit NM frame rate */
#define COM11_HZAUTO            0x10    /* Auto detect 50/60 Hz */
#define    COM11_50HZ            0x08    /* Manual 50Hz select */
#define COM11_EXP        0x02
#define REG_COM12        0x3c    /* Control 12 */
#define COM12_HREF            0x80    /* HREF always */
#define REG_COM13        0x3d    /* Control 13 */
#define COM13_GAMMA            0x80    /* Gamma enable */
#define    COM13_UVSAT            0x40    /* UV saturation auto adjustment */
#define COM13_UVSWAP            0x01    /* V before U - w/TSLB */
#define REG_COM14        0x3e    /* Control 14 */
#define COM14_DCWEN            0x10    /* DCW/PCLK-scale enable */
#define REG_EDGE        0x3f    /* Edge enhancement factor */
#define REG_COM15        0x40    /* Control 15 */
#define COM15_R10F0            0x00    /* Data range 10 to F0 */
#define    COM15_R01FE            0x80    /*            01 to FE */
#define COM15_R00FF            0xc0    /*            00 to FF */
#define COM15_RGB565            0x10    /* RGB565 output */
#define COM15_RGB555            0x30    /* RGB555 output */
#define REG_COM16        0x41    /* Control 16 */
#define COM16_AWBGAIN            0x08    /* AWB gain enable */
#define REG_COM17        0x42    /* Control 17 */
#define COM17_AECWIN            0xc0    /* AEC window - must match COM4 */
#define COM17_CBAR            0x08    /* DSP Color bar */
/*
Эта матрица определяет, как генерируются цвета, должна быть * tweaked для регулировки оттенка и насыщенности.
*
* Order: v-red, v-green, v-blue, u-red, u-green, u-blue
* They are nine-bit signed quantities, with the sign bit
* stored in0x58.Sign for v-red is bit 0, and up from there.
*/
#define    REG_CMATRIX_BASE    0x4f
#define CMATRIX_LEN             6
#define REG_CMATRIX_SIGN    0x58
#define REG_BRIGHT        0x55    /* Brightness */
#define REG_CONTRAS            0x56    /* Contrast control */
#define REG_GFIX        0x69    /* Fix gain control */
#define REG_REG76        0x76    /* OV's name */
#define R76_BLKPCOR            0x80    /* Black pixel correction enable */
#define R76_WHTPCOR            0x40    /* White pixel correction enable */
#define REG_RGB444            0x8c    /* RGB 444 control */
#define R444_ENABLE            0x02    /* Turn on RGB444, overrides 5x5 */
#define R444_RGBX        0x01    /* Empty nibble at end */
#define REG_HAECC1        0x9f    /* Hist AEC/AGC control 1 */
#define REG_HAECC2        0xa0    /* Hist AEC/AGC control 2 */
#define REG_BD50MAX            0xa5    /* 50hz banding step limit */
#define REG_HAECC3        0xa6    /* Hist AEC/AGC control 3 */
#define REG_HAECC4        0xa7    /* Hist AEC/AGC control 4 */
#define REG_HAECC5        0xa8    /* Hist AEC/AGC control 5 */
#define REG_HAECC6        0xa9    /* Hist AEC/AGC control 6 */
#define REG_HAECC7        0xaa    /* Hist AEC/AGC control 7 */
#define REG_BD60MAX            0xab    /* 60hz banding step limit */
#define REG_GAIN        0x00    /* Gain lower 8 bits (rest in vref) */
#define REG_BLUE        0x01    /* blue gain */
#define REG_RED                0x02    /* red gain */
#define REG_VREF        0x03    /* Pieces of GAIN, VSTART, VSTOP */
#define REG_COM1        0x04    /* Control 1 */
#define COM1_CCIR656            0x40    /* CCIR656 enable */
#define REG_BAVE        0x05    /* U/B Average level */
#define REG_GbAVE        0x06    /* Y/Gb Average level */
#define REG_AECHH        0x07    /* AEC MS 5 bits */
#define REG_RAVE        0x08    /* V/R Average level */
#define REG_COM2        0x09    /* Control 2 */
#define COM2_SSLEEP            0x10    /* Soft sleep mode */
#define REG_PID                0x0a    /* Product ID MSB */
#define REG_VER                0x0b    /* Product ID LSB */
#define REG_COM3        0x0c    /* Control 3 */
#define COM3_SWAP            0x40    /* Byte swap */
#define COM3_SCALEEN            0x08    /* Enable scaling */
#define COM3_DCWEN            0x04    /* Enable downsamp/crop/window */
#define REG_COM4        0x0d    /* Control 4 */
#define REG_COM5        0x0e    /* All "reserved" */
#define REG_COM6        0x0f    /* Control 6 */
#define REG_AECH        0x10    /* More bits of AEC value */
#define REG_CLKRC        0x11    /* Clocl control */
