Petr Malanik
2 years ago
parent
4c10e85cb8
commit
dea2a2addb
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#include "MLX75306.hpp"
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MLX75306::MLX75306(SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS) :
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SPI_handle(SPI_handle), SPI_CS(SPI_CS){ }
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void MLX75306::Init(){
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Reset();
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}
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void MLX75306::Reset(){
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Command(Commands::Chip_reset, { 0, 0 });
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}
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void MLX75306::Wake_up(){
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Command(Commands::Wake_up, { 0, 0 });
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}
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void MLX75306::Zebra_pattern_1(){
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Command(Commands::Test_zebra_pattern_1, { 0, 0 });
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}
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array<uint8_t, 159> MLX75306::Read_all_8bit(){
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// Command is set to read all pixels
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return Command<159>(Commands::Read_out_8b, { 0x02, 0x8f });
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}
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void MLX75306::Integrate(double time_us){
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const unsigned int f_RCO = 10000000;
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const double min_time_us = 0.1;
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const double max_time_us = 100000;
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int64_t integration_register = 0;
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// Cap values
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if (time_us < min_time_us) {
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time_us = min_time_us;
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}
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if (time_us > max_time_us) {
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time_us = max_time_us;
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}
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// Calculate value for short integration
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integration_register = ((time_us / 1000000) * f_RCO) + 4;
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// If integration time is longer then maximal short integration time used long integration command
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if (integration_register > ((1 << 16) - (11 * 16))) {
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integration_register = (((time_us / 1000000) * f_RCO) - 11) / 16;
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// Handle overflow and underflow of integration register
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if (integration_register > (1 << 16)) {
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integration_register = (1 << 16) - 1;
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} else if (integration_register < 0) {
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integration_register = 1;
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}
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// Long integration
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Command(Commands::Start_integration_long,
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{
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static_cast<uint8_t>((integration_register & 0xff00) >> 8),
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static_cast<uint8_t>(integration_register & 0xff)
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}
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);
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} else {
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// Short integration
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Command(Commands::Start_integration,
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{
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static_cast<uint8_t>((integration_register & 0xff00) >> 8),
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static_cast<uint8_t>(integration_register & 0xff)
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}
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);
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}
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} // MLX75306::Integrate
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MLX75306::Status_byte MLX75306::Status(){
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array<uint8_t, 2> payload = { 0, 0 };
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auto status = Command(Commands::Idle, payload)[0];
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Status_byte status_struct = *((Status_byte *) &(status));
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return status_struct;
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}
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@ -0,0 +1,186 @@
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/**
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* @file SPI_camera.hpp
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* @author Petr Malaník (TheColonelYoung(at)gmail(dot)com)
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* @brief
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* @version 0.1
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* @date 1.03.2023
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*/
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#pragma once
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#include "stm32l4xx_hal.h"
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#include <array>
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using namespace std;
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typedef unsigned int uint;
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/**
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* @brief Linear optical sensor array, including a 142 x 1 array of photodiodes
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* associated charge amplifier circuitry and a pixel data-hold function that
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* provides simultaneous integration start and stop times for all pixels.
