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MLX90640: got registers, start to write image reading process

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This commit is contained in:
Edward Emelianov 2022-05-19 01:38:06 +03:00
parent 247d1b2ed5
commit bc11cee187
13 changed files with 819 additions and 43 deletions
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BIN
F1:F103/MLX90640/MLX90640.bin
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2
F1:F103/MLX90640/Makefile
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@ -10,7 +10,7 @@ DENSITY ?= MD
# change this linking script depending on particular MCU model, # change this linking script depending on particular MCU model,
LDSCRIPT ?= stm32f103x8.ld LDSCRIPT ?= stm32f103x8.ld
# debug # debug
#DEFS = -DEBUG DEFS = -DEBUG
# autoincremental version & build date # autoincremental version & build date
VERSION_FILE = version.inc VERSION_FILE = version.inc

8
F1:F103/MLX90640/hardware.c
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@ -20,14 +20,16 @@
static inline void gpio_setup(){ static inline void gpio_setup(){
// Enable clocks to the GPIO subsystems (PB for ADC), turn on AFIO clocking to disable SWD/JTAG // Enable clocks to the GPIO subsystems (PB for ADC), turn on AFIO clocking to disable SWD/JTAG
RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN; RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN;
// turn off SWJ/JTAG // turn off SWJ/JTAG
// AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE; // AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE;
AFIO->MAPR = AFIO_MAPR_SWJ_CFG_JTAGDISABLE; // for PA15 AFIO->MAPR = AFIO_MAPR_SWJ_CFG_JTAGDISABLE; // for PA15
// Set led as opendrain output // Set led as opendrain output
GPIOC->CRH |= CRH(13, CNF_ODOUTPUT|MODE_SLOW); GPIOC->CRH |= CRH(13, CNF_ODOUTPUT | MODE_SLOW);
// USB pullup (PA15) - pushpull output // USB pullup (PA15) - pushpull output
GPIOA->CRH = CRH(15, CNF_PPOUTPUT|MODE_SLOW); GPIOA->CRH = CRH(15, CNF_PPOUTPUT | MODE_SLOW);
// PB5 is powered MLX sensor (less than 23mA) - pushpull output
GPIOB->CRL = CRL(5, CNF_PPOUTPUT | MODE_SLOW);
} }
void hw_setup(){ void hw_setup(){

5
F1:F103/MLX90640/hardware.h
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@ -29,8 +29,13 @@
// USB pullup (not present in bluepill, should be soldered) - PA15 // USB pullup (not present in bluepill, should be soldered) - PA15
#define USBPU_port GPIOA #define USBPU_port GPIOA
#define USBPU_pin (1<<15) #define USBPU_pin (1<<15)
#define MLXPOW_port GPIOB
#define MLXPOW_pin (1<<5)
#define USBPU_ON() pin_set(USBPU_port, USBPU_pin) #define USBPU_ON() pin_set(USBPU_port, USBPU_pin)
#define USBPU_OFF() pin_clear(USBPU_port, USBPU_pin) #define USBPU_OFF() pin_clear(USBPU_port, USBPU_pin)
#define MLXPOW_ON() pin_set(MLXPOW_port, MLXPOW_pin)
#define MLXPOW_OFF() pin_clear(MLXPOW_port, MLXPOW_pin)
#define MLXPOW_VAL() pin_read(MLXPOW_port, MLXPOW_pin)
#define LED_blink(x) pin_toggle(x ## _port, x ## _pin) #define LED_blink(x) pin_toggle(x ## _port, x ## _pin)
#define LED_on(x) pin_clear(x ## _port, x ## _pin) #define LED_on(x) pin_clear(x ## _port, x ## _pin)

5
F1:F103/MLX90640/i2c.c
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@ -18,6 +18,11 @@
#include "hardware.h" #include "hardware.h"
#include "i2c.h" #include "i2c.h"
/* don't run debugging info */
#ifdef EBUG
#undef EBUG
#endif
#include "strfunct.h" #include "strfunct.h"
extern volatile uint32_t Tms; extern volatile uint32_t Tms;

2
F1:F103/MLX90640/main.c
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@ -41,7 +41,9 @@ int main(void){
USBPU_OFF(); USBPU_OFF();
USB_setup(); USB_setup();
#ifndef EBUG
iwdg_setup(); iwdg_setup();
#endif
USBPU_ON(); USBPU_ON();
i2c_setup(TRUE); i2c_setup(TRUE);
i2c_set_addr7(MLX_DEFAULT_ADDR); i2c_set_addr7(MLX_DEFAULT_ADDR);