#define CLK_EXT                0x40    /* Use external clock directly */
#define CLK_SCALE        0x3f    /* Mask for internal clock scale */
#define REG_COM7        0x12    /* Control 7 */
#define COM7_RESET            0x80    /* Register reset */
#define COM7_FMT_MASK            0x38
#define COM7_FMT_VGA            0x00
#define COM7_FMT_CIF            0x20    /* CIF format */
#define COM7_FMT_QVGA            0x10    /* QVGA format */
#define COM7_FMT_QCIF            0x08    /* QCIF format */
#define COM7_RGB        0x04    /* bits 0 and 2 - RGB format */
#define COM7_YUV        0x00    /* YUV */
#define COM7_BAYER            0x01    /* Bayer format */
#define COM7_PBAYER            0x05    /* "Processed bayer" */
#define REG_COM8        0x13    /* Control 8 */
#define COM8_FASTAEC            0x80    /* Enable fast AGC/AEC */
#define COM8_AECSTEP            0x40    /* Unlimited AEC step size */
#define COM8_BFILT        0x20    /* Band filter enable */
#define COM8_AGC        0x04    /* Auto gain enable */
#define COM8_AWB        0x02    /* White balance enable */
#define COM8_AEC        0x01    /* Auto exposure enable */
#define REG_COM9        0x14    /* Control 9- gain ceiling */
#define REG_COM10        0x15    /* Control 10 */
#define COM10_HSYNC            0x40    /* HSYNC instead of HREF */
#define COM10_PCLK_HB            0x20    /* Suppress PCLK on horiz blank */
#define COM10_HREF_REV            0x08    /* Reverse HREF */
#define COM10_VS_LEAD             0x04    /* VSYNC on clock leading edge */
#define COM10_VS_NEG            0x02    /* VSYNC negative */
#define COM10_HS_NEG            0x01    /* HSYNC negative */
#define REG_HSTART        0x17    /* Horiz start high bits */
#define REG_HSTOP        0x18    /* Horiz stop high bits */
#define REG_VSTART        0x19    /* Vert start high bits */
#define REG_VSTOP        0x1a    /* Vert stop high bits */
#define REG_PSHFT        0x1b    /* Pixel delay after HREF */
#define REG_MIDH        0x1c    /* Manuf. ID high */
#define REG_MIDL        0x1d    /* Manuf. ID low */
#define REG_MVFP        0x1e    /* Mirror / vflip */
#define MVFP_MIRROR            0x20    /* Mirror image */
#define MVFP_FLIP        0x10    /* Vertical flip */
#define REG_AEW                0x24    /* AGC upper limit */
#define REG_AEB                0x25    /* AGC lower limit */
#define REG_VPT                0x26    /* AGC/AEC fast mode op region */
#define REG_HSYST        0x30    /* HSYNC rising edge delay */
#define REG_HSYEN        0x31    /* HSYNC falling edge delay */
#define REG_HREF        0x32    /* HREF pieces */
#define REG_TSLB        0x3a    /* lots of stuff */
#define TSLB_YLAST        0x04    /* UYVY or VYUY - see com13 */
#define REG_COM11        0x3b    /* Control 11 */
#define COM11_NIGHT            0x80    /* NIght mode enable */
#define COM11_NMFR            0x60    /* Two bit NM frame rate */
#define COM11_HZAUTO            0x10    /* Auto detect 50/60 Hz */
#define COM11_50HZ            0x08    /* Manual 50Hz select */
#define COM11_EXP        0x02
#define REG_COM12        0x3c    /* Control 12 */
#define COM12_HREF            0x80    /* HREF always */
#define REG_COM13        0x3d    /* Control 13 */
#define COM13_GAMMA            0x80    /* Gamma enable */
#define COM13_UVSAT            0x40    /* UV saturation auto adjustment */
#define COM13_UVSWAP            0x01    /* V before U - w/TSLB */
#define REG_COM14        0x3e    /* Control 14 */
#define COM14_DCWEN            0x10    /* DCW/PCLK-scale enable */
#define REG_EDGE        0x3f    /* Edge enhancement factor */
#define REG_COM15        0x40    /* Control 15 */
#define COM15_R10F0            0x00    /* Data range 10 to F0 */
#define COM15_R01FE            0x80    /*            01 to FE */
#define COM15_R00FF            0xc0    /*            00 to FF */
#define COM15_RGB565            0x10    /* RGB565 output */
#define COM15_RGB555            0x30    /* RGB555 output */
#define REG_COM16        0x41    /* Control 16 */
#define COM16_AWBGAIN            0x08    /* AWB gain enable */
#define REG_COM17        0x42    /* Control 17 */
#define COM17_AECWIN            0xc0    /* AEC window - must match COM4 */
#define COM17_CBAR            0x08    /* DSP Color bar */

