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smarthome-presence-detect/arduino/wärmebildkamera/MLX90640_API.cpp

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Erste Versuche mit wärmebildkamera, 2 ultraschallsensoren an einen esp angeschlossen
2019-06-19 15:31:43 +02:00
/**
* @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;
}
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