Rushiraj Jawale
uart
Dependencies: MAX32620FTHR USBDevice
Revision 0:c62425b2f286, committed 2022-10-16
- Comitter:
- rsjawale24
- Date:
- Sun Oct 16 15:35:01 2022 +0000
- Commit message:
- ok
Changed in this revision
diff -r 000000000000 -r c62425b2f286 MAX32620FTHR.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAX32620FTHR.lib Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/MaximIntegrated/code/MAX32620FTHR/#7fb8d4388fe1
diff -r 000000000000 -r c62425b2f286 USBDevice.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/psionprime/code/USBDevice/#6ef9c5c0250e
diff -r 000000000000 -r c62425b2f286 cmd.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/cmd.cpp Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,283 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "cmd.h"
+#include <stdlib.h>
+#include <string.h>
+#include "USBSerial.h"
+#include "controller.h"
+#include "interface.h"
+#include "gesture_lib.h"
+#include "config.h"
+
+extern const char *version_string;
+
+#if ENABLE_USER_FRAMES
+extern uint32_t userDataFrameFlag;
+extern int user_pixels[60];
+int cmd_frame(char *toks[], const unsigned int tokCount);
+#endif
+
+#if USE_UART_INTERFACE
+extern Serial *serial;
+#else
+extern USBSerial *serial;
+#endif
+
+commandTable cmdTable[] =
+{
+ {"ping","Ping the processor.", cmd_ping},
+ {"help","Display help.", cmd_help},
+ {"ver","Display firmware version", cmd_ver},
+ {"reg", "reg <read/write> <addr> <num/value>. Read or write to a device register.", cmd_reg},
+ {"stream", "stream <on/off> [nopixels]. Enable data streaming mode. Use nopixels parameter to suppress pixel data.", cmd_stream},
+ {"forcecal", "Force bias calibration (tracking mode).", cmd_force_tracking_cal},
+ {"reset", "reset device register settings.", cmd_reset},
+ {"poll", "Request gesture results", cmd_poll},
+ {CMD_TABLE_END, "", NULL} // last command must be NULL
+};
+
+// Parses command string and calls appropriate function, passing arguments
+int processCmdString(char *st)
+{
+ char *toks[MAX_TOKENS];
+ unsigned int tokCount = 0;
+ int cmdIndex = 0;
+
+ // Get tokens
+ toks[tokCount] = strtok(st, " ");
+ while((toks[tokCount] != NULL) && (tokCount < MAX_TOKENS)) {
+ tokCount++;
+ toks[tokCount] = strtok(NULL, " ");
+ }
+
+ // Find a valid command
+ cmdIndex = lookupCmd(toks[0]);
+
+ // If command found call the function
+ if(cmdIndex >= 0) {
+ return cmdTable[cmdIndex].fp(toks, tokCount);
+ }
+ return CMD_NACK;
+}
+
+// Returns index of command if found. Returns -1 if no command found
+int lookupCmd(const char *str)
+{
+ int i = 0;
+ while(1) {
+ if(strcmp(cmdTable[i].cmd, CMD_TABLE_END) == 0) // no command found
+ return -1;
+ if(strcmp(str, cmdTable[i].cmd) == 0)
+ return(i);
+ i++;
+ }
+}
+
+// Custom implementation of polling of serial port
+// to build a command string and pass it to processCmdString()
+int checkUserCmd()
+{
+ static int index = 0;
+ static char cmdString[CMD_BUFFER_SIZE];
+ int status = 0;
+ while ((*serial).readable()) {
+ char ch = (char)(*serial).getc();
+ if (ch == 0x08 && index > 0) { // got a backspace, delete the previous character
+ index--;
+ }
+ else if (ch == '\r') {/*ignore*/}
+ else if (ch == '\n') { // Command string is ready to be processed
+ cmdString[index] = 0; // NULL terminate the string
+ index = 0; // reset the index
+ if (processCmdString(cmdString) == CMD_NACK) {
+ (*serial).printf("Invalid command received: %s\n", cmdString);
+ }
+ else {
+ status = 1;
+ }
+ }
+ else {
+ cmdString[index++] = ch;
+ }
+ }
+ return status;
+}
+
+int cmd_ping(char *toks[], const unsigned int tokCount)
+{
+ (*serial).puts("ack\n");
+ return CMD_ACK;
+}
+
+int cmd_ver(char *toks[], const unsigned int tokCount)
+{
+ (*serial).puts(version_string);
+ (*serial).puts("\n");
+ return CMD_ACK;
+}
+
+int cmd_help(char *toks[], const unsigned int tokCount)
+{
+ if (tokCount == 1) {
+ (*serial).printf("Commands available. Type 'help <command>' for additional info: ");
+ int i = 0;
+ while (strcmp(cmdTable[i].cmd, CMD_TABLE_END) != 0) {
+ (*serial).printf("%s ", cmdTable[i++].cmd);
+ }
+ (*serial).printf("\n");
+ }
+ else {
+ int cmdIndex = lookupCmd(toks[1]);
+ if(cmdIndex == -1) {
+ (*serial).printf("No help on that topic. Type 'help' for list of commands\n");
+ }
+ else {
+ (*serial).printf("%s: ", cmdTable[cmdIndex].cmd);
+ (*serial).printf(cmdTable[cmdIndex].helpStr);
+ (*serial).printf("\n");
+ }
+ }
+ return CMD_ACK;
+}
+
+int cmd_reg(char *toks[], const unsigned int tokCount)
+{
+ if (tokCount < 4)
+ return CMD_NACK;
+ char * cmd = toks[1];
+ uint8_t reg_addr = strtoul(toks[2], NULL, 0);
+
+ if (strcmp(cmd, "read") == 0) {
+ uint8_t num_bytes = strtoul(toks[3], NULL, 0);
+ uint8_t reg_vals[MAX_REG_READ_SIZE];
+ uint8_t output[MAX_REG_OUTPUT_LENGTH]; // char array to store string output
+ char *output_idx = (char*) output; // used to iterate through char array, must be a char for sprintf
+
+ reg_read(reg_addr, num_bytes, reg_vals);
+ for(int i=0; i<num_bytes; i++) {
+ sprintf(output_idx, "%02X", reg_vals[i]);
+ output_idx += 2; // increment by two characters
+ if (i<num_bytes-1) {
+ sprintf(output_idx++, " "); // values separated by a space
+ }
+ }
+ sprintf(output_idx, "\n"); // add a newline to indicate end-of-frame
+
+ sendDataStream(output, num_bytes * 3); // Send as a data stream for better speed, in case application is polling frame data.
+ }
+ else if (strcmp(cmd, "write") == 0) {
+ uint8_t reg_val = strtoul(toks[3], NULL, 0);
+ reg_write(reg_addr, reg_val);
+ }
+ else {
+ return CMD_NACK;
+ }
+ return CMD_ACK;
+}
+
+// Enable data streaming mode, based on hardware interrupt from the INTb pin */
+int cmd_stream(char *toks[], const unsigned int tokCount)
+{
+ if (tokCount < 2) {
+ return CMD_NACK;
+ }
+ char * enable_stream = toks[1];
+ if (strcmp(enable_stream, "on") == 0) {
+ if (tokCount > 2) {
+ char * no_data_parameter = toks[2];
+ if (strcmp(no_data_parameter, "nopixels") == 0) {
+ set_stream_on(0);
+ }
+ else {
+ return CMD_NACK;
+ }
+ }
+ else {
+ set_stream_on(1);
+ }
+ }
+ else if (strcmp(enable_stream, "off") == 0) {
+ set_stream_off();
+ }
+ else {
+ return CMD_NACK;
+ }
+ return CMD_ACK;
+}
+
+int cmd_track(char *toks[], const unsigned int tokCount)
+{
+ uint32_t cols, rows;
+ if (tokCount < 2) {
+ cols = 3;
+ rows = 2;
+ }
+ else {
+ cols = strtoul(toks[1], NULL, 0);
+ rows = strtoul(toks[2], NULL, 0);
+ }
+ return CMD_ACK;
+}
+
+int cmd_force_tracking_cal(char *toks[], const unsigned int tokCount)
+{
+ forceTrackingCalibration();
+ return CMD_ACK;
+}
+
+int cmd_reset(char *toks[], const unsigned int tokCount)
+{
+ set_default_register_settings();
+ return CMD_ACK;
+}
+
+extern GestureResult gesResult;
+extern GestureEvent latched_gesture;
+int cmd_poll(char *toks[], const unsigned int tokCount)
+{
+ (*serial).printf("%d,%d,%d,%d,%.2f,%.2f,%.2f,%d,%d,%d\n",
+ gesResult.int_placeholder,
+ gesResult.state,
+ gesResult.n_sample,
+ gesResult.maxpixel,
+ gesResult.x,
+ gesResult.y,
+ gesResult.float_placeholder,
+ gesResult.int_placeholder,
+ gesResult.int_placeholder,
+ gesResult.int_placeholder
+ );
+}
diff -r 000000000000 -r c62425b2f286 cmd.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/cmd.h Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,74 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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.
