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.gitignore

@@ -1,3 +1,2 @@
 build/
-.vscode
+.vscode
-.DS_Store

.idea/editor.xml

@@ -1,483 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
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-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexRemoved" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
-    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexRemoved" />
-  </component>
-</project>

.idea/inspectionProfiles/Project_Default.xml

@@ -1,24 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <profile version="1.0">
-    <option name="myName" value="Project Default" />
-    <inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
-    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
-      <option name="ignoredPackages">
-        <value>
-          <list size="10">
-            <item index="0" class="java.lang.String" itemvalue="pgml" />
-            <item index="1" class="java.lang.String" itemvalue="asyncio" />
-            <item index="2" class="java.lang.String" itemvalue="pyvis" />
-            <item index="3" class="java.lang.String" itemvalue="scikit-learn" />
-            <item index="4" class="java.lang.String" itemvalue="ipython" />
-            <item index="5" class="java.lang.String" itemvalue="plotly" />
-            <item index="6" class="java.lang.String" itemvalue="PyPDF2" />
-            <item index="7" class="java.lang.String" itemvalue="pypdf" />
-            <item index="8" class="java.lang.String" itemvalue="numpy" />
-            <item index="9" class="java.lang.String" itemvalue="datasets" />
-          </list>
-        </value>
-      </option>
-    </inspection_tool>
-  </profile>
-</component>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

.idea/workspace.xml

@@ -10,9 +10,9 @@
     <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
     <option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="3" type="long" />
   </component>
-  <component name="CMakePresetLoader">{
+  <component name="CMakePresetLoader"><![CDATA[{
-  &quot;useNewFormat&quot;: true
+  "useNewFormat": true
-}</component>
+}]]></component>
   <component name="CMakeProjectFlavorService">
     <option name="flavorId" value="CMakePlainProjectFlavor" />
   </component>
@@ -35,8 +35,11 @@
     </configurations>
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="51a5c9c0-ebfe-4d31-b391-1b542071ebbc" name="Changes" comment="">
+    <list default="true" id="c8863cf1-2589-4490-99a8-f93f8134e6bb" name="Changes" comment="">
-      <change beforePath="$PROJECT_DIR$/src/PicoIris.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/PicoIris.cpp" afterDir="false" />
+      <change beforePath="$USER_HOME$/.pico-sdk/sdk/2.1.1/src/rp2_common/hardware_pio/include/hardware/pio.h" beforeDir="false" afterPath="$USER_HOME$/.pico-sdk/sdk/2.1.1/src/rp2_common/hardware_pio/include/hardware/pio.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/CMakeLists.txt" beforeDir="false" afterPath="$PROJECT_DIR$/CMakeLists.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/ov2640/SCCB.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/ov2640/SCCB.cpp" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/ov2640/camera.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/ov2640/camera.cpp" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -48,7 +51,13 @@
   </component>
   <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
   <component name="Git.Settings">
+    <option name="RECENT_BRANCH_BY_REPOSITORY">
+      <map>
+        <entry key="$PROJECT_DIR$" value="73e499f2155d7ebe69609b27c6216055c45e134a" />
+      </map>
+    </option>
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+    <option name="ROOT_SYNC" value="DONT_SYNC" />
   </component>
   <component name="ProjectApplicationVersion">
     <option name="ide" value="CLion" />
@@ -56,35 +65,41 @@
     <option name="minorVersion" value="3.4" />
     <option name="productBranch" value="Classic" />
   </component>
-  <component name="ProjectColorInfo">{
+  <component name="ProjectColorInfo"><![CDATA[{
-  &quot;associatedIndex&quot;: 5
+  "customColor": "",
-}</component>
+  "associatedIndex": 5
-  <component name="ProjectId" id="2udZkhEv91jWtQ4K8Rvo6Hv3c7Y" />
+}]]></component>
+  <component name="ProjectId" id="2v2SoR3oIanuTjIxHTyOXvFytYm" />
   <component name="ProjectViewState">
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent">{
+  <component name="PropertiesComponent"><![CDATA[{
-  &quot;keyToString&quot;: {
+  "keyToString": {
-    &quot;RunOnceActivity.RadMigrateCodeStyle&quot;: &quot;true&quot;,
+    "RunOnceActivity.RadMigrateCodeStyle": "true",
-    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
+    "RunOnceActivity.ShowReadmeOnStart": "true",
-    &quot;RunOnceActivity.cidr.known.project.marker&quot;: &quot;true&quot;,
+    "RunOnceActivity.cidr.known.project.marker": "true",
-    &quot;RunOnceActivity.git.unshallow&quot;: &quot;true&quot;,
+    "RunOnceActivity.git.unshallow": "true",
-    &quot;RunOnceActivity.readMode.enableVisualFormatting&quot;: &quot;true&quot;,
+    "RunOnceActivity.readMode.enableVisualFormatting": "true",
-    &quot;RunOnceActivity.west.config.association.type.startup.service&quot;: &quot;true&quot;,
+    "RunOnceActivity.west.config.association.type.startup.service": "true",
-    &quot;cf.first.check.clang-format&quot;: &quot;false&quot;,
+    "cf.first.check.clang-format": "false",
-    &quot;cidr.known.project.marker&quot;: &quot;true&quot;,
+    "cidr.known.project.marker": "true",
-    &quot;git-widget-placeholder&quot;: &quot;main&quot;,
+    "git-widget-placeholder": "73e499f2",
-    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
+    "node.js.detected.package.eslint": "true",
-    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
+    "node.js.detected.package.tslint": "true",
-    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
+    "node.js.selected.package.eslint": "(autodetect)",
-    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
+    "node.js.selected.package.tslint": "(autodetect)",
-    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
+    "nodejs_package_manager_path": "npm",
-    &quot;settings.editor.selected.configurable&quot;: &quot;clion.platformio.config&quot;,
+    "settings.editor.selected.configurable": "clion.platformio.config",
-    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
+    "vue.rearranger.settings.migration": "true"
   }
-}</component>
+}]]></component>
   <component name="RunManager" selected="CMake Application.PicoIris">
+    <configuration default="true" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true">
+      <method v="2">
+        <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+      </method>
+    </configuration>
     <configuration name="PicoIris" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="PicoIris" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="PicoIris" RUN_TARGET_NAME="PicoIris">
       <method v="2">
         <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
@@ -127,27 +142,27 @@
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
     <task active="true" id="Default" summary="Default task">
-      <changelist id="51a5c9c0-ebfe-4d31-b391-1b542071ebbc" name="Changes" comment="" />
+      <changelist id="c8863cf1-2589-4490-99a8-f93f8134e6bb" name="Changes" comment="" />
-      <created>1742580557791</created>
+      <created>1743341850127</created>
       <option name="number" value="Default" />
       <option name="presentableId" value="Default" />
-      <updated>1742580557791</updated>
+      <updated>1743341850127</updated>
-      <workItem from="1742580559816" duration="794000" />
+      <workItem from="1743341851701" duration="467000" />
-      <workItem from="1742750595682" duration="59000" />
-      <workItem from="1742756844093" duration="379000" />
     </task>
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="3" />
   </component>
-  <component name="VCPKGProject">
+  <component name="Vcs.Log.Tabs.Properties">
-    <isAutomaticCheckingOnLaunch value="false" />
+    <option name="TAB_STATES">
-    <isAutomaticFoundErrors value="true" />
+      <map>
-    <isAutomaticReloadCMake value="true" />
+        <entry key="MAIN">
-  </component>
+          <value>
-  <component name="XSLT-Support.FileAssociations.UIState">
+            <State />
-    <expand />
+          </value>
-    <select />
+        </entry>
+      </map>
+    </option>
   </component>
 </project>

CMakeLists.txt

@@ -35,16 +35,18 @@ pico_sdk_init()
 
 # Add executable. Default name is the project name, version 0.1
 
-add_executable(PicoIris src/PicoIris.cpp src/ov2640/camera.cpp src/ov2640/SCCB.cpp src/pio/i2c/pio_i2c.c)
+#add_executable(PicoIris src/PicoIris.cpp src/ov2640/camera.cpp src/ov2640/SCCB.cpp src/pio/i2c/pio_i2c.c)
+
+add_executable(PicoIris src/PicoIris.cpp src/rp2040/ov2640.cpp src/rp2040/SCCB.cpp src/pio/i2c/pio_i2c.c)
 #add_executable(PicoIris bus_scan.c)
 
 pico_set_program_name(PicoIris "PicoIris")
 pico_set_program_version(PicoIris "0.1")
 
 # Generate PIO header
-pico_generate_pio_header(PicoIris ${CMAKE_CURRENT_LIST_DIR}/src/pio/i2c/i2c.pio)
+pico_generate_pio_header(PicoIris ${CMAKE_CURRENT_LIST_DIR}/image.pio ${CMAKE_CURRENT_LIST_DIR}/src/pio/i2c/i2c.pio)
 
