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MLX90640.py
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MLX90640.py
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from smbus2 import SMBus, i2c_msg
import math
class MLX90640:
def __init__(address=0x33): #default 0x33
self.address = address
self.bus = SMBus(1)
self.addr = address
self.gain = self.getGain()
self.VDD0 = 3.3
self.DV = self.getVDD()
self.VDD = self.DV+self.VDD0
self.Ta0 = 25
self.Ta = self.getTa()
self.emissivity = 1
self.TGC = self.getTGC()
self.chessNotIL = 1
self.KsTa = self.getKsTa()
self.KsTo1, self.KsTo2, self.KsTo3, self.KsTo4 = self.getKsTo()
self.step, self.CT3, self.CT4 = self.getCorners()
self.CT1 = 40
self.CT2 = 0
self.alphaCorrR1 = 1/float(1+ self.KsTo1*(0-(-40)))
self.alphaCorrR2 = 1
self.alphaCorrR3 = 1 + self.KsTo2*(self.CT3-0)
self.alphaCorrR4 = self.alphaCorrR3*(1+self.KsTo3*(self.CT4-self.CT3))
def getRegs(self,reg,num):
write = i2c_msg.write(self.addr,[reg>>8,reg&0xFF])
read = i2c_msg.read(self.address,num)
self.bus.i2c_rdwr(write, read)
return list(read)
def getRegf(self,reg):
write = i2c_msg.write(self.addr,[reg>>8,reg&0xFF])
read = i2c_msg.read(self.address,2)
self.bus.i2c_rdwr(write, read)
result = list(read)
return (result[0]<<8)+result[1]
def root4(self,num):
return math.sqrt(math.sqrt(num))
def getTGC(self):
TGC = self.getRegf(0x243C) & 0x00FF
if TGC > 127:
TGC = TGC - 256
return TGC
def getVDD(self):
Kvdd = (self.getRegf(0x2433) & 0xFF00)/256
if Kvdd > 127:
Kvdd = Kvdd -256
Kvdd = Kvdd*32
Vdd25 = self.getRegf(0x2433) & 0x00FF
Vdd25 = (Vdd25-256)*32 - 8192
RAM = self.getRegf(0x072A)
if RAM > 32767:
RAM = RAM - 65536
DV = (RAM - Vdd25)/float(Kvdd)
return DV
def getTa(self):
KVptat = (self.getRegf(0x2432) & 0xFC00)/1024
if KVptat > 31:
KVptat = KVptat - 62
KVptat = KVptat/4096.0
KTptat = self.getRegf(0x2432) & 0x03FF
if KTptat > 511:
KTptat = KTptat - 1022
KTptat = KTptat/8.0
Vptat25 = self.getRegf(0x2431)
if Vptat25 > 32767:
Vptat25 = Vptat25 - 65536
Vptat = self.getRegf(0x0720)
if Vptat > 32767:
Vptat = Vptat - 65536
Vbe = self.getRegf(0x0700)
if Vbe > 32767:
Vbe = Vbe - 65536
AlphaptatEE = (self.getRegf(0x2410) & 0xF000)/4096
Alphaptat = (AlphaptatEE/4)+8
Vptatart = (Vptat/float(Vptat * Alphaptat + Vbe))*262144
Ta = ((Vptatart/float(1+KVptat*self.DV)-Vptat25)/float(KTptat))+self.Ta0
return Ta
def getGain(self):
GAIN = self.getRegf(0x2430)
if GAIN > 32767:
GAIN = GAIN - 65536
RAM = self.getRegf(0x070A)
if RAM > 32767:
RAM = RAM - 65536
return GAIN/float(RAM)
def pixnum(self,i,j):
return (i-1)*32 + j
def patternChess(self,i,j):
pixnum = self.pixnum(i,j)
