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1030 lines
41 KiB
C
1030 lines
41 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* Copyright (C) 2013-2024 OpenMV, LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* FIR Python module.
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*/
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#include "py/runtime.h"
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#include "py/objlist.h"
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#include "omv_boardconfig.h"
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#if OMV_FIR_MLX90621_ENABLE || \
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OMV_FIR_MLX90640_ENABLE || \
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OMV_FIR_MLX90641_ENABLE || \
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OMV_FIR_AMG8833_ENABLE
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#include "omv_i2c.h"
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#if (OMV_FIR_MLX90621_ENABLE == 1)
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#include "MLX90621_API.h"
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#include "MLX90621_I2C_Driver.h"
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#endif
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#if (OMV_FIR_MLX90640_ENABLE == 1)
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#include "MLX90640_API.h"
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#include "MLX90640_I2C_Driver.h"
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#endif
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#if (OMV_FIR_MLX90641_ENABLE == 1)
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#include "MLX90641_API.h"
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#include "MLX90641_I2C_Driver.h"
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#endif
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#include "framebuffer.h"
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#include "py_assert.h"
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#include "py_helper.h"
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#include "py_image.h"
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#define MLX90621_ADDR 0x50
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#define MLX90621_WIDTH 16
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#define MLX90621_HEIGHT 4
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#define MLX90621_EEPROM_DATA_SIZE 256
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#define MLX90621_FRAME_DATA_SIZE 66
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#define MLX90640_ADDR 0x33
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#define MLX90640_WIDTH 32
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#define MLX90640_HEIGHT 24
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#define MLX90640_EEPROM_DATA_SIZE 832
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#define MLX90640_FRAME_DATA_SIZE 834
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#define MLX90641_ADDR 0x33
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#define MLX90641_WIDTH 16
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#define MLX90641_HEIGHT 12
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#define MLX90641_EEPROM_DATA_SIZE 832
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#define MLX90641_FRAME_DATA_SIZE 242
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#define AMG8833_ADDR 0xD2
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#define AMG8833_WIDTH 8
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#define AMG8833_HEIGHT 8
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#define AMG8833_RESET_REGISTER 0x01
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#define AMG8833_THERMISTOR_REGISTER 0x0E
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#define AMG8833_TEMPERATURE_REGISTER 0x80
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#define AMG8833_INITIAL_RESET_VALUE 0x3F
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#define LEPTON_ADDR 0x54
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#define AMG8833_12_TO_16(value) \
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({ \
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__typeof__ (value) __value = (value); \
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if ((__value >> 11) & 1) { \
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__value |= 1 << 15; \
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} \
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__value & 0x87FF; \
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})
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static omv_i2c_t fir_bus = {};
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typedef enum fir_sensor_type {
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FIR_NONE,
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#if (OMV_FIR_MLX90621_ENABLE == 1)
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FIR_MLX90621,
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#endif
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#if (OMV_FIR_MLX90640_ENABLE == 1)
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FIR_MLX90640,
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#endif
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#if (OMV_FIR_MLX90641_ENABLE == 1)
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FIR_MLX90641,
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#endif
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#if (OMV_FIR_AMG8833_ENABLE == 1)
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FIR_AMG8833,
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#endif
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} fir_sensor_type_t;
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static int fir_width = 0;
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static int fir_height = 0;
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static int fir_ir_fresh_rate = 0;
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static int fir_adc_resolution = 0;
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static bool fir_transposed = false;
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static fir_sensor_type_t fir_sensor = FIR_NONE;
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// img->w == data_w && img->h == data_h && img->pixfmt == PIXFORMAT_GRAYSCALE
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static void fir_fill_image_float_obj(image_t *img, mp_obj_t *data, float min, float max) {
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float tmp = min;
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min = (min < max) ? min : max;
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max = (max > tmp) ? max : tmp;
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float diff = 255.f / (max - min);
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for (int y = 0; y < img->h; y++) {
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int row_offset = y * img->w;
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mp_obj_t *raw_row = data + row_offset;
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uint8_t *row_pointer = ((uint8_t *) img->data) + row_offset;
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for (int x = 0; x < img->w; x++) {
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float raw = mp_obj_get_float(raw_row[x]);
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if (raw < min) {
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raw = min;
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}
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if (raw > max) {
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raw = max;
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}
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int pixel = fast_roundf((raw - min) * diff);
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row_pointer[x] = __USAT(pixel, 8);
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}
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}
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}
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#if (OMV_FIR_MLX90621_ENABLE == 1)
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static void fir_MLX90621_get_frame(float *Ta, float *To) {
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uint16_t *data = fb_alloc(MLX90621_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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PY_ASSERT_TRUE_MSG(MLX90621_GetFrameData(data) >= 0,
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"Failed to read the MLX90621 sensor data!");
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*Ta = MLX90621_GetTa(data, MP_STATE_PORT(fir_mlx_data));
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MLX90621_CalculateTo(data, MP_STATE_PORT(fir_mlx_data), 0.95f, *Ta - 8, To);
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fb_free();
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}
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#endif
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#if (OMV_FIR_MLX90640_ENABLE == 1)
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static void fir_MLX90640_get_frame(float *Ta, float *To) {
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uint16_t *data = fb_alloc(MLX90640_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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// Wait for a new data to be available before calling GetFrameData.