-#Disable debug messages on UART by redirecting them to USB
+# Modify the below lines to enable/disable output over UART/USB
 pico_enable_stdio_uart(PicoIris 0)
 pico_enable_stdio_usb(PicoIris 1)
 

bus_scan.c

@@ -38,8 +38,7 @@
 bool reserved_addr(uint8_t addr) {
     return (addr & 0x78) == 0 || (addr & 0x78) == 0x78;
 }
-#define PICO_DEFAULT_I2C_SDA_PIN 22
+
-#define PICO_DEFAULT_I2C_SCL_PIN 19
 int main() {
     // Enable UART so we can print status output
     stdio_init_all();
@@ -48,51 +47,51 @@ int main() {
     puts("Default I2C pins were not defined");
 #else
     // This example will use I2C0 on the default SDA and SCL pins (GP4, GP5 on a Pico)
-    gpio_set_function(11, GPIO_FUNC_PWM);
+    gpio_set_function(3, GPIO_FUNC_PWM);
-    uint slice_num = pwm_gpio_to_slice_num(11);
+    uint slice_num = pwm_gpio_to_slice_num(3);
     // 6 cycles (0 to 5), 125 MHz / 6 = ~20.83 MHz wrap rate
     pwm_set_wrap(slice_num, 5);
-    pwm_set_gpio_level(11, 3);
+    pwm_set_gpio_level(3, 3);
     pwm_set_enabled(slice_num, true);
     sleep_ms(1000);
 
-    i2c_init(i2c1, 100 * 1000);
+    i2c_init(i2c_default, 100 * 1000);
-    gpio_set_function(22, GPIO_FUNC_I2C);
+    gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
-    gpio_set_function(19, GPIO_FUNC_I2C);
+    gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
-    gpio_pull_up(22);
+    gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
-    gpio_pull_up(19);
+    gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
     // Make the I2C pins available to picotool
-    bi_decl(bi_2pins_with_func(22, 19, GPIO_FUNC_I2C));
+    bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
+
     while(true){
         printf("\nI2C Bus Scan\n");
         printf("   0  1  2  3  4  5  6  7  8  9  A  B  C  D  E  F\n");
-
+    
         for (int addr = 0; addr < (1 << 7); ++addr) {
             if (addr % 16 == 0) {
                 printf("%02x ", addr);
             }
-
+    
             // Perform a 1-byte dummy read from the probe address. If a slave
             // acknowledges this address, the function returns the number of bytes
             // transferred. If the address byte is ignored, the function returns
             // -1.
-
+    
             // Skip over any reserved addresses.
             int ret;
             uint8_t rxdata;
             if (reserved_addr(addr))
                 ret = PICO_ERROR_GENERIC;
             else
-                ret = i2c_read_blocking(i2c1, addr, &rxdata, 1, false);
+                ret = i2c_read_blocking(i2c_default, addr, &rxdata, 1, false);
-                
+    
-
             printf(ret < 0 ? "." : "@");
             printf(addr % 16 == 15 ? "\n" : "  ");
         }
-        printf("Done.\n");
         sleep_ms(1000);
     }
-
+    
+    printf("Done.\n");
     return 0;
 #endif
 }

image.pio

@@ -0,0 +1,21 @@
+.program image
+.wrap_target
+	wait 1 pin 9 // wait for hsync
+	wait 1 pin 8 // wait for rising pclk
+	in pins 8
+	wait 0 pin 8
+.wrap
+
+% c-sdk {
+void image_program_init(PIO pio, uint sm, uint offset, uint pin_base) {
+	pio_sm_set_consecutive_pindirs(pio, sm, pin_base, 10, false);
+
+	pio_sm_config c = image_program_get_default_config(offset);
+	sm_config_set_in_pins(&c, pin_base);
+	sm_config_set_in_shift(&c, false, true, 8);
+	sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_RX);
+
+	pio_sm_init(pio, sm, offset, &c);
+	pio_sm_set_enabled(pio, sm, true);
+}
+%}

src/PicoIris.cpp

@@ -11,52 +11,52 @@
 #include "../../hardware_dma/include/hardware/dma.h"
 
 #include <ov2640/SCCB.hpp>
-#include <ov2640/camera.hpp>
+#include <rp2040/ov2640.hpp>
 #include "cstring"
-
 // Frame header and footer markers for synchronization - using distinctive values
 const uint8_t FRAME_HEADER[] = {0xDE, 0xAD, 0xBE, 0xEF}; // Distinctive header
 const uint8_t FRAME_FOOTER[] = {0xCA, 0xFE, 0xBA, 0xBE}; // Distinctive footer
 const int FRAME_MARKER_SIZE = 4;
+uint8_t frame_buffer[160 * 120 * 2]; // Buffer for the image data
+// PIO2 is reserved for the cam data retreive functions
 
-// Reduced baud rate for slower, more reliable debugging
+// camera_config_t left_eye_config = {
-#define BAUD_RATE 57600  // Reduced for debugging (standard options: 9600, 19200, 38400, 57600, 115200)
+//     .pin_pwdn = -1,                   /*!< GPIO pin for camera power down line */ //? Also called PWDN, or set to -1 and tie to GND
-
+//     .pin_reset = -1,                  /*!< GPIO pin for camera reset line */ //? Cam reset, or set to -1 and tie to 3.3V
-// PIO2 is reserved for the cam data retrieve functions
+//     .pin_xclk = 3,                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
-camera_config_t left_eye_config = {
+//     .pin_sccb_sda = 4,               /*!< GPIO pin for camera SDA line */
-    .pin_pwdn = -1,                   /*!< GPIO pin for camera power down line */
+//     .pin_sccb_scl = 5,               /*!< GPIO pin for camera SCL line */
-    .pin_reset = -1,                  /*!< GPIO pin for camera reset line */
+//     .pin_data_base = 6,              /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
-    .pin_xclk = 11,                   /*!< GPIO pin for camera XCLK line */
+//     .pin_vsync = 16,                  /*!< GPIO pin for camera VSYNC line */
-    .pin_sccb_sda = 22,               /*!< GPIO pin for camera SDA line */
+//     .xclk_div = 4,               /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
-    .pin_sccb_scl = 19,               /*!< GPIO pin for camera SCL line */
+//     .sccb_ctrl = 0,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
-    .pin_data_9 = 14,              /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
+// };
-    .pin_data_8 = 12, 
+ov2640_config left_eye_config = {
-    .pin_data_7 = 10, 
+    .sccb = i2c0,                   /*!< I2C controller for camera SCCB */
-    .pin_data_6 = 8, 
+    .pin_sioc = 32,                  /*!< GPIO pin for camera SCCB SIOC line */
-    .pin_data_5 = 6, 
+    .pin_siod = 33,                  /*!< GPIO pin for camera SCCB SIOD line */
-    .pin_data_4 = 5, 
+    .pin_resetb = 0,               /*!< GPIO pin for camera reset line */ //? Cam reset, or set to -1 and tie to 3.3V
-    .pin_data_3 = 4, 
+    .pin_xclk = 31,                  /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
-    .pin_data_2 = 3, 
+    .pin_vsync = 44,                /*!< GPIO pin for camera VSYNC line */
-    .pin_vsync = 17,                  /*!< GPIO pin for camera VSYNC line */
+    .pin_y2_pio_base = 34,           /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
-    .pin_hsync = 15,                  /*!< GPIO pin for camera VSYNC line */
+    .pio = pio2,                    /*!< PIO instance for camera data reception */
-
+    .pio_sm = 0,                    /*!< PIO state machine number for camera data reception */
-    .xclk_freq_hz = 0,               /*!< Frequency of XCLK signal, in Hz. */
+    .dma_channel = 0,               /*!< DMA channel number for camera data reception */
-    .sccb_ctrl = 1,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
+    .image_buf = frame_buffer,              /*!< Pointer to the image buffer (to be allocated later) */
-};
+    .image_buf_size = sizeof(frame_buffer) // Size of the image buffer (160x120 RGB565)
-
+};  
 // Send a properly framed image using printf for binary data
 void send_frame(const void* buffer, size_t size) {
     // Ensure UART output buffer is flushed before sending binary data
     printf("\n\nBINARY_START\n\n");
     sleep_ms(100);  // Small delay to ensure the text is transmitted separately
-    
+
     // Send binary data using fwrite directly to stdout
     // This avoids any text processing that printf might do
-    
+
     // Send frame header
     fwrite(FRAME_HEADER, 1, FRAME_MARKER_SIZE, stdout);
     sleep_ms(100);  // Small delay to ensure the text is transmitted separately
-    printf("test....");
 
     // Send frame size (4 bytes, little-endian)
     uint8_t size_bytes[4];
@@ -65,7 +65,6 @@ void send_frame(const void* buffer, size_t size) {
     size_bytes[2] = (size >> 16) & 0xFF;
     size_bytes[3] = (size >> 24) & 0xFF;
     fwrite(size_bytes, 1, 4, stdout);
-    printf("test2....");
 
