Mike Gardner
Template for LPC1768
Dependencies: Gimbal MLX90620 Socket lwip-eth lwip-sys lwip mbed-rtos mbed
Diff: CMLX90620.cpp
- Revision:
- 53:72f350a6d09c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CMLX90620.cpp Thu Apr 14 13:45:38 2016 +0100
@@ -0,0 +1,275 @@
+/*
+ * CMLX90620.cpp
+ *
+ * Created on: 12 Mar 2016
+ * Author: mike
+ */
+
+//NOTE: "Step Measurement Mode" was removed from new MLX90620 data sheet, page 22 dated Sept 19 2012
+// which is used in this implementation
+
+#include "mbed.h"
+#include "CMLX90620.h"
+
+extern char* EEbuf;
+extern char* RamBuf;
+extern char* RamCmmd; //must reside in main.cpp
+
+const int PTATSENS = 0x90; //ram offset = 0x90, PTAT sensor reading, 16b
+const int TGCSENS = 0x91; //ram offset = 0x91, TGC sensor reading, 16b
+const int MLXCONFIG = 0x92; //ram offset = 0x92, config register, 16b
+const int MLXTRIM = 0x93; //ram offset = 0x93, oscillator trim, lsb>6b of 16b
+const int EETRIM = 0xf7; //eep offset = 0xf0, 1 byte, oscillator trim value
+
+unsigned short Config = 0; //MLX90620 configuration register
+unsigned short OscTrim = 0; //MLX90620 oscillator trim register
+unsigned short PtatD = 0; //MLX90620 PTAT data register
+short VCP = 0; //VCP / TGC
+short Vth25X = 0;
+float TaXX = 0.0;
+
+//For To
+signed char AcpX = 0;
+signed char BcpX = 0;
+float Kt1fX = 0.0;
+float Kt2fX = 0.0;
+signed char TGCX = 0;
+char BiScaleX = 0;
+unsigned short theta0X = 0;
+char theta0ScaleX = 0;
+char deltaThetaScaleX = 0;
+unsigned short elipsonX = 0;
+signed char AiPixelX = 0; //eeprom address range 0x00 - 0x3f
+signed char BiPixelX = 0; //eeprom address range 0x40 - 0x7f
+char dThetaPixelX = 0; //eeprom address range 0x80 - 0xbf
+short VirPixelX = 0;
+double TempPxlX = 0;
+const int TOINDEX = 0xd4; //eep offset = 0xD4 and 0xE0 (0xD4 + 0x0C), 6 bytes + 6 bytes
+const int TAINDEX = 0xda; //eep offset = 0xDA, 6 bytes
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+// Constructor
+
+MLX90620::MLX90620(PinName sda, PinName scl, const char* name) : _i2c(sda, scl){
+ _i2c.frequency(100000); //set up i2c speed
+ _i2c.stop();
+
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//copy contents of EEPROM inside the MLX90620 into a local buffer. Data is used for lookup tables and parameters
+
+int MLX90620::LoadEEPROM() {
+ //clear out buffer first
+ for(int i = 0; i < 256; i++) {
+ EEbuf[i] = 0;
+ }
+
+ //load the entire EEPROM
+ EEbuf[0] = 0;
+ if(!_i2c.write(0xa0, EEbuf, 1, true)) { //0 returned is ok
+ _i2c.read(0xa0, EEbuf, 256); //load contents of EEPROM
+ } else {
+ _i2c.stop();
+ return(1);
+ }
+ return(0);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//copy oscillator offset from EEbuf to MLX90620 (MS byte = 0)
+
+int MLX90620::SetOscTrimReg() {
+ RamCmmd[0] = 4; //command
+ RamCmmd[1] = EEbuf[EETRIM] - 0xaa; //LS byte check
+ RamCmmd[2] = EEbuf[EETRIM]; //oscillator trim value
+ RamCmmd[3] = 0x100 - 0xaa; //MS byte check
+ RamCmmd[4] = 0; //MS byte = 0
+ int r = _i2c.write(0xc0, RamCmmd, 5, false);
+ return(r);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//get oscillator offset register from MLX90620
+
+unsigned short MLX90620::GetOscTrimReg() {
+ RamCmmd[0] = 2; //command
+ RamCmmd[1] = MLXTRIM; //address of register
+ RamCmmd[2] = 0; //address step
+ RamCmmd[3] = 1; //# of reads
+ _i2c.write(0xc0, RamCmmd, 4, true);
+ _i2c.read(0xc0, RamCmmd, 2);