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MLX90640_SynchFrame(MLX90640_ADDR);
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// Calculate 1st sub-frame...
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PY_ASSERT_TRUE_MSG(MLX90640_GetFrameData(MLX90640_ADDR, data) >= 0,
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"Failed to read the MLX90640 sensor data!");
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*Ta = MLX90640_GetTa(data, MP_STATE_PORT(fir_mlx_data));
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MLX90640_CalculateTo(data, MP_STATE_PORT(fir_mlx_data), 0.95f, *Ta - 8, To);
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// Calculate 2nd sub-frame...
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PY_ASSERT_TRUE_MSG(MLX90640_GetFrameData(MLX90640_ADDR, data) >= 0,
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"Failed to read the MLX90640 sensor data!");
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*Ta = MLX90640_GetTa(data, MP_STATE_PORT(fir_mlx_data));
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MLX90640_CalculateTo(data, MP_STATE_PORT(fir_mlx_data), 0.95f, *Ta - 8, To);
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fb_free();
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}
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#endif
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#if (OMV_FIR_MLX90641_ENABLE == 1)
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static void fir_MLX90641_get_frame(float *Ta, float *To) {
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uint16_t *data = fb_alloc(MLX90641_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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// Wait for a new data to be available before calling GetFrameData.
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MLX90641_SynchFrame(MLX90641_ADDR);
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PY_ASSERT_TRUE_MSG(MLX90641_GetFrameData(MLX90641_ADDR, data) >= 0,
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"Failed to read the MLX90641 sensor data!");
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*Ta = MLX90641_GetTa(data, MP_STATE_PORT(fir_mlx_data));
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MLX90641_CalculateTo(data, MP_STATE_PORT(fir_mlx_data), 0.95f, *Ta - 8, To);
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fb_free();
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}
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#endif
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#if (OMV_FIR_AMG8833_ENABLE == 1)
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static void fir_AMG8833_get_frame(float *Ta, float *To) {
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int16_t temp;
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int error = 0;
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error |= omv_i2c_write_bytes(&fir_bus,
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AMG8833_ADDR,
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(uint8_t [1]) {AMG8833_THERMISTOR_REGISTER},
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1, OMV_I2C_XFER_NO_STOP);
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error |= omv_i2c_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) &temp, sizeof(temp), OMV_I2C_XFER_NO_FLAGS);
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PY_ASSERT_TRUE_MSG((error == 0), "Failed to read the AMG8833 sensor data!");
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*Ta = AMG8833_12_TO_16(temp) * 0.0625f;
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int16_t *data = fb_alloc(AMG8833_WIDTH * AMG8833_HEIGHT * sizeof(int16_t), FB_ALLOC_NO_HINT);
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error |= omv_i2c_write_bytes(&fir_bus,
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AMG8833_ADDR,
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(uint8_t [1]) {AMG8833_TEMPERATURE_REGISTER},
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1, OMV_I2C_XFER_NO_STOP);
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error |= omv_i2c_read_bytes(&fir_bus,
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AMG8833_ADDR,
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(uint8_t *) data,
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AMG8833_WIDTH * AMG8833_HEIGHT * 2,
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OMV_I2C_XFER_NO_FLAGS);
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PY_ASSERT_TRUE_MSG((error == 0), "Failed to read the AMG8833 sensor data!");
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for (int i = 0, ii = AMG8833_WIDTH * AMG8833_HEIGHT; i < ii; i++) {
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To[i] = AMG8833_12_TO_16(data[i]) * 0.25f;
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}
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fb_free();
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}
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#endif
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static mp_obj_t fir_get_ir(int w, int h, float Ta, float *To, bool mirror,
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bool flip, bool dst_transpose, bool src_transpose) {
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mp_obj_list_t *list = (mp_obj_list_t *) mp_obj_new_list(w * h, NULL);
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float min = FLT_MAX;
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float max = -FLT_MAX;
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if (!src_transpose) {
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for (int y = 0; y < h; y++) {
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int y_dst = flip ? (h - y - 1) : y;
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float *raw_row = To + (y * w);
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mp_obj_t *list_row = list->items + (y_dst * w);
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mp_obj_t *t_list_row = list->items + y_dst;
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for (int x = 0; x < w; x++) {
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int x_dst = mirror ? (w - x - 1) : x;
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float raw = raw_row[x];
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if (raw < min) {
