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seeed_mlx9064x.py
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seeed_mlx9064x.py
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import struct
import math
import time
from grove.i2c import Bus
# This relies on the driver written by siddacious and can be found at:
# https://github.com/adafruit/Adafruit_CircuitPython_MLX90640
eeData = [0] * 832
I2C_READ_LEN = 2048
SCALEALPHA = 0.000001
MLX90640_DEVICEID1 = 0x2407
OPENAIR_TA_SHIFT = 12
class RefreshRate:
""" Enum-like class for MLX90640's refresh rate """
REFRESH_0_5_HZ = 0b000 # 0.5Hz
REFRESH_1_HZ = 0b001 # 1Hz
REFRESH_2_HZ = 0b010 # 2Hz
REFRESH_4_HZ = 0b011 # 4Hz
REFRESH_8_HZ = 0b100 # 8Hz
REFRESH_16_HZ = 0b101 # 16Hz
REFRESH_32_HZ = 0b110 # 32Hz
REFRESH_64_HZ = 0b111 # 64Hz
class MLX9064X_I2C_Driver:
def __init__(self,address):
self.bus = Bus()
self.addr = address
def I2CWriteWord(self, writeAddress, data):
write = self.bus.msg.write(self.addr,[writeAddress>>8,writeAddress&0xFF,data>>8,data&0xFF])
try:
self.bus.i2c_rdwr(write)
except OSError:
print("Error:Please check if the I2C device insert in I2C of Base Hat")
exit(1)
def I2CReadWords(self, addr, buffer, *, end=None):
if end is None:
remainingWords = len(buffer)
else:
remainingWords = end
write = self.bus.msg.write(self.addr,[addr>>8,addr&0xFF])
read = self.bus.msg.read(self.addr,2*remainingWords)
try:
self.bus.i2c_rdwr(write, read)
except OSError:
print("Error:Please check if the I2C device insert in I2C of Base Hat")
exit(1)
result = list(read)
for i in range(remainingWords*2):
if i % 2 != 0:
buffer[(i-1)//2] = (result[i-1]<<8)|result[i]&0xff
class grove_mxl90640(MLX9064X_I2C_Driver):
"""Interface to the MLX90640 temperature sensor."""
kVdd = 0
vdd25 = 0
KvPTAT = 0
KtPTAT = 0
vPTAT25 = 0
alphaPTAT = 0
gainEE = 0
tgc = 0
KsTa = 0
resolutionEE = 0
calibrationModeEE = 0
ksTo = [0] * 5
ct = [0] * 5
alpha = [0] * 768
alphaScale = 0
offset = [0] * 768
kta = [0] * 768
ktaScale = 0
kv = [0] * 768
kvScale = 0
cpAlpha = [0] * 2
cpOffset = [0] * 2
ilChessC = [0] * 3
brokenPixels = [0xFFFF] * 5
outlierPixels = [0xFFFF] * 5
cpKta = 0
cpKv = 0
def __init__(self,address=0x33):
super(grove_mxl90640, self).__init__(address)
self.refresh_rate = RefreshRate.REFRESH_0_5_HZ
self.I2CReadWords(0x2400, eeData)
# print(eeData)
self._ExtractParameters()
@property
def serial_number(self):
""" 3-item tuple of hex values that are unique to each MLX90640 """
serialWords = [0, 0, 0]
self.I2CReadWords(MLX90640_DEVICEID1, serialWords)
return serialWords
@property
def refresh_rate(self):
""" How fast the MLX90640 will spit out data. Start at lowest speed in
RefreshRate and then slowly increase I2C clock rate and rate until you
max out. The sensor does not like it if the I2C host cannot 'keep up'!"""
controlRegister = [0]
self.I2CReadWords(0x800D, controlRegister)
return (controlRegister[0] >> 7) & 0x07
@refresh_rate.setter
def refresh_rate(self, rate):
controlRegister = [0]
value = (rate & 0x7) << 7
self.I2CReadWords(0x800D, controlRegister)
value |= controlRegister[0] & 0xFC7F
self.I2CWriteWord(0x800d, value)
def getFrame(self, framebuf):
""" Request both 'halves' of a frame from the sensor, merge them
and calculate the temperature in C for each of 32x24 pixels. Placed
into the 768-element array passed in! """
emissivity = 0.95
tr = 23.15
mlx90640Frame = [0] * 834
for _ in range(2):
status = self._GetFrameData(mlx90640Frame)
if status < 0:
raise RuntimeError("Frame data error")