a = (pixnum-1)/32
b = int((pixnum-1)/32)/2
return int(a) - int(b)*2
def getKsTa(self):
KsTaEE = (self.getRegf(0x243C) & 0xFF00) >> 256
if KsTaEE > 127:
KsTaEE = KsTaEE -256
KsTa = KsTaEE/8192.0
return KsTa
def getKsTo(self):
EE1 = self.getRegf(0x243D)
EE2 = self.getRegf(0x243E)
KsTo1 = EE1 & 0x00FF
KsTo3 = EE2 & 0x00FF
KsTo2 = (EE1 & 0xFF00) >> 8
KsTo4 = (EE2 & 0xFF00) >> 8
if KsTo1 > 127:
KsTo1 = KsTo1 -256
if KsTo2 > 127:
KsTo2 = KsTo2 -256
if KsTo3 > 127:
KsTo3 = KsTo3 -256
if KsTo4 > 127:
KsTo4 = KsTo4 -256
KsToScale = (self.getRegf(0x243F) & 0x000F)+8
KsTo1 = KsTo1/float(pow(2,KsToScale))
KsTo2 = KsTo2/float(pow(2,KsToScale))
KsTo3 = KsTo3/float(pow(2,KsToScale))
KsTo4 = KsTo4/float(pow(2,KsToScale))
return KsTo1, KsTo2, KsTo3, KsTo4
def getCorners(self):
EE = self.getRegf(0x243F)
step = ((EE & 0x3000)>>12)*10
CT3 = ((EE & 0x00f0)>>4)*step
CT4 = ((EE & 0x0f00)>>8)*(step+CT3)
return step, CT3, CT4
def getPixData(self,i,j):
Offsetavg = self.getRegf(0x2411)
if Offsetavg > 32676:
Offsetavg = Offsetavg-65536
scaleVal = self.getRegf(0x2410)
OCCscaleRow = (scaleVal&0x0f00)/256
OCCscaleCol = (scaleVal&0x00F0)/16
OCCscaleRem = (scaleVal&0x000F)
rowAdd = 0x2412 + ((i-1)/4)
colAdd = 0x2418 + ((j-1)/4)
rowMask = 0xF<<(4*((i-1)%4))
colMask = 0xF<<(4*((j-1)%4))
OffsetPixAdd = 0x243F+((i-1)*32)+j
OffsetPixVal = self.getRegf(OffsetPixAdd)
OffsetPix = (OffsetPixVal & 0xFC00)/1024
if OffsetPix >31:
OffsetPix = OffsetPix - 64
OCCRow = (self.getRegf(rowAdd) & rowMask)>>(4*((i-1)%4))
if OCCRow >7:
OCCRow = OCCRow -16
OCCCol = (self.getRegf(colAdd) & colMask)>>(4*((j-1)%4))
if OCCCol > 7:
OCCCol = OCCCol -16
pixOffset = Offsetavg + OCCRow*pow(2,OCCscaleRow) + OCCCol*pow(2,OCCscaleCol) + OffsetPix*pow(2,OCCscaleRem)
KtaEE = (OffsetPixVal & 0x000E)/2
if KtaEE > 3:
KtaEE = KtaEE - 7
colEven = not (j%2)
rowEven = not (i%2)
rowOdd = not rowEven
colOdd = not colEven
KtaAvAddr = 0x2436 + (colEven)
KtaAvMask = 0xFF00 >> (8*rowEven)
KtaRC = (self.getRegf(KtaAvAddr) & KtaAvMask) >> 8* rowOdd
if KtaRC > 127:
KtaRC = KtaAvRC - 256
KtaScale1 = ((self.getRegf(0x2438) & 0x00F0) >>4)+8
KtaScale2 = (self.getRegf(0x2438) & 0x000F)
Kta = (KtaRC+(KtaEE<<KtaScale2))/float(pow(2,KtaScale1))
shiftNum = (rowOdd*4)+(colOdd*8)
KvMask = 0x000F << shiftNum
Kv = (self.getRegf(0x2434) & KvMask) >> shiftNum
if Kv > 7:
Kv = Kv-16
KvScale = (self.getRegf(0x2438) & 0x0F00)>>8
Kv = Kv/float(KvScale)
RAMaddr = 0x400+((i-1)*32)+ j-1
RAM = self.getRegf(RAMaddr)
if RAM > 32767:
RAM = RAM - 65536
pixGain = RAM*self.gain
pixOs = pixGain - pixOffset*(1+Kta*(self.Ta - self.Ta0)*(1+Kv*(self.VDD - self.VDD0)))
return pixOs
