upgraded to evm_2.2.4 v2

amsret1 · amsret1 · commit cf5c472d42c1 · 2025-10-01T13:52:40.000+02:00
diff --git a/tmf8829/examples/example_logger_all_pre_configurations.py b/tmf8829/examples/example_logger_all_pre_configurations.py
@@ -28,7 +28,7 @@
 use_histograms = 0
 use_iterations = 2000
 
-results3dcorrected = True
+results3dcorrected = False
 resultsInXYZ = True
 ###################################################################################
 ## Example for the Tmf8829Logger 
diff --git a/tmf8829/examples/example_logger_dual_mode.py b/tmf8829/examples/example_logger_dual_mode.py
@@ -28,7 +28,7 @@
 use_histograms = 1
 use_iterations = 500
 
-results3dcorrected = True
+results3dcorrected = False
 resultsInXYZ = True
 ###################################################################################
 ## Example for the Tmf8829Logger 
diff --git a/tmf8829/hex/tmf8829_application.hex b/tmf8829/hex/tmf8829_application.hex
diff --git a/tmf8829/tmf8829_application.py b/tmf8829/tmf8829_application.py
@@ -16,12 +16,15 @@
 from aos_com.hal_register_io import HalRegisterIo
 from register_page_converter import RegisterPageConverter
 
+# additional interrupt bits 
+TMF8829_INT_MOTION      = 0x02  # motion interrupt bit
+TMF8829_INT_PROXIMITY   = 0x04  # proximity interrupt bit
 
 class Tmf8829Application(Tmf8829Bootloader, Tmf8829AppCommon):
     """The TMF8829 application class for the Shield Evm Board.
     """
     
-    VERSION = 1.10
+    VERSION = 1.12
     """Version log
     - 1.0 First  version
     - 1.1 add FP mode 48x32
@@ -35,6 +38,7 @@ class Tmf8829Application(Tmf8829Bootloader, Tmf8829AppCommon):
     - 1.9 added info parameter readout
     - 1.10 added support for dual mode
     - 1.11 splitted up tmf8829_application to tmf8829_application_common and tmf8829_application
+    - 1.12 support for motion detection and proximity 
     """
 
     def __init__(self, hal:HalRegisterIo, gpio_hal:HalRegisterIo=None ):
@@ -191,7 +195,7 @@ def configure(self, period:int = None, iterations:int = None, fp_mode:int = None
                   spr_spec_single_edge:int=None,spr_spec_cfg:int=None,spr_spec_amp:int=None, add_100_mm_offset:int=None,
                   mp_top_x:int=None, mp_top_y:int=None, mp_bottom_x:int=None, mp_bottom_y:int=None, ref_mp:int=None ,
                   motion_distance:int=None, detect_snr:int=None, release_snr:int=None, motion_adjacent:int=None,
-                  dual_mode:int=None, high_accuracy_iterations:int=None ):
+                  dual_mode:int=None, high_accuracy_iterations:int=None, prox_distance:int=None ):
         """Function to reconfigure the device.
            The config page is loaded with the CMD_LOAD_CONFIG_PAGE command.
            The config registers are modified and the new config page is written with the CMD_WRITE_PAGE command.
@@ -275,6 +279,7 @@ def configure(self, period:int = None, iterations:int = None, fp_mode:int = None
             motion_adjacent(int,optional):number of adjacent pixel that must have motion to report it. defaults to None.
             dual_mode(int,optional): set to 1 to automatically do dual integration, defaults to None.
             high_accuracy_iterations(int,optional): 16-bit unsigned integer, short range kilo iterations, defaults to None.
+            prox_distance(int,optional): 8-bit unsigned integer, proximity detection distance in mm, defaults to None
             """
         self.sendCommand( Tmf8829AppRegs.TMF8829_CMD_STAT._cmd_stat._CMD_LOAD_CONFIG_PAGE )
         if (period != None):
@@ -494,6 +499,8 @@ def configure(self, period:int = None, iterations:int = None, fp_mode:int = None
         if (dual_mode != None):
             self.hal.tx( Tmf8829ConfigRegs.TMF8829_CFG_ENABLE_DUAL_MODE.addr, dual_mode )
             self.cfg_dualMode = dual_mode
+        if (prox_distance != None):
+            self.hal.tx( Tmf8829ConfigRegs.TMF8829_CFG_PROX_DISTANCE.addr, prox_distance )
 
         self.sendCommand( Tmf8829AppRegs.TMF8829_CMD_STAT._cmd_stat._CMD_WRITE_PAGE )
 
