From 09c45187636cd314df6bac8377cbaa93ad61f23a Mon Sep 17 00:00:00 2001
From: Edward Emelianov <edward.emelianoff@gmail.com>
Date: Wed, 21 Sep 2022 00:15:49 +0300
Subject: [PATCH] add full range to MLX

---
 MLX90640_OrangePi/main.c          |  52 +++++++--
 MLX90640_OrangePi/mlx             | Bin 21664 -> 21576 bytes
 MLX90640_OrangePi/mlx90640.c      | 186 ++++++++++++++++++++++--------
 MLX90640_OrangePi/mlx90640.h      |   1 +
 MLX90640_OrangePi/mlx90640_regs.h |  10 ++
 5 files changed, 192 insertions(+), 57 deletions(-)

diff --git a/MLX90640_OrangePi/main.c b/MLX90640_OrangePi/main.c
index 47a425d..f4fc2bc 100644
--- a/MLX90640_OrangePi/main.c
+++ b/MLX90640_OrangePi/main.c
@@ -39,7 +39,15 @@ void signals(int sig){
     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();
@@ -50,16 +58,38 @@ int main (int argc, char **argv){
     if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
 
     if(!mlx90640_init(GP->device, DEVICE_ID)) ERR("Can't open device");
-    double *ima = NULL;
-    if(!mlx90640_take_image(0, &ima) || !ima) ERRX("Can't take image");
-  //  mlx90640_dump_parameters();
-    double *ptr = ima;
-    green("Image:\n");
-    for(int row = 0; row < MLX_H; ++row){
-        for(int col = 0; col < MLX_W; ++col){
-            printf("%5.1f ", *ptr++);
+    //mlx90640_dump_parameters();
+#define N 9
+    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);
         }
-        printf("\n");
-    }
+        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;
 }
diff --git a/MLX90640_OrangePi/mlx b/MLX90640_OrangePi/mlx
index fe423f413e8a49b5d83b1f6d202f3e18ace47429..4d751ef87023301cfb297e9b2be4ba6b71e09e90 100755
GIT binary patch
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DV}G-o

diff --git a/MLX90640_OrangePi/mlx90640.c b/MLX90640_OrangePi/mlx90640.c
index e44eca6..6dfc8f7 100644
--- a/MLX90640_OrangePi/mlx90640.c
+++ b/MLX90640_OrangePi/mlx90640.c
@@ -43,11 +43,18 @@ static double mlx_image[MLX_PIXNO]; // ready image
 
 // 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_2HZ | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN,
-    REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_2HZ | REG_CONTROL_SUBP1 | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN
+    REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_64HZ | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN,
+    REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_64HZ | 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;
@@ -66,6 +73,55 @@ static int read_reg(uint16_t regaddr, uint16_t *data){
     return TRUE;
 }
 
+
+//#if 0
+ // Sometimes don't work :(
+// 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
@@ -84,6 +140,8 @@ static uint16_t *read_data(uint16_t reg, uint16_t *N){
     *N = i;
     return dataarray;
 }
+#endif
+
 
 // write register value
 static int write_reg(uint16_t regaddr, uint16_t data){
@@ -109,15 +167,6 @@ int mlx90640_set_slave_address(uint8_t addr){
     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;
-    return TRUE;
-}
-
 static void dumpIma(double *im){
     for(int row = 0; row < MLX_H; ++row){
         for(int col = 0; col < MLX_W; ++col){
@@ -139,6 +188,14 @@ void mlx90640_dump_parameters(){
     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");
+    }
 }
 
 /*****************************************************************************
@@ -222,6 +279,7 @@ static int get_parameters(){
           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){
@@ -239,6 +297,7 @@ static int get_parameters(){
             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
@@ -281,16 +340,23 @@ static int get_parameters(){
     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);
-    params.ksTo[0] = 273.15 * i8 / div;
+    DBG("To1ee=%d", i8);
+    params.ksTo[0] = i8 / div;
     i8 = (int8_t)(val >> 8);
-    params.ksTo[1] = 273.15 * i8 / div;
+    DBG("To2ee=%d", i8);
+    params.ksTo[1] = i8 / div;
     val = CREG_VAL(REG_KSTO34);
+    DBG("ksto34=0x%04x", val);
     i8 = (int8_t)(val & 0xFF);
-    params.ksTo[2] = 273.15 * i8 / div;
+    DBG("To3ee=%d", i8);
+    params.ksTo[2] = i8 / div;
     i8 = (int8_t)(val >> 8);
-    params.ksTo[3] = 273.15 * i8 / div;
+    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
@@ -306,9 +372,14 @@ static int get_parameters(){
 