474
F1:F103/MLX90640/mlx90640.c
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@ -16,35 +16,60 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include "hardware.h"
#include "i2c.h" #include "i2c.h"
#include "mlx90640.h" #include "mlx90640.h"
#include "mlx90640_regs.h"
#include "strfunct.h" #include "strfunct.h"
static uint8_t dataarray[1536]; #ifdef EBUG
static int portionlen = 0; extern volatile uint32_t Tms;
#endif
mlx90640_state mlx_state = M_ERROR;
MLX90640_params params;
#if REG_CALIBRDATA_LEN > MLX_DMA_MAXLEN || MLX_PIXARRSZ > MLX_DMA_MAXLEN
#error "MLX_DMA_MAXLEN should be >= REG_CALIBRDATA_LEN"
#endif
static uint16_t dataarray[MLX_DMA_MAXLEN]; // array for raw data from sensor
static int portionlen = 0; // data length in `dataarray`
float mlx_image[MLX_PIXNO]; // ready image
#define CREG_VAL(reg) dataarray[CREG_IDX(reg)]
#define IMD_VAL(reg) dataarray[IMD_IDX(reg)]
static uint8_t simpleimage = 0; // ==1 not to calibrate T
static uint8_t subpageno = 0; // subpage number
// 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 // read register value
int read_reg(uint16_t reg, uint16_t *val){ int read_reg(uint16_t reg, uint16_t *val){
uint8_t _2bytes[2]; reg = __REV16(reg);
_2bytes[0] = reg >> 8; // big endian! if(I2C_OK != i2c_7bit_send((uint8_t*)&reg, 2, 0)){
_2bytes[1] = reg & 0xff;
if(I2C_OK != i2c_7bit_send(_2bytes, 2, 0)){
DBG("Can't send address"); DBG("Can't send address");
return 0; return FALSE;
} }
i2c_status s = i2c_7bit_receive_twobytes(_2bytes); uint16_t d;
i2c_status s = i2c_7bit_receive_twobytes((uint8_t*)&d);
if(I2C_OK != s){ if(I2C_OK != s){
#ifdef EBUG #ifdef EBUG
DBG("Can't get info, s="); DBG("Can't get info, s=");
printu(s); NL(); printu(s); NL();
#endif #endif
return 0; return FALSE;
} }
*val = _2bytes[0] << 8 | _2bytes[1]; // big endian -> little endian *val = __REV16(d);
return 1; return TRUE;
} }
// read N uint16_t values starting from `reg` // blocking read N uint16_t values starting from `reg`
// @return N of registers read // @return N of registers read
int read_data(uint16_t reg, uint16_t *data, int N){ int read_data(uint16_t reg, uint16_t *data, int N){
if(N < 1 ) return 0; if(N < 1 ) return 0;
@ -63,35 +88,418 @@ int write_reg(uint16_t reg, uint16_t val){
_4bytes[1] = reg & 0xff; _4bytes[1] = reg & 0xff;
_4bytes[2] = val >> 8; _4bytes[2] = val >> 8;
_4bytes[3] = val & 0xff; _4bytes[3] = val & 0xff;
if(I2C_OK != i2c_7bit_send(_4bytes, 4, 1)) return 0; if(I2C_OK != i2c_7bit_send(_4bytes, 4, 1)) return FALSE;
return 1; return TRUE;
} }
/**
* @brief read_data_dma - read big data buffer by DMA
* @param reg - starting register number
* @param N - amount of data (in 16-bit words)
* @return FALSE if can't run operation
*/
int read_data_dma(uint16_t reg, int N){ int read_data_dma(uint16_t reg, int N){
if(N < 1) return 0; if(N < 1 || N > MLX_DMA_MAXLEN) return FALSE;
uint8_t _2bytes[2]; /*uint8_t _2bytes[2];
_2bytes[0] = reg >> 8; // big endian! _2bytes[0] = reg >> 8; // big endian!
_2bytes[1] = reg & 0xff; _2bytes[1] = reg & 0xff;*/
reg = __REV16(reg);
portionlen = N; portionlen = N;
if(I2C_OK != i2c_7bit_send(_2bytes, 2, 0)){ if(I2C_OK != i2c_7bit_send((uint8_t*)&reg, 2, 0)){
DBG("DMA: can't send address"); DBG("DMA: can't send address");
return 0; return FALSE;
} }