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min = raw;
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}
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if (raw > max) {
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max = raw;
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}
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mp_obj_t f = mp_obj_new_float(raw);
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if (!dst_transpose) {
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list_row[x_dst] = f;
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} else {
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t_list_row[x_dst * h] = f;
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}
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}
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}
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} else {
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for (int x = 0; x < w; x++) {
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int x_dst = mirror ? (w - x - 1) : x;
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float *raw_row = To + (x * h);
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mp_obj_t *t_list_row = list->items + (x_dst * h);
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mp_obj_t *list_row = list->items + x_dst;
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for (int y = 0; y < h; y++) {
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int y_dst = flip ? (h - y - 1) : y;
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float raw = raw_row[y];
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if (raw < min) {
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min = raw;
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}
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if (raw > max) {
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max = raw;
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}
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mp_obj_t f = mp_obj_new_float(raw);
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if (!dst_transpose) {
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list_row[y_dst * w] = f;
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} else {
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t_list_row[y_dst] = f;
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}
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}
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}
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}
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mp_obj_t tuple[4];
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tuple[0] = mp_obj_new_float(Ta);
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tuple[1] = MP_OBJ_FROM_PTR(list);
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tuple[2] = mp_obj_new_float(min);
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tuple[3] = mp_obj_new_float(max);
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return mp_obj_new_tuple(4, tuple);
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}
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static mp_obj_t py_fir_deinit() {
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if (fir_sensor != FIR_NONE) {
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omv_i2c_deinit(&fir_bus);
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fir_sensor = FIR_NONE;
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}
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#if ((OMV_FIR_MLX90621_ENABLE == 1) || (OMV_FIR_MLX90640_ENABLE == 1) || (OMV_FIR_MLX90641_ENABLE == 1))
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if (MP_STATE_PORT(fir_mlx_data) != NULL) {
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MP_STATE_PORT(fir_mlx_data) = NULL;
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}
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#endif
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fir_width = 0;
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fir_height = 0;
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fir_ir_fresh_rate = 0;
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fir_adc_resolution = 0;
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fir_transposed = false;
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return mp_const_none;
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}
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static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_deinit_obj, py_fir_deinit);
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mp_obj_t py_fir_init(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_type, ARG_refresh, ARG_resolution };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_type, MP_ARG_INT, {.u_int = -1 } },
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{ MP_QSTR_refresh, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = -1 } },
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{ MP_QSTR_resolution, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = -1 } },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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py_fir_deinit();
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bool first_init = true;
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int type = args[ARG_type].u_int;
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if (type == -1) {
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FIR_SCAN_RETRY:
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omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_STANDARD);
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// Scan and detect any supported sensor.
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uint8_t dev_list[10];
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int dev_size = omv_i2c_scan(&fir_bus, dev_list, sizeof(dev_list));
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for (int i = 0; i < dev_size && type == -1; i++) {
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switch (dev_list[i]) {
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#if (OMV_FIR_MLX90621_ENABLE == 1)
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case (MLX90621_ADDR << 1): {