# For a MLX90640 in the open air the shift is -8 degC.
tr = self._GetTa(mlx90640Frame) - OPENAIR_TA_SHIFT
self._CalculateTo(mlx90640Frame, emissivity, tr, framebuf)
def _GetFrameData(self, frameData):
dataReady = 0
cnt = 0
statusRegister = [0]
controlRegister = [0]
while dataReady == 0:
self.I2CReadWords(0x8000, statusRegister)
dataReady = statusRegister[0] & 0x0008
# print("ready status: 0x%x" % dataReady)
while (dataReady != 0) and (cnt < 5):
self.I2CWriteWord(0x8000, 0x0030)
#print("Read frame", cnt)
self.I2CReadWords(0x0400, frameData, end=832)
self.I2CReadWords(0x8000, statusRegister)
dataReady = statusRegister[0] & 0x0008
#print("frame ready: 0x%x" % dataReady)
cnt += 1
if cnt > 4:
raise RuntimeError("Too many retries")
self.I2CReadWords(0x800D, controlRegister)
frameData[832] = controlRegister[0]
frameData[833] = statusRegister[0] & 0x0001
return frameData[833]
def _GetTa(self, frameData):
vdd = self._GetVdd(frameData)
ptat = frameData[800]
if ptat > 32767:
ptat -= 65536
ptatArt = frameData[768]
if ptatArt > 32767:
ptatArt -= 65536
ptatArt = (ptat / (ptat * self.alphaPTAT + ptatArt)) * math.pow(2, 18)
ta = (ptatArt / (1 + self.KvPTAT * (vdd - 3.3)) - self.vPTAT25)
ta = ta / self.KtPTAT + 25
return ta
def _GetVdd(self, frameData):
vdd = frameData[810]
if vdd > 32767:
vdd -= 65536
resolutionRAM = (frameData[832] & 0x0C00) >> 10
resolutionCorrection = math.pow(2, self.resolutionEE) / math.pow(2, resolutionRAM)
vdd = (resolutionCorrection * vdd - self.vdd25) / self.kVdd + 3.3
return vdd
def _CalculateTo(self, frameData, emissivity, tr, result):
# pylint: disable=too-many-locals, too-many-branches, too-many-statements
subPage = frameData[833]
alphaCorrR = [0] * 4
irDataCP = [0, 0]
vdd = self._GetVdd(frameData)
ta = self._GetTa(frameData)
ta4 = (ta + 273.15)
ta4 = ta4 * ta4
ta4 = ta4 * ta4
tr4 = (tr + 273.15)
tr4 = tr4 * tr4
tr4 = tr4 * tr4
taTr = tr4 - (tr4-ta4)/emissivity
ktaScale = math.pow(2, self.ktaScale)
kvScale = math.pow(2, self.kvScale)
alphaScale = math.pow(2, self.alphaScale)
alphaCorrR[0] = 1 / (1 +self.ksTo[0] * 40)
alphaCorrR[1] = 1
alphaCorrR[2] = (1 + self.ksTo[1] * self.ct[2])
alphaCorrR[3] = alphaCorrR[2] * (1 + self.ksTo[2] * (self.ct[3] - self.ct[2]))
#--------- Gain calculation -----------------------------------
gain = frameData[778]
if gain > 32767:
gain -= 65536
gain = self.gainEE / gain
#--------- To calculation -------------------------------------
mode = (frameData[832] & 0x1000) >> 5
irDataCP[0] = frameData[776]
irDataCP[1] = frameData[808]
for i in range(2):
if irDataCP[i] > 32767:
irDataCP[i] -= 65536
irDataCP[i] *= gain
irDataCP[0] -= self.cpOffset[0]*(1 + self.cpKta*(ta - 25)) * (1 + self.cpKv*(vdd - 3.3))
if mode == self.calibrationModeEE:
irDataCP[1] -= (self.cpOffset[1] *
(1 + self.cpKta * (ta - 25)) *
(1 + self.cpKv * (vdd - 3.3)))
else:
irDataCP[1] -= ((self.cpOffset[1] + self.ilChessC[0]) *
(1 + self.cpKta * (ta - 25)) *
(1 + self.cpKv * (vdd - 3.3)))
for pixelNumber in range(768):
ilPattern = pixelNumber // 32 - (pixelNumber // 64) * 2
