Compare commits
7 Commits
Sun_sensor
...
Camera_dri
| Author | SHA1 | Date | |
|---|---|---|---|
| ee7bed9344 | |||
| 5f7f569ae7 | |||
| 28345045ba | |||
| cd0af22b26 | |||
| 9ce15191d3 | |||
| d99e4b27e6 | |||
| 34b9eaafc2 |
3
.gitmodules
vendored
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3
.gitmodules
vendored
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@ -0,0 +1,3 @@
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||||
[submodule "resources/Camera_driver/alohal"]
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path = resources/Camera_driver/alohal
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url = git@github.com:TheColonelYoung/ALOHAL.git
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5
modules/Sun_sensor/.gitignore
vendored
5
modules/Sun_sensor/.gitignore
vendored
@ -1,5 +0,0 @@
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Sun_sensor-backups/
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gerbers/
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bom/
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replicate_layout.log
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*.bak
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File diff suppressed because it is too large
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|
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|
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|
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|
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|
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -1,18 +0,0 @@
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||||
(footprint "Alignment_hole" (version 20211014) (generator pcbnew)
|
||||
(layer "F.Cu")
|
||||
(tedit 0)
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||||
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(effects (font (size 1 1) (thickness 0.15)))
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File diff suppressed because it is too large
Load Diff
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1
modules/Sun_sensor/fw/.gitignore
vendored
1
modules/Sun_sensor/fw/.gitignore
vendored
@ -1 +0,0 @@
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build/
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File diff suppressed because one or more lines are too long
19
modules/Sun_sensor/fw/.vscode/launch.json
vendored
19
modules/Sun_sensor/fw/.vscode/launch.json
vendored
@ -1,19 +0,0 @@
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{
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"version": "0.2.0",
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"configurations": [
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{
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"type": "cortex-debug",
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"request": "launch",
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"servertype": "openocd",
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"cwd": "${workspaceRoot}",
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"executable": "${workspaceRoot}/build/Sun_sensor.elf",
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"name": "GDB + OpenOCD",
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||||
"device": "STM32L432",
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"configFiles": [
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"interface/stlink.cfg",
|
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"target/stm32l4x.cfg"
|
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]
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}
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]
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}
|
||||
@ -1,78 +0,0 @@
|
||||
#include "MLX75306.hpp"
|
||||
|
||||
MLX75306::MLX75306(SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS) :
|
||||
SPI_handle(SPI_handle), SPI_CS(SPI_CS){ }
|
||||
|
||||
void MLX75306::Init(){
|
||||
Reset();
|
||||
}
|
||||
|
||||
void MLX75306::Reset(){
|
||||
Command(Commands::Chip_reset, { 0, 0 });
|
||||
}
|
||||
|
||||
void MLX75306::Wake_up(){
|
||||
Command(Commands::Wake_up, { 0, 0 });
|
||||
}
|
||||
|
||||
void MLX75306::Zebra_pattern_1(){
|
||||
Command(Commands::Test_zebra_pattern_1, { 0, 0 });
|
||||
}
|
||||
|
||||
array<uint8_t, 159> MLX75306::Read_all_8bit(){
|
||||
// Command is set to read all pixels
|
||||
return Command<159>(Commands::Read_out_8b, { 0x02, 0x8f });
|
||||
}
|
||||
|
||||
void MLX75306::Integrate(double time_us){
|
||||
const unsigned int f_RCO = 10000000;
|
||||
const double min_time_us = 0.1;
|
||||
const double max_time_us = 100000;
|
||||
int64_t integration_register = 0;
|
||||
|
||||
// Cap values
|
||||
if (time_us < min_time_us) {
|
||||
time_us = min_time_us;
|
||||
}
|
||||
if (time_us > max_time_us) {
|
||||
time_us = max_time_us;
|
||||
}
|
||||
|
||||
// Calculate value for short integration
|
||||
integration_register = ((time_us / 1000000) * f_RCO) + 4;
|
||||
|
||||
// If integration time is longer then maximal short integration time used long integration command
|
||||
if (integration_register > ((1 << 16) - (11 * 16))) {
|
||||
integration_register = (((time_us / 1000000) * f_RCO) - 11) / 16;
|
||||
|
||||
|
||||
// Handle overflow and underflow of integration register
|
||||
if (integration_register > (1 << 16)) {
|
||||
integration_register = (1 << 16) - 1;
|
||||
} else if (integration_register < 0) {
|
||||
integration_register = 1;
|
||||
}
|
||||
// Long integration
|
||||
Command(Commands::Start_integration_long,
|
||||
{
|
||||
static_cast<uint8_t>((integration_register & 0xff00) >> 8),
|
||||
static_cast<uint8_t>(integration_register & 0xff)
|
||||
}
|
||||
);
|
||||
} else {
|
||||
// Short integration
|
||||
Command(Commands::Start_integration,
|
||||
{
|
||||
static_cast<uint8_t>((integration_register & 0xff00) >> 8),
|
||||
static_cast<uint8_t>(integration_register & 0xff)
|
||||
}
|
||||
);
|
||||
}
|
||||
} // MLX75306::Integrate
|
||||
|
||||
MLX75306::Status_byte MLX75306::Status(){
|
||||
array<uint8_t, 2> payload = { 0, 0 };
|
||||
auto status = Command(Commands::Idle, payload)[0];
|
||||
Status_byte status_struct = *((Status_byte *) &(status));
|
||||
return status_struct;
|
||||
}
|
||||
@ -1,186 +0,0 @@
|
||||
/**
|
||||
* @file SPI_camera.hpp
|
||||
* @author Petr Malaník (TheColonelYoung(at)gmail(dot)com)
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 1.03.2023
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "stm32l4xx_hal.h"
|
||||
|
||||
#include <array>
|
||||
|
||||
using namespace std;
|
||||
typedef unsigned int uint;
|
||||
|
||||
/**
|
||||
* @brief Linear optical sensor array, including a 142 x 1 array of photodiodes
|
||||
* associated charge amplifier circuitry and a pixel data-hold function that
|
||||
* provides simultaneous integration start and stop times for all pixels.