def getCompensatedPixData(self,i,j):
pixOs = self.getPixData(i,j)
Kgain = ((self.gain -1)/10)+1
pixGainCPSP0 = self.getRegf(0x0708)
if pixGainCPSP0 > 32767:
pixGainCPSP0 = pixGainCPSP0 - 65482
pixGainCPSP1 = self.getRegf(0x0728)
if pixGainCPSP1 > 32767:
pixGainCPSP1 = pixGainCPSP1 - 65482
pixGainCPSP0 = pixGainCPSP0*Kgain
pixGainCPSP1 = pixGainCPSP1*Kgain
OffCPSP0 = self.getRegf(0x243A) & 0x03FF
if OffCPSP0 > 511:
OffCPSP0 = OffCPSP0-1024
OffCPSP1d = (self.getRegf(0x243A) &0xFC00)>>10
if OffCPSP1d > 31:
OffCPSP1d = OffCPSP1d-64
OffCPSP1 = OffCPSP1d + OffCPSP0
KvtaCPEEVal = self.getRegf(0x243B)
KvtaScaleVal = self.getRegf(0x2438)
KtaScale1 = ((KvtaScaleVal & 0x00F0)>>4)+8
KvScale = (KvtaScaleVal & 0x0F00)>>8
KtaCPEE = KvtaCPEEVal & 0x00FF
if KtaCPEE > 127:
KtaCPEE = KtaCPEE -256
KvCPEE = (KvtaCPEEVal & 0xFF00)>>8
KtaCP = KtaCPEE/float(pow(2,KtaScale1))
KvCP = KvCPEE/float(pow(2,KvScale))
b = (1+KtaCP*(self.Ta - self.Ta0))*(1+ KvCP*(self.VDD - self.VDD0))
pixOSCPSP0 = pixGainCPSP0 - OffCPSP0*b
pixOSCPSP1 = pixGainCPSP1 - OffCPSP1*b
if self.chessNotIL:
pattern = self.patternChess(i,j)
else:
pattern = self.patternChess(i,j)
VIREmcomp = pixOs/self.emissivity
VIRcomp = VIREmcomp - self.TGC*((1-pattern)*pixOSCPSP0 + pattern*pixOSCPSP1)
###########TESTED TO HERE
reg2439val = self.getRegf(0x2439)
reg2420val = self.getRegf(0x2420)
alphaScaleCP = ((reg2420val & 0xF000)>>12) + 27
CPP1P0ratio = (reg2439val & 0xFC00)>>10
if CPP1P0ratio >31:
CPP1P0ratio = CPP1P0ratio -64
alphaRef = self.getRegf(0x2421)
alphaScale = ((reg2420val & 0xF000)>>12) + 30
rowAdd = 0x2422 + ((i-1)/4)
colAdd = 0x2428 + ((j-1)/4)
rowMask = 0xF<<(4*((i-1)%4))
colMask = 0xF<<(4*((j-1)%4))
ACCRow = (self.getRegf(rowAdd) & rowMask)>>(4*((i-1)%4))
if ACCRow >7:
ACCRow = ACCRow -16
ACCCol = (self.getRegf(colAdd) & colMask)>>(4*((j-1)%4))
if ACCCol > 7:
ACCCol = ACCCol -16
ACCScaleRow = (reg2420val & 0x0F00)>>8
ACCScaleCol = (reg2420val & 0x00F0)>>4
ACCScaleRem = (reg2420val & 0x000F)
alphaPixel = (self.getRegf(0x241f+self.pixnum(i,j))&0x03f0)>>4
alpha = (alphaRef+(ACCRow<<ACCScaleRow)+(ACCCol<<ACCScaleCol)+(alphaPixel<<ACCScaleRem))/float(pow(2,alphaScale))
alphaCPSP0 = (reg2439val & 0x03ff)/float(pow(2,alphaScaleCP))
alphaCPSP1 = alphaCPSP0*(1+CPP1P0ratio/128.0)
alphacomp= alpha - self.TGC*((1-pattern)*alphaCPSP0 + pattern*alphaCPSP1)*(1+self.KsTa*(self.Ta-self.Ta0))
Tak4 = pow(self.Ta + 273.15,4)
Trk4 = pow(self.Ta-8 + 273.15,4)
Tar = Trk4-(Trk4-Tak4)/self.emissivity
Sx = self.KsTo2*self.root4(pow(alphacomp,3)*VIRcomp + pow(alphacomp,4)*Tar)
return self.root4((VIRcomp/(alphacomp*(1-self.KsTo2*273.15)+Sx))+Tar) - 273.15