Sun_sensor: add debug config for vscode for Sun sensor module firmware

Sun_sensor:FW add example of zebra test pattern and image readout from photosensor
Sun_sensor:FW add new class MLX75306 which could read data from photo sensor
2023-03-06 15:28:13 +01:00 · 2023-03-06 15:27:33 +01:00 · 2023-03-06 15:26:18 +01:00 · 2023-03-06 09:35:04 +01:00
7 changed files with 640 additions and 267 deletions
--- a/modules/Sun_sensor/Sun_shield.pretty/Alignment_hole.kicad_mod
+++ b/modules/Sun_sensor/Sun_shield.pretty/Alignment_hole.kicad_mod
@ -0,0 +1,18 @@
+(footprint "Alignment_hole" (version 20211014) (generator pcbnew)
+  (layer "F.Cu")
+  (tedit 0)
+  (attr through_hole exclude_from_pos_files exclude_from_bom)
+  (fp_text reference "REF**" (at 0 -2 unlocked) (layer "F.SilkS")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp fa4317a5-84bf-4bc5-a76e-39c9dc74322a)
+  )
+  (fp_text value "Alignment_hole" (at 0 3.5 unlocked) (layer "F.Fab")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 5c6e8499-7ddb-488e-b28a-698103ce6e3c)
+  )
+  (fp_text user "${REFERENCE}" (at 0 5 unlocked) (layer "F.Fab")
+    (effects (font (size 1 1) (thickness 0.15)))
+    (tstamp 15e51ca5-9eb7-44d4-880d-ebea60015cd4)
+  )
+  (pad "" thru_hole circle (at 0 0) (size 1.8 1.8) (drill 1) (layers *.Cu *.Mask) (tstamp b1f6e753-2943-4966-9a1d-84d501867e27))
+)
--- a/modules/Sun_sensor/fw/.vscode/launch.json
+++ b/modules/Sun_sensor/fw/.vscode/launch.json
@ -0,0 +1,19 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+
+        {
+            "type": "cortex-debug",
+            "request": "launch",
+            "servertype": "openocd",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}/build/Sun_sensor.elf",
+            "name": "GDB + OpenOCD",
+            "device": "STM32L432",
+            "configFiles": [
+                "interface/stlink.cfg",
+                "target/stm32l4x.cfg"
+            ]
+        }
+    ]
+}
--- a/modules/Sun_sensor/fw/MLX75306/MLX75306.cpp
+++ b/modules/Sun_sensor/fw/MLX75306/MLX75306.cpp
@ -0,0 +1,78 @@
+#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;
+}
--- a/modules/Sun_sensor/fw/MLX75306/MLX75306.hpp
+++ b/modules/Sun_sensor/fw/MLX75306/MLX75306.hpp
@ -0,0 +1,186 @@
+/**
+ * @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); };
+};
--- a/modules/Sun_sensor/fw/Makefile
+++ b/modules/Sun_sensor/fw/Makefile
@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Tue Jan 24 09:24:16 CET 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Mon Mar 06 11:36:24 CET 2023]
 ##########################################################################################################################

 # ------------------------------------------------
@ -24,6 +24,9 @@ DEBUG = 1
 # optimization
 OPT = -Og

+ifndef VERBOSE
+MAKEFLAGS += --no-print-directory
+endif

 #######################################
 # paths
@ -72,22 +75,15 @@ startup_stm32l432xx.s
 # binaries
 #######################################
 PREFIX = arm-none-eabi-
-# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
-# either it can be added to the PATH environment variable.
-ifdef GCC_PATH
-CC = $(GCC_PATH)/$(PREFIX)gcc
-AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
-CP = $(GCC_PATH)/$(PREFIX)objcopy
-SZ = $(GCC_PATH)/$(PREFIX)size
-else
-CC = $(PREFIX)gcc
-AS = $(PREFIX)gcc -x assembler-with-cpp
-CP = $(PREFIX)objcopy
-SZ = $(PREFIX)size
-endif
-HEX = $(CP) -O ihex
-BIN = $(CP) -O binary -S
- 
+CC = $(BINPATH)$(PREFIX)gcc
+CP = $(BINPATH)$(PREFIX)g++
+AS = $(BINPATH)$(PREFIX)g++ -x assembler-with-cpp
+CO = $(BINPATH)$(PREFIX)objcopy
+AR = $(BINPATH)$(PREFIX)ar
+SZ = $(BINPATH)$(PREFIX)size
+HEX = $(CO) -O ihex
+BIN = $(CO) -O binary -S
+
 #######################################
 # CFLAGS
 #######################################
@ -105,16 +101,17 @@ MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)

