mirror of
https://github.com/eddyem/stm32samples.git
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test USART with ringbuffer - OK; TODO: rewrite all proto for usage USB & USART
This commit is contained in:
Edward Emelianov
270
F3:F303/MLX90640-allsky/mlxproc.c
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270
F3:F303/MLX90640-allsky/mlxproc.c
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/*
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* This file is part of the ir-allsky project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <string.h>
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#include "i2c.h"
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#include "mlxproc.h"
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#include "mlx90640_regs.h"
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//#define DEBUGPROC
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#ifdef DEBUGPROC
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#include "usb_dev.h"
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#include "strfunc.h"
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#define D(x) U(x)
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#define DN(x) USND(x)
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#define DB(x) USB_putbute(x)
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#else
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#define D(x)
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#define DN(x)
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#define DB(x)
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#endif
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extern volatile uint32_t Tms;
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// current state and state before `stop` called
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static mlx_state_t MLX_state = MLX_RELAX, MLX_oldstate = MLX_RELAX;
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static int errctr = 0; // errors counter - cleared by mlx_continue
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static uint32_t Tlastimage[N_SESORS] = {0};
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// subpages and configs of all sensors
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// 8320 bytes:
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static int16_t imdata[N_SESORS][REG_IMAGEDATA_LEN];
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// 8340 bytes:
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static uint16_t confdata[N_SESORS][MLX_DMA_MAXLEN];
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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)
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static uint8_t sensaddr[N_SESORS];
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// get compile-time size: (gcc shows it in error message)
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//char (*__kaboom)[sizeof( confdata )] = 1;
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// return `sensaddr`
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uint8_t *mlx_activeids(){return sensaddr;}
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static int sensno = -1;
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// get current state
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mlx_state_t mlx_state(){ return MLX_state; }
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// set address
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int mlx_setaddr(int n, uint8_t addr){
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if(n < 0 || n > N_SESORS) return 0;
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if(addr > 0x7f) return 0;
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sens_addresses[n] = addr << 1;
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Tlastimage[n] = Tms; // refresh counter for autoreset I2C in case of error
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return 1;
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}
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// pause state machine and stop
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void mlx_pause(){
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MLX_oldstate = MLX_state;
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MLX_state = MLX_RELAX;
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}
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// TODO: add here power management
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void mlx_stop(){
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MLX_oldstate = MLX_NOTINIT;
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MLX_state = MLX_RELAX;
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}
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// continue processing
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// TODO: add here power management
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void mlx_continue(){
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errctr = 0;
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switch(MLX_oldstate){
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case MLX_WAITSUBPAGE:
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case MLX_READSUBPAGE:
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MLX_state = MLX_WAITSUBPAGE;
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break;
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//case MLX_NOTINIT:
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//case MLX_WAITPARAMS:
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default:
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i2c_setup(i2c_curspeed); // restart I2C (what if there was errors?)
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memcpy(sensaddr, sens_addresses, sizeof(sens_addresses));
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MLX_state = MLX_NOTINIT;
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sensno = -1;
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break;
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}
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}
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static int nextsensno(int s){
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if(mlx_nactive() == 0){
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mlx_stop();
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return -1;
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}
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int next = s + 1;
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for(; next < N_SESORS; ++next) if(sensaddr[next]) break;
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if(next == N_SESORS) return nextsensno(-1); // roll to start
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D(i2str(next)); DB('('); D(i2str(s)); DB(')'); DN(" - new sensor number");
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return next;
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}
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// count active sensors
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int mlx_nactive(){
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int N = 0;
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for(int i = 0; i < N_SESORS; ++i) if(sensaddr[i]) ++N;
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return N;
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}
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/**
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* @brief mlx_process - main state machine
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* 1. Process conf data for each sensor
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* 2. Start image processing and store subpage1 for each sensor
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*/
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void mlx_process(){
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static uint32_t TT = 0;
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if(Tms == TT) return;
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TT = Tms;
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// static uint32_t Tlast = 0;
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static int subpage = 0;
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if(MLX_state == MLX_RELAX) return;
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if(sensno == -1){ // init
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sensno = nextsensno(-1);
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if(-1 == sensno) return; // no sensors found
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}
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switch(MLX_state){
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case MLX_NOTINIT: // start reading parameters
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if(i2c_read_reg16(sensaddr[sensno], REG_CALIDATA, MLX_DMA_MAXLEN, 1)){
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D(i2str(sensno)); DN(" wait conf");
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errctr = 0;
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MLX_state = MLX_WAITPARAMS;
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}else ++errctr;
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break;
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case MLX_WAITPARAMS: // check DMA ends and calculate parameters
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if(i2c_dma_haderr()){ MLX_state = MLX_NOTINIT; DN("DMA err");}
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else{
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uint16_t len, *buf = i2c_dma_getbuf(&len);
