mirror of
https://github.com/openmv/openmv.git
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1269 lines
46 KiB
C
1269 lines
46 KiB
C
/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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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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#include "cambus.h"
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#if (OMV_ENABLE_FIR_MLX90621 == 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_ENABLE_FIR_MLX90640 == 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_ENABLE_FIR_MLX90641 == 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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#if (OMV_ENABLE_FIR_LEPTON == 1)
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#include "py_fir_lepton.h"
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#endif
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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 cambus_t fir_bus = {};
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#if ((OMV_ENABLE_FIR_MLX90621 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90641 == 1))
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static void *fir_mlx_data = NULL;
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#endif
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static enum {
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FIR_NONE,
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#if (OMV_ENABLE_FIR_MLX90621 == 1)
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FIR_MLX90621,
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#endif
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#if (OMV_ENABLE_FIR_MLX90640 == 1)
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FIR_MLX90640,
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#endif
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#if (OMV_ENABLE_FIR_MLX90641 == 1)
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FIR_MLX90641,
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#endif
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#if (OMV_ENABLE_FIR_AMG8833 == 1)
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FIR_AMG8833,
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#endif
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#if (OMV_ENABLE_FIR_LEPTON == 1)
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FIR_LEPTON
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#endif
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} fir_sensor = FIR_NONE;
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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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// img->w == data_w && img->h == data_h && img->bpp == IMAGE_BPP_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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{
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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_ENABLE_FIR_MLX90621 == 1)
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static void fir_MLX90621_get_frame(float *Ta, float *To)
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{
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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, fir_mlx_data);
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MLX90621_CalculateTo(data, 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_ENABLE_FIR_MLX90640 == 1)
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static void fir_MLX90640_get_frame(float *Ta, float *To)
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{
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uint16_t *data = fb_alloc(MLX90640_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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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, fir_mlx_data);
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MLX90640_CalculateTo(data, 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, fir_mlx_data);
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MLX90640_CalculateTo(data, 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_ENABLE_FIR_MLX90641 == 1)
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static void fir_MLX90641_get_frame(float *Ta, float *To)
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{
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uint16_t *data = fb_alloc(MLX90641_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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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, fir_mlx_data);
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MLX90641_CalculateTo(data, 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_ENABLE_FIR_AMG8833 == 1)
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static void fir_AMG8833_get_frame(float *Ta, float *To)
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{
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int16_t temp;
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int error = 0;
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error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_THERMISTOR_REGISTER}, 1, CAMBUS_XFER_NO_STOP);
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error |= cambus_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) &temp, sizeof(temp), CAMBUS_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 |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_TEMPERATURE_REGISTER}, 1, CAMBUS_XFER_NO_STOP);
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error |= cambus_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) data, AMG8833_WIDTH * AMG8833_HEIGHT * 2, CAMBUS_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, bool flip, bool dst_transpose, bool src_transpose)
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{
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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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int w_1 = w - 1;
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int h_1 = h - 1;
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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_1 - y) : 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_1 - x) : 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_1 - x) : 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_1 - y) : 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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{
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#if (OMV_ENABLE_FIR_LEPTON == 1)
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if (fir_sensor == FIR_LEPTON) {
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fir_lepton_deinit();
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}
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#endif
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if (fir_sensor != FIR_NONE) {
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cambus_deinit(&fir_bus);
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fir_sensor = FIR_NONE;
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}
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#if ((OMV_ENABLE_FIR_MLX90621 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90641 == 1))
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if (fir_mlx_data != NULL) {
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xfree(fir_mlx_data);
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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(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
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{
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py_fir_deinit();
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bool first_init = true;
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int type = py_helper_keyword_int(n_args, args, 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_type), -1);
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if (type == -1) {
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FIR_SCAN_RETRY:
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cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_STANDARD);
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switch (cambus_scan(&fir_bus)) {
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#if (OMV_ENABLE_FIR_MLX90621 == 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_ENABLE_FIR_MLX90640 == 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_ENABLE_FIR_MLX90640 == 0) && (OMV_ENABLE_FIR_MLX90641 == 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_ENABLE_FIR_AMG8833 == 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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#if (OMV_ENABLE_FIR_LEPTON == 1)
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case LEPTON_ADDR: {
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type = FIR_LEPTON;
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break;
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}
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#endif
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default: {
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if (first_init) {
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first_init = false;
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// Try to recover the bus once as it may be stuck from an interrupted run.