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type = FIR_MLX90621;
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break;
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}
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#endif
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#if (OMV_FIR_MLX90640_ENABLE == 1)
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case (MLX90640_ADDR << 1): {
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type = FIR_MLX90640;
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break;
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}
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#endif
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#if (OMV_FIR_MLX90640_ENABLE == 0) \
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&& (OMV_FIR_MLX90641_ENABLE == 1)
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case (MLX90641_ADDR << 1): {
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type = FIR_MLX90641;
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break;
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}
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#endif
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#if (OMV_FIR_AMG8833_ENABLE == 1)
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case AMG8833_ADDR: {
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type = FIR_AMG8833;
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break;
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}
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#endif
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default:
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continue;
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}
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}
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if (type == -1 && first_init) {
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first_init = false;
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// Recover bus and scan one more time.
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omv_i2c_pulse_scl(&fir_bus);
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goto FIR_SCAN_RETRY;
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}
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omv_i2c_deinit(&fir_bus);
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}
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// Initialize the detected sensor.
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first_init = true;
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switch (type) {
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#if (OMV_FIR_MLX90621_ENABLE == 1)
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case FIR_MLX90621: {
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// Set refresh rate and ADC resolution
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uint32_t ir_fresh_rate = args[ARG_refresh].u_int != -1 ? args[ARG_refresh].u_int : 64;
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uint32_t adc_resolution = args[ARG_resolution].u_int != -1 ? args[ARG_resolution].u_int : 18;
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// sanitize values
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ir_fresh_rate = 14 - __CLZ(__RBIT((ir_fresh_rate > 512) ? 512 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate)));
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adc_resolution = ((adc_resolution > 18) ? 18 : ((adc_resolution < 15) ? 15 : adc_resolution)) - 15;
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MP_STATE_PORT(fir_mlx_data) = m_malloc(sizeof(paramsMLX90621));
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fir_sensor = FIR_MLX90621;
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FIR_MLX90621_RETRY:
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omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
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MLX90621_I2CInit(&fir_bus);
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fb_alloc_mark();
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uint8_t *eeprom = fb_alloc(MLX90621_EEPROM_DATA_SIZE * sizeof(uint8_t), FB_ALLOC_NO_HINT);
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int error = MLX90621_DumpEE(eeprom);
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error |= MLX90621_Configure(eeprom);
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error |= MLX90621_SetRefreshRate(ir_fresh_rate);
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error |= MLX90621_SetResolution(adc_resolution);
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error |= MLX90621_ExtractParameters(eeprom, MP_STATE_PORT(fir_mlx_data));
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fb_alloc_free_till_mark();
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if (error != 0) {
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if (first_init) {
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first_init = false;
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omv_i2c_pulse_scl(&fir_bus);
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goto FIR_MLX90621_RETRY;
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} else {
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py_fir_deinit();
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mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the MLX90621!"));
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}
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}
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// Switch to FAST speed
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omv_i2c_deinit(&fir_bus);
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omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_FAST);
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fir_width = MLX90621_WIDTH;
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fir_height = MLX90621_HEIGHT;
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fir_ir_fresh_rate = ir_fresh_rate;
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fir_adc_resolution = adc_resolution;
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return mp_const_none;
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}
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#endif