+*******************************************************************************
+*/
+
+#ifndef CMDS_H_INCLUDED
+#define CMDS_H_INCLUDED
+
+#include "mbed.h"
+
+#define MAX_TOKENS 16 /*Increased for frame read over usb. Can reduce to 10*/
+#define CMD_BUFFER_SIZE 129 /*Increased size for frame read over usb. Can reduce to 65*/
+#define CMD_TABLE_END "NULL"
+#define CMD_ACK 0
+#define CMD_NACK 1
+
+#define MAX_REG_OUTPUT_LENGTH 512
+#define MAX_REG_READ_SIZE 256
+
+extern void enable_read_sensor_frames();
+extern void disable_read_sensor_frames();
+extern void set_stream_on(uint32_t send_pixel_data);
+extern void set_stream_off();
+extern void set_default_register_settings();
+
+typedef struct {
+ char cmd[128];
+ const char *helpStr;
+ int (*fp)(char *toks[], const unsigned int tokCount);
+}commandTable;
+
+int processCmdString(char *st);
+int lookupCmd(const char *str);
+int checkUserCmd();
+
+int cmd_ping(char *toks[], const unsigned int tokCount);
+int cmd_ver(char *toks[], const unsigned int tokCount);
+int cmd_help(char *toks[], const unsigned int tokCount);
+int cmd_reg(char *toks[], const unsigned int tokCount);
+int cmd_stream(char *toks[], const unsigned int tokCount);
+int cmd_force_tracking_cal(char *toks[], const unsigned int tokCount);
+int cmd_poll(char *toks[], const unsigned int tokCount);
+int cmd_reset(char *toks[], const unsigned int tokCount);
+#endif
diff -r 000000000000 -r c62425b2f286 config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/config.h Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,45 @@ +/******************************************************************************* +* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved. +* +* This software is protected by copyright laws of the United States and +* of foreign countries. This material may also be protected by patent laws +* and technology transfer regulations of the United States and of foreign +* countries. This software is furnished under a license agreement and/or a +* nondisclosure agreement and may only be used or reproduced in accordance +* with the terms of those agreements. Dissemination of this information to +* any party or parties not specified in the license agreement and/or +* nondisclosure agreement is expressly prohibited. +* +* 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. +******************************************************************************* +*/ + +// Uncomment one device option +//#define MAX25205_DEVICE +#define MAX25405_DEVICE + +// Uncomment one platform option +//#define COMPILE_FOR_MAX32630 +#define COMPILE_FOR_MAX32620 + +// With EVKIT hardware, cannot instantiate SPI and also use I2C (these share clk and data lines on HW) +#define USE_SPI 1
diff -r 000000000000 -r c62425b2f286 controller.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/controller.cpp Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,151 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "mbed.h"
+#include "controller.h"
+#include "config.h"
+
+static uint32_t i2c_device_addr = 0x9E; // LSB justified
+
+#define I2C_ADDR_SELECT 0
+
+void i2c_init()
+{
+ if (I2C_ADDR_SELECT) {
+ csb = 0; // set low for default i2c address
+ i2c_device_addr = 0x9E;
+ }
+ else {
+ csb = 1;
+ i2c_device_addr = 0xA0;
+ }
+ sel = 1; // set high for i2c
+}
+
+void spi_init()
+{
+ sel = 0; // set low for SPI
+}
+
+int reg_read(const uint8_t reg_addr, const uint8_t num_bytes, uint8_t reg_vals[])
+{
+ if (serial_mode == SPI_MODE) {
+ spi_read(reg_addr, num_bytes, reg_vals);
+ }
+ else {
+ i2c_read(reg_addr, num_bytes, reg_vals);
+ }
+ return 0;
+}
+
+int reg_write(const uint8_t reg_addr, const uint8_t reg_val)
+{
+ int result = (serial_mode == SPI_MODE ? spi_write(reg_addr, reg_val) : i2c_write(reg_addr, reg_val));
+ return result;
+}
+
+int i2c_read(const uint8_t reg_addr, const uint8_t num_bytes, uint8_t reg_vals[])
+{
+ #if !USE_SPI
+ char read_addr = (char)reg_addr;
+ i2c.write(i2c_device_addr, &read_addr, 1);
+ i2c.read(i2c_device_addr, (char*)reg_vals, (int)num_bytes);
+ #endif
+ return 0;
+}
+
+int i2c_write(const uint8_t reg_addr, const uint8_t reg_val)
+{
+ #if !USE_SPI
+ char data[2];
+ data[0] = reg_addr;
+ data[1] = reg_val;
+ i2c.write(i2c_device_addr, data, 2);
+ #endif
+ return 0;
+}
+
+int spi_read(const uint8_t reg_addr, const uint8_t num_bytes, uint8_t reg_vals[])
+{
+ #if USE_SPI
+ csb = 0;
+ spi.write(reg_addr); // byte 1: register address
+ spi.write(0x80); // byte 2: read command 0x80
+ for(int i=0; i<num_bytes; i++) {
+ reg_vals[i] = spi.write(0x00); // byte3: read byte
+ }
+ csb = 1;
+ #endif
+ return 0;
+}
+
+int spi_write(const uint8_t reg_addr, const uint8_t reg_val)
+{
+ #if USE_SPI
+ csb = 0;
+ spi.write(reg_addr); // byte1: register address
+ spi.write(0x00); // byte2: write command 0x00
+ spi.write(reg_val); // byte3: write byte
+ csb = 1;
+ #endif
+ return 0;
+}
+
+void getSensorPixels(int pixels[], const uint8_t flip_sensor_pixels)
+{
+ unsigned char reg_vals[NUM_SENSOR_PIXELS*2];
+ reg_read(0x10, NUM_SENSOR_PIXELS*2, reg_vals);
+
+ for (int i = 0; i < NUM_SENSOR_PIXELS; i++) {
+ pixels[i] = convertTwoUnsignedBytesToInt(reg_vals[2 * i], reg_vals[2 * i + 1]);
+ }
+
+ if (flip_sensor_pixels) {
+ for (int i = 0; i < NUM_SENSOR_PIXELS/2; i++) {
+ int temp = pixels[i];
+ pixels[i] = pixels[NUM_SENSOR_PIXELS-1-i];
+ pixels[NUM_SENSOR_PIXELS-1-i] = temp;
+ }
+ }
+}
+
+int convertTwoUnsignedBytesToInt(uint8_t hi_byte, uint8_t lo_byte)
+{
+ int intval = (int)(hi_byte << 8 | lo_byte);
+ // Convert unsigned to 2's complement
+ if ((1 << 15) < intval)
+ intval -= (1 << 16);
+ return intval;
+}
diff -r 000000000000 -r c62425b2f286 controller.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/controller.h Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,64 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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.
