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add I2C, BMP180, MLX90640

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Edward Emelianov 2022-09-27 20:48:29 +03:00
parent 7ad65ccc2f
commit 97eb3eea21
36 changed files with 2525 additions and 0 deletions
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238
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/*
* This file is part of the bmp180 project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <usefull_macros.h>
#include "i2c.h"
#include "BMP180.h"
#define BMP180_CHIP_ID 0x55
/**
* BMP180 registers
*/
#define BMP180_REG_OXLSB (0xF8)
#define BMP180_REG_OLSB (0xF7)
#define BMP180_REG_OMSB (0xF6)
#define BMP180_REG_OUT (BMP180_REG_OMSB)
#define BMP180_REG_CTRLMEAS (0xF4)
#define BMP180_REG_SOFTRESET (0xE0)
#define BMP180_REG_ID (0xD0)
#define BMP180_REG_CALIB (0xAA)
// shift for oversampling
#define BMP180_CTRLM_OSS_SHIFT (6)
// start measurement
#define BMP180_CTRLM_SCO (1<<5)
// write it to BMP180_REG_SOFTRESET for soft reset
#define BMP180_SOFTRESET_VAL (0xB6)
// start measurement of T/P
#define BMP180_READ_T (0x0E)
#define BMP180_READ_P (0x14)
// delays in milliseconds
//#define BMP180_T_DELAY (2)
static BMP180_oversampling bmp180_os = BMP180_OVERSMAX;
static struct {
int16_t AC1;
int16_t AC2;
int16_t AC3;
uint16_t AC4;
uint16_t AC5;
uint16_t AC6;
int16_t B1;
int16_t B2;
int16_t MB;
int16_t MC;
int16_t MD;
int32_t MCfix;
int32_t AC1_fix;
} __attribute__ ((packed)) CaliData = {0};
static BMP180_status bmpstatus = BMP180_NOTINIT;
static uint8_t calidata_rdy = 0;
//static uint32_t milliseconds_start = 0; // time of measurement start
//static uint32_t p_delay = 8; // delay for P measurement
static uint8_t uncomp_data[3]; // raw uncompensated data
static int32_t Tval; // uncompensated T value
// compensated values:
static uint32_t Pmeasured; // Pa
static float Tmeasured; // degC
static uint8_t devID = 0;
BMP180_status BMP180_get_status(){
return bmpstatus;
}
void BMP180_setOS(BMP180_oversampling os){
bmp180_os = os & 0x03;
}
// get compensation data, return 1 if OK
static int readcompdata(){
FNAME();
if(!i2c_read_data8(BMP180_REG_CALIB, sizeof(CaliData), (uint8_t*)&CaliData)) return FALSE;
// convert big-endian into little-endian
uint8_t *arr = (uint8_t*)&CaliData;
for(int i = 0; i < (int)sizeof(CaliData); i+=2){
register uint8_t val = arr[i];
arr[i] = arr[i+1];
arr[i+1] = val;
}
// prepare for further calculations
CaliData.MCfix = CaliData.MC << 11;
CaliData.AC1_fix = CaliData.AC1 << 2;
calidata_rdy = 1;
DBG("Calibration rdy");
return TRUE;
}
// do a soft-reset procedure
int BMP180_reset(){
if(!i2c_write_reg8(BMP180_REG_SOFTRESET, BMP180_SOFTRESET_VAL)){
DBG("Can't reset\n");
return 0;
}
return 1;
}
// read compensation data & write registers
int BMP180_init(){
bmpstatus = BMP180_NOTINIT;
if(!i2c_read_reg8(BMP180_REG_ID, &devID)){
DBG("Can't read BMP180_REG_ID");
return FALSE;
}
DBG("Got device ID: 0x%02x", devID);
if(devID != BMP180_CHIP_ID){
DBG("Not BMP180\n");
return FALSE;
}
if(!readcompdata()){
DBG("Can't read calibration data\n");
return FALSE;
}else{
DBG("AC1=%d, AC2=%d, AC3=%d, AC4=%u, AC5=%u, AC6=%u", CaliData.AC1, CaliData.AC2, CaliData.AC3, CaliData.AC4, CaliData.AC5, CaliData.AC6);
DBG("B1=%d, B2=%d", CaliData.B1, CaliData.B2);
DBG("MB=%d, MC=%d, MD=%d", CaliData.MB, CaliData.MC, CaliData.MD);
}
return TRUE;
}
// @return 1 if OK, *devid -> BMP/BME
void BMP180_read_ID(uint8_t *devid){
*devid = devID;
}
// start measurement, @return 1 if all OK
int BMP180_start(){
if(!calidata_rdy || bmpstatus == BMP180_BUSYT || bmpstatus == BMP180_BUSYP) return 0;
uint8_t reg = BMP180_READ_T | BMP180_CTRLM_SCO;
if(!i2c_write_reg8(BMP180_REG_CTRLMEAS, reg)){
DBG("Can't write CTRL reg\n");
return 0;
}
bmpstatus = BMP180_BUSYT;
return 1;
}
// calculate T degC and P in Pa
static inline void compens(uint32_t Pval){
// T:
int32_t X1 = ((Tval - CaliData.AC6)*CaliData.AC5) >> 15;
int32_t X2 = CaliData.MCfix / (X1 + CaliData.MD);
int32_t B5 = X1 + X2;
Tmeasured = (B5 + 8.) / 160.;
// P:
int32_t B6 = B5 - 4000;
X1 = (CaliData.B2 * ((B6*B6) >> 12)) >> 11;
X2 = (CaliData.AC2 * B6) >> 11;
int32_t X3 = X1 + X2;
int32_t B3 = (((CaliData.AC1_fix + X3) << bmp180_os) + 2) >> 2;
X1 = (CaliData.AC3 * B6) >> 13;
X2 = (CaliData.B1 * ((B6 * B6) >> 12)) >> 16;
X3 = ((X1 + X2) + 2) >> 2;
uint32_t B4 = (CaliData.AC4 * (uint32_t) (X3 + 32768)) >> 15;
uint32_t B7 = (uint32_t)((int32_t)Pval - B3) * (50000 >> bmp180_os);
int32_t p = 0;
if(B7 < 0x80000000){
p = (B7 << 1) / B4;
}else{
p = (B7 / B4) << 1;
}
X1 = p >> 8;
X1 *= X1;
X1 = (X1 * 3038) >> 16;
X2 = (-7357 * p) / 65536;
Pmeasured = p + ((X1 + X2 + 3791) / 16);
}
static int still_measuring(){
uint8_t reg;
if(!i2c_read_reg8(BMP180_REG_CTRLMEAS, &reg)) return TRUE;
if(reg & BMP180_CTRLM_SCO){
return TRUE;
}
return FALSE;
}
void BMP180_process(){
uint8_t reg;
if(bmpstatus != BMP180_BUSYT && bmpstatus != BMP180_BUSYP) return;
if(bmpstatus == BMP180_BUSYT){ // wait for temperature
if(still_measuring()) return;
// get uncompensated data
DBG("Read uncompensated T\n");
if(!i2c_read_data8(BMP180_REG_OUT, 2, uncomp_data)){
bmpstatus = BMP180_ERR;
return;
}
Tval = uncomp_data[0] << 8 | uncomp_data[1];
DBG("Start P measuring\n");
reg = BMP180_READ_P | BMP180_CTRLM_SCO | (bmp180_os << BMP180_CTRLM_OSS_SHIFT);
if(!i2c_write_reg8(BMP180_REG_CTRLMEAS, reg)){
bmpstatus = BMP180_ERR;
return;
}
bmpstatus = BMP180_BUSYP;
}else{ // wait for pressure
if(still_measuring()) return;
DBG("Read uncompensated P\n");
if(!i2c_read_data8(BMP180_REG_OUT, 3, uncomp_data)){
bmpstatus = BMP180_ERR;
return;
}
uint32_t Pval = uncomp_data[0] << 16 | uncomp_data[1] << 8 | uncomp_data[2];
Pval >>= (8 - bmp180_os);
// calculate compensated values
compens(Pval);
DBG("All data ready\n");
bmpstatus = BMP180_RDY; // data ready
}
}
// read data & convert it
void BMP180_getdata(float *T, uint32_t *P){
*T = Tmeasured;
*P = Pmeasured;
bmpstatus = BMP180_RELAX;
}

