eddy/eddys_snippets
1
0
Fork 0
mirror of https://github.com/eddyem/eddys_snippets.git synced 2025-12-06 10:45:12 +03:00
Code Issues Packages Projects Releases Wiki Activity

add full range to MLX

Browse Source
This commit is contained in:
Edward Emelianov 2022-09-21 00:15:49 +03:00
parent 5bb9980bdd
commit 09c4518763
5 changed files with 192 additions and 57 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
MLX90640_OrangePi/main.c
View File

@ -39,7 +39,15 @@ void signals(int sig){
exit(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){ int main (int argc, char **argv){
initial_setup(); initial_setup();
@ -50,16 +58,38 @@ int main (int argc, char **argv){
if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1); if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
if(!mlx90640_init(GP->device, DEVICE_ID)) ERR("Can't open device"); if(!mlx90640_init(GP->device, DEVICE_ID)) ERR("Can't open device");
double *ima = NULL; //mlx90640_dump_parameters();
if(!mlx90640_take_image(0, &ima) || !ima) ERRX("Can't take image"); #define N 9
// mlx90640_dump_parameters(); double T0 = dtime();
double *ptr = ima; uint8_t simple = 2;
green("Image:\n"); //for(uint8_t simple = 0; simple < 3; ++simple){
for(int row = 0; row < MLX_H; ++row){ memset(image, 0, sizeof(image));
for(int col = 0; col < MLX_W; ++col){ memset(image2, 0, sizeof(image));
printf("%5.1f ", *ptr++); 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; return 0;
} }

BIN
MLX90640_OrangePi/mlx
View File

Binary file not shown.

