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start coding for multi-sensor variant: gather data of all sensors and process image[N] only by request

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Edward Emelianov
2025-09-22 23:17:39 +03:00
parent c29508df6c
commit 2465cd9bd4
34 changed files with 3980 additions and 0 deletions
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F3:F303/MLX90640multi/mlxproc.c Normal file
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/*
* This file is part of the mlx90640 project.
* Copyright 2025 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 <string.h>
#include "i2c.h"
#include "mlxproc.h"
#include "mlx90640_regs.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 int errctr = 0; // errors counter - cleared by mlx_continue
static uint32_t Tlastimage = 0;
static uint8_t resolution = 2; // default: 18bit
static int16_t subpage1[REG_IMAGEDATA_LEN];
// get current state
mlx_state_t mlx_state(){ return MLX_state; }
// set address
int mlx_setaddr(uint8_t addr){
if(addr > 0x7f) return 0;
MLX_address = addr << 1;
Tlastimage = Tms; // refresh counter for autoreset I2C in case of error
return 1;
}
// temporary stop
void mlx_stop(){
MLX_oldstate = MLX_state;
MLX_state = MLX_RELAX;
}
// continue processing
void mlx_continue(){
errctr = 0;
switch(MLX_oldstate){
case MLX_WAITSUBPAGE:
case MLX_READSUBPAGE:
MLX_state = MLX_WAITSUBPAGE;
break;
//case MLX_NOTINIT:
//case MLX_WAITPARAMS:
default:
MLX_state = MLX_NOTINIT;
break;
}
}
void mlx_process(){
// static uint32_t Tlast = 0;
static int subpage = 0;
switch(MLX_state){
case MLX_NOTINIT: // start reading parameters
if(i2c_read_reg16(MLX_address, REG_CALIDATA, MLX_DMA_MAXLEN, 1)){
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;
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;
}
}
}
break;
case MLX_WAITSUBPAGE: // wait for subpage 1 ready
{uint16_t *got = i2c_read_reg16(MLX_address, 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;
MLX_state = MLX_READSUBPAGE;
// U("spstart"); USB_putbyte('0'+subpage); USB_putbyte('='); USND(u2str(Tms - Tlast));
}else ++errctr;
}
}}
break;
case MLX_READSUBPAGE: // wait ends of DMA read and calculate subpage
if(i2c_dma_haderr()) MLX_state = MLX_NOTINIT;
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 = 0;
memcpy(subpage1, buf, REG_IMAGEDATA_LEN * sizeof(int16_t));
MLX_state = MLX_WAITSUBPAGE; // fine! we could wait next subpage
// U("spgot="); USND(u2str(Tms - Tlast));
Tlastimage = Tms;
// U("imgot="); USND(u2str(Tms - Tlast)); Tlast = Tms;
}
subpage = 0;
}
}
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();
}
// get parameters - memcpy to user's
int mlx_getparams(MLX90640_params *pars){
if(!pars || !parsrdy) return 0;
memcpy(pars, &p, sizeof(p));
return 1;
}
uint32_t mlx_lastimT(){ return Tlastimage; }
fp_t *mlx_getimage(uint32_t *Tgot){
fp_t *ready_image = process_image(&p, subpage1);
if(!ready_image) return NULL;
if(Tgot) *Tgot = Tlastimage;
return ready_image;
}
uint8_t mlx_getresolution(){
return resolution;
}
int mlx_sethwaddr(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;
//U("Old address: "); USND(uhex2str(*ptr));
data[0] = REG_MLXADDR; data[1] = 0;
uint16_t oldreg = *ptr;
if(!i2c_write(MLX_address, data, 2)) return 0; // clear address
uint32_t Told = Tms;
while(Tms - Told < 10);
ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0);
// should be zero
if(!ptr){
data[0] = REG_MLXADDR; data[1] = oldreg;
i2c_write(MLX_address, data, 2); // leave old address
return 0;
}
data[0] = REG_MLXADDR; // i2c_write swaps bytes, so we need init data again
data[1] = (oldreg & ~REG_MLXADDR_MASK) | addr;
//U("Write address: "); U(uhex2str(data[0])); U(", "); USND(uhex2str(data[1]));
if(!i2c_write(MLX_address, data, 2)) return 0;
while(Tms - Told < 10);
if(!(ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0))) return 0;
//U("Got address: "); USND(uhex2str(*ptr));
if((*ptr & REG_MLXADDR_MASK) != addr) return 0;
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;
}