1184 lines
31 KiB
C++
1184 lines
31 KiB
C++
/**
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* @copyright (C) 2017 Melexis N.V.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "MLX90640_I2C_Driver.h"
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#include "MLX90640_API.h"
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#include <math.h>
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void ExtractVDDParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractPTATParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractGainParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractTgcParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractResolutionParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractKsTaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractKsToParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractAlphaParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractOffsetParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractKtaPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractKvPixelParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractCPParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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void ExtractCILCParameters(uint16_t *eeData, paramsMLX90640 *mlx90640);
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int ExtractDeviatingPixels(uint16_t *eeData, paramsMLX90640 *mlx90640);
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int CheckAdjacentPixels(uint16_t pix1, uint16_t pix2);
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int CheckEEPROMValid(uint16_t *eeData);
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int MLX90640_DumpEE(uint8_t slaveAddr, uint16_t *eeData)
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{
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return MLX90640_I2CRead(slaveAddr, 0x2400, 832, eeData);
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}
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int MLX90640_GetFrameData(uint8_t slaveAddr, uint16_t *frameData)
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{
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uint16_t dataReady = 1;
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uint16_t controlRegister1;
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uint16_t statusRegister;
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int error = 1;
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uint8_t cnt = 0;
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dataReady = 0;
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while(dataReady == 0)
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{
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error = MLX90640_I2CRead(slaveAddr, 0x8000, 1, &statusRegister);
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if(error != 0)
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{
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return error;
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}
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dataReady = statusRegister & 0x0008;
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}
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while(dataReady != 0 && cnt < 5)
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{
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error = MLX90640_I2CWrite(slaveAddr, 0x8000, 0x0030);
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if(error == -1)
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{
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return error;
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}
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error = MLX90640_I2CRead(slaveAddr, 0x0400, 832, frameData);
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if(error != 0)
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{
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return error;
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}
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error = MLX90640_I2CRead(slaveAddr, 0x8000, 1, &statusRegister);
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if(error != 0)
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{
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return error;
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}
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dataReady = statusRegister & 0x0008;
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cnt = cnt + 1;
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}
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if(cnt > 4)
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{
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return -8;
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}
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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frameData[832] = controlRegister1;
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frameData[833] = statusRegister & 0x0001;
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if(error != 0)
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{
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return error;
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}
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return frameData[833];
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}
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int MLX90640_ExtractParameters(uint16_t *eeData, paramsMLX90640 *mlx90640)
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{
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int error = CheckEEPROMValid(eeData);
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if(error == 0)
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{
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ExtractVDDParameters(eeData, mlx90640);
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ExtractPTATParameters(eeData, mlx90640);
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ExtractGainParameters(eeData, mlx90640);
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ExtractTgcParameters(eeData, mlx90640);
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ExtractResolutionParameters(eeData, mlx90640);
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ExtractKsTaParameters(eeData, mlx90640);
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ExtractKsToParameters(eeData, mlx90640);
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ExtractAlphaParameters(eeData, mlx90640);
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ExtractOffsetParameters(eeData, mlx90640);
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ExtractKtaPixelParameters(eeData, mlx90640);
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ExtractKvPixelParameters(eeData, mlx90640);
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ExtractCPParameters(eeData, mlx90640);
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ExtractCILCParameters(eeData, mlx90640);
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error = ExtractDeviatingPixels(eeData, mlx90640);
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}
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return error;
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}
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//------------------------------------------------------------------------------
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int MLX90640_SetResolution(uint8_t slaveAddr, uint8_t resolution)
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{
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uint16_t controlRegister1;
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int value;
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int error;
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value = (resolution & 0x03) << 10;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error == 0)
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{
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value = (controlRegister1 & 0xF3FF) | value;
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error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
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}
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return error;
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}
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//------------------------------------------------------------------------------
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int MLX90640_GetCurResolution(uint8_t slaveAddr)
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{
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uint16_t controlRegister1;
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int resolutionRAM;
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int error;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error != 0)
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{
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return error;
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}
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resolutionRAM = (controlRegister1 & 0x0C00) >> 10;
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return resolutionRAM;
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}
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//------------------------------------------------------------------------------
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int MLX90640_SetRefreshRate(uint8_t slaveAddr, uint8_t refreshRate)
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{
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uint16_t controlRegister1;
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int value;
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int error;
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value = (refreshRate & 0x07)<<7;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error == 0)
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{
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value = (controlRegister1 & 0xFC7F) | value;
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error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
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}
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return error;
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}
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//------------------------------------------------------------------------------
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int MLX90640_GetRefreshRate(uint8_t slaveAddr)