+ OscTrim = (RamCmmd[1] << 8) + RamCmmd[0];
+ return(OscTrim);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//initialize the configuration register
+//******* NOTE: Step measurement mode was removed from new data sheet dated Sept 19 2012
+
+int MLX90620::SetConfigReg() {
+ RamCmmd[0] = 3; //command
+// RamCmmd[1] = 0x14c - 0x55; //LS byte check
+// RamCmmd[2] = 0x4c; //LS config value, step meas mode, 4Hz array *******
+ RamCmmd[1] = 0xf9; //LS byte check
+ RamCmmd[2] = 0x4e; //LS config value, step meas mode, 4Hz array *******
+ RamCmmd[3] = 0x27; //MS byte check
+ RamCmmd[4] = 0x7c; //MS config value, 2Hz Ta, 400k i2c
+ int r = _i2c.write(0xc0, RamCmmd, 5, false);
+ return(r);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//get configuration register from MLX90620
+
+unsigned short MLX90620::GetConfigReg() {
+ RamCmmd[0] = 2; //command
+ RamCmmd[1] = MLXCONFIG; //address of register
+ RamCmmd[2] = 0; //address step
+ RamCmmd[3] = 1; //# of reads
+ _i2c.write(0xc0, RamCmmd, 4, true);
+ _i2c.read(0xc0, RamCmmd, 2);
+ Config = (RamCmmd[1] << 8) + RamCmmd[0];
+ return(Config);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//get PTAT register from MLX90620
+
+unsigned short MLX90620::GetPTATReg() {
+ RamCmmd[0] = 2; //command
+ RamCmmd[1] = PTATSENS; //address of register
+ RamCmmd[2] = 0; //address step
+ RamCmmd[3] = 1; //# of reads
+ _i2c.write(0xc0, RamCmmd, 4, true);
+ _i2c.read(0xc0, RamCmmd, 2);
+ PtatD = (RamCmmd[1] << 8) + RamCmmd[0];
+ return(PtatD);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//get VCP / TGC register from MLX90620
+
+short MLX90620::GetTGCReg() {
+ RamCmmd[0] = 2; //command
+ RamCmmd[1] = TGCSENS; //address of register
+ RamCmmd[2] = 0; //address step
+ RamCmmd[3] = 1; //# of reads
+ _i2c.write(0xc0, RamCmmd, 4, true);
+ _i2c.read(0xc0, RamCmmd, 2);
+ VCP = (RamCmmd[1] << 8) + RamCmmd[0];
+ return(VCP);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//get RAM dump from MLX90620
+bool firstDump = false;
+
+void MLX90620::LoadMLXRam() {
+ RamCmmd[0] = 2; //command
+ RamCmmd[1] = 0; //start address
+ RamCmmd[2] = 1; //address step
+ RamCmmd[3] = 0x40; //# of reads
+ _i2c.write(0xc0, RamCmmd, 4, true);
+ _i2c.read(0xc0, RamBuf, 0x80);
+ PtatD = MLX90620::GetPTATReg();
+ VCP = MLX90620::GetTGCReg();
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+//start measurement MLX90620
+
+int MLX90620::StartMeasurement() {
+ RamCmmd[0] = 1; //command
+ RamCmmd[1] = 8; //address of config register
+
+ int r = _i2c.write(0xc0, RamCmmd, 2, false);
+ return(r);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+// Initial Calculations for Ta and To
+
+float MLX90620::GetDieTemp() {
+ PtatD = MLX90620::GetPTATReg();
+ float TaX = (-Kt1fX + sqrtf(powf(Kt1fX, 2.0) - 4.0 * Kt2fX * (Vth25X - PtatD)))/(2.0 * Kt2fX) + 25.0;
+ return(TaX);
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+// Initial Calculations for Ta and To
+
+void MLX90620::CalcTa_To() {
+ //Calculate Ta first
+ Vth25X = (EEbuf[TAINDEX + 1] << 8) + EEbuf[TAINDEX + 0];
+ short Kt1 = (EEbuf[TAINDEX + 3] << 8) + EEbuf[TAINDEX + 2];
+ short Kt2 = (EEbuf[TAINDEX + 5] << 8) + EEbuf[TAINDEX + 4];
+ Kt1fX = Kt1 / 1024.0;
+ Kt2fX = Kt2 / 1048576.0;
+ TaXX = MLX90620::GetDieTemp();
+
+ //Calculate To
+ AcpX = EEbuf[TOINDEX + 0];
+ BcpX = EEbuf[TOINDEX + 1];
