OV7670 Arduino Камера

#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 */%0