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if(!buf) break;
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DN("READ");
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if(len != MLX_DMA_MAXLEN){ MLX_state = MLX_NOTINIT; break; }
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memcpy(confdata[sensno], buf, MLX_DMA_MAXLEN * sizeof(uint16_t));
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D(i2str(sensno)); DN(" got conf");
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int next = nextsensno(sensno);
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errctr = 0;
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if(next <= sensno) MLX_state = MLX_WAITSUBPAGE; // all configuration read
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else MLX_state = MLX_NOTINIT; // read next
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sensno = next;
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return;
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}
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break;
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case MLX_WAITSUBPAGE: // wait for subpage 1 ready
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{uint16_t *got = i2c_read_reg16(sensaddr[sensno], REG_STATUS, 1, 0);
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if(got && *got & REG_STATUS_NEWDATA){
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if(subpage == (*got & REG_STATUS_SPNO)){
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errctr = 0;
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if(subpage == 0){ // omit zero subpage for each sensor
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DN("omit 0 -> next sens");
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int next = nextsensno(sensno);
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if(next <= sensno){ // all scanned - now wait for page 1
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subpage = 1;
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DN("Wait for 1");
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}
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sensno = next;
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break;
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}
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D(i2str(sensno)); DN(" - ask for image");
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if(i2c_read_reg16(sensaddr[sensno], REG_IMAGEDATA, REG_IMAGEDATA_LEN, 1)){
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errctr = 0;
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MLX_state = MLX_READSUBPAGE;
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// D("spstart"); DB('0'+subpage); DB('='); DN(u2str(Tms - Tlast));
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}else ++errctr;
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}
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}else ++errctr;
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}
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break;
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case MLX_READSUBPAGE: // wait ends of DMA read and calculate subpage
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if(i2c_dma_haderr()) MLX_state = MLX_WAITSUBPAGE;
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else{
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uint16_t len, *buf = i2c_dma_getbuf(&len);
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if(buf){
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// D("spread="); DN(u2str(Tms - Tlast));
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if(len != REG_IMAGEDATA_LEN){
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++errctr;
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}else{ // fine! we could check next sensor
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errctr = 0;
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memcpy(imdata[sensno], buf, REG_IMAGEDATA_LEN * sizeof(int16_t));
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// D("spgot="); DN(u2str(Tms - Tlast));
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Tlastimage[sensno] = Tms;
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// D("imgot="); DN(u2str(Tms - Tlast)); Tlast = Tms;
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int next = nextsensno(sensno);
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if(next <= sensno){
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subpage = 0; // roll to start - omit page 0 for all
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DN("All got -> start from 0");
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}
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sensno = next;
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}
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MLX_state = MLX_WAITSUBPAGE;
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}
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}
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break;
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default:
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return;
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}
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//if(MLX_state != MLX_RELAX && Tms - Tlastimage[sensno] > MLX_I2CERR_TMOUT){ i2c_setup(i2c_curspeed); Tlastimage[sensno] = Tms; }
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if(errctr > MLX_MAX_ERRORS){
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errctr = 0;
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sensaddr[sensno] = 0; // throw out this value
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sensno = nextsensno(sensno);
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}
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}
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// recalculate parameters
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MLX90640_params *mlx_getparams(int n){
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MLX90640_params *p = get_parameters(confdata[n]);
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return p;
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}
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uint32_t mlx_lastimT(int n){ return Tlastimage[n]; }
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fp_t *mlx_getimage(int n){
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if(n < 0 || n >= N_SESORS || !sensaddr[n]) return NULL;
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MLX90640_params *p = get_parameters(confdata[n]);
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if(!p) return NULL;
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fp_t *ready_image = process_image(imdata[n]);
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if(!ready_image) return NULL;
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return ready_image;
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}
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// this function can be run only when state machine is paused/stopped!
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// WARNING: `MLX_address` is shifted, `addr` - NOT!
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int mlx_sethwaddr(uint8_t MLX_address, uint8_t addr){
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if(addr > 0x7f) return 0;
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uint16_t data[2], *ptr;
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if(!(ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0))) return 0;
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//D("Old address: "); DN(uhex2str(*ptr));
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data[0] = REG_MLXADDR; data[1] = 0;
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uint16_t oldreg = *ptr;
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if(!i2c_write(MLX_address, data, 2)) return 0; // clear address
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uint32_t Told = Tms;
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while(Tms - Told < 10);
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ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0);
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// should be zero
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if(!ptr){
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data[0] = REG_MLXADDR; data[1] = oldreg;
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i2c_write(MLX_address, data, 2); // leave old address
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return 0;
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}
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data[0] = REG_MLXADDR; // i2c_write swaps bytes, so we need init data again
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data[1] = (oldreg & ~REG_MLXADDR_MASK) | addr;
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//D("Write address: "); D(uhex2str(data[0])); D(", "); DN(uhex2str(data[1]));
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if(!i2c_write(MLX_address, data, 2)) return 0;
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while(Tms - Told < 10);
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if(!(ptr = i2c_read_reg16(MLX_address, REG_MLXADDR, 1, 0))) return 0;
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//D("Got address: "); DN(uhex2str(*ptr));
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if((*ptr & REG_MLXADDR_MASK) != addr) return 0;
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return 1;
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}
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