mirror of
https://github.com/eddyem/eddys_snippets.git
synced 2025-12-06 10:45:12 +03:00
add full range to MLX
This commit is contained in:
Edward Emelianov
parent
5bb9980bdd
commit
09c4518763
@ -39,7 +39,15 @@ void signals(int sig){
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exit(sig);
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}
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static double image[MLX_PIXNO];
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static double image2[MLX_PIXNO];
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static void pushima(const double *img){
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for(int i = 0; i < MLX_PIXNO; ++i){
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double val = *img++;
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image[i] += val;
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image2[i] += val*val;
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}
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}
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int main (int argc, char **argv){
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initial_setup();
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@ -50,16 +58,38 @@ int main (int argc, char **argv){
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if(GP->logfile) OPENLOG(GP->logfile, LOGLEVEL_ANY, 1);
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if(!mlx90640_init(GP->device, DEVICE_ID)) ERR("Can't open device");
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double *ima = NULL;
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if(!mlx90640_take_image(0, &ima) || !ima) ERRX("Can't take image");
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//mlx90640_dump_parameters();
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double *ptr = ima;
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green("Image:\n");
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#define N 9
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double T0 = dtime();
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uint8_t simple = 2;
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//for(uint8_t simple = 0; simple < 3; ++simple){
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memset(image, 0, sizeof(image));
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memset(image2, 0, sizeof(image));
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for(int i = 0; i < N; ++i){
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double *ima = NULL;
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if(!mlx90640_take_image(simple, &ima) || !ima) ERRX("Can't take image");
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pushima(ima);
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printf("Got image %d, T=%g\n", i, dtime() - T0);
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}
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double *im = image, *im2 = image2;
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green("\nImage (simple=%d):\n", simple);
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for(int row = 0; row < MLX_H; ++row){
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for(int col = 0; col < MLX_W; ++col){
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printf("%5.1f ", *ptr++);
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double v = *im++, v2 = *im2;
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v /= N; v2 /= N;
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printf("%5.1f ", v);
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*im2++ = v2 - v*v;
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}
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printf("\n");
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}
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green("\nRMS:\n");
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im2 = image2;
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for(int row = 0; row < MLX_H; ++row){
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for(int col = 0; col < MLX_W; ++col){
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printf("%5.1f ", *im2++);
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}
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printf("\n");
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}
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//}
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return 0;
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}
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Binary file not shown.
@ -43,11 +43,18 @@ static double mlx_image[MLX_PIXNO]; // ready image
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// reg_control values for subpage #0 and #1
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static const uint16_t reg_control_val[2] = {
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REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_2HZ | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN,
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REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_2HZ | REG_CONTROL_SUBP1 | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN
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REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_64HZ | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN,
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REG_CONTROL_CHESS | REG_CONTROL_RES18 | REG_CONTROL_REFR_64HZ | REG_CONTROL_SUBP1 | REG_CONTROL_SUBPSEL | REG_CONTROL_DATAHOLD | REG_CONTROL_SUBPEN
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};
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static int errctr = 0;
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static double Tlast = 0.;
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#define chstate() do{errctr = 0; Tlast = dtime(); DBG("chstate()");}while(0)
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#define chkerr() do{DBG("chkerr(), T=%g", dtime()-Tlast); if(++errctr > MLX_MAXERR_COUNT){ DBG("-> M_ERROR"); return FALSE;}else continue;}while(0)
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#define chktmout() do{DBG("chktmout, T=%g", dtime()-Tlast); if(dtime() - Tlast > MLX_TIMEOUT){ DBG("Timeout! -> M_ERROR"); return FALSE;}else continue;}while(0)
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// read register value
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static int read_reg(uint16_t regaddr, uint16_t *data){
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if(I2Cfd < 1) return FALSE;
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@ -66,6 +73,55 @@ static int read_reg(uint16_t regaddr, uint16_t *data){
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return TRUE;
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}
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//#if 0
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// Sometimes don't work :(
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// read N values starting from regaddr
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static int read_regN(uint16_t regaddr, uint16_t *data, uint16_t N){
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if(I2Cfd < 1 || N > 128 || N == 0) return FALSE;
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struct i2c_msg m[2];
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struct i2c_rdwr_ioctl_data x = {.msgs = m, .nmsgs = 2};
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m[0].addr = lastaddr; m[1].addr = lastaddr;
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m[0].flags = 0;
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m[1].flags = I2C_M_RD;