     // Calculate checksum
     uint32_t checksum = 0;
@@ -73,7 +72,7 @@ void send_frame(const void* buffer, size_t size) {
     for (size_t i = 0; i < size; i++) {
         checksum += buf[i];
     }
-    
+
     // Send frame data
     fwrite(buf, 1, size, stdout);
     sleep_ms(100);  // Small delay to ensure the text is transmitted separately
@@ -92,7 +91,7 @@ void send_frame(const void* buffer, size_t size) {
 
     // Flush to ensure all binary data is sent
     fflush(stdout);
-    
+
     // Make the end marker very distinctive with multiple newlines and unique pattern
     sleep_ms(100);
     printf("\n\n###BINARY_END###\n\n");
@@ -101,54 +100,60 @@ void send_frame(const void* buffer, size_t size) {
 // Test function to verify binary data transmission
 void test_binary_transfer() {
     printf("Testing binary transfer...\n");
-    
+
     // Create a small test buffer
     uint8_t test_data[16];
     for (int i = 0; i < 16; i++) {
         test_data[i] = i;
     }
-    
+
     // Send it as a frame
     send_frame(test_data, sizeof(test_data));
-    
+
     printf("Binary test complete\n");
 }
 
 int main()
 {
     stdio_init_all();
-    
+
     printf("\n\n=== PicoIris Starting ===\n");
     sleep_ms(1000);
     
     // Test binary transfer
     test_binary_transfer();
     sleep_ms(1000);
-    
+
     printf("Configuring Camera...\n");
     
-    OV2640 left_cam = OV2640(left_eye_config);
+    //OV2640 left_cam = OV2640(left_eye_config);
-    left_cam.begin(DMA_IRQ_0);
+    ov2640_init(&left_eye_config);
+    ov2640_reg_write(&left_eye_config, 0xff, 0x01);
+	uint8_t midh = ov2640_reg_read(&left_eye_config, 0x1C);
+	uint8_t midl = ov2640_reg_read(&left_eye_config, 0x1D);
+	printf("MIDH = 0x%02x, MIDL = 0x%02x\n", midh, midl);
+  //  left_cam.begin(DMA_IRQ_0,1); // 0 for RGB565 mode
     printf("Camera Configured!...\n");
-    
+
     // Image size (160 x 120 x 2 bytes per pixel for RGB565)
     const size_t frame_size = 160 * 120 * 2;
-    
+
     while (true) {
         // Capture a frame
         printf("Attempting to capture frame...\n");
-        left_cam.capture_frame();
+        //left_cam.capture_frame();
-        
+        ov2640_capture_frame(&left_eye_config);
         // Once the frame is ready, send it over UART
         printf("Checking if frame is ready...\n");
             printf("Frame ready, sending...\n");
-            send_frame(left_cam.fb, frame_size);
+            //send_frame(left_cam.fb, frame_size);
-            left_cam.resetFrameReady();
+            //left_cam.resetFrameReady();
+            send_frame(left_eye_config.image_buf, frame_size);
             printf("Frame sent...\n");
 
-        
+
         // Small delay to allow processing time
         printf("Waiting before next attempt...\n");
         sleep_ms(3000);  // Increased delay for debugging
-    }
+     }
-}
+}

src/ov2640/SCCB.cpp

@@ -12,7 +12,7 @@ SCCB::SCCB(uint8_t sda_pin, uint8_t scl_pin) {
 
 SCCB::~SCCB() {}
 
-// ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2
+// ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio1
 // TODO: add proper return values when failure
 // TODO: panic if scl != sda + 1
 int SCCB::begin(uint8_t ctrl)
@@ -38,7 +38,7 @@ int SCCB::begin(uint8_t ctrl)
             this->pio = pio1;
             break;
         case 4:
-            this->pio = pio2;
+            this->pio = pio1;
             break;
         default:
             this->pio = pio0;
@@ -100,6 +100,6 @@ void SCCB::writeList(const register_val_t *cfg,
     for (int i = 0; i < len; i++)
     {
         writeRegister(cfg[i].reg, cfg[i].value);
-        sleep_ms(10); // Some cams require, else lockup on init
+        sleep_ms(2); // Some cams require, else lockup on init
     }
 }

src/ov2640/camera.cpp

@@ -19,12 +19,23 @@ static volatile bool suspended = true;
 static volatile bool dma_busy = false;
 void* pointer;
 
-// VSYNC interrupt handler
 void iCap_vsync_irq(uint gpio, uint32_t events) {
-    if (!suspended && !dma_busy) {
+    if (events & GPIO_IRQ_EDGE_RISE) {
-        pio_sm_clear_fifos(pio2, 0);  // Clear PIO FIFOs
+        //printf("VSYNC RISE (suspended=%d, dma_busy=%d)\n", suspended, dma_busy);
-        dma_busy = true;              // Mark DMA as busy
+        
-        dma_channel_start(0);         // Start DMA transfer
+        // Only start capture on rising edge of VSYNC if we're not suspended and DMA isn't busy
+        if (!suspended && !dma_busy) {
+            // Fill test pattern to verify DMA is running
+            uint16_t* fb_ptr = (uint16_t*)pointer;
+            for (int i = 0; i < 10; i++) {
+                fb_ptr[i] = 0xAA55;  // Test pattern
+            }
+            
+            pio_sm_clear_fifos(pio1, 0);  // Clear PIO FIFOs
+            dma_busy = true;              // Mark DMA as busy
+            printf("Starting DMA transfer\n");
+            dma_channel_start(0);         // Start DMA transfer
+        }
     }
 }
 
@@ -33,31 +44,31 @@ void iCap_dma_finish_irq() {
     frameReady = true;                // Signal frame is ready
     suspended = true;                 // Suspend further captures
     dma_busy = false;                 // DMA is no longer busy
+    
+    // Check if data was received
+    uint16_t* fb_ptr = (uint16_t*)pointer;
+    uint32_t non_zero_count = 0;
+    for (int i = 0; i < 100; i++) {  // Just check first 100 values
+        if (fb_ptr[i] != 0) {
+            non_zero_count++;
+        }
+    }
+    printf("DMA complete: %d/100 non-zero values found\n", non_zero_count);
+    
     dma_channel_set_write_addr(0, pointer, false);  // Reset write address
     dma_hw->ints0 = 1u << 0;          // Clear DMA interrupt flag
 }
-// TODO: Stolen from Adafruit repo (Check if correct)
+  
 
 
-// PIO code in this table is modified at runtime so that PCLK is
-// configurable (rather than fixed GP## or PIN offset). Data pins
-// must be contiguous but are otherwise configurable.
-static uint16_t capture_pio_opcodes[] = {
-    // Only monitor PCLK when HSYNC is high. This is more noise-immune
-    // than letting it fly.
-    0b0010000010000000, // WAIT 1 GPIO 0 (mask in HSYNC pin before use)
-    0b0010000010000000, // WAIT 1 GPIO 0 (mask in PCLK pin before use)
-    0b0100000000001000, // IN PINS 8 -- 8 bits into RX FIFO
-    0b0010000000000000, // WAIT 0 GPIO 0 (mask in PCLK pin before use)
-};
-
 static struct pio_program cap_pio_program = {
-    .instructions = capture_pio_opcodes,
+    .instructions = image_program_instructions,
-    .length = sizeof capture_pio_opcodes / sizeof capture_pio_opcodes[0],
+    .length = sizeof image_program_instructions / sizeof image_program_instructions[0],
     .origin = -1,
 };
     
 
+// Complete camera init dumped from running esp32 (240x240 JPEG qty: 7)
 register_val_t OV2640_stolem_jpeg_init[] = {
     {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR},
     {OV2640_REG1_COM7, OV2640_COM7_SRST},
@@ -220,6 +231,7 @@ register_val_t OV2640_stolem_jpeg_init[] = {
     {0x05, 0x00}
 };
 
+
 register_val_t OV2640_init[] = {
     // Ideas from rp2040_ov2640-main repo
     // OV2640 camera initialization after reset
@@ -474,7 +486,6 @@ register_val_t OV2640_init[] = {
     {OV2640_REG0_RESET, 0x00}
 };   // Go
 
-
 // Stolem from esp32-camera
 register_val_t OV2640_jpeg[] = {
     {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
@@ -569,11 +580,12 @@ register_val_t OV2640_rgb[] = {
     {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
                 {OV2640_REG0_RESET, OV2640_RESET_DVP},
                 {OV2640_REG0_IMAGE_MODE, OV2640_IMAGE_MODE_DVP_RGB565 |
-                                             OV2640_IMAGE_MODE_BYTE_SWAP},
+                                             OV2640_IMAGE_MODE_BYTE_SWAP}, // TODO: Check if byteswap is supposed to be enabled?
                 {0xD7, 0x03},               // Mystery init values
                 {0xE1, 0x77},               // seen in other examples
                 {OV2640_REG0_RESET, 0x00}
             }; // Go
+
 register_val_t OV2640_qqvga[] = {
          {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP}, // DSP bank select 0
          {OV2640_REG0_RESET, OV2640_RESET_DVP},
@@ -607,125 +619,75 @@ register_val_t OV2640_qqvga[] = {
 // };
 