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#if (OMV_FIR_MLX90640_ENABLE == 1)
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case FIR_MLX90640: {
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// Set refresh rate and ADC resolution
|
|
uint32_t ir_fresh_rate = args[ARG_refresh].u_int != -1 ? args[ARG_refresh].u_int : 32;
|
|
uint32_t adc_resolution = args[ARG_resolution].u_int != -1 ? args[ARG_resolution].u_int : 19;
|
|
|
|
// sanitize values
|
|
ir_fresh_rate = __CLZ(__RBIT((ir_fresh_rate > 64) ? 64 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate))) + 1;
|
|
adc_resolution = ((adc_resolution > 19) ? 19 : ((adc_resolution < 16) ? 16 : adc_resolution)) - 16;
|
|
|
|
MP_STATE_PORT(fir_mlx_data) = m_malloc(sizeof(paramsMLX90640));
|
|
|
|
fir_sensor = FIR_MLX90640;
|
|
FIR_MLX90640_RETRY:
|
|
omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
|
|
MLX90640_I2CInit(&fir_bus);
|
|
|
|
fb_alloc_mark();
|
|
uint16_t *eeprom = fb_alloc(MLX90640_EEPROM_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
|
|
int error = MLX90640_DumpEE(MLX90640_ADDR, eeprom);
|
|
error |= MLX90640_SetRefreshRate(MLX90640_ADDR, ir_fresh_rate);
|
|
error |= MLX90640_SetResolution(MLX90640_ADDR, adc_resolution);
|
|
error |= MLX90640_ExtractParameters(eeprom, MP_STATE_PORT(fir_mlx_data));
|
|
fb_alloc_free_till_mark();
|
|
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
omv_i2c_pulse_scl(&fir_bus);
|
|
goto FIR_MLX90640_RETRY;
|
|
} else {
|
|
py_fir_deinit();
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the MLX90640!"));
|
|
}
|
|
}
|
|
|
|
// Switch to FAST speed
|
|
omv_i2c_deinit(&fir_bus);
|
|
omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_FAST);
|
|
fir_width = MLX90640_WIDTH;
|
|
fir_height = MLX90640_HEIGHT;
|
|
fir_ir_fresh_rate = ir_fresh_rate;
|
|
fir_adc_resolution = adc_resolution;
|
|
return mp_const_none;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
case FIR_MLX90641: {
|
|
// Set refresh rate and ADC resolution
|
|
uint32_t ir_fresh_rate = args[ARG_refresh].u_int != -1 ? args[ARG_refresh].u_int : 32;
|
|
uint32_t adc_resolution = args[ARG_resolution].u_int != -1 ? args[ARG_resolution].u_int : 19;
|
|
|
|
// sanitize values
|
|
ir_fresh_rate = __CLZ(__RBIT((ir_fresh_rate > 64) ? 64 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate))) + 1;
|
|
adc_resolution = ((adc_resolution > 19) ? 19 : ((adc_resolution < 16) ? 16 : adc_resolution)) - 16;
|
|
|
|
MP_STATE_PORT(fir_mlx_data) = m_malloc(sizeof(paramsMLX90641));
|
|
|
|
fir_sensor = FIR_MLX90641;
|
|
FIR_MLX90641_RETRY:
|
|
omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
|
|
MLX90641_I2CInit(&fir_bus);
|
|
|
|
fb_alloc_mark();
|
|
uint16_t *eeprom = fb_alloc(MLX90641_EEPROM_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
|
|
int error = MLX90641_DumpEE(MLX90641_ADDR, eeprom);
|
|
error |= MLX90641_SetRefreshRate(MLX90641_ADDR, ir_fresh_rate);
|
|
error |= MLX90641_SetResolution(MLX90641_ADDR, adc_resolution);
|
|
error |= MLX90641_ExtractParameters(eeprom, MP_STATE_PORT(fir_mlx_data));
|
|
fb_alloc_free_till_mark();
|
|
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
omv_i2c_pulse_scl(&fir_bus);
|
|
goto FIR_MLX90641_RETRY;
|
|
} else {
|
|
py_fir_deinit();
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the MLX90641!"));
|
|
}
|
|
}
|
|
|
|
// Switch to FAST speed
|
|
omv_i2c_deinit(&fir_bus);
|
|
omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_FAST);
|
|
fir_width = MLX90641_WIDTH;
|
|
fir_height = MLX90641_HEIGHT;
|
|
fir_ir_fresh_rate = ir_fresh_rate;
|
|
fir_adc_resolution = adc_resolution;
|
|
return mp_const_none;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
case FIR_AMG8833: {
|
|
fir_sensor = FIR_AMG8833;
|
|
FIR_AMG8833_RETRY:
|
|
omv_i2c_init(&fir_bus, OMV_FIR_I2C_ID, OMV_I2C_SPEED_STANDARD);
|
|
|
|
int error = omv_i2c_write_bytes(&fir_bus, AMG8833_ADDR,
|
|
(uint8_t [2]) {AMG8833_RESET_REGISTER, AMG8833_INITIAL_RESET_VALUE}, 2, 0);
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
omv_i2c_pulse_scl(&fir_bus);
|
|
goto FIR_AMG8833_RETRY;
|
|
} else {
|
|
py_fir_deinit();
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the AMG8833!"));
|
|
}
|
|
}
|
|
|
|
fir_width = AMG8833_WIDTH;
|
|
fir_height = AMG8833_HEIGHT;
|
|
fir_ir_fresh_rate = 10;
|
|
fir_adc_resolution = 12;
|
|
return mp_const_none;
|
|
}
|
|
#endif
|
|
default: {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to detect a supported FIR sensor."));
|
|
}
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_init_obj, 0, py_fir_init);
|
|
|
|
static mp_obj_t py_fir_type() {
|
|
if (fir_sensor != FIR_NONE) {
|
|
return mp_obj_new_int(fir_sensor);
|
|
}
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_type_obj, py_fir_type);
|
|
|
|
static mp_obj_t py_fir_width() {
|
|
if (fir_sensor != FIR_NONE) {
|
|
return mp_obj_new_int(fir_width);
|
|
}
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_width_obj, py_fir_width);
|
|
|
|
static mp_obj_t py_fir_height() {
|
|
if (fir_sensor != FIR_NONE) {
|
|
return mp_obj_new_int(fir_height);
|
|
}
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_height_obj, py_fir_height);
|
|
|
|
static mp_obj_t py_fir_refresh() {
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
const int mlx_90621_refresh_rates[16] = {512, 512, 512, 512, 512, 512, 256, 128, 64, 32, 16, 8, 4, 2, 1, 0};
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1) || (OMV_FIR_MLX90641_ENABLE == 1)
|
|
const int mlx_90640_1_refresh_rates[8] = {0, 1, 2, 4, 8, 16, 32, 64};
|
|
#endif
|
|
switch (fir_sensor) {
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
case FIR_MLX90621:
|
|
return mp_obj_new_int(mlx_90621_refresh_rates[fir_ir_fresh_rate]);
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1)
|
|
case FIR_MLX90640:
|
|
return mp_obj_new_int(mlx_90640_1_refresh_rates[fir_ir_fresh_rate]);
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
case FIR_MLX90641:
|
|
return mp_obj_new_int(mlx_90640_1_refresh_rates[fir_ir_fresh_rate]);
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
case FIR_AMG8833:
|
|
return mp_obj_new_int(fir_ir_fresh_rate);
|
|
#endif
|
|
default:
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_refresh_obj, py_fir_refresh);
|
|
|
|
static mp_obj_t py_fir_resolution() {
|
|
switch (fir_sensor) {
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
case FIR_MLX90621:
|
|
return mp_obj_new_int(fir_adc_resolution + 15);