#define CMATRIX_LEN             6
#define REG_BRIGHT        0x55    /* Brightness */
#define REG_REG76        0x76    /* OV's name */
#define R76_BLKPCOR            0x80    /* Black pixel correction enable */
#define R76_WHTPCOR            0x40    /* White pixel correction enable */
#define REG_RGB444            0x8c    /* RGB 444 control */
#define R444_ENABLE            0x02    /* Turn on RGB444, overrides 5x5 */
#define R444_RGBX        0x01    /* Empty nibble at end */
#define REG_HAECC1        0x9f    /* Hist AEC/AGC control 1 */
#define REG_HAECC2        0xa0    /* Hist AEC/AGC control 2 */
#define REG_BD50MAX            0xa5    /* 50hz banding step limit */
#define REG_HAECC3        0xa6    /* Hist AEC/AGC control 3 */
#define REG_HAECC4        0xa7    /* Hist AEC/AGC control 4 */
#define REG_HAECC5        0xa8    /* Hist AEC/AGC control 5 */
#define REG_HAECC6        0xa9    /* Hist AEC/AGC control 6 */
#define REG_HAECC7        0xaa    /* Hist AEC/AGC control 7 */
#define REG_BD60MAX            0xab    /* 60hz banding step limit */
#define MTX1                0x4f    /* Matrix Coefficient 1 */
#define MTX2                0x50    /* Matrix Coefficient 2 */
#define MTX3                0x51    /* Matrix Coefficient 3 */
#define MTX4                0x52    /* Matrix Coefficient 4 */
#define MTX5                0x53    /* Matrix Coefficient 5 */
#define MTX6                0x54    /* Matrix Coefficient 6 */
#define REG_CONTRAS            0x56    /* Contrast control */
#define MTXS                0x58    /* Matrix Coefficient Sign */
#define AWBC7                0x59    /* AWB Control 7 */
#define AWBC8                0x5a    /* AWB Control 8 */
#define AWBC9                0x5b    /* AWB Control 9 */
#define AWBC10                0x5c    /* AWB Control 10 */
#define AWBC11                0x5d    /* AWB Control 11 */
#define AWBC12                0x5e    /* AWB Control 12 */
#define REG_GFI                0x69    /* Fix gain control */
#define GGAIN                0x6a    /* G Channel AWB Gain */
#define DBLV                0x6b    
#define AWBCTR3                0x6c    /* AWB Control 3 */
#define AWBCTR2                0x6d    /* AWB Control 2 */
#define AWBCTR1                0x6e    /* AWB Control 1 */
#define AWBCTR0                0x6f    /* AWB Control 0 */