+*******************************************************************************
+*/
+
+#ifndef CONTROLLER_H_INCLUDED
+#define CONTROLLER_H_INCLUDED
+
+#include "gesture_common.h"
+
+extern DigitalOut rLED;
+extern DigitalOut gLED;
+extern DigitalOut csb; // sensor 1
+extern DigitalOut sel;
+
+enum ser_modes {SPI_MODE, I2C_MODE};
+extern uint32_t serial_mode;
+
+// Serial Interfaces to device
+extern I2C i2c;
+extern SPI spi;
+
+void i2c_init();
+void spi_init();
+int reg_read(const uint8_t reg_addr, const uint8_t num_bytes, uint8_t reg_vals[]);
+int reg_write(const uint8_t reg_addr, const uint8_t reg_val);
+int i2c_read(const uint8_t reg_addr, uint8_t const num_bytes, uint8_t reg_vals[]);
+int i2c_write(const uint8_t reg_addr, const uint8_t reg_val);
+int spi_read(const uint8_t reg_addr, const uint8_t num_bytes, uint8_t reg_vals[]);
+int spi_write(const uint8_t reg_addr, const uint8_t reg_val);
+void getSensorPixels(int pixels[], const uint8_t flip_sensor_pixels);
+int convertTwoUnsignedBytesToInt(const unsigned char hi_byte, const unsigned char lo_byte);
+
+#endif
diff -r 000000000000 -r c62425b2f286 gesture.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gesture.c Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,203 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "gesture_common.h"
+
+// Gesture states
+typedef enum {STATE_INACTIVE, GESTURE_IN_PROGRESS} GestureState;
+
+static uint32_t reset_flag = TRUE;
+
+// Create a static instance of the configuration to maintain current config parameters
+static GestureConfig gestCfg;
+
+static void runDynamicGesture(const GestureConfig *cfg, int _pixels[], DynamicGestureResult *gesResult);
+void noiseWindow3Filter(int pixels[], const float alpha, const uint32_t reset_flag);
+
+void resetGesture()
+{
+ reset_flag = TRUE;
+ // Reset submodules
+ resetTracking();
+}
+
+// Get a copy of the config struct
+void getGestureConfig(GestureConfig *_cfg)
+{
+ *_cfg = gestCfg;
+}
+
+// Get a pointer to the config struct
+GestureConfig * getGestureConfigPtr()
+{
+ return &gestCfg;
+}
+
+// Copy the user's config struct to the local struct, and initialize calculated values
+void configGesture(const GestureConfig *_cfg)
+{
+ if (!_cfg) {
+ initConfigStructToDefaults(&gestCfg); // Use default configuration if pointer is NULL
+ }
+ else {
+ gestCfg = *_cfg; // make a copy of the struct
+ }
+
+ configTracking(gestCfg.sample_period_ms, gestCfg.adc_full_scale, &gestCfg.trackingConfig);
+
+ resetGesture();
+}
+
+void runGesture(int pixels[], GestureResult *gesResult)
+{
+ // Initialize result structure
+ memset(gesResult, 0, sizeof(GestureResult));
+ gesResult->state = STATE_INACTIVE;
+ gesResult->gesture = GEST_NONE;
+
+ // Noise filter
+ if (gestCfg.enable_window_filter) {
+ noiseWindow3Filter(pixels, gestCfg.window_filter_alpha, reset_flag);
+ }
+
+ // Process pixels for dynamic gesture
+ if (1) {
+ DynamicGestureResult dynamicResult;
+ runDynamicGesture(&gestCfg, pixels, &dynamicResult);
+ gesResult->state = dynamicResult.state;
+ gesResult->n_sample = dynamicResult.n_sample;
+ gesResult->maxpixel = dynamicResult.maxpixel;
+ gesResult->x = dynamicResult.x;
+ gesResult->y = dynamicResult.y;
+ }
+ // Process pixels for tracking
+ if (0) {
+ TrackingResult trackResult;
+ runTracking(&gestCfg.trackingConfig, pixels, &trackResult);
+ gesResult->state = trackResult.state;
+ gesResult->maxpixel = trackResult.maxpixel; // Will override dynamic result if any
+ gesResult->x = trackResult.x; // Will override dynamic result if any
+ gesResult->y = trackResult.y; // Will override dynamic result if any
+ }
+}
+
+static void runDynamicGesture(const GestureConfig *cfg, int pixels[], DynamicGestureResult *gesResult)
+{
+ memset(gesResult, 0, sizeof(DynamicGestureResult));
+
+ static GestureState state = STATE_INACTIVE;
+ GestureEvent gest_event = GEST_NONE;
+ static uint32_t n_sample = 0, n_frame =0;
+
+ if (reset_flag) {
+ state = STATE_INACTIVE;
+ }
+
+ int rawmaxpixel = getMaxPixelValue(pixels, NUM_SENSOR_PIXELS);
+
+ // Static background subtraction
+ {
+ static float foreground_pixels[NUM_SENSOR_PIXELS], background_pixels[NUM_SENSOR_PIXELS];
+ if (reset_flag) {
+ for(uint32_t i=0; i<NUM_SENSOR_PIXELS; i++) {
+ foreground_pixels[i] = pixels[i]; // clear the filter
+ background_pixels[i] = pixels[i]; // clear the filter
+ }
+ }
+
+ float background_alpha = cfg->background_filter_alpha;
+
+ subtractBackground(pixels, foreground_pixels, background_pixels, NUM_SENSOR_PIXELS, cfg->low_pass_filter_alpha, background_alpha);
+ }
+
+ // Clear the reset flag. All reset activity should be done by now
+ if (reset_flag) {
+ reset_flag = FALSE;
+ }
+
+ // Find post-filter max pixel
+ int maxpixel=getMaxPixelValue(pixels, NUM_SENSOR_PIXELS);
+
+ float cmx,cmy;
+ {
+ #if INTERP_FACTOR == 1
+ int *interp_pixels;
+ interp_pixels = pixels;
+ #else
+ static int interp_pixels[NUM_INTERP_PIXELS];
+ interpn(pixels, interp_pixels, SENSOR_XRES, SENSOR_YRES, INTERP_FACTOR);
+ #endif
+
+ // Thresholding
+ zeroPixelsBelowThreshold(interp_pixels,NUM_INTERP_PIXELS,(int)(maxpixel/cfg->zero_clamp_threshold_factor)); // zero out pixels below some percent of peak
+ zeroPixelsBelowThreshold(interp_pixels,NUM_INTERP_PIXELS,cfg->zero_clamp_threshold); // and also zero out below fixed threshold
+
+ // Center of mass
+ int totalmass=0;
+ if (maxpixel >= cfg->end_detection_threshold) {
+ calcCenterOfMass(interp_pixels, INTERP_XRES, INTERP_YRES, &cmx, &cmy, &totalmass); // Only calculate COM if there is a pixel above the noise (avoid divide-by-zero)
+ cmx = cmx/INTERP_FACTOR;
+ cmy = cmy/INTERP_FACTOR * DY_PIXEL_SCALE; // scale y so it has same unit dimension as x
+ }
+ }
+
+ n_frame++;
+
+ gesResult->n_sample = n_sample;
+ gesResult->maxpixel = maxpixel; //rawmaxpixel;
+ gesResult->state = maxpixel >= cfg->end_detection_threshold ? GESTURE_IN_PROGRESS : STATE_INACTIVE;
+ gesResult->x = maxpixel >= cfg->end_detection_threshold ? cmx : -1.00;
+ gesResult->y = maxpixel >= cfg->end_detection_threshold ? cmy : -1.00;
+}
+
+void noiseWindow3Filter(int pixels[], const float alpha, const uint32_t reset_flag)
+{
+ static int nwin[3][NUM_SENSOR_PIXELS];
+ if (reset_flag) {
+ for(uint32_t i=0; i<NUM_SENSOR_PIXELS; i++) {
+ nwin[0][i] = pixels[i]; // clear the filter
+ nwin[1][i] = pixels[i]; // clear the filter
+ nwin[2][i] = pixels[i]; // clear the filter
+ }
+ }
+ else {
+ for (uint32_t i=0; i<NUM_SENSOR_PIXELS; i++) {
+ nwin[0][i] = nwin[1][i];
+ nwin[1][i] = nwin[2][i];
+ nwin[2][i] = pixels[i];
+ pixels[i] = alpha * nwin[1][i] + (1-alpha)*(nwin[0][i] + nwin[2][i])/2;
+ }
+ }
+}
diff -r 000000000000 -r c62425b2f286 gesture_common.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gesture_common.h Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,95 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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.