chessPattern = ilPattern ^ (pixelNumber - (pixelNumber//2)*2)
conversionPattern = ((pixelNumber + 2) // 4 -
(pixelNumber + 3) // 4 +
(pixelNumber + 1) // 4 -
pixelNumber // 4) * (1 - 2 * ilPattern)
if mode == 0:
pattern = ilPattern
else:
pattern = chessPattern
if pattern == frameData[833]:
irData = frameData[pixelNumber]
if irData > 32767:
irData -= 65536
irData *= gain
kta = self.kta[pixelNumber]/ktaScale
kv = self.kv[pixelNumber]/kvScale
irData -= (self.offset[pixelNumber] *
(1 + kta*(ta - 25)) *
(1 + kv*(vdd - 3.3)))
if mode != self.calibrationModeEE:
irData += (self.ilChessC[2] * (2 * ilPattern - 1) -
self.ilChessC[1] * conversionPattern)
irData = irData - self.tgc * irDataCP[subPage]
irData /= emissivity
alphaCompensated = SCALEALPHA * alphaScale/self.alpha[pixelNumber]
alphaCompensated *= (1 + self.KsTa * (ta - 25))
Sx = (alphaCompensated * alphaCompensated *
alphaCompensated * (irData + alphaCompensated * taTr))
try:
Sx = math.sqrt(math.sqrt(Sx)) * self.ksTo[1]
except ValueError:
result[pixelNumber] = "nan"
continue
To = math.sqrt(math.sqrt(irData/(alphaCompensated *
(1 - self.ksTo[1] * 273.15) + Sx) + taTr)) - 273.15
if To < self.ct[1]:
torange = 0
elif To < self.ct[2]:
torange = 1
elif To < self.ct[3]:
torange = 2
else:
torange = 3
To = math.sqrt(math.sqrt(irData /
(alphaCompensated * alphaCorrR[torange] *
(1 + self.ksTo[torange] *
(To - self.ct[torange]))) + taTr)) - 273.15
result[pixelNumber] = To
# pylint: enable=too-many-locals, too-many-branches, too-many-statements
def _ExtractParameters(self):
self._ExtractVDDParameters()
self._ExtractPTATParameters()
self._ExtractGainParameters()
self._ExtractTgcParameters()
self._ExtractResolutionParameters()
self._ExtractKsTaParameters()
self._ExtractKsToParameters()
self._ExtractCPParameters()
self._ExtractAlphaParameters()
self._ExtractOffsetParameters()
self._ExtractKtaPixelParameters()
self._ExtractKvPixelParameters()
self._ExtractCILCParameters()
self._ExtractDeviatingPixels()
# debug output
# print('-'*40)
# print("kVdd = %d, vdd25 = %d" % (self.kVdd, self.vdd25))
# print("KvPTAT = %f, KtPTAT = %f, vPTAT25 = %d, alphaPTAT = %f" %
# (self.KvPTAT, self.KtPTAT, self.vPTAT25, self.alphaPTAT))
# print("Gain = %d, Tgc = %f, Resolution = %d" % (self.gainEE, self.tgc, self.resolutionEE))
# print("KsTa = %f, ksTo = %s, ct = %s" % (self.KsTa, self.ksTo, self.ct))
# print("cpAlpha:", self.cpAlpha, "cpOffset:", self.cpOffset)
# print("alpha: ", self.alpha)
# print("alphascale: ", self.alphaScale)
# print("offset: ", self.offset)
# print("kta:", self.kta)
# print("ktaScale:", self.ktaScale)
# print("kv:", self.kv)
# print("kvScale:", self.kvScale)
# print("calibrationModeEE:", self.calibrationModeEE)
# print("ilChessC:", self.ilChessC)
# print('-'*40)
def _ExtractVDDParameters(self):
# extract VDD
self.kVdd = (eeData[51] & 0xFF00) >> 8
if self.kVdd > 127:
self.kVdd -= 256 # convert to signed
self.kVdd *= 32
self.vdd25 = eeData[51] & 0x00FF
self.vdd25 = ((self.vdd25 - 256) << 5) - 8192
def _ExtractPTATParameters(self):
# extract PTAT
self.KvPTAT = (eeData[50] & 0xFC00) >> 10