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/*
* This file is part of the BMP180 project.
* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#define BMP180_I2C_ADDRESS (0x77)
typedef enum{
BMP180_NOTINIT, // wasn't inited
BMP180_BUSYT, // T measurement in progress
BMP180_BUSYP, // P measurement in progress
BMP180_ERR, // error in I2C
BMP180_RELAX, // relaxed state
BMP180_RDY, // data ready - can get it
} BMP180_status;
typedef enum{
BMP180_OVERS_1 = 0, // oversampling is off
BMP180_OVERS_2 = 1,
BMP180_OVERS_4 = 2,
BMP180_OVERS_8 = 3,
BMP180_OVERSMAX = 4
} BMP180_oversampling;
int BMP180_reset();
int BMP180_init();
void BMP180_read_ID(uint8_t *devid);
void BMP180_setOS(BMP180_oversampling os);
BMP180_status BMP180_get_status();
int BMP180_start();
void BMP180_process();
void BMP180_getdata(float *T, uint32_t *P);

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# run `make DEF=...` to add extra defines
PROGRAM := bmp180
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
TARGFILE := $(OBJDIR)/TARGET
CC = gcc
#TARGET := RELEASE
ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
TARGET := $(file < $(TARGFILE))
else
TARGET := RELEASE
endif
ifeq ($(TARGET), DEBUG)
.DEFAULT_GOAL := debug
endif
release: $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: TARGET := DEBUG
debug: $(PROGRAM)
$(TARGFILE): $(OBJDIR)
@echo -e "\t\tTARGET: $(TARGET)"
@echo "$(TARGET)" > $(TARGFILE)
$(PROGRAM) : $(TARGFILE) $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
$(OBJDIR):
@mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@
clean:
@echo -e "\t\tCLEAN"
@rm -rf $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

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-std=c17

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BMP180/bmp180.config Normal file
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#define _XOPEN_SOURCE 9999
#define _POSIX_C_SOURCE 333333L

1
BMP180/bmp180.creator Normal file
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[General]

174
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-std=c++17

5
BMP180/bmp180.files Normal file
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BMP180.c
BMP180.h
i2c.c
i2c.h
main.c
Side by Side

After

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BMP180/bmp180.includes Normal file
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.

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BMP180/i2c.c Normal file
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/*
* This file is part of the bmp180 project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <asm/ioctl.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#include <usefull_macros.h>
static uint8_t lastaddr = 0;
static int I2Cfd = -1;
/**
* @brief i2c_read_reg8 - read 8-bit addressed register (8 bit)
* @param regaddr - register address
* @param data - data read
* @return state
*/
int i2c_read_reg8(uint8_t regaddr, uint8_t *data){
if(I2Cfd < 1) return FALSE;
struct i2c_smbus_ioctl_data args;
union i2c_smbus_data sd;
args.read_write = I2C_SMBUS_READ;
args.command = regaddr;
args.size = I2C_SMBUS_BYTE_DATA;
args.data = &sd;
if(ioctl(I2Cfd, I2C_SMBUS, &args) < 0){
WARN("i2c_read_reg8, ioctl()");
return FALSE;
}
if(data) *data = sd.byte;
return TRUE;
}
/**
* @brief i2c_write_reg8 - write to 8-bit addressed register
* @param regaddr - address
* @param data - data
* @return state
*/
int i2c_write_reg8(uint8_t regaddr, uint8_t data){
if(I2Cfd < 1) return FALSE;
struct i2c_smbus_ioctl_data args;
union i2c_smbus_data sd;
sd.byte = data;
args.read_write = I2C_SMBUS_WRITE;
args.command = regaddr;
args.size = I2C_SMBUS_BYTE_DATA;
args.data = &sd;
if(ioctl(I2Cfd, I2C_SMBUS, &args) < 0){
WARN("i2c_write_reg8, ioctl()");
return FALSE;
}
return TRUE;
}
/**
* @brief i2c_read_reg16 - read 16-bit addressed register (to 16-bit data)
* @param regaddr - address
* @param data - data
* @return state
*/
int i2c_read_reg16(uint16_t regaddr, uint16_t *data){
if(I2Cfd < 1) return FALSE;
struct i2c_msg m[2];
struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
m[0].addr = lastaddr; m[1].addr = lastaddr;
m[0].flags = 0;
m[1].flags = I2C_M_RD;
m[0].len = 2; m[1].len = 2;
uint8_t a[2], d[2] = {0};
a[0] = regaddr >> 8;
a[1] = regaddr & 0xff;
m[0].buf = a; m[1].buf = d;
if(ioctl(I2Cfd, I2C_RDWR, &x) < 0){
WARN("i2c_read_reg16, ioctl()");
return FALSE;
}
if(data) *data = (uint16_t)((d[0] << 8) | (d[1]));
return TRUE;
}
/**
* @brief i2c_write_reg16 - write 16-bit data value to 16-bit addressed register
* @param regaddr - address
* @param data - data to write
* @return state
*/
int i2c_write_reg16(uint16_t regaddr, uint16_t data){
if(I2Cfd < 1) return FALSE;
union i2c_smbus_data d;
d.block[0] = 3;
d.block[1] = regaddr & 0xff;
d.block[2] = data >> 8;
d.block[3] = data & 0xff;
struct i2c_smbus_ioctl_data args;
args.read_write = I2C_SMBUS_WRITE;
args.command = regaddr >> 8;
args.size = I2C_SMBUS_I2C_BLOCK_DATA;
args.data = &d;
if(ioctl(I2Cfd, I2C_SMBUS, &args) < 0){
WARN("i2c_write_reg16, ioctl()");
return FALSE;
}
/* printf("Block: ");
for(int i = 0; i < 4; ++i) printf("0x%02x ", d.block[i]);
printf("\n");*/
return TRUE;
}
/**
* @brief i2c_set_slave_address - set current slave address
* @param addr - address
* @return state
*/
int i2c_set_slave_address(uint8_t addr){
if(I2Cfd < 1) return FALSE;
if(ioctl(I2Cfd, I2C_SLAVE, addr) < 0){
WARN("i2c_set_slave_address, ioctl()");
return FALSE;
}
lastaddr = addr;
return TRUE;
}
/**
* @brief i2c_open - open I2C device
* @param path - full path to device
* @return state
*/
int i2c_open(const char *path){
if(I2Cfd > 0) close(I2Cfd);
I2Cfd = open(path, O_RDWR);
if(I2Cfd < 1){
WARN("i2c_open, open()");
return FALSE;
}
return TRUE;
}
void i2c_close(){
if(I2Cfd > 0) close(I2Cfd);
}
#if 0
// Don't work :(
/**
* @brief read_regN8 - read up to I2C_SMBUS_BLOCK_MAX bytes from 8-bit addressed register
* @param regaddr - address
* @param data - data to read
* @param N - amount of bytes
* @return state
*/
static int read_regN8(uint8_t regaddr, uint8_t *data, uint16_t N){
if(I2Cfd < 1 || N > I2C_SMBUS_BLOCK_MAX || N == 0 || !data) return FALSE;
struct i2c_smbus_ioctl_data args = {0};
union i2c_smbus_data sd = {0};
sd.block[0] = N;
DBG("block: %d, %d, %d", sd.block[0], sd.block[1], sd.block[2]);
DBG("Try to get %d bytes from 0x%02x", N, regaddr);
args.read_write = I2C_SMBUS_READ;
args.command = regaddr;
args.size = I2C_SMBUS_BLOCK_DATA;
args.data = &sd;
if(ioctl(I2Cfd, I2C_SMBUS, &args) < 0){
WARN("read_regN8, ioctl()");
return FALSE;
}
DBG("block: %d, %d, %d", sd.block[0], sd.block[1], sd.block[2]);
memcpy(data, sd.block+1, N);
return TRUE;
}
#endif
/**
* @brief read_data16 - read data from 16-bit addressed register
* @param regaddr - address
* @param N - amount of bytes
* @param array - data read
* @return state
*/
int i2c_read_data16(uint16_t regaddr, uint16_t N, uint8_t *array){
if(I2Cfd < 1 || N == 0 || !array) return FALSE;
struct i2c_msg m[2];
struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
m[0].addr = lastaddr; m[1].addr = lastaddr;
m[0].flags = 0;
m[1].flags = I2C_M_RD;
m[0].len = 2; m[1].len = N;
uint8_t a[2];
a[0] = regaddr >> 8;
a[1] = regaddr & 0xff;
m[0].buf = a; m[1].buf = array;
if(ioctl(I2Cfd, I2C_RDWR, &x) < 0){
WARN("i2c_read_data16, ioctl()");
return FALSE;
}
return TRUE;
}
/**
* @brief read_data8 - read data from 8-bit addressed register
* @param regaddr - address
* @param N - amount of bytes
* @param array - data read
* @return state
*/
int i2c_read_data8(uint8_t regaddr, uint16_t N, uint8_t *array){
if(I2Cfd < 1 || N < 1 || N+regaddr > 0xff || !array) return FALSE;
#if 0
uint16_t rest = N;
do{
uint8_t l = (rest > I2C_SMBUS_BLOCK_MAX) ? I2C_SMBUS_BLOCK_MAX : (uint8_t)rest;
if(!read_regN8(regaddr, array, l)){
DBG("can't read");
return FALSE;
}
rest -= l;
regaddr += l;
array += l;
}while(rest);
#endif
for(uint16_t i = 0; i < N; ++i){
if(!i2c_read_reg8((uint8_t)(regaddr+i), array++)){
DBG("can't read @%dth byte", i);
return FALSE;
}
}
return TRUE;
}