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{
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uint16_t controlRegister1;
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int refreshRate;
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int error;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error != 0)
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{
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return error;
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}
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refreshRate = (controlRegister1 & 0x0380) >> 7;
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return refreshRate;
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}
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//------------------------------------------------------------------------------
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int MLX90640_SetInterleavedMode(uint8_t slaveAddr)
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{
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uint16_t controlRegister1;
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int value;
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int error;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error == 0)
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{
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value = (controlRegister1 & 0xEFFF);
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error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
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}
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return error;
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}
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//------------------------------------------------------------------------------
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int MLX90640_SetChessMode(uint8_t slaveAddr)
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{
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uint16_t controlRegister1;
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int value;
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int error;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error == 0)
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{
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value = (controlRegister1 | 0x1000);
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error = MLX90640_I2CWrite(slaveAddr, 0x800D, value);
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}
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return error;
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}
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//------------------------------------------------------------------------------
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int MLX90640_GetCurMode(uint8_t slaveAddr)
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{
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uint16_t controlRegister1;
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int modeRAM;
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int error;
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error = MLX90640_I2CRead(slaveAddr, 0x800D, 1, &controlRegister1);
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if(error != 0)
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{
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return error;
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}
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modeRAM = (controlRegister1 & 0x1000) >> 12;
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return modeRAM;
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}
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//------------------------------------------------------------------------------
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void MLX90640_CalculateTo(uint16_t *frameData, const paramsMLX90640 *params, float emissivity, float tr, float *result)
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{
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float vdd;
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float ta;
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float ta4;
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float tr4;
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float taTr;
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float gain;
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float irDataCP[2];
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float irData;
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float alphaCompensated;
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uint8_t mode;
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int8_t ilPattern;
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int8_t chessPattern;
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int8_t pattern;
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int8_t conversionPattern;
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float Sx;
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float To;
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float alphaCorrR[4];
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int8_t range;
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uint16_t subPage;
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subPage = frameData[833];
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vdd = MLX90640_GetVdd(frameData, params);
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ta = MLX90640_GetTa(frameData, params);
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ta4 = pow((ta + 273.15), (double)4);
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tr4 = pow((tr + 273.15), (double)4);
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taTr = tr4 - (tr4-ta4)/emissivity;
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alphaCorrR[0] = 1 / (1 + params->ksTo[0] * 40);
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alphaCorrR[1] = 1 ;
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alphaCorrR[2] = (1 + params->ksTo[2] * params->ct[2]);
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alphaCorrR[3] = alphaCorrR[2] * (1 + params->ksTo[3] * (params->ct[3] - params->ct[2]));
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//------------------------- Gain calculation -----------------------------------
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gain = frameData[778];
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if(gain > 32767)
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{
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gain = gain - 65536;
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}
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gain = params->gainEE / gain;
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//------------------------- To calculation -------------------------------------
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mode = (frameData[832] & 0x1000) >> 5;
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irDataCP[0] = frameData[776];
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irDataCP[1] = frameData[808];
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for( int i = 0; i < 2; i++)
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{
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if(irDataCP[i] > 32767)
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{
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irDataCP[i] = irDataCP[i] - 65536;
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}
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irDataCP[i] = irDataCP[i] * gain;
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}
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irDataCP[0] = irDataCP[0] - params->cpOffset[0] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
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if( mode == params->calibrationModeEE)
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{
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irDataCP[1] = irDataCP[1] - params->cpOffset[1] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
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}
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else
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{
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irDataCP[1] = irDataCP[1] - (params->cpOffset[1] + params->ilChessC[0]) * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
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}
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for( int pixelNumber = 0; pixelNumber < 768; pixelNumber++)
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{
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ilPattern = pixelNumber / 32 - (pixelNumber / 64) * 2;
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chessPattern = ilPattern ^ (pixelNumber - (pixelNumber/2)*2);
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conversionPattern = ((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern);
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if(mode == 0)
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{
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pattern = ilPattern;
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}
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else
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{
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pattern = chessPattern;
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}
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if(pattern == frameData[833])
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{
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irData = frameData[pixelNumber];
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if(irData > 32767)
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{
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irData = irData - 65536;
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}
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irData = irData * gain;
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irData = irData - params->offset[pixelNumber]*(1 + params->kta[pixelNumber]*(ta - 25))*(1 + params->kv[pixelNumber]*(vdd - 3.3));
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if(mode != params->calibrationModeEE)
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{
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irData = irData + params->ilChessC[2] * (2 * ilPattern - 1) - params->ilChessC[1] * conversionPattern;
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}