if self.KvPTAT > 31:
self.KvPTAT -= 64
self.KvPTAT /= 4096
self.KtPTAT = eeData[50] & 0x03FF
if self.KtPTAT > 511:
self.KtPTAT -= 1024
self.KtPTAT /= 8
self.vPTAT25 = eeData[49]
self.alphaPTAT = (eeData[16] & 0xF000) / math.pow(2, 14) + 8
def _ExtractGainParameters(self):
# extract Gain
self.gainEE = eeData[48]
if self.gainEE > 32767:
self.gainEE -= 65536
def _ExtractTgcParameters(self):
# extract Tgc
self.tgc = eeData[60] & 0x00FF
if self.tgc > 127:
self.tgc -= 256
self.tgc /= 32
def _ExtractResolutionParameters(self):
# extract resolution
self.resolutionEE = (eeData[56] & 0x3000) >> 12
def _ExtractKsTaParameters(self):
# extract KsTa
self.KsTa = (eeData[60] & 0xFF00) >> 8
if self.KsTa > 127:
self.KsTa -= 256
self.KsTa /= 8192
def _ExtractKsToParameters(self):
# extract ksTo
step = ((eeData[63] & 0x3000) >> 12) * 10
self.ct[0] = -40
self.ct[1] = 0
self.ct[2] = (eeData[63] & 0x00F0) >> 4
self.ct[3] = (eeData[63] & 0x0F00) >> 8
self.ct[2] *= step
self.ct[3] = self.ct[2] + self.ct[3]*step
KsToScale = (eeData[63] & 0x000F) + 8
KsToScale = 1 << KsToScale
self.ksTo[0] = eeData[61] & 0x00FF
self.ksTo[1] = (eeData[61] & 0xFF00) >> 8
self.ksTo[2] = eeData[62] & 0x00FF
self.ksTo[3] = (eeData[62] & 0xFF00) >> 8
for i in range(4):
if self.ksTo[i] > 127:
self.ksTo[i] -= 256
self.ksTo[i] /= KsToScale
self.ksTo[4] = -0.0002
def _ExtractCPParameters(self):
# extract CP
offsetSP = [0] * 2
alphaSP = [0] * 2
alphaScale = ((eeData[32] & 0xF000) >> 12) + 27
offsetSP[0] = eeData[58] & 0x03FF
if offsetSP[0] > 511:
offsetSP[0] -= 1024
offsetSP[1] = (eeData[58] & 0xFC00) >> 10
if offsetSP[1] > 31:
offsetSP[1] -= 64
offsetSP[1] += offsetSP[0]
alphaSP[0] = eeData[57] & 0x03FF
if alphaSP[0] > 511:
alphaSP[0] -= 1024
alphaSP[0] /= math.pow(2, alphaScale)
alphaSP[1] = (eeData[57] & 0xFC00) >> 10
if alphaSP[1] > 31:
alphaSP[1] -= 64
alphaSP[1] = (1 + alphaSP[1]/128) * alphaSP[0]
cpKta = eeData[59] & 0x00FF
if cpKta > 127:
cpKta -= 256
ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8
self.cpKta = cpKta / math.pow(2, ktaScale1)
cpKv = (eeData[59] & 0xFF00) >> 8
if cpKv > 127:
cpKv -= 256
kvScale = (eeData[56] & 0x0F00) >> 8
self.cpKv = cpKv / math.pow(2, kvScale)
self.cpAlpha[0] = alphaSP[0]
self.cpAlpha[1] = alphaSP[1]
self.cpOffset[0] = offsetSP[0]
self.cpOffset[1] = offsetSP[1]
def _ExtractAlphaParameters(self):
# extract alpha
accRemScale = eeData[32] & 0x000F
accColumnScale = (eeData[32] & 0x00F0) >> 4
accRowScale = (eeData[32] & 0x0F00) >> 8
alphaScale = ((eeData[32] & 0xF000) >> 12) + 30
alphaRef = eeData[33]
accRow = [0]*24
accColumn = [0]*32
alphaTemp = [0] * 768
for i in range(6):
p = i * 4
accRow[p + 0] = (eeData[34 + i] & 0x000F)
accRow[p + 1] = (eeData[34 + i] & 0x00F0) >> 4
accRow[p + 2] = (eeData[34 + i] & 0x0F00) >> 8
accRow[p + 3] = (eeData[34 + i] & 0xF000) >> 12
for i in range(24):
if accRow[i] > 7:
accRow[i] -= 16
for i in range(8):
p = i * 4
accColumn[p + 0] = (eeData[40 + i] & 0x000F)
accColumn[p + 1] = (eeData[40 + i] & 0x00F0) >> 4
accColumn[p + 2] = (eeData[40 + i] & 0x0F00) >> 8