 # macros for gcc
 # AS defines
-AS_DEFS = 
+AS_DEFS =

 # C defines
 C_DEFS =  \
+-DSTM32_L4 \
 -DUSE_HAL_DRIVER \
 -DSTM32L432xx


 # AS includes
-AS_INCLUDES = 
+AS_INCLUDES =

 # C includes
 C_INCLUDES =  \
@ -122,22 +119,26 @@ C_INCLUDES =  \
 -IDrivers/STM32L4xx_HAL_Driver/Inc \
 -IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32L4xx/Include \
-IDrivers/CMSIS/Include
-
+-IDrivers/CMSIS/Include \
+-IMLX75306

 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections

-CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+BOTHFLAGS = -Wno-write-strings -specs=nano.specs -specs=nosys.specs $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections

 ifeq ($(DEBUG), 1)
-CFLAGS += -g -gdwarf-2
+BOTHFLAGS += -g -gdwarf-2
 endif

+CFLAGS = $(MCU) -std=c++17 -Wno-register $(BOTHFLAGS) -fno-exceptions -fno-asynchronous-unwind-tables
+CDFLAGS = $(MCU) -std=c17 $(BOTHFLAGS)

 # Generate dependency information
 CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"

+$(eval CPP_SOURCES=$(shell  $(CC) $(C_INCLUDES) $(C_DEFS) -MM Src/main.c | sed 's/\\/\\n/g' | sed 's/\s/ /g' | sed 's/ /\n/g'  | grep hpp |  sed 's/hpp/cpp/g' | sort -u ))
+

 #######################################
 # LDFLAGS
@ -146,13 +147,19 @@ CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
 LDSCRIPT = STM32L432KCUx_FLASH.ld

 # libraries
-LIBS = -lc -lm -lnosys 
-LIBDIR = 
-LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
+LIBS = -lc -lm -lnosys
+LIBDIR =
+LDFLAGS = $(MCU) -Wl,--no-wchar-size-warning -specs=nosys.specs -specs=nano.specs -u _printf_float -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections

 # default action: build all
-all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+all:
+	@printf "Dependencies:\n$(shell echo $(CPP_SOURCES) | sed 's/ /\\n/g' | sed 's/alohal\///g')\n=================================================\n"
+	@make bin -j$(nproc)

+flash_build:
+	@make bin -j$(nproc)
+
+bin: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin

 #######################################
 # build the application
@ -160,38 +167,65 @@ all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET
 # list of objects
 OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
 vpath %.c $(sort $(dir $(C_SOURCES)))
+
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(CPP_SOURCES:.cpp=.o)))
+vpath %.cpp $(sort $(dir $(CPP_SOURCES)))
+
 # list of ASM program objects
 OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
 vpath %.s $(sort $(dir $(ASM_SOURCES)))

-$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
-	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
+	@echo "CC  " $<
+	@$(CC) -c $(CDFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.cpp Makefile | $(BUILD_DIR)
+	@echo "CP  " $<
+	@$(CP) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@
+
+$(BUILD_DIR)/main.o: Src/main.c Makefile | $(BUILD_DIR)
+	@echo "CP  " $<
+	@$(CP) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@

 $(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
-	$(AS) -c $(CFLAGS) $< -o $@
+	@echo "AS  " $<
+	@$(AS) -c $(CFLAGS) $< -o $@