if(I2C_OK != i2c_7bit_receive_DMA(dataarray, N*2)) return 0; if(I2C_OK != i2c_7bit_receive_DMA((uint8_t*)dataarray, N*2)) return FALSE;
return 1; return TRUE;
} }
void mlx90640_process(){ /*****************************************************************************
if(i2cDMAr == I2C_DMA_READY){ Calculate parameters & values
i2cDMAr = I2C_DMA_RELAX; *****************************************************************************/
uint8_t *ptr = dataarray; // calculate Vdd from vddRAM register
for(uint16_t i = 0; i < portionlen; ++i, ptr += 2){ /*
printu(i); static float getVdd(uint16_t vddRAM){
addtobuf(" "); int16_t ram = (int16_t) vddRAM;
uint16_t d = (ptr[0] << 8) | ptr[1]; float vdd = (float)ram - params.vdd25;
printuhex(d); return vdd / params.kVdd + 3.3f;
newline(); }*/
}
sendbuf(); // 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(){
#ifdef EBUG
SEND("0 Tms="); printu(Tms); newline();
#endif
int8_t i8;
int16_t i16, *pi16;
uint16_t *pu16;
uint16_t val = CREG_VAL(REG_VDD);
i8 = (int8_t) (val >> 8);
params.kVdd = i8 << 5;
if(params.kVdd == 0) return FALSE;
i16 = val & 0xFF;
params.vdd25 = ((i16 - 0x100) << 5) - (1<<13);
val = CREG_VAL(REG_KVTPTAT);
i16 = (val & 0xFC00) >> 10;
if(i16 > 0x1F) i16 -= 0x40;
params.KvPTAT = (float)i16 / (1<<12);
i16 = (val & 0x03FF);
if(i16 > 0x1FF) i16 -= 0x400;
params.KtPTAT = (float)i16 / 8.f;
params.vPTAT25 = (int16_t) CREG_VAL(REG_PTAT);
val = CREG_VAL(REG_APTATOCCS) >> 12;
params.alphaPTAT = val / 4.f + 8.f;
params.gainEE = (int16_t)CREG_VAL(REG_GAIN);
if(params.gainEE == 0) return FALSE;
#ifdef EBUG
SEND("1 Tms="); printu(Tms); newline();
#endif
int8_t occRow[24];
int8_t occColumn[32];
occacc(occRow, 24, &CREG_VAL(REG_OCCROW14));
occacc(occColumn, 32, &CREG_VAL(REG_OCCCOL14));
int8_t accRow[24];
int8_t accColumn[32];
occacc(accRow, 24, &CREG_VAL(REG_ACCROW14));
occacc(accColumn, 32, &CREG_VAL(REG_ACCCOL14));
val = CREG_VAL(REG_APTATOCCS);
// need to do multiplication instead of bitshift, so:
float 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;
float mul = (float)(1<<scale2), div = (float)(1<<scale1); // kta_scales
uint16_t a_r = CREG_VAL(REG_SENSIVITY); // alpha_ref
val = CREG_VAL(REG_SCALEACC);
float *a = params.alpha, diva = (float)(val >> 12);
diva *= (float)(1<<30); // alpha_scale
float accRowScale = 1<<((val & 0x0f00)>>8),
accColumnScale = 1<<((val & 0x00f0)>>4),
accRemScale = 1<<(val & 0x0f);
pi16 = params.offset;
pu16 = &CREG_VAL(REG_OFFAK1);
float *fp = params.kta;
#ifdef EBUG
SEND("2 Tms="); printu(Tms); newline();
#endif
for(int row = 0; row < 24; ++row){
int idx = (row&1)<<1;
for(int col = 0; col < 32; ++col){
// offset
register uint16_t rv = *pu16++;
i16 = (rv & 0xFC00) >> 10;
if(i16 > 0x1F) i16 -= 0x40;
register float oft = (float)offavg + occRow[row]*occRowScale + occColumn[col]*occColumnScale + i16*occRemScale;
*pi16++ = (int16_t)oft;
// kta
i16 = (rv & 0xF) >> 1;
if(i16 > 0x03) i16 -= 0x08;
*fp++ = (ktaavg[idx|(col&1)] + i16*mul) / div;
// alpha
i16 = (rv & 0x3F0) >> 4;
if(i16 > 0x1F) i16 -= 0x40;
oft = (float)a_r + accRow[row]*accRowScale + accColumn[col]*accColumnScale +i16*accRemScale;
*a++ = oft / diva;
//*a++ /= diva;
}
}
#ifdef EBUG
SEND("3 Tms="); printu(Tms); newline();
#endif
scale1 = (CREG_VAL(REG_KTAVSCALE) >> 8) & 0xF; // kvscale