accColumn[p + 3] = (eeData[40 + i] & 0xF000) >> 12
for i in range(32):
if accColumn[i] > 7:
accColumn[i] -= 16
for i in range(24):
for j in range(32):
p = 32 * i + j
alphaTemp[p] = (eeData[64 + p] & 0x03F0) >> 4
if alphaTemp[p] > 31:
alphaTemp[p] -= 64
alphaTemp[p] *= 1 << accRemScale
alphaTemp[p] += (alphaRef + (accRow[i] << accRowScale) +
(accColumn[j] << accColumnScale))
alphaTemp[p] /= math.pow(2, alphaScale)
alphaTemp[p] -= self.tgc * (self.cpAlpha[0] + self.cpAlpha[1])/2
alphaTemp[p] = SCALEALPHA / alphaTemp[p]
#print("alphaTemp: ", alphaTemp)
temp = max(alphaTemp)
#print("temp", temp)
alphaScale = 0
while temp < 32768:
temp *= 2
alphaScale += 1
for i in range(768):
temp = alphaTemp[i] * math.pow(2, alphaScale)
self.alpha[i] = int(temp + 0.5)
self.alphaScale = alphaScale
def _ExtractOffsetParameters(self):
# extract offset
occRow = [0] * 24
occColumn = [0] * 32
occRemScale = (eeData[16] & 0x000F)
occColumnScale = (eeData[16] & 0x00F0) >> 4
occRowScale = (eeData[16] & 0x0F00) >> 8
offsetRef = eeData[17]
if offsetRef > 32767:
offsetRef -= 65536
for i in range(6):
p = i * 4
occRow[p + 0] = (eeData[18 + i] & 0x000F)
occRow[p + 1] = (eeData[18 + i] & 0x00F0) >> 4
occRow[p + 2] = (eeData[18 + i] & 0x0F00) >> 8
occRow[p + 3] = (eeData[18 + i] & 0xF000) >> 12
for i in range(24):
if occRow[i] > 7:
occRow[i] -= 16
for i in range(8):
p = i * 4
occColumn[p + 0] = (eeData[24 + i] & 0x000F)
occColumn[p + 1] = (eeData[24 + i] & 0x00F0) >> 4
occColumn[p + 2] = (eeData[24 + i] & 0x0F00) >> 8
occColumn[p + 3] = (eeData[24 + i] & 0xF000) >> 12
for i in range(32):
if occColumn[i] > 7:
occColumn[i] -= 16
for i in range(24):
for j in range(32):
p = 32 * i + j
self.offset[p] = (eeData[64 + p] & 0xFC00) >> 10
if self.offset[p] > 31:
self.offset[p] -= 64
self.offset[p] *= 1 << occRemScale
self.offset[p] += (offsetRef + (occRow[i] << occRowScale) +
(occColumn[j] << occColumnScale))
def _ExtractKtaPixelParameters(self): # pylint: disable=too-many-locals
# extract KtaPixel
KtaRC = [0] * 4
ktaTemp = [0] * 768
KtaRoCo = (eeData[54] & 0xFF00) >> 8
if KtaRoCo > 127:
KtaRoCo -= 256
KtaRC[0] = KtaRoCo
KtaReCo = eeData[54] & 0x00FF
if KtaReCo > 127:
KtaReCo -= 256
KtaRC[2] = KtaReCo
KtaRoCe = (eeData[55] & 0xFF00) >> 8
if KtaRoCe > 127:
KtaRoCe -= 256
KtaRC[1] = KtaRoCe
KtaReCe = eeData[55] & 0x00FF
if KtaReCe > 127:
KtaReCe -= 256
KtaRC[3] = KtaReCe
ktaScale1 = ((eeData[56] & 0x00F0) >> 4) + 8
ktaScale2 = (eeData[56] & 0x000F)
for i in range(24):
for j in range(32):
p = 32 * i + j
split = 2*(p//32 - (p//64)*2) + p%2
ktaTemp[p] = (eeData[64 + p] & 0x000E) >> 1
if ktaTemp[p] > 3:
ktaTemp[p] -= 8
ktaTemp[p] *= 1 << ktaScale2
ktaTemp[p] += KtaRC[split]
ktaTemp[p] /= math.pow(2, ktaScale1)
# ktaTemp[p] = ktaTemp[p] * mlx90640->offset[p]
temp = abs(ktaTemp[0])
for kta in ktaTemp:
temp = max(temp, abs(kta))
ktaScale1 = 0
while temp < 64:
temp *= 2
ktaScale1 += 1
for i in range(768):
temp = ktaTemp[i] * math.pow(2, ktaScale1)
if temp < 0:
self.kta[i] = int(temp - 0.5)
else:
self.kta[i] = int(temp + 0.5)
self.ktaScale = ktaScale1