 
-
 OV2640::OV2640(camera_config_t config)
 {
     this->config = config;
-        memset(&this->fb, 0x00, sizeof(this->fb));
+    memset(&this->fb, 0x00, sizeof(this->fb));
     pointer = &this->fb;
-    //this->fb = image_buf;
 }
 
 
-// Pin interrupt on VSYNC calls this to start DMA transfer (unless suspended).
+// mode 0 - adafruit rgb, 1 - meine jpeg, 2 - stolem jpeg
-// static void vsync_irq(uint gpio, uint32_t events)
+int OV2640::begin(int dma_irq, int mode) // mode is just here to make debbuging easier
-// {
-//     pio_sm_clear_fifos(pio2, sm);
-//     dma_channel_start(dma_channel);
-// }
-
-// static void dma_finish_irq()
-// {
-//     // Channel MUST be reconfigured each time (to reset the dest address).
-//     dma_channel_set_write_addr(dma_channel,
-//                               (uint8_t *)(image_buf), false);
-//     dma_hw->ints0 = 1u << dma_channel; // Clear IRQ
-//     uint32_t data = pio2->rxf[sm];
-//     fwrite(&data, 1, 32, stdout);
-// }
-
-int OV2640::begin(int dma_irq)
 {
     // Initialize peripherals for parallel+I2C camera:
 
     // XCLK generation (~18.71 MHz)
     gpio_set_function(this->config.pin_xclk, GPIO_FUNC_PWM);
     uint slice_num = pwm_gpio_to_slice_num(this->config.pin_xclk);
-    // 8 cycles (0 to 7), 150 MHz / 8 = ~18.71 MHz wrap rate
+
-    pwm_set_wrap(slice_num, 7);
+    pwm_set_wrap(slice_num, this->config.xclk_div);
     pwm_set_gpio_level(this->config.pin_xclk, 4);
     pwm_set_enabled(slice_num, true);
 
-    printf("PWM clock setup for XCLK complete (9.375 MHz)\n");
-
     // Init SCCB
-    printf("Initializing SCCB on SDA=%d, SCL=%d...\n", 
-           this->config.pin_sccb_sda, this->config.pin_sccb_scl);
     this->sccb = SCCB(this->config.pin_sccb_sda, this->config.pin_sccb_scl);
     this->sccb.begin(this->config.sccb_ctrl);
-    printf("SCCB initialization complete\n");
 
     // ENABLE AND/OR RESET CAMERA --------------------------------------------
     // Unsure of camera startup time from beginning of input clock.
     // Let's guess it's similar to tS:REG (300 ms) from datasheet.
-    printf("Waiting for camera to stabilize...\n");
     sleep_ms(300);
 
     // Perform a soft reset
     printf("Sending camera reset command...\n");
     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR); // Bank select 1
-    this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST);        // System reset
+    this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST);        // System reset<
-    sleep_ms(1000);                                                       // Datasheet: tS:RESET = 1 ms
+    sleep_ms(300);
-    printf("Camera reset complete\n");
 
-    printf("Initializing camera registers...\n");
+    switch(mode) {
-    this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
+        case 0:
-    this->sccb.writeList(OV2640_qqvga, sizeof(OV2640_qqvga)/sizeof(OV2640_qqvga[0]));
+            this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
-    this->sccb.writeList(OV2640_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_rgb[0]));
+            this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
+            this->sccb.writeList(OV2640_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_qqvga[0]));
+            break;
+        case 1:
+            this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
+            this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
+            this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
+            break;
+        case 2:
+            this->sccb.writeList(OV2640_stolem_jpeg_init, sizeof(OV2640_stolem_jpeg_init)/sizeof(OV2640_stolem_jpeg_init[0]));
+            break;
+    }
     
-    // // Enable color bar test pattern for debugging
-    //printf("Enabling color bar test pattern...\n");
-    //this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
-    //this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_COLORBAR); // Output test pattern
-    //printf("Test pattern enabled\n");
-
     // GPIO pin setup
     printf("Setting up GPIO pins for camera data...\n");
     gpio_init(this->config.pin_vsync);
     gpio_set_dir(this->config.pin_vsync, GPIO_IN);
     gpio_pull_down(this->config.pin_vsync);
-    
+    for (uint8_t i = 0; i < 10; i++)
+    {
+        gpio_init(this->config.pin_data_base + i);
+        gpio_set_dir(this->config.pin_data_base + i, GPIO_IN);
+        //gpio_pull_down(this->config.pin_data_base + i);
+    }
+    //prtintf("Gpio init done\n");
 
 
-    gpio_init(this->config.pin_data_9 );
-    gpio_set_dir(this->config.pin_data_9, GPIO_IN);
-    gpio_init(this->config.pin_data_8 );
-    gpio_set_dir(this->config.pin_data_8, GPIO_IN);
-    gpio_init(this->config.pin_data_7 );
-    gpio_set_dir(this->config.pin_data_7, GPIO_IN);
-    gpio_init(this->config.pin_data_6 );
-    gpio_set_dir(this->config.pin_data_6, GPIO_IN);
-    gpio_init(this->config.pin_data_5 );
-    gpio_set_dir(this->config.pin_data_5, GPIO_IN);
-    gpio_init(this->config.pin_data_4 );
-    gpio_set_dir(this->config.pin_data_4, GPIO_IN);
-    gpio_init(this->config.pin_data_3 );
-    gpio_set_dir(this->config.pin_data_3, GPIO_IN);
-    gpio_init(this->config.pin_data_2 );
-    gpio_set_dir(this->config.pin_data_2, GPIO_IN);
-
-
-
-
-    
-
-
-    printf("GPIO initialization complete\n");
-
-    // PIO setup for image capture
     printf("Setting up PIO for image capture...\n");
-    uint offset = pio_add_program(pio2, &image_program);
+    uint offset = pio_add_program(pio1, &cap_pio_program);
-
+    image_program_init(pio1, 0, offset, this->config.pin_data_base);
-    image_program_init(pio2, 0, offset, this->config.pin_data_9);
-    image_program_init(pio2, 0, offset, this->config.pin_data_8);
-    image_program_init(pio2, 0, offset, this->config.pin_data_7);
-    image_program_init(pio2, 0, offset, this->config.pin_data_6);
-    image_program_init(pio2, 0, offset, this->config.pin_data_5);
-    image_program_init(pio2, 0, offset, this->config.pin_data_4);
-    image_program_init(pio2, 0, offset, this->config.pin_data_3);
-    image_program_init(pio2, 0, offset, this->config.pin_data_2);
-    image_program_init(pio2, 0, offset, this->config.pin_hsync);
-
     printf("PIO setup complete\n");
 
     // DMA setup
@@ -735,8 +697,8 @@ int OV2640::begin(int dma_irq)
     channel_config_set_read_increment(&c, false);
     channel_config_set_write_increment(&c, true);
     channel_config_set_bswap(&c, true);
-    channel_config_set_dreq(&c, pio_get_dreq(pio2, 0, false));
+    channel_config_set_dreq(&c, pio_get_dreq(pio1, 0, false));
-    dma_channel_configure(0, &c, this->fb, &pio2->rxf[0], 160 * 120, false);
+    dma_channel_configure(0, &c, this->fb, &pio1->rxf[0], 160 * 120*2, false);
     printf("DMA configuration complete\n");
 
     // Set up DMA interrupt
@@ -752,7 +714,9 @@ int OV2640::begin(int dma_irq)
                                       &iCap_vsync_irq);  // Register VSYNC handler
     printf("VSYNC interrupt setup complete\n");
 
+    // ============= TESTING =========================================================
     // Test if VSYNC is toggling
+    // ================================================================================
     printf("Checking if VSYNC is toggling...\n");
     bool initial_vsync = gpio_get(this->config.pin_vsync);
     uint32_t start_time = time_us_32();
@@ -773,41 +737,69 @@ int OV2640::begin(int dma_irq)
         printf("VSYNC signal detected successfully\n");
     }
 
+    // Add after VSYNC check
+    printf("Testing data pins for signal...\n");
+    uint32_t last_values[10] = {0};
+    bool data_changing = false;
+
+    for (int i = 0; i < 1000; i++) {
+        bool changed = false;
+        for (int pin = 0; pin < 10; pin++) {
+            uint32_t val = gpio_get(this->config.pin_data_base + pin);
+            if (val != last_values[pin]) {
+                changed = true;
+                last_values[pin] = val;
+            }
+        }
+        if (changed) {
+            data_changing = true;
+            printf("Data pins showing activity\n");
+            break;
+        }
+        sleep_ms(1);
+    }
+
+    if (!data_changing) {
+        printf("ERROR: No activity detected on data pins!\n");
+    }
+    // ================================================================================
+    // ================================================================================
+
     printf("Camera initialization complete\n");
     return 0;
 }
 