div = (float)(1<<scale1);
val = CREG_VAL(REG_KVAVG);
i16 = val >> 12; if(i16 > 0x07) i16 -= 0x10;
ktaavg[0] = i16; // odd col, odd row
i16 = (val & 0xF0) >> 4; if(i16 > 0x07) i16 -= 0x10;
ktaavg[1] = i16; // even col, odd row
i16 = (val & 0x0F00) >> 8; if(i16 > 0x07) i16 -= 0x10;
ktaavg[2] = i16; // odd col, even row
i16 = val & 0x0F; if(i16 > 0x07) i16 -= 0x10;
ktaavg[3] = 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 = (float)i8 / (1<<val);
val = (CREG_VAL(REG_KTAVSCALE) & 0x0F00) >> 8;
i16 = CREG_VAL(REG_KVTACP) >> 8;
if(i16 > 0x7F) i16 -= 0x100;
params.cpKv = (float)i16 / (1<<val);
i16 = CREG_VAL(REG_KSTATGC) & 0xFF;
if(i16 > 0x7F) i16 -= 0x100;
params.tgc = (float)i16;
params.tgc /= 32.;
#ifdef EBUG
SEND("4 Tms="); printu(Tms); newline();
#endif
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 = (float)(1<<val);
div *= (float)(1<<27);
params.cpAlpha[0] = (float)(CREG_VAL(REG_ALPHA) & 0x03FF) / div;
div = (float)(1<<7);
params.cpAlpha[1] = params.cpAlpha[0] * (1.f + (float)i16/div);
i8 = (int8_t)(CREG_VAL(REG_KSTATGC) >> 8);
params.KsTa = (float)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] = (float)i8 / div;
i8 = (int8_t)(val >> 8);
params.ksTo[1] = (float)i8 / div;
val = CREG_VAL(REG_KSTO34);
i8 = (int8_t)(val & 0xFF);
params.ksTo[2] = (float)i8 / div;
i8 = (int8_t)(val >> 8);
params.ksTo[3] = (float)i8 / div;
params.CT[0] = 0.f; // 0degr - between ranges 1 and 2
val = CREG_VAL(REG_CT34);
mul = ((val & 0x3000)>>12)*10.f; // 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.f/(1.f + params.ksTo[0] * 40.f);
params.alphacorr[1] = 1.f;
params.alphacorr[2] = (1.f + params.ksTo[2] * params.CT[1]);
params.alphacorr[3] = (1.f + params.ksTo[3] * (params.CT[2] - params.CT[1])) * params.alphacorr[2];
// Don't forget to check 'outlier' flags for wide purpose
#ifdef EBUG
SEND("end Tms="); printu(Tms);
NL();
#endif
return TRUE;
}
// calculate Vsup, Tamb, gain, off, Vdd, Ta
static void stage1(){
int16_t i16a = (int16_t)IMD_VAL(REG_IVDDPIX);
float dvdd = i16a - params.vdd25;
dvdd = dvdd / params.kVdd;
float vdd = dvdd + 3.3f;
SEND("Vd="); float2str(vdd, 2); newline();
i16a = (int16_t)IMD_VAL(REG_ITAPTAT);
int16_t i16b = (int16_t)IMD_VAL(REG_ITAVBE);
float Ta = (float)i16a / (i16a * params.alphaPTAT + i16b); // vptatart
Ta *= (float)(1<<18);
Ta = (Ta / (1 + params.KvPTAT*dvdd) - params.vPTAT25);
Ta = Ta / params.KtPTAT + 25.;
SEND("Ta="); float2str(Ta, 2); newline();
i16a = (int16_t)IMD_VAL(REG_IGAIN);
float Kgain = params.gainEE / (float)i16a;
SEND("Kgain="); float2str(Kgain, 2); newline();
;
//int idx = (row&1)<<1;
//for(int col = 0; col < 32; ++col){
// *fp++ = (ktaavg[idx|(col&1)]
// pix_gain = pix*Kgain
// pix_os = pix_gain - offset*(1+kta*(Ta-Ta0))*(1+kv*(vdd-vdd0))
}
/**
* @brief process_subpage - calculate all parameters from `dataarray` into `mlx_image`
*/
static void process_subpage(){
DBG("process_subpage()");
SEND("subpage="); printu(subpageno); newline();
(void)subpageno; (void)simpleimage;
for(int i = 0; i < 32; ++i){
printi((int8_t)dataarray[i]); bufputchar(' ');
} newline();
stage1();
NL();
}
// start image acquiring for next subpage
static int startima(){
DBG("startima()");
if(!write_reg(REG_CONTROL, reg_control_val[subpageno]) ||
!write_reg(REG_STATUS, REG_STATUS_OVWEN)) return FALSE;