+*******************************************************************************
+*/
+
+#ifndef GESTURE_COMMON_H_INCLUDED
+#define GESTURE_COMMON_H_INCLUDED
+
+#include "img_utils.h"
+#include "gesture_lib.h"
+
+//#define USE_MBED
+
+#ifdef USE_MBED
+ #include "mbed.h"
+#else
+ #include <math.h>
+ #include <string.h>
+ #include <stdlib.h>
+ #define TRUE 1
+ #define FALSE 0
+#endif
+
+// Sensor constants. Declared as constants so arrays can be statically sized
+#define SENSOR_XRES 10
+#define SENSOR_YRES 6
+#define NUM_SENSOR_PIXELS (SENSOR_XRES * SENSOR_YRES)
+
+// Interpolation used in gesture algorithm
+#define INTERP_FACTOR 4
+#define INTERP_XRES ((SENSOR_XRES-1)*INTERP_FACTOR+1)
+#define INTERP_YRES ((SENSOR_YRES-1)*INTERP_FACTOR+1)
+#define NUM_INTERP_PIXELS (INTERP_XRES*INTERP_YRES)
+
+#define DY_PIXEL_SCALE 1.42857f /*10.0f/7.0f*/
+
+
+// Error condition constants
+static const float MAX_ABS_ACCUM_DX = SENSOR_XRES*2; // Total x motion should not exceed 2x the screen size
+static const float MAX_ABS_ACCUM_DY = SENSOR_YRES*2 * DY_PIXEL_SCALE; // Total x motion should not exceed 2x the screen size
+
+// Structure to store tracking results
+typedef struct {
+ uint32_t state; // 0: inactive; 1: object detected
+ int maxpixel; // Maximum pixel value for this frame
+ float x; // Object x-position
+ float y; // Object y-position
+} TrackingResult;
+
+// Functions in tracking.cpp
+void configTracking(const uint32_t _sampleT, const uint32_t _adc_full_scale, const TrackingConfig *cfg);
+void runTracking(const TrackingConfig *cfg, int in_pixels[], TrackingResult *gesResult);
+void resetTracking();
+void clearTrackingCalibration();
+
+// Structure to store dynamic gesture results
+typedef struct {
+ uint32_t state; // 0: inactive; 1: object detected; 2: rotation in progress
+ uint32_t n_sample; // The current sample number of this gesture
+ int maxpixel; // Maximum pixel value for this frame
+ float x; // Object x-position
+ float y; // Object y-position
+} DynamicGestureResult;
+
+#endif
diff -r 000000000000 -r c62425b2f286 gesture_config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/gesture_config.h Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,67 @@ +/******************************************************************************* +* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved. +* +* This software is protected by copyright laws of the United States and +* of foreign countries. This material may also be protected by patent laws +* and technology transfer regulations of the United States and of foreign +* countries. This software is furnished under a license agreement and/or a +* nondisclosure agreement and may only be used or reproduced in accordance +* with the terms of those agreements. Dissemination of this information to +* any party or parties not specified in the license agreement and/or +* nondisclosure agreement is expressly prohibited. +* +* 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. +******************************************************************************* +*/ + + /* Paramaters for gesture configuration */ + #define FLIP_SENSOR_PIXELS 0 + #define PIXEL_DATA_MODE 0 + #define SAMPLE_PERIOD_MS 19.8F /*Changed from 12.5f for 400um device*/ + #define ADC_FULL_SCALE 16384 /*Changed from 8192 for 400um device*/ + #define BACKGROUND_FILTER_ALPHA 0.05F /*Changed from 0.10f for 400um device*/ + #define LOW_PASS_FILTER_ALPHA 1.0F + #define ZERO_CLAMP_THRESHOLD 10 + #define ZERO_CLAMP_THRESHOLD_FACTOR 6 + #define ENABLE_WINDOW_FILTER 1 + #define WINDOW_FILTER_ALPHA 0.5F + #define START_DETECTION_THRESHOLD 150 /*Changed from 400 for 400um device*/ + #define END_DETECTION_THRESHOLD 50 /*Changed from 250 for 400um device*/ + + + + /* Paramaters for tracking configuration */ + #define ENABLE_AUTO_BIAS_CALIBRATION 1 + #define STATIC_STATE_BIAS_MS 2000 + #define TRACKING_LOW_PASS_FILTER_ALPHA 1.0F + #define TRACKING_ZERO_CLAMP_THRESHOLD 50 + #define TRACKING_ZERO_CLAMP_THRESHOLD_FACTOR 6 + #define TRACKING_START_DETECTION_THRESHOLD 400 + #define TRACKING_END_DETECTION_THRESHOLD 300 + #define STATIC_STATE_BIAS_DELTA_MAX 200 + #define BIAS_FULLSCALE_FACTOR_MAX 2 + #define TRACK_WIDTH 6.0F + #define TRACK_HEIGHT 3.0F + #define ENABLE_GAIN_CORRECTION 1 + #define GAIN_FACTOR_0 0.5; + #define GAIN_FACTOR_1 0.75; + #define GAIN_FACTOR_2 1.0;
diff -r 000000000000 -r c62425b2f286 gesture_init.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gesture_init.c Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,78 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "gesture_lib.h"
+#include "config.h"
+#include "gesture_config.h"
+
+// Initialize configuration structs to default values
+
+void initTrackingConfigStructToDefaults(TrackingConfig *cfg)
+{
+ cfg->enable_auto_bias_calibration = ENABLE_AUTO_BIAS_CALIBRATION;
+ cfg->static_state_bias_ms = STATIC_STATE_BIAS_MS;
+ cfg->low_pass_filter_alpha = TRACKING_LOW_PASS_FILTER_ALPHA;
+ cfg->zero_clamp_threshold = TRACKING_ZERO_CLAMP_THRESHOLD;
+ cfg->zero_clamp_threshold_factor = TRACKING_ZERO_CLAMP_THRESHOLD_FACTOR;
+ cfg->start_detection_threshold = TRACKING_START_DETECTION_THRESHOLD;
+ cfg->end_detection_threshold = TRACKING_END_DETECTION_THRESHOLD;
+ cfg->static_state_bias_delta_max = STATIC_STATE_BIAS_DELTA_MAX;
+ cfg->bias_fullscale_factor_max = BIAS_FULLSCALE_FACTOR_MAX;
+ cfg->track_width = TRACK_WIDTH;
+ cfg->track_height = TRACK_HEIGHT;
+ cfg->enable_gain_correction = ENABLE_GAIN_CORRECTION;
+ cfg->gain_factor_0 = GAIN_FACTOR_0;
+ cfg->gain_factor_1 = GAIN_FACTOR_1;
+ cfg->gain_factor_2 = GAIN_FACTOR_2;
+}
+
+void initConfigStructToDefaults(GestureConfig *cfg)
+{
+ cfg->flip_sensor_pixels = FLIP_SENSOR_PIXELS;
+ cfg->pixel_data_mode = PIXEL_DATA_MODE;
+ cfg->sample_period_ms = SAMPLE_PERIOD_MS;
+ cfg->adc_full_scale = ADC_FULL_SCALE;
+ cfg->background_filter_alpha = BACKGROUND_FILTER_ALPHA;
+ cfg->low_pass_filter_alpha = LOW_PASS_FILTER_ALPHA;
+ cfg->zero_clamp_threshold = ZERO_CLAMP_THRESHOLD;
+ cfg->zero_clamp_threshold_factor = ZERO_CLAMP_THRESHOLD_FACTOR;
+ cfg->enable_window_filter = ENABLE_WINDOW_FILTER;
+ cfg->window_filter_alpha = WINDOW_FILTER_ALPHA;
+ cfg->start_detection_threshold = START_DETECTION_THRESHOLD;
+ cfg->end_detection_threshold = END_DETECTION_THRESHOLD;
+
+ // Initialize tracking config strucutre
+ initTrackingConfigStructToDefaults(&cfg->trackingConfig);
+}
diff -r 000000000000 -r c62425b2f286 gesture_lib.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gesture_lib.h Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,209 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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.
+*******************************************************************************
+*/
+
+#ifndef GESTURE_LIB_H_INCLUDED
+#define GESTURE_LIB_H_INCLUDED
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/*
+* Enumerate gesture events here
+*/
+typedef enum {
+ GEST_NONE,
+ GEST_PLACEHOLDER
+} GestureEvent;
+
+/*
+* Structure to store gesture results.
+*/
+typedef struct {
+ GestureEvent gesture; // Gesture event reported for this processed frame
+ uint32_t state; // 0: inactive; 1: object detected; 2: rotation in progress
+ uint32_t n_sample; // The current sample number of the gesture in progress
+ int maxpixel; // Maximum pixel value for this frame
+ float x; // Object x-position. Only accurate if TRACKING_ENABLE mask is set.
+ float y; // Object y-position. Only accurate if TRACKING_ENABLE mask is set.
+ float float_placeholder;
+ uint32_t int_placeholder;
+
+} GestureResult;
+
+
+/*
+* Structure for configuration parameters that apply to tracking mode, region selection, and linger-to-click.
+* An instance of this structure is a member of the GestureConfig stucture.