186
MLX90640_OrangePi/mlx90640.c
View File

@ -43,11 +43,18 @@ static double mlx_image[MLX_PIXNO]; // ready image
// reg_control values for subpage #0 and #1 // reg_control values for subpage #0 and #1
static const uint16_t reg_control_val[2] = { 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_64HZ | 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_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 // read register value
static int read_reg(uint16_t regaddr, uint16_t *data){ static int read_reg(uint16_t regaddr, uint16_t *data){
if(I2Cfd < 1) return FALSE; if(I2Cfd < 1) return FALSE;
@ -66,6 +73,55 @@ static int read_reg(uint16_t regaddr, uint16_t *data){
return TRUE; 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` // blocking read N uint16_t values starting from `reg`
// @param reg - register to read // @param reg - register to read
// @param N (io) - amount of bytes to read / bytes 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; *N = i;
return dataarray; return dataarray;
} }
#endif
// write register value // write register value
static int write_reg(uint16_t regaddr, uint16_t data){ static int write_reg(uint16_t regaddr, uint16_t data){
@ -109,15 +167,6 @@ int mlx90640_set_slave_address(uint8_t addr){
return TRUE; 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){ static void dumpIma(double *im){
for(int row = 0; row < MLX_H; ++row){ for(int row = 0; row < MLX_H; ++row){
for(int col = 0; col < MLX_W; ++col){ 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("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("cpAlpha[]={%g, %g}\n", params.cpAlpha[0], params.cpAlpha[1]);
printf("cpOffset[]={%d, %d}\n", params.cpOffset[0], params.cpOffset[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); accRemScale = 1<<(val & 0x0f);
pu16 = &CREG_VAL(REG_OFFAK1); pu16 = &CREG_VAL(REG_OFFAK1);
double *kta = params.kta, *offset = params.offset; double *kta = params.kta, *offset = params.offset;
uint8_t *ol = params.outliers;
for(int row = 0; row < MLX_H; ++row){ for(int row = 0; row < MLX_H; ++row){
int idx = (row&1)<<1; int idx = (row&1)<<1;
for(int col = 0; col < MLX_W; ++col){ for(int col = 0; col < MLX_W; ++col){
@ -239,6 +297,7 @@ static int get_parameters(){
if(i16 > 0x1F) i16 -= 0x40; if(i16 > 0x1F) i16 -= 0x40;
double oft = (double)a_r + accRow[row]*accRowScale + accColumn[col]*accColumnScale +i16*accRemScale; double oft = (double)a_r + accRow[row]*accRowScale + accColumn[col]*accColumnScale +i16*accRemScale;
*a++ = oft / diva; *a++ = oft / diva;
*ol++ = (rv&1) ? 1 : 0;
} }
} }
scale1 = (CREG_VAL(REG_KTAVSCALE) >> 8) & 0xF; // kvscale scale1 = (CREG_VAL(REG_KTAVSCALE) >> 8) & 0xF; // kvscale
@ -281,16 +340,23 @@ static int get_parameters(){
i8 = (int8_t)(CREG_VAL(REG_KSTATGC) >> 8); i8 = (int8_t)(CREG_VAL(REG_KSTATGC) >> 8);
params.KsTa = (double)i8/(1<<13); params.KsTa = (double)i8/(1<<13);
div = 1<<((CREG_VAL(REG_CT34) & 0x0F) + 8); // kstoscale 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); val = CREG_VAL(REG_KSTO12);
DBG("ksto12=0x%04x", val);
i8 = (int8_t)(val & 0xFF); 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); 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); val = CREG_VAL(REG_KSTO34);
DBG("ksto34=0x%04x", val);
i8 = (int8_t)(val & 0xFF); 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); 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 params.CT[0] = 0.; // 0degr - between ranges 1 and 2
val = CREG_VAL(REG_CT34); val = CREG_VAL(REG_CT34);
mul = ((val & 0x3000)>>12)*10.; // step 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` * @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){ 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); int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
double dvdd = i16a - params.vdd25; double dvdd = i16a - params.vdd25;
dvdd = dvdd / params.kVdd; 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) * curval -= params.offset[pixno] * (1. + params.kta[pixno]*dTa) *
(1. + params.kv[idx|(col&1)]*dvdd); // add offset (1. + params.kv[idx|(col&1)]*dvdd); // add offset
double IRcompens = curval; // IR_compensated double IRcompens = curval; // IR_compensated
if(simpleimage){ if(simpleimage == 0){
curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) * curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) *
(1. + params.cpKv * dvdd); // CP (1. + params.cpKv * dvdd); // CP
curval = IRcompens - params.tgc * curval; // IR gradient compens 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 ac3 = alphaComp*alphaComp*alphaComp;
double Sx = ac3*IRcompens + alphaComp*ac3*Tar; double Sx = ac3*IRcompens + alphaComp*ac3*Tar;
Sx = params.KsTa * sqrt(sqrt(Sx)); 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 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; 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(){ static int process_readconf(){
chstate(); chstate();
while(1){ while(1){
@ -371,15 +450,19 @@ static int process_readconf(){
} }
static int process_firstrun(){ static int process_firstrun(){
uint16_t reg, N; uint16_t reg, N;
write_reg(REG_CONTROL, REG_CONTROL_DEFAULT);
usleep(50);
write_reg(REG_CONTROL, REG_CONTROL_DEFAULT);
usleep(50);
chstate(); chstate();
while(1){ while(1){
if(write_reg(REG_CONTROL, reg_control_val[0]) if(write_reg(REG_CONTROL, reg_control_val[0])
&& read_reg(REG_CONTROL, &reg)){ && 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); if(read_reg(REG_STATUS, &reg)) DBG("REG_STATUS=0x%04x", reg);
N = REG_CALIDATA_LEN; N = REG_CALIDATA_LEN;
if(read_data(REG_CALIDATA, &N)){ if(read_data(REG_CALIDATA, &N)){
DBG("-> M_READCONF"); DBG("-> M_READCONF, T=%g", dtime()-Tlast);
return process_readconf(); return process_readconf();
}else chkerr(); }else chkerr();
}else chkerr(); }else chkerr();
@ -389,29 +472,32 @@ static int process_firstrun(){
// start image acquiring for next subpage // start image acquiring for next subpage
static int process_startima(int subpageno){ static int process_startima(int subpageno){
chstate(); chstate();
DBG("startima()"); DBG("startima(%d)", subpageno);
uint16_t reg, N; uint16_t reg, N;
while(1){ while(1){
// write `overwrite` flag twice // write `overwrite` flag twice
if(!write_reg(REG_CONTROL, reg_control_val[subpageno]) || if(!write_reg(REG_CONTROL, reg_control_val[subpageno]) ||
!write_reg(REG_STATUS, REG_STATUS_OVWEN) || !write_reg(REG_STATUS, REG_STATUS_OVWEN) ||
!write_reg(REG_STATUS, REG_STATUS_OVWEN)) chkerr(); !write_reg(REG_STATUS, REG_STATUS_OVWEN)) chkerr();
if(read_reg(REG_STATUS, &reg)){ while(1){
if(reg & REG_STATUS_NEWDATA){ if(read_reg(REG_STATUS, &reg)){
if(subpageno != (reg & REG_STATUS_SPNO)){ if(reg & REG_STATUS_NEWDATA){
DBG("wrong subpage number -> M_ERROR"); DBG("got newdata: %g", dtime() - Tlast);
return FALSE; if(subpageno != (reg & REG_STATUS_SPNO)){
}else{ // all OK, run image reading DBG("wrong subpage number -> M_ERROR");
chstate(); return FALSE;
write_reg(REG_STATUS, 0); // clear rdy bit }else{ // all OK, run image reading
N = MLX_PIXARRSZ; chstate();
if(read_data(REG_IMAGEDATA, &N)){ write_reg(REG_STATUS, 0); // clear rdy bit
DBG("-> M_READOUT, N=%u", N); N = MLX_PIXARRSZ;
return TRUE; if(read_data(REG_IMAGEDATA, &N) && N == MLX_PIXARRSZ){
}else chkerr(); DBG("got readoutm N=%d: %g", N, dtime() - Tlast);
} return TRUE;
}else chktmout(); }else chkerr();
}else chkerr(); }
}else chktmout();
}else chkerr();
}
} }
return FALSE; 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(params.kVdd == 0){ // no parameters -> make first run
if(!process_firstrun()) return FALSE; if(!process_firstrun()) return FALSE;
} }
//subpageno = 0; DBG("\n\n\n-> M_STARTIMA");
DBG("-> M_STARTIMA");
for(int sp = 0; sp < 2; ++sp){ for(int sp = 0; sp < 2; ++sp){
if(!process_startima(sp)) return FALSE; // get first subpage if(!process_startima(sp)) return FALSE; // get first subpage
process_subpage(sp, simple); process_subpage(sp, simple);
@ -438,4 +523,13 @@ int mlx90640_take_image(uint8_t simple, double **image){
return TRUE; 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;
}

