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This commit is contained in:
Edward Emelianov
2025-09-23 22:25:07 +03:00
parent 2465cd9bd4
commit 02c6bd124f
9 changed files with 175 additions and 114 deletions
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169
F3:F303/MLX90640multi/mlxproc.c
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@@ -21,36 +21,44 @@
#include "i2c.h"
#include "mlxproc.h"
#include "mlx90640_regs.h"
//#include "usb_dev.h"
//#include "strfunc.h"
#include "usb_dev.h"
#include "strfunc.h"
extern volatile uint32_t Tms;
// current state and state before `stop` called
static mlx_state_t MLX_state = MLX_NOTINIT, MLX_oldstate = MLX_NOTINIT;
static MLX90640_params p;
static int parsrdy = 0;
static uint8_t MLX_address = 0x33 << 1;
static mlx_state_t MLX_state = MLX_RELAX, MLX_oldstate = MLX_RELAX;
static int errctr = 0; // errors counter - cleared by mlx_continue
static uint32_t Tlastimage = 0;
static uint8_t resolution = 2; // default: 18bit
static uint32_t Tlastimage[N_SESORS] = {0};
static int16_t subpage1[REG_IMAGEDATA_LEN];
// subpages and configs of all sensors
static int16_t imdata[N_SESORS][REG_IMAGEDATA_LEN];
static uint16_t confdata[N_SESORS][MLX_DMA_MAXLEN];
static uint8_t sens_addresses[N_SESORS] = {0x10<<1, 0x11<<1, 0x12<<1, 0x13<<1, 0x14<<1}; // addresses of all sensors (if 0 - omit this one)
static uint8_t sensaddr[N_SESORS];
static int sensno = -1;
// get current state
mlx_state_t mlx_state(){ return MLX_state; }
// set address
int mlx_setaddr(uint8_t addr){
int mlx_setaddr(int n, uint8_t addr){
if(n < 0 || n > N_SESORS) return 0;
if(addr > 0x7f) return 0;
MLX_address = addr << 1;
Tlastimage = Tms; // refresh counter for autoreset I2C in case of error
sens_addresses[n] = addr << 1;
Tlastimage[n] = Tms; // refresh counter for autoreset I2C in case of error
return 1;
}
// temporary stop
void mlx_stop(){
// pause state machine and stop
void mlx_pause(){
MLX_oldstate = MLX_state;
MLX_state = MLX_RELAX;
}
void mlx_stop(){
MLX_oldstate = MLX_NOTINIT;
MLX_state = MLX_RELAX;
}
// continue processing
void mlx_continue(){
errctr = 0;
@@ -62,96 +70,145 @@ void mlx_continue(){
//case MLX_NOTINIT:
//case MLX_WAITPARAMS:
default:
memcpy(sensaddr, sens_addresses, sizeof(sens_addresses));
MLX_state = MLX_NOTINIT;
sensno = -1;
break;
}
}
static int nextsensno(int s){
if(mlx_nactive() == 0){
mlx_stop();
return -1;
}
int next = s + 1;
for(; next < N_SESORS; ++next) if(sensaddr[next]) break;
if(next == N_SESORS) return nextsensno(-1); // roll to start
U(i2str(next)); USND(" - new sensor number");
return next;
}
// count active sensors
int mlx_nactive(){
int N = 0;
for(int i = 0; i < N_SESORS; ++i) if(sensaddr[i]) ++N;
return N;
}
/**
* @brief mlx_process - main state machine
* 1. Process conf data for each sensor
* 2. Start image processing and store subpage1 for each sensor
*/
void mlx_process(){
static uint32_t TT = 0;
if(Tms == TT) return;
TT = Tms;
// static uint32_t Tlast = 0;
static int subpage = 0;
if(MLX_state == MLX_RELAX) return;
if(sensno == -1){ // init
sensno = nextsensno(-1);
if(-1 == sensno) return; // no sensors found
}
switch(MLX_state){
case MLX_NOTINIT: // start reading parameters
if(i2c_read_reg16(MLX_address, REG_CALIDATA, MLX_DMA_MAXLEN, 1)){
if(i2c_read_reg16(sensaddr[sensno], REG_CALIDATA, MLX_DMA_MAXLEN, 1)){
U(i2str(sensno)); USND(" wait conf");
errctr = 0;
MLX_state = MLX_WAITPARAMS;
}else ++errctr;
break;
case MLX_WAITPARAMS: // check DMA ends and calculate parameters
if(i2c_dma_haderr()) MLX_state = MLX_NOTINIT;
if(i2c_dma_haderr()){ MLX_state = MLX_NOTINIT; USND("DMA err");}
else{
uint16_t len, *buf = i2c_dma_getbuf(&len);
if(buf){
if(len != MLX_DMA_MAXLEN) MLX_state = MLX_NOTINIT;
else if(get_parameters(buf, &p)){
errctr = 0;
MLX_state = MLX_WAITSUBPAGE; // fine! we could wait subpage
parsrdy = 1;
}
}
if(buf) USND("READ");
else break;
if(len != MLX_DMA_MAXLEN){ MLX_state = MLX_NOTINIT; break; }
memcpy(confdata[sensno], buf, MLX_DMA_MAXLEN * sizeof(uint16_t));