-$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
-	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
-	$(SZ) $@
+$(BUILD_DIR)/$(TARGET).elf: $(DEPS) $(OBJECTS)  Makefile
+	@echo "LD  " $<
+	@$(CP) $(OBJECTS) $(LDFLAGS) -o $@
+	@$(SZ) $@

 $(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
-	$(HEX) $< $@
-	
+	@echo "HEX  " $@
+	@$(HEX) $< $@
+
 $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
-	$(BIN) $< $@	
-	
+	@echo "BIN  " $@
+	@$(BIN) $< $@
+
 $(BUILD_DIR):
-	mkdir $@		
+	mkdir $@

 #######################################
 # clean up
 #######################################
 clean:
 	-rm -fR $(BUILD_DIR)
-  
+
 #######################################
 # dependencies
 #######################################
-include $(wildcard $(BUILD_DIR)/*.d)
+DEPENDENCIES := $(OBJECTS:.o=.d)
+
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+-include $(DEPENDENCIES)
+
+# Flash
+flash: flash_build
+	openocd -f interface/stlink.cfg -f target/stm32l4x.cfg -c "program build/$(TARGET).bin verify reset exit 0x08000000"
+
+reset:
+	openocd -f interface/stlink.cfg -f target/stm32l4x.cfg -c init -c "reset halt"

 # *** EOF ***
--- a/modules/Sun_sensor/fw/Src/main.c
+++ b/modules/Sun_sensor/fw/Src/main.c
@ -1,4 +1,5 @@
 /* USER CODE BEGIN Header */
+
 /**
  ******************************************************************************
  * @file           : main.c
@ -22,7 +23,7 @@

 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "MLX75306.hpp"
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@ -41,9 +42,7 @@

 /* Private variables ---------------------------------------------------------*/
 CAN_HandleTypeDef hcan1;
-
 SPI_HandleTypeDef hspi1;
-
 UART_HandleTypeDef huart2;

 /* USER CODE BEGIN PV */
@ -63,151 +62,184 @@ static void MX_USART2_UART_Init(void);
 /* 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 */
+int main(void){
+    /* USER CODE BEGIN 1 */

-  /* USER CODE END 1 */
+    /* USER CODE END 1 */

-  /* MCU Configuration--------------------------------------------------------*/
+    /* MCU Configuration--------------------------------------------------------*/

-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
+    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+    HAL_Init();

-  /* USER CODE BEGIN Init */
+    /* USER CODE BEGIN Init */

-  /* USER CODE END Init */
+    /* USER CODE END Init */

-  /* Configure the system clock */
-  SystemClock_Config();
+    /* Configure the system clock */
+    SystemClock_Config();

-  /* USER CODE BEGIN SysInit */
+    /* USER CODE BEGIN SysInit */

-  /* USER CODE END 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 */
+    /* Initialize all configured peripherals */
+    MX_GPIO_Init();
+    MX_CAN1_Init();
+    MX_SPI1_Init();
+    MX_USART2_UART_Init();
+    /* USER CODE BEGIN 2 */

-  /* USER CODE END 2 */
+    UART_print("\r\nBUTCube Sun Sensor module is ready ...\r\n");

-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
-  while (1)
-  {
-    /* USER CODE END WHILE */
+    auto sensor = new MLX75306(hspi1, MLX75306::Chip_select_pin{ GPIOA, GPIO_PIN_4 });
+    sensor->Init();
+    sensor->Wake_up();

-    /* 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);
+    sensor->Zebra_pattern_1();
+    HAL_Delay(10);
+    Print_status(sensor->Status());

-    HAL_GPIO_WritePin(GPIOB, LED2_Pin, GPIO_PIN_SET);
-    HAL_GPIO_WritePin(GPIOB, LED1_Pin, GPIO_PIN_RESET);
-    HAL_Delay(100);
+    auto readout = sensor->Read_all_8bit();

-  }
-  /* USER CODE END 3 */
-}
+    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};
+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;
+    /** 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();
+    }