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// This is mostly needed for the AMG8833
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cambus_pulse_scl(&fir_bus);
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goto FIR_SCAN_RETRY;
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} else {
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mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to detect any FIR sensor"));
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}
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}
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}
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cambus_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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case FIR_NONE: {
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return mp_const_none;
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}
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#if (OMV_ENABLE_FIR_MLX90621 == 1)
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case FIR_MLX90621: {
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// parse refresh rate and ADC resolution
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int ir_fresh_rate = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_refresh), 64);
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int adc_resolution = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_resolution), 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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fir_mlx_data = xalloc(sizeof(paramsMLX90621));
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fir_sensor = FIR_MLX90621;
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FIR_MLX90621_RETRY:
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cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_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, 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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cambus_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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cambus_deinit(&fir_bus);
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cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_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_ENABLE_FIR_MLX90640 == 1)
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case FIR_MLX90640: {
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// parse refresh rate and ADC resolution
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int ir_fresh_rate = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_refresh), 32);
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int adc_resolution = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_resolution), 19);
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// sanitize values
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ir_fresh_rate = __CLZ(__RBIT((ir_fresh_rate > 64) ? 64 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate))) + 1;
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adc_resolution = ((adc_resolution > 19) ? 19 : ((adc_resolution < 16) ? 16 : adc_resolution)) - 16;
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fir_mlx_data = xalloc(sizeof(paramsMLX90640));
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fir_sensor = FIR_MLX90640;
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FIR_MLX90640_RETRY:
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cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
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MLX90640_I2CInit(&fir_bus);
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fb_alloc_mark();
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uint16_t *eeprom = fb_alloc(MLX90640_EEPROM_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
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int error = MLX90640_DumpEE(MLX90640_ADDR, eeprom);
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error |= MLX90640_SetRefreshRate(MLX90640_ADDR, ir_fresh_rate);
|
|
error |= MLX90640_SetResolution(MLX90640_ADDR, adc_resolution);
|
|
error |= MLX90640_ExtractParameters(eeprom, fir_mlx_data);
|
|
fb_alloc_free_till_mark();
|
|
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
cambus_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