39
BMP180/i2c.h Normal file
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/*
* This file is part of the bmp180 project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
int i2c_open(const char *path);
void i2c_close();
int i2c_set_slave_address(uint8_t addr);
int i2c_read_reg8(uint8_t regaddr, uint8_t *data);
int i2c_write_reg8(uint8_t regaddr, uint8_t data);
int i2c_read_data8(uint8_t regaddr, uint16_t N, uint8_t *array);
int i2c_read_reg16(uint16_t regaddr, uint16_t *data);
int i2c_write_reg16(uint16_t regaddr, uint16_t data);
int i2c_read_data16(uint16_t regaddr, uint16_t N, uint8_t *array);

76
BMP180/main.c Normal file
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/*
* This file is part of the bmp180 project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <unistd.h>
#include <usefull_macros.h>
#include "BMP180.h"
#include "i2c.h"
typedef struct{
char *device;
int slaveaddr;
int help;
} glob_pars;
static glob_pars G = {.device = "/dev/i2c-3", .slaveaddr = BMP180_I2C_ADDRESS};
static myoption cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), _("show this help")},
{"device", NEED_ARG, NULL, 'd', arg_string, APTR(&G.device), _("I2C device path")},
{"slave", NEED_ARG, NULL, 'a', arg_int, APTR(&G.slaveaddr), _("I2C slave address")},
end_option
};
int main(int argc, char **argv){
initial_setup();
parseargs(&argc, &argv, cmdlnopts);
if(G.help) showhelp(-1, cmdlnopts);
if(G.slaveaddr < 0 || G.slaveaddr > 0x7f) ERRX("I2C address should be 7-bit");
if(!i2c_open(G.device)) ERR("Can't open %s", G.device);
if(!i2c_set_slave_address((uint8_t)G.slaveaddr)){
WARN("Can't set slave address 0x%02x", G.slaveaddr);
goto clo;
}
if(!i2c_read_reg8(0, NULL)) ERR("Can't connect!");
while(!BMP180_init()) sleep(1);
while(!BMP180_start()) sleep(1);
while (1){
BMP180_process();
BMP180_status s = BMP180_get_status();
if(s == BMP180_RDY){ // data ready - get it
float T;
uint32_t P;
BMP180_getdata(&T, &P);
double mm = P * 0.00750062;
printf("T=%.1f, P=%dPa (%.1fmmHg)\n", T, P, mm);
sleep(5);
while(!BMP180_start()) usleep(1000);
}else if(s == BMP180_ERR){
printf("Error in measurement\n");
BMP180_reset();
BMP180_init();
}
}
clo:
i2c_close();
return 0;
}

208
I2C/I2C.c Normal file
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/*
* This file is part of the i2c project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <errno.h>
#include <string.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <asm/ioctl.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#include <usefull_macros.h>
typedef struct{
char *device;
int slaveaddr;
int help;
int reg16;
int reg8;
int data2write;
int datalen;
} glob_pars;
static glob_pars G = {.device = "/dev/i2c-3", .slaveaddr = 0x33};
static myoption cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), _("show this help")},
{"device", NEED_ARG, NULL, 'd', arg_string, APTR(&G.device), _("I2C device path")},
{"slave", NEED_ARG, NULL, 'a', arg_int, APTR(&G.slaveaddr), _("I2C slave address")},
{"reg16", NEED_ARG, NULL, 'r', arg_int, APTR(&G.reg16), _("16-bit register address to read/write")},
{"reg8", NEED_ARG, NULL, 'R', arg_int, APTR(&G.reg8), _("8-bit register address to read/write")},
{"data", NEED_ARG, NULL, 'D', arg_int, APTR(&G.data2write),_("data to write")},
{"len", NEED_ARG, NULL, 'l', arg_int, APTR(&G.datalen), _("length of data to read")},
end_option
};
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
static uint16_t lastaddr = 0;
static int i2c_read_reg8(int fd, uint8_t regaddr, uint8_t *data){
struct i2c_smbus_ioctl_data args;
union i2c_smbus_data sd;
args.read_write = I2C_SMBUS_READ;
args.command = regaddr;
args.size = I2C_SMBUS_BYTE_DATA;
args.data = &sd;
if(ioctl(fd, I2C_SMBUS, &args) < 0) return FALSE;
*data = sd.byte;
return TRUE;
}
static int i2c_write_reg8(int fd, uint8_t regaddr, uint8_t data){
struct i2c_smbus_ioctl_data args;
union i2c_smbus_data sd;
sd.byte = data;
args.read_write = I2C_SMBUS_WRITE;
args.command = regaddr;
args.size = I2C_SMBUS_BYTE_DATA;
args.data = &sd;
if(ioctl(fd, I2C_SMBUS, &args) < 0) return FALSE;
return TRUE;
}
static int i2c_read_reg(int fd, uint16_t regaddr, uint16_t *data){
struct i2c_msg m[2];
struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
m[0].addr = lastaddr; m[1].addr = lastaddr;
m[0].flags = 0;
m[1].flags = I2C_M_RD;
m[0].len = 2; m[1].len = 2;
uint8_t a[2], d[2] = {0};
a[0] = regaddr >> 8;
a[1] = regaddr & 0xff;
m[0].buf = a; m[1].buf = d;
if(ioctl(fd, I2C_RDWR, &x) < 0) return FALSE;
*data = (uint16_t)((d[0] << 8) | (d[1]));
return TRUE;
}
static int i2c_write_reg(int fd, uint16_t regaddr, uint16_t data){
union i2c_smbus_data d;
d.block[0] = 3;
d.block[1] = regaddr & 0xff;
d.block[2] = data >> 8;
d.block[3] = data & 0xff;
struct i2c_smbus_ioctl_data args;
args.read_write = I2C_SMBUS_WRITE;
args.command = regaddr >> 8;
args.size = I2C_SMBUS_I2C_BLOCK_DATA;
args.data = &d;
if(ioctl(fd, I2C_SMBUS, &args) < 0) return FALSE;
printf("Block: ");
for(int i = 0; i < 4; ++i) printf("0x%02x ", d.block[i]);
printf("\n");
return TRUE;
}
static inline int i2c_set_slave_address(int fd, uint8_t addr){
if(ioctl (fd, I2C_SLAVE, addr) < 0) return FALSE;
lastaddr = addr;
return TRUE;
}
static inline int i2c_open(const char *path){
return open(path, O_RDWR);
}
int main(int argc, char **argv){
uint16_t d;
uint8_t d8;
initial_setup();
parseargs(&argc, &argv, cmdlnopts);
if(G.help) showhelp(-1, cmdlnopts);
if(G.slaveaddr < 0 || G.slaveaddr > 0x7f) ERRX("I2C address should be 7-bit");
if(G.reg16 && G.reg8) ERRX("Enter either 8-bit address or 16-bit");
int fd = i2c_open(G.device);
if(fd < 0) ERR("Can't open %s", G.device);
if(G.datalen){
if(G.datalen < 0) ERRX("data length is uint16_t");
if(G.datalen + G.reg16 > 0xffff) ERRX("Data len + start reg should be uint16_t");
}
if(!i2c_set_slave_address(fd, (uint8_t)G.slaveaddr)){
WARN("Can't set slave address 0x%02x", G.slaveaddr);
goto clo;
}
if(!i2c_read_reg8(fd, (uint16_t)0, &d8)){
WARN("Can't find slave 0x%02x", G.slaveaddr);
goto clo;
}
green("Connected to slave 0x%02x\n", G.slaveaddr);
if(!G.reg8 && !G.reg16) goto clo; // nothing to do
if(G.data2write){ // write data to register
if(G.reg8){
if(G.data2write < 0 || G.data2write > 0xff){
WARNX("Data to write should be uint8_t");
goto clo;
}
printf("Try to write 0x%02x to 0x%02x ... ", G.data2write, G.reg8);
if(!i2c_write_reg8(fd, (uint8_t)G.reg16, (uint8_t)G.data2write)){
WARN("Can't write"); goto clo;
}
else printf("OK\n");
}else{
if(G.data2write < 0 || G.data2write > 0xffff){
WARNX("Data to write should be uint16_t");
goto clo;
}
printf("Try to write 0x%04x to 0x%04x ... ", G.data2write, G.reg16);
if(!i2c_write_reg(fd, (uint16_t)G.reg16, (uint16_t)G.data2write)){
WARN("Can't write"); goto clo;
}
else printf("OK\n");
}
}
if(!G.datalen){
if(G.reg8){
if(!i2c_read_reg8(fd, (uint8_t)G.reg8, &d8)){
WARN("Can't read"); goto clo;
}
printf("Read: 0x%02x\n", d8);
}else{
if(!i2c_read_reg(fd, (uint16_t)G.reg16, &d)){
WARN("Can't read"); goto clo;
}
printf("Read: 0x%04x\n", d);
}
}else{
int reg = (G.reg8) ? G.reg8 : G.reg16;
int lastreg = G.datalen + reg;
for(int i = reg; i < lastreg; ++i){
if(G.reg8){
if(!i2c_read_reg8(fd, (uint8_t)i, &d8)){
WARN("Can't read"); continue;
}
printf("%2d: 0x%02x -> 0x%02x\n", i-reg, i, d8);
}else{
if(!i2c_read_reg(fd, (uint16_t)i, &d)){
WARN("Can't read"); continue;
}
printf("%4d: 0x%04x -> 0x%04x\n", i-G.reg16, i, d);
}
}
}
clo:
close(fd);
return 0;
}