|
||||
*/
|
||||
class MLX75306
|
||||
{
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief Describes GPIO which serves as SPI chip select pin
|
||||
*/
|
||||
struct Chip_select_pin {
|
||||
GPIO_TypeDef *port;
|
||||
uint16_t pin;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Command for MLX75306, whole command composes of 3 bytes, first byte is from enum below
|
||||
* Other two bytes are payload which could be command specific or empty
|
||||
*/
|
||||
enum class Commands: uint8_t {
|
||||
Idle = 0b00000000,
|
||||
Chip_reset = 0b11110000,
|
||||
Read_thresholds = 0b11011000,
|
||||
Write_thresholds = 0b11001100,
|
||||
Start_integration = 0b10111000,
|
||||
Start_integration_long = 0b10110100,
|
||||
Read_out_1b = 0b10011100,
|
||||
Read_out_1b5 = 0b10010110,
|
||||
Read_out_4b = 0b10010011,
|
||||
Read_out_8b = 0b10011001,
|
||||
Test_zebra_pattern_1 = 0b11101000,
|
||||
Test_zebra_pattern_2 = 0b11100100,
|
||||
Test_zebra_pattern_12 = 0b11100010,
|
||||
Test_zebra_pattern_0 = 0b11100001,
|
||||
Sleep_mode = 0b11000110,
|
||||
Wake_up = 0b11000011,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Structure of MLX75306 status byte
|
||||
*/
|
||||
struct __attribute__((packed)) __attribute__((__may_alias__)) Status_byte{
|
||||
uint8_t command_counter : 5; // Counter of valid commands
|
||||
uint8_t device_mode : 1; // Device mode: 0-Test 1-User
|
||||
uint8_t power_up_in_progress : 1; // Set after first Chip_reset command, clear after power-up
|
||||
uint8_t operational_mode : 1; // Device operational mode: 0-Sleep 1-Normal
|
||||
};
|
||||
|
||||
protected:
|
||||
|
||||
/*
|
||||
* @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;
|
||||
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief Construct a new MLX75306 object
|
||||
*
|
||||
* @param SPI_handle HAL handle of SPI to which is sensor connected
|
||||
* @param SPI_CS GPIO description which serves as SPI Chip select
|
||||
*/
|
||||
MLX75306(SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS);
|
||||
|
||||
/**
|
||||
* @brief Initialize sensor by reset
|
||||
*/
|
||||
void Init();
|
||||
|
||||
/**
|
||||
* @brief Reset sensor, reset must be done after power-up, reset all registers
|
||||
*/
|
||||
void Reset();
|
||||
|
||||
/**
|
||||
* @brief Change operational mode of sensor to Normal
|
||||
* During normal mode an integration and readout could be performed.
|
||||
*/
|
||||
void Wake_up();
|
||||
|
||||
/**
|
||||
* @brief Change operational mode of sensor to Sleep
|
||||
* During sleep mode an integration and readout could not be performed.
|
||||
* But power draw of sensor is reduced.
|
||||
*/
|
||||
void Sleep_mode();
|
||||
|
||||
/**
|
||||
* @brief Sensor will charge photodiodes to defined levels to create test pattern
|
||||
* Every odd pixel is charged to high level of charge, even pixel to low level of charge
|
||||
* This command is used instead of Integration start
|
||||
*/
|
||||
void Zebra_pattern_1();
|
||||
|
||||
/**
|
||||
* @brief Time in micro second to integrate charge photodiodes
|
||||
* The shortest time is 0.1 us, the longest is 100 ms, values above or below are capped
|
||||
*/
|
||||
void Integrate(double time_us);
|
||||
|
||||
/**
|
||||
* @brief Reads Status byte of sensor by using Idle command
|
||||
*
|
||||
* @return Status_byte Structured status byte of sensor
|
||||
*/
|
||||
Status_byte Status();
|
||||
|
||||
/**
|
||||
* @brief Perform readout of all output registers and pixels from sensor
|
||||
*
|
||||
* @return array<uint8_t, 159> Output registers of sensor containing metadata and pixels
|
||||
*/
|
||||
array<uint8_t, 159> Read_all_8bit();
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* @brief Send command to sensor and return answer (mostly status byte and empty bytes)
|
||||
*
|
||||
* @tparam array_size Size of returned answer on bytes, default is 3
|
||||
* @param command Command from available Commands of sensor
|
||||
* @param payload Payload (parameters) of command, mostly empty but could contain integration time, atc.
|
||||
* @return array<uint8_t, array_size> Answer to command, example: status byte, readout bytes, etc.
|
||||
*/
|
||||
template <size_t array_size = 3>
|
||||
array<uint8_t, array_size> Command(Commands command, array<uint8_t, 2> payload){
|
||||
array<uint8_t, array_size> byte_stream = { 0 };
|
||||
byte_stream[0] = (uint8_t) command;
|
||||
byte_stream[1] = payload[0];
|
||||
byte_stream[2] = payload[1];
|
||||
|
||||
return Transmit_and_receive(byte_stream);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Transmit bytes to sensor and receive answer
|
||||
*
|
||||
* @tparam array_size Amount of bytes to transfer and receive
|
||||
* @param byte_stream Array of bytes to transmit
|
||||
* @return array<uint8_t, array_size> Array of received bytes
|
||||
*/
|
||||
template <size_t array_size>
|
||||
array<uint8_t, array_size> Transmit_and_receive(array<uint8_t, array_size> &byte_stream){
|
||||
array<uint8_t, array_size> received = { 0 };
|
||||
CS_enable();
|
||||
HAL_SPI_TransmitReceive(&SPI_handle, byte_stream.data(), received.data(), byte_stream.size(), byte_stream.size());
|
||||
CS_disable();
|
||||
return received;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enables communication with sensor via SPI, CS signal is active low
|
||||
*/
|
||||
void CS_enable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_RESET); };
|
||||
|
||||
/**
|
||||
* @brief Disables communication with sensor via SPI, CS signal is active low
|
||||
*/
|
||||
void CS_disable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_SET); };
|
||||
};
|
||||
@ -1,410 +0,0 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "MLX75306.hpp"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
/* USER CODE END PD */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PM */
|
||||
|
||||
/* USER CODE END PM */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
CAN_HandleTypeDef hcan1;
|
||||
SPI_HandleTypeDef hspi1;
|
||||
UART_HandleTypeDef huart2;
|
||||
|
||||
/* USER CODE BEGIN PV */
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
void SystemClock_Config(void);
|
||||
static void MX_GPIO_Init(void);
|
||||
static void MX_CAN1_Init(void);
|
||||
static void MX_SPI1_Init(void);
|
||||
static void MX_USART2_UART_Init(void);
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
/* USER CODE END PFP */
|
||||
|
||||
/* Private user code ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
void UART_print(string message){
|
||||
message += "\r\n";
|
||||
HAL_UART_Transmit(&huart2, (const uint8_t *) message.c_str(), message.length(), message.length());
|
||||
}
|
||||
|
||||
void Print_status(MLX75306::Status_byte status){
|
||||
UART_print("MLX75306 Status:");
|
||||
string op_mode = status.operational_mode ? "Normal" : "Sleep";