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*/
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class MLX75306
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{
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public:
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/**
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* @brief Describes GPIO which serves as SPI chip select pin
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*/
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struct Chip_select_pin {
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GPIO_TypeDef *port;
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uint16_t pin;
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};
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/**
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* @brief Command for MLX75306, whole command composes of 3 bytes, first byte is from enum below
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* Other two bytes are payload which could be command specific or empty
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*/
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enum class Commands: uint8_t {
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Idle = 0b00000000,
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Chip_reset = 0b11110000,
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Read_thresholds = 0b11011000,
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Write_thresholds = 0b11001100,
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Start_integration = 0b10111000,
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Start_integration_long = 0b10110100,
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Read_out_1b = 0b10011100,
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Read_out_1b5 = 0b10010110,
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Read_out_4b = 0b10010011,
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Read_out_8b = 0b10011001,
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Test_zebra_pattern_1 = 0b11101000,
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Test_zebra_pattern_2 = 0b11100100,
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Test_zebra_pattern_12 = 0b11100010,
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Test_zebra_pattern_0 = 0b11100001,
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Sleep_mode = 0b11000110,
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Wake_up = 0b11000011,
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};
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/**
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* @brief Structure of MLX75306 status byte
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*/
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struct __attribute__((packed)) __attribute__((__may_alias__)) Status_byte{
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uint8_t command_counter : 5; // Counter of valid commands
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uint8_t device_mode : 1; // Device mode: 0-Test 1-User
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uint8_t power_up_in_progress : 1; // Set after first Chip_reset command, clear after power-up
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uint8_t operational_mode : 1; // Device operational mode: 0-Sleep 1-Normal
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};
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protected:
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/*
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* @brief HAL handle of SPI to which is ArduChip connected
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*/
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SPI_HandleTypeDef SPI_handle;
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/**
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* @brief GPIO description which serves as SPI Chip select
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*/
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Chip_select_pin SPI_CS;
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public:
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/**
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* @brief Construct a new MLX75306 object
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*
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* @param SPI_handle HAL handle of SPI to which is sensor connected
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* @param SPI_CS GPIO description which serves as SPI Chip select
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*/
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MLX75306(SPI_HandleTypeDef SPI_handle, Chip_select_pin SPI_CS);
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/**
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* @brief Initialize sensor by reset
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*/
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void Init();
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/**
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* @brief Reset sensor, reset must be done after power-up, reset all registers
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*/
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void Reset();
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/**
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* @brief Change operational mode of sensor to Normal
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* During normal mode an integration and readout could be performed.
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*/
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void Wake_up();
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/**
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* @brief Change operational mode of sensor to Sleep
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* During sleep mode an integration and readout could not be performed.
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* But power draw of sensor is reduced.
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*/
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void Sleep_mode();
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/**
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* @brief Sensor will charge photodiodes to defined levels to create test pattern
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* Every odd pixel is charged to high level of charge, even pixel to low level of charge
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* This command is used instead of Integration start
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*/
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void Zebra_pattern_1();
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/**
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* @brief Time in micro second to integrate charge photodiodes
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* The shortest time is 0.1 us, the longest is 100 ms, values above or below are capped
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*/
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void Integrate(double time_us);
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/**
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* @brief Reads Status byte of sensor by using Idle command
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*
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* @return Status_byte Structured status byte of sensor
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*/
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Status_byte Status();
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/**
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* @brief Perform readout of all output registers and pixels from sensor
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*
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* @return array<uint8_t, 159> Output registers of sensor containing metadata and pixels
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*/
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array<uint8_t, 159> Read_all_8bit();
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protected:
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/**
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* @brief Send command to sensor and return answer (mostly status byte and empty bytes)
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*
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* @tparam array_size Size of returned answer on bytes, default is 3
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* @param command Command from available Commands of sensor
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* @param payload Payload (parameters) of command, mostly empty but could contain integration time, atc.
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* @return array<uint8_t, array_size> Answer to command, example: status byte, readout bytes, etc.
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*/
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template <size_t array_size = 3>
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array<uint8_t, array_size> Command(Commands command, array<uint8_t, 2> payload){
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array<uint8_t, array_size> byte_stream = { 0 };
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byte_stream[0] = (uint8_t) command;
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byte_stream[1] = payload[0];
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byte_stream[2] = payload[1];
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return Transmit_and_receive(byte_stream);
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}
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/**
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* @brief Transmit bytes to sensor and receive answer
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*
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* @tparam array_size Amount of bytes to transfer and receive
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* @param byte_stream Array of bytes to transmit
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* @return array<uint8_t, array_size> Array of received bytes
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*/
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template <size_t array_size>
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array<uint8_t, array_size> Transmit_and_receive(array<uint8_t, array_size> &byte_stream){
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array<uint8_t, array_size> received = { 0 };
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CS_enable();
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HAL_SPI_TransmitReceive(&SPI_handle, byte_stream.data(), received.data(), byte_stream.size(), byte_stream.size());
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CS_disable();
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return received;
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}
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/**
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* @brief Enables communication with sensor via SPI, CS signal is active low
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*/
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void CS_enable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_RESET); };
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/**
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* @brief Disables communication with sensor via SPI, CS signal is active low
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*/
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void CS_disable(){ HAL_GPIO_WritePin(SPI_CS.port, SPI_CS.pin, GPIO_PIN_SET); };
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};
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