BUTCube/resources/FC_camera/Camera_driver/SPI_camera.hpp

/**
 * @file SPI_camera.hpp
 * @author Petr Malaník (TheColonelYoung(at)gmail(dot)com)
 * @brief
 * @version 0.1
 * @date 11.09.2022
 */

#pragma once

#include "stm32l4xx_hal.h"

#include <vector>
#include <array>
#include <memory>

using namespace std;
typedef unsigned int uint;

class SPI_camera
{
public:
    struct Chip_select_pin {
        GPIO_TypeDef *port;
        uint16_t      pin;
    };

    struct Register_blob_8 {
        uint8_t address;
        uint8_t data;
    };

    struct Register_blob_16 {
        uint16_t address;
        uint8_t  data;
    };

protected:
    I2C_HandleTypeDef I2C_handle;
    uint8_t I2C_address = 0;

    SPI_HandleTypeDef SPI_handle;
    Chip_select_pin SPI_CS;

    UART_HandleTypeDef UART_handle;

    vector<uint8_t> image_data;

public:
    SPI_camera(I2C_HandleTypeDef I2C_handle, uint8_t I2C_address, SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS, UART_HandleTypeDef UART_handle);

    virtual void Init() = 0;

    virtual void Capture() = 0;

protected:

    int Sensor_write_register(uint8_t address, uint8_t data);

    int Sensor_write_register(uint16_t address, uint8_t data);

    int Sensor_write_register(Register_blob_8 reg);

    int Sensor_write_register(Register_blob_16 reg);

    void Sensor_write_register_bulk(vector<Register_blob_16> regs);

    void Sensor_write_register_bulk(vector<Register_blob_8> regs);

    int ArduChip_write(uint8_t addr, uint8_t data);

    int ArduChip_read(uint8_t address);

    int ArduChip_FIFO_length();

    void ArduChip_start_burst_read();

    void ArduChip_start_DMA_transfer(uint size);

    void ArduChip_CS_enable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_RESET); };

    void ArduChip_CS_disable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_SET); };
};