struct regval_list
{
    uint8_t reg_num;
    uint16_t value;
};

const struct regval_list qvga_ov7670[] PROGMEM = {
    { REG_COM14, 0x19 },
    { 0x72, 0x11 },
    { 0x73, 0xf1 },

    { REG_HSTART, 0x16 },
    { REG_HSTOP, 0x04 },
    { REG_HREF, 0xa4 },
    { REG_VSTART, 0x02 },
    { REG_VSTOP, 0x7a },
    { REG_VREF, 0x0a },

};

const struct regval_list yuv422_ov7670[] PROGMEM = {
    { REG_COM7, 0x0 },    /* Selects YUV mode */
    { REG_RGB444, 0 },    /* No RGB444 please */
    { REG_COM1, 0 },
    { REG_COM15, COM15_R00FF },
    { REG_COM9, 0x6A },    /* 128x gain ceiling; 0x8 is reserved bit */
    { 0x4f, 0x80 },        /* "matrix coefficient 1" */
    { 0x50, 0x80 },        /* "matrix coefficient 2" */
    { 0x51, 0 },        /* vb */
    { 0x52, 0x22 },        /* "matrix coefficient 4" */
    { 0x53, 0x5e },        /* "matrix coefficient 5" */
    { 0x54, 0x80 },        /* "matrix coefficient 6" */
    { REG_COM13, COM13_UVSAT },
    { 0xff, 0xff },        /* END MARKER */
};

const struct regval_list ov7670_default_regs[] PROGMEM = {//from the linux driver
    { REG_COM7, COM7_RESET },
    { REG_TSLB, 0x04 },    /* OV */
    { REG_COM7, 0 },    /* VGA */
    /*
    * Set the hardware window.  These values from OV don't entirely
    * make sense - hstop is less than hstart.  But they work...
    */
    { REG_HSTART, 0x13 }, { REG_HSTOP, 0x01 },
    { REG_HREF, 0xb6 }, { REG_VSTART, 0x02 },
    { REG_VSTOP, 0x7a }, { REG_VREF, 0x0a },

    { REG_COM3, 0 }, { REG_COM14, 0 },
    /* Mystery scaling numbers */
    { 0x70, 0x3a }, { 0x71, 0x35 },
    { 0x72, 0x11 }, { 0x73, 0xf0 },
    { 0xa2,/* 0x02 changed to 1*/1 }, { REG_COM10, 0x0 },
    /* Gamma curve values */
    { 0x7a, 0x20 }, { 0x7b, 0x10 },
    { 0x7c, 0x1e }, { 0x7d, 0x35 },
    { 0x7e, 0x5a }, { 0x7f, 0x69 },
    { 0x80, 0x76 }, { 0x81, 0x80 },
    { 0x82, 0x88 }, { 0x83, 0x8f },
    { 0x84, 0x96 }, { 0x85, 0xa3 },
    { 0x86, 0xaf }, { 0x87, 0xc4 },
    { 0x88, 0xd7 }, { 0x89, 0xe8 },
    /* AGC and AEC parameters.  Note we start by disabling those features,
    then turn them only after tweaking the values. */
    { REG_COM8, COM8_FASTAEC | COM8_AECSTEP },
    { REG_GAIN, 0 }, { REG_AECH, 0 },
    { REG_COM4, 0x40 }, /* magic reserved bit */
    { REG_COM9, 0x18 }, /* 4x gain + magic rsvd bit */
    { REG_BD50MAX, 0x05 }, { REG_BD60MAX, 0x07 },
    { REG_AEW, 0x95 }, { REG_AEB, 0x33 },
    { REG_VPT, 0xe3 }, { REG_HAECC1, 0x78 },
    { REG_HAECC2, 0x68 }, { 0xa1, 0x03 }, /* magic */
    { REG_HAECC3, 0xd8 }, { REG_HAECC4, 0xd8 },
    { REG_HAECC5, 0xf0 }, { REG_HAECC6, 0x90 },
    { REG_HAECC7, 0x94 },
    { REG_COM8, COM8_FASTAEC | COM8_AECSTEP | COM8_AGC | COM8_AEC },
    { 0x30, 0 }, { 0x31, 0 },//disable some delays
    /* Almost all of these are magic "reserved" values.  */
    { REG_COM5, 0x61 }, { REG_COM6, 0x4b },
    { 0x16, 0x02 }, { REG_MVFP, 0x07 },
    { 0x21, 0x02 }, { 0x22, 0x91 },
    { 0x29, 0x07 }, { 0x33, 0x0b },
    { 0x35, 0x0b }, { 0x37, 0x1d },
    { 0x38, 0x71 }, { 0x39, 0x2a },
    { REG_COM12, 0x78 }, { 0x4d, 0x40 },
    { 0x4e, 0x20 }, { REG_GFIX, 0 },
    /*{0x6b, 0x4a},*/{ 0x74, 0x10 },
    { 0x8d, 0x4f }, { 0x8e, 0 },
    { 0x8f, 0 }, { 0x90, 0 },
    { 0x91, 0 }, { 0x96, 0 },
    { 0x9a, 0 }, { 0xb0, 0x84 },
    { 0xb1, 0x0c }, { 0xb2, 0x0e },
    { 0xb3, 0x82 }, { 0xb8, 0x0a },

