大学生刚毕业，在上海初创四人公司学习嵌入式第八~九天
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这两天我主要工作是将热传感模块和毫米级人体雷达和ov5640三个模块的驱动写好，从stm32上移植到esp32s3的主控上，首先是热传感模块GY-MCU90640,GYMCU90640是一款低成本非接触红外点阵测温模块。工作电压3-5v，体积小。工作原理是黑体辐射定律，物体的温度越高，所发出的红外辐射能力越强，经过芯片处理得到温度数据。此模块有两种方式读取数据，串口和I2C通信方式。技术参数如下
引脚说明如下
我的工作是首先将esp32s3的环境搭建好了以后，配置I2C引脚和修改所有的API接口至ESP32S3上。
具体代码如下
I2C.c
#include "I2C.h"
#include "esp_check.h"
static const char *TAG = "I2C";
static i2c_master_bus_handle_t s_bus_handle = NULL;
esp_err_t I2C_Init(void)
{
if (s_bus_handle != NULL)
{
return ESP_OK;
}
i2c_master_bus_config_t i2c_bus_config = {
.clk_source = I2C_CLK_SRC_DEFAULT,
.i2c_port = IIC_NUM_PORT,
.scl_io_num = IIC_SCL_GPIO_PIN,
.sda_io_num = IIC_SDA_GPIO_PIN,
.glitch_ignore_cnt = 7,
.flags.enable_internal_pullup = true,
};
ESP_RETURN_ON_ERROR(i2c_new_master_bus(&i2c_bus_config, &s_bus_handle), TAG, "create I2C bus failed");
return ESP_OK;
}
esp_err_t I2C_Probe(uint8_t device_addr)
{
ESP_RETURN_ON_ERROR(I2C_Init(), TAG, "I2C init failed");
return i2c_master_probe(s_bus_handle, device_addr, 100);
}
i2c_master_bus_handle_t I2C_GetBusHandle(void)
{
return s_bus_handle;
}
I2C.h
#ifndef __MY_I2C_H
#define __MY_I2C_H
#include <stdint.h>
#include "driver/gpio.h"
#include "driver/i2c_master.h"
#include "esp_err.h"
#ifdef __cplusplus
extern "C"
{
#endif
#define IIC_NUM_PORT I2C_NUM_0
#define IIC_SPEED_CLK 400000
#define IIC_SDA_GPIO_PIN GPIO_NUM_40
#define IIC_SCL_GPIO_PIN GPIO_NUM_39
esp_err_t I2C_Init(void);
esp_err_t I2C_Probe(uint8_t device_addr);
i2c_master_bus_handle_t I2C_GetBusHandle(void);
#ifdef __cplusplus
}
#endif
#endif /* __MY_I2C_H */
MLX90640_API.c
/**
* @copyright (C) 2017 Melexis N.V.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include "MLX90640_I2C_Driver.h"
#include "MLX90640_API.h"
#include <math.h>
void ExtractVDDParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractPTATParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractGainParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractTgcParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractResolutionParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractKsTaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractKsToParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractAlphaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractOffsetParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractKtaPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractKvPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractCPParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
void ExtractCILCParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
int ExtractDeviatingPixels(uint16_t *eeData, paramsMLX90640 *mlx90640);
int CheckAdjacentPixels(uint16_t pix1, uint16_t pix2);
int CheckEEPROMValid(uint16_t *eeData);
int MLX90640_DumpEE(uint8_t slaveAddr, uint16_t *eeData)
{
return MLX90640_I2CRead(slaveAddr, 0x2400, 832, eeData);
}
int MLX90640_GetFrameData(uint8_t slaveAddr, uint16_t *frameData)
{
uint16_t dataReady = 1;
uint16_t controlRegister1;
uint16_t statusRegister;
int error = 1;
uint8_t cnt = 0;
dataReady = 0;
while(dataReady == 0)
{
error = MLX90640_I2CRead(slaveAddr, 0x8000, 1, &statusRegister);
if(error != 0)
{
return error;
}
dataReady = statusRegister & 0x0008;
}
while(dataReady != 0 && cnt < 5)
{
error = MLX90640_I2CWrite(slaveAddr, 0x8000, 0x0030);
if(error == -1)
{
return error;
}
error = MLX90640_I2CRead(slaveAddr, 0x0400, 832, frameData);
if(error != 0)
{
return error;
}
error = MLX90640_I2CRead(slaveAddr, 0x8000, 1, &statusRegister);
if(error != 0)
{
return error;
}
dataReady = statusRegister & 0x0008;
cnt = cnt + 1;
}
if(cnt > 4)
{
return -8;
}
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
frameData[832] = controlRegister1;
frameData[833] = statusRegister & 0x0001;
if(error != 0)
{
return error;
}
return frameData[833];
}
int MLX90640_ExtractParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int error = CheckEEPROMValid(eeData);
if(error == 0)