57
I2C/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := i2c
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
TARGFILE := $(OBJDIR)/TARGET
CC = gcc
#TARGET := RELEASE
ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
TARGET := $(file < $(TARGFILE))
else
TARGET := RELEASE
endif
ifeq ($(TARGET), DEBUG)
.DEFAULT_GOAL := debug
endif
release: $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: TARGET := DEBUG
debug: $(PROGRAM)
$(TARGFILE): $(OBJDIR)
@echo -e "\t\tTARGET: $(TARGET)"
@echo "$(TARGET)" > $(TARGFILE)
$(PROGRAM) : $(TARGFILE) $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
$(OBJDIR):
@mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@
clean:
@echo -e "\t\tCLEAN"
@rm -rf $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

1
I2C/i2c.cflags Normal file
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-std=c17

2
I2C/i2c.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42

1
I2C/i2c.creator Normal file
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[General]

174
I2C/i2c.creator.user Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 6.0.0, 2022-09-24T20:49:03. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
<value type="int">0</value>
</data>
<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
<valuemap type="QVariantMap">
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
<value type="QString" key="language">Cpp</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
</valuemap>
</valuemap>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
</valuemap>
</valuemap>
<value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
<value type="int" key="EditorConfiguration.IndentSize">4</value>
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
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1
I2C/i2c.cxxflags Normal file
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-std=c++17

1
I2C/i2c.files Normal file
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I2C.c

0
I2C/i2c.includes Normal file
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MLX90640/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := mlx
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lwiringPi -lusefull_macros -L/usr/local/lib -lm -lcrypt
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk
CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
TARGFILE := $(OBJDIR)/TARGET
CC = gcc
#TARGET := RELEASE
ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
TARGET := $(file < $(TARGFILE))
else
TARGET := RELEASE
endif
ifeq ($(TARGET), DEBUG)
.DEFAULT_GOAL := debug
endif
release: $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: TARGET := DEBUG
debug: $(PROGRAM)
$(TARGFILE): $(OBJDIR)
@echo -e "\t\tTARGET: $(TARGET)"
@echo "$(TARGET)" > $(TARGFILE)
$(PROGRAM) : $(TARGFILE) $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
$(OBJDIR):
@mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
clean:
@echo -e "\t\tCLEAN"
@rm -rf $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
.PHONY: clean xclean

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MLX90640/cmdlnopts.c Normal file
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/* geany_encoding=koi8-r
* cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
*
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include <assert.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
#include <math.h>
#include "cmdlnopts.h"
#include "usefull_macros.h"
/*
* here are global parameters initialisation
*/
static int help;
static glob_pars G;
// default PID filename:
#define DEFAULT_PIDFILE "/tmp/testcmdlnopts.pid"
#define DEFAULT_I2C "/dev/i2c-3"
#define DEFAULT_ADDR 0x33
#define STR(X) #X
// DEFAULTS
// default global parameters
static glob_pars const Gdefault = {
.addr = DEFAULT_ADDR,
.device = DEFAULT_I2C,
.pidfile = DEFAULT_PIDFILE,
.logfile = NULL // don't save logs
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
static myoption cmdlnopts[] = {
// common options
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&help), _("show this help")},
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), _("file to save logs")},
{"pidfile", NEED_ARG, NULL, 'P', arg_string, APTR(&G.pidfile), _("pidfile (default: " DEFAULT_PIDFILE ")")},
{"device", NEED_ARG, NULL, 'd', arg_string, APTR(&G.device), _("I2C device path (default: " DEFAULT_I2C ")")},
{"address", NEED_ARG, NULL, 'a', arg_int, APTR(&G.addr), _("slave address (default:" STR(DEFAULT_ADDR) ")")},
end_option
};
/**
* Parse command line options and return dynamically allocated structure
* to global parameters
* @param argc - copy of argc from main
* @param argv - copy of argv from main
* @return allocated structure with global parameters
*/
glob_pars *parse_args(int argc, char **argv){
int i;
void *ptr;
ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
size_t hlen = 1024;
char helpstring[1024], *hptr = helpstring;
snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
// format of help: "Usage: progname [args]\n"
change_helpstring(helpstring);
// parse arguments
parseargs(&argc, &argv, cmdlnopts);
if(help) showhelp(-1, cmdlnopts);
if(argc > 0){
WARNX("Ignoring arguments:");
for (i = 0; i < argc; i++)
printf("\t%s\n", argv[i]);
}
return &G;
}

33
MLX90640/cmdlnopts.h Normal file
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/*
* This file is part of the mxl90640wPi project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
* here are some typedef's for global data
*/
typedef struct{
int addr; // slave address
char *device; // I2C device
char *pidfile; // name of PID file
char *logfile; // logging to this file
} glob_pars;
glob_pars *parse_args(int argc, char **argv);