|
||||
UART_print("Operational Mode: " + op_mode);
|
||||
string power_up_state = status.power_up_in_progress ? "Done" : "In progress";
|
||||
UART_print("Power up: " + power_up_state);
|
||||
string device_mode = status.device_mode ? "User" : "Test";
|
||||
UART_print("Device mode: " + device_mode);
|
||||
UART_print("Command counter " + to_string(status.command_counter));
|
||||
}
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/**
|
||||
* @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_CAN1_Init();
|
||||
MX_SPI1_Init();
|
||||
MX_USART2_UART_Init();
|
||||
/* USER CODE BEGIN 2 */
|
||||
|
||||
UART_print("\r\nBUTCube Sun Sensor module is ready ...\r\n");
|
||||
|
||||
auto sensor = new MLX75306(hspi1, MLX75306::Chip_select_pin{ GPIOA, GPIO_PIN_4 });
|
||||
sensor->Init();
|
||||
sensor->Wake_up();
|
||||
|
||||
sensor->Zebra_pattern_1();
|
||||
HAL_Delay(10);
|
||||
Print_status(sensor->Status());
|
||||
|
||||
auto readout = sensor->Read_all_8bit();
|
||||
|
||||
UART_print("\r\nBytes of zebra pattern 1:");
|
||||
for (auto &byte:readout) {
|
||||
UART_print(to_string(byte));
|
||||
}
|
||||
|
||||
sensor->Integrate(1000);
|
||||
HAL_Delay(50);
|
||||
readout = sensor->Read_all_8bit();
|
||||
|
||||
UART_print("\r\nBytes of integrated image:");
|
||||
for (auto &byte:readout) {
|
||||
UART_print(to_string(byte));
|
||||
}
|
||||
|
||||
UART_print(""); // EOL
|
||||
Print_status(sensor->Status());
|
||||
|
||||
/* USER CODE END 2 */
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1) {
|
||||
/* USER CODE END WHILE */
|
||||
/* USER CODE BEGIN 3 */
|
||||
HAL_GPIO_WritePin(GPIOB, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(GPIOB, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_Delay(100);
|
||||
|
||||
HAL_GPIO_WritePin(GPIOB, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(GPIOB, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(100);
|
||||
}
|
||||
/* 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 };
|
||||
RCC_PeriphCLKInitTypeDef PeriphClkInit = { 0 };
|
||||
|
||||
/** Initializes the RCC Oscillators according to the specified parameters
|
||||
* in the RCC_OscInitTypeDef structure.
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
|
||||
RCC_OscInitStruct.PLL.PLLM = 1;
|
||||
RCC_OscInitStruct.PLL.PLLN = 10;
|
||||
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();
|
||||
}
|
||||
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
|
||||
PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
|
||||
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
/** Configure the main internal regulator output voltage
|
||||
*/
|
||||
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
} // SystemClock_Config
|
||||
|
||||
/**
|
||||
* @brief CAN1 Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_CAN1_Init(void){
|
||||
/* USER CODE BEGIN CAN1_Init 0 */
|
||||
|
||||
/* USER CODE END CAN1_Init 0 */
|
||||
|
||||
/* USER CODE BEGIN CAN1_Init 1 */
|
||||
|
||||
/* USER CODE END CAN1_Init 1 */
|
||||
hcan1.Instance = CAN1;
|
||||
hcan1.Init.Prescaler = 32;
|
||||
hcan1.Init.Mode = CAN_MODE_NORMAL;
|
||||
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
||||
hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
|
||||
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
|
||||
hcan1.Init.TimeTriggeredMode = DISABLE;
|
||||
hcan1.Init.AutoBusOff = DISABLE;
|
||||
hcan1.Init.AutoWakeUp = DISABLE;
|
||||
hcan1.Init.AutoRetransmission = DISABLE;
|
||||
hcan1.Init.ReceiveFifoLocked = DISABLE;
|
||||
hcan1.Init.TransmitFifoPriority = DISABLE;
|
||||
if (HAL_CAN_Init(&hcan1) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN CAN1_Init 2 */
|
||||
|
||||
/* USER CODE END CAN1_Init 2 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @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_HIGH;
|
||||
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
|
||||
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_DISABLE;
|
||||
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN SPI1_Init 2 */
|
||||
|
||||
/* USER CODE END SPI1_Init 2 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief USART2 Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_USART2_UART_Init(void){
|
||||
/* USER CODE BEGIN USART2_Init 0 */
|
||||
|
||||
/* USER CODE END USART2_Init 0 */
|
||||
|
||||
/* USER CODE BEGIN USART2_Init 1 */
|
||||
|
||||
/* USER CODE END USART2_Init 1 */
|
||||
huart2.Instance = USART2;
|
||||
huart2.Init.BaudRate = 115200;
|
||||
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart2.Init.StopBits = UART_STOPBITS_1;
|
||||
huart2.Init.Parity = UART_PARITY_NONE;
|
||||
huart2.Init.Mode = UART_MODE_TX_RX;
|
||||
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
||||
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
||||
if (HAL_UART_Init(&huart2) != HAL_OK) {
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN USART2_Init 2 */
|
||||
|
||||
/* USER CODE END USART2_Init 2 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief GPIO Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_GPIO_Init(void){
|
||||
GPIO_InitTypeDef GPIO_InitStruct = { 0 };
|
||||
|
||||
/* GPIO Ports Clock Enable */
|
||||
__HAL_RCC_GPIOC_CLK_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, CS__1_Pin | CS__2_Pin | CAN_RS_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOB, FRAM_CS_Pin | LED2_Pin | LED1_Pin | CS__3_Pin
|
||||
| CS__4_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pins : FR_RDY__1_Pin FR_RDY__2_Pin */
|
||||
GPIO_InitStruct.Pin = FR_RDY__1_Pin | FR_RDY__2_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : CS__1_Pin */
|
||||
GPIO_InitStruct.Pin = CS__1_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(CS__1_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : FRAM_CS_Pin LED2_Pin LED1_Pin CS__3_Pin
|
||||
CS__4_Pin */
|
||||
GPIO_InitStruct.Pin = FRAM_CS_Pin | LED2_Pin | LED1_Pin | CS__3_Pin
|
||||
| CS__4_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : CS__2_Pin CAN_RS_Pin */
|
||||
GPIO_InitStruct.Pin = CS__2_Pin | CAN_RS_Pin;
|
||||
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 pin : FR_RDY__3_Pin */
|
||||
GPIO_InitStruct.Pin = FR_RDY__3_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(FR_RDY__3_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : FR_RDY__4_Pin */
|
||||
GPIO_InitStruct.Pin = FR_RDY__4_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(FR_RDY__4_GPIO_Port, &GPIO_InitStruct);
|
||||
} // MX_GPIO_Init
|
||||
|
||||
/* USER CODE BEGIN 4 */
|
||||
|
||||
/* USER CODE END 4 */
|
||||
|
||||
/**
|
||||
* @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 */
|
||||
}
|
||||
|
||||
#ifdef USE_FULL_ASSERT
|
||||
|
||||
/**
|
||||
* @brief Reports the name of the source file and the source line number
|
||||
* where the assert_param error has occurred.