 //! You need to set pixformat after this
 void OV2640::set_framesize() {
-    // uint8_t max_x = 75;
+    uint8_t max_x = 75;
-    // uint8_t max_y = 74;
+    uint8_t max_y = 74;
-    // uint8_t w  = 60;
+    uint8_t w  = 60;
-    // uint8_t h = 60;
+    uint8_t h = 60;
 
-    // register_val_t win_regs[] = {
+    register_val_t win_regs[] = {
-    //     {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
+        {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP},
-    //     {OV2640_REG0_HSIZE, 75},
+        {OV2640_REG0_HSIZE, 75},
-    //     {OV2640_REG0_VSIZE, 74},
+        {OV2640_REG0_VSIZE, 74},
-    //     {OV2640_REG0_XOFFL, 50},
+        {OV2640_REG0_XOFFL, 50},
-    //     {OV2640_REG0_YOFFL, 0},
+        {OV2640_REG0_YOFFL, 0},
-    //     {OV2640_REG0_VHYX, ((max_y >> 1) & 0X80) | ((0 >> 4) & 0X70) | ((max_x >> 5) & 0X08) | ((50 >> 8) & 0X07)},
+        {OV2640_REG0_VHYX, ((max_y >> 1) & 0X80) | ((0 >> 4) & 0X70) | ((max_x >> 5) & 0X08) | ((50 >> 8) & 0X07)},
-    //     {OV2640_REG0_TEST, (max_x >> 2) & 0X80},
+        {OV2640_REG0_TEST, (max_x >> 2) & 0X80},
-    //     {OV2640_REG0_ZMOW, (w)&0xFF},
+        {OV2640_REG0_ZMOW, (w)&0xFF},
-    //     {OV2640_REG0_ZMOH, (h)&0xFF},
+        {OV2640_REG0_ZMOH, (h)&0xFF},
-    //     {OV2640_REG0_ZMHH, ((h>>6)&0x04)|((w>>8)&0x03)},
+        {OV2640_REG0_ZMHH, ((h>>6)&0x04)|((w>>8)&0x03)},
-    //     {0, 0}
+        {0, 0}
-    // };
+    };
 
-    // this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
+    this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
-    // this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_BYPASS);
+    this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_BYPASS);
-    // this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
+    this->sccb.writeList(OV2640_CIF, sizeof(OV2640_CIF)/sizeof(OV2640_CIF[0]));
-    // this->sccb.writeList(win_regs, sizeof(win_regs)/sizeof(win_regs[0]));
+    this->sccb.writeList(win_regs, sizeof(win_regs)/sizeof(win_regs[0]));
-    // this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
+    this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
-    // this->sccb.writeRegister(OV2640_REG1_CLKRC, 0);
+    this->sccb.writeRegister(OV2640_REG1_CLKRC, 0);
-    // this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
+    this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
-    // this->sccb.writeRegister(OV2640_REG0_R_DVP_SP, 8);
+    this->sccb.writeRegister(OV2640_REG0_R_DVP_SP, 8);
-    // this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
+    this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
-    // this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_ENABLE);
+    this->sccb.writeRegister(OV2640_REG0_R_BYPASS, OV2640_R_BYPASS_DSP_ENABLE);
 }
 
 void OV2640::set_quality(int quality) {
@@ -850,82 +842,57 @@ bool OV2640::isFrameReady() const {
 void OV2640::resetFrameReady() {
     frameReady = false;
 }
+
 void OV2640::capture_frame() {
-    // Reset frame ready flag before starting capture
+    // Reset frame buffer with a known pattern
+    uint16_t* fb_ptr = (uint16_t*)this->fb;
+    for (int i = 0; i < 160 * 120; i++) {
+        fb_ptr[i] = 0;  // Clear to zero
+    }
+    
+    // Add test pattern to verify data is changed
+    for (int i = 0; i < 10; i++) {
+        fb_ptr[i] = 0x1234 + i;  // Test pattern
+    }
+    
+    printf("Starting frame capture (suspended=%d, frameReady=%d)\n", suspended, frameReady);
     frameReady = false;
     
-    // Allow captures to proceed
+    // Important: Enable capture by setting suspended to false
     suspended = false;
     
-    // Wait for frame with timeout to prevent infinite loops
+    // Reset DMA in case it was left in a bad state
+    dma_channel_abort(0);
+    dma_busy = false;
+    dma_channel_set_write_addr(0, this->fb, false);
+    
+    // Wait for frame with timeout
     uint32_t start_time = time_us_32();
     uint32_t timeout_us = 2000000; // 2 second timeout
-    
+
+    // Monitor pin states during capture
+    int report_interval = 0;
     while(!frameReady) {
+        // Report activity periodically
+        if (report_interval++ % 1000 == 0) {
+            printf("Waiting for frame: VSYNC=%d HREF=%d PCLK=%d\n", 
+                gpio_get(this->config.pin_vsync),
+                gpio_get(this->config.pin_vsync-1),
+                gpio_get(this->config.pin_vsync-2));
+        }
+        
         // Check for timeout
         if ((time_us_32() - start_time) > timeout_us) {
-            printf("Frame capture timeout! Sending incomplete frame...\n");
+            printf("Frame capture timeout!\n");
-            // Reset DMA in case it's stuck
             dma_channel_abort(0);
-            dma_channel_set_write_addr(0, pointer, false);
             dma_busy = false;
             suspended = true;
-            return; // Exit without waiting for frameReady
+            return;
         }
+        
         // Small yield to avoid tight loop
         sleep_us(100);
     }
-    
+
-    // Frame is ready, no need to do anything else
-    // The DMA handler has already set frameReady = true
     printf("Frame captured successfully\n");
-}
+}
-
-// void OV2640::set_resolution(uint16_t width, uint16_t height) {
-//     // Set resolution registers
-//     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP); // DSP bank select 0
-//     this->sccb.writeRegister(OV2640_REG0_HSIZE8, (width >> 3) & 0xFF); // HSIZE high bits
-//     this->sccb.writeRegister(OV2640_REG0_VSIZE8, (height >> 3) & 0xFF); // VSIZE high bits
-//     this->sccb.writeRegister(OV2640_REG0_HSIZE, width & 0xFF); // HSIZE low bits
-//     this->sccb.writeRegister(OV2640_REG0_VSIZE, height & 0xFF); // VSIZE low bits
-//     this->sccb.writeRegister(OV2640_REG0_ZMOW, width & 0xFF); // OUTW low bits
-//     this->sccb.writeRegister(OV2640_REG0_ZMOH, height & 0xFF); // OUTH low bits
-//     this->sccb.writeRegister(OV2640_REG0_ZMHH, ((height >> 8) & 0x04) | ((width >> 8) & 0x03)); // OUTW/H high bits
-//     printf("Resolution set to %dx%d\n", width, height);
-// }
-
-// void OV2640::set_resolution_vga() {
-//     // Set resolution to VGA (640x480)
-//     uint16_t width = 640;
-//     uint16_t height = 480;
-
-//     // Adjust frame buffer size for VGA resolution
-//     this->fb = new uint8_t[width * height * 2]; // Assuming 2 bytes per pixel (RGB565)
-//     pointer = this->fb;
-
-//     // Set resolution registers
-//     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP); // DSP bank select 0
-//     this->sccb.writeRegister(OV2640_REG0_HSIZE8, (width >> 3) & 0xFF); // HSIZE high bits
-//     this->sccb.writeRegister(OV2640_REG0_VSIZE8, (height >> 3) & 0xFF); // VSIZE high bits
-//     this->sccb.writeRegister(OV2640_REG0_HSIZE, width & 0xFF); // HSIZE low bits
-//     this->sccb.writeRegister(OV2640_REG0_VSIZE, height & 0xFF); // VSIZE low bits
-//     this->sccb.writeRegister(OV2640_REG0_ZMOW, width & 0xFF); // OUTW low bits
-//     this->sccb.writeRegister(OV2640_REG0_ZMOH, height & 0xFF); // OUTH low bits
-//     this->sccb.writeRegister(OV2640_REG0_ZMHH, ((height >> 8) & 0x04) | ((width >> 8) & 0x03)); // OUTW/H high bits
-
-//     printf("Resolution set to VGA (640x480)\n");
-// }
-
-//! https://forums.raspberrypi.com/viewtopic.php?t=339299
-// TODO: change to switches and experiment with state machines, check if I can kinda reserve dma's so 0-3 would indicate state machines 0-3 
-/* Read the flags
-pio0_hw->irq;
-uint32_t flags = read_register(PIO0_BASE, PIO_IRQ_OFFSET)
-// Check the flags to determine which state machine made the request
-if (flags & 0b0001) { handle_sm_0(); }
-if (flags & 0b0010) { handle_sm_1(); }
-if (flags & 0b0100) { handle_sm_2(); }
-if (flags & 0b1000) { handle_sm_3(); }
-*/
-
-// TODO: add all of the specific controls like brightness and all of that scheiße

src/ov2640/camera.hpp

@@ -9,17 +9,9 @@ typedef struct {
     int pin_xclk;                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
     int pin_sccb_sda;               /*!< GPIO pin for camera SDA line */
     int pin_sccb_scl;               /*!< GPIO pin for camera SCL line */
-    int pin_data_9;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_base;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_8;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_7;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_6;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_5;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_4;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_3;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
-    int pin_data_2;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
     int pin_vsync;                  /*!< GPIO pin for camera VSYNC line */
-    int pin_hsync;                  /*!< GPIO pin for camera VSYNC line */
+    int xclk_div;                    /*!< XCLK divider; 150 / div = XCLK freq. 8 = ~18.71 MHz */ //! Figure out the highest it can go to
-    int xclk_freq_hz;               /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
     uint8_t sccb_ctrl;              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
 } camera_config_t;
 