|
|
cambus_deinit(&fir_bus);
|
|
cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_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_ENABLE_FIR_MLX90641 == 1)
|
|
case FIR_MLX90641: {
|
|
// parse refresh rate and ADC resolution
|
|
int ir_fresh_rate = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_refresh), 32);
|
|
int adc_resolution = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_resolution), 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;
|
|
|
|
fir_mlx_data = xalloc(sizeof(paramsMLX90641));
|
|
|
|
fir_sensor = FIR_MLX90641;
|
|
FIR_MLX90641_RETRY:
|
|
cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_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, fir_mlx_data);
|
|
fb_alloc_free_till_mark();
|
|
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
cambus_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
|
|
cambus_deinit(&fir_bus);
|
|
cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_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_ENABLE_FIR_AMG8833 == 1)
|
|
case FIR_AMG8833: {
|
|
fir_sensor = FIR_AMG8833;
|
|
FIR_AMG8833_RETRY:
|
|
cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_STANDARD);
|
|
|
|
int error = 0;
|
|
error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_RESET_REGISTER}, 1, CAMBUS_XFER_SUSPEND);
|
|
error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_INITIAL_RESET_VALUE}, 1, CAMBUS_XFER_NO_FLAGS);
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
cambus_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
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
case FIR_LEPTON: {
|
|
fir_sensor = FIR_LEPTON;
|
|
FIR_LEPTON_RETRY:
|
|
cambus_init(&fir_bus, OMV_FIR_LEPTON_I2C_BUS, OMV_FIR_LEPTON_I2C_BUS_SPEED);
|
|
|
|
int error = fir_lepton_init(&fir_bus, &fir_width, &fir_height, &fir_ir_fresh_rate, &fir_adc_resolution);
|
|
|
|
if (error != 0) {
|
|
if (first_init) {
|
|
first_init = false;
|
|
cambus_pulse_scl(&fir_bus);
|
|
goto FIR_LEPTON_RETRY;
|
|
} else {
|
|
py_fir_deinit();
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the Lepton!"));
|
|
}
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
#endif
|
|
default: {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid sensor type!"));
|
|
}
|
|
}
|
|
|
|
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_const_none;
|
|
return mp_obj_new_int(fir_sensor);
|
|
}
|
|
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_const_none;
|
|
return mp_obj_new_int(fir_width);
|
|
}
|
|
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_const_none;
|
|
return mp_obj_new_int(fir_height);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_height_obj, py_fir_height);
|
|
|
|
static mp_obj_t py_fir_refresh()
|
|
{
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 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_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90641 == 1)
|
|
const int mlx_90640_1_refresh_rates[8] = {0, 1, 2, 4, 8, 16, 32, 64};
|
|
#endif
|
|
switch (fir_sensor) {
|
|
case FIR_NONE:
|
|
return mp_const_none;
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 1)
|
|
case FIR_MLX90621:
|
|
return mp_obj_new_int(mlx_90621_refresh_rates[fir_ir_fresh_rate]);
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1)
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 1)
|
|
case FIR_MLX90640:
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90641 == 1)
|
|
case FIR_MLX90641:
|
|
#endif
|
|
return mp_obj_new_int(mlx_90640_1_refresh_rates[fir_ir_fresh_rate]);
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_AMG8833 == 1)
|
|
case FIR_AMG8833:
|
|
return mp_obj_new_int(fir_ir_fresh_rate);
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
case FIR_LEPTON:
|
|
return mp_obj_new_int(fir_ir_fresh_rate);
|
|
#endif
|
|
default:
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_refresh_obj, py_fir_refresh);
|
|
|
|
static mp_obj_t py_fir_resolution()
|
|
{
|
|
switch (fir_sensor) {
|
|
case FIR_NONE:
|
|
return mp_const_none;
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 1)
|
|
case FIR_MLX90621:
|
|
return mp_obj_new_int(fir_adc_resolution + 15);
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1)
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 1)
|
|
case FIR_MLX90640:
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90641 == 1)
|
|
case FIR_MLX90641:
|
|