95
MLX90640/main.c Normal file
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/*
* This file is part of the mxl90640wPi project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <usefull_macros.h>
#include "cmdlnopts.h"
#include "mlx90640.h"
static glob_pars *GP = NULL;
void signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
LOGERR("Exit with status %d", sig);
if(GP && GP->pidfile) // remove unnesessary PID file
unlink(GP->pidfile);
exit(sig);
}
static double image[MLX_PIXNO];
static double image2[MLX_PIXNO];
static void pushima(const double *img){
for(int i = 0; i < MLX_PIXNO; ++i){
double val = *img++;
image[i] += val;
image2[i] += val*val;
}
}
int main (int argc, char **argv){
initial_setup();
char *self = strdup(argv[0]);
GP = parse_args(argc, argv);
check4running(self, GP->pidfile);
FREE(self);
if(GP->addr < 0 || GP->addr > 0xff) ERRX("Wrong I2C address");
if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
if(!mlx90640_init(GP->device, (uint8_t)GP->addr)) ERR("Can't open device");
//mlx90640_dump_parameters();
#define N 5
double T0 = dtime();
uint8_t simple = 2;
//for(uint8_t simple = 0; simple < 3; ++simple){
memset(image, 0, sizeof(image));
memset(image2, 0, sizeof(image));
for(int i = 0; i < N; ++i){
double *ima = NULL;
if(!mlx90640_take_image(simple, &ima) || !ima) ERRX("Can't take image");
pushima(ima);
printf("Got image %d, T=%g\n", i, dtime() - T0);
}
double *im = image, *im2 = image2;
green("\nImage (simple=%d):\n", simple);
for(int row = 0; row < MLX_H; ++row){
for(int col = 0; col < MLX_W; ++col){
double v = *im++, v2 = *im2;
v /= N; v2 /= N;
printf("%5.1f ", v);
*im2++ = v2 - v*v;
}
printf("\n");
}
green("\nRMS:\n");
im2 = image2;
for(int row = 0; row < MLX_H; ++row){
for(int col = 0; col < MLX_W; ++col){
printf("%5.1f ", *im2++);
}
printf("\n");
}
//}
return 0;
}