+*/
+typedef struct {
+ uint32_t enable_auto_bias_calibration; // Enable automatic bias calibration
+ uint32_t static_state_bias_ms; // How many milliseconds of static condition before performing an automoatic bias calibration
+ float low_pass_filter_alpha; // Smoothing factor for low pass filter. The lower the value, the more low pass filtering
+ int zero_clamp_threshold; // Any pixel below this value is clamped to zero. Must be less than detection thresholds
+ float zero_clamp_threshold_factor; // Any pixel below maxpixel divided by this factor is clamped to zero. This is to reduce optical clutter and background noise
+ int start_detection_threshold; // Pixel activation (bias corrected) to start gesture tracking
+ int end_detection_threshold; // Pixel activation (bias corrected) to stop gesture tracking
+ uint32_t static_state_bias_delta_max; // Max current pixel to reference delta to be considered static state for bias calibration
+ uint32_t bias_fullscale_factor_max; // Only calibrate if raw pixel range below this factor of ADC FS
+ float track_width; // Width (in pixels) of sensor array over which to scale tracking cursor (thereby ignoring edge pixels)
+ float track_height; // Height (in pixels) of sensor array over which to scale tracking cursor (thereby ignoring edge pixels)
+ uint32_t enable_gain_correction; // Enable pixel gain correction
+ float gain_factor_0; // Inner gain factor
+ float gain_factor_1; // Mid gain factor
+ float gain_factor_2; // Outer gain factor
+} TrackingConfig;
+
+/*
+* Struture for gesture configuration parameters
+* An instance of this structure can be modified by the application and passed to the configGesture function
+*/
+typedef struct {
+ uint32_t flip_sensor_pixels; // Set true to if device is mounted upside-down
+ uint32_t pixel_data_mode; // Set to 0 for raw data, 1 for bias-compensated pixels, 2 for background subtracted (gesture) pixels
+ float sample_period_ms; // Sample period of sensor in milliseconds
+ uint32_t adc_full_scale; // ADC full scale of sensor for current register configuration
+ float background_filter_alpha; // Smoothing factor for dynamic background cancellation. Larger value results in more aggressive high pass filtering
+ float low_pass_filter_alpha; // Smoothing factor for low pass filter. Set to 1 for no filtering
+ int zero_clamp_threshold; // Any pixel below this value (background corrected) is clamped to zero. Must be less than detection thresholds
+ float zero_clamp_threshold_factor; // Any pixel below maxpixel/x is clamped to zero. This is to reduce optical clutter and background noise
+ uint32_t enable_window_filter;
+ float window_filter_alpha;
+ int start_detection_threshold; // Pixel activation level (background corrected) to start gesture tracking
+ int end_detection_threshold; // Pixel threshold (background corrected) to end gesture tracking
+ TrackingConfig trackingConfig;
+} GestureConfig;
+
+
+/**
+* This function obtains a copy of the GestureConfig structure.
+* Obtain a copy in order to modify parameters and then pass the struct back using configGesture.
+*
+* Parameters
+* cfg: A pointer to a GestureConfig structure
+*
+* Return Value
+* None
+*/
+void getGestureConfig(GestureConfig *_cfg);
+
+/**
+* This function obtains a pointer to the GestureConfig structure.
+* Obtain a pointer to use the VALUE of specific parameter. Parameters should never be SET directly using the pointer
+* to the Config struct. Instead use getGestureConfig() above.
+*
+* Parameters
+* none
+*
+* Return Value
+* cfg: A pointer to the GestureConfig structure contained in the gesture library
+*/
+
+GestureConfig * getGestureConfigPtr();
+
+
+/**
+* This function initializes the gesture algorithm with the parameters defined in the GestureConfig structure.
+*
+* Parameters
+* cfg: A pointer to the GestureConfig structure. If the pointer is NULL, the algorithm will be configured with default values.
+*
+* Return Value
+* None
+*/
+void configGesture(const GestureConfig *cfg);
+
+
+/**
+* This function initializes an instance of a GestureConfig structure to the default values.
+* After calling this function, the structure instance can then be modified selectively by the application
+* and passed into the configGesture function to implement a custom configuration.
+*
+* Parameters
+* cfg: A pointer to the GestureConfig structure
+*
+* Return Value
+* None
+*/
+void initConfigStructToDefaults(GestureConfig *cfg);
+
+
+/**
+* This function executes the algorithm for a single frame. This function should be called for every sample period of the sensor.
+*
+* Parameters
+* pixels: An integer array of sensor pixel data; length is determined by the sensor resolution defined in gesture_common.h
+* gesResult: A pointer to a GestureResult struct instance; this instance will be populated with results by the algorithm.
+*
+* Return Value
+* None
+*/
+void runGesture(int pixels[], GestureResult *gesResult);
+
+
+/**
+* This function resets the gesture algorithm by resetting the state machine and clearing filters.
+* Note that the initialization parameters are not changed
+*
+* Parameters
+* None
+*
+* Return Value
+* None
+*/
+void resetGesture();
+
+
+/**
+* This function forces a tracking mode calibration.
+* Note that the calibration only applies to tracking mode (region selection and linger to click); it is not used
+* for dynamic gesture mode.
+*
+* Parameters
+* None
+*
+* Return Value
+* None
+*/
+void forceTrackingCalibration();
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif
diff -r 000000000000 -r c62425b2f286 img_utils.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/img_utils.c Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,155 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "img_utils.h"
+
+int getMaxPixelValue(const int pixels[], const unsigned int num_pixels)
+{
+ int maxpixel=-99999;
+ for (unsigned int i = 0; i < num_pixels; i++) {
+ if (maxpixel < pixels[i]) {
+ maxpixel = pixels[i];
+ }
+ }
+ return maxpixel;
+}
+
+int getMinPixelValue(const int pixels[], const unsigned int num_pixels)
+{
+ int minpixel=99999;
+ for (unsigned int i = 0; i < num_pixels; i++) {
+ if (minpixel > pixels[i]) {
+ minpixel = pixels[i];
+ }
+ }
+ return minpixel;
+}
+
+// Zero out pixels below threshold value. Returns the number of pixels above the threshold
+unsigned int zeroPixelsBelowThreshold(int pixels[], const unsigned int num_pixels, const int threshold)
+{
+ int pixelsAboveThresholdCount = num_pixels;
+ for (unsigned int i = 0; i < num_pixels; i++) {
+ if (pixels[i] < threshold) {
+ pixels[i] = 0;
+ pixelsAboveThresholdCount--;
+ }
+ }
+ return pixelsAboveThresholdCount;
+}
+
+// Caller must keep static filtpixels array
+void filterLowPassPixels(int pixels[], float filtpixels[], const unsigned int num_pixels, const float alpha)
+{
+ for (unsigned int i=0; i< num_pixels; i++) {
+ filtpixels[i] = (1.0 - alpha) * filtpixels[i] + alpha * pixels[i];
+ }
+ for (unsigned int i=0; i< num_pixels; i++) {
+ pixels[i] = (int)filtpixels[i];
+ }
+}
+
+// Implement background subtraction by subtracting long exponential smoothing average from a shorter one
+// (or simply the current pixel if alpha_short_avg is set to 1.0)
+// alpha_long_avg should be smaller than alpha_short_avg
+// Caller must keep static shart_avg_pixels[] and long_avg_pixels[]
+// The bigger alpha long is, the more aggressive the high pass filter.
+void subtractBackground(int pixels[], float short_avg_pixels[], float long_avg_pixels[], const unsigned int num_pixels, const float alpha_short_avg, const float alpha_long_avg)
+{
+ for (unsigned int i=0; i< num_pixels; i++) {
+ long_avg_pixels[i] = (1.0f - alpha_long_avg) * long_avg_pixels[i] + alpha_long_avg * pixels[i];
+ }
+ for (unsigned int i=0; i< num_pixels; i++) {
+ short_avg_pixels[i] = (1.0f - alpha_short_avg) * short_avg_pixels[i] + alpha_short_avg * pixels[i];
+ }
+ for (unsigned int i=0; i< num_pixels; i++) {
+ pixels[i] = short_avg_pixels[i] - (int)long_avg_pixels[i];
+ }
+}
+
+void calcCenterOfMass(const int pixels[], const unsigned int xres, const unsigned int yres, float *cmx, float *cmy, int *totalmass)
+{
+ int cmx_numer=0, cmy_numer=0;
+ for (unsigned int i = 0; i < xres*yres; i++) {
+ cmx_numer += (i%xres)*pixels[i];
+ cmy_numer += (i/xres)*pixels[i];
+ *totalmass += pixels[i];
+ }
+ if (*totalmass == 0) {
+ *totalmass = 1; // avoid NaN
+ }
+ *cmx = (float)cmx_numer/(float)(*totalmass);
+ *cmy = (float)cmy_numer/(float)(*totalmass);
+}
+
+void interpn(const int pixels[], int interp_pixels[], const int w, const int h, const int interpolation_factor)
+{
+ int w2 = (w - 1) * interpolation_factor + 1;
+ int h2 = (h - 1) * interpolation_factor + 1;
+ int A, B, C, x, y;
+ float x_ratio = 1.0f / (float)interpolation_factor;
+ float y_ratio = 1.0f / (float)interpolation_factor;
+
+ // First stretch in x-direction, index through each pixel of destination array. Skip rows in destination array
+ for (int i = 0; i < h; i++) {
+ for (int j = 0; j < w2; j++) {
+ x = (int)(x_ratio * j); // x index of original frame
+ int index = i * w + x; // pixel index of original frame
+ if (x == w - 1) // last pixel on right edge of original frame
+ interp_pixels[i * w2 * interpolation_factor + j] = pixels[index]; // skip rows in dest array
+ else {
+ A = pixels[index];
+ B = pixels[index + 1];
+ float x_diff = (x_ratio * j) - x; // For 2x interpolation, will be 0, 1/2, 0, 1/2...