 /**
  * @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("process_subpage(%d)", subpageno);
+    DBG("\nprocess_subpage(%d)", subpageno);
+#ifdef EBUG
+    chstate();
+#endif
     int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
     double dvdd = i16a - params.vdd25;
     dvdd = dvdd / params.kVdd;
@@ -334,7 +405,7 @@ static void process_subpage(int subpageno, int simpleimage){
             curval -= params.offset[pixno] * (1. + params.kta[pixno]*dTa) *
                     (1. + params.kv[idx|(col&1)]*dvdd); // add offset
             double IRcompens = curval; // IR_compensated
-            if(simpleimage){
+            if(simpleimage == 0){
                 curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) *
                         (1. + params.cpKv * dvdd); // CP
                 curval = IRcompens - params.tgc * curval; // IR gradient compens
@@ -347,21 +418,29 @@ static void process_subpage(int subpageno, int simpleimage){
                 double ac3 = alphaComp*alphaComp*alphaComp;
                 double Sx = ac3*IRcompens + alphaComp*ac3*Tar;
                 Sx = params.KsTa * sqrt(sqrt(Sx));
-                double To = IRcompens / (alphaComp * (1. - params.ksTo[1]) + Sx) + Tar;
+                double To = IRcompens / (alphaComp * (1. - 273.15*params.ksTo[1]) + Sx) + Tar;
                 curval = sqrt(sqrt(To)) - 273.15; // To
-                // TODO: extended
+                // 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 errctr = 0;
-static double Tlast = 0.;
-#define chstate()  do{errctr = 0; Tlast = dtime(); }while(0)
-#define chkerr()   do{if(++errctr > MLX_MAXERR_COUNT){ DBG("-> M_ERROR"); return FALSE;}else continue;}while(0)
-#define chktmout() do{if(dtime() - Tlast > MLX_TIMEOUT){ DBG("Timeout! -> M_ERROR"); return FALSE;}else continue;}while(0)
-
 static int process_readconf(){
     chstate();
     while(1){
@@ -371,15 +450,19 @@ static int process_readconf(){
 }
 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", 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");
+            DBG("-> M_READCONF, T=%g", dtime()-Tlast);
             return process_readconf();
         }else chkerr();
     }else chkerr();
@@ -389,29 +472,32 @@ static int process_firstrun(){
 // start image acquiring for next subpage
 static int process_startima(int subpageno){
     chstate();
-    DBG("startima()");
+    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();
-        if(read_reg(REG_STATUS, &reg)){
-            if(reg & REG_STATUS_NEWDATA){
-                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)){
-                        DBG("-> M_READOUT, N=%u", N);
-                        return TRUE;
-                    }else chkerr();
-                }
-            }else chktmout();
-        }else 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;
 }
@@ -428,8 +514,7 @@ int mlx90640_take_image(uint8_t simple, double **image){
     if(params.kVdd == 0){ // no parameters -> make first run
         if(!process_firstrun()) return FALSE;
     }
-    //subpageno = 0;
-    DBG("-> M_STARTIMA");
+    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);
@@ -438,4 +523,13 @@ int mlx90640_take_image(uint8_t simple, double **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;
+}
 
diff --git a/MLX90640_OrangePi/mlx90640.h b/MLX90640_OrangePi/mlx90640.h
index f8daa99..e906462 100644
--- a/MLX90640_OrangePi/mlx90640.h
+++ b/MLX90640_OrangePi/mlx90640.h
@@ -57,6 +57,7 @@ typedef struct{
     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
     int16_t cpOffset[2];
+    uint8_t outliers[MLX_PIXNO]; // outliers - bad pixels (if == 1)
 } MLX90640_params;
 
 // default I2C address
diff --git a/MLX90640_OrangePi/mlx90640_regs.h b/MLX90640_OrangePi/mlx90640_regs.h
index 71d1ad9..d5b657c 100644
--- a/MLX90640_OrangePi/mlx90640_regs.h
+++ b/MLX90640_OrangePi/mlx90640_regs.h
@@ -27,13 +27,23 @@
 #define REG_CONTROL_CHESS       (1<<12)
 #define REG_CONTROL_RES18       (2<<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