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1)
|
|
case FIR_MLX90640:
|
|
return mp_obj_new_int(fir_adc_resolution + 16);
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
case FIR_MLX90641:
|
|
return mp_obj_new_int(fir_adc_resolution + 16);
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
case FIR_AMG8833:
|
|
return mp_obj_new_int(fir_adc_resolution);
|
|
#endif
|
|
default:
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_resolution_obj, py_fir_resolution);
|
|
|
|
mp_obj_t py_fir_read_ta() {
|
|
switch (fir_sensor) {
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
case FIR_MLX90621: {
|
|
fb_alloc_mark();
|
|
uint16_t *data = fb_alloc(MLX90621_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
|
|
PY_ASSERT_TRUE_MSG(MLX90621_GetFrameData(data) >= 0,
|
|
"Failed to read the MLX90640 sensor data!");
|
|
mp_obj_t result = mp_obj_new_float(MLX90621_GetTa(data, MP_STATE_PORT(fir_mlx_data)));
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1)
|
|
case FIR_MLX90640: {
|
|
fb_alloc_mark();
|
|
uint16_t *data = fb_alloc(MLX90640_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
|
|
PY_ASSERT_TRUE_MSG(MLX90640_GetFrameData(MLX90640_ADDR, data) >= 0,
|
|
"Failed to read the MLX90640 sensor data!");
|
|
mp_obj_t result = mp_obj_new_float(MLX90640_GetTa(data, MP_STATE_PORT(fir_mlx_data)));
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
case FIR_MLX90641: {
|
|
fb_alloc_mark();
|
|
uint16_t *data = fb_alloc(MLX90641_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
|
|
PY_ASSERT_TRUE_MSG(MLX90641_GetFrameData(MLX90641_ADDR, data) >= 0,
|
|
"Failed to read the MLX90641 sensor data!");
|
|
mp_obj_t result = mp_obj_new_float(MLX90641_GetTa(data, MP_STATE_PORT(fir_mlx_data)));
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
case FIR_AMG8833: {
|
|
int16_t temp;
|
|
int error = 0;
|
|
error |= omv_i2c_write_bytes(&fir_bus,
|
|
AMG8833_ADDR,
|
|
(uint8_t [1]) {AMG8833_THERMISTOR_REGISTER},
|
|
1,
|
|
OMV_I2C_XFER_NO_STOP);
|
|
error |= omv_i2c_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) &temp, sizeof(temp), OMV_I2C_XFER_NO_FLAGS);
|
|
PY_ASSERT_TRUE_MSG((error == 0), "Failed to read the AMG8833 sensor data!");
|
|
return mp_obj_new_float(AMG8833_12_TO_16(temp) * 0.0625f);
|
|
}
|
|
#endif
|
|
default: {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_0(py_fir_read_ta_obj, py_fir_read_ta);
|
|
|
|
mp_obj_t py_fir_read_ir(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_hmirror, ARG_vflip, ARG_transpose, ARG_timeout };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_hmirror, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_vflip, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_transpose, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_timeout, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = -1 } },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
fir_transposed = args[ARG_transpose].u_bool;
|
|
|
|
switch (fir_sensor) {
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
case FIR_MLX90621: {
|
|
fb_alloc_mark();
|
|
float Ta, *To = fb_alloc(MLX90621_WIDTH * MLX90621_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_MLX90621_get_frame(&Ta, To);
|
|
mp_obj_t result = fir_get_ir(MLX90621_WIDTH, MLX90621_HEIGHT, Ta, To, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, true);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1)
|
|
case FIR_MLX90640: {
|
|
fb_alloc_mark();
|
|
float Ta, *To = fb_alloc(MLX90640_WIDTH * MLX90640_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_MLX90640_get_frame(&Ta, To);
|
|
mp_obj_t result = fir_get_ir(MLX90640_WIDTH, MLX90640_HEIGHT, Ta, To, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, false);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
case FIR_MLX90641: {
|
|
fb_alloc_mark();
|
|
float Ta, *To = fb_alloc(MLX90641_WIDTH * MLX90641_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_MLX90641_get_frame(&Ta, To);
|
|
mp_obj_t result = fir_get_ir(MLX90641_WIDTH, MLX90641_HEIGHT, Ta, To, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, false);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
case FIR_AMG8833: {
|
|
fb_alloc_mark();
|
|
float Ta, *To = fb_alloc(AMG8833_WIDTH * AMG8833_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_AMG8833_get_frame(&Ta, To);
|
|
mp_obj_t result = fir_get_ir(AMG8833_WIDTH, AMG8833_HEIGHT, Ta, To, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, true);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
default: {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_read_ir_obj, 0, py_fir_read_ir);
|
|
|
|
mp_obj_t py_fir_draw_ir(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum {
|
|
ARG_x, ARG_y, ARG_x_scale, ARG_y_scale, ARG_roi, ARG_channel, ARG_alpha,
|
|
ARG_color_palette, ARG_alpha_palette, ARG_hint, ARG_scale
|
|
};
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_x, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = 0 } },
|
|
{ MP_QSTR_y, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = 0 } },
|
|
{ MP_QSTR_x_scale, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_y_scale, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_roi, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_rgb_channel, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = -1 } },
|
|
{ MP_QSTR_alpha, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = 255 } },
|
|
{ MP_QSTR_color_palette, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_INT(COLOR_PALETTE_RAINBOW)} },
|
|
{ MP_QSTR_alpha_palette, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_hint, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = 0 } },
|
|
{ MP_QSTR_scale, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args - 2, pos_args + 2, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
// Sanity checks
|
|
if (fir_sensor == FIR_NONE) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
|
|
if (args[ARG_channel].u_int < -1 || args[ARG_channel].u_int > 2) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("RGB channel can be 0, 1, or 2"));
|
|
}
|
|
|
|
if (args[ARG_alpha].u_int < 0 || args[ARG_alpha].u_int > 255) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Alpha ranges between 0 and 255"));
|
|
}
|
|
|
|
image_t src_img = {
|
|
.w = fir_transposed ? fir_height : fir_width,
|
|
.h = fir_transposed ? fir_width : fir_height,
|
|
.pixfmt = PIXFORMAT_GRAYSCALE,
|
|
//.data is allocated later.