+ interp_pixels[i * w2 * interpolation_factor + j] = (int)(A + (B - A) * x_diff); // skip rows in dest array
+ }
+ }
+ }
+ // Then stretch in y-direction, index through each pixel of destination array
+ for (int i = 0; i < h2; i++) {
+ for (int j = 0; j < w2; j++) {
+ y = (int)(y_ratio * i); // y index of original frame
+ int index = y * w2 * interpolation_factor + j; // pixel index of frame
+ if (y == h - 1) // pixel on bottom of original frame
+ interp_pixels[i * w2 + j] = interp_pixels[index];
+ else {
+ A = interp_pixels[index];
+ C = interp_pixels[index + w2 * interpolation_factor];
+ float y_diff = (y_ratio * i) - y;
+ interp_pixels[i * w2 + j] = (int)(A + (C - A) * y_diff);
+ }
+ }
+ }
+}
diff -r 000000000000 -r c62425b2f286 img_utils.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/img_utils.h Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,49 @@ +/******************************************************************************* +* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved. +* +* This software is protected by copyright laws of the United States and +* of foreign countries. This material may also be protected by patent laws +* and technology transfer regulations of the United States and of foreign +* countries. This software is furnished under a license agreement and/or a +* nondisclosure agreement and may only be used or reproduced in accordance +* with the terms of those agreements. Dissemination of this information to +* any party or parties not specified in the license agreement and/or +* nondisclosure agreement is expressly prohibited. +* +* 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. +******************************************************************************* +*/ + +#ifndef IMG_UTILS_H_INCLUDED +#define IMG_UTILS_H_INCLUDED + +#include <stdint.h> + +int getMaxPixelValue(const int pixels[], const unsigned int num_pixels); +int getMinPixelValue(const int pixels[], const unsigned int num_pixels); +unsigned int zeroPixelsBelowThreshold(int pixels[], const unsigned int num_pixels, const int threshold); +void filterLowPassPixels(int pixels[], float filtpixels[], const unsigned int num_pixels, const float alpha); +void subtractBackground(int pixels[], float short_avg_pixels[], float long_avg_pixels[], const unsigned int num_pixels, const float alpha_short_avg, const float alpha_long_avg); +void calcCenterOfMass(const int pixels[], const unsigned int xres, const unsigned int yres, float *cmx, float *cmy, int *totalmass); +void interpn(const int pixels[], int interp_pixels[], const int w, const int h, const int interpolation_factor); + +#endif
diff -r 000000000000 -r c62425b2f286 interface.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/interface.cpp Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,77 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "interface.h"
+#include "USBSerial.h"
+#include "controller.h"
+#include "config.h"
+
+// Serial port for full interface with streaming data. Select USB or UART with USE_UART_INTERFACE constant.
+// Files that use these objects should declare them as externs.
+#if USE_UART_INTERFACE
+Serial *serial = new Serial(P3_1,P3_0,UART_BAUD_RATE);
+#else
+USBSerial *serial = new USBSerial(0x0b6a, 0x4360, 0x0001, false);
+#endif
+
+// UART over daplink, 9600 baud. This can be used for debugging
+//Serial daplink(P2_1, P2_0);
+
+// USBSerial putc and printf are slow. Use writeBlock to stream data over USB
+void sendDataStream(uint8_t *str, const unsigned int num_chars)
+{
+#if USE_UART_INTERFACE
+
+ for (int i=0; i<num_chars; i++) {
+ (*serial).putc(str[i]);
+ }
+
+#else // This section needs to be #defined because writeBlock does not exist for UART serial object
+ uint8_t *output_ptr = (uint8_t *)str; // writeBlock requires pointer to uint8_t
+ unsigned int bytes_remaining = num_chars;
+
+ while (bytes_remaining > 0) {
+ if (bytes_remaining < USB_BLOCK_SIZE) {
+ (*serial).writeBlock(output_ptr, bytes_remaining);
+ bytes_remaining = 0;
+ }
+ else {
+ (*serial).writeBlock(output_ptr, USB_BLOCK_SIZE);
+ bytes_remaining -= USB_BLOCK_SIZE;
+ output_ptr += USB_BLOCK_SIZE;
+ }
+ }
+#endif
+}
diff -r 000000000000 -r c62425b2f286 interface.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/interface.h Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,54 @@ +/******************************************************************************* +* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved. +* +* This software is protected by copyright laws of the United States and +* of foreign countries. This material may also be protected by patent laws +* and technology transfer regulations of the United States and of foreign +* countries. This software is furnished under a license agreement and/or a +* nondisclosure agreement and may only be used or reproduced in accordance +* with the terms of those agreements. Dissemination of this information to +* any party or parties not specified in the license agreement and/or +* nondisclosure agreement is expressly prohibited. +* +* 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. +******************************************************************************* +*/ + +#ifndef INTERFACE_H_INCLUDED +#define INTERFACE_H_INCLUDED + +#include "mbed.h" +#include "gesture_lib.h" + +// Option to implement serial API over UART instead of USB +#define USE_UART_INTERFACE 1 +#define UART_BAUD_RATE 115200 + +// Bytes prefixed to pixel data to create data frame +const int NUM_INFO_BYTES = 40; + +const unsigned int USB_BLOCK_SIZE = 64; + +// Data streaming over USB or UART, depending on which is enabled +void sendDataStream(uint8_t *str, const unsigned int num_chars); + +#endif
diff -r 000000000000 -r c62425b2f286 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,256 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "mbed.h"
+#include "USBSerial.h"
+
+#include "config.h"
+#include "gesture_lib.h"
+#include "interface.h"
+#include "controller.h"
+#include "cmd.h"
+
+#if defined(COMPILE_FOR_MAX32630)
+ #include "max32630fthr.h"
+ MAX32630FTHR fthr(MAX32630FTHR::VIO_3V3);
+#elif defined(COMPILE_FOR_MAX32620)
+ #include "MAX32620FTHR.h"
+ MAX32620FTHR fthr(MAX32620FTHR::VIO_3V3);
+#endif
+
+const char *version_string = "gesture firmware framework version 1.0";
+
+// MCU board status LEDs
+DigitalOut rLED(LED1);
+DigitalOut gLED(LED2);
+
+// Device pins
+DigitalOut csb(P5_5); // sensor 1
+//DigitalOut csb2(P54); // sensor 2
+DigitalOut sel(P3_2);
+
+InterruptIn intb(P5_3); // sensor 1
+//InterruptIn intb2(P3_3); // sensor 2
+
+#if USE_SPI
+ SPI spi(P5_1, P5_2, P5_0);
+#else
+ I2C i2c(P3_4, P3_5);
+#endif
+
+uint32_t i2c_addr_select = 0;
+
+uint32_t serial_mode = SPI_MODE;
+
+static uint32_t read_sensor_frames_enabled = 0;
+static uint32_t data_stream_enabled = 0;
+
+static uint32_t send_pixel_data_with_stream = 1;
+
+// Data ready flags
+static uint32_t sensorDataReadyFlag = 0; // Data ready flag, set by the end-of-conversion interrupt
+
+// Declare functions called in main
+static void processFrame(int pixels[]);
+void set_default_register_settings();
+
+int main()
+{
+ static int pixels[NUM_SENSOR_PIXELS];
+ gLED = LED_OFF;
+ rLED = LED_ON;
+
+ #if USE_SPI
+ spi.frequency(6e6);
+ serial_mode = SPI_MODE;
+ spi_init();
+ #else
+ i2c.frequency(400e3);
+ serial_mode = I2C_MODE;
+ i2c_init();
+ #endif
+
+ // Write register settings to device
+ set_default_register_settings();
+
+ // Set FTHR board status LEDs
+ gLED = LED_ON;
+ rLED = LED_OFF;
+
+ // Configure gesture library
+ // Declare a configuration object
+ GestureConfig gestCfg;
+ // First get a GestureConfig struct that is populated with default values
+ initConfigStructToDefaults(&gestCfg);
+ // Then pass this struct to the configGesture function to initialize the gesture library
+ configGesture(&gestCfg);
+ //configGesture(NULL); // If configGesture is called with NULL, then default parameters will be used.