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m[0].len = 2; m[1].len = N * 2;
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uint8_t a[2], d[256] = {0};
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a[0] = regaddr >> 8;
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a[1] = regaddr & 0xff;
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m[0].buf = a; m[1].buf = d;
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if(ioctl(I2Cfd, I2C_RDWR, &x) < 0) return FALSE;
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if(data) for(int i = 0; i < N; ++i){
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*data++ = (uint16_t)((d[2*i] << 8) | (d[2*i + 1]));
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}
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return TRUE;
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}
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// blocking read N uint16_t values starting from `reg`
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// @param reg - register to read
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// @param N (io) - amount of bytes to read / bytes read
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// @return `dataarray` or NULL if failed
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static uint16_t *read_data(uint16_t reg, uint16_t *N){
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if(I2Cfd < 1 || !N || *N < 1) return NULL;
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uint16_t n = *N;
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if(n < 1 || n > MLX_DMA_MAXLEN) return NULL;
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uint16_t *data = dataarray;
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uint16_t got = 0, rest = *N;
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do{
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uint8_t l = (rest > 128) ? 128 : (uint8_t)rest;
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if(!read_regN(reg, data, l)){
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DBG("can't read");
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break;
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}
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rest -= l;
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reg += l;
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data += l;
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got += l;
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}while(rest);
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*N = got;
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return dataarray;
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}
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//#endif
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#if 0
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// blocking read N uint16_t values starting from `reg`
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// @param reg - register to read
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// @param N (io) - amount of bytes to read / bytes read
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@ -84,6 +140,8 @@ static uint16_t *read_data(uint16_t reg, uint16_t *N){
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*N = i;
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return dataarray;
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}
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#endif
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// write register value
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static int write_reg(uint16_t regaddr, uint16_t data){
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@ -109,15 +167,6 @@ int mlx90640_set_slave_address(uint8_t addr){
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return TRUE;
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}
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int mlx90640_init(const char *dev, uint8_t ID){
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if(I2Cfd > 0) close(I2Cfd);
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I2Cfd = open(dev, O_RDWR);
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if(I2Cfd < 1) return FALSE;
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if(!mlx90640_set_slave_address(ID)) return FALSE;
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if(!read_reg(0, NULL)) return FALSE;
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return TRUE;
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}
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static void dumpIma(double *im){
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for(int row = 0; row < MLX_H; ++row){
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for(int col = 0; col < MLX_W; ++col){
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@ -139,6 +188,14 @@ void mlx90640_dump_parameters(){
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printf("kv[]={"); for(int i = 0; i < 4; ++i) printf("%s%g", (i) ? ", " : "", params.kv[i]); printf("}\n");
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printf("cpAlpha[]={%g, %g}\n", params.cpAlpha[0], params.cpAlpha[1]);
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printf("cpOffset[]={%d, %d}\n", params.cpOffset[0], params.cpOffset[1]);
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printf("outliers[]=\n");
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uint8_t *o = params.outliers;
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for(int row = 0; row < MLX_H; ++row){
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for(int col = 0; col < MLX_W; ++col){
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printf("%d ", *o++);
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}
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printf("\n");
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}
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}
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/*****************************************************************************
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@ -222,6 +279,7 @@ static int get_parameters(){
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accRemScale = 1<<(val & 0x0f);
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pu16 = &CREG_VAL(REG_OFFAK1);
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double *kta = params.kta, *offset = params.offset;
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uint8_t *ol = params.outliers;
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for(int row = 0; row < MLX_H; ++row){
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int idx = (row&1)<<1;
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for(int col = 0; col < MLX_W; ++col){
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@ -239,6 +297,7 @@ static int get_parameters(){
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if(i16 > 0x1F) i16 -= 0x40;
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double oft = (double)a_r + accRow[row]*accRowScale + accColumn[col]*accColumnScale +i16*accRemScale;
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*a++ = oft / diva;
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*ol++ = (rv&1) ? 1 : 0;
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}
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}
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scale1 = (CREG_VAL(REG_KTAVSCALE) >> 8) & 0xF; // kvscale
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@ -281,16 +340,23 @@ static int get_parameters(){
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i8 = (int8_t)(CREG_VAL(REG_KSTATGC) >> 8);