{
ExtractVDDParameters(eeData, mlx90640);
ExtractPTATParameters(eeData, mlx90640);
ExtractGainParameters(eeData, mlx90640);
ExtractTgcParameters(eeData, mlx90640);
ExtractResolutionParameters(eeData, mlx90640);
ExtractKsTaParameters(eeData, mlx90640);
ExtractKsToParameters(eeData, mlx90640);
ExtractAlphaParameters(eeData, mlx90640);
ExtractOffsetParameters(eeData, mlx90640);
ExtractKtaPixelParameters(eeData, mlx90640);
ExtractKvPixelParameters(eeData, mlx90640);
ExtractCPParameters(eeData, mlx90640);
ExtractCILCParameters(eeData, mlx90640);
error = ExtractDeviatingPixels(eeData, mlx90640);
}
return error;
}
//------------------------------------------------------------------------------
int MLX90640_SetResolution(uint8_t slaveAddr, uint8_t resolution)
{
uint16_t controlRegister1;
int value;
int error;
value = (resolution & 0x03) << 10;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error == 0)
{
value = (controlRegister1 & 0xF3FF) | value;
error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
}
return error;
}
//------------------------------------------------------------------------------
int MLX90640_GetCurResolution(uint8_t slaveAddr)
{
uint16_t controlRegister1;
int resolutionRAM;
int error;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error != 0)
{
return error;
}
resolutionRAM = (controlRegister1 & 0x0C00) >> 10;
return resolutionRAM;
}
//------------------------------------------------------------------------------
int MLX90640_SetRefreshRate(uint8_t slaveAddr, uint8_t refreshRate)
{
uint16_t controlRegister1;
int value;
int error;
value = (refreshRate & 0x07)<<7;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error == 0)
{
value = (controlRegister1 & 0xFC7F) | value;
error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
}
return error;
}
//------------------------------------------------------------------------------
int MLX90640_GetRefreshRate(uint8_t slaveAddr)
{
uint16_t controlRegister1;
int refreshRate;
int error;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error != 0)
{
return error;
}
refreshRate = (controlRegister1 & 0x0380) >> 7;
return refreshRate;
}
//------------------------------------------------------------------------------
int MLX90640_SetInterleavedMode(uint8_t slaveAddr)
{
uint16_t controlRegister1;
int value;
int error;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error == 0)
{
value = (controlRegister1 & 0xEFFF);
error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
}
return error;
}
//------------------------------------------------------------------------------
int MLX90640_SetChessMode(uint8_t slaveAddr)
{
uint16_t controlRegister1;
int value;
int error;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error == 0)
{
value = (controlRegister1 | 0x1000);
error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
}
return error;
}
//------------------------------------------------------------------------------
int MLX90640_GetCurMode(uint8_t slaveAddr)
{
uint16_t controlRegister1;
int modeRAM;
int error;
error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
if(error != 0)
{
return error;
}
modeRAM = (controlRegister1 & 0x1000) >> 12;
return modeRAM;
}
//------------------------------------------------------------------------------
void MLX90640_CalculateTo(uint16_t *frameData, const paramsMLX90640 *params, float emissivity, float tr, float *result)
{
float vdd;
float ta;
float ta4;
float tr4;
float taTr;
float gain;
float irDataCP[2];
float irData;
float alphaCompensated;
uint8_t mode;
int8_t ilPattern;
int8_t chessPattern;
int8_t pattern;
int8_t conversionPattern;
float Sx;
float To;
float alphaCorrR[4];
int8_t range;
uint16_t subPage;
subPage = frameData[833];
vdd = MLX90640_GetVdd(frameData, params);
ta = MLX90640_GetTa(frameData, params);
ta4 = pow((ta + 273.15), (double)4);
tr4 = pow((tr + 273.15), (double)4);
taTr = tr4 - (tr4-ta4)/emissivity;
alphaCorrR[0] = 1 / (1 + params->ksTo[0] * 40);
alphaCorrR[1] = 1 ;