@@ -44,11 +36,11 @@ public:
     ~OV2640();
         // Check if a new frame is ready
         bool isFrameReady() const;
-    
+
         // Reset the frame ready flag after processing
         void resetFrameReady();
 
-    int begin(int dma_irq);
+    int begin(int dma_irq, int mode);
     void set_quality(int quality);
     void set_gainceiling(gainceiling_t gainceiling);
     void set_bpc(bool enable);
@@ -57,7 +49,7 @@ public:
     void set_framesize();
     void capture_frame();
 
-    uint8_t* fb; // Changed from fixed array to pointer
+    uint8_t fb[(352*288)]; // TODO: at some point change to a pointer
     camera_config_t config;
 
 private:

src/pio/image/image.pio.h

@@ -1,66 +0,0 @@
-// -------------------------------------------------- //
-// This file is autogenerated by pioasm; do not edit! //
-// -------------------------------------------------- //
-
-#pragma once
-
-#if !PICO_NO_HARDWARE
-#include "hardware/pio.h"
-#endif
-
-// ----- //
-// image //
-// ----- //
-
-#define image_wrap_target 0
-#define image_wrap 3
-#define image_pio_version 1
-
-// static const uint16_t image_program_instructions[] = {
-//             //     .wrap_target
-//     0x20a9, //  0: wait   1 pin, 9
-//     0x20a8, //  1: wait   1 pin, 8
-//     0x4008, //  2: in     pins, 8
-//     0x2028, //  3: wait   0 pin, 8
-//             //     .wrap
-// };
-static const uint16_t image_program_instructions[] = {
-    //     .wrap_target
-    0x20a9, //  0: wait   1 pin, 9
-    0x20a8, //  1: wait   1 pin, 8
-    0x4008, //  2: in     pins, 8
-    0x2028, //  3: wait   0 pin, 8
-    //     .wrap
-};
-
-#if !PICO_NO_HARDWARE
-static const struct pio_program image_program = {
-    .instructions = image_program_instructions,
-    .length = 4,
-    .origin = -1,
-    .pio_version = image_pio_version,
-#if PICO_PIO_VERSION > 0
-    .used_gpio_ranges = 0x0
-#endif
-};
-
-static inline pio_sm_config image_program_get_default_config(uint offset) {
-    pio_sm_config c = pio_get_default_sm_config();
-    sm_config_set_wrap(&c, offset + image_wrap_target, offset + image_wrap);
-    return c;
-}
-
-void image_program_init(PIO pio, uint sm, uint offset, uint pin_base) {
-	pio_sm_set_consecutive_pindirs(pio, sm, pin_base, 10, false);
-	pio_sm_config c = image_program_get_default_config(offset);
-	sm_config_set_in_pins(&c, pin_base);
-	sm_config_set_in_shift(&c, false, true, 16); // TODO: if something is not working check this i.e revert back to 8 together with dma transfer
-	sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_RX);
-	pio_sm_init(pio, sm, offset, &c);
-	pio_sm_set_enabled(pio, sm, true);
-}
-
-// New function to initialize PIO with camera configuration pins - declaration only
-// In image.pio.h, replace the implementation with a declaration
-#endif
-

src/rp2040/SCCB.cpp

@@ -0,0 +1,105 @@
+#include <SCCB.hpp>
+#include <camera.hpp>
+#include "hardware/i2c.h"
+#include "pico/stdlib.h"
+#include "stdio.h"
+#include "src/pio/i2c/pio_i2c.h"
+
+SCCB::SCCB(uint8_t sda_pin, uint8_t scl_pin) {
+    this->sda = sda_pin;
+    this->scl = scl_pin;
+}
+
+SCCB::~SCCB() {}
+
+// ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio1
+// TODO: add proper return values when failure
+// TODO: panic if scl != sda + 1
+int SCCB::begin(uint8_t ctrl)
+{   
+    // Set up XCLK out unless it's a self-clocking camera. This must be done
+    // BEFORE any I2C commands, as cam may require clock for I2C timing.
+    this->ctrl = ctrl;
+    if (ctrl < 2) {
+        this->i2cc = ctrl == 0 ? i2c0 : i2c1;
+        i2c_init(this->i2cc, 100 * 1000);
+        gpio_set_function(this->sda, GPIO_FUNC_I2C);
+        gpio_set_function(this->scl, GPIO_FUNC_I2C);
+        gpio_pull_up(this->sda);
+        gpio_pull_up(this->scl);
+    }
+    else {
+        PIO pio;
+        switch (ctrl) {
+        case 2:
+            this->pio = pio0;
+            break;
+        case 3:
+            this->pio = pio1;
+            break;
+        case 4:
+            this->pio = pio1;
+            break;
+        default:
+            this->pio = pio0;
+            break;
+        };
+        
+        uint sm = pio_claim_unused_sm(this->pio, true);
+        uint offset = pio_add_program(this->pio, &i2c_program);
+        i2c_program_init(this->pio, this->sm, offset, this->sda, this->scl);
+    }
+
+    return 0;
+}
+
+int SCCB::readRegister(uint8_t reg)
+{
+    uint8_t buf[1];
+    if (this->ctrl < 2) {
+        i2c_write_blocking(this->i2cc, OV2640_ADDR, &reg, 1, true); // TODO: check if true or false is correct here
+        i2c_read_blocking(this->i2cc, OV2640_ADDR, buf, 1, false);  // false - finished with bus
+    }else {
+        //pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, &reg, 1);
+        //pio_i2c_read_blocking(this->pio, this->sm, OV2640_ADDR, buf, 1);
+    }
+    return buf[0];
+}
+
+void SCCB::writeRegister(uint8_t reg, uint8_t value)
+{
+    uint8_t buf[2];
+    buf[0] = reg;
+    buf[1] = value;
+
+    if (this->ctrl < 2) {
+        int ret = i2c_write_blocking(this->i2cc, OV2640_ADDR, buf, 2, false);
+        if(ret == PICO_ERROR_GENERIC) {
+            printf("Problem i2c write failed!");
+            sleep_ms(1000);
+        }
+    }else {
+        //pio_i2c_write_blocking(this->pio, this->sm, OV2640_ADDR, buf, 2);
+    }
+}
+
+void SCCB::writeMaskRegister(uint8_t reg, uint8_t offset, uint8_t mask, uint8_t value)
+{
+    uint8_t buf[2];
+    buf[0] = reg;
+    buf[1] = value;
+
+    uint8_t old_val = this->readRegister(reg);
+    uint8_t new_value = (old_val & ~(mask << offset)) | ((value & mask) << offset);
+    this->writeRegister(reg, new_value);
+}
+
+void SCCB::writeList(const register_val_t *cfg,
+                     uint16_t len)
+{
+    for (int i = 0; i < len; i++)
+    {
+        writeRegister(cfg[i].reg, cfg[i].value);
+        sleep_ms(2); // Some cams require, else lockup on init
+    }
+}

src/rp2040/SCCB.hpp

@@ -0,0 +1,30 @@
+#include <cstdint>
+#include "pico/stdlib.h"
+#include "hardware/i2c.h"
+#include "hardware/pio.h"
+
+typedef struct {
+    uint8_t reg;   ///< Register address
+    uint8_t value; ///< Value to store
+} register_val_t;
+
+class SCCB {
+public:
+    SCCB(uint8_t sda_pin = 0, uint8_t scl_pin = 0);
+    ~SCCB(); // Destructor
+
+    int begin(uint8_t ctrl);
+
+    int readRegister(uint8_t reg);
+    void writeRegister(uint8_t reg, uint8_t value);
+    void writeMaskRegister(uint8_t reg, uint8_t offset, uint8_t mask, uint8_t value);
+    void writeList(const register_val_t *cfg, uint16_t len);
+
+private:
+    uint8_t sda;
+    uint8_t scl;
+    int ctrl;
+    i2c_inst_t* i2cc;
+    pio_hw_t* pio;
+    int sm;
+};