    /* Более сдержанная магия, некоторые из которых улучшают баланс белого */
    { 0x43, 0x0a }, { 0x44, 0xf0 },
    { 0x45, 0x34 }, { 0x46, 0x58 },
    { 0x47, 0x28 }, { 0x48, 0x3a },
    { 0x59, 0x88 }, { 0x5a, 0x88 },
    { 0x5b, 0x44 }, { 0x5c, 0x67 },
    { 0x5d, 0x49 }, { 0x5e, 0x0e },
    { 0x6c, 0x0a }, { 0x6d, 0x55 },
    { 0x6e, 0x11 }, { 0x6f, 0x9e }, /* it was 0x9F "9e for advance AWB" */
    { 0x6a, 0x40 }, { REG_BLUE, 0x40 },
    { REG_RED, 0x60 },
    { REG_COM8, COM8_FASTAEC | COM8_AECSTEP | COM8_AGC | COM8_AEC | COM8_AWB },

    /* Матричные коэффициенты */
    { 0x4f, 0x80 }, { 0x50, 0x80 },
    { 0x51, 0 },    { 0x52, 0x22 },
    { 0x53, 0x5e }, { 0x54, 0x80 },
    { 0x58, 0x9e },

    { REG_COM16, COM16_AWBGAIN }, { REG_EDGE, 0 },
    { 0x75, 0x05 }, { REG_REG76, 0xe1 },
    { 0x4c, 0 },     { 0x77, 0x01 },
    { REG_COM13, /*0xc3*/0x48 }, { 0x4b, 0x09 },
    { 0xc9, 0x60 },        /*{REG_COM16, 0x38},*/
    { 0x56, 0x40 },

    { 0x34, 0x11 }, { REG_COM11, COM11_EXP | COM11_HZAUTO },
    { 0xa4, 0x82/*Was 0x88*/ }, { 0x96, 0 },
    { 0x97, 0x30 }, { 0x98, 0x20 },
    { 0x99, 0x30 }, { 0x9a, 0x84 },
    { 0x9b, 0x29 }, { 0x9c, 0x03 },
    { 0x9d, 0x4c }, { 0x9e, 0x3f },
    { 0x78, 0x04 },

    /* Extra-weird stuff.  Какой-то мультиплексорный регистр*/
    { 0x79, 0x01 }, { 0xc8, 0xf0 },
    { 0x79, 0x0f }, { 0xc8, 0x00 },
    { 0x79, 0x10 }, { 0xc8, 0x7e },
    { 0x79, 0x0a }, { 0xc8, 0x80 },
    { 0x79, 0x0b }, { 0xc8, 0x01 },
    { 0x79, 0x0c }, { 0xc8, 0x0f },
    { 0x79, 0x0d }, { 0xc8, 0x20 },
    { 0x79, 0x09 }, { 0xc8, 0x80 },
    { 0x79, 0x02 }, { 0xc8, 0xc0 },
    { 0x79, 0x03 }, { 0xc8, 0x40 },
    { 0x79, 0x05 }, { 0xc8, 0x30 },
    { 0x79, 0x26 },
    { 0xff, 0xff },   
};

void error_led(void)
{
    DDRB |= 32;//make sure led is output
    while (1){//wait for reset
        PORTB ^= 32;// toggle led
        _delay_ms(100);
    }
}

void twiStart(void)
{
    TWCR = _BV(TWINT) | _BV(TWSTA) | _BV(TWEN);//send start
    while (!(TWCR & (1 << TWINT)));//wait for start to be transmitted
    if ((TWSR & 0xF8) != TW_START)
        error_led();
}

void twiWriteByte(uint8_t DATA, uint8_t type)
{
    TWDR = DATA;
    TWCR = _BV(TWINT) | _BV(TWEN);
    while (!(TWCR & (1 << TWINT))) {}
    if ((TWSR & 0xF8) != type)
        error_led();
}

void twiAddr(uint8_t addr, uint8_t typeTWI)
{
    TWDR = addr;//send address
    TWCR = _BV(TWINT) | _BV(TWEN);        /* clear interrupt to start transmission */
    while ((TWCR & _BV(TWINT)) == 0);    /* wait for transmission */
    if ((TWSR & 0xF8) != typeTWI)
        error_led();
}

void wrReg(uint8_t reg, uint8_t dat)
{
    //send start condition
    twiStart();
    twiAddr(camAddr_WR, TW_MT_SLA_ACK);
    twiWriteByte(reg, TW_MT_DATA_ACK);
    twiWriteByte(dat, TW_MT_DATA_ACK);
    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);//send stop
    _delay_ms(1);
}

