void Lepton::captureFrame() {
//read data packets from lepton over SPI
int resets = 0;
for (int j = 0; j < PACKETS_PER_FRAME; j++) {
//if it's a drop packet, reset j to 0, set to -1 so he'll be at 0 again loop
read(spi_cs0_fd, _result + sizeof(uint8_t) * PACKET_SIZE * j, sizeof(uint8_t) * PACKET_SIZE);
int packetNumber = _result[j * PACKET_SIZE + 1];
if (packetNumber != j) {
j = -1;
resets += 1;
usleep(1000);
if (resets == 750) {
SpiClosePort(0);
usleep(750000);
SpiOpenPort(0);
}
}
}
if (resets >= 30) {
std::cout << "Done reading, resets: " << resets << std::endl;
}
_frameBuffer = (uint16_t *) _result;
int row, column;
for (int i = 0; i < FRAME_SIZE_UINT16; i++) {
//skip the first 2 uint16_t's of every packet, they're 4 header bytes
if (i % PACKET_SIZE_UINT16 < 2) {
continue;
}
//flip the MSB and LSB at the last second
uint8_t temp = _result[i * 2];
_result[i * 2] = _result[i * 2 + 1];
_result[i * 2 + 1] = temp;
}
/* Obtain the lock to check if allowed to overwrite the latest frame.
* If so, keep the lock until done overwriting it. */
_mtx.lock();
if (_canOverwriteLatestFrame) {
for (int i = 0; i < FRAME_SIZE_UINT16; i++) {
if (i % PACKET_SIZE_UINT16 < 2) {
continue;
}
column = (i % PACKET_SIZE_UINT16) - 2;
row = i / PACKET_SIZE_UINT16;
_latestFrame[row * VIEWPORT_WIDTH_PIX + column] = _frameBuffer[i];
}
_cv.notify_one();
}
_mtx.unlock();
}
Lepton::Lepton() {
SpiOpenPort(0);
int ret = 0;
int fd;
fd = open(device, O_RDWR);
if (fd < 0)
{
pabort("can't open device");
}
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
if (ret == -1)
{
pabort("can't set spi mode");
}
ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
if (ret == -1)
{
pabort("can't get spi mode");
}
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
if (ret == -1)
{
pabort("can't set bits per word");
}
ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
if (ret == -1)
{
pabort("can't get bits per word");
}
ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (ret == -1)
{
pabort("can't set max speed hz");
}
ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
if (ret == -1)
{
pabort("can't get max speed hz");
}
_latestFrame = (uint16_t*) malloc(VIEWPORT_WIDTH_PIX * VIEWPORT_HEIGHT_PIX * sizeof(uint16_t));
_newFrameAvailable = false;
_canOverwriteLatestFrame = true;
std::thread tempThread(&Lepton::startCapture, this);
std::swap(tempThread, _leptonThread);
}
void LeptonThread::run()
{
QString outString;
int count = 0;
int minValueFlameThreshold = 18200;
int maxValueFlameThreshold = 9000;
//create the initial image
myImage = QImage(80, 60, QImage::Format_RGB888);
//open spi port
SpiOpenPort(0);
while(count < 1) {
//while(true){
//read data packets from lepton over SPI
int resets = 0;
for(int j=0;j<PACKETS_PER_FRAME;j++) {
//if it's a drop packet, reset j to 0, set to -1 so he'll be at 0 again loop
read(spi_cs0_fd, result+sizeof(uint8_t)*PACKET_SIZE*j, sizeof(uint8_t)*PACKET_SIZE);
int packetNumber = result[j*PACKET_SIZE+1];
if(packetNumber != j) {
j = -1;
resets += 1;
usleep(1000);
//Note: we've selected 750 resets as an arbitrary limit, since there should never be 750 "null" packets between two valid transmissions at the current poll rate
//By polling faster, developers may easily exceed this count, and the down period between frames may then be flagged as a loss of sync
if(resets == 750) {
SpiClosePort(0);
usleep(750000);
SpiOpenPort(0);
}
}
}
if(resets >= 30) {
qDebug() << "done reading, resets: " << resets;
}
frameBuffer = (uint16_t *)result;
int row, column;
uint16_t value;
uint16_t minValue = 16000;
uint16_t maxValue = 0;
for(int i=0;i<FRAME_SIZE_UINT16;i++) {
//skip the first 2 uint16_t's of every packet, they're 4 header bytes
if(i % PACKET_SIZE_UINT16 < 2) {
continue;
}
//flip the MSB and LSB at the last second
int temp = result[i*2];
result[i*2] = result[i*2+1];
result[i*2+1] = temp;
value = frameBuffer[i];
if(value > maxValue) {
maxValue = value;
//count = value;
}
if(value < minValue) {
minValue = value;
//count = value;
}
column = i % PACKET_SIZE_UINT16 - 2;
row = i / PACKET_SIZE_UINT16 ;
}
//std::cout<<minValue<<","<<maxValue<<"\n"<<endl;
float diff = maxValueFlameThreshold - minValueFlameThreshold;
float scale = 255/diff;
QRgb color;
for(int i=0;i<FRAME_SIZE_UINT16;i++) {
if(i % PACKET_SIZE_UINT16 < 2) {
continue;
}
value = (frameBuffer[i] - minValueFlameThreshold) * scale;
//valueOut=value;
const int *colormap = colormap_ironblack;
//const int *colormap = colormap_rainbow;
/*
if(maxValue > 9000)
{
color = qRgb(colormap[(3*value)], colormap[(3*value+1)], colormap[(3*value+2)]);
}
else
{
color = qRgb(255, 255, 255);
}
*/
color = qRgb(colormap[(3*value)], colormap[(3*value+1)], colormap[(3*value+2)]);
column = (i % PACKET_SIZE_UINT16 ) - 2;
row = i / PACKET_SIZE_UINT16;
myImage.setPixel(column, row, color);
}
//lets emit the signal for update
emit updateImage(myImage);
outString=QString("test%1.png").arg(count);
//outString+= std::to_string(count);
//outString+=".png";
myImage.save(outString);
count++;
}
//finally, close SPI port just bcuz
SpiClosePort(0);
std::exit(0);
}
void SPIReader::Open(int spiPort) {
_spiPort = spiPort;
SpiOpenPort(_spiPort);
}
