diff --git a/resources/FC_camera/App/butcube_imager.hpp b/resources/FC_camera/App/butcube_imager.hpp index 19432ca..cfcaa2c 100644 --- a/resources/FC_camera/App/butcube_imager.hpp +++ b/resources/FC_camera/App/butcube_imager.hpp @@ -16,17 +16,44 @@ using namespace std; typedef unsigned int uint; +/** + * @brief Captures image data from camera, control power to camera and transmit data on selected interfaces + * Currently is only UART interface supported + */ class ButCube_imager { private: + /** + * @brief UART interfaces to which data will be exported, interfaces muse be configured in advance + */ vector uart_output_interfaces; public: + /** + * @brief Construct a new ButCube_imager object + */ ButCube_imager() = default; + /** + * @brief Add UART output to list on which data are exported + * + * @param uart_output UART output to which export data from camera + * @return int + */ int Add_output(UART_HandleTypeDef uart_output); + /** + * @brief Transmit data from source to selected interfaces + * + * @param source Source of image data + * @return int Count of bytes exported + */ int Transmit(vector source); + /** + * @brief Enable or power to camera, controls load switch on camera power rail + * + * @param state true = Enabled, false = Disabled + */ void Camera_power(bool state); }; diff --git a/resources/FC_camera/Camera_driver/OV2640.cpp b/resources/FC_camera/Camera_driver/OV2640.cpp index 017f853..e9fdbb7 100644 --- a/resources/FC_camera/Camera_driver/OV2640.cpp +++ b/resources/FC_camera/Camera_driver/OV2640.cpp @@ -17,6 +17,7 @@ void OV2640::Init(const vector ®s){ Sensor_write_register_bulk(regs); + // Setup camera, H-sync: High, V-sync:high, Sensor_delay: no Delay, FIFO_mode:FIFO enabled, power_mode:Low_power ArduChip_write(0x03, 0b01010000); } @@ -48,8 +49,6 @@ void OV2640::Capture(){ // while(SPI_handle.State != HAL_SPI_STATE_READY){;} HAL_Delay(300); // delay to ensure full dma transmission - // HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET); ArduChip_CS_disable(); - HAL_UART_Transmit(&UART_handle, image_data.data(), image_size, HAL_MAX_DELAY); } // OV2640::Capture diff --git a/resources/FC_camera/Camera_driver/OV2640.hpp b/resources/FC_camera/Camera_driver/OV2640.hpp index e08cbe0..510a29a 100644 --- a/resources/FC_camera/Camera_driver/OV2640.hpp +++ b/resources/FC_camera/Camera_driver/OV2640.hpp @@ -14,20 +14,41 @@ using namespace std; typedef unsigned int uint; +/** + * @brief 2MP SPI based camera capable of JPEG compression, based on ArduChip + */ class OV2640: protected SPI_camera { private: + /** + * @brief Initialize camera sensor for JPEG capture, without resolution settings + */ + void Init() override final; public: + /** + * @brief Inherit constructor from parent class SPI_camera + */ using SPI_camera::SPI_camera; - void Init() override final; - + /** + * @brief Initialize camera sensor for JPEG capture + * + * @param regs Requested resolution of camera + */ void Init(const vector ®s); + /** + * @brief Initializes capture of image, waits for capture, transmit image into MCU memory + */ void Capture() override final; - //vector Image_data(){ return image_data; }; + /** + * @brief Return pointer to last captured image data + * + * @return vector Pointer to last captured image data + */ + vector Image_data(){ return image_data; }; }; diff --git a/resources/FC_camera/Camera_driver/OV2640_regs.hpp b/resources/FC_camera/Camera_driver/OV2640_regs.hpp index 9eba8ea..66619c2 100644 --- a/resources/FC_camera/Camera_driver/OV2640_regs.hpp +++ b/resources/FC_camera/Camera_driver/OV2640_regs.hpp @@ -1,3 +1,13 @@ +/** + * @file OV2640_regs.hpp + * @author Petr Malaník (TheColonelYoung(at)gmail(dot)com) + * @brief + * @version 0.1 + * @date 11.09.2022 + * + * Copied from ArduCam official repository on github + * https://github.com/ArduCAM/STM32 + */ #pragma once #include diff --git a/resources/FC_camera/Camera_driver/SPI_camera.cpp b/resources/FC_camera/Camera_driver/SPI_camera.cpp index 3022e32..d457379 100644 --- a/resources/FC_camera/Camera_driver/SPI_camera.cpp +++ b/resources/FC_camera/Camera_driver/SPI_camera.cpp @@ -1,7 +1,7 @@ #include "SPI_camera.hpp" -SPI_camera::SPI_camera(I2C_HandleTypeDef I2C_handle, uint8_t I2C_address, SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS, UART_HandleTypeDef UART_handle) : I2C_handle(I2C_handle), I2C_address( - I2C_address), SPI_handle(SPI_handle), SPI_CS(SPI_CS), UART_handle(UART_handle){ } +SPI_camera::SPI_camera(I2C_HandleTypeDef I2C_handle, uint8_t I2C_address, SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS) : I2C_handle(I2C_handle), I2C_address( + I2C_address), SPI_handle(SPI_handle), SPI_CS(SPI_CS){ } int SPI_camera::Sensor_write_register(uint8_t address, uint8_t data){ return Sensor_write_register(Register_blob_8{ address, data }); diff --git a/resources/FC_camera/Camera_driver/SPI_camera.hpp b/resources/FC_camera/Camera_driver/SPI_camera.hpp index 2bb94e6..8525581 100644 --- a/resources/FC_camera/Camera_driver/SPI_camera.hpp +++ b/resources/FC_camera/Camera_driver/SPI_camera.hpp @@ -17,67 +17,185 @@ using namespace std; typedef unsigned int uint; +/** + * @brief Class representing SPI cameras based on Arduchip solution + * Currently is only supported OV2640 + */ class SPI_camera { public: + /** + * @brief Describes GPIO which serves as SPI chip select pin + */ struct Chip_select_pin { GPIO_TypeDef *port; uint16_t pin; }; + /** + * @brief Represents address and data of sensor settings, 8bit address, 8 bit data for example for OV2640 sensor + */ struct Register_blob_8 { uint8_t address; uint8_t data; }; + /** + * @brief Represents address and data of sensor settings, 16bit address, 8 bit data for example for OV5642 sensor + */ struct Register_blob_16 { uint16_t address; uint8_t data; }; protected: + /** + * @brief HAL handle of I2C which is connected to image sensor + */ I2C_HandleTypeDef I2C_handle; + + /** + * @brief I2C address of sensor + * Common values: 0x60 for OV2640, 0x78 for OV5642 + */ uint8_t I2C_address = 0; + /** + * @brief HAL handle of SPI to which is ArduChip connected + */ SPI_HandleTypeDef SPI_handle; - Chip_select_pin SPI_CS; - UART_HandleTypeDef UART_handle; + /** + * @brief GPIO description which serves as SPI Chip select + */ + Chip_select_pin SPI_CS; + /** + * @brief Raw image data transmitted from ArduChip via SPI to MCu memory + */ vector 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); - + /** + * @brief Construct a new SPI camera object + * + * @param I2C_handle HAL handle of I2C which is connected to image sensor + * @param I2C_address I2C address of sensor, Common values: 0x60 for OV2640, 0x78 for OV5642 + * @param SPI_handle HAL handle of SPI to which is ArduChip connected + * @param SPI_CS GPIO description which serves as SPI Chip select + */ + SPI_camera(I2C_HandleTypeDef I2C_handle, uint8_t I2C_address, SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS); + + /** + * @brief Virtual function for camera initialization, depends on camera model + */ virtual void Init() = 0; + /** + * @brief Virtual function for image capture, depends on camera model + */ virtual void Capture() = 0; protected: + /** + * @brief Write 8-bit data to 8-bit address in image sensor via I2C, used for example in OV2640 + * + * @param address Address (8-bit) to write + * @param data Data (8-bit) to write + * @return int HAL status + */ int Sensor_write_register(uint8_t address, uint8_t data); + /** + * @brief Write 8-bit data to 16-bit address in image sensor via I2C, used for example in OV5642 + * + * @param address Address (16-bit) to write + * @param data Data (8-bit) to write + * @return int HAL status + */ int Sensor_write_register(uint16_t address, uint8_t data); + /** + * @brief Write register representation in structure (8-bit address, 8-bit data) into image sensor via I2C + * used for example in OV2640 + * + * @param reg Register represented in structure (8-bit address, 8-bit data), used for example in OV2640 + * @return int HAL status + */ int Sensor_write_register(Register_blob_8 reg); + /** + * @brief Write register representation in structure (16-bit address, 8-bit data) into image sensor via I2C + * used for example in OV5642 + * + * @param reg Register represented in structure (16-bit address, 8-bit data), used for example in OV5642 + * @return int HAL status + */ int Sensor_write_register(Register_blob_16 reg); + /** + * @brief Write vector of register settings (8-bit address, 8-bit data) into image sensor in bulk + * used for example in OV2640 + * + * @param regs vector containing register settings (8-bit address, 8-bit data) + */ void Sensor_write_register_bulk(vector regs); + /** + * @brief Write vector of register settings (16-bit address, 8-bit data) into image sensor in bulk + * used for example in OV5642 + * + * @param regs vector containing register settings (16-bit