|
|
};
|
|
|
|
image_t *dst_img = py_helper_arg_to_image(pos_args[0], ARG_IMAGE_MUTABLE);
|
|
|
|
mp_obj_t *ir_array;
|
|
mp_obj_get_array_fixed_n(pos_args[1], src_img.w * src_img.h, &ir_array);
|
|
|
|
rectangle_t roi = py_helper_arg_to_roi(args[ARG_roi].u_obj, &src_img);
|
|
|
|
float x_scale = 1.0f;
|
|
float y_scale = 1.0f;
|
|
py_helper_arg_to_scale(args[ARG_x_scale].u_obj, args[ARG_y_scale].u_obj, &x_scale, &y_scale);
|
|
|
|
float min = FLT_MAX;
|
|
float max = -FLT_MAX;
|
|
py_helper_arg_to_minmax(args[ARG_scale].u_obj, &min, &max, ir_array, src_img.w * src_img.h);
|
|
|
|
const uint16_t *color_palette = py_helper_arg_to_palette(args[ARG_color_palette].u_obj, PIXFORMAT_RGB565);
|
|
const uint8_t *alpha_palette = py_helper_arg_to_palette(args[ARG_alpha_palette].u_obj, PIXFORMAT_GRAYSCALE);
|
|
|
|
fb_alloc_mark();
|
|
src_img.data = fb_alloc(src_img.w * src_img.h * sizeof(uint8_t), FB_ALLOC_NO_HINT);
|
|
fir_fill_image_float_obj(&src_img, ir_array, min, max);
|
|
|
|
imlib_draw_image(dst_img, &src_img, args[ARG_x].u_int, args[ARG_y].u_int, x_scale, y_scale, &roi,
|
|
args[ARG_channel].u_int, args[ARG_alpha].u_int, color_palette, alpha_palette,
|
|
args[ARG_hint].u_int, NULL, NULL, NULL, NULL);
|
|
|
|
fb_alloc_free_till_mark();
|
|
return mp_const_none;
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_draw_ir_obj, 2, py_fir_draw_ir);
|
|
|
|
mp_obj_t py_fir_snapshot(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum {
|
|
ARG_hmirror, ARG_vflip, ARG_transpose, ARG_x_scale, ARG_y_scale, ARG_roi, ARG_channel,
|
|
ARG_alpha, ARG_color_palette, ARG_alpha_palette, ARG_hint, ARG_scale, ARG_pixformat,
|
|
ARG_copy_to_fb, ARG_timeout
|
|
};
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_hmirror, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_vflip, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_transpose, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_x_scale, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_y_scale, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_roi, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_rgb_channel, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = -1 } },
|
|
{ MP_QSTR_alpha, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = 255 } },
|
|
{ MP_QSTR_color_palette, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_INT(COLOR_PALETTE_RAINBOW)} },
|
|
{ MP_QSTR_alpha_palette, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_hint, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = 0 } },
|
|
{ MP_QSTR_scale, MP_ARG_OBJ | MP_ARG_KW_ONLY, {.u_rom_obj = MP_ROM_NONE} },
|
|
{ MP_QSTR_pixformat, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = PIXFORMAT_RGB565 } },
|
|
{ MP_QSTR_copy_to_fb, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_bool = false } },
|
|
{ MP_QSTR_timeout, MP_ARG_INT | MP_ARG_KW_ONLY, {.u_int = -1 } },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
// Sanity checks
|
|
if (args[ARG_channel].u_int < -1 || args[ARG_channel].u_int > 2) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("RGB channel can be 0, 1, or 2"));
|
|
}
|
|
|
|
if (args[ARG_alpha].u_int < 0 || args[ARG_alpha].u_int > 255) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Alpha ranges between 0 and 255"));
|
|
}
|
|
|
|
if ((args[ARG_pixformat].u_int != PIXFORMAT_GRAYSCALE) && (args[ARG_pixformat].u_int != PIXFORMAT_RGB565)) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid pixformat"));
|
|
}
|
|
|
|
image_t src_img = {
|
|
.w = args[ARG_transpose].u_bool ? fir_height : fir_width,
|
|
.h = args[ARG_transpose].u_bool ? fir_width : fir_height,
|
|
.pixfmt = PIXFORMAT_GRAYSCALE,
|
|
//.data is allocated later.
|
|
};
|
|
|
|
rectangle_t roi = py_helper_arg_to_roi(args[ARG_roi].u_obj, &src_img);
|
|
|
|
float x_scale = 1.0f;
|
|
float y_scale = 1.0f;
|
|
py_helper_arg_to_scale(args[ARG_x_scale].u_obj, args[ARG_y_scale].u_obj, &x_scale, &y_scale);
|
|
|
|
image_t dst_img = {
|
|
.w = fast_floorf(roi.w * x_scale),
|
|
.h = fast_floorf(roi.h * y_scale),
|
|
.pixfmt = args[ARG_pixformat].u_int,
|
|
};
|
|
if (args[ARG_copy_to_fb].u_bool) {
|
|
py_helper_set_to_framebuffer(&dst_img);
|
|
} else {
|
|
dst_img.data = m_malloc(image_size(&dst_img));
|
|
}
|
|
|
|
float min = FLT_MAX;
|
|
float max = -FLT_MAX;
|
|
py_helper_arg_to_minmax(args[ARG_scale].u_obj, &min, &max, NULL, 0);
|
|
|
|
const uint16_t *color_palette = py_helper_arg_to_palette(args[ARG_color_palette].u_obj, PIXFORMAT_RGB565);
|
|
const uint8_t *alpha_palette = py_helper_arg_to_palette(args[ARG_alpha_palette].u_obj, PIXFORMAT_GRAYSCALE);
|
|
|
|
fb_alloc_mark();
|
|
// Allocate source image data.