+
+ // Enable reading of sensor frames
+ enable_read_sensor_frames();
+
+ while (1) {
+ // Check if a command was received over the serial interface
+ checkUserCmd();
+
+ // If using INTB interrupt, the sensorDataReadyFlag will be set when the end-of-conversion occurs
+ if (sensorDataReadyFlag) {
+ getSensorPixels(pixels, getGestureConfigPtr()->flip_sensor_pixels);
+ processFrame(pixels);
+ sensorDataReadyFlag = 0;
+ }
+ }
+}
+
+/*
+* This function calls the gesture library for a single sensor frame
+* It builds a data stream frame from the gesture results
+* And sends the stream over the serial connection
+*/
+GestureResult gesResult;
+void processFrame(int pixels[])
+{
+ runGesture(pixels, &gesResult);
+ // For raw pixels, instead uncomment out the following line
+ //memset(&gesResult, 0, sizeof(GestureResult));
+
+ if (data_stream_enabled) {
+
+ uint8_t frm_data[NUM_SENSOR_PIXELS*2+NUM_INFO_BYTES];
+
+ // The frame data is per the serial API used by the gesture EVKit GUI
+ // SYNC bits are used by receiver to know the start of frame
+ frm_data[0] = 255; // SYNC
+ frm_data[1] = 255; // SYNC2
+ frm_data[3] = gesResult.state;
+ frm_data[4] = gesResult.n_sample;
+ frm_data[6] = (gesResult.maxpixel>>8) & 0xFF; // maxpixel high byte
+ frm_data[7] = gesResult.maxpixel & 0xFF; // maxpixel low byte
+ float x = gesResult.x;
+ memcpy(frm_data+10, &x, 4);
+ float y = gesResult.y;
+ memcpy(frm_data+15, &y, 4);
+
+ for (uint32_t i=0; i<NUM_SENSOR_PIXELS; i++) {
+ frm_data[2*i + NUM_INFO_BYTES] = (pixels[i]>>8) & 0xFF;
+ frm_data[2*i+1 + NUM_INFO_BYTES] = pixels[i] & 0xFF;
+ }
+
+ if (send_pixel_data_with_stream)
+ sendDataStream(frm_data, NUM_SENSOR_PIXELS*2 + NUM_INFO_BYTES);
+ else
+ sendDataStream(frm_data, NUM_INFO_BYTES);
+ }
+}
+
+
+void set_default_register_settings()
+{
+ uint32_t ledDrvLevel = 0x0F;
+ reg_write(0x01, 0x04);
+ reg_write(0x02, 0x02);
+ #if defined(MAX25405_DEVICE)
+ reg_write(0x03, 0x24); // SDLY=2, TIM=2
+ reg_write(0x04, 0x8C); // NRPT=4, NCDS=3
+ #elif defined(MAX25205_DEVICE)
+ reg_write(0x03, 0x04); // SDLY=0, TIM=2
+ reg_write(0x04, 0xAC); // NRPT=5, NCDS=3
+ ledDrvLevel = 0x0A;
+ #endif
+ reg_write(0x05, 0x08);
+ reg_write(0x06, ledDrvLevel); // LED power
+ reg_write(0xa5, 0x88);
+ reg_write(0xa6, 0x88);
+ reg_write(0xa7, 0x88);
+ reg_write(0xa8, 0x88);
+ reg_write(0xa9, 0x88);
+ reg_write(0xc1, 0x0A); // PWM LED driver
+}
+
+/*
+* This is the interrupt handler to handle end-of-conversion interrupts on the INTB pin
+*/
+void intb_handler()
+{
+ sensorDataReadyFlag = 1;
+}
+
+/*
+* This function starts the monitoring of the INTB interrupt
+*/
+void enable_read_sensor_frames()
+{
+ resetGesture();
+
+ intb.fall(&intb_handler); // Add INTB interrupt handler
+
+ // Read status reg to clear interrupt
+ uint8_t status_reg;
+ reg_read(0x00, 1, &status_reg);
+
+ // Turn off the status LEDs on the MCU board
+ gLED = LED_OFF;
+ rLED = LED_OFF;
+ read_sensor_frames_enabled = 1;
+}
+
+/*
+* This function stops the monitoring of the INTB interrupt or polling
+*/
+void disable_read_sensor_frames()
+{
+ intb.fall(0); // Remove interrupt handler
+
+ // Turn on the status LEDs on the MCU board
+ gLED = LED_ON;
+ rLED = LED_OFF;
+ read_sensor_frames_enabled = 0;
+}
+
+/*
+* These functions set the data reporting mode and starts sending of data
+*/
+void set_stream_on(uint32_t send_pixel_data)
+{
+ send_pixel_data_with_stream = send_pixel_data;
+ data_stream_enabled = 1;
+ if (read_sensor_frames_enabled == 0)
+ enable_read_sensor_frames(); // make sure
+}
+
+void set_stream_off()
+{
+ data_stream_enabled = 0;
+}
diff -r 000000000000 -r c62425b2f286 mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Sun Oct 16 15:35:01 2022 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#0fdfcf7350896a9c0b57c4a18237677abfe25f1a
diff -r 000000000000 -r c62425b2f286 readme.txt
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/readme.txt Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,61 @@
+
+# Application files:
+
+main.cpp: Top level source file
+controller.cpp / controller.h: These files handle low level communication to the sensor device
+cmd.cpp / cmd.h: These files are for the command-line interface over the USB serial
+interface.cpp / interface.h: These files handle communications over the serial connection
+
+# Gesture Library Files:
+
+gesture_lib.h: defines the Gesture Library API
+
+Other gesture library source files:
+ gesture.cpp
+ gesture_init.cpp
+ gesture_config.h
+ gesture_common.h
+ img_utils.cpp / img_utils.h
+
+# Setup with mbed CLI
+
+This project was compiled under mbed CLI.
+
+*Installing mbed CLI*
+Follow the mbed CLI installation instructions on the mbed site:
+https://os.mbed.com/docs/mbed-os/v6.6/quick-start/build-with-mbed-cli.html
+
+*Initialize a new mbed project*
+Add the mbed-os library to the directory containing the source files with the following command (note the period):
+ mbed new .
+Use the "--scm none" option to prevent revision control initialization
+
+*Add required libraries*
+Add libraries to support the MAX32630FTHR or MAX32620FTHR development. In the same directory, type:
+ mbed add https://os.mbed.com/teams/MaximIntegrated/code/max32630fthr/
+or
+ mbed add https://os.mbed.com/teams/MaximIntegrated/code/MAX32620FTHR/
+
+And library to support the USB serial interface. In same directory type:
+ mbed add https://os.mbed.com/teams/MaximIntegrated/code/USBDevice/
+
+
+# Configuration
+
+Stack size needs to be increased from the default of 4k.
+The stack size is defined by an mbed_app.json file in the root directory of your project.
+
+mbed_app.json should contain:
+
+{
+ "config": {
+ "main-stack-size": {
+ "value": 65536
+ }
+ }
+}
+
+# Compiling
+ mbed compile -t GCC_ARM -m MAX32630FTHR
+or
+ mbed compile -t GCC_ARM -m MAX32620FTHR
diff -r 000000000000 -r c62425b2f286 tracking.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tracking.c Sun Oct 16 15:35:01 2022 +0000
@@ -0,0 +1,258 @@
+/*******************************************************************************
+* Copyright (C) Maxim Integrated Products, Inc., All rights Reserved.
+*
+* This software is protected by copyright laws of the United States and
+* of foreign countries. This material may also be protected by patent laws
+* and technology transfer regulations of the United States and of foreign
+* countries. This software is furnished under a license agreement and/or a
+* nondisclosure agreement and may only be used or reproduced in accordance
+* with the terms of those agreements. Dissemination of this information to
+* any party or parties not specified in the license agreement and/or
+* nondisclosure agreement is expressly prohibited.
+*
+* 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 "gesture_common.h"
+
+static uint32_t reset_flag = TRUE;
+static uint32_t reset_bias_flag = TRUE;
+
+// Calculated from parameters
+static uint32_t sampleT;
+static uint32_t adc_full_scale;
+static uint32_t static_state_bias_n;
+
+static uint32_t force_calibration_flag = FALSE;
+
+typedef enum { INACTIVE_STATE, TRACKING_STATE } TrackingState;
+
+void configTracking(const uint32_t _sampleT, const uint32_t _adc_full_scale, const TrackingConfig *cfg)
+{
+ sampleT = _sampleT;
+ adc_full_scale = _adc_full_scale;
+ static_state_bias_n = cfg->static_state_bias_ms/sampleT;
+ resetTracking();
+
+ // Reset calibration only if sample period or full-scale changed, so calibration is not cleared.