address, 8-bit data), used for example in OV5642 + */ void Sensor_write_register_bulk(vector regs); + /** + * @brief Write data (8-bit) into register address (8-bit) of ArduChip via SPI + * + * @param addr Address (8-bit) to write + * @param data Data (8-bit) to write + * @return int HAL status + */ int ArduChip_write(uint8_t addr, uint8_t data); + /** + * @brief Read data (8-bit) from register address (8-bit) of ArduChip via SPI + * + * @param address Address (8-bit) from which read + * @return int HAL status + */ int ArduChip_read(uint8_t address); + /** + * @brief Calculates size of FIFO which is used for image data inside ArduChip + * Performs communication via SPI with ArduChip + * + * @return int Count of bytes in FIFO of ArduChip + */ int ArduChip_FIFO_length(); + /** + * @brief Initialize Burst read of FIFO containing image data via SPI from ArduChip + * Must be followed by DMA request and read, after readout is complete CS signal must be disabled + */ void ArduChip_start_burst_read(); + /** + * @brief Initialize DMA transfer of image data from ArduChip FIFO via SPI + * Burst read operation must be setup before, after readout is complete CS signal must be disabled + * + * @param size Amount of bytes to read + */ void ArduChip_start_DMA_transfer(uint size); + /** + * @brief Enable communication with ArduChip via SPI, CS signal is active low + */ void ArduChip_CS_enable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_RESET); }; + /** + * @brief Disables communication with ArduChip via SPI, CS signal is active low + */ void ArduChip_CS_disable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_SET); }; }; diff --git a/resources/FC_camera/Src/main.c b/resources/FC_camera/Src/main.c index 7c694ee..170fe17 100644 --- a/resources/FC_camera/Src/main.c +++ b/resources/FC_camera/Src/main.c @@ -1,4 +1,5 @@ /* USER CODE BEGIN Header */ + /** ****************************************************************************** * @file : main.c @@ -68,27 +69,15 @@ static void MX_USART1_UART_Init(void); /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ -void Image_capture(){ +void Image_capture(OV2640 *camera, ButCube_imager *transmitter){ HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin); - ButCube_imager *transmitter = new ButCube_imager(); - transmitter->Camera_power(true); - - // Wait for power rail to stabilize - HAL_Delay(1000); - - OV2640 *camera = new OV2640(hi2c1, 0x60, hspi1, SPI_camera::Chip_select_pin{GPIOB, GPIO_PIN_0}, huart1); - - //transmitter->Add_output(huart1); - camera->Init(OV2640_320x240_JPEG); HAL_Delay(1000); camera->Capture(); - - delete transmitter; - delete camera; + transmitter->Transmit(camera->Image_data()); } /* USER CODE END 0 */ @@ -97,220 +86,183 @@ void Image_capture(){ * @brief The application entry point. * @retval int */ -int main(void) -{ - /* USER CODE BEGIN 1 */ - - /* USER CODE END 1 */ - - /* MCU Configuration--------------------------------------------------------*/ - - /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ - HAL_Init(); - - /* USER CODE BEGIN Init */ - - /* USER CODE END Init */ - - /* Configure the system clock */ - SystemClock_Config(); - - /* USER CODE BEGIN SysInit */ - - /* USER CODE END SysInit */ - - /* Initialize all configured peripherals */ - MX_GPIO_Init(); - MX_DMA_Init(); - MX_I2C1_Init(); - MX_SPI1_Init(); - MX_USART1_UART_Init(); - /* USER CODE BEGIN 2 */ - - //char* msg = "MCU Init"; - //HAL_UART_Transmit(&huart1, (uint8_t *)msg, 8, HAL_MAX_DELAY); - - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET); - char spi_buff[64]; - HAL_SPI_Transmit(&hspi1, 0x00,1, HAL_MAX_DELAY); - HAL_SPI_Receive(&hspi1, (uint8_t*)&spi_buff,1, HAL_MAX_DELAY); - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET); - - HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET); - HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); - - HAL_Delay(500); - - //char* msg = "MCU Init"; - //HAL_UART_Transmit(&huart1, (uint8_t *)msg, 8, HAL_MAX_DELAY); - - //HAL_Delay(2000); - - //camera->Capture(); - - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* USER CODE END WHILE */ +int main(void){ + /* USER CODE BEGIN 1 */ + /* USER CODE END 1 */ + /* MCU Configuration--------------------------------------------------------*/ + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); + + /* USER CODE BEGIN Init */ + /* USER CODE END Init */ + /* Configure the system clock */ + SystemClock_Config(); + + /* USER CODE BEGIN SysInit */ + /* USER CODE END SysInit */ + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_DMA_Init(); + MX_I2C1_Init(); + MX_SPI1_Init(); + MX_USART1_UART_Init(); + /* USER CODE BEGIN 2 */ + + // Initialize SPI clock + uint8_t empty = 0x00; + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET); + HAL_SPI_Transmit(&hspi1, &empty, 1, HAL_MAX_DELAY); + HAL_SPI_Receive(&hspi1, (uint8_t *) &empty, 1, HAL_MAX_DELAY); + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET); + + // Initialize LEDs + HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); + + HAL_Delay(500); - /* USER CODE BEGIN 3 */ - Image_capture(); - // Blue off, Red on - //HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET); - //HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); - //HAL_Delay(5000); - - // Blue on, Red off - //HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); - //HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET); + ButCube_imager *transmitter = new ButCube_imager(); + transmitter->Add_output(huart1); + transmitter->Camera_power(true); + // Wait for power rail to stabilize + HAL_Delay(1000); + OV2640 *camera = new OV2640(hi2c1, 0x60, hspi1, SPI_camera::Chip_select_pin{ GPIOB, GPIO_PIN_0 }); - //transmitter->Transmit(camera->Image_data()); - //HAL_Delay(500); - } - /* USER CODE END 3 */ -} + /* USER CODE END 2 */ + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ + while (1) { + /* USER CODE END WHILE */ + /* USER CODE BEGIN 3 */ + Image_capture(camera, transmitter); + } + /* USER CODE END 3 */ +} // main /** * @brief System Clock Configuration * @retval None */ -void SystemClock_Config(void) -{ - RCC_OscInitTypeDef RCC_OscInitStruct = {0}; - RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; - - /** Configure the main internal regulator output voltage - */ - if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) - { - Error_Handler(); - } - - /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_MSI; - RCC_OscInitStruct.MSIState = RCC_MSI_ON; - RCC_OscInitStruct.MSICalibrationValue = 0; - RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI; - RCC_OscInitStruct.PLL.PLLM = 1; - RCC_OscInitStruct.PLL.PLLN = 40; - RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7; - RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; - RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; - if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) - { - Error_Handler(); - } - - /** Initializes the CPU, AHB and APB buses clocks - */ - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK - |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; - RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; - RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; - RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; - RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; - - if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) - { - Error_Handler(); - } -} +void SystemClock_Config(void){ + RCC_OscInitTypeDef RCC_OscInitStruct = { 0 }; + RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 }; + + /** Configure the main internal regulator output voltage + */ + if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) { + Error_Handler(); + } + + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_MSI; + RCC_OscInitStruct.MSIState = RCC_MSI_ON; + RCC_OscInitStruct.MSICalibrationValue = 0; + RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI; + RCC_OscInitStruct.PLL.PLLM = 1; + RCC_OscInitStruct.PLL.PLLN = 40; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7; + RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; + RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { + Error_Handler(); + } + + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK + | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) { + Error_Handler(); + } +} // SystemClock_Config /** * @brief I2C1 Initialization Function * @param None * @retval None */ -static void MX_I2C1_Init(void) -{ - - /* USER CODE BEGIN I2C1_Init 0 */ - - /* USER CODE END I2C1_Init 0 */ - - /* USER CODE BEGIN I2C1_Init 1 */ - - /* USER CODE END I2C1_Init 1 */ - hi2c1.Instance = I2C1; - hi2c1.Init.Timing = 0x10909CEC; - hi2c1.Init.OwnAddress1 = 0; - hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; - hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; - hi2c1.Init.OwnAddress2 = 0; - hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK; - hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; - hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; - if (HAL_I2C_Init(&hi2c1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Analogue filter - */ - if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Digital filter - */ - if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN I2C1_Init 2 */ - - /* USER CODE END I2C1_Init 2 */ - -} +static void MX_I2C1_Init(void){ + /* USER CODE BEGIN I2C1_Init 0 */ + + /* USER CODE END I2C1_Init 0 */ + + /* USER CODE BEGIN I2C1_Init 1 */ + + /* USER CODE END I2C1_Init 1 */ + hi2c1.Instance = I2C1; + hi2c1.Init.Timing = 0x10909CEC; + hi2c1.Init.OwnAddress1 = 0; + hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; + hi2c1.Init.OwnAddress2 = 0; + hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK; + hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; + hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; + if (HAL_I2C_Init(&hi2c1) != HAL_OK) { + Error_Handler(); + } + + /** Configure Analogue filter + */ + if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) { + Error_Handler(); + } + + /** Configure Digital filter + */ + if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) { + Error_Handler(); + } + /* USER CODE BEGIN I2C1_Init 2 */ + + /* USER CODE END I2C1_Init 2 */ +} // MX_I2C1_Init /** * @brief SPI1 Initialization Function * @param None * @retval None */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_8BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 7; - hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; - hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - - /* USER CODE END SPI1_Init 2 */ - +static void MX_SPI1_Init(void){ + /* USER CODE BEGIN SPI1_Init 0 */ + + /* USER CODE END SPI1_Init 0 */ + + /* USER CODE BEGIN SPI1_Init 1 */ + + /* USER CODE END SPI1_Init 1 */ + /* SPI1 parameter configuration*/ + hspi1.Instance = SPI1; + hspi1.Init.Mode = SPI_MODE_MASTER; + hspi1.Init.Direction = SPI_DIRECTION_2LINES; + hspi1.Init.DataSize = SPI_DATASIZE_8BIT; + hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi1.Init.NSS = SPI_NSS_SOFT; + hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; + hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi1.Init.TIMode = SPI_TIMODE_DISABLE; + hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi1.Init.CRCPolynomial = 7; + hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; + hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + if (HAL_SPI_Init(&hspi1) != HAL_OK) { + Error_Handler(); + } + /* USER CODE BEGIN SPI1_Init 2 */ + + /* USER CODE END SPI1_Init 2 */ } /** @@ -318,53 +270,46 @@ static void MX_SPI1_Init(void) * @param None * @retval None */ -static void MX_USART1_UART_Init(void) -{ - - /* USER CODE BEGIN USART1_Init 0 */ - - /* USER CODE END USART1_Init 0 */ - - /* USER CODE BEGIN USART1_Init 1 */ - - /* USER CODE END USART1_Init 1 */ - huart1.Instance = USART1; - huart1.Init.BaudRate = 115200; - huart1.Init.WordLength = UART_WORDLENGTH_8B; - huart1.Init.StopBits = UART_STOPBITS_1; - huart1.Init.Parity = UART_PARITY_NONE; - huart1.Init.Mode = UART_MODE_TX_RX; - huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; - huart1.Init.OverSampling = UART_OVERSAMPLING_16; - huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; - huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; - if (HAL_UART_Init(&huart1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN USART1_Init 2 */ - - /* USER CODE END USART1_Init 2 */ - +static void MX_USART1_UART_Init(void){ + /* USER CODE BEGIN USART1_Init 0 */ + + /* USER CODE END USART1_Init 0 */ + + /* USER CODE BEGIN USART1_Init 1 */ + + /* USER CODE END USART1_Init 1 */ + huart1.Instance = USART1; + huart1.Init.BaudRate = 115200; + huart1.Init.WordLength = UART_WORDLENGTH_8B; + huart1.Init.StopBits = UART_STOPBITS_1; + huart1.Init.Parity = UART_PARITY_NONE; + huart1.Init.Mode = UART_MODE_TX_RX; + huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart1.Init.OverSampling = UART_OVERSAMPLING_16; + huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; + huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&huart1) != HAL_OK) { + Error_Handler(); + } + /* USER CODE BEGIN USART1_Init 2 */ + + /* USER CODE END USART1_Init 2 */ } /** * Enable DMA controller clock */ -static void MX_DMA_Init(void) -{ - - /* DMA controller clock enable */ - __HAL_RCC_DMA1_CLK_ENABLE(); - - /* DMA