#endif
|
|
return mp_obj_new_int(fir_adc_resolution + 16);
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_AMG8833 == 1)
|
|
case FIR_AMG8833:
|
|
return mp_obj_new_int(fir_adc_resolution);
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
case FIR_LEPTON:
|
|
return mp_obj_new_int(fir_adc_resolution);
|
|
#endif
|
|
default:
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_resolution_obj, py_fir_resolution);
|
|
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
static mp_obj_t py_fir_radiometric()
|
|
{
|
|
if (fir_sensor == FIR_LEPTON) {
|
|
return fir_lepton_get_radiometry();
|
|
}
|
|
|
|
return mp_const_true;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_radiometric_obj, py_fir_radiometric);
|
|
|
|
#if defined(OMV_FIR_LEPTON_VSYNC_PRESENT)
|
|
static mp_obj_t py_fir_register_vsync_cb(mp_obj_t cb)
|
|
{
|
|
if (fir_sensor == FIR_LEPTON) {
|
|
fir_lepton_register_vsync_cb(cb);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_fir_register_vsync_cb_obj, py_fir_register_vsync_cb);
|
|
#endif
|
|
|
|
static mp_obj_t py_fir_register_frame_cb(mp_obj_t cb)
|
|
{
|
|
if (fir_sensor == FIR_LEPTON) {
|
|
fir_lepton_register_frame_cb(cb);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_fir_register_frame_cb_obj, py_fir_register_frame_cb);
|
|
|
|
static mp_obj_t py_fir_get_frame_available()
|
|
{
|
|
if (fir_sensor == FIR_LEPTON) {
|
|
return fir_lepton_get_frame_available();
|
|
}
|
|
|
|
return mp_const_true;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_get_frame_available_obj, py_fir_get_frame_available);
|
|
|
|
static mp_obj_t py_fir_trigger_ffc(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
|
|
{
|
|
if (fir_sensor == FIR_LEPTON) {
|
|
fir_lepton_trigger_ffc(n_args, args, kw_args);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_trigger_ffc_obj, 0, py_fir_trigger_ffc);
|
|
#endif
|
|
|
|
mp_obj_t py_fir_read_ta()
|
|
{
|
|
switch(fir_sensor) {
|
|
case FIR_NONE: {
|
|
return mp_const_none;
|
|
}
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 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, fir_mlx_data));
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 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, fir_mlx_data));
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90641 == 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, fir_mlx_data));
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_AMG8833 == 1)
|
|
case FIR_AMG8833: {
|
|
int16_t temp;
|
|
int error = 0;
|
|
error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_THERMISTOR_REGISTER}, 1, CAMBUS_XFER_NO_STOP);
|
|
error |= cambus_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) &temp, sizeof(temp), CAMBUS_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
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
case FIR_LEPTON: {
|
|
return fir_lepton_read_ta();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
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(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
|
|
{
|
|
bool arg_hmirror = py_helper_keyword_int(n_args, args, 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hmirror), false);
|
|
bool arg_vflip = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_vflip), false);
|
|
fir_transposed = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_transpose), false);
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
int arg_timeout = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_timeout), -1);
|
|
#endif
|
|
|
|
switch(fir_sensor) {
|
|
case FIR_NONE: {
|
|
return mp_const_none;
|
|
}
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 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,
|
|
arg_hmirror ^ true, arg_vflip, fir_transposed, true);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 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,
|
|
arg_hmirror ^ true, arg_vflip, fir_transposed, false);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90641 == 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,
|
|
arg_hmirror ^ true, arg_vflip, fir_transposed, false);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_AMG8833 == 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,
|
|
arg_hmirror ^ true, arg_vflip, fir_transposed, true);
|
|
fb_alloc_free_till_mark();
|
|
return result;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