static uint8_t twiRd(uint8_t nack)
{
    if (nack){
        TWCR = _BV(TWINT) | _BV(TWEN);
        while ((TWCR & _BV(TWINT)) == 0);    /* wait for transmission */
        if ((TWSR & 0xF8) != TW_MR_DATA_NACK)
            error_led();
        return TWDR;
    }
    else{
        TWCR = _BV(TWINT) | _BV(TWEN) | _BV(TWEA);
        while ((TWCR & _BV(TWINT)) == 0); /* wait for transmission */
        if ((TWSR & 0xF8) != TW_MR_DATA_ACK)
            error_led();
        return TWDR;
    }
}

uint8_t rdReg(uint8_t reg)
{
    uint8_t dat;
    twiStart();
    twiAddr(camAddr_WR, TW_MT_SLA_ACK);
    twiWriteByte(reg, TW_MT_DATA_ACK);
    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);//send stop
    _delay_ms(1);
    twiStart();
    twiAddr(camAddr_RD, TW_MR_SLA_ACK);
    dat = twiRd(1);
    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);//send stop
    _delay_ms(1);
    return dat;
}

void wrSensorRegs8_8(const struct regval_list reglist[])
{
    uint8_t reg_addr, reg_val;
    const struct regval_list *next = reglist;
    while ((reg_addr != 0xff) | (reg_val != 0xff)){
        reg_addr = pgm_read_byte(&next->reg_num);
        reg_val = pgm_read_byte(&next->value);
        wrReg(reg_addr, reg_val);
        next++;
    }
}

void setColor(void)
{
    wrSensorRegs8_8(yuv422_ov7670);
}

void setRes(void)
{
    wrReg(REG_COM3, 4);    // REG_COM3 enable scaling
    wrSensorRegs8_8(qvga_ov7670);
}

void camInit(void)
{
    wrReg(0x12, 0x80);
    _delay_ms(100);
    wrSensorRegs8_8(ov7670_default_regs);
    wrReg(REG_COM10, 32);//PCLK does not toggle on HBLANK.
}

void arduinoUnoInut(void) 
{
    cli();//disable interrupts
    
    /* Setup the 8mhz PWM clock
    * This will be on pin 11*/
    DDRB |= (1 << 3);//pin 11
    ASSR &= ~(_BV(EXCLK) | _BV(AS2));
    TCCR2A = (1 << COM2A0) | (1 << WGM21) | (1 << WGM20);
    TCCR2B = (1 << WGM22) | (1 << CS20);
    OCR2A = 0;//(F_CPU)/(2*(X+1))
    DDRC &= ~15;//low d0-d3 camera
    DDRD &= ~252;//d7-d4 and interrupt pins
    _delay_ms(3000);
    
    //set up twi for 100khz
    TWSR &= ~3;//disable prescaler for TWI
    TWBR = 72;//set to 100khz
    
    //enable serial
    UBRR0H = 0;
    UBRR0L = 1;//0 = 2M baud rate. 1 = 1M baud. 3 = 0.5M. 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
}

void StringPgm(const char * str)
{
    do{
        while (!(UCSR0A & (1 << UDRE0)));//wait for byte to transmit
        UDR0 = pgm_read_byte_near(str);
        while (!(UCSR0A & (1 << UDRE0)));//wait for byte to transmit
    } while (pgm_read_byte_near(++str));
}

static void captureImg(uint16_t wg, uint16_t hg)
{
    uint16_t y, x;

    StringPgm(PSTR("*RDY*"));

    while (!(PIND & 8));//wait for high
    while ((PIND & 8));//wait for low

    y = hg;
    while (y--){
        x = wg;
        while (x--){
            while ((PIND & 4));//wait for low
            UDR0 = (PINC & 15) | (PIND & 240);
            while (!(UCSR0A & (1 << UDRE0)));//wait for byte to transmit
            while (!(PIND & 4));//wait for high
            while ((PIND & 4));//wait for low
            while (!(PIND & 4));//wait for high
        }
    }
       _delay_ms(100);
}

void setup()
{
    arduinoUnoInut();
    camInit();
    setRes();
    setColor();
    wrReg(0x11, 12);
}

void loop()
{
    captureImg(320, 240); //получить изображение с камеры
}