return TRUE;
}
/**
* @brief parse_buffer - swap bytes in `dataarray` (after receiving or before transmitting data)
*/
static void parse_buffer(){
uint16_t *ptr = dataarray;
DBG("parse_buffer()");
for(uint16_t i = 0; i < portionlen; ++i, ++ptr){
*ptr = __REV16(*ptr);
#if 0
printu(i);
addtobuf(" ");
printuhex(*ptr);
newline();
#endif
}
#if 0
sendbuf();
#endif
}
/**
* @brief mlx90640_process - main finite-state machine
*/
void mlx90640_process(){
#define chstate(s) do{errctr = 0; Tlast = Tms; mlx_state = s;}while(0)
#define chkerr() do{if(++errctr > MLX_MAXERR_COUNT){chstate(M_ERROR); DBG("-> M_ERROR");}}while(0)
#define chktmout() do{if(Tms - Tlast > MLX_TIMEOUT){chstate(M_ERROR); DBG("Timeout! -> M_ERROR"); }}while(0)
static int errctr = 0;
static uint32_t Tlast = 0;
uint8_t gotdata = 0;
uint16_t reg;
if(i2cDMAr == I2C_DMA_READY){ // convert received data into little-endian
i2cDMAr = I2C_DMA_RELAX;
parse_buffer();
gotdata = 1;
}
switch(mlx_state){
case M_FIRSTSTART: // init working mode by request
if(write_reg(REG_CONTROL, reg_control_val[0])
&& read_reg(REG_CONTROL, &reg)){
SEND("REG_CTRL="); printuhex(reg); NL();
if(read_reg(REG_STATUS, &reg)){
SEND("REG_STATUS="); printuhex(reg); NL();}
if(read_data_dma(REG_CALIDATA, REG_CALIDATA_LEN)){
chstate(M_READCONF);
DBG("-> M_READCONF");
}else chkerr();
}else chkerr();
break;
case M_READCONF:
if(gotdata){ // calculate calibration parameters
if(get_parameters()){
chstate(M_RELAX);
DBG("-> M_RELAX");
}else{ // error -> go to M_FIRSTSTART again
chstate(M_FIRSTSTART);
DBG("-> M_FIRSTSTART");
}
}else chktmout();
break;
case M_STARTIMA:
subpageno = 0;
if(startima()){
chstate(M_PROCESS);
DBG("-> M_PROCESS");
}else{
chstate(M_ERROR);
DBG("can't start sp0 -> M_ERROR");
}
break;
case M_PROCESS:
if(read_reg(REG_STATUS, &reg)){
if(reg & REG_STATUS_NEWDATA){
if(subpageno != (reg & REG_STATUS_SPNO)){
chstate(M_ERROR);
DBG("wrong subpage number -> M_ERROR");
}else{ // all OK, run image reading
if(read_data_dma(REG_IMAGEDATA, MLX_PIXARRSZ)){
chstate(M_READOUT);
DBG("-> M_READOUT");
}else chkerr();
}
}else chktmout();
}else chkerr();
break;
case M_READOUT:
if(gotdata){
process_subpage();
if(++subpageno > 1){ // image ready
chstate(M_RELAX);
DBG("Image READY!");
}else{
if(startima()){
chstate(M_PROCESS);
DBG("-> M_PROCESS");
}else{
chstate(M_ERROR);
DBG("can't start sp1 -> M_ERROR");
}
}
}else chktmout();
break;
case M_POWERON:
if(Tms - Tlast > MLX_POWON_WAIT){
if(params.kVdd == 0){ // get all parameters
chstate(M_FIRSTSTART);
DBG("M_FIRSTSTART");
}else{ // rewrite settings register
if(write_reg(REG_CONTROL, reg_control_val[0])){
chstate(M_RELAX);
DBG("-> M_RELAX");
}else chkerr();
}
}
break;
case M_POWEROFF1:
MLXPOW_OFF();
chstate(M_POWEROFF);
DBG("-> M_POWEROFF");
break;
case M_POWEROFF:
if(Tms - Tlast > MLX_POWOFF_WAIT){
MLXPOW_ON();
chstate(M_POWERON);
DBG("-> M_POWERON");
}
break;
default:
break;
}
}
void mlx90640_restart(){
DBG("restart");
mlx_state = M_POWEROFF1;
}
// 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){
simpleimage = simple;
if(mlx_state != M_RELAX) return FALSE;
if(params.kVdd == 0){ // no parameters -> make first run
mlx_state = M_FIRSTSTART;
DBG("no params -> M_FIRSTSTART");
return TRUE;
}
mlx_state = M_STARTIMA;
return TRUE;
}