case FIR_LEPTON: {
|
|
return fir_lepton_read_ir(fir_width, fir_height, arg_hmirror, arg_vflip, fir_transposed, arg_timeout);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
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(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
|
|
{
|
|
image_t *dst_img = py_helper_arg_to_image_mutable(args[0]);
|
|
|
|
image_t src_img;
|
|
src_img.bpp = IMAGE_BPP_GRAYSCALE;
|
|
|
|
size_t len;
|
|
mp_obj_t *items, *arg_to;
|
|
mp_obj_get_array(args[1], &len, &items);
|
|
|
|
if (len == 3) {
|
|
src_img.w = mp_obj_get_int(items[0]);
|
|
src_img.h = mp_obj_get_int(items[1]);
|
|
mp_obj_get_array_fixed_n(items[2], src_img.w * src_img.h, &arg_to);
|
|
} else if (fir_sensor != FIR_NONE) {
|
|
src_img.w = fir_transposed ? fir_height : fir_width;
|
|
src_img.h = fir_transposed ? fir_width : fir_height;
|
|
// Handle if the user passed an array of the array.
|
|
if (len == 1) {
|
|
mp_obj_get_array_fixed_n(*items, src_img.w * src_img.h, &arg_to);
|
|
} else {
|
|
mp_obj_get_array_fixed_n(args[1], src_img.w * src_img.h, &arg_to);
|
|
}
|
|
} else {
|
|
mp_raise_msg(&mp_type_TypeError, MP_ERROR_TEXT("Invalid IR array!"));
|
|
}
|
|
|
|
int arg_x_off = 0;
|
|
int arg_y_off = 0;
|
|
uint offset = 2;
|
|
if (n_args > 2) {
|
|
if (MP_OBJ_IS_TYPE(args[2], &mp_type_tuple) || MP_OBJ_IS_TYPE(args[2], &mp_type_list)) {
|
|
mp_obj_t *arg_vec;
|
|
mp_obj_get_array_fixed_n(args[2], 2, &arg_vec);
|
|
arg_x_off = mp_obj_get_int(arg_vec[0]);
|
|
arg_y_off = mp_obj_get_int(arg_vec[1]);
|
|
offset = 3;
|
|
} else if (n_args > 3) {
|
|
arg_x_off = mp_obj_get_int(args[2]);
|
|
arg_y_off = mp_obj_get_int(args[3]);
|
|
offset = 4;
|
|
} else if (n_args > 2) {
|
|
mp_raise_msg(&mp_type_TypeError, MP_ERROR_TEXT("Expected x and y offset!"));
|
|
}
|
|
}
|
|
|
|
float arg_x_scale = 1.f;
|
|
bool got_x_scale = py_helper_keyword_float_maybe(n_args, args,
|
|
offset + 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_scale), &arg_x_scale);
|
|
|
|
float arg_y_scale = 1.f;
|
|
bool got_y_scale = py_helper_keyword_float_maybe(n_args, args,
|
|
offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_scale), &arg_y_scale);
|
|
|
|
rectangle_t arg_roi;
|
|
py_helper_keyword_rectangle_roi(&src_img, n_args, args, offset + 2, kw_args, &arg_roi);
|
|
|
|
float tmp_x_scale = dst_img->w / ((float) arg_roi.w);
|
|
float tmp_y_scale = dst_img->h / ((float) arg_roi.h);
|
|
float tmp_scale = IM_MIN(tmp_x_scale, tmp_y_scale);
|
|
|
|
if (n_args == 2) {
|
|
arg_x_off = fast_floorf((dst_img->w - (arg_roi.w * tmp_scale)) / 2.f);
|
|
arg_y_off = fast_floorf((dst_img->h - (arg_roi.h * tmp_scale)) / 2.f);
|
|
}
|
|
|
|
if (!got_x_scale) {
|
|
arg_x_scale = tmp_scale;
|
|
}
|
|
|
|
if (!got_y_scale) {
|
|
arg_y_scale = tmp_scale;
|
|
}
|
|
|
|
int arg_rgb_channel = py_helper_keyword_int(n_args, args, offset + 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_channel), -1);
|
|
if ((arg_rgb_channel < -1) || (2 < arg_rgb_channel)) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("-1 <= rgb_channel <= 2!"));
|
|
}
|
|
|
|
int arg_alpha = py_helper_keyword_int(n_args, args, offset + 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 128);
|
|
if ((arg_alpha < 0) || (256 < arg_alpha)) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= alpha <= 256!"));
|
|
}
|
|
|
|
const uint16_t *color_palette = py_helper_keyword_color_palette(n_args, args, offset + 5, kw_args, rainbow_table);
|
|
const uint8_t *alpha_palette = py_helper_keyword_alpha_palette(n_args, args, offset + 6, kw_args, NULL);
|
|
|
|
image_hint_t hint = py_helper_keyword_int(n_args, args, offset + 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hint), 0);
|
|
|
|
int arg_x_size;
|
|
bool got_x_size = py_helper_keyword_int_maybe(n_args, args, offset + 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_size), &arg_x_size);
|
|
|
|
int arg_y_size;
|
|
bool got_y_size = py_helper_keyword_int_maybe(n_args, args, offset + 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_size), &arg_y_size);
|
|
|
|
if (got_x_scale && got_x_size) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either x_scale or x_size not both!"));
|
|
}
|
|
|
|
if (got_y_scale && got_y_size) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either y_scale or y_size not both!"));
|
|
}
|
|
|
|
if (got_x_size) {
|
|
arg_x_scale = arg_x_size / ((float) arg_roi.w);