|
|
src_img.data = fb_alloc(src_img.w * src_img.h * sizeof(uint8_t), FB_ALLOC_NO_HINT);
|
|
|
|
switch (fir_sensor) {
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
case FIR_MLX90621: {
|
|
float Ta, *To = fb_alloc(MLX90621_WIDTH * MLX90621_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_MLX90621_get_frame(&Ta, To);
|
|
if (args[ARG_scale].u_obj == mp_const_none) {
|
|
fast_get_min_max(To, MLX90621_WIDTH * MLX90621_HEIGHT, &min, &max);
|
|
}
|
|
imlib_fill_image_from_float(&src_img, MLX90621_WIDTH, MLX90621_HEIGHT, To, min, max, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, true);
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1)
|
|
case FIR_MLX90640: {
|
|
float Ta, *To = fb_alloc(MLX90640_WIDTH * MLX90640_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_MLX90640_get_frame(&Ta, To);
|
|
if (args[ARG_scale].u_obj == mp_const_none) {
|
|
fast_get_min_max(To, MLX90640_WIDTH * MLX90640_HEIGHT, &min, &max);
|
|
}
|
|
imlib_fill_image_from_float(&src_img, MLX90640_WIDTH, MLX90640_HEIGHT, To, min, max, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, false);
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
case FIR_MLX90641: {
|
|
float Ta, *To = fb_alloc(MLX90641_WIDTH * MLX90641_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_MLX90641_get_frame(&Ta, To);
|
|
if (args[ARG_scale].u_obj == mp_const_none) {
|
|
fast_get_min_max(To, MLX90641_WIDTH * MLX90641_HEIGHT, &min, &max);
|
|
}
|
|
imlib_fill_image_from_float(&src_img, MLX90641_WIDTH, MLX90641_HEIGHT, To, min, max, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, false);
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
case FIR_AMG8833: {
|
|
float Ta, *To = fb_alloc(AMG8833_WIDTH * AMG8833_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
|
|
fir_AMG8833_get_frame(&Ta, To);
|
|
if (args[ARG_scale].u_obj == mp_const_none) {
|
|
fast_get_min_max(To, AMG8833_WIDTH * AMG8833_HEIGHT, &min, &max);
|
|
}
|
|
imlib_fill_image_from_float(&src_img, AMG8833_WIDTH, AMG8833_HEIGHT, To, min, max, !args[ARG_hmirror].u_bool,
|
|
args[ARG_vflip].u_bool, args[ARG_transpose].u_bool, true);
|
|
break;
|
|
}
|
|
#endif
|
|
default: {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("FIR sensor is not initialized"));
|
|
}
|
|
}
|
|
|
|
imlib_draw_image(&dst_img, &src_img, 0, 0, x_scale, y_scale, &roi,
|
|
args[ARG_channel].u_int, args[ARG_alpha].u_int, color_palette, alpha_palette,
|
|
(args[ARG_hint].u_int & (~IMAGE_HINT_CENTER)) | IMAGE_HINT_BLACK_BACKGROUND,
|
|
NULL, NULL, NULL, NULL);
|
|
|
|
fb_alloc_free_till_mark();
|
|
|
|
if (args[ARG_copy_to_fb].u_bool) {
|
|
framebuffer_update_preview(&dst_img);
|
|
}
|
|
return py_image_from_struct(&dst_img);
|
|
}
|
|
static MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_snapshot_obj, 0, py_fir_snapshot);
|
|
|
|
static const mp_rom_map_elem_t globals_dict_table[] = {
|
|
{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_fir) },
|
|
#if (OMV_FIR_MLX90621_ENABLE == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_SHIELD), MP_ROM_INT(FIR_MLX90621) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_MLX90621), MP_ROM_INT(FIR_MLX90621) },
|
|
#endif
|
|
#if (OMV_FIR_MLX90640_ENABLE == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_MLX90640), MP_ROM_INT(FIR_MLX90640) },
|
|
#endif
|
|
#if (OMV_FIR_MLX90641_ENABLE == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_MLX90641), MP_ROM_INT(FIR_MLX90641) },
|
|
#endif
|
|
#if (OMV_FIR_AMG8833_ENABLE == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_AMG8833), MP_ROM_INT(FIR_AMG8833) },
|
|
#endif
|
|
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&py_fir_init_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&py_fir_deinit_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_type), MP_ROM_PTR(&py_fir_type_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_width), MP_ROM_PTR(&py_fir_width_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_height), MP_ROM_PTR(&py_fir_height_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_refresh), MP_ROM_PTR(&py_fir_refresh_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_resolution), MP_ROM_PTR(&py_fir_resolution_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_read_ta), MP_ROM_PTR(&py_fir_read_ta_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_read_ir), MP_ROM_PTR(&py_fir_read_ir_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_draw_ir), MP_ROM_PTR(&py_fir_draw_ir_obj) },
|
|
{ MP_ROM_QSTR(MP_QSTR_snapshot), MP_ROM_PTR(&py_fir_snapshot_obj) }
|
|
};
|
|
|
|
static MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
|
|
|
|
const mp_obj_module_t fir_module = {
|
|
.base = { &mp_type_module },
|
|
.globals = (mp_obj_t) &globals_dict,
|
|
};
|
|
|
|
void py_fir_init0() {
|
|
py_fir_deinit();
|
|
}
|
|
|
|
#if ((OMV_FIR_MLX90621_ENABLE == 1) || (OMV_FIR_MLX90640_ENABLE == 1) || (OMV_FIR_MLX90641_ENABLE == 1))
|
|
MP_REGISTER_ROOT_POINTER(void *fir_mlx_data);
|
|
#endif
|
|
MP_REGISTER_MODULE(MP_QSTR_fir, fir_module);
|
|
#endif
|