void init_ColorVision(void) {
// initialize ov6620 cmos camera
i2cdata[0] = 0x01;
i2cdata[1] = 0x8F; // Blue Gain control (default 0x80)
i2cdata[2] = 0x8F; // Red Gain Control
i2cdata[3] = 0x80; // Saturation
i2cdata[4] = 0x00; // Reserved
i2cdata[5] = 0x4f; // Contrast
i2cdata[6] = 0x9f; // Brightness
i2cdata[7] = 0xCF; // Sharpness (default 0xC6)
i2cdata[8] = 0x00; // Reserved
i2cdata[9] = 0x00; // Reserved
i2cdata[10] = 0x00; // Reserved
i2cdata[11] = 0x00; // Reserved
i2cdata[12] = 0x20; // AWB - Blue
i2cdata[13] = 0x20; // AWB - Red
i2cdata[14] = 0x0D; // COMR
i2cdata[15] = 0x05; // COMS
i2cdata[16] = 0x9A; // AEC
i2cdata[17] = 0x01; // CLKRC
i2cdata[18] = 0x28; // COMA
i2cdata[19] = 0x01; // 0x01; // COMB
I2C_write(I2C0, 0x60, i2cdata, 20, SET_STOP_BIT_AFTER_WRITE);
i2cdata[0] = 0x20;
i2cdata[1] = 0x01; // COME
I2C_write(I2C0, 0x60, i2cdata, 2, SET_STOP_BIT_AFTER_WRITE);
i2cdata[0] = 0x28;
i2cdata[1] = 0x81; // COMH
I2C_write(I2C0, 0x60, i2cdata, 2, SET_STOP_BIT_AFTER_WRITE);
i2cdata[0] = 0x39;
// changed to PCLK always on.
i2cdata[1] = 0x00; //0x40; // COML
I2C_write(I2C0, 0x60, i2cdata, 2, SET_STOP_BIT_AFTER_WRITE);
VPIF_initReceive(VIDEO_CONN_CAMERA);
// PRU setup
EVMOMAPL138_lpscTransition(PSC0, DOMAIN0, LPSC_DMAX, PSC_ENABLE);
PRU_stop(PRU0);
PRU_reset(PRU0);
PRU_load(PRU0_PROG, PRUCode, sizeof(PRUCode)/sizeof(uint32_t));
PRU_reset(PRU0);
PRU_run(PRU0);
// VPIF (95) interrupt serviced by INT4
ICR = 0x010; // clear pending interrupts
IER |= 0x010; // enable interrupt on line
// PRU (6) interrupt serviced by INT6
ICR = 0x040; // clear pending interrupts
IER |= 0x040; // enable interrupt on line
pic_data = (int *)ADDR_VIDEO_DATA_BASE;
Image_data = (bgr *)(IMAGE_DATA_MEM);
Thres_Image = (unsigned char *)(THRES_IMAGE_MEM);
Linux_Image = (bgr *)(ADDR_VIDEO_DATA_BASE+LINUX_IMAGE_OFFSET);
LCD_Image = (bgr *)(ADDR_VIDEO_DATA_BASE+LCD_IMAGE_OFFSET);
ptrshrdmem = (sharedmemstruct *)SHARED_MEM;
while (CHKBIT(VPIF->INTSTAT,INT_FRAME_CH1) == 0) {}
SETBIT(VPIF->INTSTATCLR, INT_FRAME_CH1);
}
void PRU_restart(pru_regs_t *pru) {
PRU_stop(pru);
PRU_reset(pru);
PRU_run(pru);
}