diff --git a/components/mlx90640-library/MLX90640_API.c b/components/mlx90640-library/MLX90640_API.c new file mode 100644 index 000000000..2dff32a7d --- /dev/null +++ b/components/mlx90640-library/MLX90640_API.c @@ -0,0 +1,1572 @@ +/** + * @copyright (C) 2017 Melexis N.V. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#include +#include +#include + +void ExtractVDDParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractPTATParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractGainParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractTgcParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractResolutionParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractKsTaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractKsToParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractAlphaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractOffsetParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractKtaPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractKvPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractCPParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +void ExtractCILCParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); +int ExtractDeviatingPixels(uint16_t *eeData, paramsMLX90640 *mlx90640); +int CheckAdjacentPixels(uint16_t pix1, uint16_t pix2); +float GetMedian(float *values, int n); +int IsPixelBad(uint16_t pixel,paramsMLX90640 *params); +int ValidateFrameData(uint16_t *frameData); +int ValidateAuxData(uint16_t *auxData); + +int MLX90640_DumpEE(uint8_t slaveAddr, uint16_t *eeData) +{ + return MLX90640_I2CRead(slaveAddr, 0x2400, 832, eeData); +} + +int MLX90640_SynchFrame(uint8_t slaveAddr) +{ + uint16_t dataReady = 0; + uint16_t statusRegister; + int error = 1; + + error = MLX90640_I2CWrite(slaveAddr, 0x8000, 0x0030); + if(error == -1) + { + return error; + } + + while(dataReady == 0) + { + error = MLX90640_I2CRead(slaveAddr, 0x8000, 1, &statusRegister); + if(error != 0) + { + return error; + } + dataReady = statusRegister & 0x0008; + } + + return 0; +} + +int MLX90640_TriggerMeasurement(uint8_t slaveAddr) +{ + int error = 1; + uint16_t ctrlReg; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &ctrlReg); + + if ( error != 0) + { + return error; + } + + ctrlReg |= 0x8000; + error = MLX90640_I2CWrite(slaveAddr, 0x800D, ctrlReg); + + if ( error != 0) + { + return error; + } + + error = MLX90640_I2CGeneralReset(); + + if ( error != 0) + { + return error; + } + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &ctrlReg); + + if ( error != 0) + { + return error; + } + + if ((ctrlReg & 0x8000) != 0) + { + return -9; + } + + return 0; +} + +int MLX90640_GetFrameData(uint8_t slaveAddr, uint16_t *frameData) +{ + uint16_t dataReady = 0; + uint16_t controlRegister1; + uint16_t statusRegister; + int error = 1; + uint16_t data[64]; + uint8_t cnt = 0; + + while(dataReady == 0) + { + error = MLX90640_I2CRead(slaveAddr, 0x8000, 1, &statusRegister); + if(error != 0) + { + return error; + } + dataReady = statusRegister & 0x0008; + } + + error = MLX90640_I2CWrite(slaveAddr, 0x8000, 0x0030); + if(error == -1) + { + return error; + } + + error = MLX90640_I2CRead(slaveAddr, 0x0400, 768, frameData); + if(error != 0) + { + return error; + } + + error = MLX90640_I2CRead(slaveAddr, 0x0700, 64, data); + if(error != 0) + { + return error; + } + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + frameData[832] = controlRegister1; + frameData[833] = statusRegister & 0x0001; + + if(error != 0) + { + return error; + } + + error = ValidateAuxData(data); + if(error == 0) + { + for(cnt=0; cnt<64; cnt++) + { + frameData[cnt+768] = data[cnt]; + } + } + + error = ValidateFrameData(frameData); + if (error != 0) + { + return error; + } + + return frameData[833]; +} + +int ValidateFrameData(uint16_t *frameData) +{ + uint8_t line = 0; + + for(int i=0; i<768; i+=32) + { + if((frameData[i] == 0x7FFF) && (line%2 == frameData[833])) return -8; + line = line + 1; + } + + return 0; +} + +int ValidateAuxData(uint16_t *auxData) +{ + + if(auxData[0] == 0x7FFF) return -8; + + for(int i=8; i<19; i++) + { + if(auxData[i] == 0x7FFF) return -8; + } + + for(int i=20; i<23; i++) + { + if(auxData[i] == 0x7FFF) return -8; + } + + for(int i=24; i<33; i++) + { + if(auxData[i] == 0x7FFF) return -8; + } + + for(int i=40; i<51; i++) + { + if(auxData[i] == 0x7FFF) return -8; + } + + for(int i=52; i<55; i++) + { + if(auxData[i] == 0x7FFF) return -8; + } + + for(int i=56; i<64; i++) + { + if(auxData[i] == 0x7FFF) return -8; + } + + return 0; + +} + +int MLX90640_ExtractParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int error = 0; + + ExtractVDDParameters(eeData, mlx90640); + ExtractPTATParameters(eeData, mlx90640); + ExtractGainParameters(eeData, mlx90640); + ExtractTgcParameters(eeData, mlx90640); + ExtractResolutionParameters(eeData, mlx90640); + ExtractKsTaParameters(eeData, mlx90640); + ExtractKsToParameters(eeData, mlx90640); + ExtractCPParameters(eeData, mlx90640); + ExtractAlphaParameters(eeData, mlx90640); + ExtractOffsetParameters(eeData, mlx90640); + ExtractKtaPixelParameters(eeData, mlx90640); + ExtractKvPixelParameters(eeData, mlx90640); + ExtractCILCParameters(eeData, mlx90640); + error = ExtractDeviatingPixels(eeData, mlx90640); + + return