|
||||
* @param file: pointer to the source file name
|
||||
* @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 */
|
||||
}
|
||||
|
||||
#endif /* USE_FULL_ASSERT */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
@ -1,281 +0,0 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file stm32l4xx_hal_msp.c
|
||||
* @brief This file provides code for the MSP Initialization
|
||||
* and de-Initialization codes.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
/* USER CODE BEGIN Includes */
|
||||
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN TD */
|
||||
|
||||
/* USER CODE END TD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Define */
|
||||
|
||||
/* USER CODE END Define */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Macro */
|
||||
|
||||
/* USER CODE END Macro */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PV */
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
/* USER CODE END PFP */
|
||||
|
||||
/* External functions --------------------------------------------------------*/
|
||||
/* USER CODE BEGIN ExternalFunctions */
|
||||
|
||||
/* USER CODE END ExternalFunctions */
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
/**
|
||||
* Initializes the Global MSP.
|
||||
*/
|
||||
void HAL_MspInit(void)
|
||||
{
|
||||
/* USER CODE BEGIN MspInit 0 */
|
||||
|
||||
/* USER CODE END MspInit 0 */
|
||||
|
||||
__HAL_RCC_SYSCFG_CLK_ENABLE();
|
||||
__HAL_RCC_PWR_CLK_ENABLE();
|
||||
|
||||
/* System interrupt init*/
|
||||
|
||||
/* USER CODE BEGIN MspInit 1 */
|
||||
|
||||
/* USER CODE END MspInit 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN MSP Initialization
|
||||
* This function configures the hardware resources used in this example
|
||||
* @param hcan: CAN handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(hcan->Instance==CAN1)
|
||||
{
|
||||
/* USER CODE BEGIN CAN1_MspInit 0 */
|
||||
|
||||
/* USER CODE END CAN1_MspInit 0 */
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_CAN1_CLK_ENABLE();
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**CAN1 GPIO Configuration
|
||||
PA11 ------> CAN1_RX
|
||||
PA12 ------> CAN1_TX
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN CAN1_MspInit 1 */
|
||||
|
||||
/* USER CODE END CAN1_MspInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN MSP De-Initialization
|
||||
* This function freeze the hardware resources used in this example
|
||||
* @param hcan: CAN handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
|
||||
{
|
||||
if(hcan->Instance==CAN1)
|
||||
{
|
||||
/* USER CODE BEGIN CAN1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END CAN1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_CAN1_CLK_DISABLE();
|
||||
|
||||
/**CAN1 GPIO Configuration
|
||||
PA11 ------> CAN1_RX
|
||||
PA12 ------> CAN1_TX
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
|
||||
|
||||
/* USER CODE BEGIN CAN1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END CAN1_MspDeInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI MSP Initialization
|
||||
* This function configures the hardware resources used in this example
|
||||
* @param hspi: SPI handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(hspi->Instance==SPI1)
|
||||
{
|
||||
/* USER CODE BEGIN SPI1_MspInit 0 */
|
||||
|
||||
/* USER CODE END SPI1_MspInit 0 */
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_SPI1_CLK_ENABLE();
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**SPI1 GPIO Configuration
|
||||
PA5 ------> SPI1_SCK
|
||||
PA6 ------> SPI1_MISO
|
||||
PA7 ------> SPI1_MOSI
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN SPI1_MspInit 1 */
|
||||
|
||||
/* USER CODE END SPI1_MspInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI MSP De-Initialization
|
||||
* This function freeze the hardware resources used in this example
|
||||
* @param hspi: SPI handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
|
||||
{
|
||||
if(hspi->Instance==SPI1)
|
||||
{
|
||||
/* USER CODE BEGIN SPI1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END SPI1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_SPI1_CLK_DISABLE();
|
||||
|
||||
/**SPI1 GPIO Configuration
|
||||
PA5 ------> SPI1_SCK
|
||||
PA6 ------> SPI1_MISO
|
||||
PA7 ------> SPI1_MOSI
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
|
||||
|
||||
/* USER CODE BEGIN SPI1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END SPI1_MspDeInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief UART MSP Initialization
|
||||
* This function configures the hardware resources used in this example
|
||||
* @param huart: UART handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(huart->Instance==USART2)