1
MLX90640_OrangePi/mlx90640.h
View File

@ -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 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 double cpAlpha[2]; // alpha_CP_subpage 0 and 1
int16_t cpOffset[2]; int16_t cpOffset[2];
uint8_t outliers[MLX_PIXNO]; // outliers - bad pixels (if == 1)
} MLX90640_params; } MLX90640_params;
// default I2C address // default I2C address

10
MLX90640_OrangePi/mlx90640_regs.h
View File

@ -27,13 +27,23 @@
#define REG_CONTROL_CHESS (1<<12) #define REG_CONTROL_CHESS (1<<12)
#define REG_CONTROL_RES18 (2<<10) #define REG_CONTROL_RES18 (2<<10)
#define REG_CONTROL_RESMASK (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_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_SUBP1 (1<<4)
#define REG_CONTROL_SUBPMASK (3<<4) #define REG_CONTROL_SUBPMASK (3<<4)
#define REG_CONTROL_SUBPSEL (1<<3) #define REG_CONTROL_SUBPSEL (1<<3)
#define REG_CONTROL_DATAHOLD (1<<2) #define REG_CONTROL_DATAHOLD (1<<2)
#define REG_CONTROL_SUBPEN (1<<0) #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 // calibration data start & len
#define REG_CALIDATA 0x2410 #define REG_CALIDATA 0x2410
#define REG_CALIDATA_LEN 816 #define REG_CALIDATA_LEN 816