src/rp2040/ov2640.cpp

@@ -0,0 +1,140 @@
+#define OV2640_REG_RA_DLMT 0xFF    //< Register bank select
+#define OV2640_RA_DLMT_SENSOR 0x01 //< Bank 1 - Sensor address
+#define OV2640_REG1_COM7 0x12              //< Common control 7:
+#define OV2640_COM7_SRST 0x80              //< System reset
+#define OV2640_COM7_COLORBAR 0x02          //< Color bar test pattern enable
+
+#include <SCCB.hpp>
+
+#include "ov2640.hpp"
+#include <stdio.h>
+#include "ov2640_init.h"
+#include "hardware/dma.h"
+#include "hardware/i2c.h"
+#include "hardware/pwm.h"
+#include "image.pio.h"
+
+
+static const uint8_t OV2640_ADDR = 0x60 >> 1;
+
+void ov2640_init(struct ov2640_config *config) {
+	// XCLK generation (~20.83 MHz)
+	gpio_set_function(config->pin_xclk, GPIO_FUNC_PWM);
+	uint slice_num = pwm_gpio_to_slice_num(config->pin_xclk);
+	// 6 cycles (0 to 5), 125 MHz / 6 = ~20.83 MHz wrap rate
+	pwm_set_wrap(slice_num, 5);
+	pwm_set_gpio_level(config->pin_xclk, 4);
+	pwm_set_enabled(slice_num, true);
+gpio_pull_down(config->pin_vsync);
+    // // printf("Setting up GPIO pins for camera data...\n");
+    // gpio_init(config->pin_vsync);
+    // gpio_set_dir(config->pin_vsync, GPIO_IN);
+	// //gpio_pull_up(config->pin_vsync);
+    // for (uint8_t i = 0; i < 10; i++)
+    // {
+    //     gpio_init(config->pin_y2_pio_base + i);
+    //     gpio_set_dir(config->pin_y2_pio_base + i, GPIO_IN);
+    //     //gpio_pull_down(this->config.pin_data_base + i);
+    // }
+
+
+
+
+	// SCCB I2C @ 100 kHz
+	// gpio_set_function(config->pin_sioc, GPIO_FUNC_I2C);
+	// gpio_set_function(config->pin_siod, GPIO_FUNC_I2C);
+	// i2c_init(config->sccb, 100 * 1000);
+
+	// Initialise reset pin
+	gpio_init(config->pin_resetb);
+	gpio_set_dir(config->pin_resetb, GPIO_OUT);
+
+	// Reset camera, and give it some time to wake back up
+	// gpio_put(config->pin_resetb, 0);
+	// sleep_ms(100);
+	// gpio_put(config->pin_resetb, 1);
+	// sleep_ms(100);
+	    // Init SCCB
+	SCCB sccb = SCCB(config->pin_siod, config->pin_sioc);
+	sccb.begin(0);
+	printf("Sending camera reset command...\n");
+	const uint8_t bank_select[] = {OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR};
+	const uint8_t system_reset[] = {OV2640_REG1_COM7, OV2640_COM7_SRST};
+	ov2640_regs_write(config, &bank_select); // Bank select 1
+	ov2640_regs_write(config, &system_reset); // System reset
+    sleep_ms(300);
+	printf("OV2640 camera reset\n");
+	// Initialise the camera itself over SCCB
+	ov2640_regs_write(config, ov2640_vga);
+	printf("OV2640 Set VGA\n");
+	ov2640_regs_write(config, ov2640_uxga_cif);
+	printf("OV2640 Set UXAG\n");
+
+	// // Set RGB565 output mode
+	ov2640_reg_write(config, 0xff, 0x00);
+	// printf("OV2640 Set RGB\n");
+	
+	ov2640_reg_write(config, 0xDA, (ov2640_reg_read(config, 0xDA) & 0xC) | 0x8);
+
+	// Enable image RX PIO
+	uint offset = pio_add_program(config->pio, &image_program);
+	printf("PIO offset: %d\n", offset);
+
+	offset = 28;
+	image_program_init(config->pio, config->pio_sm, offset, config->pin_y2_pio_base);
+}
+
+void ov2640_capture_frame(struct ov2640_config *config) {
+	dma_channel_config c = dma_channel_get_default_config(config->dma_channel);
+	channel_config_set_read_increment(&c, false);
+	channel_config_set_write_increment(&c, true);
+	channel_config_set_dreq(&c, pio_get_dreq(config->pio, config->pio_sm, false));
+	channel_config_set_transfer_data_size(&c, DMA_SIZE_8);
+	
+	dma_channel_configure(
+		config->dma_channel, &c,
+		config->image_buf,
+		&config->pio->rxf[config->pio_sm],
+		config->image_buf_size,
+		false
+	);
+
+	// Wait for vsync rising edge to start frame
+	printf("Waiting for vsync...\n");
+	while (gpio_get(config->pin_vsync) == true);
+	printf("Vsync detected, starting DMA...\n");
+	while (gpio_get(config->pin_vsync) == false);
+	printf("Vsync Finished, starting DMA...\n");
+
+	dma_channel_start(config->dma_channel);
+	dma_channel_wait_for_finish_blocking(config->dma_channel);
+}
+
+void ov2640_reg_write(struct ov2640_config *config, uint8_t reg, uint8_t value) {
+	uint8_t data[] = {reg, value};
+	i2c_write_blocking(config->sccb, OV2640_ADDR, data, sizeof(data), false);
+}
+
+uint8_t ov2640_reg_read(struct ov2640_config *config, uint8_t reg) {
+	i2c_write_blocking(config->sccb, OV2640_ADDR, &reg, 1, false);
+
+	uint8_t value;
+	i2c_read_blocking(config->sccb, OV2640_ADDR, &value, 1, false);
+
+	return value;
+}
+
+void ov2640_regs_write(struct ov2640_config *config, const uint8_t (*regs_list)[2]) {
+	while (1) {
+		uint8_t reg = (*regs_list)[0];
+		uint8_t value = (*regs_list)[1];
+
+		if (reg == 0x00 && value == 0x00) {
+			break;
+		}
+
+		ov2640_reg_write(config, reg, value);
+
+		regs_list++;
+	}
+}

src/rp2040/ov2640.hpp

@@ -0,0 +1,36 @@
+#ifndef OV2640_H
+#define OV2640_H
+#include <stdint.h>
+#include "pico/stdlib.h"
+#include "hardware/i2c.h"
+#include "hardware/pio.h"
+
+
+struct ov2640_config {
+	i2c_inst_t *sccb;
+	uint pin_sioc;
+	uint pin_siod;
+	
+	uint pin_resetb;
+	uint pin_xclk;
+	uint pin_vsync;
+	// Y2, Y3, Y4, Y5, Y6, Y7, Y8, PCLK, HREF
+	uint pin_y2_pio_base;
+
+	PIO pio;
+	uint pio_sm;
+
+	uint dma_channel;
+	uint8_t *image_buf;
+	size_t image_buf_size;
+};
+
+void ov2640_init(struct ov2640_config *config);
+
+void ov2640_capture_frame(struct ov2640_config *config);
+
+void ov2640_reg_write(struct ov2640_config *config, uint8_t reg, uint8_t value);
+uint8_t ov2640_reg_read(struct ov2640_config *config, uint8_t reg);
+void ov2640_regs_write(struct ov2640_config *config, const uint8_t (*regs_list)[2]);
+
+#endif