error; + +} + +//------------------------------------------------------------------------------ + +int MLX90640_SetResolution(uint8_t slaveAddr, uint8_t resolution) +{ + uint16_t controlRegister1; + int value; + int error; + + value = (resolution & 0x03) << 10; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + + if(error == 0) + { + value = (controlRegister1 & 0xF3FF) | value; + error = MLX90640_I2CWrite(slaveAddr, 0x800D, value); + } + + return error; +} + +//------------------------------------------------------------------------------ + +int MLX90640_GetCurResolution(uint8_t slaveAddr) +{ + uint16_t controlRegister1; + int resolutionRAM; + int error; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + if(error != 0) + { + return error; + } + resolutionRAM = (controlRegister1 & 0x0C00) >> 10; + + return resolutionRAM; +} + +//------------------------------------------------------------------------------ + +int MLX90640_SetRefreshRate(uint8_t slaveAddr, uint8_t refreshRate) +{ + uint16_t controlRegister1; + int value; + int error; + + value = (refreshRate & 0x07)<<7; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + if(error == 0) + { + value = (controlRegister1 & 0xFC7F) | value; + error = MLX90640_I2CWrite(slaveAddr, 0x800D, value); + } + + return error; +} + +//------------------------------------------------------------------------------ + +int MLX90640_GetRefreshRate(uint8_t slaveAddr) +{ + uint16_t controlRegister1; + int refreshRate; + int error; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + if(error != 0) + { + return error; + } + refreshRate = (controlRegister1 & 0x0380) >> 7; + + return refreshRate; +} + +//------------------------------------------------------------------------------ + +int MLX90640_SetInterleavedMode(uint8_t slaveAddr) +{ + uint16_t controlRegister1; + int value; + int error; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + + if(error == 0) + { + value = (controlRegister1 & 0xEFFF); + error = MLX90640_I2CWrite(slaveAddr, 0x800D, value); + } + + return error; +} + +//------------------------------------------------------------------------------ + +int MLX90640_SetChessMode(uint8_t slaveAddr) +{ + uint16_t controlRegister1; + int value; + int error; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + + if(error == 0) + { + value = (controlRegister1 | 0x1000); + error = MLX90640_I2CWrite(slaveAddr, 0x800D, value); + } + + return error; +} + +//------------------------------------------------------------------------------ + +int MLX90640_GetCurMode(uint8_t slaveAddr) +{ + uint16_t controlRegister1; + int modeRAM; + int error; + + error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1); + if(error != 0) + { + return error; + } + modeRAM = (controlRegister1 & 0x1000) >> 12; + + return modeRAM; +} + +//------------------------------------------------------------------------------ + +void MLX90640_CalculateTo(uint16_t *frameData, const paramsMLX90640 *params, float emissivity, float tr, float *result) +{ + float vdd; + float ta; + float ta4; + float tr4; + float taTr; + float gain; + float irDataCP[2]; + float irData; + float alphaCompensated; + uint8_t mode; + int8_t ilPattern; + int8_t chessPattern; + int8_t pattern; + int8_t conversionPattern; + float Sx; + float To; + float alphaCorrR[4]; + int8_t range; + uint16_t subPage; + float ktaScale; + float kvScale; + float alphaScale; + float kta; + float kv; + + subPage = frameData[833]; + vdd = MLX90640_GetVdd(frameData, params); + ta = MLX90640_GetTa(frameData, params); + + ta4 = (ta + 273.15); + ta4 = ta4 * ta4; + ta4 = ta4 * ta4; + tr4 = (tr + 273.15); + tr4 = tr4 * tr4; + tr4 = tr4 * tr4; + taTr = tr4 - (tr4-ta4)/emissivity; + + ktaScale = pow(2,(double)params->ktaScale); + kvScale = pow(2,(double)params->kvScale); + alphaScale = pow(2,(double)params->alphaScale); + + alphaCorrR[0] = 1 / (1 + params->ksTo[0] * 40); + alphaCorrR[1] = 1 ; + alphaCorrR[2] = (1 + params->ksTo[1] * params->ct[2]); + alphaCorrR[3] = alphaCorrR[2] * (1 + params->ksTo[2] * (params->ct[3] - params->ct[2])); + +//------------------------- Gain calculation ----------------------------------- + gain = frameData[778]; + if(gain > 32767) + { + gain = gain - 65536; + } + + gain = params->gainEE / gain; + +//------------------------- To calculation ------------------------------------- + mode = (frameData[832] & 0x1000) >> 5; + + irDataCP[0] = frameData[776]; + irDataCP[1] = frameData[808]; + for( int i = 0; i < 2; i++) + { + if(irDataCP[i] > 32767) + { + irDataCP[i] = irDataCP[i] - 65536; + } + irDataCP[i] = irDataCP[i] * gain; + } + irDataCP[0] = irDataCP[0] - params->cpOffset[0] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3)); + if( mode == params->calibrationModeEE) + { + irDataCP[1] = irDataCP[1] - params->cpOffset[1] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3)); + } + else + { + irDataCP[1] = irDataCP[1] - (params->cpOffset[1] + params->ilChessC[0]) * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3)); + } + + for( int pixelNumber = 0; pixelNumber < 768; pixelNumber++) + { + ilPattern = pixelNumber / 32 - (pixelNumber / 64) * 2; + chessPattern = ilPattern ^ (pixelNumber - (pixelNumber/2)*2); + conversionPattern = ((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern); + + if(mode == 