U(i2str(sensno)); USND(" got conf");
int next = nextsensno(sensno);
errctr = 0;
if(next <= sensno) MLX_state = MLX_WAITSUBPAGE; // all configuration read
else MLX_state = MLX_NOTINIT; // read next
sensno = next;
return;
}
break;
case MLX_WAITSUBPAGE: // wait for subpage 1 ready
{uint16_t *got = i2c_read_reg16(MLX_address, REG_STATUS, 1, 0);
{uint16_t *got = i2c_read_reg16(sensaddr[sensno], REG_STATUS, 1, 0);
if(got && *got & REG_STATUS_NEWDATA){
if(subpage == (*got & REG_STATUS_SPNO)){
if(subpage == 0){ subpage = 1; break; }
if(i2c_read_reg16(MLX_address, REG_IMAGEDATA, REG_IMAGEDATA_LEN, 1)){
errctr = 0;
if(subpage == 0){ // omit zero subpage for each sensor
int next = nextsensno(sensno);
if(next <= sensno) subpage = 1; // all scanned - now wait for page 1
break;
}
if(i2c_read_reg16(sensaddr[sensno], REG_IMAGEDATA, REG_IMAGEDATA_LEN, 1)){
errctr = 0;
MLX_state = MLX_READSUBPAGE;
// U("spstart"); USB_putbyte('0'+subpage); USB_putbyte('='); USND(u2str(Tms - Tlast));
}else ++errctr;
}
}}
}else ++errctr;
}
break;
case MLX_READSUBPAGE: // wait ends of DMA read and calculate subpage
if(i2c_dma_haderr()) MLX_state = MLX_NOTINIT;
if(i2c_dma_haderr()) MLX_state = MLX_WAITSUBPAGE;
else{
uint16_t len, *buf = i2c_dma_getbuf(&len);
if(buf){
// U("spread="); USND(u2str(Tms - Tlast));
if(len != REG_IMAGEDATA_LEN){
MLX_state = MLX_WAITSUBPAGE;
}else{
++errctr;
}else{ // fine! we could check next sensor
errctr = 0;
memcpy(subpage1, buf, REG_IMAGEDATA_LEN * sizeof(int16_t));
MLX_state = MLX_WAITSUBPAGE; // fine! we could wait next subpage
memcpy(imdata[sensno], buf, REG_IMAGEDATA_LEN * sizeof(int16_t));
// U("spgot="); USND(u2str(Tms - Tlast));
Tlastimage = Tms;
// U("imgot="); USND(u2str(Tms - Tlast)); Tlast = Tms;
Tlastimage[sensno] = Tms;
// U("imgot="); USND(u2str(Tms - Tlast)); Tlast = Tms;
int next = nextsensno(sensno);
if(next <= sensno) subpage = 0; // roll to start - omit page 0 for all
}
subpage = 0;
MLX_state = MLX_WAITSUBPAGE;
}
}
break;
default:
return;
}
if(MLX_state != MLX_RELAX && Tms - Tlastimage > MLX_I2CERR_TMOUT){ i2c_setup(i2c_curspeed); Tlastimage = Tms; }
if(errctr > MLX_MAX_ERRORS) mlx_stop();
if(MLX_state != MLX_RELAX && Tms - Tlastimage[sensno] > MLX_I2CERR_TMOUT){ i2c_setup(i2c_curspeed); Tlastimage[sensno] = Tms; }
if(errctr > MLX_MAX_ERRORS){
errctr = 0;
sensaddr[sensno] = 0; // throw out this value
sensno = nextsensno(sensno);
}
}
// get parameters - memcpy to user's
int mlx_getparams(MLX90640_params *pars){
if(!pars || !parsrdy) return 0;
memcpy(pars, &p, sizeof(p));
// recalculate parameters
int mlx_getparams(int n, MLX90640_params *pars){
if(!pars) return 0;
if(!get_parameters(confdata[n], pars)) return 0;
return 1;
}
uint32_t mlx_lastimT(){ return Tlastimage; }
uint32_t mlx_lastimT(int n){ return Tlastimage[n]; }
fp_t *mlx_getimage(uint32_t *Tgot){
fp_t *ready_image = process_image(&p, subpage1);
fp_t *mlx_getimage(int n){
if(n < 0 || n >= N_SESORS || !sensaddr[n]) return NULL;
MLX90640_params p;
if(!get_parameters(confdata[n], &p)) return NULL;
fp_t *ready_image = process_image(&p, imdata[n]);
if(!ready_image) return NULL;
if(Tgot) *Tgot = Tlastimage;
return ready_image;
}
uint8_t mlx_getresolution(){
return resolution;
}
int mlx_sethwaddr(uint8_t addr){
// this function can be run only when state machine is paused/stopped!
// WARNING: `MLX_address` is shifted, `addr` - NOT!
int mlx_sethwaddr(uint8_t MLX_address, uint8_t addr){
if(addr > 0x7f) return 0;
uint16_t data[2], *ptr;
if(!(ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0))) return 0;
@@ -179,13 +236,3 @@ int mlx_sethwaddr(uint8_t addr){
return 1;
}
int mlx_setresolution(uint8_t newresol){
if(newresol > 3) return 0;
uint16_t data[2], *ptr;
if(!(ptr = i2c_read_reg16(MLX_address, REG_CONTROL, 1, 0))) return 0;
data[0] = REG_CONTROL;
data[1] = (*ptr & ~REG_CONTROL_RESMASK) | (newresol << 10);
if(!i2c_write(MLX_address, data, 2)) return 0;
resolution = newresol;
return 1;
}