557
MLX90640/mlx90640.c Normal file
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/*
* This file is part of the mxl90640wPi project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <usefull_macros.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <asm/ioctl.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#include "mlx90640.h"
#include "mlx90640_regs.h"
static int I2Cfd = -1;
static uint8_t lastaddr = 0;
static MLX90640_params params;
static uint16_t dataarray[MLX_DMA_MAXLEN]; // array for raw data from sensor
static double mlx_image[MLX_PIXNO]; // ready image
#define CREG_VAL(reg) dataarray[CREG_IDX(reg)]
#define IMD_VAL(reg) dataarray[IMD_IDX(reg)]
// reg_control values for subpage #0 and #1
static const uint16_t reg_control_val[2] = {
REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_8HZ | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN,
REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_8HZ | REG_CONTROL_SUBP1 | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN
};
static int errctr = 0;
static double Tlast = 0.;
#define chstate() do{errctr = 0; Tlast = dtime(); DBG("chstate()");}while(0)
#define chkerr() do{DBG("chkerr(), T=%g", dtime()-Tlast); if(++errctr > MLX_MAXERR_COUNT){ DBG("-> M_ERROR"); return FALSE;}else continue;}while(0)
#define chktmout() do{DBG("chktmout, T=%g", dtime()-Tlast); if(dtime() - Tlast > MLX_TIMEOUT){ DBG("Timeout! -> M_ERROR"); return FALSE;}else continue;}while(0)
// read register value
static int read_reg(uint16_t regaddr, uint16_t *data){
if(I2Cfd < 1) return FALSE;
struct i2c_msg m[2];
struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
m[0].addr = lastaddr; m[1].addr = lastaddr;
m[0].flags = 0;
m[1].flags = I2C_M_RD;
m[0].len = 2; m[1].len = 2;
uint8_t a[2], d[2] = {0};
a[0] = regaddr >> 8;
a[1] = regaddr & 0xff;
m[0].buf = a; m[1].buf = d;
if(ioctl(I2Cfd, I2C_RDWR, &x) < 0) return FALSE;
if(data) *data = (uint16_t)((d[0] << 8) | (d[1]));
return TRUE;
}
//#if 0
// read N values starting from regaddr
static int read_regN(uint16_t regaddr, uint16_t *data, uint16_t N){
if(I2Cfd < 1 || N > 128 || N == 0) return FALSE;
struct i2c_msg m[2];
struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
m[0].addr = lastaddr; m[1].addr = lastaddr;
m[0].flags = 0;
m[1].flags = I2C_M_RD;
m[0].len = 2; m[1].len = N * 2;
uint8_t a[2], d[256] = {0};
a[0] = regaddr >> 8;
a[1] = regaddr & 0xff;
m[0].buf = a; m[1].buf = d;
if(ioctl(I2Cfd, I2C_RDWR, &x) < 0) return FALSE;
if(data) for(int i = 0; i < N; ++i){
*data++ = (uint16_t)((d[2*i] << 8) | (d[2*i + 1]));
}
return TRUE;
}
// blocking read N uint16_t values starting from `reg`
// @param reg - register to read
// @param N (io) - amount of bytes to read / bytes read
// @return `dataarray` or NULL if failed
static uint16_t *read_data(uint16_t reg, uint16_t *N){
if(I2Cfd < 1 || !N || *N < 1) return NULL;
uint16_t n = *N;
if(n < 1 || n > MLX_DMA_MAXLEN) return NULL;
uint16_t *data = dataarray;
uint16_t got = 0, rest = *N;
do{
uint8_t l = (rest > 128) ? 128 : (uint8_t)rest;
if(!read_regN(reg, data, l)){
DBG("can't read");
break;
}
rest -= l;
reg += l;
data += l;
got += l;
}while(rest);
*N = got;
return dataarray;
}
//#endif
#if 0
// blocking read N uint16_t values starting from `reg`
// @param reg - register to read
// @param N (io) - amount of bytes to read / bytes read
// @return `dataarray` or NULL if failed
static uint16_t *read_data(uint16_t reg, uint16_t *N){
if(I2Cfd < 1 || !N || *N < 1) return NULL;
uint16_t n = *N;
if(n < 1 || n > MLX_DMA_MAXLEN) return NULL;
uint16_t i, *data = dataarray;
for(i = 0; i < n; ++i){
if(!read_reg(reg++, data++)){
DBG("can't read");
break;
}
}
*N = i;
return dataarray;
}
#endif
// write register value
static int write_reg(uint16_t regaddr, uint16_t data){
if(I2Cfd < 1) return FALSE;
union i2c_smbus_data d;
d.block[0] = 3;
d.block[1] = regaddr & 0xff;
d.block[2] = data >> 8;
d.block[3] = data & 0xff;
struct i2c_smbus_ioctl_data args;
args.read_write = I2C_SMBUS_WRITE;
args.command = regaddr >> 8;
args.size = I2C_SMBUS_I2C_BLOCK_DATA;
args.data = &d;
if(ioctl(I2Cfd, I2C_SMBUS, &args) < 0) return FALSE;
return TRUE;
}
int mlx90640_set_slave_address(uint8_t addr){
if(I2Cfd < 1) return FALSE;
if(ioctl (I2Cfd, I2C_SLAVE, addr) < 0) return FALSE;
lastaddr = addr;
return TRUE;
}
static void dumpIma(double *im){
for(int row = 0; row < MLX_H; ++row){
for(int col = 0; col < MLX_W; ++col){
printf("%5.1f ", *im++);
}
printf("\n");
}
}
void mlx90640_dump_parameters(){
printf("kVdd=%d\nvdd25=%d\nKvPTAT=%g\nKtPTAT=%g\nvPTAT25=%d\n", params.kVdd, params.vdd25, params.KvPTAT, params.KtPTAT, params.vPTAT25);
printf("alphaPTAT=%g\ngainEE=%d\ntgc=%g\ncpKv=%g\ncpKta=%g\n", params.alphaPTAT, params.gainEE, params.tgc, params.cpKta, params.cpKta);
printf("KsTa=%g\nCT[]={%g, %g, %g}\n", params.KsTa, params.CT[0], params.CT[1], params.CT[2]);
printf("ksTo[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.ksTo[i]); printf("}\n");
printf("alphacorr[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.alphacorr[i]); printf("}\n");
printf("alpha[]=\n"); dumpIma(params.alpha);
printf("offset[]=\n"); dumpIma(params.offset);
printf("kta[]=\n"); dumpIma(params.kta);
printf("kv[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.kv[i]); printf("}\n");
printf("cpAlpha[]={%g, %g}\n", params.cpAlpha[0], params.cpAlpha[1]);
printf("cpOffset[]={%d, %d}\n", params.cpOffset[0], params.cpOffset[1]);
printf("outliers[]=\n");
uint8_t *o = params.outliers;
for(int row = 0; row < MLX_H; ++row){
for(int col = 0; col < MLX_W; ++col){
printf("%d ", *o++);
}
printf("\n");
}
}
/*****************************************************************************
Calculate parameters & values
*****************************************************************************/
// fill OCC/ACC row/col arrays
static void occacc(int8_t *arr, int l, uint16_t *regstart){
int n = l >> 2; // divide by 4
int8_t *p = arr;
for(int i = 0; i < n; ++i){
register uint16_t val = *regstart++;
*p++ = (val & 0x000F) >> 0;
*p++ = (val & 0x00F0) >> 4;
*p++ = (val & 0x0F00) >> 8;
*p++ = (val ) >> 12;
}
for(int i = 0; i < l; ++i, ++arr){
if(*arr > 0x07) *arr -= 0x10;
}
}
// get all parameters' values from `dataarray`, return FALSE if something failed
static int get_parameters(){
int8_t i8;
int16_t i16;
uint16_t *pu16;
uint16_t val = CREG_VAL(REG_VDD);
i8 = (int8_t) (val >> 8);
params.kVdd = i8 * 32; // keep sign
if(params.kVdd == 0) return FALSE;
i16 = val & 0xFF;
params.vdd25 = ((i16 - 0x100) * 32) - (1<<13);
val = CREG_VAL(REG_KVTPTAT);
i16 = (val & 0xFC00) >> 10;
if(i16 > 0x1F) i16 -= 0x40;
params.KvPTAT = (double)i16 / (1<<12);
i16 = (val & 0x03FF);
if(i16 > 0x1FF) i16 -= 0x400;
params.KtPTAT = (double)i16 / 8.;
params.vPTAT25 = (int16_t) CREG_VAL(REG_PTAT);
val = CREG_VAL(REG_APTATOCCS) >> 12;
params.alphaPTAT = val / 4. + 8.;
params.gainEE = (int16_t)CREG_VAL(REG_GAIN);
if(params.gainEE == 0) return FALSE;
int8_t occRow[MLX_H];
int8_t occColumn[MLX_W];
occacc(occRow, MLX_H, &CREG_VAL(REG_OCCROW14));
occacc(occColumn, MLX_W, &CREG_VAL(REG_OCCCOL14));
int8_t accRow[MLX_H];
int8_t accColumn[MLX_W];
occacc(accRow, MLX_H, &CREG_VAL(REG_ACCROW14));
occacc(accColumn, MLX_W, &CREG_VAL(REG_ACCCOL14));
val = CREG_VAL(REG_APTATOCCS);
// need to do multiplication instead of bitshift, so:
double occRemScale = 1<<(val&0x0F),
occColumnScale = 1<<((val>>4)&0x0F),
occRowScale = 1<<((val>>8)&0x0F);
int16_t offavg = (int16_t) CREG_VAL(REG_OSAVG);
// even/odd column/row numbers are for starting from 1, so for starting from 0 we chould swap them:
// even - for 1,3,5,...; odd - for 0,2,4,... etc
int8_t ktaavg[4];
// 0 - odd row, odd col; 1 - odd row even col; 2 - even row, odd col; 3 - even row, even col
val = CREG_VAL(REG_KTAAVGODDCOL);
ktaavg[2] = (int8_t)(val & 0xFF); // odd col (1,3,..), even row (2,4,..) -> col 0,2,..; row 1,3,..
ktaavg[0] = (int8_t)(val >> 8); // odd col, odd row -> col 0,2,..; row 0,2,..
val = CREG_VAL(REG_KTAAVGEVENCOL);
ktaavg[3] = (int8_t)(val & 0xFF); // even col, even row -> col 1,3,..; row 1,3,..
ktaavg[1] = (int8_t)(val >> 8); // even col, odd row -> col 1,3,..; row 0,2,..
// so index of ktaavg is 2*(row&1)+(col&1)
val = CREG_VAL(REG_KTAVSCALE);
uint8_t scale1 = ((val & 0xFF)>>4) + 8, scale2 = (val&0xF);
if(scale1 == 0 || scale2 == 0) return FALSE;
double mul = (double)(1<<scale2), div = (double)(1<<scale1); // kta_scales
uint16_t a_r = CREG_VAL(REG_SENSIVITY); // alpha_ref
val = CREG_VAL(REG_SCALEACC);
double *a = params.alpha, diva = (double)(val >> 12);
diva *= (double)(1<<30); // alpha_scale
double accRowScale = 1<<((val & 0x0f00)>>8),
accColumnScale = 1<<((val & 0x00f0)>>4),
accRemScale = 1<<(val & 0x0f);
pu16 = &CREG_VAL(REG_OFFAK1);
double *kta = params.kta, *offset = params.offset;
uint8_t *ol = params.outliers;
for(int row = 0; row < MLX_H; ++row){
int idx = (row&1)<<1;
for(int col = 0; col < MLX_W; ++col){
// offset
register uint16_t rv = *pu16++;
i16 = (rv & 0xFC00) >> 10;
if(i16 > 0x1F) i16 -= 0x40;
*offset++ = (double)offavg + (double)occRow[row]*occRowScale + (double)occColumn[col]*occColumnScale + (double)i16*occRemScale;
// kta
i16 = (rv & 0xF) >> 1;
if(i16 > 0x03) i16 -= 0x08;
*kta++ = (ktaavg[idx|(col&1)] + i16*mul) / div;
// alpha
i16 = (rv & 0x3F0) >> 4;
if(i16 > 0x1F) i16 -= 0x40;
double oft = (double)a_r + accRow[row]*accRowScale + accColumn[col]*accColumnScale +i16*accRemScale;
*a++ = oft / diva;
*ol++ = (rv&1) ? 1 : 0;
}
}
scale1 = (CREG_VAL(REG_KTAVSCALE) >> 8) & 0xF; // kvscale
div = (double)(1<<scale1);
val = CREG_VAL(REG_KVAVG);
i16 = val >> 12; if(i16 > 0x07) i16 -= 0x10;
ktaavg[0] = (int8_t)i16; // odd col, odd row
i16 = (val & 0xF0) >> 4; if(i16 > 0x07) i16 -= 0x10;
ktaavg[1] = (int8_t)i16; // even col, odd row
i16 = (val & 0x0F00) >> 8; if(i16 > 0x07) i16 -= 0x10;
ktaavg[2] = (int8_t)i16; // odd col, even row
i16 = val & 0x0F; if(i16 > 0x07) i16 -= 0x10;
ktaavg[3] = (int8_t)i16; // even col, even row
for(int i = 0; i < 4; ++i) params.kv[i] = ktaavg[i] / div;
val = CREG_VAL(REG_CPOFF);
params.cpOffset[0] = (val & 0x03ff);
if(params.cpOffset[0] > 0x1ff) params.cpOffset[0] -= 0x400;
params.cpOffset[1] = val >> 10;
if(params.cpOffset[1] > 0x1f) params.cpOffset[1] -= 0x40;
params.cpOffset[1] += params.cpOffset[0];
val = ((CREG_VAL(REG_KTAVSCALE) & 0xF0) >> 4) + 8;
i8 = (int8_t)(CREG_VAL(REG_KVTACP) & 0xFF);
params.cpKta = (double)i8 / (1<<val);
val = (CREG_VAL(REG_KTAVSCALE) & 0x0F00) >> 8;
i16 = CREG_VAL(REG_KVTACP) >> 8;
if(i16 > 0x7F) i16 -= 0x100;
params.cpKv = (double)i16 / (1<<val);
i16 = CREG_VAL(REG_KSTATGC) & 0xFF;
if(i16 > 0x7F) i16 -= 0x100;
params.tgc = (double)i16;
params.tgc /= 32.;
val = (CREG_VAL(REG_SCALEACC)>>12); // alpha_scale_CP
i16 = CREG_VAL(REG_ALPHA)>>10; // cp_P1_P0_ratio
if(i16 > 0x1F) i16 -= 0x40;
div = (double)(1<<val);
div *= (double)(1<<27);
params.cpAlpha[0] = (double)(CREG_VAL(REG_ALPHA) & 0x03FF) / div;
div = (double)(1<<7);
params.cpAlpha[1] = params.cpAlpha[0] * (1. + (double)i16/div);
i8 = (int8_t)(CREG_VAL(REG_KSTATGC) >> 8);
params.KsTa = (double)i8/(1<<13);
div = 1<<((CREG_VAL(REG_CT34) & 0x0F) + 8); // kstoscale
DBG("kstoscale=%g (regct34=0x%04x)", div, CREG_VAL(REG_CT34));
val = CREG_VAL(REG_KSTO12);
DBG("ksto12=0x%04x", val);
i8 = (int8_t)(val & 0xFF);
DBG("To1ee=%d", i8);
params.ksTo[0] = i8 / div;
i8 = (int8_t)(val >> 8);
DBG("To2ee=%d", i8);
params.ksTo[1] = i8 / div;
val = CREG_VAL(REG_KSTO34);
DBG("ksto34=0x%04x", val);
i8 = (int8_t)(val & 0xFF);
DBG("To3ee=%d", i8);
params.ksTo[2] = i8 / div;
i8 = (int8_t)(val >> 8);
DBG("To4ee=%d", i8);
params.ksTo[3] = i8 / div;
params.CT[0] = 0.; // 0degr - between ranges 1 and 2
val = CREG_VAL(REG_CT34);
mul = ((val & 0x3000)>>12)*10.; // step
params.CT[1] = ((val & 0xF0)>>4)*mul; // CT3 - between ranges 2 and 3
params.CT[2] = ((val & 0x0F00) >> 8)*mul + params.CT[1]; // CT4 - between ranges 3 and 4
params.alphacorr[0] = 1./(1. + params.ksTo[0] * 40.);
params.alphacorr[1] = 1.;
params.alphacorr[2] = (1. + params.ksTo[1] * params.CT[1]);
params.alphacorr[3] = (1. + params.ksTo[2] * (params.CT[2] - params.CT[1])) * params.alphacorr[2];
params.resolEE = (uint8_t)((CREG_VAL(REG_KTAVSCALE) & 0x3000) >> 12);
// Don't forget to check 'outlier' flags for wide purpose
return TRUE;
}
/**
* @brief process_subpage - calculate all parameters from `dataarray` into `mlx_image`
* @param subpageno - number of subpage
* @param simpleimage == 0 - simplest, 1 - narrow range, 2 - extended range
*/
static void process_subpage(int subpageno, int simpleimage){
DBG("\nprocess_subpage(%d)", subpageno);
#ifdef EBUG
chstate();
#endif
double resol_corr = (double)(1<<params.resolEE) / (1<<((reg_control_val[subpageno]&0x0C00)>>10)); // calibrated resol/current resol
DBG("resolEE=%d, resolCur=%d", params.resolEE, ((reg_control_val[subpageno]&0x0C00)>>10));
int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
double dvdd = resol_corr*i16a - params.vdd25;
dvdd /= params.kVdd;
double dV = i16a - params.vdd25;
dV /= params.kVdd;
DBG("ram=%d, vdd25=%d, dvdd=%g, resol=%g", i16a, params.vdd25, dvdd, resol_corr);
DBG("Vd=%g", dvdd+3.3);
i16a = (int16_t)IMD_VAL(REG_ITAPTAT);
int16_t i16b = (int16_t)IMD_VAL(REG_ITAVBE);
double dTa = (double)i16a / (i16a * params.alphaPTAT + i16b); // vptatart
dTa *= (double)(1<<18);
dTa = (dTa / (1. + params.KvPTAT*dV) - params.vPTAT25);
dTa = dTa / params.KtPTAT; // without 25degr - Ta0
DBG("Ta=%g", dTa+25.);
i16a = (int16_t)IMD_VAL(REG_IGAIN);
double Kgain = params.gainEE / (double)i16a;
DBG("Kgain=%g", Kgain);
double pixOS[2]; // pix_gain_CP_SPx
// 11.2.2.6.1
pixOS[0] = ((int16_t)IMD_VAL(REG_ICPSP0))*Kgain; // pix_OS_CP_SPx
pixOS[1] = ((int16_t)IMD_VAL(REG_ICPSP1))*Kgain;
DBG("pixGain: %g/%g", pixOS[0], pixOS[1]);
for(int i = 0; i < 2; ++i){ // calc pixOS by gain
// 11.2.2.6.2
pixOS[i] -= params.cpOffset[i]*(1. + params.cpKta*dTa)*(1. + params.cpKv*dvdd);
}
// now make first approximation to image
uint16_t pixno = 0; // current pixel number - for indexing in parameters etc
for(int row = 0; row < MLX_H; ++row){
int idx = (row&1)<<1; // index for params.kv
for(int col = 0; col < MLX_W; ++col, ++pixno){
uint8_t sp = (row&1)^(col&1); // subpage of current pixel
if(sp != subpageno) continue;
// 11.2.2.5.1
double curval = (double)((int16_t)dataarray[pixno]) * Kgain; // gain compensation
// 11.2.2.5.3
curval -= params.offset[pixno] * (1. + params.kta[pixno]*dTa) *
(1. + params.kv[idx|(col&1)]*dvdd); // add offset
// now `curval` is pix_OS == V_IR_emiss_comp
// 11.2.2.7
double IRcompens = curval - params.tgc * pixOS[subpageno]; // IR_compensated
if(simpleimage == 0){ // ???
curval = IRcompens;
/*
curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) *
(1. + params.cpKv * dvdd); // CP
curval = IRcompens - params.tgc * curval; // IR gradient compens
*/
}else{
// 11.2.2.8
double alphaComp = params.alpha[pixno] - params.tgc * params.cpAlpha[subpageno];
alphaComp /= 1. + params.KsTa * dTa;
// 11.2.2.9: calculate To for basic range
double Tar = dTa + 273.15 + 25.; // Ta+273.15
Tar = Tar*Tar*Tar*Tar; // T_aK4 (when \epsilon==1 this is T_{a-r} too)
double ac3 = alphaComp*alphaComp*alphaComp;
double Sx = ac3*IRcompens + alphaComp*ac3*Tar;
Sx = params.ksTo[1] * sqrt(sqrt(Sx));
double To = IRcompens / (alphaComp * (1. - 273.15*params.ksTo[1]) + Sx) + Tar;
curval = sqrt(sqrt(To)) - 273.15; // To
// extended range
if(simpleimage == 2){
int idx = 0; // range 1 by default
double ctx = -40.;
if(curval > params.CT[0] && curval < params.CT[1]){ // range 2
idx = 1; ctx = params.CT[0];
}else if(curval < params.CT[2]){ // range 3
idx = 2; ctx = params.CT[1];
}else{ // range 4
idx = 3; ctx = params.CT[2];
}
To = IRcompens / (alphaComp * params.alphacorr[idx] * (1. + params.ksTo[idx]*(curval - ctx))) + Tar;
curval = sqrt(sqrt(To)) - 273.15;
}
}
mlx_image[pixno] = curval;
}
}
DBG("Time: %g", dtime()-Tlast);
}
static int process_readconf(){
chstate();
while(1){
if(get_parameters()) return TRUE;
else chkerr();
}
}
static int process_firstrun(){
uint16_t reg, N;
write_reg(REG_CONTROL, REG_CONTROL_DEFAULT);
usleep(50);
write_reg(REG_CONTROL, REG_CONTROL_DEFAULT);
usleep(50);
chstate();
while(1){
if(write_reg(REG_CONTROL, reg_control_val[0])
&& read_reg(REG_CONTROL, &reg)){
DBG("REG_CTRL=0x%04x, T=%g", reg, dtime()-Tlast);
if(read_reg(REG_STATUS, &reg)) DBG("REG_STATUS=0x%04x", reg);
N = REG_CALIDATA_LEN;
if(read_data(REG_CALIDATA, &N)){
DBG("-> M_READCONF, T=%g", dtime()-Tlast);
return process_readconf();
}else chkerr();
}else chkerr();
}
return FALSE;
}
// start image acquiring for next subpage
static int process_startima(int subpageno){
chstate();
DBG("startima(%d)", subpageno);
uint16_t reg, N;
while(1){
// write `overwrite` flag twice
if(!write_reg(REG_CONTROL, reg_control_val[subpageno]) ||
!write_reg(REG_STATUS, REG_STATUS_OVWEN) ||
!write_reg(REG_STATUS, REG_STATUS_OVWEN)) chkerr();
while(1){
if(read_reg(REG_STATUS, &reg)){
if(reg & REG_STATUS_NEWDATA){
DBG("got newdata: %g", dtime() - Tlast);
if(subpageno != (reg & REG_STATUS_SPNO)){
DBG("wrong subpage number -> M_ERROR");
return FALSE;
}else{ // all OK, run image reading
chstate();
write_reg(REG_STATUS, 0); // clear rdy bit
N = MLX_PIXARRSZ;
if(read_data(REG_IMAGEDATA, &N) && N == MLX_PIXARRSZ){
DBG("got readoutm N=%d: %g", N, dtime() - Tlast);
return TRUE;
}else chkerr();
}
}else chktmout();
}else chkerr();
}
}
return FALSE;
}
void mlx90640_restart(){
memset(&params, 0, sizeof(params));
process_firstrun();
}
// if state of MLX allows, make an image else return error
// @param simple ==1 for simplest image processing (without T calibration)
int mlx90640_take_image(uint8_t simple, double **image){
if(I2Cfd < 1) return FALSE;
if(params.kVdd == 0){ // no parameters -> make first run
if(!process_firstrun()) return FALSE;
}
DBG("\n\n\n-> M_STARTIMA");
for(int sp = 0; sp < 2; ++sp){
if(!process_startima(sp)) return FALSE; // get first subpage
process_subpage(sp, simple);
}
if(image) *image = mlx_image;
return TRUE;
}
int mlx90640_init(const char *dev, uint8_t ID){
if(I2Cfd > 0) close(I2Cfd);
I2Cfd = open(dev, O_RDWR);
if(I2Cfd < 1) return FALSE;
if(!mlx90640_set_slave_address(ID)) return FALSE;
if(!read_reg(0, NULL)) return FALSE;
if(!process_firstrun()) return FALSE;
return TRUE;
}