alphaCorrR[2] = (1 + params->ksTo[2] * params->ct[2]);
alphaCorrR[3] = alphaCorrR[2] * (1 + params->ksTo[3] * (params->ct[3] - params->ct[2]));
//------------------------- Gain calculation -----------------------------------
gain = frameData[778];
if(gain > 32767)
{
gain = gain - 65536;
}
gain = params->gainEE / gain;
//------------------------- To calculation -------------------------------------
mode = (frameData[832] & 0x1000) >> 5;
irDataCP[0] = frameData[776];
irDataCP[1] = frameData[808];
for( int i = 0; i < 2; i++)
{
if(irDataCP[i] > 32767)
{
irDataCP[i] = irDataCP[i] - 65536;
}
irDataCP[i] = irDataCP[i] * gain;
}
irDataCP[0] = irDataCP[0] - params->cpOffset[0] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
if( mode == params->calibrationModeEE)
{
irDataCP[1] = irDataCP[1] - params->cpOffset[1] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
}
else
{
irDataCP[1] = irDataCP[1] - (params->cpOffset[1] + params->ilChessC[0]) * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
}
for( int pixelNumber = 0; pixelNumber < 768; pixelNumber++)
{
ilPattern = pixelNumber / 32 - (pixelNumber / 64) * 2;
chessPattern = ilPattern ^ (pixelNumber - (pixelNumber/2)*2);
conversionPattern = ((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern);
if(mode == 0)
{
pattern = ilPattern;
}
else
{
pattern = chessPattern;
}
if(pattern == frameData[833])
{
irData = frameData[pixelNumber];
if(irData > 32767)
{
irData = irData - 65536;
}
irData = irData * gain;
irData = irData - params->offset[pixelNumber]*(1 + params->kta[pixelNumber]*(ta - 25))*(1 + params->kv[pixelNumber]*(vdd - 3.3));
if(mode != params->calibrationModeEE)
{
irData = irData + params->ilChessC[2] * (2 * ilPattern - 1) - params->ilChessC[1] * conversionPattern;
}
irData = irData / emissivity;
irData = irData - params->tgc * irDataCP[subPage];
alphaCompensated = (params->alpha[pixelNumber] - params->tgc * params->cpAlpha[subPage])*(1 + params->KsTa * (ta - 25));
Sx = pow((double)alphaCompensated, (double)3) * (irData + alphaCompensated * taTr);
Sx = sqrt(sqrt(Sx)) * params->ksTo[1];
To = sqrt(sqrt(irData/(alphaCompensated * (1 - params->ksTo[1] * 273.15) + Sx) + taTr)) - 273.15;
if(To < params->ct[1])
{
range = 0;
}
else if(To < params->ct[2])
{
range = 1;
}
else if(To < params->ct[3])
{
range = 2;
}
else
{
range = 3;
}
To = sqrt(sqrt(irData / (alphaCompensated * alphaCorrR[range] * (1 + params->ksTo[range] * (To - params->ct[range]))) + taTr)) - 273.15;
result[pixelNumber] = To;
}
}
}
//------------------------------------------------------------------------------
void MLX90640_GetImage(uint16_t *frameData, const paramsMLX90640 *params, float *result)
{
float vdd;
float ta;
float gain;
float irDataCP[2];
float irData;
float alphaCompensated;
uint8_t mode;
int8_t ilPattern;
int8_t chessPattern;
int8_t pattern;
int8_t conversionPattern;
float image;
uint16_t subPage;
subPage = frameData[833];
vdd = MLX90640_GetVdd(frameData, params);
ta = MLX90640_GetTa(frameData, params);
//------------------------- Gain calculation -----------------------------------
gain = frameData[778];
if(gain > 32767)
{
gain = gain - 65536;
}
gain = params->gainEE / gain;
//------------------------- Image calculation -------------------------------------
mode = (frameData[832] & 0x1000) >> 5;
irDataCP[0] = frameData[776];
irDataCP[1] = frameData[808];
for( int i = 0; i < 2; i++)
{
if(irDataCP[i] > 32767)
{
irDataCP[i] = irDataCP[i] - 65536;
}
irDataCP[i] = irDataCP[i] * gain;
}
irDataCP[0] = irDataCP[0] - params->cpOffset[0] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
if( mode == params->calibrationModeEE)
{
irDataCP[1] = irDataCP[1] - params->cpOffset[1] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
}
else
{
irDataCP[1] = irDataCP[1] - (params->cpOffset[1] + params->ilChessC[0]) * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
}
for( int pixelNumber = 0; pixelNumber < 768; pixelNumber++)
{
ilPattern = pixelNumber / 32 - (pixelNumber / 64) * 2;