63
F1:F103/MLX90640/mlx90640.h
View File

@ -21,13 +21,74 @@
#include <stm32f1.h> #include <stm32f1.h>
// timeout for reading operations, ms
#define MLX_TIMEOUT 1000
// counter of errors, when > max -> M_ERROR
#define MLX_MAXERR_COUNT 10
// wait after power off, ms
#define MLX_POWOFF_WAIT 500
// wait after power on, ms
#define MLX_POWON_WAIT 2000
// amount of pixels
#define MLX_PIXNO (24*32)
// pixels + service data
#define MLX_PIXARRSZ (MLX_PIXNO + 64)
typedef struct{
int16_t kVdd;
int16_t vdd25;
float KvPTAT;
float KtPTAT;
int16_t vPTAT25;
float alphaPTAT;
int16_t gainEE;
float tgc;
float cpKv; // K_V_CP
float cpKta; // K_Ta_CP
float KsTa;
float CT[3]; // range borders (0, 160, 320 degrC?)
float ksTo[4]; // K_S_To for each range
float alphacorr[4]; // Alpha_corr for each range
float alpha[MLX_PIXNO]; // full - with alpha_scale
int16_t offset[MLX_PIXNO];
float kta[MLX_PIXNO]; // full K_ta - with scale1&2
float 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
float cpAlpha[2]; // alpha_CP_subpage 0 and 1
int16_t cpOffset[2];
} MLX90640_params;
extern MLX90640_params params;
typedef enum{
M_ERROR, // error: need to reboot sensor
M_RELAX, // base state
M_FIRSTSTART, // first start after power on
M_READCONF, // read configuration data
M_STARTIMA, // start image aquiring
M_PROCESS, // process subpage - wait for image ready
M_READOUT, // wait while subpage data be read
M_POWERON, // wait for 100ms after power is on before -> firststart
M_POWEROFF1, // turn off power
M_POWEROFF, // wait for 500ms without power
//
M_STATES_AMOUNT // amount of states
} mlx90640_state;
extern mlx90640_state mlx_state;
extern float mlx_image[MLX_PIXNO];
// default I2C address // default I2C address
#define MLX_DEFAULT_ADDR (0x33) #define MLX_DEFAULT_ADDR (0x33)
// max datalength by one read (in 16-bit values)
#define MLX_DMA_MAXLEN (832)
void mlx90640_process();
int read_reg(uint16_t reg, uint16_t *val); int read_reg(uint16_t reg, uint16_t *val);
int write_reg(uint16_t reg, uint16_t val); int write_reg(uint16_t reg, uint16_t val);
int read_data(uint16_t reg, uint16_t *data, int N); int read_data(uint16_t reg, uint16_t *data, int N);
int read_data_dma(uint16_t reg, int N); int read_data_dma(uint16_t reg, int N);
void mlx90640_process();
int mlx90640_take_image(uint8_t simple);
void mlx90640_restart();
#endif // MLX90640__ #endif // MLX90640__

82
F1:F103/MLX90640/mlx90640_regs.h Normal file
View File

@ -0,0 +1,82 @@
/*
* This file is part of the MLX90640 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
#ifndef MLX90640_REGS_H__
#define MLX90640_REGS_H__
#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)
#endif // MLX90640_REGS_H__