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/*
* This file is part of the mxl90640wPi project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
// timeout for reading operations, s
#define MLX_TIMEOUT 5.
// counter of errors, when > max -> M_ERROR
#define MLX_MAXERR_COUNT 10
// wait after power off, s
#define MLX_POWOFF_WAIT 0.5
// wait after power on, s
#define MLX_POWON_WAIT 2.
// amount of pixels
#define MLX_W (32)
#define MLX_H (24)
#define MLX_PIXNO (MLX_W*MLX_H)
// pixels + service data
#define MLX_PIXARRSZ (MLX_PIXNO + 64)
typedef struct{
int16_t kVdd;
int16_t vdd25;
double KvPTAT;
double KtPTAT;
int16_t vPTAT25;
double alphaPTAT;
int16_t gainEE;
double tgc;
double cpKv; // K_V_CP
double cpKta; // K_Ta_CP
double KsTa;
double CT[3]; // range borders (0, 160, 320 degrC?)
double ksTo[4]; // K_S_To for each range * 273.15
double alphacorr[4]; // Alpha_corr for each range
double alpha[MLX_PIXNO]; // full - with alpha_scale
double offset[MLX_PIXNO];
double kta[MLX_PIXNO]; // full K_ta - with scale1&2
double kv[4]; // full - with scale; 0 - odd row, odd col; 1 - odd row even col; 2 - even row, odd col; 3 - even row, even col
double cpAlpha[2]; // alpha_CP_subpage 0 and 1
uint8_t resolEE; // resolution_EE
int16_t cpOffset[2];
uint8_t outliers[MLX_PIXNO]; // outliers - bad pixels (if == 1)
} MLX90640_params;
// default I2C address
#define MLX_DEFAULT_ADDR (0x33)
// max datalength by one read (in 16-bit values)
#define MLX_DMA_MAXLEN (832)
void mlx90640_dump_parameters();
int mlx90640_init(const char *dev, uint8_t ID);
int mlx90640_set_slave_address(uint8_t addr);
int mlx90640_take_image(uint8_t simple, double **image);
void mlx90640_restart();