def _ExtractKvPixelParameters(self):
KvT = [0] * 4
kvTemp = [0] * 768
KvRoCo = (eeData[52] & 0xF000) >> 12
if KvRoCo > 7:
KvRoCo -= 16
KvT[0] = KvRoCo
KvReCo = (eeData[52] & 0x0F00) >> 8
if KvReCo > 7:
KvReCo -= 16
KvT[2] = KvReCo
KvRoCe = (eeData[52] & 0x00F0) >> 4
if KvRoCe > 7:
KvRoCe -= 16
KvT[1] = KvRoCe
KvReCe = eeData[52] & 0x000F
if KvReCe > 7:
KvReCe -= 16
KvT[3] = KvReCe
kvScale = (eeData[56] & 0x0F00) >> 8
for i in range(24):
for j in range(32):
p = 32 * i + j
split = 2*(p//32 - (p//64)*2) + p%2
kvTemp[p] = KvT[split]
kvTemp[p] /= math.pow(2, kvScale)
#kvTemp[p] = kvTemp[p] * mlx90640->offset[p]
temp = abs(kvTemp[0])
for kv in kvTemp:
temp = max(temp, abs(kv))
kvScale = 0
while temp < 64:
temp *= 2
kvScale += 1
for i in range(768):
temp = kvTemp[i] * math.pow(2, kvScale)
if temp < 0:
self.kv[i] = int(temp - 0.5)
else:
self.kv[i] = int(temp + 0.5)
self.kvScale = kvScale
def _ExtractCILCParameters(self):
ilChessC = [0] * 3
self.calibrationModeEE = (eeData[10] & 0x0800) >> 4
self.calibrationModeEE = self.calibrationModeEE ^ 0x80
ilChessC[0] = eeData[53] & 0x003F
if ilChessC[0] > 31:
ilChessC[0] -= 64
ilChessC[0] /= 16.0
ilChessC[1] = (eeData[53] & 0x07C0) >> 6
if ilChessC[1] > 15:
ilChessC[1] -= 32
ilChessC[1] /= 2.0
ilChessC[2] = (eeData[53] & 0xF800) >> 11
if ilChessC[2] > 15:
ilChessC[2] -= 32
ilChessC[2] /= 8.0
self.ilChessC = ilChessC
def _ExtractDeviatingPixels(self):
self.brokenPixels = [0xFFFF] * 5
self.outlierPixels = [0xFFFF] * 5
pixCnt = 0
brokenPixCnt = 0
outlierPixCnt = 0
while (pixCnt < 768) and (brokenPixCnt < 5) and (outlierPixCnt < 5):
if eeData[pixCnt+64] == 0:
self.brokenPixels[brokenPixCnt] = pixCnt
brokenPixCnt += 1
elif (eeData[pixCnt+64] & 0x0001) != 0:
self.outlierPixels[outlierPixCnt] = pixCnt
outlierPixCnt += 1
pixCnt += 1
if brokenPixCnt > 4:
raise RuntimeError("More than 4 broken pixels")
if outlierPixCnt > 4:
raise RuntimeError("More than 4 outlier pixels")
if (brokenPixCnt + outlierPixCnt) > 4:
raise RuntimeError("More than 4 faulty pixels")
print("Found %d broken pixels, %d outliers" % (brokenPixCnt, outlierPixCnt))
# TODO INCOMPLETE
class grove_mxl90641(MLX9064X_I2C_Driver):
"""Interface to the MLX90640 temperature sensor."""
kVdd = 0
vdd25 = 0
KvPTAT = 0
KtPTAT = 0
vPTAT25 = 0
alphaPTAT = 0
gainEE = 0
tgc = 0
resolutionEE = 0
KsTa = 0
ksTo = [0] * 8
ct = [0] * 8
alpha = [0] * 192
alphaScale = 0
offset = [[0 for i in range(192)] for i in range(2)]
kta = [0] * 192
ktaScale = 0
kv = [0] * 192
kvScale = 0
cpAlpha = 0
cpOffset = 0
brokenPixels = [0xFFFF] * 5
cpKta = 0
cpKv = 0
emissivityEE = 0
def __init__(self,address=0x33):
super(grove_mxl90641, self).__init__(address)
self.refresh_rate = RefreshRate.REFRESH_0_5_HZ
self.I2CReadWords(0x2400, eeData)
self._HammingDecode()
self._ExtractParameters()
@property
def refresh_rate(self):
""" How fast the MLX90641 will spit out data. Start at lowest speed in
RefreshRate and then slowly increase I2C clock rate and rate until you
max out. The sensor does not like it if the I2C host cannot 'keep up'!"""