|
||||
{
|
||||
/* USER CODE BEGIN USART2_MspInit 0 */
|
||||
|
||||
/* USER CODE END USART2_MspInit 0 */
|
||||
/* Peripheral clock enable */
|
||||
__HAL_RCC_USART2_CLK_ENABLE();
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**USART2 GPIO Configuration
|
||||
PA2 ------> USART2_TX
|
||||
PA3 ------> USART2_RX
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN USART2_MspInit 1 */
|
||||
|
||||
/* USER CODE END USART2_MspInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief UART MSP De-Initialization
|
||||
* This function freeze the hardware resources used in this example
|
||||
* @param huart: UART handle pointer
|
||||
* @retval None
|
||||
*/
|
||||
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
|
||||
{
|
||||
if(huart->Instance==USART2)
|
||||
{
|
||||
/* USER CODE BEGIN USART2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END USART2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_USART2_CLK_DISABLE();
|
||||
|
||||
/**USART2 GPIO Configuration
|
||||
PA2 ------> USART2_TX
|
||||
PA3 ------> USART2_RX
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
|
||||
|
||||
/* USER CODE BEGIN USART2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END USART2_MspDeInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
@ -1,232 +0,0 @@
|
||||
#MicroXplorer Configuration settings - do not modify
|
||||
CAD.formats=
|
||||
CAD.pinconfig=
|
||||
CAD.provider=
|
||||
CAN1.BS1=CAN_BS1_1TQ
|
||||
CAN1.CalculateBaudRate=833333
|
||||
CAN1.CalculateTimeBit=1200
|
||||
CAN1.CalculateTimeQuantum=400.0
|
||||
CAN1.IPParameters=CalculateTimeQuantum,BS1,CalculateTimeBit,CalculateBaudRate,Prescaler
|
||||
CAN1.Prescaler=32
|
||||
File.Version=6
|
||||
GPIO.groupedBy=Group By Peripherals
|
||||
KeepUserPlacement=false
|
||||
Mcu.CPN=STM32L432KCU3
|
||||
Mcu.Family=STM32L4
|
||||
Mcu.IP0=CAN1
|
||||
Mcu.IP1=NVIC
|
||||
Mcu.IP2=RCC
|
||||
Mcu.IP3=SPI1
|
||||
Mcu.IP4=SYS
|
||||
Mcu.IP5=USART2
|
||||
Mcu.IPNb=6
|
||||
Mcu.Name=STM32L432K(B-C)Ux
|
||||
Mcu.Package=UFQFPN32
|
||||
Mcu.Pin0=PC14-OSC32_IN (PC14)
|
||||
Mcu.Pin1=PA0
|
||||
Mcu.Pin10=PA9
|
||||
Mcu.Pin11=PA10
|
||||
Mcu.Pin12=PA11
|
||||
Mcu.Pin13=PA12
|
||||
Mcu.Pin14=PA13 (JTMS-SWDIO)
|
||||
Mcu.Pin15=PA14 (JTCK-SWCLK)
|
||||
Mcu.Pin16=PA15 (JTDI)
|
||||
Mcu.Pin17=PB3 (JTDO-TRACESWO)
|
||||
Mcu.Pin18=PB4 (NJTRST)
|
||||
Mcu.Pin19=PB5
|
||||
Mcu.Pin2=PA1
|
||||
Mcu.Pin20=PB6
|
||||
Mcu.Pin21=PB7
|
||||
Mcu.Pin22=PH3-BOOT0
|
||||
Mcu.Pin23=VP_SYS_VS_Systick
|
||||
Mcu.Pin3=PA2
|
||||
Mcu.Pin4=PA3
|
||||
Mcu.Pin5=PA4
|
||||
Mcu.Pin6=PA5
|
||||
Mcu.Pin7=PA6
|
||||
Mcu.Pin8=PA7
|
||||
Mcu.Pin9=PB1
|
||||
Mcu.PinsNb=24
|
||||
Mcu.ThirdPartyNb=0
|
||||
Mcu.UserConstants=
|
||||
Mcu.UserName=STM32L432KCUx
|
||||
MxCube.Version=6.2.1
|
||||
MxDb.Version=DB.6.0.21
|
||||
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.ForceEnableDMAVector=true
|
||||
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
|
||||
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
|
||||
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
PA0.GPIOParameters=GPIO_Label
|
||||
PA0.GPIO_Label=RCC_HSE
|
||||
PA0.Mode=HSE-External-Clock-Source-for-LittleOrca
|
||||
PA0.Signal=RCC_CK_IN
|
||||
PA1.GPIOParameters=GPIO_Label
|
||||
PA1.GPIO_Label=FR_RDY_\#1
|
||||
PA1.Locked=true
|
||||
PA1.Signal=GPIO_Input
|
||||
PA10.GPIOParameters=GPIO_Label
|
||||
PA10.GPIO_Label=CS_\#2
|
||||
PA10.Locked=true
|
||||
PA10.Signal=GPIO_Output
|
||||
PA11.Mode=CAN_Activate
|
||||
PA11.Signal=CAN1_RX
|
||||
PA12.Mode=CAN_Activate
|
||||
PA12.Signal=CAN1_TX
|
||||
PA13\ (JTMS-SWDIO).Mode=Serial_Wire
|
||||
PA13\ (JTMS-SWDIO).Signal=SYS_JTMS-SWDIO
|
||||
PA14\ (JTCK-SWCLK).Mode=Serial_Wire
|
||||
PA14\ (JTCK-SWCLK).Signal=SYS_JTCK-SWCLK
|
||||
PA15\ (JTDI).GPIOParameters=GPIO_Label
|
||||
PA15\ (JTDI).GPIO_Label=CAN_RS
|
||||
PA15\ (JTDI).Locked=true
|
||||
PA15\ (JTDI).Signal=GPIO_Output
|
||||
PA2.Mode=Asynchronous
|
||||
PA2.Signal=USART2_TX
|
||||
PA3.Mode=Asynchronous
|
||||
PA3.Signal=USART2_RX
|
||||
PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
|
||||
PA4.GPIO_Label=CS_\#1
|
||||
PA4.GPIO_PuPd=GPIO_PULLUP
|
||||
PA4.Locked=true
|
||||
PA4.Signal=GPIO_Output
|
||||
PA5.GPIOParameters=GPIO_PuPd
|
||||
PA5.GPIO_PuPd=GPIO_NOPULL
|
||||
PA5.Locked=true
|
||||
PA5.Mode=Full_Duplex_Master
|
||||
PA5.Signal=SPI1_SCK
|
||||
PA6.GPIOParameters=GPIO_PuPd
|
||||
PA6.GPIO_PuPd=GPIO_NOPULL
|
||||
PA6.Mode=Full_Duplex_Master
|
||||
PA6.Signal=SPI1_MISO
|
||||
PA7.GPIOParameters=GPIO_PuPd
|
||||
PA7.GPIO_PuPd=GPIO_NOPULL
|
||||
PA7.Mode=Full_Duplex_Master
|
||||
PA7.Signal=SPI1_MOSI
|
||||
PA9.GPIOParameters=GPIO_Label
|
||||
PA9.GPIO_Label=FR_RDY_\#2