118
F1:F103/MLX90640/proto.c
View File

@ -25,12 +25,82 @@
#define D16LEN (256) #define D16LEN (256)
extern uint32_t Tms;
static const char* _states[M_STATES_AMOUNT] = {
[M_ERROR] = "error",
[M_RELAX] = "do nothing",
[M_FIRSTSTART] = "first start",
[M_READCONF] = "read config",
[M_STARTIMA] = "start image",
[M_PROCESS] = "process subframe",
[M_READOUT] = "read subpage data",
[M_POWERON] = "wait after power on",
[M_POWEROFF1] = "turn power off",
[M_POWEROFF] = "wait without power",
};
// dump floating point array 24x32
static void dumpfarr(float *arr){
for(int row = 0; row < 24; ++row){
for(int col = 0; col < 32; ++col){
float2str(*arr++, 2); bufputchar(' ');
}
newline();
}
}
static void dumpparams(){
int16_t *pi16;
SEND("\nkVdd="); printi(params.kVdd);
SEND("\nvdd25="); printi(params.vdd25);
SEND("\nKvPTAT="); float2str(params.KvPTAT, 4);
SEND("\nKtPTAT="); float2str(params.KtPTAT, 4);
SEND("\nvPTAT25="); printi(params.vPTAT25);
SEND("\nalphaPTAT="); float2str(params.alphaPTAT, 2);
SEND("\ngainEE="); printi(params.gainEE);
SEND("\nPixel offset parameters:\n");
pi16 = params.offset;
for(int row = 0; row < 24; ++row){
for(int col = 0; col < 32; ++col){
printi(*pi16++); bufputchar(' ');
}
newline();
}
SEND("K_talpha:\n");
dumpfarr(params.kta);
SEND("Kv: ");
for(int i = 0; i < 4; ++i){
float2str(params.kv[i], 2); bufputchar(' ');
}
SEND("\ncpOffset=");
printi(params.cpOffset[0]); SEND(", "); printi(params.cpOffset[1]);
SEND("\ncpKta="); float2str(params.cpKta, 2);
SEND("\ncpKv="); float2str(params.cpKv, 2);
SEND("\ntgc="); float2str(params.tgc, 2);
SEND("\ncpALpha="); float2str(params.cpAlpha[0], 2);
SEND(", "); float2str(params.cpAlpha[1], 2);
SEND("\nKsTa="); float2str(params.KsTa, 2);
SEND("\nAlpha:\n");
dumpfarr(params.alpha);
SEND("\nCT3="); float2str(params.CT[1], 2);
SEND("\nCT4="); float2str(params.CT[2], 2);
for(int i = 0; i < 4; ++i){
SEND("\nKsTo"); bufputchar('0'+i); bufputchar('=');
float2str(params.ksTo[i], 2);
SEND("\nalphacorr"); bufputchar('0'+i); bufputchar('=');
float2str(params.alphacorr[i], 2);
}
NL();
}
const char *parse_cmd(char *buf){ const char *parse_cmd(char *buf){
int32_t Num = 0; int32_t Num = 0;
uint16_t r, d; uint16_t r, d;
uint16_t data[D16LEN]; uint16_t data[D16LEN];
char *ptr; const float pi = 3.1415927f, e = 2.7182818f;
switch(*buf++){ char *ptr, cmd = *buf++;
switch(cmd){
case 'a': case 'a':
if(buf != getnum(buf, &Num)){ if(buf != getnum(buf, &Num)){
if(Num & 0x80) return "Enter 7bit address"; if(Num & 0x80) return "Enter 7bit address";
@ -48,6 +118,27 @@ const char *parse_cmd(char *buf){
}else return "Need amount"; }else return "Need amount";
}else return "Need reg"; }else return "Need reg";
break; break;
case 'E':
case 'e':
if(!mlx90640_take_image(cmd == 'e')) return "FAILED";
else return "OK";
break;
case 'f':
SEND("Float test: ");
float2str(0.f, 2); addtobuf(", ");
float2str(pi, 1); addtobuf(", ");
float2str(-e, 2); addtobuf(", ");
float2str(-pi, 3); addtobuf(", ");
float2str(e, 4); addtobuf(", ");
uint32_t uu = INF | 0x80000000;
float *f = (float*)&uu;
float2str(*f, 4); addtobuf(", ");
uu = NAN;
f = (float*)&uu;
float2str(*f, 4);
NL();
return NULL;
break;
case 'g': case 'g':
if(buf != (ptr = getnum(buf, &Num))){ if(buf != (ptr = getnum(buf, &Num))){
r = Num; r = Num;
@ -74,6 +165,19 @@ const char *parse_cmd(char *buf){
i2c_setup(TRUE); i2c_setup(TRUE);
return "I2C restarted"; return "I2C restarted";
break; break;
case 'M':
SEND("MLX state: "); SEND(_states[mlx_state]);
SEND("\npower="); printu(MLXPOW_VAL()); NL();
return NULL;
break;
case 'O':
mlx90640_restart();
return "Power off/on";
break;
case 'P':
dumpparams();
return NULL;
break;
case 'r': case 'r':
if(buf != (ptr = getnum(buf, &Num))){ if(buf != (ptr = getnum(buf, &Num))){
if(read_reg(Num, &d)){ if(read_reg(Num, &d)){
@ -86,6 +190,10 @@ const char *parse_cmd(char *buf){
USB_sendstr("Soft reset\n"); USB_sendstr("Soft reset\n");
NVIC_SystemReset(); NVIC_SystemReset();
break; break;
case 'T':
SEND("Tms="); printu(Tms); NL();
return NULL;
break;
case 'w': case 'w':
if(buf == (ptr = getnum(buf, &Num))) return "Need register"; if(buf == (ptr = getnum(buf, &Num))) return "Need register";
r = Num; r = Num;
@ -109,10 +217,16 @@ const char *parse_cmd(char *buf){
"MLX90640 build #" BUILD_NUMBER " @" BUILD_DATE "\n\n" "MLX90640 build #" BUILD_NUMBER " @" BUILD_DATE "\n\n"
"'a addr' - change MLX I2C address to `addr`\n" "'a addr' - change MLX I2C address to `addr`\n"
"'d reg N' - read registers starting from `reg` using DMA\n" "'d reg N' - read registers starting from `reg` using DMA\n"
"'Ee' - expose image: E - full, e - simple\n"
"'f' - test float printf (0.00, 3.1, -2.72, -3.142, 2.7183, -INF, NAN)\n"
"'g reg N' - read N (<256) registers starting from `reg`\n" "'g reg N' - read N (<256) registers starting from `reg`\n"
"'I' - restart I2C\n" "'I' - restart I2C\n"
"'M' - MLX state\n"
"'O' - turn On or restart MLX sensor\n"
"'P' - dump params\n"
"'r reg' - read `reg`\n" "'r reg' - read `reg`\n"
"'R' - software reset\n" "'R' - software reset\n"
"'T' - get Tms\n"
"'w reg dword' - write `dword` to `reg`\n" "'w reg dword' - write `dword` to `reg`\n"
"'W d0 d1 ...' - write N (<256) 16-bit words directly to I2C\n" "'W d0 d1 ...' - write N (<256) 16-bit words directly to I2C\n"
); );