src/rp2040/ov2640_init.h

@@ -0,0 +1,265 @@
+#ifndef OV2640_INIT_H
+#define OV2640_INIT_H
+#include <stdint.h>
+
+static const uint8_t ov2640_vga[][2] = {
+	{0xff, 0x00},  /* Device control register list Table 12 */
+	{0x2c, 0xff},  /* Reserved                              */
+	{0x2e, 0xdf},  /* Reserved                              */
+	{0xff, 0x01},  /* Device control register list Table 13 */
+	{0x3c, 0x32},  /* Reserved                              */
+	{0x11, 0x00},  /* Clock Rate Control                    */
+	{0x09, 0x02},  /* Common control 2                      */
+	{0x04, 0xA8},  /* Mirror                                */
+	{0x13, 0xe5},  /* Common control 8                      */
+	{0x14, 0x48},  /* Common control 9                      */
+	{0x2c, 0x0c},  /* Reserved                              */
+	{0x33, 0x78},  /* Reserved                              */
+	{0x3a, 0x33},  /* Reserved                              */
+	{0x3b, 0xfB},  /* Reserved                              */
+	{0x3e, 0x00},  /* Reserved                              */
+	{0x43, 0x11},  /* Reserved                              */
+	{0x16, 0x10},  /* Reserved                              */
+	{0x4a, 0x81},  /* Reserved                              */
+	{0x21, 0x99},  /* Reserved                              */
+	{0x24, 0x40},  /* Luminance signal High range           */
+	{0x25, 0x38},  /* Luminance signal low range            */
+	{0x26, 0x82},  /*                                       */
+	{0x5c, 0x00},  /* Reserved                              */
+	{0x63, 0x00},  /* Reserved                              */
+	{0x46, 0x3f},  /* Frame length adjustment               */
+	{0x0c, 0x3c},  /* Common control 3                      */
+	{0x61, 0x70},  /* Histogram algo low level              */
+	{0x62, 0x80},  /* Histogram algo high level             */
+	{0x7c, 0x05},  /* Reserved                              */
+	{0x20, 0x80},  /* Reserved                              */
+	{0x28, 0x30},  /* Reserved                              */
+	{0x6c, 0x00},  /* Reserved                              */
+	{0x6d, 0x80},  /* Reserved                              */
+	{0x6e, 0x00},  /* Reserved                              */
+	{0x70, 0x02},  /* Reserved                              */
+	{0x71, 0x94},  /* Reserved                              */
+	{0x73, 0xc1},  /* Reserved                              */
+	{0x3d, 0x34},  /* Reserved                              */
+	{0x5a, 0x57},  /* Reserved                              */
+	{0x12, 0x00},  /* Common control 7                      */
+	{0x11, 0x00},  /* Clock Rate Control                   2*/
+	{0x17, 0x11},  /* Horiz window start MSB 8bits          */
+	{0x18, 0x75},  /* Horiz window end MSB 8bits            */
+	{0x19, 0x01},  /* Vert window line start MSB 8bits      */
+	{0x1a, 0x97},  /* Vert window line end MSB 8bits        */
+	{0x32, 0x36},
+	{0x03, 0x0f},
+	{0x37, 0x40},
+	{0x4f, 0xbb},
+	{0x50, 0x9c},
+	{0x5a, 0x57},
+	{0x6d, 0x80},
+	{0x6d, 0x38},
+	{0x39, 0x02},
+	{0x35, 0x88},
+	{0x22, 0x0a},
+	{0x37, 0x40},
+	{0x23, 0x00},
+	{0x34, 0xa0},
+	{0x36, 0x1a},
+	{0x06, 0x02},
+	{0x07, 0xc0},
+	{0x0d, 0xb7},
+	{0x0e, 0x01},
+	{0x4c, 0x00},
+	{0xff, 0x00},
+	{0xe5, 0x7f},
+	{0xf9, 0xc0},
+	{0x41, 0x24},
+	{0xe0, 0x14},
+	{0x76, 0xff},
+	{0x33, 0xa0},
+	{0x42, 0x20},
+	{0x43, 0x18},
+	{0x4c, 0x00},
+	{0x87, 0xd0},
+	{0x88, 0x3f},
+	{0xd7, 0x03},
+	{0xd9, 0x10},
+	{0xd3, 0x82},
+	{0xc8, 0x08},
+	{0xc9, 0x80},
+	{0x7d, 0x00},
+	{0x7c, 0x03},
+	{0x7d, 0x48},
+	{0x7c, 0x08},
+	{0x7d, 0x20},
+	{0x7d, 0x10},
+	{0x7d, 0x0e},
+	{0x90, 0x00},
+	{0x91, 0x0e},
+	{0x91, 0x1a},
+	{0x91, 0x31},
+	{0x91, 0x5a},
+	{0x91, 0x69},
+	{0x91, 0x75},
+	{0x91, 0x7e},
+	{0x91, 0x88},
+	{0x91, 0x8f},
+	{0x91, 0x96},
+	{0x91, 0xa3},
+	{0x91, 0xaf},
+	{0x91, 0xc4},
+	{0x91, 0xd7},
+	{0x91, 0xe8},
+	{0x91, 0x20},
+	{0x92, 0x00},
+	{0x93, 0x06},
+	{0x93, 0xe3},
+	{0x93, 0x02},
+	{0x93, 0x02},
+	{0x93, 0x00},
+	{0x93, 0x04},
+	{0x93, 0x00},
+	{0x93, 0x03},
+	{0x93, 0x00},
+	{0x93, 0x00},
+	{0x93, 0x00},
+	{0x93, 0x00},
+	{0x93, 0x00},
+	{0x93, 0x00},
+	{0x93, 0x00},
+	{0x96, 0x00},
+	{0x97, 0x08},
+	{0x97, 0x19},
+	{0x97, 0x02},
+	{0x97, 0x0c},
+	{0x97, 0x24},
+	{0x97, 0x30},
+	{0x97, 0x28},
+	{0x97, 0x26},
+	{0x97, 0x02},
+	{0x97, 0x98},
+	{0x97, 0x80},
+	{0x97, 0x00},
+	{0x97, 0x00},
+	{0xc3, 0xef},
+	{0xff, 0x00},
+	{0xba, 0xdc},
+	{0xbb, 0x08},
+	{0xb6, 0x24},
+	{0xb8, 0x33},
+	{0xb7, 0x20},
+	{0xb9, 0x30},
+	{0xb3, 0xb4},
+	{0xb4, 0xca},
+	{0xb5, 0x43},
+	{0xb0, 0x5c},
+	{0xb1, 0x4f},
+	{0xb2, 0x06},
+	{0xc7, 0x00},
+	{0xc6, 0x51},
+	{0xc5, 0x11},
+	{0xc4, 0x9c},
+	{0xbf, 0x00},
+	{0xbc, 0x64},
+	{0xa6, 0x00},
+	{0xa7, 0x1e},
+	{0xa7, 0x6b},
+	{0xa7, 0x47},
+	{0xa7, 0x33},
+	{0xa7, 0x00},
+	{0xa7, 0x23},
+	{0xa7, 0x2e},
+	{0xa7, 0x85},
+	{0xa7, 0x42},
+	{0xa7, 0x33},
+	{0xa7, 0x00},
+	{0xa7, 0x23},
+	{0xa7, 0x1b},
+	{0xa7, 0x74},
+	{0xa7, 0x42},
+	{0xa7, 0x33},
+	{0xa7, 0x00},
+	{0xa7, 0x23},
+	{0xc0, 0xc8},
+	{0xc1, 0x96},
+	{0x8c, 0x00},
+	{0x86, 0x3d},
+	{0x50, 0x92},
+	{0x51, 0x90},
+	{0x52, 0x2c},
+	{0x53, 0x00},
+	{0x54, 0x00},
+	{0x55, 0x88},
+	{0x5a, 0x50},
+	{0x5b, 0x3c},
+	{0x5c, 0x00},
+	{0xd3, 0x04},
+	{0x7f, 0x00},
+	{0xda, 0x00},
+	{0xe5, 0x1f},
+	{0xe1, 0x67},
+	{0xe0, 0x00},
+	{0xdd, 0x7f},
+	{0x05, 0x00},
+	{0xff, 0x00},
+	{0xe0, 0x04},
+	{0xc0, 0xc8},
+	{0xc1, 0x96},
+	{0x86, 0x3d},
+	{0x50, 0x92},
+	{0x51, 0x90},
+	{0x52, 0x2c},
+	{0x53, 0x00},
+	{0x54, 0x00},
+	{0x55, 0x88},
+	{0x57, 0x00},
+	{0x5a, 0x50},
+	{0x5b, 0x3c},
+	{0x5c, 0x00},
+	{0xd3, 0x04},
+	{0xe0, 0x00},
+	{0xFF, 0x00},
+	{0x05, 0x00},
+	{0xDA, 0x08},
+	{0xda, 0x09},
+	{0x98, 0x00},
+	{0x99, 0x00},
+	{0x00, 0x00},
+	{0xff, 0x00},
+	{0xe0, 0x04},
+	{0xc0, 0xc8},
+	{0xc1, 0x96},
+	{0x86, 0x3d},
+	{0x50, 0x89},
+	{0x51, 0x90},
+	{0x52, 0x2c},
+	{0x53, 0x00},
+	{0x54, 0x00},
+	{0x55, 0x88},
+	{0x57, 0x00},
+	{0x5a, 0xA0},
+	{0x5b, 0x78},
+	{0x5c, 0x00},
+	{0xd3, 0x02},
+	{0xe0, 0x00}
+};
+
+static const uint8_t ov2640_uxga_cif[][2] = {   
+	{0xff, 0x00},   
+	{0xe0, 0x04},   
+	{0xc0, 0xc8},   
+	{0xc1, 0x96},   
+	{0x86, 0x35},   
+	{0x50, 0x92},   
+	{0x51, 0x90},   
+	{0x52, 0x2c},   
+	{0x53, 0x00},   
+	{0x54, 0x00},   
+	{0x55, 0x88},   
+	{0x57, 0x00},   
+	{0x5a, 0x58},   
+	{0x5b, 0x48},   
+	{0x5c, 0x00},   
+	{0xd3, 0x08},   
+	{0xe0, 0x00}   
+};   
+
+#endif