chessPattern = ilPattern ^ (pixelNumber - (pixelNumber/2)*2);
conversionPattern = ((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern);
if(mode == 0)
{
pattern = ilPattern;
}
else
{
pattern = chessPattern;
}
if(pattern == frameData[833])
{
irData = frameData[pixelNumber];
if(irData > 32767)
{
irData = irData - 65536;
}
irData = irData * gain;
irData = irData - params->offset[pixelNumber]*(1 + params->kta[pixelNumber]*(ta - 25))*(1 + params->kv[pixelNumber]*(vdd - 3.3));
if(mode != params->calibrationModeEE)
{
irData = irData + params->ilChessC[2] * (2 * ilPattern - 1) - params->ilChessC[1] * conversionPattern;
}
irData = irData - params->tgc * irDataCP[subPage];
alphaCompensated = (params->alpha[pixelNumber] - params->tgc * params->cpAlpha[subPage])*(1 + params->KsTa * (ta - 25));
image = irData/alphaCompensated;
result[pixelNumber] = image;
}
}
}
//------------------------------------------------------------------------------
float MLX90640_GetVdd(uint16_t *frameData, const paramsMLX90640 *params)
{
float vdd;
float resolutionCorrection;
int resolutionRAM;
vdd = frameData[810];
if(vdd > 32767)
{
vdd = vdd - 65536;
}
resolutionRAM = (frameData[832] & 0x0C00) >> 10;
resolutionCorrection = pow(2, (double)params->resolutionEE) / pow(2, (double)resolutionRAM);
vdd = (resolutionCorrection * vdd - params->vdd25) / params->kVdd + 3.3;
return vdd;
}
//------------------------------------------------------------------------------
float MLX90640_GetTa(uint16_t *frameData, const paramsMLX90640 *params)
{
float ptat;
float ptatArt;
float vdd;
float ta;
vdd = MLX90640_GetVdd(frameData, params);
ptat = frameData[800];
if(ptat > 32767)
{
ptat = ptat - 65536;
}
ptatArt = frameData[768];
if(ptatArt > 32767)
{
ptatArt = ptatArt - 65536;
}
ptatArt = (ptat / (ptat * params->alphaPTAT + ptatArt)) * pow(2, (double)18);
ta = (ptatArt / (1 + params->KvPTAT * (vdd - 3.3)) - params->vPTAT25);
ta = ta / params->KtPTAT + 25;
return ta;
}
//------------------------------------------------------------------------------
int MLX90640_GetSubPageNumber(uint16_t *frameData)
{
return frameData[833];
}
//------------------------------------------------------------------------------
void ExtractVDDParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int16_t kVdd;
int16_t vdd25;
kVdd = eeData[51];
kVdd = (eeData[51] & 0xFF00) >> 8;
if(kVdd > 127)
{
kVdd = kVdd - 256;
}
kVdd = 32 * kVdd;
vdd25 = eeData[51] & 0x00FF;
vdd25 = ((vdd25 - 256) << 5) - 8192;
mlx90640->kVdd = kVdd;
mlx90640->vdd25 = vdd25;
}
//------------------------------------------------------------------------------
void ExtractPTATParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
float KvPTAT;
float KtPTAT;
int16_t vPTAT25;
float alphaPTAT;
KvPTAT = (eeData[50] & 0xFC00) >> 10;
if(KvPTAT > 31)
{
KvPTAT = KvPTAT - 64;
}
KvPTAT = KvPTAT/4096;
KtPTAT = eeData[50] & 0x03FF;
if(KtPTAT > 511)
{
KtPTAT = KtPTAT - 1024;
}
KtPTAT = KtPTAT/8;
vPTAT25 = eeData[49];
alphaPTAT = (eeData[16] & 0xF000) / pow(2, (double)14) + 8.0f;
mlx90640->KvPTAT = KvPTAT;
mlx90640->KtPTAT = KtPTAT;
mlx90640->vPTAT25 = vPTAT25;
mlx90640->alphaPTAT = alphaPTAT;
}
//------------------------------------------------------------------------------
void ExtractGainParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int16_t gainEE;
gainEE = eeData[48];
if(gainEE > 32767)
{
gainEE = gainEE -65536;
}
mlx90640->gainEE = gainEE;
}
//------------------------------------------------------------------------------
void ExtractTgcParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
float tgc;
tgc = eeData[60] & 0x00FF;
if(tgc > 127)
{
tgc = tgc - 256;
}
tgc = tgc / 32.0f;
mlx90640->tgc = tgc;
}
//------------------------------------------------------------------------------
void ExtractResolutionParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
uint8_t resolutionEE;
resolutionEE = (eeData[56] & 0x3000) >> 12;
mlx90640->resolutionEE = resolutionEE;
}
//------------------------------------------------------------------------------
void ExtractKsTaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
float KsTa;
KsTa = (eeData[60] & 0xFF00) >> 8;
if(KsTa > 127)
{
KsTa = KsTa -256;
}
KsTa = KsTa / 8192.0f;
mlx90640->KsTa = KsTa;
}
//------------------------------------------------------------------------------
void ExtractKsToParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int KsToScale;
int8_t step;
step = ((eeData[63] & 0x3000) >> 12) * 10;
mlx90640->ct[0] = -40;
mlx90640->ct[1] = 0;
mlx90640->ct[2] = (eeData[63] & 0x00F0) >> 4;
mlx90640->ct[3] = (eeData[63] & 0x0F00) >> 8;
mlx90640->ct[2] = mlx90640->ct[2]*step;
mlx90640->ct[3] = mlx90640->ct[2] + mlx90640->ct[3]*step;
KsToScale = (eeData[63] & 0x000F) + 8;
KsToScale = 1 << KsToScale;
mlx90640->ksTo[0] = eeData[61] & 0x00FF;
mlx90640->ksTo[1] = (eeData[61] & 0xFF00) >> 8;
mlx90640->ksTo[2] = eeData[62] & 0x00FF;
mlx90640->ksTo[3] = (eeData[62] & 0xFF00) >> 8;
for(int i = 0; i < 4; i++)
{
if(mlx90640->ksTo[i] > 127)
{
mlx90640->ksTo[i] = mlx90640->ksTo[i] -256;
}
mlx90640->ksTo[i] = mlx90640->ksTo[i] / KsToScale;
}
}
//------------------------------------------------------------------------------
void ExtractAlphaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int accRow[24];
int accColumn[32];
int p = 0;
int alphaRef;
uint8_t alphaScale;
uint8_t accRowScale;
uint8_t accColumnScale;
uint8_t accRemScale;
accRemScale = eeData[32] & 0x000F;
accColumnScale = (eeData[32] & 0x00F0) >> 4;
accRowScale = (eeData[32] & 0x0F00) >> 8;
alphaScale = ((eeData[32] & 0xF000) >> 12) + 30;
alphaRef = eeData[33];
for(int i = 0; i < 6; i++)
{
p = i * 4;
accRow[p + 0] = (eeData[34 + i] & 0x000F);
accRow[p + 1] = (eeData[34 + i] & 0x00F0) >> 4;
accRow[p + 2] = (eeData[34 + i] & 0x0F00) >> 8;
accRow[p + 3] = (eeData[34 + i] & 0xF000) >> 12;
}
for(int i = 0; i < 24; i++)
{
if (accRow[i] > 7)
{
accRow[i] = accRow[i] - 16;
}
}
for(int i = 0; i < 8; i++)
{
p = i * 4;
accColumn[p + 0] = (eeData[40 + i] & 0x000F);
accColumn[p + 1] = (eeData[40 + i] & 0x00F0) >> 4;
accColumn[p + 2] = (eeData[40 + i] & 0x0F00) >> 8;
accColumn[p + 3] = (eeData[40 + i] & 0xF000) >> 12;
}
for(int i = 0; i < 32; i ++)
{
if (accColumn[i] > 7)
{
accColumn[i] = accColumn[i] - 16;
}
}
for(int i = 0; i < 24; i++)
{
for(int j = 0; j < 32; j ++)
{
p = 32 * i +j;
mlx90640->alpha[p] = (eeData[64 + p] & 0x03F0) >> 4;
if (mlx90640->alpha[p] > 31)
{
mlx90640->alpha[p] = mlx90640->alpha[p] - 64;
}
mlx90640->alpha[p] = mlx90640->alpha[p]*(1 << accRemScale);
mlx90640->alpha[p] = (alphaRef + (accRow[i] << accRowScale) + (accColumn[j] << accColumnScale) + mlx90640->alpha[p]);
mlx90640->alpha[p] = mlx90640->alpha[p] / pow(2,(double)alphaScale);
}
}
}
//------------------------------------------------------------------------------
void ExtractOffsetParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int occRow[24];
int occColumn[32];
int p = 0;
int16_t offsetRef;
uint8_t occRowScale;
uint8_t occColumnScale;
uint8_t occRemScale;
occRemScale = (eeData[16] & 0x000F);
occColumnScale = (eeData[16] & 0x00F0) >> 4;
occRowScale = (eeData[16] & 0x0F00) >> 8;
offsetRef = eeData[17];
if (offsetRef > 32767)
{
offsetRef = offsetRef - 65536;
}
for(int i = 0; i < 6; i++)
{
p = i * 4;
occRow[p + 0] = (eeData[18 + i] & 0x000F);
occRow[p + 1] = (eeData[18 + i] & 0x00F0) >> 4;
occRow[p + 2] = (eeData[18 + i] & 0x0F00) >> 8;
occRow[p + 3] = (eeData[18 + i] & 0xF000) >> 12;
}
for(int i = 0; i < 24; i++)
{
if (occRow[i] > 7)
{
occRow[i] = occRow[i] - 16;
}
}
for(int i = 0; i < 8; i++)
{
p = i * 4;
occColumn[p + 0] = (eeData[24 + i] & 0x000F);
occColumn[p + 1] = (eeData[24 + i] & 0x00F0) >> 4;
occColumn[p + 2] = (eeData[24 + i] & 0x0F00) >> 8;
occColumn[p + 3] = (eeData[24 + i] & 0xF000) >> 12;
}
for(int i = 0; i < 32; i ++)
{
if (occColumn[i] > 7)
{
occColumn[i] = occColumn[i] - 16;
}
}
for(int i = 0; i < 24; i++)
{
for(int j = 0; j < 32; j ++)
{
p = 32 * i +j;
mlx90640->offset[p] = (eeData[64 + p] & 0xFC00) >> 10;
if (mlx90640->offset[p] > 31)
{