interrupt init */ - /* DMA1_Channel2_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn); - /* DMA1_Channel3_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn); - +static void MX_DMA_Init(void){ + /* DMA controller clock enable */ + __HAL_RCC_DMA1_CLK_ENABLE(); + + /* DMA interrupt init */ + /* DMA1_Channel2_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn); + /* DMA1_Channel3_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn); } /** @@ -372,63 +317,61 @@ static void MX_DMA_Init(void) * @param None * @retval None */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; - - /* GPIO Ports Clock Enable */ - __HAL_RCC_GPIOA_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - __HAL_RCC_GPIOH_CLK_ENABLE(); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_15, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOA, CAMERA_EN_Pin|LED2_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOB, CAMERA_CS_Pin|LED1_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOH, GPIO_PIN_3, GPIO_PIN_SET); - - /*Configure GPIO pins : PA0 PA1 PA2 PA15 */ - GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_15; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /*Configure GPIO pins : CAMERA_EN_Pin LED2_Pin */ - GPIO_InitStruct.Pin = CAMERA_EN_Pin|LED2_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /*Configure GPIO pin : CAMERA_CS_Pin */ - GPIO_InitStruct.Pin = CAMERA_CS_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - HAL_GPIO_Init(CAMERA_CS_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : LED1_Pin */ - GPIO_InitStruct.Pin = LED1_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED1_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : PH3 */ - GPIO_InitStruct.Pin = GPIO_PIN_3; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(GPIOH, &GPIO_InitStruct); - -} +static void MX_GPIO_Init(void){ + GPIO_InitTypeDef GPIO_InitStruct = { 0 }; + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOH_CLK_ENABLE(); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_15, GPIO_PIN_SET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOA, CAMERA_EN_Pin | LED2_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOB, CAMERA_CS_Pin | LED1_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOH, GPIO_PIN_3, GPIO_PIN_SET); + + /*Configure GPIO pins : PA0 PA1 PA2 PA15 */ + GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_15; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /*Configure GPIO pins : CAMERA_EN_Pin LED2_Pin */ + GPIO_InitStruct.Pin = CAMERA_EN_Pin | LED2_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /*Configure GPIO pin : CAMERA_CS_Pin */ + GPIO_InitStruct.Pin = CAMERA_CS_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + HAL_GPIO_Init(CAMERA_CS_GPIO_Port, &GPIO_InitStruct); + + /*Configure GPIO pin : LED1_Pin */ + GPIO_InitStruct.Pin = LED1_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(LED1_GPIO_Port, &GPIO_InitStruct); + + /*Configure GPIO pin : PH3 */ + GPIO_InitStruct.Pin = GPIO_PIN_3; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOH, &GPIO_InitStruct); +} // MX_GPIO_Init /* USER CODE BEGIN 4 */ @@ -438,18 +381,16 @@ static void MX_GPIO_Init(void) * @brief This function is executed in case of error occurrence. * @retval None */ -void Error_Handler(void) -{ - /* USER CODE BEGIN Error_Handler_Debug */ - /* User can add his own implementation to report the HAL error return state */ - __disable_irq(); - while (1) - { - } - /* USER CODE END Error_Handler_Debug */ +void Error_Handler(void){ + /* USER CODE BEGIN Error_Handler_Debug */ + /* User can add his own implementation to report the HAL error return state */ + __disable_irq(); + while (1) { } + /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT + /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. @@ -457,11 +398,12 @@ void Error_Handler(void) * @param line: assert_param error line source number * @retval None */ -void assert_failed(uint8_t *file, uint32_t line) -{ - /* USER CODE BEGIN 6 */ - /* User can add his own implementation to report the file name and line number, - ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ - /* USER CODE END 6 */ +void assert_failed(uint8_t *file, uint32_t line){ + /* USER CODE BEGIN 6 */ + + /* User can add his own implementation to report the file name and line number, + ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ + /* USER CODE END 6 */ } + #endif /* USE_FULL_ASSERT */