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irData = irData / emissivity;
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irData = irData - params->tgc * irDataCP[subPage];
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alphaCompensated = (params->alpha[pixelNumber] - params->tgc * params->cpAlpha[subPage])*(1 + params->KsTa * (ta - 25));
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Sx = pow((double)alphaCompensated, (double)3) * (irData + alphaCompensated * taTr);
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Sx = sqrt(sqrt(Sx)) * params->ksTo[1];
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To = sqrt(sqrt(irData/(alphaCompensated * (1 - params->ksTo[1] * 273.15) + Sx) + taTr)) - 273.15;
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if(To < params->ct[1])
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{
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range = 0;
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}
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else if(To < params->ct[2])
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{
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range = 1;
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}
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else if(To < params->ct[3])
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{
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range = 2;
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}
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else
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{
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range = 3;
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}
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To = sqrt(sqrt(irData / (alphaCompensated * alphaCorrR[range] * (1 + params->ksTo[range] * (To - params->ct[range]))) + taTr)) - 273.15;
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result[pixelNumber] = To;
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}
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}
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}
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//------------------------------------------------------------------------------
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void MLX90640_GetImage(uint16_t *frameData, const paramsMLX90640 *params, float *result)
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{
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float vdd;
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float ta;
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float gain;
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float irDataCP[2];
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float irData;
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float alphaCompensated;
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uint8_t mode;
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int8_t ilPattern;
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int8_t chessPattern;
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int8_t pattern;
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int8_t conversionPattern;
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float image;
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uint16_t subPage;
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subPage = frameData[833];
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vdd = MLX90640_GetVdd(frameData, params);
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ta = MLX90640_GetTa(frameData, params);
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//------------------------- Gain calculation -----------------------------------
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gain = frameData[778];
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if(gain > 32767)
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{
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gain = gain - 65536;
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}
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gain = params->gainEE / gain;
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//------------------------- Image calculation -------------------------------------
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mode = (frameData[832] & 0x1000) >> 5;
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irDataCP[0] = frameData[776];
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irDataCP[1] = frameData[808];
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for( int i = 0; i < 2; i++)
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{
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if(irDataCP[i] > 32767)
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{
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irDataCP[i] = irDataCP[i] - 65536;
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}
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irDataCP[i] = irDataCP[i] * gain;
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}
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irDataCP[0] = irDataCP[0] - params->cpOffset[0] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
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if( mode == params->calibrationModeEE)
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{
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irDataCP[1] = irDataCP[1] - params->cpOffset[1] * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
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}
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else
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{
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irDataCP[1] = irDataCP[1] - (params->cpOffset[1] + params->ilChessC[0]) * (1 + params->cpKta * (ta - 25)) * (1 + params->cpKv * (vdd - 3.3));
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}
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for( int pixelNumber = 0; pixelNumber < 768; pixelNumber++)
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{
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ilPattern = pixelNumber / 32 - (pixelNumber / 64) * 2;
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chessPattern = ilPattern ^ (pixelNumber - (pixelNumber/2)*2);
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conversionPattern = ((pixelNumber + 2) / 4 - (pixelNumber + 3) / 4 + (pixelNumber + 1) / 4 - pixelNumber / 4) * (1 - 2 * ilPattern);
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if(mode == 0)
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{
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pattern = ilPattern;
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}
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else
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{
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pattern = chessPattern;
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}
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if(pattern == frameData[833])
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{
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irData = frameData[pixelNumber];
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if(irData > 32767)
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{
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irData = irData - 65536;
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}
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irData = irData * gain;
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irData = irData - params->offset[pixelNumber]*(1 + params->kta[pixelNumber]*(ta - 25))*(1 + params->kv[pixelNumber]*(vdd - 3.3));
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if(mode != params->calibrationModeEE)
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{
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irData = irData + params->ilChessC[2] * (2 * ilPattern - 1) - params->ilChessC[1] * conversionPattern;
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}
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irData = irData - params->tgc * irDataCP[subPage];
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alphaCompensated = (params->alpha[pixelNumber] - params->tgc * params->cpAlpha[subPage])*(1 + params->KsTa * (ta - 25));
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image = irData/alphaCompensated;
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result[pixelNumber] = image;
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}
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}
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}
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//------------------------------------------------------------------------------
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float MLX90640_GetVdd(uint16_t *frameData, const paramsMLX90640 *params)
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{
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float vdd;
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float resolutionCorrection;
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int resolutionRAM;
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vdd = frameData[810];
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if(vdd > 32767)
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{
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vdd = vdd - 65536;
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}
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resolutionRAM = (frameData[832] & 0x0C00) >> 10;
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resolutionCorrection = pow(2, (double)params->resolutionEE) / pow(2, (double)resolutionRAM);
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vdd = (resolutionCorrection * vdd - params->vdd25) / params->kVdd + 3.3;
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return vdd;
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}
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//------------------------------------------------------------------------------
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float MLX90640_GetTa(uint16_t *frameData, const paramsMLX90640 *params)
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{
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float ptat;
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float ptatArt;
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float vdd;
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float ta;
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|
|
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;
|
|
}
|