|
||||
PA9.Locked=true
|
||||
PA9.Signal=GPIO_Input
|
||||
PB1.GPIOParameters=GPIO_Label
|
||||
PB1.GPIO_Label=FRAM_CS
|
||||
PB1.Locked=true
|
||||
PB1.Signal=GPIO_Output
|
||||
PB3\ (JTDO-TRACESWO).GPIOParameters=GPIO_Label
|
||||
PB3\ (JTDO-TRACESWO).GPIO_Label=LED2
|
||||
PB3\ (JTDO-TRACESWO).Locked=true
|
||||
PB3\ (JTDO-TRACESWO).Signal=GPIO_Output
|
||||
PB4\ (NJTRST).GPIOParameters=GPIO_Label
|
||||
PB4\ (NJTRST).GPIO_Label=LED1
|
||||
PB4\ (NJTRST).Locked=true
|
||||
PB4\ (NJTRST).Signal=GPIO_Output
|
||||
PB5.GPIOParameters=GPIO_Label
|
||||
PB5.GPIO_Label=CS_\#3
|
||||
PB5.Locked=true
|
||||
PB5.Signal=GPIO_Output
|
||||
PB6.GPIOParameters=GPIO_Label
|
||||
PB6.GPIO_Label=FR_RDY_\#3
|
||||
PB6.Locked=true
|
||||
PB6.Signal=GPIO_Input
|
||||
PB7.GPIOParameters=GPIO_Label
|
||||
PB7.GPIO_Label=CS_\#4
|
||||
PB7.Locked=true
|
||||
PB7.Signal=GPIO_Output
|
||||
PC14-OSC32_IN\ (PC14).Mode=LSE-External-Clock-Source
|
||||
PC14-OSC32_IN\ (PC14).Signal=RCC_OSC32_IN
|
||||
PH3-BOOT0.GPIOParameters=GPIO_Label
|
||||
PH3-BOOT0.GPIO_Label=FR_RDY_\#4
|
||||
PH3-BOOT0.Locked=true
|
||||
PH3-BOOT0.Signal=GPIO_Input
|
||||
PinOutPanel.RotationAngle=0
|
||||
ProjectManager.AskForMigrate=true
|
||||
ProjectManager.BackupPrevious=false
|
||||
ProjectManager.CompilerOptimize=6
|
||||
ProjectManager.ComputerToolchain=false
|
||||
ProjectManager.CoupleFile=false
|
||||
ProjectManager.CustomerFirmwarePackage=
|
||||
ProjectManager.DefaultFWLocation=true
|
||||
ProjectManager.DeletePrevious=true
|
||||
ProjectManager.DeviceId=STM32L432KCUx
|
||||
ProjectManager.FirmwarePackage=STM32Cube FW_L4 V1.17.2
|
||||
ProjectManager.FreePins=false
|
||||
ProjectManager.HalAssertFull=false
|
||||
ProjectManager.HeapSize=0x200
|
||||
ProjectManager.KeepUserCode=true
|
||||
ProjectManager.LastFirmware=true
|
||||
ProjectManager.LibraryCopy=0
|
||||
ProjectManager.MainLocation=Src
|
||||
ProjectManager.NoMain=false
|
||||
ProjectManager.PreviousToolchain=
|
||||
ProjectManager.ProjectBuild=false
|
||||
ProjectManager.ProjectFileName=Sun_sensor.ioc
|
||||
ProjectManager.ProjectName=Sun_sensor
|
||||
ProjectManager.RegisterCallBack=
|
||||
ProjectManager.StackSize=0x400
|
||||
ProjectManager.TargetToolchain=Makefile
|
||||
ProjectManager.ToolChainLocation=
|
||||
ProjectManager.UnderRoot=false
|
||||
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true
|
||||
RCC.ADCFreq_Value=64000000
|
||||
RCC.AHBFreq_Value=80000000
|
||||
RCC.APB1Freq_Value=80000000
|
||||
RCC.APB1TimFreq_Value=80000000
|
||||
RCC.APB2Freq_Value=80000000
|
||||
RCC.APB2TimFreq_Value=80000000
|
||||
RCC.CortexFreq_Value=80000000
|
||||
RCC.FCLKCortexFreq_Value=80000000
|
||||
RCC.FamilyName=M
|
||||
RCC.HCLKFreq_Value=80000000
|
||||
RCC.HSE_VALUE=8000000
|
||||
RCC.HSI48_VALUE=48000000
|
||||
RCC.HSI_VALUE=16000000
|
||||
RCC.I2C1Freq_Value=80000000
|
||||
RCC.I2C3Freq_Value=80000000
|
||||
RCC.IPParameters=ADCFreq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C3Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,MSI_VALUE,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PLLSAI1PoutputFreq_Value,PLLSAI1QoutputFreq_Value,PLLSAI1RoutputFreq_Value,PLLSourceVirtual,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USART1Freq_Value,USART2Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAI1OutputFreq_Value
|
||||
RCC.LPTIM1Freq_Value=80000000
|
||||
RCC.LPTIM2Freq_Value=80000000
|
||||
RCC.LPUART1Freq_Value=80000000
|
||||
RCC.LSCOPinFreq_Value=32000
|
||||
RCC.LSE_VALUE=32768
|
||||
RCC.LSI_VALUE=32000
|
||||
RCC.MCO1PinFreq_Value=80000000
|
||||
RCC.MSI_VALUE=4000000
|
||||
RCC.PLLN=10
|
||||
RCC.PLLPoutputFreq_Value=22857142.85714286
|
||||
RCC.PLLQoutputFreq_Value=80000000
|
||||
RCC.PLLRCLKFreq_Value=80000000
|
||||
RCC.PLLSAI1PoutputFreq_Value=18285714.285714287
|
||||
RCC.PLLSAI1QoutputFreq_Value=64000000
|
||||
RCC.PLLSAI1RoutputFreq_Value=64000000
|
||||
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSI
|
||||
RCC.PWRFreq_Value=80000000
|
||||
RCC.RNGFreq_Value=64000000
|
||||
RCC.SAI1Freq_Value=18285714.285714287
|
||||
RCC.SWPMI1Freq_Value=80000000
|
||||
RCC.SYSCLKFreq_VALUE=80000000
|
||||
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
|
||||
RCC.USART1Freq_Value=80000000
|
||||
RCC.USART2Freq_Value=80000000
|
||||
RCC.USBFreq_Value=64000000
|
||||
RCC.VCOInputFreq_Value=16000000
|
||||
RCC.VCOOutputFreq_Value=160000000
|
||||
RCC.VCOSAI1OutputFreq_Value=128000000
|
||||
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
|
||||
SPI1.CLKPhase=SPI_PHASE_2EDGE
|
||||
SPI1.CLKPolarity=SPI_POLARITY_HIGH
|
||||
SPI1.CalculateBaudRate=312.5 KBits/s
|
||||
SPI1.DataSize=SPI_DATASIZE_8BIT
|
||||
