This is example code that can get you started with building your own IR vision robot that communicates over LoRa
Dependencies: Adafruit-MotorShield Adafruit-PWM-Servo-Driver Adafruit_GFX BufferedSerial MAX17055_EZconfig NEO-6m-GPS SX1276GenericLib USBDeviceHT max32630fthr max77650_charger_sample
Fork of MAX326xxFTHR_LoRa_Example_test by
Diff: GridEye/GridEye.cpp
- Revision:
- 23:f74a50977593
- Child:
- 28:0ed92c590607
diff -r abca9d17d13d -r f74a50977593 GridEye/GridEye.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GridEye/GridEye.cpp Wed Jul 18 18:52:30 2018 +0000 @@ -0,0 +1,238 @@ +/********************************************************************** +* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. +* +* Permission is hereby granted, free of charge, to any person obtaining a +* copy of this software and associated documentation files (the "Software"), +* to deal in the Software without restriction, including without limitation +* the rights to use, copy, modify, merge, publish, distribute, sublicense, +* and/or sell copies of the Software, and to permit persons to whom the +* Software is furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included +* in all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES +* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +* OTHER DEALINGS IN THE SOFTWARE. +* +* Except as contained in this notice, the name of Maxim Integrated +* Products, Inc. shall not be used except as stated in the Maxim Integrated +* Products, Inc. Branding Policy. +* +* The mere transfer of this software does not imply any licenses +* of trade secrets, proprietary technology, copyrights, patents, +* trademarks, maskwork rights, or any other form of intellectual +* property whatsoever. Maxim Integrated Products, Inc. retains all +* ownership rights. +**********************************************************************/ + + +#include "GridEye/GridEye.h" + + + +GridEye::GridEye(I2C &i2c) +: m_i2cBus(i2c) +{ +} + + + + +//********************************************************************* +int8_t GridEye::gridEyeReadReg(GridEyeRegister reg_addr, int num_bytes, char * data_buf) +{ + int8_t result; + char read_pointer[1]; + read_pointer[0] = reg_addr; + + result = GridEye::m_i2cBus.write(I2C_W_ADRS, read_pointer, 1); + if (result == I2C_WR_SUCCESS) + { + result = GridEye::m_i2cBus.read(I2C_R_ADRS, data_buf , num_bytes, false); + if (result == I2C_WR_SUCCESS) + return result; + } + return I2C_WR_ERROR; +} + + + +//********************************************************************* +int8_t GridEye::gridEyeWriteReg(GridEyeRegister reg_addr, int num_bytes, char * data_buf) +{ + int8_t result; + int num_indices = num_bytes + 1; + char write_buffer[num_indices]; + + //construct write buffer with the address followed by the data to be written + write_buffer[0] = reg_addr; + for (int idx=0; idx<num_bytes; idx++) + write_buffer[idx+1] = data_buf[idx]; + + result = GridEye::m_i2cBus.write(I2C_W_ADRS, write_buffer, num_indices); + if (result == I2C_WR_SUCCESS) + return result; + + //else, return -1 + return I2C_WR_ERROR; +} + + +//********************************************************************* +int8_t GridEye::getThermistorTemperature(int16_t & therm_temp) +{ + int8_t result; + char data[2]; + + result = this->gridEyeReadReg(GridEye::THERMISTOR_LOW, 2, data); + + if(result == I2C_WR_SUCCESS) + { + convSingleRawTempData2Int(data, therm_temp); + return therm_temp; + } + return I2C_WR_ERROR; +} + + +//********************************************************************* +int8_t GridEye::getPixelTemperature(uint8_t pixel_addr, int16_t & pixel_temp) +{ + int8_t result; + char data[2]; + + result = this->gridEyeReadReg((GridEyeRegister) pixel_addr, 2, data); + if(result == I2C_WR_SUCCESS) + { + convSingleRawTempData2Int(data, pixel_temp); + return pixel_temp; + } + return I2C_WR_ERROR; +} + + +//********************************************************************* +int8_t GridEye::getRaw8x8FrameData(char * raw_frame_data) +{ + int8_t result; + result = gridEyeReadReg((GridEyeRegister) GridEye::PIXEL_BASE_ADRS, 128, raw_frame_data); + return result; +} + + +//********************************************************************* +int8_t GridEye::setOperatingMode(GridEye::OperatingMode mode) +{ + int8_t result; + char set_mode[1]; + set_mode[0] = (char)mode; + result = this->gridEyeWriteReg(GridEye::OPERATING_MODE, 1, set_mode); + if (result == I2C_WR_SUCCESS) + return result; + return I2C_WR_ERROR; +} + +//********************************************************************* +int8_t GridEye::setFrameRate(GridEye::FrameRate rate) +{ + int8_t result; + char set_rate[1]; + set_rate[0] = (char)rate; + result = this->gridEyeWriteReg(GridEye::FRAME_RATE, 1, set_rate); + if (result == I2C_WR_SUCCESS) + return result; + return I2C_WR_ERROR; +} + +//********************************************************************* +void convSingleRawTempData2Int(char * data, int16_t & pixel_temp) +{ + int8_t upper_byte = data[1]; + int8_t lower_byte = data[0]; + int16_t upper_byte_mask = 0x0F00; + int16_t sign_bit = 0x0200; + int16_t finish_neg_val = 0xFC00; + int16_t pixel; + + //construct the pixel based off the 12 bit signed data + pixel = (upper_byte << 8); + pixel &= upper_byte_mask; + pixel |= lower_byte; + + //shift it over to gain integer value of the pixel + pixel = pixel >> 2; + + //if negative, properly convert to 16 bit int format to represent 2's compliment + if (pixel&sign_bit) + pixel |= finish_neg_val; + + //set the coresponding pixel to be in the passed in array + pixel_temp = pixel; +} + +//********************************************************************* +void convRaw8x8Data2Int(char * data, int16_t * frame_temp) { + int idx = 0; + int8_t upper_byte; + int8_t lower_byte; + int16_t upper_byte_mask = 0x0F00; + int16_t sign_bit = 0x0200; + int16_t finish_neg_val = 0xFC00; + int16_t pixel; + + for (idx=0; idx<64; idx++) + { + //construct the pixel based off the 12 bit signed data + upper_byte = data[idx*2+1]; + lower_byte = data[idx*2+0]; + pixel = (upper_byte << 8); + pixel &= upper_byte_mask; + pixel |= lower_byte; + + //shift it over to gain integer value of the pixel + pixel = pixel >> 2; + + //if negative, properly convert to 16 bit int format to represent 2's compliment + if (pixel&sign_bit) + pixel |= finish_neg_val; + + //set the coresponding pixel to be in the passed in array + frame_temp[idx] = pixel; + } +} + +//********************************************************************* +void convRaw8x8Data2Point25degC(char * data, int16_t * frame_temp) +{ + int idx = 0; + int8_t upper_byte; + int8_t lower_byte; + int16_t upper_byte_mask = 0x0F00; + int16_t sign_bit = 0x0800; + int16_t finish_neg_val = 0xF000; + int16_t pixel; + + for (idx=0; idx<64; idx++) + { + //construct the pixel based off the 12 bit signed data + upper_byte = data[idx*2+1]; + lower_byte = data[idx*2+0]; + pixel = (upper_byte << 8); + pixel &= upper_byte_mask; + pixel |= lower_byte; + + //no shift needed since we would lose the two lsb that give 0.25*C precision + + //if negative, properly convert to 16 bit int format to represent 2's compliment + if (pixel & sign_bit) + pixel |= finish_neg_val; + + //set the coresponding pixel to be in the passed in array + frame_temp[idx] = pixel; + } +}