+// unsigned short thetaCPX = (EEbuf[TOINDEX + 3] << 8) + EEbuf[TOINDEX + 2];
+ TGCX = EEbuf[TOINDEX + 4];
+ BiScaleX = EEbuf[TOINDEX + 5];
+ theta0X = (EEbuf[TOINDEX + 13] << 8) + EEbuf[TOINDEX + 12];
+ theta0ScaleX = EEbuf[TOINDEX + 14];
+ deltaThetaScaleX = EEbuf[TOINDEX + 15];
+ elipsonX = (EEbuf[TOINDEX + 17] << 8) + EEbuf[TOINDEX + 16];
+/*
+ printf("Vth(25) = %6d 0x%x\nTa1 = %6d 0x%x\nTa2 = %6d 0x%x\n", Vth25X, Vth25X, Kt1, Kt1, Kt2, Kt2);
+ printf("Kt1fX = %f\nKt2fX = %f\nTaXX = %f\n\n", Kt1fX, Kt2fX, TaXX);
+ printf("Acp = %6d 0x%x\nBcp = %6d 0x%x\nThCP = %6d 0x%x\n", AcpX, AcpX, BcpX, BcpX, thetaCPX, thetaCPX);
+ printf("TGC = %6d 0x%x\nBiS = %6d 0x%x\nTh0 = %6d 0x%x\n", TGCX, TGCX, BiScaleX, BiScaleX, theta0X, theta0X);
+ printf("T0s = %6d 0x%x\nDts = %6d 0x%x\nelip = %6d 0x%x\n\n", theta0ScaleX, theta0ScaleX, deltaThetaScaleX, deltaThetaScaleX, elipsonX, elipsonX);
+*/
+}
+
+//--------------------------------------------------------------------------------------------------------------------------------------//
+// Pixel Temperature Calculation
+
+double MLX90620::CalcPixel(int Pixel) {
+ AiPixelX = EEbuf[Pixel]; //eeprom address range 0x00 - 0x3f
+ BiPixelX = EEbuf[Pixel + 0x40]; //eeprom address range 0x40 - 0x7f
+ dThetaPixelX = EEbuf[Pixel + 0x80]; //eeprom address range 0x08 - 0xbf
+ VirPixelX = (RamBuf[Pixel * 2 + 1] << 8) + RamBuf[Pixel * 2]; //ram address range 0x000 - 0x08f, 16b
+ float Vcp_off_comp = VCP - (AcpX + BcpX / powf(2.0,BiScaleX) * (TaXX - 25.0));
+ float VirPixel_off_comp = VirPixelX - (AiPixelX + BiPixelX / powf(2.0,BiScaleX) * (TaXX - 25.0));
+ float VirPixel_off_comp2 = (float(AiPixelX) + float(BiPixelX) / float(1 << BiScaleX) * (TaXX - 25.0));
+ VirPixel_off_comp2 = VirPixelX - VirPixel_off_comp2;
+ float VirPixel_tgc_comp = VirPixel_off_comp - TGCX / 32.0 * Vcp_off_comp;
+ float elipsonf = elipsonX / 32768.0;
+ float VirPixel_comp = VirPixel_tgc_comp / elipsonf;
+ double theta28 = theta0X / powf(2.0, theta0ScaleX) + dThetaPixelX / powf(2.0, deltaThetaScaleX);
+ double TempPxl = powf((VirPixel_comp / theta28 + powf((TaXX + 273.15), 4.0)), (1.0 / 4.0)) - 273.15;
+/*
+ printf("pixel = %d\n", Pixel);
+ printf("Acp = %d\nBcp = %d\nBiS = %d\n", AcpX, BcpX, BiScaleX);
+ printf("Vcp = %d\neps = %d\nTGC = %d\n", VCP, elipsonX, TGCX);
+ printf("Vcp_off_comp = %f\n", Vcp_off_comp);
+ printf("VirPixel_off_comp = %f\n", VirPixel_off_comp);
+ printf("VirPixel = %d\n", VirPixelX);
+ printf("AiPixel = %d\n", AiPixelX);
+ printf("BiPixel = %d\n", BiPixelX);
+ printf("BiScale = %d\n", BiScaleX);
+ printf("2^BiScale = %f\n", (powf(2.0,BiScaleX)));
+ printf("1 << BiScale = %d\n", (1 << BiScaleX));
+ printf("Ta-25.0 = %f\n", (TaXX - 25.0));
+ printf("BiPix/2^BiScale = %f\n", (BiPixelX / powf(2.0,BiScaleX)));
+ printf("AiP+BiP/2^BiScale)*(Ta-25= %f\n", (AiPixelX + BiPixelX / powf(2.0,BiScaleX) * (TaXX - 25.0)));
+ printf("VirPixel_off_comp again = %f\n", (VirPixelX - (AiPixelX + BiPixelX / powf(2.0,BiScaleX) * (TaXX - 25.0))));
+ printf("VirPixel_off_comp2 step = %f\n", VirPixel_off_comp2);
+ printf("VirPixel_tgc_comp = %f\n", VirPixel_tgc_comp);
+ printf("elipsonf = %f\n", elipsonf);
+ printf("VirPixel_comp = %f\n", VirPixel_comp);
+ printf("theta28 = %f << double print problem\n", (theta28 * 100000000.0)); //<<< can't print a double
+ printf("TempPxl = %f\n", TempPxl);
+*/
+ return(TempPxl);
+}
+
+
+
+