85
F1:F103/MLX90640/strfunct.c
View File

@ -44,7 +44,7 @@ char *get_USB(){
} }
static char buff[OBUFSZ+1], *bptr = buff; static char buff[OBUFSZ+1], *bptr = buff;
static uint8_t blen = 0; static uint16_t blen = 0;
void sendbuf(){ void sendbuf(){
if(blen == 0) return; if(blen == 0) return;
@ -63,6 +63,7 @@ void bufputchar(char ch){
} }
void addtobuf(const char *txt){ void addtobuf(const char *txt){
if(!txt) return;
while(*txt) bufputchar(*txt++); while(*txt) bufputchar(*txt++);
} }
@ -191,3 +192,85 @@ char *getnum(char *txt, int32_t *N){
} }
return getdec(txt, N); return getdec(txt, N);
} }
// be careful: if pow10 would be bigger you should change str[] size!
static const float pwr10[] = {1., 10., 100., 1000., 10000.};
static const float rounds[] = {0.5, 0.05, 0.005, 0.0005, 0.00005};
#define P10L (sizeof(pwr10)/sizeof(uint32_t) - 1)
void float2str(float x, uint8_t prec){
if(prec > P10L) prec = P10L;
static char str[16] = {0}; // -117.5494E-36\0 - 14 symbols max!
uint32_t *u = (uint32_t*)&x;
/* if(*u && (*u == (*u & DENORM))){
SEND("DENORM"); return;
}*/
switch(*u){
case INF:
SEND("INF");
return;
break;
case MINF:
SEND("-INF");
return;
break;
case NAN:
SEND("NAN");
return;
default:
break;
}
char *s = str + 14; // go to end of buffer
uint8_t minus = 0;
if(x < 0){
x = -x;
minus = 1;
}
int pow = 0; // xxxEpow
// now convert float to 1.xxxE3y
while(x > 1000.f){
x /= 1000.f;
pow += 3;
}
if(x > 0.) while(x < 1.){
x *= 1000.f;
pow -= 3;
}
// print Eyy
if(pow){
uint8_t m = 0;
if(pow < 0){pow = -pow; m = 1;}
while(pow){
register int p10 = pow/10;
*s-- = '0' + (pow - 10*p10);
pow = p10;
}
if(m) *s-- = '-';
*s-- = 'E';
}
// now our number is in [1, 1000]
uint32_t units;
if(prec){
units = (uint32_t) x;
uint32_t decimals = (uint32_t)((x-units+rounds[prec])*pwr10[prec]);
// print decimals
while(prec){
register int d10 = decimals / 10;
*s-- = '0' + (decimals - 10*d10);
decimals = d10;
--prec;
}
// decimal point
*s-- = '.';
}else{ // without decimal part
units = (uint32_t) (x + 0.5f);
}
// print main units
if(units == 0) *s-- = '0';
else while(units){
register uint32_t u10 = units / 10;
*s-- = '0' + (units - 10*u10);
units = u10;
}
if(minus) *s-- = '-';
addtobuf(s+1);
}

14
F1:F103/MLX90640/strfunct.h
View File

@ -22,6 +22,19 @@
#include "stm32f1.h" #include "stm32f1.h"
#ifndef DENORM
#define DENORM (0x007FFFFF)
#endif
#ifndef NAN
#define NAN (0x7FC00000)
#endif
#ifndef INF
#define INF (0x7F800000)
#endif
#ifndef MINF
#define MINF (0xFF800000)
#endif
#define OBUFSZ (64) #define OBUFSZ (64)
#define IBUFSZ (256) #define IBUFSZ (256)
@ -49,5 +62,6 @@ void printuhex(uint32_t val);
void sendbuf(); void sendbuf();
char *omit_spaces(char *buf); char *omit_spaces(char *buf);
char *getnum(char *buf, int32_t *N); char *getnum(char *buf, int32_t *N);
void float2str(float x, uint8_t prec);
#endif // STRFUNCT_H__ #endif // STRFUNCT_H__

4
F1:F103/MLX90640/version.inc
View File

@ -1,2 +1,2 @@
#define BUILD_NUMBER "46" #define BUILD_NUMBER "141"
#define BUILD_DATE "2022-05-10" #define BUILD_DATE "2022-05-19"