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/*
* This file is part of the mxl90640wPi project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define REG_STATUS 0x8000
#define REG_STATUS_OVWEN (1<<4)
#define REG_STATUS_NEWDATA (1<<3)
#define REG_STATUS_SPNO (1<<0)
#define REG_STATUS_SPMASK (3<<0)
#define REG_CONTROL 0x800D
#define REG_CONTROL_CHESS (1<<12)
#define REG_CONTROL_RES16 (0<<10)
#define REG_CONTROL_RES17 (1<<10)
#define REG_CONTROL_RES18 (2<<10)
#define REG_CONTROL_RES19 (3<<10)
#define REG_CONTROL_RESMASK (3<<10)
#define REG_CONTROL_REFR_05HZ (0<<7)
#define REG_CONTROL_REFR_1HZ (1<<7)
#define REG_CONTROL_REFR_2HZ (2<<7)
#define REG_CONTROL_REFR_4HZ (3<<7)
#define REG_CONTROL_REFR_8HZ (4<<7)
#define REG_CONTROL_REFR_16HZ (5<<7)
#define REG_CONTROL_REFR_32HZ (6<<7)
#define REG_CONTROL_REFR_64HZ (7<<7)
#define REG_CONTROL_SUBP1 (1<<4)
#define REG_CONTROL_SUBPMASK (3<<4)
#define REG_CONTROL_SUBPSEL (1<<3)
#define REG_CONTROL_DATAHOLD (1<<2)
#define REG_CONTROL_SUBPEN (1<<0)
// default value
#define REG_CONTROL_DEFAULT (REG_CONTROL_CHESS|REG_CONTROL_RES18|REG_CONTROL_REFR_2HZ|REG_CONTROL_SUBPEN)
// calibration data start & len
#define REG_CALIDATA 0x2410
#define REG_CALIDATA_LEN 816
#define REG_APTATOCCS 0x2410
#define REG_OSAVG 0x2411
#define REG_OCCROW14 0x2412
#define REG_OCCCOL14 0x2418
#define REG_SCALEACC 0x2420
#define REG_SENSIVITY 0x2421
#define REG_ACCROW14 0x2422
#define REG_ACCCOL14 0x2428
#define REG_GAIN 0x2430
#define REG_PTAT 0x2431
#define REG_KVTPTAT 0x2432
#define REG_VDD 0x2433
#define REG_KVAVG 0x2434
#define REG_ILCHESS 0x2435
#define REG_KTAAVGODDCOL 0x2436
#define REG_KTAAVGEVENCOL 0x2437
#define REG_KTAVSCALE 0x2438
#define REG_ALPHA 0x2439
#define REG_CPOFF 0x243A
#define REG_KVTACP 0x243B
#define REG_KSTATGC 0x243C
#define REG_KSTO12 0x243D
#define REG_KSTO34 0x243E
#define REG_CT34 0x243F
#define REG_OFFAK1 0x2440
// index of register in array (from REG_CALIDATA)
#define CREG_IDX(addr) ((addr)-REG_CALIDATA)
#define REG_IMAGEDATA 0x0400
#define REG_ITAVBE 0x0700
#define REG_ICPSP0 0x0708
#define REG_IGAIN 0x070A
#define REG_ITAPTAT 0x0720
#define REG_ICPSP1 0x0728
#define REG_IVDDPIX 0x072A
// indeg of register in array (from REG_IMAGEDATA)
#define IMD_IDX(addr) ((addr)-REG_IMAGEDATA)

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-std=c17

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MLX90640/mxl90640OPi.config Normal file
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#define GNU_SOURCE 1
#define _XOPEN_SOURCE 1111
#define EBUG

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MLX90640/mxl90640OPi.cxxflags Normal file
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-std=c++17

6
MLX90640/mxl90640OPi.files Normal file
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cmdlnopts.c
cmdlnopts.h
main.c
mlx90640.c
mlx90640.h
mlx90640_regs.h

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MLX90640/mxl90640OPi.includes Normal file
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/usr/local/include
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