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add MLX90640

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This commit is contained in:
Edward Emelianov 2022-09-18 12:21:54 +03:00
parent 58c3f188fe
commit 5bb9980bdd
15 changed files with 1014 additions and 0 deletions
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53
MLX90640_OrangePi/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
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

86
MLX90640_OrangePi/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"
// DEFAULTS
// default global parameters
static glob_pars const Gdefault = {
.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 ")")},
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;
}

32
MLX90640_OrangePi/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{
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);

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MLX90640_OrangePi/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"
#define DEVICE_ID 0x33
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);
}
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->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++);
}
printf("\n");
}
return 0;
}

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MLX90640_OrangePi/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_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
};
// 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;
}
// 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;
}
// 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;
}
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){
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]);
}
/*****************************************************************************
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, even row -> 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;
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;
}
}
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
val = CREG_VAL(REG_KSTO12);
i8 = (int8_t)(val & 0xFF);
params.ksTo[0] = 273.15 * i8 / div;
i8 = (int8_t)(val >> 8);
params.ksTo[1] = 273.15 * i8 / div;
val = CREG_VAL(REG_KSTO34);
i8 = (int8_t)(val & 0xFF);
params.ksTo[2] = 273.15 * i8 / div;
i8 = (int8_t)(val >> 8);
params.ksTo[3] = 273.15 * 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[2] * params.CT[1]);
params.alphacorr[3] = (1. + params.ksTo[3] * (params.CT[2] - params.CT[1])) * params.alphacorr[2];
// Don't forget to check 'outlier' flags for wide purpose
return TRUE;
}
/**
* @brief process_subpage - calculate all parameters from `dataarray` into `mlx_image`
*/
static void process_subpage(int subpageno, int simpleimage){
DBG("process_subpage(%d)", subpageno);
int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
double dvdd = i16a - params.vdd25;
dvdd = dvdd / params.kVdd;
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*dvdd) - 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);
// 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;
double curval = (double)((int16_t)dataarray[pixno]) * Kgain; // gain compensation
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){
curval -= params.cpOffset[subpageno] * (1. - params.cpKta * dTa) *
(1. + params.cpKv * dvdd); // CP
curval = IRcompens - params.tgc * curval; // IR gradient compens
}else{
double alphaComp = params.alpha[pixno] - params.tgc * params.cpAlpha[subpageno];
alphaComp /= 1. + params.KsTa * dTa;
// calculate To for basic range
double Tar = dTa + 273.15 + 25.;
Tar = Tar*Tar*Tar*Tar;
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;
curval = sqrt(sqrt(To)) - 273.15; // To
// TODO: extended
}
mlx_image[pixno] = curval;
}
}
}
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){
if(get_parameters()) return TRUE;
else chkerr();
}
}
static int process_firstrun(){
uint16_t reg, N;
chstate();
while(1){
if(write_reg(REG_CONTROL, reg_control_val[0])
&& read_reg(REG_CONTROL, &reg)){
DBG("REG_CTRL=0x%04x", reg);
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");
return process_readconf();
}else chkerr();
}else chkerr();
}
return FALSE;
}
// start image acquiring for next subpage
static int process_startima(int subpageno){
chstate();
DBG("startima()");
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();
}
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;
}
//subpageno = 0;
DBG("-> 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;
}

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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
int16_t cpOffset[2];
} 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_RES18 (2<<10)
#define REG_CONTROL_RESMASK (3<<10)
#define REG_CONTROL_REFR_2HZ (2<<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)
// 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_OrangePi/mxl90640OPi.config Normal file
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#define GNU_SOURCE 1
#define _XOPEN_SOURCE 1111
#define EBUG

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MLX90640_OrangePi/mxl90640OPi.creator Normal file
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[General]

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1
MLX90640_OrangePi/mxl90640OPi.cxxflags Normal file
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6
MLX90640_OrangePi/mxl90640OPi.files Normal file
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cmdlnopts.c
cmdlnopts.h
main.c
mlx90640.c
mlx90640.h
mlx90640_regs.h

2
MLX90640_OrangePi/mxl90640OPi.includes Normal file
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/usr/local/include
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