mlx90640->offset[p] = mlx90640->offset[p] - 64;
}
mlx90640->offset[p] = mlx90640->offset[p]*(1 << occRemScale);
mlx90640->offset[p] = (offsetRef + (occRow[i] << occRowScale) + (occColumn[j] << occColumnScale) + mlx90640->offset[p]);
}
}
}
//------------------------------------------------------------------------------
void ExtractKtaPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int p = 0;
int8_t KtaRC[4];
int8_t KtaRoCo;
int8_t KtaRoCe;
int8_t KtaReCo;
int8_t KtaReCe;
uint8_t ktaScale1;
uint8_t ktaScale2;
uint8_t split;
KtaRoCo = (eeData[54] & 0xFF00) >> 8;
if (KtaRoCo > 127)
{
KtaRoCo = KtaRoCo - 256;
}
KtaRC[0] = KtaRoCo;
KtaReCo = (eeData[54] & 0x00FF);
if (KtaReCo > 127)
{
KtaReCo = KtaReCo - 256;
}
KtaRC[2] = KtaReCo;
KtaRoCe = (eeData[55] & 0xFF00) >> 8;
if (KtaRoCe > 127)
{
KtaRoCe = KtaRoCe - 256;
}
KtaRC[1] = KtaRoCe;
KtaReCe = (eeData[55] & 0x00FF);
if (KtaReCe > 127)
{
KtaReCe = KtaReCe - 256;
}
KtaRC[3] = KtaReCe;
ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8;
ktaScale2 = (eeData[56] & 0x000F);
for(int i = 0; i < 24; i++)
{
for(int j = 0; j < 32; j ++)
{
p = 32 * i +j;
split = 2*(p/32 - (p/64)*2) + p%2;
mlx90640->kta[p] = (eeData[64 + p] & 0x000E) >> 1;
if (mlx90640->kta[p] > 3)
{
mlx90640->kta[p] = mlx90640->kta[p] - 8;
}
mlx90640->kta[p] = mlx90640->kta[p] * (1 << ktaScale2);
mlx90640->kta[p] = KtaRC[split] + mlx90640->kta[p];
mlx90640->kta[p] = mlx90640->kta[p] / pow(2,(double)ktaScale1);
}
}
}
//------------------------------------------------------------------------------
void ExtractKvPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
int p = 0;
int8_t KvT[4];
int8_t KvRoCo;
int8_t KvRoCe;
int8_t KvReCo;
int8_t KvReCe;
uint8_t kvScale;
uint8_t split;
KvRoCo = (eeData[52] & 0xF000) >> 12;
if (KvRoCo > 7)
{
KvRoCo = KvRoCo - 16;
}
KvT[0] = KvRoCo;
KvReCo = (eeData[52] & 0x0F00) >> 8;
if (KvReCo > 7)
{
KvReCo = KvReCo - 16;
}
KvT[2] = KvReCo;
KvRoCe = (eeData[52] & 0x00F0) >> 4;
if (KvRoCe > 7)
{
KvRoCe = KvRoCe - 16;
}
KvT[1] = KvRoCe;
KvReCe = (eeData[52] & 0x000F);
if (KvReCe > 7)
{
KvReCe = KvReCe - 16;
}
KvT[3] = KvReCe;
kvScale = (eeData[56] & 0x0F00) >> 8;
for(int i = 0; i < 24; i++)
{
for(int j = 0; j < 32; j ++)
{
p = 32 * i +j;
split = 2*(p/32 - (p/64)*2) + p%2;
mlx90640->kv[p] = KvT[split];
mlx90640->kv[p] = mlx90640->kv[p] / pow(2,(double)kvScale);
}
}
}
//------------------------------------------------------------------------------
void ExtractCPParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
float alphaSP[2];
int16_t offsetSP[2];
float cpKv;
float cpKta;
uint8_t alphaScale;
uint8_t ktaScale1;
uint8_t kvScale;
alphaScale = ((eeData[32] & 0xF000) >> 12) + 27;
offsetSP[0] = (eeData[58] & 0x03FF);
if (offsetSP[0] > 511)
{
offsetSP[0] = offsetSP[0] - 1024;
}
offsetSP[1] = (eeData[58] & 0xFC00) >> 10;
if (offsetSP[1] > 31)
{
offsetSP[1] = offsetSP[1] - 64;
}
offsetSP[1] = offsetSP[1] + offsetSP[0];
alphaSP[0] = (eeData[57] & 0x03FF);
if (alphaSP[0] > 511)
{
alphaSP[0] = alphaSP[0] - 1024;
}
alphaSP[0] = alphaSP[0] / pow(2,(double)alphaScale);
alphaSP[1] = (eeData[57] & 0xFC00) >> 10;
if (alphaSP[1] > 31)
{
alphaSP[1] = alphaSP[1] - 64;
}
alphaSP[1] = (1 + alphaSP[1]/128) * alphaSP[0];
cpKta = (eeData[59] & 0x00FF);
if (cpKta > 127)
{
cpKta = cpKta - 256;
}
ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8;
mlx90640->cpKta = cpKta / pow(2,(double)ktaScale1);
cpKv = (eeData[59] & 0xFF00) >> 8;
if (cpKv > 127)
{
cpKv = cpKv - 256;
}
kvScale = (eeData[56] & 0x0F00) >> 8;
mlx90640->cpKv = cpKv / pow(2,(double)kvScale);
mlx90640->cpAlpha[0] = alphaSP[0];
mlx90640->cpAlpha[1] = alphaSP[1];
mlx90640->cpOffset[0] = offsetSP[0];
mlx90640->cpOffset[1] = offsetSP[1];
}
//------------------------------------------------------------------------------
void ExtractCILCParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
float ilChessC[3];
uint8_t calibrationModeEE;
calibrationModeEE = (eeData[10] & 0x0800) >> 4;
calibrationModeEE = calibrationModeEE ^ 0x80;
ilChessC[0] = (eeData[53] & 0x003F);