|
|
}
|
|
|
|
if (got_y_size) {
|
|
arg_y_scale = arg_y_size / ((float) arg_roi.h);
|
|
}
|
|
|
|
if ((!got_x_scale) && (!got_x_size) && got_y_size) {
|
|
arg_x_scale = arg_y_scale;
|
|
}
|
|
|
|
if ((!got_y_scale) && (!got_y_size) && got_x_size) {
|
|
arg_y_scale = arg_x_scale;
|
|
}
|
|
|
|
mp_obj_t scale_obj = py_helper_keyword_object(n_args, args, offset + 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale), NULL);
|
|
float min = FLT_MAX, max = -FLT_MAX;
|
|
|
|
if (scale_obj) {
|
|
mp_obj_t *arg_scale;
|
|
mp_obj_get_array_fixed_n(scale_obj, 2, &arg_scale);
|
|
min = mp_obj_get_float(arg_scale[0]);
|
|
max = mp_obj_get_float(arg_scale[1]);
|
|
} else {
|
|
for (int i = 0, ii = src_img.w * src_img.h; i < ii; i++) {
|
|
float temp = mp_obj_get_float(arg_to[i]);
|
|
if (temp < min) {
|
|
min = temp;
|
|
}
|
|
if (temp > max) {
|
|
max = temp;
|
|
}
|
|
}
|
|
}
|
|
|
|
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, arg_to, min, max);
|
|
|
|
imlib_draw_image(dst_img, &src_img, arg_x_off, arg_y_off, arg_x_scale, arg_y_scale, &arg_roi,
|
|
arg_rgb_channel, arg_alpha, color_palette, alpha_palette, hint, 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(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
|
|
{
|
|
if (fir_sensor == FIR_NONE) return mp_const_none;
|
|
|
|
bool arg_hmirror = py_helper_keyword_int(n_args, args, 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hmirror), false);
|
|
bool arg_vflip = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_vflip), false);
|
|
bool arg_transpose = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_transpose), false);
|
|
|
|
image_t src_img;
|
|
src_img.bpp = IMAGE_BPP_GRAYSCALE;
|
|
src_img.w = arg_transpose ? fir_height : fir_width;
|
|
src_img.h = arg_transpose ? fir_width : fir_height;
|
|
|
|
float arg_x_scale = 1.f;
|
|
bool got_x_scale = py_helper_keyword_float_maybe(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_scale), &arg_x_scale);
|
|
|
|
float arg_y_scale = 1.f;
|
|
bool got_y_scale = py_helper_keyword_float_maybe(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_scale), &arg_y_scale);
|
|
|
|
rectangle_t arg_roi;
|
|
py_helper_keyword_rectangle_roi(&src_img, n_args, args, 5, kw_args, &arg_roi);
|
|
|
|
int arg_rgb_channel = py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_channel), -1);
|
|
if ((arg_rgb_channel < -1) || (2 < arg_rgb_channel)) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("-1 <= rgb_channel <= 2!"));
|
|
}
|
|
|
|
int arg_alpha = py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 128);
|
|
if ((arg_alpha < 0) || (256 < arg_alpha)) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= alpha <= 256!"));
|
|
}
|
|
|
|
const uint16_t *color_palette = py_helper_keyword_color_palette(n_args, args, 8, kw_args, rainbow_table);
|
|
const uint8_t *alpha_palette = py_helper_keyword_alpha_palette(n_args, args, 9, kw_args, NULL);
|
|
|
|
image_hint_t hint = py_helper_keyword_int(n_args, args, 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hint), 0);
|
|
|
|
int arg_x_size;
|
|
bool got_x_size = py_helper_keyword_int_maybe(n_args, args, 11, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_size), &arg_x_size);
|
|
|
|
int arg_y_size;
|
|
bool got_y_size = py_helper_keyword_int_maybe(n_args, args, 12, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_size), &arg_y_size);
|
|
|
|
if (got_x_scale && got_x_size) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either x_scale or x_size not both!"));
|
|
}
|
|
|
|
if (got_y_scale && got_y_size) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either y_scale or y_size not both!"));
|
|
}
|
|
|
|
if (got_x_size) {
|
|
arg_x_scale = arg_x_size / ((float) arg_roi.w);
|
|
}
|
|
|
|
if (got_y_size) {
|
|
arg_y_scale = arg_y_size / ((float) arg_roi.h);
|
|
}
|
|
|
|
if ((!got_x_scale) && (!got_x_size) && got_y_size) {
|
|
arg_x_scale = arg_y_scale;
|
|
}
|
|
|
|
if ((!got_y_scale) && (!got_y_size) && got_x_size) {
|
|
arg_y_scale = arg_x_scale;
|
|
}
|
|
|
|
mp_obj_t scale_obj = py_helper_keyword_object(n_args, args, 13, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale), NULL);
|
|
float min, max;
|
|
|
|
if (scale_obj) {
|
|
mp_obj_t *arg_scale;
|
|
mp_obj_get_array_fixed_n(scale_obj, 2, &arg_scale);
|
|
min = mp_obj_get_float(arg_scale[0]);
|
|
max = mp_obj_get_float(arg_scale[1]);
|