0) + { + pattern = ilPattern; + } + else + { + pattern = chessPattern; + } + + if(pattern == frameData[833]) + { + irData = frameData[pixelNumber]; + if(irData > 32767) + { + irData = irData - 65536; + } + irData = irData * gain; + + kta = params->kta[pixelNumber]/ktaScale; + kv = params->kv[pixelNumber]/kvScale; + irData = irData - params->offset[pixelNumber]*(1 + kta*(ta - 25))*(1 + kv*(vdd - 3.3)); + + if(mode != params->calibrationModeEE) + { + irData = irData + params->ilChessC[2] * (2 * ilPattern - 1) - params->ilChessC[1] * conversionPattern; + } + + irData = irData - params->tgc * irDataCP[subPage]; + irData = irData / emissivity; + + alphaCompensated = SCALEALPHA*alphaScale/params->alpha[pixelNumber]; + alphaCompensated = alphaCompensated*(1 + params->KsTa * (ta - 25)); + + Sx = alphaCompensated * alphaCompensated * alphaCompensated * (irData + alphaCompensated * taTr); + Sx = sqrt(sqrt(Sx)) * params->ksTo[1]; + + To = sqrt(sqrt(irData/(alphaCompensated * (1 - params->ksTo[1] * 273.15) + Sx) + taTr)) - 273.15; + + if(To < params->ct[1]) + { + range = 0; + } + else if(To < params->ct[2]) + { + range = 1; + } + else if(To < params->ct[3]) + { + range = 2; + } + else + { + range = 3; + } + + To = sqrt(sqrt(irData / (alphaCompensated * alphaCorrR[range] * (1 + params->ksTo[range] * (To - params->ct[range]))) + taTr)) - 273.15; + + result[pixelNumber] = To; + } + } +} + +//------------------------------------------------------------------------------ + +void MLX90640_GetImage(uint16_t *frameData, const paramsMLX90640 *params, float *result) +{ + float vdd; + float ta; + float gain; + float irDataCP[2]; + float irData; + float alphaCompensated; + uint8_t mode; + int8_t ilPattern; + int8_t chessPattern; + int8_t pattern; + int8_t conversionPattern; + float image; + uint16_t subPage; + float ktaScale; + float kvScale; + float kta; + float kv; + + subPage = frameData[833]; + vdd = MLX90640_GetVdd(frameData, params); + ta = MLX90640_GetTa(frameData, params); + + ktaScale = pow(2,(double)params->ktaScale); + kvScale = pow(2,(double)params->kvScale); + +//------------------------- Gain calculation ----------------------------------- + gain = frameData[778]; + if(gain > 32767) + { + gain = gain - 65536; + } + + gain = params->gainEE / gain; + +//------------------------- Image calculation ------------------------------------- + mode = (frameData[832] & 0x1000) >> 5; + + irDataCP[0] = frameData[776]; + irDataCP[1] = frameData[808]; + for( int i = 0; i < 2; i++) + { + if(irDataCP[i] > 32767) + { + irDataCP[i] = irDataCP[i] - 65536; + } + irDataCP[i] = irDataCP[i] * gain; + } + irDataCP[0] = irDataCP[0] - params->cpOffset[0] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3)); + if( mode == params->calibrationModeEE) + { + irDataCP[1] = irDataCP[1] - params->cpOffset[1] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3)); + } + else + { + irDataCP[1] = irDataCP[1] - (params->cpOffset[1] + params->ilChessC[0]) * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3)); + } + + for( int pixelNumber = 0; pixelNumber < 768; pixelNumber++) + { + ilPattern = pixelNumber / 32 - (pixelNumber / 64) * 2; + chessPattern = ilPattern ^ (pixelNumber - (pixelNumber/2)*2); + conversionPattern = ((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern); + + if(mode == 0) + { + pattern = ilPattern; + } + else + { + pattern = chessPattern; + } + + if(pattern == frameData[833]) + { + irData = frameData[pixelNumber]; + if(irData > 32767) + { + irData = irData - 65536; + } + irData = irData * gain; + + kta = params->kta[pixelNumber]/ktaScale; + kv = params->kv[pixelNumber]/kvScale; + irData = irData - params->offset[pixelNumber]*(1 + kta*(ta - 25))*(1 + kv*(vdd - 3.3)); + + if(mode != params->calibrationModeEE) + { + irData = irData + params->ilChessC[2] * (2 * ilPattern - 1) - params->ilChessC[1] * conversionPattern; + } + + irData = irData - params->tgc * irDataCP[subPage]; + + alphaCompensated = params->alpha[pixelNumber]; + + image = irData*alphaCompensated; + + result[pixelNumber] = image; + } + } +} + +//------------------------------------------------------------------------------ + +float MLX90640_GetVdd(uint16_t *frameData, const paramsMLX90640 *params) +{ + float vdd; + float resolutionCorrection; + + int resolutionRAM; + + vdd = frameData[810]; + if(vdd > 32767) + { + vdd = vdd - 65536; + } + resolutionRAM = (frameData[832] & 0x0C00) >> 10; + resolutionCorrection = pow(2, (double)params->resolutionEE) / pow(2, (double)resolutionRAM); + vdd = (resolutionCorrection * vdd - params->vdd25) / params->kVdd + 3.3; + + return vdd; +} + +//------------------------------------------------------------------------------ + +float MLX90640_GetTa(uint16_t *frameData, const paramsMLX90640 *params) +{ + float ptat; + float ptatArt; + float vdd; + float ta; + + vdd = MLX90640_GetVdd(frameData, params); + + ptat = frameData[800]; + if(ptat > 32767) + { + ptat = ptat - 65536; + } + + ptatArt = frameData[768]; + if(ptatArt > 32767) + { + ptatArt = ptatArt - 65536; + } + ptatArt = (ptat / (ptat * params->alphaPTAT + ptatArt)) * pow(2, (double)18); + + ta = (ptatArt / (1 + params->KvPTAT * (vdd - 3.3)) - params->vPTAT25); + ta = ta / params->KtPTAT + 25; + + return ta; +} + +//------------------------------------------------------------------------------ + +int MLX90640_GetSubPageNumber(uint16_t *frameData) +{ + return frameData[833]; + +} + +//------------------------------------------------------------------------------ +void MLX90640_BadPixelsCorrection(uint16_t *pixels, float *to, int mode, paramsMLX90640 *params) +{ + float ap[4]; + uint8_t pix; + uint8_t line; + uint8_t column; + + pix = 0; + while(pixels[pix] != 0xFFFF) + { + line = pixels[pix]>>5; + column = pixels[pix] - (line<<5); + + if(mode == 1) + { + if(line == 0) + { + if(column == 0) + { + to[pixels[pix]] = to[33]; + } + else if(column == 31) + { + to[pixels[pix]] = to[62]; + } + else + { + to[pixels[pix]] = (to[pixels[pix]+31] + to[pixels[pix]+33])/2.0; + } + } + else if(line == 23) + { + if(column == 0) + { + to[pixels[pix]] = to[705]; + } + else if(column == 31) + { + to[pixels[pix]] = to[734]; + } + else + { + to[pixels[pix]] = (to[pixels[pix]-33] + to[pixels[pix]-31])/2.0; + } + } + else if(column == 0) + { + to[pixels[pix]] = (to[pixels[pix]-31] + to[pixels[pix]+33])/2.0; + } + else if(column == 31) + { + to[pixels[pix]] = (to[pixels[pix]-33] + to[pixels[pix]+31])/2.0; + } + else + { + ap[0] = to[pixels[pix]-33]; + ap[1] = to[pixels[pix]-31]; + ap[2] = to[pixels[pix]+31]; + ap[3] = to[pixels[pix]+33]; + to[pixels[pix]] = GetMedian(ap,4); + } + } + else + { + if(column == 0) + { + to[pixels[pix]] = to[pixels[pix]+1]; + } + else if(column == 1 || column == 30) + { + to[pixels[pix]] = (to[pixels[pix]-1]+to[pixels[pix]+1])/2.0; + } + else if(column == 31) + { + to[pixels[pix]] = to[pixels[pix]-1]; + } + else + { + if(IsPixelBad(pixels[pix]-2,params) == 0 && IsPixelBad(pixels[pix]+2,params) == 0) + { + ap[0] = to[pixels[pix]+1] - to[pixels[pix]+2]; + ap[1] = to[pixels[pix]-1] - to[pixels[pix]-2]; + if(fabs(ap[0]) > fabs(ap[1])) + { + to[pixels[pix]] = to[pixels[pix]-1] + ap[1]; + } + else + { + to[pixels[pix]] = to[pixels[pix]+1] + ap[0]; + } + } + else + { + to[pixels[pix]] = (to[pixels[pix]-1]+to[pixels[pix]+1])/2.0; + } + } + } + pix = pix + 1; + } +} + +//------------------------------------------------------------------------------ + +void ExtractVDDParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int16_t kVdd; + int16_t vdd25; + + kVdd = eeData[51]; + + kVdd = (eeData[51] & 0xFF00) >> 8; + if(kVdd > 127) + { + kVdd = kVdd - 256; + } + kVdd = 32 * kVdd; + vdd25 = eeData[51] & 0x00FF; + vdd25 = ((vdd25 - 256) << 5) - 8192; + + mlx90640->kVdd = kVdd; + mlx90640->vdd25 = vdd25; +} + +//------------------------------------------------------------------------------ + +void ExtractPTATParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + float KvPTAT; + float KtPTAT; + int16_t vPTAT25; + float alphaPTAT; + + KvPTAT = (eeData[50] & 0xFC00) >> 10; + if(KvPTAT > 31) + { + KvPTAT = KvPTAT - 64; + } + KvPTAT = KvPTAT/4096; + + KtPTAT = eeData[50] & 0x03FF; + if(KtPTAT > 511) + { + KtPTAT = KtPTAT - 1024; + } + KtPTAT = KtPTAT/8; + + vPTAT25 = eeData[49]; + + alphaPTAT = (eeData[16] & 0xF000) / pow(2, (double)14) + 8.0f; + + mlx90640->KvPTAT = KvPTAT; + mlx90640->KtPTAT = KtPTAT; + mlx90640->vPTAT25 = vPTAT25; + mlx90640->alphaPTAT = alphaPTAT; +} + +//------------------------------------------------------------------------------ + +void ExtractGainParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int16_t gainEE; + + gainEE = eeData[48]; + if(gainEE > 32767) + { + gainEE = gainEE -65536; + } + + mlx90640->gainEE = gainEE; +} + +//------------------------------------------------------------------------------ + +void ExtractTgcParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + float tgc; + tgc = eeData[60] & 0x00FF; + if(tgc > 127) + { + tgc = tgc - 256; + } + tgc = tgc / 32.0f; + + mlx90640->tgc = tgc; +} + +//------------------------------------------------------------------------------ + +void ExtractResolutionParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + uint8_t resolutionEE; + resolutionEE = (eeData[56] & 0x3000) >> 12; + + mlx90640->resolutionEE = resolutionEE; +} + +//------------------------------------------------------------------------------ + +void ExtractKsTaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + float KsTa; + KsTa = (eeData[60] & 0xFF00) >> 8; + if(KsTa > 127) + { + KsTa = KsTa -256; + } + KsTa = KsTa / 8192.0f; + + mlx90640->KsTa = KsTa; +} + +//------------------------------------------------------------------------------ + +void ExtractKsToParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int32_t KsToScale; + int8_t step; + + step = ((eeData[63] & 0x3000) >> 12) * 10; + + mlx90640->ct[0] = -40; + mlx90640->ct[1] = 0; + mlx90640->ct[2] = (eeData[63] & 0x00F0) >> 4; + mlx90640->ct[3] = (eeData[63] & 0x0F00) >> 8; + + mlx90640->ct[2] = mlx90640->ct[2]*step; + mlx90640->ct[3] = mlx90640->ct[2] + mlx90640->ct[3]*step; + mlx90640->ct[4] = 400; + + KsToScale = (eeData[63] & 0x000F) + 8; + KsToScale = 1UL << KsToScale; + + mlx90640->ksTo[0] = eeData[61] & 0x00FF; + mlx90640->ksTo[1] = (eeData[61] & 0xFF00) >> 8; + mlx90640->ksTo[2] = eeData[62] & 0x00FF; + mlx90640->ksTo[3] = (eeData[62] & 0xFF00) >> 8; + + for(int i = 0; i < 4; i++) + { + if(mlx90640->ksTo[i] > 127) + { + mlx90640->ksTo[i] = mlx90640->ksTo[i] - 