cci

Documentation

Overview

Package cci declares the Camera Command Interface to interact with a FLIR Lepton over I²C.

This protocol controls and queries the camera but is not used to read the images.

Datasheet

https://www.flir.com/globalassets/imported-assets/document/flir-lepton-software-interface-description-document.pdf

Index

• type CameraStatus
  • func (i CameraStatus) String() string
• type Dev
  • func New(i i2c.Bus) (*Dev, error)
  • func (d *Dev) GetFFCModeControl() (*FFCMode, error)
  • func (d *Dev) GetSerial() (uint64, error)
  • func (d *Dev) GetShutterPos() (ShutterPos, error)
  • func (d *Dev) GetStatus() (*Status, error)
  • func (d *Dev) GetTemp() (physic.Temperature, error)
  • func (d *Dev) GetTempHousing() (physic.Temperature, error)
  • func (d *Dev) GetUptime() (time.Duration, error)
  • func (d *Dev) Halt() error
  • func (d *Dev) Init() error
  • func (d *Dev) Precision(e *physic.Env)
  • func (d *Dev) RunFFC() error
  • func (d *Dev) Sense(e *physic.Env) error
  • func (d *Dev) SenseContinuous(time.Duration) (<-chan physic.Env, error)
  • func (d *Dev) String() string
  • func (d *Dev) WaitIdle() (StatusBit, error)
• type FFCMode
• type FFCShutterMode
  • func (i FFCShutterMode) String() string
• type FFCState
  • func (i FFCState) String() string
• type ShutterPos
  • func (i ShutterPos) String() string
• type ShutterTempLockoutState
  • func (i ShutterTempLockoutState) String() string
• type Status
• type StatusBit
  • func (s StatusBit) String() string

Types

type CameraStatus

type CameraStatus uint32

CameraStatus returns the status of the FLIR Lepton's camera.

const (
	SystemReady              CameraStatus = 0
	SystemInitializing       CameraStatus = 1
	SystemInLowPowerMode     CameraStatus = 2
	SystemGoingIntoStandby   CameraStatus = 3
	SystemFlatFieldInProcess CameraStatus = 4
)

Valid values for CameraStatus.

func (CameraStatus) String

func (i CameraStatus) String() string

type Dev

type Dev struct {
	// contains filtered or unexported fields
}

Dev is the Lepton specific Command and Control Interface (CCI).

Dev can safely accessed concurrently via multiple goroutines.

This interface is accessed via I²C and provides access to view and modify the internal state.

Maximum I²C speed is 1Mhz.

func New

func New(i i2c.Bus) (*Dev, error)

New returns a driver for the FLIR Lepton CCI protocol.

func (*Dev) GetFFCModeControl

func (d *Dev) GetFFCModeControl() (*FFCMode, error)

GetFFCModeControl returns the internal state with regards to calibration.

func (*Dev) GetSerial

func (d *Dev) GetSerial() (uint64, error)

GetSerial returns the FLIR Lepton serial number.

func (*Dev) GetShutterPos

func (d *Dev) GetShutterPos() (ShutterPos, error)

GetShutterPos returns the position of the shutter if present.

func (*Dev) GetStatus

func (d *Dev) GetStatus() (*Status, error)

GetStatus return the status of the camera as known by the camera itself.

func (*Dev) GetTemp

func (d *Dev) GetTemp() (physic.Temperature, error)

GetTemp returns the temperature inside the camera.

func (*Dev) GetTempHousing

func (d *Dev) GetTempHousing() (physic.Temperature, error)

GetTempHousing returns the temperature of the camera housing.

func (*Dev) GetUptime

func (d *Dev) GetUptime() (time.Duration, error)

GetUptime returns the uptime. Rolls over after 1193 hours.

func (*Dev) Halt

func (d *Dev) Halt() error

Halt implements conn.Resource.