|
}
|
|
|
|
int arg_pixformat = py_helper_keyword_int(n_args, args, 14, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_pixformat), PIXFORMAT_RGB565);
|
|
if ((arg_pixformat != PIXFORMAT_GRAYSCALE) && (arg_pixformat != PIXFORMAT_RGB565)) {
|
|
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid pixformat!"));
|
|
}
|
|
|
|
mp_obj_t copy_to_fb_obj = py_helper_keyword_object(n_args, args, 15, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_copy_to_fb), NULL);
|
|
bool copy_to_fb = false;
|
|
image_t *arg_other = NULL;
|
|
|
|
if (copy_to_fb_obj) {
|
|
if (mp_obj_is_integer(copy_to_fb_obj)) {
|
|
copy_to_fb = mp_obj_get_int(copy_to_fb_obj);
|
|
} else {
|
|
arg_other = py_helper_arg_to_image_mutable_bayer(copy_to_fb_obj);
|
|
}
|
|
}
|
|
|
|
if (copy_to_fb) {
|
|
fb_update_jpeg_buffer();
|
|
}
|
|
|
|
image_t dst_img;
|
|
dst_img.w = fast_floorf(arg_roi.w * arg_x_scale);
|
|
dst_img.h = fast_floorf(arg_roi.h * arg_y_scale);
|
|
dst_img.bpp = (arg_pixformat == PIXFORMAT_RGB565) ? IMAGE_BPP_RGB565 : IMAGE_BPP_GRAYSCALE;
|
|
|
|
if (copy_to_fb) {
|
|
py_helper_set_to_framebuffer(&dst_img);
|
|
} else if (arg_other) {
|
|
bool fb = py_helper_is_equal_to_framebuffer(arg_other);
|
|
size_t size = fb ? framebuffer_get_buffer_size() : image_size(arg_other);
|
|
PY_ASSERT_TRUE_MSG((image_size(&dst_img) <= size),
|
|
"The new image won't fit in the target frame buffer!");
|
|
arg_other->w = dst_img.w;
|
|
arg_other->h = dst_img.h;
|
|
arg_other->bpp = dst_img.bpp;
|
|
dst_img.data = arg_other->data;
|
|
py_helper_update_framebuffer(&dst_img);
|
|
} else {
|
|
dst_img.data = xalloc(image_size(&dst_img));
|
|
}
|
|
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
int arg_timeout = py_helper_keyword_int(n_args, args, 16, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_timeout), -1);
|
|
#endif
|
|
|
|
fb_alloc_mark();
|
|
src_img.data = fb_alloc(src_img.w * src_img.h * sizeof(uint8_t), FB_ALLOC_NO_HINT);
|
|
|
|
switch(fir_sensor) {
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 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 (!scale_obj) {
|
|
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,
|
|
arg_hmirror ^ true, arg_vflip, arg_transpose, true);
|
|
fb_free();
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90640 == 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 (!scale_obj) {
|
|
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,
|
|
arg_hmirror ^ true, arg_vflip, arg_transpose, false);
|
|
fb_free();
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90641 == 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 (!scale_obj) {
|
|
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,
|
|
arg_hmirror ^ true, arg_vflip, arg_transpose, false);
|
|
fb_free();
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_AMG8833 == 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 (!scale_obj) {
|
|
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,
|
|
arg_hmirror ^ true, arg_vflip, arg_transpose, true);
|
|
fb_free();
|
|
break;
|
|
}
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
case FIR_LEPTON: {
|
|
fir_lepton_fill_image(&src_img, fir_width, fir_height, !scale_obj, min, max,
|
|
arg_hmirror, arg_vflip, arg_transpose, arg_timeout);
|
|
break;
|
|
}
|
|
#endif
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
|
|
imlib_draw_image(&dst_img, &src_img, 0, 0, arg_x_scale, arg_y_scale,
|
|
&arg_roi, arg_rgb_channel, arg_alpha, color_palette, alpha_palette,
|
|
(hint & (~IMAGE_HINT_CENTER)) | IMAGE_HINT_BLACK_BACKGROUND, NULL, NULL);
|
|
|
|
fb_alloc_free_till_mark();
|
|
|
|
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) },
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_NONE), MP_ROM_INT(FIR_NONE) },
|
|
#if (OMV_ENABLE_FIR_MLX90621 == 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_ENABLE_FIR_MLX90640 == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_MLX90640), MP_ROM_INT(FIR_MLX90640) },
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_MLX90641 == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_MLX90641), MP_ROM_INT(FIR_MLX90641) },
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_AMG8833 == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_AMG8833), MP_ROM_INT(FIR_AMG8833) },
|
|
#endif
|
|
#if (OMV_ENABLE_FIR_LEPTON == 1)
|
|
{ MP_ROM_QSTR(MP_QSTR_FIR_LEPTON), MP_ROM_INT(FIR_LEPTON) },
