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231 | ------------------------------------------------------------------------------
-- --
-- Copyright (C) 2015-2018, AdaCore --
-- --
-- Redistribution and use in source and binary forms, with or without --
-- modification, are permitted provided that the following conditions are --
-- met: --
-- 1. Redistributions of source code must retain the above copyright --
-- notice, this list of conditions and the following disclaimer. --
-- 2. Redistributions in binary form must reproduce the above copyright --
-- notice, this list of conditions and the following disclaimer in --
-- the documentation and/or other materials provided with the --
-- distribution. --
-- 3. Neither the name of the copyright holder nor the names of its --
-- contributors may be used to endorse or promote products derived --
-- from this software without specific prior written permission. --
-- --
-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS --
-- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT --
-- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR --
-- A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT --
-- HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, --
-- SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT --
-- LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, --
-- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY --
-- THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT --
-- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE --
-- OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --
-- --
------------------------------------------------------------------------------
with STM32.Device; use STM32.Device;
with STM32.GPIO; use STM32.GPIO;
use STM32; -- for base addresses
with STM32.SPI;
with STM32.SPI.DMA;
with STM32.Timers; use STM32.Timers;
with STM32.DMA; use STM32.DMA;
with STM32.DMA.Interrupts; use STM32.DMA.Interrupts;
with STM32.I2C; use STM32.I2C;
with STM32.USARTs; use STM32.USARTs;
with HAL.UART;
with Ada.Interrupts.Names;
with System;
package OpenMV is
pragma Elaborate_Body;
type LED_Color is (White, Red, Green, Blue, Magenta, Cyan, Yellow, Off);
Image_Width : constant := 128;
Image_Height : constant := 160;
subtype Width is Natural range 0 .. Image_Width - 1;
subtype Height is Natural range 0 .. Image_Height - 1;
procedure Initialize_LEDs;
-- MUST be called prior to any use of the LEDs
procedure Set_RGB_LED (C : LED_Color);
-- Set color of the RGB LED on the board
procedure Turn_On_IR;
-- Turn on infrared LEDs on the board
procedure Turn_Off_IR;
-- Turn off infrared LEDs on the board
procedure Initialize_Shield_SPI;
-- Initialize the SPI port available for shields (SPI2)
procedure Initialize_Shield_USART (Baud : STM32.USARTs.Baud_Rates);
-- Initialize the USART port available for shields (USART3)
function Get_Shield_USART return not null HAL.UART.Any_UART_Port;
-- Get the USART port available for shields (USART3)
Shield_MOSI : GPIO_Point renames PB15;
Shield_MISO : GPIO_Point renames PB14;
Shield_SCK : GPIO_Point renames PB13;
Shield_SEL : GPIO_Point renames PB12;
Shield_TXD : GPIO_Point renames PB10;
Shield_RXD : GPIO_Point renames PB11;
Shield_ADC : GPIO_Point renames PA5;
Shield_SWC : GPIO_Point renames PA14;
Shield_SWD : GPIO_Point renames PA13;
Shield_PWM1 : GPIO_Point renames PD12;
Shield_PWM2 : GPIO_Point renames PD13;
private
--------------
-- LED Pins --
--------------
Red_LED : GPIO_Point renames PC0;
Blue_LED : GPIO_Point renames PC1;
