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Camera_driver: Update doxygen documentation of camera driver

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This commit is contained in:
Petr Malanik
2023-01-23 20:24:56 +01:00
parent d99e4b27e6
commit 9ce15191d3
7 changed files with 416 additions and 299 deletions
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3
resources/FC_camera/Camera_driver/OV2640.cpp
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@ -17,6 +17,7 @@ void OV2640::Init(const vector<Register_blob_8> &regs){
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

31
resources/FC_camera/Camera_driver/OV2640.hpp
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@ -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:
public:
using SPI_camera::SPI_camera;
/**
* @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;
/**
* @brief Initialize camera sensor for JPEG capture
*
* @param regs Requested resolution of camera
*/
void Init(const vector<Register_blob_8> &regs);
/**
* @brief Initializes capture of image, waits for capture, transmit image into MCU memory
*/
void Capture() override final;
//vector<uint8_t> Image_data(){ return image_data; };
/**
* @brief Return pointer to last captured image data
*
* @return vector<uint8_t> Pointer to last captured image data
*/
vector<uint8_t> Image_data(){ return image_data; };
};

10
resources/FC_camera/Camera_driver/OV2640_regs.hpp
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@ -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 <vector>

4
resources/FC_camera/Camera_driver/SPI_camera.cpp
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@ -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 });

124
resources/FC_camera/Camera_driver/SPI_camera.hpp
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@ -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;
/**
* @brief GPIO description which serves as SPI Chip select
*/
Chip_select_pin SPI_CS;
UART_HandleTypeDef UART_handle;
/**
* @brief Raw image data transmitted from ArduChip via SPI to MCu memory
*/
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);
/**
* @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<Register_blob_16> 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<Register_blob_8> 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); };
};