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108 lines
3.0 KiB
108 lines
3.0 KiB
#include "SPI_camera.hpp"
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SPI_camera::SPI_camera(I2C_HandleTypeDef I2C_handle, uint8_t I2C_address, SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS, UART_HandleTypeDef UART_handle) : I2C_handle(I2C_handle), I2C_address(
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I2C_address), SPI_handle(SPI_handle), SPI_CS(SPI_CS), UART_handle(UART_handle){ }
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int SPI_camera::Sensor_write_register(uint8_t address, uint8_t data){
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return Sensor_write_register(Register_blob_8{ address, data });
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}
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int SPI_camera::Sensor_write_register(uint16_t address, uint8_t data){
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return Sensor_write_register(Register_blob_16{ address, data });
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}
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int SPI_camera::Sensor_write_register(Register_blob_8 reg){
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HAL_StatusTypeDef ret;
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uint8_t buf[2];
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buf[0] = reg.address;
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buf[1] = reg.data;
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ret = HAL_I2C_Master_Transmit(&I2C_handle, I2C_address, buf, 2, HAL_MAX_DELAY);
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if (ret == HAL_OK) return (1);
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return (0);
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}
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int SPI_camera::Sensor_write_register(Register_blob_16 reg){
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HAL_StatusTypeDef ret;
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uint8_t buf[3];
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buf[0] = reg.address >> 8;
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buf[1] = reg.address & 0x00ff;
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buf[2] = reg.data;
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ret = HAL_I2C_Master_Transmit(&I2C_handle, I2C_address, buf, 3, HAL_MAX_DELAY);
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if (ret == HAL_OK) return (1);
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return (0);
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}
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void SPI_camera::Sensor_write_register_bulk(vector<Register_blob_8> regs){
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for (unsigned int i = 0; i < regs.size(); i++) {
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Register_blob_8 ® = regs[i];
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if ( (reg.address == 0xff) & (reg.data == 0xff) ) {
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break;
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} else {
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Sensor_write_register(regs[i]);
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}
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}
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}
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void SPI_camera::Sensor_write_register_bulk(vector<Register_blob_16> regs){ }
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int SPI_camera::ArduChip_write(uint8_t addr, uint8_t data){
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HAL_StatusTypeDef ret;
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uint8_t addr_write = addr | 0x80;
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ArduChip_CS_enable();
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ret = HAL_SPI_Transmit(&SPI_handle, (uint8_t *) &addr_write, 1, HAL_MAX_DELAY);
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if (ret != HAL_OK) {
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return ret;
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}
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ret = HAL_SPI_Transmit(&SPI_handle, (uint8_t *) &data, 1, HAL_MAX_DELAY);
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if (ret != HAL_OK) {
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return ret;
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}
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ArduChip_CS_disable();
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return 0;
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}
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int SPI_camera::ArduChip_read(uint8_t address){
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uint8_t addrMasked = address & 0x7F;
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uint8_t empty = 0x00;
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uint8_t ret;
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ArduChip_CS_enable();
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HAL_SPI_TransmitReceive(&SPI_handle, &addrMasked, &ret, 1, HAL_MAX_DELAY);
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HAL_SPI_TransmitReceive(&SPI_handle, &empty, &ret, 1, HAL_MAX_DELAY);
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ArduChip_CS_disable();
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return ret;
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}
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int SPI_camera::ArduChip_FIFO_length(){
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uint32_t len1, len2, len3, len = 0;
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len1 = ArduChip_read(0x42);
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len2 = ArduChip_read(0x43);
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len3 = ArduChip_read(0x44) & 0x7f;
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len = ((len3 << 16) | (len2 << 8) | len1) & 0x07fffff;
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return len;
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}
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void SPI_camera::ArduChip_start_burst_read(){
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uint8_t BURST_FIFO_READ = 0x3c;
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uint8_t empty = 0x00;
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HAL_SPI_TransmitReceive(&SPI_handle, &BURST_FIFO_READ, &empty, 1, HAL_MAX_DELAY);
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}
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void SPI_camera::ArduChip_start_DMA_transfer(uint size){
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ArduChip_CS_enable();
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ArduChip_start_burst_read();
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HAL_SPI_Receive_DMA(&SPI_handle, image_data.data(), size);
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}
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