Green_LED : GPIO_Point renames PC2;
IR_LED : GPIO_Point renames PE2;
All_LEDs : constant GPIO_Points := (Red_LED, Blue_LED, Green_LED, IR_LED);
---------------
-- SPI2 Pins --
---------------
SPI2_SCK : GPIO_Point renames PB13;
SPI2_MISO : GPIO_Point renames PB14;
SPI2_MOSI : GPIO_Point renames PB15;
SPI2_NSS : GPIO_Point renames PB12;
Shield_SPI : STM32.SPI.DMA.SPI_Port_DMA renames STM32.Device.SPI_2_DMA;
Shield_SPI_Points : constant STM32.GPIO.GPIO_Points :=
(Shield_MISO,
Shield_MOSI,
Shield_SCK);
Shield_SPI_DMA : STM32.DMA.DMA_Controller renames DMA_1;
Shield_SPI_DMA_Chan : STM32.DMA.DMA_Channel_Selector renames
STM32.DMA.Channel_0;
Shield_SPI_DMA_Stream : STM32.DMA.DMA_Stream_Selector renames
STM32.DMA.Stream_4;
DMA1_Stream4 : aliased DMA_Interrupt_Controller
(DMA_1'Access, Stream_4,
Ada.Interrupts.Names.DMA1_Stream4_Interrupt,
System.Interrupt_Priority'Last);
Shield_SPI_DMA_Int : STM32.DMA.Interrupts.DMA_Interrupt_Controller renames
DMA1_Stream4;
------------
-- USART3 --
------------
USART_3_TX : GPIO_Point renames PB10;
USART_3_RX : GPIO_Point renames PB11;
Shield_USART : USART renames USART_3;
Shield_USART_Points : constant STM32.GPIO.GPIO_Points :=
(USART_3_TX,
USART_3_RX);
Shield_USART_AF : constant GPIO_Alternate_Function := GPIO_AF_USART3_7;
---------------
-- I2C1 Pins --
---------------
Sensor_I2C : I2C_Port renames I2C_1;
Sensor_I2C_SCL : GPIO_Point renames PB8;
Sensor_I2C_SDA : GPIO_Point renames PB9;
Sensor_I2C_AF : GPIO_Alternate_Function renames GPIO_AF_I2C1_4;
-----------------
-- Sensor DMA --
-----------------
DMA2_Stream1 : aliased DMA_Interrupt_Controller
(DMA_2'Access, Stream_1,
Ada.Interrupts.Names.DMA2_Stream1_Interrupt,
System.Interrupt_Priority'Last);
Sensor_DMA : STM32.DMA.DMA_Controller renames DMA_2;
Sensor_DMA_Chan : STM32.DMA.DMA_Channel_Selector renames
STM32.DMA.Channel_1;
Sensor_DMA_Stream : STM32.DMA.DMA_Stream_Selector renames
STM32.DMA.Stream_1;
Sensor_DMA_Int : STM32.DMA.Interrupts.DMA_Interrupt_Controller renames
DMA2_Stream1;
---------------
-- I2C2 Pins --
---------------
I2C2_SCL : GPIO_Point renames PB10;
I2C2_SDA : GPIO_Point renames PB11;
---------------
-- DCMI Pins --
---------------
DCMI_HSYNC : GPIO_Point renames PA4;
DCMI_PCLK : GPIO_Point renames PA6;
DCMI_RST : GPIO_Point renames PA10;
DCMI_PWDN : GPIO_Point renames PB5;
DCMI_VSYNC : GPIO_Point renames PB7;
DCMI_D0 : GPIO_Point renames PC6;
DCMI_D1 : GPIO_Point renames PC7;
DCMI_D2 : GPIO_Point renames PE0;
DCMI_D3 : GPIO_Point renames PE1;
DCMI_D4 : GPIO_Point renames PE4;
DCMI_D5 : GPIO_Point renames PB6;
DCMI_D6 : GPIO_Point renames PE5;
DCMI_D7 : GPIO_Point renames PE6;
FS_IN : GPIO_Point renames PD3;
SENSOR_CLK_IO : GPIO_Point renames PA8;
SENSOR_CLK_AF : GPIO_Alternate_Function renames GPIO_AF_TIM1_1;
SENSOR_CLK_TIM : STM32.Timers.Timer renames Timer_1;
SENSOR_CLK_CHAN : constant Timer_Channel := Channel_1;
SENSOR_CLK_FREQ : constant := 12_000_000;
------------------
-- USB OTG Pins --
------------------
OTG_FS_DM : GPIO_Point renames PA11;
OTG_FS_DP : GPIO_Point renames PA12;
---------------
-- SDIO Pins --
---------------
SDIO_CMD : GPIO_Point renames PD2;
SDIO_CLK : GPIO_Point renames PC12;
SDIO_D0 : GPIO_Point renames PC8;
SDIO_D1 : GPIO_Point renames PC9;
SDIO_D2 : GPIO_Point renames PC10;
SDIO_D3 : GPIO_Point renames PC11;
SD_CD : GPIO_Point renames PA15;
---------------
-- TIM4 Pins --
---------------
TIM4_CH1 : GPIO_Point renames PD12;
TIM4_CH2 : GPIO_Point renames PD13;
end OpenMV;
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