Halt stops the camera.

func (*Dev) Init

func (d *Dev) Init() error

Init initializes the FLIR Lepton in raw 14 bits mode, enables telemetry as header.

func (*Dev) Precision

func (d *Dev) Precision(e *physic.Env)

Precision implements physic.SenseEnv.

func (*Dev) RunFFC

func (d *Dev) RunFFC() error

RunFFC forces a Flat-Field Correction to be done by the camera for recalibration. It takes 23 frames and the camera runs at 27fps so it lasts less than a second.

func (*Dev) Sense

func (d *Dev) Sense(e *physic.Env) error

Sense implements physic.SenseEnv. It returns the housing temperature.

func (*Dev) SenseContinuous

func (d *Dev) SenseContinuous(time.Duration) (<-chan physic.Env, error)

SenseContinuous implements physic.SenseEnv.

func (*Dev) String

func (d *Dev) String() string

String implements conn.Resource.

func (*Dev) WaitIdle

func (d *Dev) WaitIdle() (StatusBit, error)

WaitIdle waits for camera to be ready.

It loops forever and returns the StatusBit.

type FFCMode

type FFCMode struct {
	FFCShutterMode          FFCShutterMode          // Default: FFCShutterModeExternal
	ShutterTempLockoutState ShutterTempLockoutState // Default: ShutterTempLockoutStateInactive
	ElapsedTimeSinceLastFFC time.Duration           // Uptime
	DesiredFFCPeriod        time.Duration           // Default: 300s
	DesiredFFCTempDelta     physic.Temperature      // Default: 3K
	ImminentDelay           uint16                  // Default: 52
	VideoFreezeDuringFFC    bool                    // Default: true
	FFCDesired              bool                    // Default: false
	ExplicitCommandToOpen   bool                    // Default: false
}

FFCMode describes the various self-calibration settings and state.

type FFCShutterMode

type FFCShutterMode uint32

FFCShutterMode is used in FFCMode.

const (
	FFCShutterModeManual   FFCShutterMode = 0
	FFCShutterModeAuto     FFCShutterMode = 1
	FFCShutterModeExternal FFCShutterMode = 2
)

Valid values for FFCShutterMode.

func (FFCShutterMode) String

func (i FFCShutterMode) String() string

type FFCState

type FFCState uint8

FFCState describes the Flat-Field Correction state.

const (
	// FFCNever means no FFC was requested.
	FFCNever FFCState = 0
	// FFCInProgress means a FFC is in progress. It lasts 23 frames (at 27fps) so it lasts less than a second.
	FFCInProgress FFCState = 1
	// FFCComplete means FFC was completed successfully.
	FFCComplete FFCState = 2
)

func (FFCState) String

func (i FFCState) String() string

type ShutterPos

type ShutterPos uint32

ShutterPos returns the shutter position, which is used to calibrate the camera.

const (
	ShutterPosUnknown ShutterPos = 0xFFFFFFFF // -1
	ShutterPosIdle    ShutterPos = 0
	ShutterPosOpen    ShutterPos = 1
	ShutterPosClosed  ShutterPos = 2
	ShutterPosBrakeOn ShutterPos = 3
)

Valid values for ShutterPos.

func (ShutterPos) String

func (i ShutterPos) String() string

type ShutterTempLockoutState

type ShutterTempLockoutState uint32

ShutterTempLockoutState is used in FFCMode.

const (
	ShutterTempLockoutStateInactive ShutterTempLockoutState = 0
	ShutterTempLockoutStateHigh     ShutterTempLockoutState = 1
	ShutterTempLockoutStateLow      ShutterTempLockoutState = 2
)

Valid values for ShutterTempLockoutState.

func (ShutterTempLockoutState) String

func (i ShutterTempLockoutState) String() string

type Status

type Status struct {
	CameraStatus CameraStatus
	CommandCount uint16
}

Status returns the camera status as returned by the camera.

type StatusBit

type StatusBit uint16

StatusBit is the status as returned by the FLIR Lepton.

const (
	StatusBusy       StatusBit = 0x1
	StatusBootNormal StatusBit = 0x2
	StatusBooted     StatusBit = 0x4
	StatusErrorMask  StatusBit = 0xFF00
)

Status bitmask.

func (StatusBit) String

func (s StatusBit) String() string