-  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();
-  }
-}
+    /** 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)
-{
+static void MX_CAN1_Init(void){
+    /* USER CODE BEGIN CAN1_Init 0 */

-  /* USER CODE BEGIN CAN1_Init 0 */
+    /* USER CODE END CAN1_Init 0 */

-  /* USER CODE END CAN1_Init 0 */
+    /* USER CODE BEGIN CAN1_Init 1 */

-  /* 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 */
+    /* 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 */
 }

 /**
@ -215,39 +247,35 @@ static void MX_CAN1_Init(void)
  * @param None
  * @retval None
  */
-static void MX_SPI1_Init(void)
-{
+static void MX_SPI1_Init(void){
+    /* USER CODE BEGIN SPI1_Init 0 */

-  /* USER CODE BEGIN SPI1_Init 0 */
+    /* USER CODE END SPI1_Init 0 */

-  /* USER CODE END SPI1_Init 0 */
+    /* USER CODE BEGIN SPI1_Init 1 */

-  /* 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_4BIT;
-  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
-  hspi1.Init.NSS = SPI_NSS_SOFT;
-  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
-  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 */
+    /* 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 */
 }

 /**
@ -255,34 +283,30 @@ static void MX_SPI1_Init(void)
  * @param None
  * @retval None
  */
-static void MX_USART2_UART_Init(void)
-{
+static void MX_USART2_UART_Init(void){
+    /* USER CODE BEGIN USART2_Init 0 */

-  /* USER CODE BEGIN USART2_Init 0 */
+    /* USER CODE END USART2_Init 0 */

-  /* USER CODE END USART2_Init 0 */
+    /* USER CODE BEGIN USART2_Init 1 */

-  /* 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 */
+    /* 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 */
 }

 /**
@ -290,58 +314,63 @@ static void MX_USART2_UART_Init(void)
  * @param None
  * @retval None
  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
+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();
+    /* 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(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 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 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 pins : CS__1_Pin CS__2_Pin CAN_RS_Pin */
-  GPIO_InitStruct.Pin = CS__1_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 : 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 : 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 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 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__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);
+    /*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 */

@ -351,18 +380,16 @@ 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.
@ -370,13 +397,14 @@ 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 */

 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/modules/Sun_sensor/fw/Sun_sensor.ioc
+++ b/modules/Sun_sensor/fw/Sun_sensor.ioc
@ -9,7 +9,7 @@ CAN1.CalculateTimeQuantum=400.0
 CAN1.IPParameters=CalculateTimeQuantum,BS1,CalculateTimeBit,CalculateBaudRate,Prescaler
 CAN1.Prescaler=32
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32L432KCU3
 Mcu.Family=STM32L4
@ -91,15 +91,22 @@ PA2.Mode=Asynchronous
 PA2.Signal=USART2_TX
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
-PA4.GPIOParameters=GPIO_Label
+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
@ -209,10 +216,13 @@ RCC.USBFreq_Value=64000000
 RCC.VCOInputFreq_Value=16000000
 RCC.VCOOutputFreq_Value=160000000
 RCC.VCOSAI1OutputFreq_Value=128000000
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
-SPI1.CalculateBaudRate=40.0 MBits/s
+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
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,DataSize,CLKPolarity,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 USART2.IPParameters=VirtualMode-Asynchronous
Author	SHA1	Message	Date
Petr Malanik	130a0bc6d1	Sun_sensor: add debug config for vscode for Sun sensor module firmware	2023-03-06 15:28:13 +01:00
Petr Malanik	007db6116e	Sun_sensor:FW add example of zebra test pattern and image readout from photosensor	2023-03-06 15:27:33 +01:00
Petr Malanik	dea2a2addb	Sun_sensor:FW add new class MLX75306 which could read data from photo sensor	2023-03-06 15:26:18 +01:00
Petr Malanik	4c10e85cb8	Sun_sensor: add footprint of alignment holes for sensors	2023-03-06 09:35:04 +01:00