if (ilChessC[0] > 31)
{
ilChessC[0] = ilChessC[0] - 64;
}
ilChessC[0] = ilChessC[0] / 16.0f;
ilChessC[1] = (eeData[53] & 0x07C0) >> 6;
if (ilChessC[1] > 15)
{
ilChessC[1] = ilChessC[1] - 32;
}
ilChessC[1] = ilChessC[1] / 2.0f;
ilChessC[2] = (eeData[53] & 0xF800) >> 11;
if (ilChessC[2] > 15)
{
ilChessC[2] = ilChessC[2] - 32;
}
ilChessC[2] = ilChessC[2] / 8.0f;
mlx90640->calibrationModeEE = calibrationModeEE;
mlx90640->ilChessC[0] = ilChessC[0];
mlx90640->ilChessC[1] = ilChessC[1];
mlx90640->ilChessC[2] = ilChessC[2];
}
//------------------------------------------------------------------------------
int ExtractDeviatingPixels(uint16_t *eeData, paramsMLX90640 *mlx90640)
{
uint16_t pixCnt = 0;
uint16_t brokenPixCnt = 0;
uint16_t outlierPixCnt = 0;
int warn = 0;
int i;
for(pixCnt = 0; pixCnt<5; pixCnt++)
{
mlx90640->brokenPixels[pixCnt] = 0xFFFF;
mlx90640->outlierPixels[pixCnt] = 0xFFFF;
}
pixCnt = 0;
while (pixCnt < 768 && brokenPixCnt < 5 && outlierPixCnt < 5)
{
if(eeData[pixCnt+64] == 0)
{
mlx90640->brokenPixels[brokenPixCnt] = pixCnt;
brokenPixCnt = brokenPixCnt + 1;
}
else if((eeData[pixCnt+64] & 0x0001) != 0)
{
mlx90640->outlierPixels[outlierPixCnt] = pixCnt;
outlierPixCnt = outlierPixCnt + 1;
}
pixCnt = pixCnt + 1;
}
if(brokenPixCnt > 4)
{
warn = -3;
}
else if(outlierPixCnt > 4)
{
warn = -4;
}
else if((brokenPixCnt + outlierPixCnt) > 4)
{
warn = -5;
}
else
{
for(pixCnt=0; pixCnt<brokenPixCnt; pixCnt++)
{
for(i=pixCnt+1; i<brokenPixCnt; i++)
{
warn = CheckAdjacentPixels(mlx90640->brokenPixels[pixCnt],mlx90640->brokenPixels[i]);
if(warn != 0)
{
return warn;
}
}
}
for(pixCnt=0; pixCnt<outlierPixCnt; pixCnt++)
{
for(i=pixCnt+1; i<outlierPixCnt; i++)
{
warn = CheckAdjacentPixels(mlx90640->outlierPixels[pixCnt],mlx90640->outlierPixels[i]);
if(warn != 0)
{
return warn;
}
}
}
for(pixCnt=0; pixCnt<brokenPixCnt; pixCnt++)
{
for(i=0; i<outlierPixCnt; i++)
{
warn = CheckAdjacentPixels(mlx90640->brokenPixels[pixCnt],mlx90640->outlierPixels[i]);
if(warn != 0)
{
return warn;
}
}
}
}
return warn;
}
//------------------------------------------------------------------------------
int CheckAdjacentPixels(uint16_t pix1, uint16_t pix2)
{
int pixPosDif;
pixPosDif = pix1 - pix2;
if(pixPosDif > -34 && pixPosDif < -30)
{
return -6;
}
if(pixPosDif > -2 && pixPosDif < 2)
{
return -6;
}
if(pixPosDif > 30 && pixPosDif < 34)
{
return -6;
}
return 0;
}
//------------------------------------------------------------------------------
int CheckEEPROMValid(uint16_t *eeData)
{
int deviceSelect;
deviceSelect = eeData[10] & 0x0040;
if(deviceSelect == 0)
{
return 0;
}
return -7;
}
MLX90640_API.h
/**
* @copyright (C) 2017 Melexis N.V.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _MLX640_API_H_
#define _MLX640_API_H_
typedef struct
{
int16_t kVdd;
int16_t vdd25;
float KvPTAT;
float KtPTAT;
uint16_t vPTAT25;
float alphaPTAT;
int16_t gainEE;
float tgc;
float cpKv;
float cpKta;
uint8_t resolutionEE;
uint8_t calibrationModeEE;
float KsTa;
float ksTo[4];
int16_t ct[4];
float alpha[768];
int16_t offset[768];
float kta[768];
float kv[768];
float cpAlpha[2];
int16_t cpOffset[2];
float ilChessC[3];
uint16_t brokenPixels[5];
uint16_t outlierPixels[5];
} paramsMLX90640;
int MLX90640_DumpEE(uint8_t slaveAddr, uint16_t *eeData);
int MLX90640_GetFrameData(uint8_t slaveAddr, uint16_t *frameData);
int MLX90640_ExtractParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
float MLX90640_GetVdd(uint16_t *frameData, const paramsMLX90640 *params);
float MLX90640_GetTa(uint16_t *frameData, const paramsMLX90640 *params);
void MLX90640_GetImage(uint16_t *frameData, const paramsMLX90640 *params, float *result);
void MLX90640_CalculateTo(uint16_t *frameData, const paramsMLX90640 *params, float emissivity, float tr, float *result);
int MLX90640_SetResolution(uint8_t slaveAddr, uint8_t resolution);
int MLX90640_GetCurResolution(uint8_t slaveAddr);
int MLX90640_SetRefreshRate(uint8_t slaveAddr, uint8_t refreshRate);
int MLX90640_GetRefreshRate(uint8_t slaveAddr);