256; + } + mlx90640->ksTo[i] = mlx90640->ksTo[i] / KsToScale; + } + + mlx90640->ksTo[4] = -0.0002; +} + +//------------------------------------------------------------------------------ + +void ExtractAlphaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int accRow[24]; + int accColumn[32]; + int p = 0; + int alphaRef; + uint8_t alphaScale; + uint8_t accRowScale; + uint8_t accColumnScale; + uint8_t accRemScale; + float alphaTemp[768]; + float temp; + + + accRemScale = eeData[32] & 0x000F; + accColumnScale = (eeData[32] & 0x00F0) >> 4; + accRowScale = (eeData[32] & 0x0F00) >> 8; + alphaScale = ((eeData[32] & 0xF000) >> 12) + 30; + alphaRef = eeData[33]; + + for(int i = 0; i < 6; i++) + { + p = i * 4; + accRow[p + 0] = (eeData[34 + i] & 0x000F); + accRow[p + 1] = (eeData[34 + i] & 0x00F0) >> 4; + accRow[p + 2] = (eeData[34 + i] & 0x0F00) >> 8; + accRow[p + 3] = (eeData[34 + i] & 0xF000) >> 12; + } + + for(int i = 0; i < 24; i++) + { + if (accRow[i] > 7) + { + accRow[i] = accRow[i] - 16; + } + } + + for(int i = 0; i < 8; i++) + { + p = i * 4; + accColumn[p + 0] = (eeData[40 + i] & 0x000F); + accColumn[p + 1] = (eeData[40 + i] & 0x00F0) >> 4; + accColumn[p + 2] = (eeData[40 + i] & 0x0F00) >> 8; + accColumn[p + 3] = (eeData[40 + i] & 0xF000) >> 12; + } + + for(int i = 0; i < 32; i ++) + { + if (accColumn[i] > 7) + { + accColumn[i] = accColumn[i] - 16; + } + } + + for(int i = 0; i < 24; i++) + { + for(int j = 0; j < 32; j ++) + { + p = 32 * i +j; + alphaTemp[p] = (eeData[64 + p] & 0x03F0) >> 4; + if (alphaTemp[p] > 31) + { + alphaTemp[p] = alphaTemp[p] - 64; + } + alphaTemp[p] = alphaTemp[p]*(1 << accRemScale); + alphaTemp[p] = (alphaRef + (accRow[i] << accRowScale) + (accColumn[j] << accColumnScale) + alphaTemp[p]); + alphaTemp[p] = alphaTemp[p] / pow(2,(double)alphaScale); + alphaTemp[p] = alphaTemp[p] - mlx90640->tgc * (mlx90640->cpAlpha[0] + mlx90640->cpAlpha[1])/2; + alphaTemp[p] = SCALEALPHA/alphaTemp[p]; + } + } + + temp = alphaTemp[0]; + for(int i = 1; i < 768; i++) + { + if (alphaTemp[i] > temp) + { + temp = alphaTemp[i]; + } + } + + alphaScale = 0; + while(temp < 32767.4) + { + temp = temp*2; + alphaScale = alphaScale + 1; + } + + for(int i = 0; i < 768; i++) + { + temp = alphaTemp[i] * pow(2,(double)alphaScale); + mlx90640->alpha[i] = (temp + 0.5); + + } + + mlx90640->alphaScale = alphaScale; + +} + +//------------------------------------------------------------------------------ + +void ExtractOffsetParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int occRow[24]; + int occColumn[32]; + int p = 0; + int16_t offsetRef; + uint8_t occRowScale; + uint8_t occColumnScale; + uint8_t occRemScale; + + + occRemScale = (eeData[16] & 0x000F); + occColumnScale = (eeData[16] & 0x00F0) >> 4; + occRowScale = (eeData[16] & 0x0F00) >> 8; + offsetRef = eeData[17]; + if (offsetRef > 32767) + { + offsetRef = offsetRef - 65536; + } + + for(int i = 0; i < 6; i++) + { + p = i * 4; + occRow[p + 0] = (eeData[18 + i] & 0x000F); + occRow[p + 1] = (eeData[18 + i] & 0x00F0) >> 4; + occRow[p + 2] = (eeData[18 + i] & 0x0F00) >> 8; + occRow[p + 3] = (eeData[18 + i] & 0xF000) >> 12; + } + + for(int i = 0; i < 24; i++) + { + if (occRow[i] > 7) + { + occRow[i] = occRow[i] - 16; + } + } + + for(int i = 0; i < 8; i++) + { + p = i * 4; + occColumn[p + 0] = (eeData[24 + i] & 0x000F); + occColumn[p + 1] = (eeData[24 + i] & 0x00F0) >> 4; + occColumn[p + 2] = (eeData[24 + i] & 0x0F00) >> 8; + occColumn[p + 3] = (eeData[24 + i] & 0xF000) >> 12; + } + + for(int i = 0; i < 32; i ++) + { + if (occColumn[i] > 7) + { + occColumn[i] = occColumn[i] - 16; + } + } + + for(int i = 0; i < 24; i++) + { + for(int j = 0; j < 32; j ++) + { + p = 32 * i +j; + mlx90640->offset[p] = (eeData[64 + p] & 0xFC00) >> 10; + if (mlx90640->offset[p] > 31) + { + mlx90640->offset[p] = mlx90640->offset[p] - 64; + } + mlx90640->offset[p] = mlx90640->offset[p]*(1 << occRemScale); + mlx90640->offset[p] = (offsetRef + (occRow[i] << occRowScale) + (occColumn[j] << occColumnScale) + mlx90640->offset[p]); + } + } +} + +//------------------------------------------------------------------------------ + +void ExtractKtaPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int p = 0; + int8_t KtaRC[4]; + int8_t KtaRoCo; + int8_t KtaRoCe; + int8_t KtaReCo; + int8_t KtaReCe; + uint8_t ktaScale1; + uint8_t ktaScale2; + uint8_t split; + float ktaTemp[768]; + float temp; + + KtaRoCo = (eeData[54] & 0xFF00) >> 8; + if (KtaRoCo > 127) + { + KtaRoCo = KtaRoCo - 256; + } + KtaRC[0] = KtaRoCo; + + KtaReCo = (eeData[54] & 0x00FF); + if (KtaReCo > 127) + { + KtaReCo = KtaReCo - 256; + } + KtaRC[2] = KtaReCo; + + KtaRoCe = (eeData[55] & 0xFF00) >> 8; + if (KtaRoCe > 127) + { + KtaRoCe = KtaRoCe - 256; + } + KtaRC[1] = KtaRoCe; + + KtaReCe = (eeData[55] & 0x00FF); + if (KtaReCe > 127) + { + KtaReCe = KtaReCe - 256; + } + KtaRC[3] = KtaReCe; + + ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8; + ktaScale2 = (eeData[56] & 0x000F); + + for(int i = 0; i < 24; i++) + { + for(int j = 0; j < 32; j ++) + { + p = 32 * i +j; + split = 2*(p/32 - (p/64)*2) + p%2; + ktaTemp[p] = (eeData[64 + p] & 0x000E) >> 1; + if (ktaTemp[p] > 3) + { + ktaTemp[p] = ktaTemp[p] - 8; + } + ktaTemp[p] = ktaTemp[p] * (1 << ktaScale2); + ktaTemp[p] = KtaRC[split] + ktaTemp[p]; + ktaTemp[p] = ktaTemp[p] / pow(2,(double)ktaScale1); + //ktaTemp[p] = ktaTemp[p] * mlx90640->offset[p]; + } + } + + temp = fabs(ktaTemp[0]); + for(int i = 1; i < 768; i++) + { + if (fabs(ktaTemp[i]) > temp) + { + temp = fabs(ktaTemp[i]); + } + } + + ktaScale1 = 0; + while(temp < 63.4) + { + temp = temp*2; + ktaScale1 = ktaScale1 + 1; + } + + for(int i = 0; i < 768; i++) + { + temp = ktaTemp[i] * pow(2,(double)ktaScale1); + if (temp < 0) + { + mlx90640->kta[i] = (temp - 0.5); + } + else + { + mlx90640->kta[i] = (temp + 0.5); + } + + } + + mlx90640->ktaScale = ktaScale1; +} + + +//------------------------------------------------------------------------------ + +void ExtractKvPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + int p = 0; + int8_t KvT[4]; + int8_t KvRoCo; + int8_t KvRoCe; + int8_t KvReCo; + int8_t KvReCe; + uint8_t kvScale; + uint8_t split; + float kvTemp[768]; + float temp; + + KvRoCo = (eeData[52] & 0xF000) >> 12; + if (KvRoCo > 7) + { + KvRoCo = KvRoCo - 16; + } + KvT[0] = KvRoCo; + + KvReCo = (eeData[52] & 0x0F00) >> 8; + if (KvReCo > 7) + { + KvReCo = KvReCo - 16; + } + KvT[2] = KvReCo; + + KvRoCe = (eeData[52] & 0x00F0) >> 4; + if (KvRoCe > 7) + { + KvRoCe = KvRoCe - 16; + } + KvT[1] = KvRoCe; + + KvReCe = (eeData[52] & 0x000F); + if (KvReCe > 7) + { + KvReCe = KvReCe - 16; + } + KvT[3] = KvReCe; + + kvScale = (eeData[56] & 0x0F00) >> 8; + + + for(int i = 0; i < 24; i++) + { + for(int j = 0; j < 32; j ++) + { + p = 32 * i +j; + split = 2*(p/32 - (p/64)*2) + p%2; + kvTemp[p] = KvT[split]; + kvTemp[p] = kvTemp[p] / pow(2,(double)kvScale); + //kvTemp[p] = kvTemp[p] * mlx90640->offset[p]; + } + } + + temp = fabs(kvTemp[0]); + for(int i = 1; i < 768; i++) + { + if (fabs(kvTemp[i]) > temp) + { + temp = fabs(kvTemp[i]); + } + } + + kvScale = 0; + while(temp < 63.4) + { + temp = temp*2; + kvScale = kvScale + 1; + } + + for(int i = 0; i < 768; i++) + { + temp = kvTemp[i] * pow(2,(double)kvScale); + if (temp < 0) + { + mlx90640->kv[i] = (temp - 0.5); + } + else + { + mlx90640->kv[i] = (temp + 0.5); + } + + } + + mlx90640->kvScale = kvScale; +} + +//------------------------------------------------------------------------------ + +void ExtractCPParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + float alphaSP[2]; + int16_t offsetSP[2]; + float cpKv; + float cpKta; + uint8_t alphaScale; + uint8_t ktaScale1; + uint8_t kvScale; + + alphaScale = ((eeData[32] & 0xF000) >> 12) + 27; + + offsetSP[0] = (eeData[58] & 0x03FF); + if (offsetSP[0] > 511) + { + offsetSP[0] = offsetSP[0] - 1024; + } + + offsetSP[1] = (eeData[58] & 0xFC00) >> 10; + if (offsetSP[1] > 31) + { + offsetSP[1] = offsetSP[1] - 64; + } + offsetSP[1] = offsetSP[1] + offsetSP[0]; + + alphaSP[0] = (eeData[57] & 0x03FF); + if (alphaSP[0] > 511) + { + alphaSP[0] = alphaSP[0] - 1024; + } + alphaSP[0] = alphaSP[0] / pow(2,(double)alphaScale); + + alphaSP[1] = (eeData[57] & 0xFC00) >> 10; + if (alphaSP[1] > 31) + { + alphaSP[1] = alphaSP[1] - 64; + } + alphaSP[1] = (1 + alphaSP[1]/128) * alphaSP[0]; + + cpKta = (eeData[59] & 0x00FF); + if (cpKta > 127) + { + cpKta = cpKta - 256; + } + ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8; + mlx90640->cpKta = cpKta / pow(2,(double)ktaScale1); + + cpKv = (eeData[59] & 0xFF00) >> 8; + if (cpKv > 127) + { + cpKv = cpKv - 256; + } + kvScale = (eeData[56] & 0x0F00) >> 8; + mlx90640->cpKv = cpKv / pow(2,(double)kvScale); + + mlx90640->cpAlpha[0] = alphaSP[0]; + mlx90640->cpAlpha[1] = alphaSP[1]; + mlx90640->cpOffset[0] = offsetSP[0]; + mlx90640->cpOffset[1] = offsetSP[1]; +} + +//------------------------------------------------------------------------------ + +void ExtractCILCParameters(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + float ilChessC[3]; + uint8_t calibrationModeEE; + + calibrationModeEE = (eeData[10] & 0x0800) >> 4; + calibrationModeEE = calibrationModeEE ^ 0x80; + + ilChessC[0] = (eeData[53] & 0x003F); + if (ilChessC[0] > 31) + { + ilChessC[0] = ilChessC[0] - 64; + } + ilChessC[0] = ilChessC[0] / 16.0f; + + ilChessC[1] = (eeData[53] & 0x07C0) >> 6; + if (ilChessC[1] > 15) + { + ilChessC[1] = ilChessC[1] - 32; + } + ilChessC[1] = ilChessC[1] / 2.0f; + + ilChessC[2] = (eeData[53] & 0xF800) >> 11; + if (ilChessC[2] > 15) + { + ilChessC[2] = ilChessC[2] - 32; + } + ilChessC[2] = ilChessC[2] / 8.0f; + + mlx90640->calibrationModeEE = calibrationModeEE; + mlx90640->ilChessC[0] = ilChessC[0]; + mlx90640->ilChessC[1] = ilChessC[1]; + mlx90640->ilChessC[2] = ilChessC[2]; +} + +//------------------------------------------------------------------------------ + +int ExtractDeviatingPixels(uint16_t *eeData, paramsMLX90640 *mlx90640) +{ + uint16_t pixCnt = 0; + uint16_t brokenPixCnt = 0; + uint16_t outlierPixCnt = 0; + int warn = 0; + int i; + + for(pixCnt = 0; pixCnt<5; pixCnt++) + { + mlx90640->brokenPixels[pixCnt] = 0xFFFF; + mlx90640->outlierPixels[pixCnt] = 0xFFFF; + } + + pixCnt = 0; + while (pixCnt < 768 && brokenPixCnt < 5 && outlierPixCnt < 5) + { + if(eeData[pixCnt+64] == 0) + { + mlx90640->brokenPixels[brokenPixCnt] = pixCnt; + brokenPixCnt = brokenPixCnt + 1; + } + else if((eeData[pixCnt+64] & 0x0001) != 0) + { + mlx90640->outlierPixels[outlierPixCnt] = pixCnt; + outlierPixCnt = outlierPixCnt + 1; + } + + pixCnt = pixCnt + 1; + + } + + if(brokenPixCnt > 4) + { + warn = -3; + } + else if(outlierPixCnt > 4) + { + warn = -4; + } + else if((brokenPixCnt + outlierPixCnt) > 4) + { + warn = -5; + } + else + { + for(pixCnt=0; pixCntbrokenPixels[pixCnt],mlx90640->brokenPixels[i]); + if(warn != 0) + { + return warn; + } + } + } + + for(pixCnt=0; pixCntoutlierPixels[pixCnt],mlx90640->outlierPixels[i]); + if(warn != 0) + { + return warn; + } + } + } + + for(pixCnt=0; pixCntbrokenPixels[pixCnt],mlx90640->outlierPixels[i]); + if(warn != 0) + { + return warn; + } + } + } + + } + + + return warn; + +} + +//------------------------------------------------------------------------------ + + int CheckAdjacentPixels(uint16_t pix1, uint16_t pix2) + { + int pixPosDif; + + pixPosDif = pix1 - pix2; + if(pixPosDif > -34 && pixPosDif < -30) + { + return -6; + } + if(pixPosDif > -2 && pixPosDif < 2) + { + return -6; + } + if(pixPosDif > 30 && pixPosDif < 34) + { + return -6; + } + + return 0; + } + +//------------------------------------------------------------------------------ + +float GetMedian(float *values, int n) + { + float temp; + + for(int i=0; ioutlierPixels[i] || pixel == params->brokenPixels[i]) + { + return 1; + } + } + + return 0; +} + +//------------------------------------------------------------------------------ diff --git a/components/mlx90640-library/MLX90640_API.h b/components/mlx90640-library/MLX90640_API.h new file mode 100644 index 000000000..af160336e --- /dev/null +++ b/components/mlx90640-library/MLX90640_API.h @@ -0,0 +1,72 @@ +/** + * @copyright (C) 2017 Melexis N.V. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#ifndef _MLX90640_API_H_ +#define _MLX90640_API_H_ + +#define SCALEALPHA 0.000001 + +typedef struct + { + int16_t kVdd; + int16_t vdd25; + float KvPTAT; + float KtPTAT; + uint16_t vPTAT25; + float alphaPTAT; + int16_t gainEE; + float tgc; + float cpKv; + float cpKta; + uint8_t resolutionEE; + uint8_t calibrationModeEE; + float KsTa; + float ksTo[5]; + int16_t ct[5]; + uint16_t alpha[768]; + uint8_t alphaScale; + int16_t offset[768]; + int8_t kta[768]; + uint8_t ktaScale; + int8_t kv[768]; + uint8_t kvScale; + float cpAlpha[2]; + int16_t cpOffset[2]; + float ilChessC[3]; + uint16_t brokenPixels[5]; + uint16_t outlierPixels[5]; + } paramsMLX90640; + + int MLX90640_DumpEE(uint8_t slaveAddr, uint16_t *eeData); + int MLX90640_SynchFrame(uint8_t slaveAddr); + int MLX90640_TriggerMeasurement(uint8_t slaveAddr); + int MLX90640_GetFrameData(uint8_t slaveAddr, uint16_t *frameData); + int MLX90640_ExtractParameters(uint16_t *eeData, paramsMLX90640 *mlx90640); + float MLX90640_GetVdd(uint16_t *frameData, const paramsMLX90640 *params); + float MLX90640_GetTa(uint16_t *frameData, const paramsMLX90640 *params); + void MLX90640_GetImage(uint16_t *frameData, const paramsMLX90640 *params, float *result); + void MLX90640_CalculateTo(uint16_t *frameData, const paramsMLX90640 *params, float emissivity, float tr, float *result); + int MLX90640_SetResolution(uint8_t slaveAddr, uint8_t resolution); + int MLX90640_GetCurResolution(uint8_t slaveAddr); + int MLX90640_SetRefreshRate(uint8_t slaveAddr, uint8_t refreshRate); + int MLX90640_GetRefreshRate(uint8_t slaveAddr); + int MLX90640_GetSubPageNumber(uint16_t *frameData); + int MLX90640_GetCurMode(uint8_t slaveAddr); + int MLX90640_SetInterleavedMode(uint8_t slaveAddr); + int MLX90640_SetChessMode(uint8_t slaveAddr); + void MLX90640_BadPixelsCorrection(uint16_t *pixels, float *to, int mode, paramsMLX90640 *params); + +#endif diff --git a/components/mlx90640-library/MLX90640_I2C_Driver.c b/components/mlx90640-library/MLX90640_I2C_Driver.c new file mode 100644 index 000000000..5fb8921b5 --- /dev/null +++ b/components/mlx90640-library/MLX90640_I2C_Driver.c @@ -0,0 +1,76 @@ +/** + * @copyright (C) 2017 Melexis N.V. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include "luat_i2c.h" +#include "MLX90640_I2C_Driver.h" + +void MLX90640_I2CInit() +{ + luat_i2c_setup(0, 1, NULL); +} + +int MLX90640_I2CRead(uint8_t slaveAddr, uint16_t startAddress, uint16_t nMemAddressRead, uint16_t *data) +{ + int ret = 0; + int cnt = 0; + int i = 0; + char i2cData[1664] = {0}; + uint16_t *p; + p = data; + char cmd[2] = {0,0}; + + cmd[0] = startAddress >> 8; + cmd[1] = startAddress & 0x00FF; + + ret = luat_i2c_send(0, slaveAddr, cmd, 2); + if (ret != 0)return -1; + + ret = luat_i2c_recv(0, slaveAddr, i2cData, 2*nMemAddressRead); + if (ret != 0)return -1; + for(cnt=0; cnt < nMemAddressRead; cnt++) + { + i = cnt << 1; + *p++ = (uint16_t)i2cData[i]*256 + (uint16_t)i2cData[i+1]; + } + + return 0; +} + +int MLX90640_I2CWrite(uint8_t slaveAddr, uint16_t writeAddress, uint16_t data) +{ + int ret = 0; + static uint16_t dataCheck; + uint8_t cmd[4]; + cmd[0] = writeAddress >> 8; + cmd[1] = writeAddress & 0x00FF; + cmd[2] = data >> 8; + cmd[3] = data & 0x00FF; + + ret = luat_i2c_send(0, slaveAddr, cmd, 4); + if (ret != 0)return -1; + + ret = MLX90640_I2CRead(slaveAddr,writeAddress,1, &dataCheck); + if (ret != 0)return -1; + + if ( dataCheck != data) + { + return -2; + } + + return 0; +} + diff --git a/components/mlx90640-library/MLX90640_I2C_Driver.h b/components/mlx90640-library/MLX90640_I2C_Driver.h new file mode 100644 index 000000000..981eb6f29 --- /dev/null +++ b/components/mlx90640-library/MLX90640_I2C_Driver.h @@ -0,0 +1,27 @@ +/** + * @copyright (C) 2017 Melexis N.V. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#ifndef _MLX90640_I2C_Driver_H_ +#define _MLX90640_I2C_Driver_H_ + +#include + + void MLX90640_I2CInit(void); + int MLX90640_I2CGeneralReset(void); + int MLX90640_I2CRead(uint8_t slaveAddr,uint16_t startAddress, uint16_t nMemAddressRead, uint16_t *data); + int MLX90640_I2CWrite(uint8_t slaveAddr,uint16_t writeAddress, uint16_t data); + void MLX90640_I2CFreqSet(int freq); +#endif \ No newline at end of file diff --git a/components/mlx90640-library/luat_lib_mlx90640.c b/components/mlx90640-library/luat_lib_mlx90640.c new file mode 100644 index 000000000..2e0c80fc6 --- /dev/null +++ b/components/mlx90640-library/luat_lib_mlx90640.c @@ -0,0 +1,128 @@ + +#include +#include +#include +#include "luat_base.h" +#include "luat_lcd.h" +#define LUAT_LOG_TAG "mlx90640" +#include "luat_log.h" + +static luat_lcd_conf_t* lcd_conf; + +#define FPS2HZ 0x02 +#define FPS4HZ 0x03 +#define FPS8HZ 0x04 +#define FPS16HZ 0x05 +#define FPS32HZ 0x06 + +#define MLX90640_ADDR 0x33 +#define RefreshRate FPS4HZ +#define TA_SHIFT 8 //Default shift for MLX90640 in open air + +static uint16_t eeMLX90640[832]; +static float mlx90640To[768]; +uint16_t frame[834]; +float emissivity=0.95; +int status; + +const uint16_t camColors[] = {0x480F, +0x400F,0x400F,0x400F,0x4010,0x3810,0x3810,0x3810,0x3810,0x3010,0x3010, +0x3010,0x2810,0x2810,0x2810,0x2810,0x2010,0x2010,0x2010,0x1810,0x1810, +0x1811,0x1811,0x1011,0x1011,0x1011,0x0811,0x0811,0x0811,0x0011,0x0011, +0x0011,0x0011,0x0011,0x0031,0x0031,0x0051,0x0072,0x0072,0x0092,0x00B2, +0x00B2,0x00D2,0x00F2,0x00F2,0x0112,0x0132,0x0152,0x0152,0x0172,0x0192, +0x0192,0x01B2,0x01D2,0x01F3,0x01F3,0x0213,0x0233,0x0253,0x0253,0x0273, +0x0293,0x02B3,0x02D3,0x02D3,0x02F3,0x0313,0x0333,0x0333,0x0353,0x0373, +0x0394,0x03B4,0x03D4,0x03D4,0x03F4,0x0414,0x0434,0x0454,0x0474,0x0474, +0x0494,0x04B4,0x04D4,0x04F4,0x0514,0x0534,0x0534,0x0554,0x0554,0x0574, +0x0574,0x0573,0x0573,0x0573,0x0572,0x0572,0x0572,0x0571,0x0591,0x0591, +0x0590,0x0590,0x058F,0x058F,0x058F,0x058E,0x05AE,0x05AE,0x05AD,0x05AD, +0x05AD,0x05AC,0x05AC,0x05AB,0x05CB,0x05CB,0x05CA,0x05CA,0x05CA,0x05C9, +0x05C9,0x05C8,0x05E8,0x05E8,0x05E7,0x05E7,0x05E6,0x05E6,0x05E6,0x05E5, +0x05E5,0x0604,0x0604,0x0604,0x0603,0x0603,0x0602,0x0602,0x0601,0x0621, +0x0621,0x0620,0x0620,0x0620,0x0620,0x0E20,0x0E20,0x0E40,0x1640,0x1640, +0x1E40,0x1E40,0x2640,0x2640,0x2E40,0x2E60,0x3660,0x3660,0x3E60,0x3E60, +0x3E60,0x4660,0x4660,0x4E60,0x4E80,0x5680,0x5680,0x5E80,0x5E80,0x6680, +0x6680,0x6E80,0x6EA0,0x76A0,0x76A0,0x7EA0,0x7EA0,0x86A0,0x86A0,0x8EA0, +0x8EC0,0x96C0,0x96C0,0x9EC0,0x9EC0,0xA6C0,0xAEC0,0xAEC0,0xB6E0,0xB6E0, +0xBEE0,0xBEE0,0xC6E0,0xC6E0,0xCEE0,0xCEE0,0xD6E0,0xD700,0xDF00,0xDEE0, +0xDEC0,0xDEA0,0xDE80,0xDE80,0xE660,0xE640,0xE620,0xE600,0xE5E0,0xE5C0, +0xE5A0,0xE580,0xE560,0xE540,0xE520,0xE500,0xE4E0,0xE4C0,0xE4A0,0xE480, +0xE460,0xEC40,0xEC20,0xEC00,0xEBE0,0xEBC0,0xEBA0,0xEB80,0xEB60,0xEB40, +0xEB20,0xEB00,0xEAE0,0xEAC0,0xEAA0,0xEA80,0xEA60,0xEA40,0xF220,0xF200, +0xF1E0,0xF1C0,0xF1A0,0xF180,0xF160,0xF140,0xF100,0xF0E0,0xF0C0,0xF0A0, +0xF080,0xF060,0xF040,0xF020,0xF800,}; + +uint8_t tempto255(float temp){ + return (uint8_t)round((temp+40)*255/340); +} + +static int mlx90640_init(lua_State *L){ + paramsMLX90640 mlx90640; + lcd_conf = luat_lcd_get_default(); + MLX90640_I2CInit(); + luat_timer_mdelay(50); + MLX90640_SetRefreshRate(MLX90640_ADDR, RefreshRate);//测量速率1Hz(0~7对应0.5,1,2,4,8,16,32,64Hz) + MLX90640_SetChessMode(MLX90640_ADDR); + status = MLX90640_DumpEE(MLX90640_ADDR, eeMLX90640); //读取像素校正参数 + if (status != 0){ + LLOGW("load system parameters error with code:%d",status); + return 0; + } + status = MLX90640_ExtractParameters(eeMLX90640, &mlx90640); //解析校正参数（计算温度时需要） + if (status != 0) { + LLOGW("Parameter extraction failed with error code:%d",status); + return 0; + } + while (1){ + luat_timer_mdelay(10); + int status = MLX90640_GetFrameData(MLX90640_ADDR, frame); //读取一帧原始数据 + if (status < 0){ + LLOGD("GetFrame Error: %d",status); + } + float vdd = MLX90640_GetVdd(frame, &mlx90640); //计算 Vdd（这句可有可无） + float Ta = MLX90640_GetTa(frame, &mlx90640); //计算实时外壳温度 + //计算环境温度用于温度补偿 + float tr = Ta - TA_SHIFT; //Reflected temperature based on the sensor ambient temperature + //手册上说的环境温度可以用外壳温度-8℃ + // LLOGD("vdd: %f Tr: %f",vdd,tr); + MLX90640_CalculateTo(frame, &mlx90640, emissivity , tr, mlx90640To); //计算像素点温度 + MLX90640_BadPixelsCorrection(mlx90640.brokenPixels, mlx90640To, 1, &mlx90640); //坏点处理 + MLX90640_BadPixelsCorrection(mlx90640.outlierPixels, mlx90640To, 1, &mlx90640); //坏点处理 + + int x,y = 0; + // uint8_t mul = 3; + for(int i = 0; i < 768; i++){ + if(i%32 == 0 && i != 0){ + x = 0; + // y+=mul; + y++; + // printf("\n"); + } + + // uint8_t mul_size = mul*mul; + // uint16_t draw_data[mul_size]; + // for (size_t m = 0; m < mul_size; m++){ + // draw_data[m] = camColors[tempto255(mlx90640To[i])]; + // } + // luat_lcd_draw(lcd_conf,x, y, x+mul-1, y+mul-1, draw_data); + // x+=mul; + + luat_lcd_draw(lcd_conf,x, y, x, y, &(camColors[tempto255(mlx90640To[i])])); + + x++; + } + } +} + +#include "rotable.h" +static const rotable_Reg mlx90640[] = +{ + {"init", mlx90640_init, 0}, + { NULL, NULL , 0} +}; + +LUAMOD_API int luaopen_mlx90640( lua_State *L ) { + luat_newlib(L, mlx90640); + return 1; +} \ No newline at end of file