controlRegister = [0]
self.I2CReadWords(0x800D, controlRegister)
return (controlRegister[0] & 0x0380) & 0x07
@refresh_rate.setter
def refresh_rate(self, rate):
controlRegister = [0]
value = (rate & 0x7) << 7
self.I2CReadWords(0x800D, controlRegister)
value |= controlRegister[0] & 0xFC7F
self.I2CWriteWord(0x800d, value)
def getFrame(self, framebuf):
""" Request both 'halves' of a frame from the sensor, merge them
and calculate the temperature in C for each of 12x16 pixels. Placed
into the 192-element array passed in! """
emissivity = 0.95
tr = 23.15
mlx90641Frame = [0] * 242
for _ in range(2):
mlx90641Frame = self._GetFrameData()
if mlx90641Frame[241] < 0:
raise RuntimeError("Frame data error")
# For a MLX90641 in the open air the shift is -8 degC.
tr = self._GetTa(mlx90641Frame) - OPENAIR_TA_SHIFT
self._CalculateTo(mlx90641Frame, emissivity, tr, framebuf)
def _GetFrameData(self):
dataReady = 0
cnt = 0
statusRegister = [0]
controlRegister = [0]
subPage = 0
while dataReady == 0:
self.I2CReadWords(0x8000, statusRegister)
dataReady = statusRegister[0] & 0x0008
subPage = statusRegister[0] & 0x0001
while (dataReady != 0) and (cnt < 5):
self.I2CWriteWord(0x8000, 0x0030)
#print("Read frame", cnt)
recive_data = [0] * 32
reciver = [0]
if subPage == 0:
# print(data)
self.I2CReadWords(0x0400, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0440, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0480, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x04C0, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0500, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0540, recive_data, end=32)
reciver = reciver + recive_data
else:
self.I2CReadWords(0x0420, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0460, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x04A0, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x04E0, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0520, recive_data, end=32)
reciver = reciver + recive_data
self.I2CReadWords(0x0560, recive_data, end=32)
reciver = reciver + recive_data
recive_data = [0] * 48
self.I2CReadWords(0x0580, recive_data, end=48)
reciver = reciver + recive_data
self.I2CReadWords(0x8000, statusRegister)
dataReady = statusRegister[0] & 0x0008
subPage = statusRegister[0] & 0x0001
cnt += 1
if cnt > 4:
raise RuntimeError("Too many retries")
self.I2CReadWords(0x800D, controlRegister)
reciver.append(controlRegister[0])
reciver.append(statusRegister[0] & 0x0001)
del reciver[0]
return reciver
def _GetTa(self, frameData):
vdd = self._GetVdd(frameData)
ptat = frameData[224]
if ptat > 32767:
ptat -= 65536
ptatArt = frameData[192]
if ptatArt > 32767:
ptatArt -= 65536
ptatArt = (ptat / (ptat * self.alphaPTAT + ptatArt)) * math.pow(2, 18)
ta = (ptatArt / (1 + self.KvPTAT * (vdd - 3.3)) - self.vPTAT25)
ta = ta / self.KtPTAT + 25
return ta
def _GetVdd(self, frameData):
vdd = frameData[234]
if vdd > 32767:
vdd -= 65536
resolutionRAM = (frameData[240] & 0x0C00) >> 10
resolutionCorrection = math.pow(2, self.resolutionEE) / math.pow(2, resolutionRAM)
vdd = (resolutionCorrection * vdd - self.vdd25) / self.kVdd + 3.3
return vdd
def _CalculateTo(self, frameData, emissivity, tr, result):
# pylint: disable=too-many-locals, too-many-branches, too-many-statements
subPage = frameData[241]
alphaCorrR = [0] * 8
vdd = self._GetVdd(frameData)
ta = self._GetTa(frameData)
ta4 = (ta + 273.15)
ta4 = ta4 * ta4
ta4 = ta4 * ta4