|
|
#endif
|
|
{ MP_ROM_QSTR(MP_QSTR_PALETTE_RAINBOW), MP_ROM_INT(COLOR_PALETTE_RAINBOW) },
|
|
{ MP_ROM_QSTR(MP_QSTR_PALETTE_IRONBOW), MP_ROM_INT(COLOR_PALETTE_IRONBOW) },
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{ MP_ROM_QSTR(MP_QSTR_GRAYSCALE), MP_ROM_INT(PIXFORMAT_GRAYSCALE) },
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{ MP_ROM_QSTR(MP_QSTR_RGB565), MP_ROM_INT(PIXFORMAT_RGB565) },
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{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&py_fir_init_obj) },
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{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&py_fir_deinit_obj) },
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{ MP_ROM_QSTR(MP_QSTR_type), MP_ROM_PTR(&py_fir_type_obj) },
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{ MP_ROM_QSTR(MP_QSTR_width), MP_ROM_PTR(&py_fir_width_obj) },
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{ MP_ROM_QSTR(MP_QSTR_height), MP_ROM_PTR(&py_fir_height_obj) },
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{ MP_ROM_QSTR(MP_QSTR_refresh), MP_ROM_PTR(&py_fir_refresh_obj) },
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{ MP_ROM_QSTR(MP_QSTR_resolution), MP_ROM_PTR(&py_fir_resolution_obj) },
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#if (OMV_ENABLE_FIR_LEPTON == 1)
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{ MP_ROM_QSTR(MP_QSTR_radiometric), MP_ROM_PTR(&py_fir_radiometric_obj) },
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#if defined(OMV_FIR_LEPTON_VSYNC_PRESENT)
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{ MP_ROM_QSTR(MP_QSTR_register_vsync_cb), MP_ROM_PTR(&py_fir_register_vsync_cb_obj) },
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#else
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{ MP_ROM_QSTR(MP_QSTR_register_vsync_cb), MP_ROM_PTR(&py_func_unavailable_obj) },
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#endif
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{ MP_ROM_QSTR(MP_QSTR_register_frame_cb), MP_ROM_PTR(&py_fir_register_frame_cb_obj) },
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{ MP_ROM_QSTR(MP_QSTR_get_frame_available), MP_ROM_PTR(&py_fir_get_frame_available_obj) },
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{ MP_ROM_QSTR(MP_QSTR_trigger_ffc), MP_ROM_PTR(&py_fir_trigger_ffc_obj) },
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#else
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{ MP_ROM_QSTR(MP_QSTR_radiometric), MP_ROM_PTR(&py_func_unavailable_obj) },
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|
{ MP_ROM_QSTR(MP_QSTR_register_vsync_cb), MP_ROM_PTR(&py_func_unavailable_obj) },
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|
{ MP_ROM_QSTR(MP_QSTR_register_frame_cb), MP_ROM_PTR(&py_func_unavailable_obj) },
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|
{ MP_ROM_QSTR(MP_QSTR_get_frame_available), MP_ROM_PTR(&py_func_unavailable_obj) },
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{ MP_ROM_QSTR(MP_QSTR_trigger_ffc), MP_ROM_PTR(&py_func_unavailable_obj) },
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|
#endif
|
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{ MP_ROM_QSTR(MP_QSTR_read_ta), MP_ROM_PTR(&py_fir_read_ta_obj) },
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{ MP_ROM_QSTR(MP_QSTR_read_ir), MP_ROM_PTR(&py_fir_read_ir_obj) },
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{ MP_ROM_QSTR(MP_QSTR_draw_ir), MP_ROM_PTR(&py_fir_draw_ir_obj) },
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{ MP_ROM_QSTR(MP_QSTR_snapshot), MP_ROM_PTR(&py_fir_snapshot_obj) }
|
|
};
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|
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STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
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|
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const mp_obj_module_t fir_module = {
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|
.base = { &mp_type_module },
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|
.globals = (mp_obj_t) &globals_dict,
|
|
};
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|
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void py_fir_init0()
|
|
{
|
|
py_fir_deinit();
|
|
}
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