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params.KsTa = (double)i8/(1<<13);
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div = 1<<((CREG_VAL(REG_CT34) & 0x0F) + 8); // kstoscale
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DBG("kstoscale=%g (regct34=0x%04x)", div, CREG_VAL(REG_CT34));
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val = CREG_VAL(REG_KSTO12);
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DBG("ksto12=0x%04x", val);
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i8 = (int8_t)(val & 0xFF);
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params.ksTo[0] = 273.15 * i8 / div;
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DBG("To1ee=%d", i8);
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params.ksTo[0] = i8 / div;
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i8 = (int8_t)(val >> 8);
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params.ksTo[1] = 273.15 * i8 / div;
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DBG("To2ee=%d", i8);
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params.ksTo[1] = i8 / div;
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val = CREG_VAL(REG_KSTO34);
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DBG("ksto34=0x%04x", val);
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i8 = (int8_t)(val & 0xFF);
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params.ksTo[2] = 273.15 * i8 / div;
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DBG("To3ee=%d", i8);
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params.ksTo[2] = i8 / div;
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i8 = (int8_t)(val >> 8);
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params.ksTo[3] = 273.15 * i8 / div;
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DBG("To4ee=%d", i8);
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params.ksTo[3] = i8 / div;
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params.CT[0] = 0.; // 0degr - between ranges 1 and 2
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val = CREG_VAL(REG_CT34);
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mul = ((val & 0x3000)>>12)*10.; // step
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@ -306,9 +372,14 @@ static int get_parameters(){
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/**
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* @brief process_subpage - calculate all parameters from `dataarray` into `mlx_image`
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* @param subpageno - number of subpage
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* @param simpleimage == 0 - simplest, 1 - narrow range, 2 - extended range
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*/
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static void process_subpage(int subpageno, int simpleimage){
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DBG("process_subpage(%d)", subpageno);
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DBG("\nprocess_subpage(%d)", subpageno);
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#ifdef EBUG
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chstate();
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#endif
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int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
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double dvdd = i16a - params.vdd25;
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dvdd = dvdd / params.kVdd;
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@ -334,7 +405,7 @@ static void process_subpage(int subpageno, int simpleimage){
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curval -= params.offset[pixno] * (1. + params.kta[pixno]*dTa) *
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(1. + params.kv[idx|(col&1)]*dvdd); // add offset
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double IRcompens = curval; // IR_compensated
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if(simpleimage){
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if(simpleimage == 0){
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curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) *
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(1. + params.cpKv * dvdd); // CP
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curval = IRcompens - params.tgc * curval; // IR gradient compens
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@ -347,21 +418,29 @@ static void process_subpage(int subpageno, int simpleimage){
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double ac3 = alphaComp*alphaComp*alphaComp;
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double Sx = ac3*IRcompens + alphaComp*ac3*Tar;
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Sx = params.KsTa * sqrt(sqrt(Sx));
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double To = IRcompens / (alphaComp * (1. - params.ksTo[1]) + Sx) + Tar;
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double To = IRcompens / (alphaComp * (1. - 273.15*params.ksTo[1]) + Sx) + Tar;
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curval = sqrt(sqrt(To)) - 273.15; // To
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// TODO: extended
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// extended range
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if(simpleimage == 2){
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int idx = 0; // range 1 by default
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double ctx = -40.;
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if(curval > params.CT[0] && curval < params.CT[1]){ // range 2
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idx = 1; ctx = params.CT[0];
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}else if(curval < params.CT[2]){ // range 3
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idx = 2; ctx = params.CT[1];
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}else{ // range 4
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idx = 3; ctx = params.CT[2];
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}
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To = IRcompens / (alphaComp * params.alphacorr[idx] * (1. + params.ksTo[idx]*(curval - ctx))) + Tar;
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curval = sqrt(sqrt(To)) - 273.15;
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}
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}
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mlx_image[pixno] = curval;
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}
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}
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DBG("Time: %g", dtime()-Tlast);
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}
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static int errctr = 0;
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static double Tlast = 0.;
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#define chstate() do{errctr = 0; Tlast = dtime(); }while(0)
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#define chkerr() do{if(++errctr > MLX_MAXERR_COUNT){ DBG("-> M_ERROR"); return FALSE;}else continue;}while(0)
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#define chktmout() do{if(dtime() - Tlast > MLX_TIMEOUT){ DBG("Timeout! -> M_ERROR"); return FALSE;}else continue;}while(0)
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static int process_readconf(){
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chstate();
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while(1){
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@ -371,15 +450,19 @@ static int process_readconf(){
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}