SPI1.Direction=SPI_DIRECTION_2LINES
|
||||
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,DataSize,CLKPolarity,CLKPhase
|
||||
SPI1.Mode=SPI_MODE_MASTER
|
||||
SPI1.VirtualType=VM_MASTER
|
||||
USART2.IPParameters=VirtualMode-Asynchronous
|
||||
USART2.VirtualMode-Asynchronous=VM_ASYNC
|
||||
VP_SYS_VS_Systick.Mode=SysTick
|
||||
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
|
||||
board=custom
|
||||
1
resources/Camera_driver/.gitignore
vendored
Normal file
1
resources/Camera_driver/.gitignore
vendored
Normal file
@ -0,0 +1 @@
|
||||
build
|
||||
14
resources/Camera_driver/.mxproject
Normal file
14
resources/Camera_driver/.mxproject
Normal file
File diff suppressed because one or more lines are too long
18
resources/Camera_driver/App/butcube_imager.cpp
Normal file
18
resources/Camera_driver/App/butcube_imager.cpp
Normal file
@ -0,0 +1,18 @@
|
||||
#include "butcube_imager.hpp"
|
||||
|
||||
int ButCube_imager::Transmit(vector<uint8_t> source){
|
||||
for( auto &uart_output : uart_output_interfaces){
|
||||
HAL_UART_Transmit(&uart_output, source.data(), source.size(), HAL_MAX_DELAY);
|
||||
HAL_Delay(200);
|
||||
}
|
||||
return uart_output_interfaces.size() * source.size();
|
||||
}
|
||||
|
||||
int ButCube_imager::Add_output(UART_HandleTypeDef uart_output){
|
||||
uart_output_interfaces.emplace_back(uart_output);
|
||||
return uart_output_interfaces.size();
|
||||
}
|
||||
|
||||
void ButCube_imager::Camera_power(bool state){
|
||||
HAL_GPIO_WritePin(GPIOA, CAMERA_EN_Pin, (GPIO_PinState)!state);
|
||||
}
|
||||
59
resources/Camera_driver/App/butcube_imager.hpp
Normal file
59
resources/Camera_driver/App/butcube_imager.hpp
Normal file
@ -0,0 +1,59 @@
|
||||
/**
|
||||
* @file OV2640.hpp
|
||||
* @author Petr Malaník (TheColonelYoung(at)gmail(dot)com)
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 11.09.2022
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "stm32l4xx_hal.h"
|
||||
#include "main.h"
|
||||
|
||||
#include <vector>
|
||||
|
||||
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_HandleTypeDef> 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<uint8_t> 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);
|
||||
};
|
||||
54
resources/Camera_driver/Camera_driver/OV2640.cpp
Normal file
54
resources/Camera_driver/Camera_driver/OV2640.cpp
Normal file
@ -0,0 +1,54 @@
|
||||
#include "OV2640.hpp"
|
||||
|
||||
void OV2640::Init(){
|
||||
Sensor_write_register((uint8_t) 0xff, 0x01);
|
||||
Sensor_write_register((uint8_t) 0x12, 0x80);
|
||||
|
||||
Sensor_write_register_bulk(OV2640_JPEG_INIT);
|
||||
Sensor_write_register_bulk(OV2640_YUV422);
|
||||
Sensor_write_register_bulk(OV2640_JPEG);
|
||||
|
||||
Sensor_write_register((uint8_t) 0xff, 0x01);
|
||||
Sensor_write_register((uint8_t) 0x15, 0x00);
|
||||
}
|
||||
|
||||
void OV2640::Init(const vector<Register_blob_8> ®s){
|
||||
Init();
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
void OV2640::Capture(){
|
||||
ArduChip_write(0x04, 0x01); // Clear FIFO
|
||||
ArduChip_write(0x04, 0x01);
|
||||
|
||||
HAL_Delay(1);
|
||||
|
||||
ArduChip_write(0x04, 0x02); // Start capture
|
||||
|
||||
HAL_Delay(1);
|
||||
|
||||
// wait for capture done
|
||||
while (1) {
|
||||
uint8_t regValue = ArduChip_read(0x41);
|
||||
uint8_t captureDoneMask = 0x8;
|
||||
if (regValue & captureDoneMask) break;
|
||||
}
|
||||
|
||||
HAL_Delay(1);
|
||||
|
||||
uint32_t image_size = ArduChip_FIFO_length();
|
||||
|
||||
image_data.resize(image_size);
|
||||
|
||||
ArduChip_start_DMA_transfer(image_size);
|
||||
|
||||
// while(SPI_handle.State != HAL_SPI_STATE_READY){;}
|
||||
HAL_Delay(500); // delay to ensure full dma transmission
|
||||
|
||||
ArduChip_CS_disable();
|
||||
|
||||
} // OV2640::Capture
|
||||
54
resources/Camera_driver/Camera_driver/OV2640.hpp
Normal file
54
resources/Camera_driver/Camera_driver/OV2640.hpp
Normal file
@ -0,0 +1,54 @@
|
||||
/**
|
||||
* @file OV2640.hpp
|
||||
* @author Petr Malaník (TheColonelYoung(at)gmail(dot)com)
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 11.09.2022
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "SPI_camera.hpp"
|
||||
#include "OV2640_regs.hpp"
|
||||
|
||||
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;
|
||||
|
||||
/**
|
||||
* @brief Initialize camera sensor for JPEG capture
|
||||
*
|
||||
* @param regs Requested resolution of camera
|
||||
*/
|
||||
void Init(const vector<Register_blob_8> ®s);
|
||||
|
||||
/**
|
||||
* @brief Initializes capture of image, waits for capture, transmit image into MCU memory
|
||||
*/
|
||||
void Capture() override final;
|
||||
|
||||
/**
|
||||
* @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; };