tr4 = (tr + 273.15)
tr4 = tr4 * tr4
tr4 = tr4 * tr4
taTr = tr4 - (tr4-ta4) / emissivity
ktaScale = math.pow(2, self.ktaScale)
kvScale = math.pow(2, self.kvScale)
alphaScale = math.pow(2, self.alphaScale)
alphaCorrR[1] = 1 / (1 + self.ksTo[1] * 20)
alphaCorrR[0] = alphaCorrR[1] / (1 + self.ksTo[0] * 20)
alphaCorrR[2] = 1
alphaCorrR[3] = (1 + self.ksTo[2] * self.ct[3])
alphaCorrR[4] = alphaCorrR[3] * (1 + self.ksTo[3] * (self.ct[4] - self.ct[3]))
alphaCorrR[5] = alphaCorrR[4] * (1 + self.ksTo[4] * (self.ct[5] - self.ct[4]))
alphaCorrR[6] = alphaCorrR[5] * (1 + self.ksTo[5] * (self.ct[6] - self.ct[5]))
alphaCorrR[7] = alphaCorrR[6] * (1 + self.ksTo[6] * (self.ct[7] - self.ct[6]))
#--------- Gain calculation -----------------------------------
gain = frameData[202]
if gain > 32767:
gain -= 65536
gain = self.gainEE / gain
#--------- To calculation -------------------------------------
irDataCP = frameData[200]
if irDataCP > 32767 :
irDataCP -= 65536
irDataCP *= gain
irDataCP -= self.cpOffset*(1 + self.cpKta*(ta - 25)) * (1 + self.cpKv*(vdd - 3.3))
for pixelNumber in range(192):
irData = frameData[pixelNumber]
if irData > 32767:
irData -= 65536
irData *= gain
kta = self.kta[pixelNumber]/ktaScale
kv = self.kv[pixelNumber]/kvScale
irData -= (self.offset[subPage][pixelNumber] *
(1 + kta*(ta - 25)) *
(1 + kv*(vdd - 3.3)))
irData = irData - self.tgc * irDataCP
irData /= emissivity
alphaCompensated = SCALEALPHA * alphaScale/self.alpha[pixelNumber]
alphaCompensated *= (1 + self.KsTa * (ta - 25))
Sx = (alphaCompensated * alphaCompensated *
alphaCompensated * (irData + alphaCompensated * taTr))
try:
Sx = math.sqrt(math.sqrt(Sx)) * self.ksTo[2]
except ValueError:
result[pixelNumber] = "nan"
continue
To = math.sqrt(math.sqrt(irData / (alphaCompensated * (1 - self.ksTo[2] * 273.15) + Sx) + taTr)) - 273.15
if To < self.ct[1]:
torange = 0
elif To < self.ct[2]:
torange = 1
elif To < self.ct[3]:
torange = 2
elif To < self.ct[4]:
torange = 3
elif To < self.ct[5]:
torange = 4
elif To < self.ct[6]:
torange = 5
elif To < self.ct[7]:
torange = 6
else:
torange = 7
To = math.sqrt(math.sqrt(irData /
(alphaCompensated * alphaCorrR[torange] *
(1 + self.ksTo[torange] *
(To - self.ct[torange]))) + taTr)) - 273.15
result[pixelNumber] = To
# pylint: enable=too-many-locals, too-many-branches, too-many-statements
def _HammingDecode(self):
parity = [0] * 5
D = [0] * 16
error = 0
switcher = {
16: 15,
24: 14,
20: 13,
18: 12,
17: 11,
31: 10,
30: 9,
29: 8,
28: 7,
27: 6,
26: 5,
25: 4,
23: 3,
22: 2,
21: 1,
19: 0,
}
for addr in range(16,832):
parity[0] = -1
parity[1] = -1
parity[2] = -1
parity[3] = -1
parity[4] = -1
data = eeData[addr]
mask = 1
for i in range(16):
D[i] = (data & mask) >> i
mask = mask << 1
parity[0] = D[0]^D[1]^D[3]^D[4]^D[6]^D[8]^D[10]^D[11]
parity[1] = D[0]^D[2]^D[3]^D[5]^D[6]^D[9]^D[10]^D[12]
parity[2] = D[1]^D[2]^D[3]^D[7]^D[8]^D[9]^D[10]^D[13]
parity[3] = D[4]^D[5]^D[6]^D[7]^D[8]^D[9]^D[10]^D[14]
parity[4] = D[0]^D[1]^D[2]^D[3]^D[4]^D[5]^D[6]^D[7]^D[8]^D[9]^D[10]^D[11]^D[12]^D[13]^D[14]^D[15]
if (parity[0]!=0) or (parity[1]!=0) or (parity[2]!=0) or (parity[3]!=0) or (parity[4]!=0) :
check = (parity[0]<<0) + (parity[1]<<1) + (parity[2]<<2) + (parity[3]<<3) + (parity[4]<<4)
if (check > 15) and (check < 32):
D[switcher[check]] = 1 - D[switcher[check]]
if error == 0 :
raise RuntimeError("check error")
data = 0
mask = 1
for j in range(16):
data = data + D[j]*mask