+ static uint32_t last_sampleT = 0;
+ static uint32_t last_adc_full_scale = 0;
+ if ((sampleT != last_sampleT) || (adc_full_scale != last_adc_full_scale)) {
+ clearTrackingCalibration();
+ }
+ last_sampleT = sampleT;
+ last_adc_full_scale = adc_full_scale;
+}
+
+// Force a single bias configuration
+void forceTrackingCalibration()
+{
+ force_calibration_flag = TRUE;
+}
+
+void clearTrackingCalibration()
+{
+ reset_bias_flag = TRUE;
+}
+
+// Reset the state machine and clear the filter
+void resetTracking()
+{
+ reset_flag = TRUE;
+}
+
+void runTracking(const TrackingConfig *cfg, int pixels[], TrackingResult *gesResult)
+{
+ static TrackingState state = INACTIVE_STATE;
+ static uint32_t calibration_done = FALSE;
+ static uint32_t static_state_bias_count = 0;
+
+ static uint32_t reset_filter_flag = TRUE;
+ static uint32_t reset_linger_flag = TRUE;
+
+ memset(gesResult, 0, sizeof(TrackingResult));
+
+ // A reset will reset the calibration, so filters and static state counters must also be reset once a calibration is performed
+ if (reset_flag) {
+ state = INACTIVE_STATE;
+ static_state_bias_count = 0; // Reset the bias calibration counter but don't clear the bias cal.
+ reset_filter_flag = TRUE;
+ reset_flag = FALSE;
+ }
+
+ // -----------------------------------------
+ // Bias Compenstation
+ // -----------------------------------------
+ {
+ static int biaspixels[NUM_SENSOR_PIXELS];
+ static float refpixels[NUM_SENSOR_PIXELS];
+
+ int max_raw_pixel=getMaxPixelValue(pixels, NUM_SENSOR_PIXELS);
+ int min_raw_pixel=getMinPixelValue(pixels, NUM_SENSOR_PIXELS);
+
+ if (reset_bias_flag) {
+ for(uint32_t i=0; i<NUM_SENSOR_PIXELS; i++) {
+ biaspixels[i] = 0; // clear the bias compensation
+ refpixels[i] = pixels[i]; // reset reference pixels
+ }
+ static_state_bias_count = 0;
+ reset_bias_flag = FALSE;
+ calibration_done = FALSE;
+ }
+
+ if (cfg->enable_auto_bias_calibration) {
+ // Compare current pixel to reference
+ int maxdelta = -99999;
+ for (uint32_t i = 0; i < NUM_SENSOR_PIXELS; i++) {
+ int delta = abs(pixels[i] - refpixels[i]);
+ if (maxdelta < delta) {
+ maxdelta = delta;
+ }
+ }
+ // Check for static condition
+ if (maxdelta < (int)cfg->static_state_bias_delta_max
+ && max_raw_pixel-min_raw_pixel < (int)adc_full_scale/(int)cfg->bias_fullscale_factor_max
+ && state != TRACKING_STATE)
+ {
+ static_state_bias_count++;
+ }
+ else {
+ // Sensor not static, reset the counter and set new reference
+ static_state_bias_count = 0;
+ for(uint32_t i=0; i<NUM_SENSOR_PIXELS; i++) {
+ refpixels[i] = pixels[i];
+ }
+ }
+ // If static condition, recalculate bias compenstation
+ if (static_state_bias_count > static_state_bias_n) {
+ for (uint32_t i = 0; i < NUM_SENSOR_PIXELS; i++) {
+ biaspixels[i] = refpixels[i];
+ }
+ static_state_bias_count = 0;
+ calibration_done = TRUE;
+ }
+ }
+ // If force_calibration_flag is set, set bias to current pixel values
+ if (force_calibration_flag) {
+ for (uint32_t i = 0; i < NUM_SENSOR_PIXELS; i++) {
+ biaspixels[i] = pixels[i];
+ }
+ calibration_done = TRUE;
+ force_calibration_flag = FALSE;
+ }
+ // Apply bias compensation
+ for (uint32_t i = 0; i < NUM_SENSOR_PIXELS; i++) {
+ pixels[i] -= biaspixels[i];
+ }
+ }
+
+ // -----------------------------------------
+ // Low pass filter
+ // -----------------------------------------
+ if (calibration_done) {
+ static float filtpixels[NUM_SENSOR_PIXELS];
+ if (reset_filter_flag) {
+ for(uint32_t i=0; i<NUM_SENSOR_PIXELS; i++)
+ {
+ filtpixels[i] = pixels[i]; // Clear the filter
+ }
+ reset_filter_flag = FALSE;
+ }
+ filterLowPassPixels(pixels, filtpixels, NUM_SENSOR_PIXELS, cfg->low_pass_filter_alpha);
+ }
+
+ // -----------------------------------------
+ // Software gain
+ // -----------------------------------------
+ {
+ double gain_factor = 0.0f;
+ for (uint32_t i = 0; i < NUM_SENSOR_PIXELS; i++) {
+ if (i%SENSOR_XRES == 0 || i%SENSOR_XRES == 9 || i%SENSOR_XRES == 1 || i%SENSOR_XRES == 8 || i/SENSOR_XRES == 0 || i/SENSOR_XRES == 5)
+ gain_factor = cfg->gain_factor_2;
+ else if (i%SENSOR_XRES == 2 || i%SENSOR_XRES == 7 || i/SENSOR_XRES == 1 || i/SENSOR_XRES == 4)
+ gain_factor = cfg->gain_factor_1;
+ else if (i%SENSOR_XRES == 3 || i%SENSOR_XRES == 6 || i%SENSOR_XRES == 4 || i%SENSOR_XRES == 5)
+ gain_factor = cfg->gain_factor_0;
+
+ pixels[i] *= gain_factor;
+ }
+ }
+
+ // -----------------------------------------
+ // Determine tracking state
+ // -----------------------------------------
+
+ // Get max/min pixel after applying bias compensation and filtering
+ int maxpixel=getMaxPixelValue(pixels, NUM_SENSOR_PIXELS);
+
+ // Determine state
+ if (calibration_done
+ && ((state == INACTIVE_STATE
+ && maxpixel > cfg->start_detection_threshold) || (state == TRACKING_STATE
+ && maxpixel > cfg->end_detection_threshold)))
+ {
+ state = TRACKING_STATE;
+ }
+ else {
+ state = INACTIVE_STATE;
+ }
+
+ // -----------------------------------------
+ // Object position
+ // -----------------------------------------
+ float x_scaled = -1.0, y_scaled = -1.0;
+ if (state == TRACKING_STATE) {
+ #if INTERP_FACTOR == 1
+ int *interp_pixels;
+ interp_pixels = pixels;
+ #else
+ int interp_pixels[NUM_INTERP_PIXELS];
+ interpn(pixels, interp_pixels, SENSOR_XRES, SENSOR_YRES, INTERP_FACTOR);
+ #endif
+
+ // Zero out low pixels to reduce artifacts and noise
+ zeroPixelsBelowThreshold(interp_pixels,NUM_INTERP_PIXELS,(int)(maxpixel/cfg->zero_clamp_threshold_factor)); // zero out pixels below some percent of peak
+ zeroPixelsBelowThreshold(interp_pixels,NUM_INTERP_PIXELS,cfg->zero_clamp_threshold);
+
+ // Find center of mass.
+ float cmx,cmy;
+ if (maxpixel > 0) {
+ int totalmass=0;
+ calcCenterOfMass(interp_pixels, INTERP_XRES, INTERP_YRES, &cmx, &cmy, &totalmass); // only calculate COM if there is a pixel above the noise (avoid divide-by-zero)
+ cmx = cmx/(float)INTERP_FACTOR;
+ cmy = cmy/(float)INTERP_FACTOR;
+ }
+
+ // Scale position according to tracking width/height parameter. This scales to values (0,9) in x, (0,5) in y
+ x_scaled = (cmx - ((float)SENSOR_XRES - cfg->track_width)/2.0f) * (SENSOR_XRES-1)/(cfg->track_width-1);
+ x_scaled = x_scaled >= (SENSOR_XRES-1) ? SENSOR_XRES - 1.001 : x_scaled < 0.0f ? 0.0f : x_scaled;
+ y_scaled = (cmy - ((float)SENSOR_YRES - cfg->track_height)/2.0f) * (SENSOR_YRES-1)/(cfg->track_height-1);
+ y_scaled = y_scaled >= (SENSOR_YRES-1) ? SENSOR_YRES - 1.001 : y_scaled < 0.0f ? 0.0f : y_scaled;
+ }
+
+ // Update gesture result struct
+ gesResult->state = state == TRACKING_STATE ? 1 : 0;
+ gesResult->x = state == TRACKING_STATE ? x_scaled : -1.00f;
+ gesResult->y = state == TRACKING_STATE ? y_scaled : -1.00f;
+ gesResult->maxpixel = maxpixel;
+}