|
||||
};
|
||||
|
||||
|
||||
1
resources/Camera_driver/Camera_driver/OV2640_regs.cpp
Normal file
1
resources/Camera_driver/Camera_driver/OV2640_regs.cpp
Normal file
@ -0,0 +1 @@
|
||||
#include "OV2640_regs.hpp"
|
||||
1097
resources/Camera_driver/Camera_driver/OV2640_regs.hpp
Normal file
1097
resources/Camera_driver/Camera_driver/OV2640_regs.hpp
Normal file
File diff suppressed because it is too large
Load Diff
0
resources/Camera_driver/Camera_driver/OV5642.cpp
Normal file
0
resources/Camera_driver/Camera_driver/OV5642.cpp
Normal file
0
resources/Camera_driver/Camera_driver/OV5642.hpp
Normal file
0
resources/Camera_driver/Camera_driver/OV5642.hpp
Normal file
107
resources/Camera_driver/Camera_driver/SPI_camera.cpp
Normal file
107
resources/Camera_driver/Camera_driver/SPI_camera.cpp
Normal file
@ -0,0 +1,107 @@
|
||||
#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) : 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 });
|
||||
}
|
||||
|
||||
int SPI_camera::Sensor_write_register(uint16_t address, uint8_t data){
|
||||
return Sensor_write_register(Register_blob_16{ address, data });
|
||||
}
|
||||
|
||||
int SPI_camera::Sensor_write_register(Register_blob_8 reg){
|
||||
HAL_StatusTypeDef ret;
|
||||
|
||||
uint8_t buf[2];
|
||||
buf[0] = reg.address;
|
||||
buf[1] = reg.data;
|
||||
ret = HAL_I2C_Master_Transmit(&I2C_handle, I2C_address, buf, 2, HAL_MAX_DELAY);
|
||||
|
||||
if (ret == HAL_OK) return (1);
|
||||
|
||||
return (0);
|
||||
}
|
||||
|
||||
int SPI_camera::Sensor_write_register(Register_blob_16 reg){
|
||||
HAL_StatusTypeDef ret;
|
||||
uint8_t buf[3];
|
||||
|
||||
buf[0] = reg.address >> 8;
|
||||
buf[1] = reg.address & 0x00ff;
|
||||
buf[2] = reg.data;
|
||||
ret = HAL_I2C_Master_Transmit(&I2C_handle, I2C_address, buf, 3, HAL_MAX_DELAY);
|
||||
|
||||
if (ret == HAL_OK) return (1);
|
||||
|
||||
return (0);
|
||||
}
|
||||
|
||||
void SPI_camera::Sensor_write_register_bulk(vector<Register_blob_8> regs){
|
||||
for (unsigned int i = 0; i < regs.size(); i++) {
|
||||
Register_blob_8 ® = regs[i];
|
||||
if ( (reg.address == 0xff) & (reg.data == 0xff) ) {
|
||||
break;
|
||||
} else {
|
||||
Sensor_write_register(regs[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SPI_camera::Sensor_write_register_bulk(vector<Register_blob_16> regs){ }
|
||||
|
||||
int SPI_camera::ArduChip_write(uint8_t addr, uint8_t data){
|
||||
HAL_StatusTypeDef ret;
|
||||
|
||||
uint8_t addr_write = addr | 0x80;
|
||||
|
||||
ArduChip_CS_enable();
|
||||
|
||||
ret = HAL_SPI_Transmit(&SPI_handle, (uint8_t *) &addr_write, 1, HAL_MAX_DELAY);
|
||||
if (ret != HAL_OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = HAL_SPI_Transmit(&SPI_handle, (uint8_t *) &data, 1, HAL_MAX_DELAY);
|
||||
if (ret != HAL_OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
ArduChip_CS_disable();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int SPI_camera::ArduChip_read(uint8_t address){
|
||||
uint8_t addrMasked = address & 0x7F;
|
||||
uint8_t empty = 0x00;
|
||||
uint8_t ret;
|
||||
|
||||
ArduChip_CS_enable();
|
||||
HAL_SPI_TransmitReceive(&SPI_handle, &addrMasked, &ret, 1, HAL_MAX_DELAY);
|
||||
HAL_SPI_TransmitReceive(&SPI_handle, &empty, &ret, 1, HAL_MAX_DELAY);
|
||||
ArduChip_CS_disable();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int SPI_camera::ArduChip_FIFO_length(){
|
||||
uint32_t len1, len2, len3, len = 0;
|
||||
len1 = ArduChip_read(0x42);
|
||||
len2 = ArduChip_read(0x43);
|
||||
len3 = ArduChip_read(0x44) & 0x7f;
|
||||
len = ((len3 << 16) | (len2 << 8) | len1) & 0x07fffff;
|
||||
return len;
|
||||
}
|
||||
|
||||
void SPI_camera::ArduChip_start_burst_read(){
|
||||
uint8_t BURST_FIFO_READ = 0x3c;
|
||||
uint8_t empty = 0x00;
|
||||
HAL_SPI_TransmitReceive(&SPI_handle, &BURST_FIFO_READ, &empty, 1, HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
void SPI_camera::ArduChip_start_DMA_transfer(uint size){
|
||||
ArduChip_CS_enable();
|
||||
ArduChip_start_burst_read();
|
||||
HAL_SPI_Receive_DMA(&SPI_handle, image_data.data(), size);
|
||||
}
|
||||
201
resources/Camera_driver/Camera_driver/SPI_camera.hpp
Normal file
201
resources/Camera_driver/Camera_driver/SPI_camera.hpp
Normal file
@ -0,0 +1,201 @@
|
||||
/**
|
||||
* @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;
|
||||
|
||||
/**
|
||||
* @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;
|
||||
|
||||
/**
|
||||
* @brief Raw image data transmitted from ArduChip via SPI to MCu memory
|
||||
*/
|
||||
vector<uint8_t> image_data;
|
||||
|
||||
public:
|
||||
/**
|
||||
* @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); };
|
||||
};
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user