int MLX90640_GetSubPageNumber(uint16_t *frameData);
int MLX90640_GetCurMode(uint8_t slaveAddr);
int MLX90640_SetInterleavedMode(uint8_t slaveAddr);
int MLX90640_SetChessMode(uint8_t slaveAddr);
#endif
MLX90640_I2C_Driver.c
#include "MLX90640_I2C_Driver.h"
#include "I2C.h"
#include "driver/i2c_master.h"
#include "esp_log.h"
#define MLX90640_I2C_TIMEOUT_MS 1000
static const char *TAG = "mlx90640_i2c";
static i2c_master_dev_handle_t s_dev_handle = NULL;
static uint8_t s_dev_addr = 0;
static uint32_t s_i2c_freq_hz = IIC_SPEED_CLK;
static int MLX90640_GetDevice(uint8_t slaveAddr, i2c_master_dev_handle_t *dev_handle)
{
esp_err_t ret;
if (I2C_Init() != ESP_OK)
{
return -1;
}
if (s_dev_handle != NULL && s_dev_addr == slaveAddr)
{
*dev_handle = s_dev_handle;
return 0;
}
if (s_dev_handle != NULL)
{
i2c_master_bus_rm_device(s_dev_handle);
s_dev_handle = NULL;
}
i2c_device_config_t dev_cfg = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = slaveAddr,
.scl_speed_hz = s_i2c_freq_hz,
};
ret = i2c_master_bus_add_device(I2C_GetBusHandle(), &dev_cfg, &s_dev_handle);
if (ret != ESP_OK)
{
ESP_LOGE(TAG, "add device 0x%02X failed: %s", slaveAddr, esp_err_to_name(ret));
return -1;
}
s_dev_addr = slaveAddr;
*dev_handle = s_dev_handle;
return 0;
}
void MLX90640_I2CInit(void)
{
(void)I2C_Init();
}
int MLX90640_I2CRead(uint8_t slaveAddr, unsigned int startAddress, unsigned int nWordsRead, uint16_t *data)
{
i2c_master_dev_handle_t dev_handle;
uint32_t bytes_remaining = nWordsRead * 2U;
uint32_t data_index = 0;
if (data == NULL || MLX90640_GetDevice(slaveAddr, &dev_handle) != 0)
{
return -1;
}
while (bytes_remaining > 0)
{
uint8_t reg_addr[2] = {
(uint8_t)(startAddress >> 8),
(uint8_t)(startAddress & 0xFF),
};
uint8_t rx_buf[I2C_BUFFER_LENGTH];
uint32_t bytes_to_read = bytes_remaining;
if (bytes_to_read > I2C_BUFFER_LENGTH)
{
bytes_to_read = I2C_BUFFER_LENGTH;
}
bytes_to_read &= ~1U;
esp_err_t ret = i2c_master_transmit_receive(dev_handle, reg_addr, sizeof(reg_addr), rx_buf, bytes_to_read,
MLX90640_I2C_TIMEOUT_MS);
if (ret != ESP_OK)
{
ESP_LOGE(TAG, "read 0x%04X failed: %s", startAddress, esp_err_to_name(ret));
return -1;
}
for (uint32_t i = 0; i < bytes_to_read; i += 2)
{
data[data_index++] = ((uint16_t)rx_buf[i] << 8) | rx_buf[i + 1];
}
bytes_remaining -= bytes_to_read;
startAddress += bytes_to_read / 2U;
}
return 0;
}
void MLX90640_I2CFreqSet(int freq)
{
if (freq <= 0)
{
return;
}
s_i2c_freq_hz = (uint32_t)freq * 1000U;
if (s_dev_handle != NULL)
{
i2c_master_bus_rm_device(s_dev_handle);
s_dev_handle = NULL;
s_dev_addr = 0;
}
}
int MLX90640_I2CWrite(uint8_t slaveAddr, unsigned int writeAddress, uint16_t data)
{
i2c_master_dev_handle_t dev_handle;
uint8_t tx_buf[4] = {
(uint8_t)(writeAddress >> 8),
(uint8_t)(writeAddress & 0xFF),
(uint8_t)(data >> 8),
(uint8_t)(data & 0xFF),
};
uint16_t data_check = 0;
if (MLX90640_GetDevice(slaveAddr, &dev_handle) != 0)
{
return -1;
}
esp_err_t ret = i2c_master_transmit(dev_handle, tx_buf, sizeof(tx_buf), MLX90640_I2C_TIMEOUT_MS);
if (ret != ESP_OK)
{
ESP_LOGE(TAG, "write 0x%04X failed: %s", writeAddress, esp_err_to_name(ret));
return -1;
}
if (writeAddress == 0x8000)
{
// Control register 1 is write-only, skip verify
return 0;
}
if (MLX90640_I2CRead(slaveAddr, writeAddress, 1, &data_check) != 0)
{
return -1;
}
if (data_check != data)
{
ESP_LOGE(TAG, "write verify failed at 0x%04X: 0x%04X != 0x%04X", writeAddress, data_check, data);
return -2;
}
return 0;
}
MLX90640_I2C_Driver.h
#ifndef _MLX90640_I2C_DRIVER_H_
#define _MLX90640_I2C_DRIVER_H_
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
#define I2C_BUFFER_LENGTH 32
void MLX90640_I2CInit(void);
int MLX90640_I2CRead(uint8_t slaveAddr, unsigned int startAddress, unsigned int nWordsRead, uint16_t *data);
int MLX90640_I2CWrite(uint8_t slaveAddr, unsigned int writeAddress, uint16_t data);
void MLX90640_I2CFreqSet(int freq);
#ifdef __cplusplus
}
#endif
#endif /* _MLX90640_I2C_DRIVER_H_ */
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