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static int process_firstrun(){
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uint16_t reg, N;
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write_reg(REG_CONTROL, REG_CONTROL_DEFAULT);
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usleep(50);
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write_reg(REG_CONTROL, REG_CONTROL_DEFAULT);
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usleep(50);
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chstate();
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while(1){
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if(write_reg(REG_CONTROL, reg_control_val[0])
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&& read_reg(REG_CONTROL, ®)){
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DBG("REG_CTRL=0x%04x", reg);
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DBG("REG_CTRL=0x%04x, T=%g", reg, dtime()-Tlast);
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if(read_reg(REG_STATUS, ®)) DBG("REG_STATUS=0x%04x", reg);
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N = REG_CALIDATA_LEN;
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if(read_data(REG_CALIDATA, &N)){
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DBG("-> M_READCONF");
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DBG("-> M_READCONF, T=%g", dtime()-Tlast);
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return process_readconf();
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}else chkerr();
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}else chkerr();
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@ -389,15 +472,17 @@ static int process_firstrun(){
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// start image acquiring for next subpage
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static int process_startima(int subpageno){
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chstate();
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DBG("startima()");
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DBG("startima(%d)", subpageno);
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uint16_t reg, N;
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while(1){
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// write `overwrite` flag twice
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if(!write_reg(REG_CONTROL, reg_control_val[subpageno]) ||
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!write_reg(REG_STATUS, REG_STATUS_OVWEN) ||
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!write_reg(REG_STATUS, REG_STATUS_OVWEN)) chkerr();
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while(1){
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if(read_reg(REG_STATUS, ®)){
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if(reg & REG_STATUS_NEWDATA){
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DBG("got newdata: %g", dtime() - Tlast);
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if(subpageno != (reg & REG_STATUS_SPNO)){
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DBG("wrong subpage number -> M_ERROR");
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return FALSE;
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@ -405,14 +490,15 @@ static int process_startima(int subpageno){
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chstate();
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write_reg(REG_STATUS, 0); // clear rdy bit
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N = MLX_PIXARRSZ;
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if(read_data(REG_IMAGEDATA, &N)){
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DBG("-> M_READOUT, N=%u", N);
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if(read_data(REG_IMAGEDATA, &N) && N == MLX_PIXARRSZ){
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DBG("got readoutm N=%d: %g", N, dtime() - Tlast);
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return TRUE;
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}else chkerr();
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}
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}else chktmout();
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}else chkerr();
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}
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}
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return FALSE;
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}
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@ -428,8 +514,7 @@ int mlx90640_take_image(uint8_t simple, double **image){
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if(params.kVdd == 0){ // no parameters -> make first run
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if(!process_firstrun()) return FALSE;
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}
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//subpageno = 0;
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DBG("-> M_STARTIMA");
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DBG("\n\n\n-> M_STARTIMA");
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for(int sp = 0; sp < 2; ++sp){
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if(!process_startima(sp)) return FALSE; // get first subpage
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process_subpage(sp, simple);
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@ -438,4 +523,13 @@ int mlx90640_take_image(uint8_t simple, double **image){
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return TRUE;
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}
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int mlx90640_init(const char *dev, uint8_t ID){
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if(I2Cfd > 0) close(I2Cfd);
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I2Cfd = open(dev, O_RDWR);
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if(I2Cfd < 1) return FALSE;
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if(!mlx90640_set_slave_address(ID)) return FALSE;
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if(!read_reg(0, NULL)) return FALSE;
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if(!process_firstrun()) return FALSE;
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return TRUE;
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}
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@ -57,6 +57,7 @@ typedef struct{
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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
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double cpAlpha[2]; // alpha_CP_subpage 0 and 1
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int16_t cpOffset[2];
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uint8_t outliers[MLX_PIXNO]; // outliers - bad pixels (if == 1)
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} MLX90640_params;
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// default I2C address
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@ -27,13 +27,23 @@
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#define REG_CONTROL_CHESS (1<<12)
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#define REG_CONTROL_RES18 (2<<10)
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#define REG_CONTROL_RESMASK (3<<10)
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#define REG_CONTROL_REFR_05HZ (0<<7)
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#define REG_CONTROL_REFR_1HZ (1<<7)
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#define REG_CONTROL_REFR_2HZ (2<<7)
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#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
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user