diff --git a/tmf8829/tmf8829_application_common.py b/tmf8829/tmf8829_application_common.py
@@ -396,8 +396,8 @@ def getFullPixelResult(frames, toMM = False, deleteNone = True, pointCloud = Fal
             frames: list[bytearray] the result frames in the right order as received by the device.
             toMM: Changes the distance results from 0.25mm to mm. Note do not use this option if the results are in bins
             deleteNone: Remove None items from MP Results.
-            pointCloud: do point cloud correction
-            distanceToXYZ: only for pointCloud correction, reports instead of a distance the xyz values
+            pointCloud: do point cloud correction, only done if distanceToXYZ = False
+            distanceToXYZ: reports distance the xyz values, if this option is used, the distance will not be point cloud corrected.
         Returns:
             List[row][col] tmf8829MPResult structures
         """
@@ -417,7 +417,7 @@ def getFullPixelResult(frames, toMM = False, deleteNone = True, pointCloud = Fal
         if deleteNone:
             pixelResults = Tmf8829AppCommon.pixelResultsDeleteNoneParam(pixelResults)
 
-        if pointCloud == True:
+        if (pointCloud == True) or (distanceToXYZ  == True):
             Tmf8829AppCommon.pixelResults3dPointcloudCorr(pixelResults, fpMode, reportXYZ= distanceToXYZ)
 
         return pixelResults
@@ -467,7 +467,7 @@ def pixelResults3dPointcloudCorr(pixelResults, fp_mode, reportXYZ=False):
                     if peak['distance'] != None:
                         if reportXYZ:
                             distanceCorr = peak['distance'] / zCorrSimple
-                            peak.pop("distance")
+                            # peak.pop("distance") do not remove distance 
                             peak['x']= round(distanceCorr*x_dist)
                             peak['y']= round(distanceCorr*y_dist)
                             peak['z']= round(distanceCorr)
diff --git a/tmf8829/tmf8829_application_registers.py b/tmf8829/tmf8829_application_registers.py
@@ -4,7 +4,6 @@
 # *                                                                           *
 # *FOR FULL LICENSE TEXT SEE LICENSES-MIT.TXT                                 *
 # *****************************************************************************
-
 import ctypes
 
 class Tmf8829_application_registers:
diff --git a/tmf8829/tmf8829_bootloader.py b/tmf8829/tmf8829_bootloader.py
@@ -78,7 +78,7 @@ def enable(self, send_wake_up_sequence:bool = True) -> bool:
             self.gpio_hal.com.gpioSet(w_mask=self.gpio_hal.com.enable_pin, value=self.gpio_hal.com.enable_pin) 
             time.sleep(0.003) # wait for 3 milliseconds until the device comes up.
             if send_wake_up_sequence:
-                return self.powerUp()
+                return self.wakeUp(powerup_select=Tmf8829HostRegs.ENABLE._powerup_select._FORCE_BOOTMONITOR)    #force boot monitor
             return True
         return False
 
@@ -112,28 +112,19 @@ def forceBootmonitor(self):
         self.io.regWrite( self.reg.ENABLE, powerup_select=1, pon=1 )    # make sure device is powered
         self.reset()
 
-    def powerUp(self) -> bool:
-        """Power up the TMF8829"""
-        self.io.regWrite( self.reg.ENABLE, pon=1 )  # request a power up = wakeup
-        time.sleep(0.003)                           # wait for 3 milliseconds until the device comes up.
-        self.io.regRead( self.reg.ENABLE )          # read back
-        if self.reg.ENABLE.cpu_ready:
-            return True
-        return False
-
-    def wakeUp(self) -> bool:
+    def wakeUp(self, powerup_select = Tmf8829HostRegs.ENABLE._powerup_select._RAM) -> bool:
         """wakeup up the TMF8829"""
-        self.io.regWrite( self.reg.ENABLE, pon=1, powerup_select = 2 )  # request a power up = wakeup 
+        self.io.regWrite( self.reg.ENABLE, pon=1, powerup_select = powerup_select )  # request a power up = wakeup 
         time.sleep(0.003)                           # wait for 3 milliseconds until the device comes up.
         self.io.regRead( self.reg.ENABLE )          # read back
         if self.reg.ENABLE.cpu_ready:
             return True
         return False
     
-    def powerDown(self) -> bool:
+    def gotoStandby(self) -> bool:
         """Power down the TMF8829"""
         if self.isDeviceWakeup():
-            self.io.regWrite( self.reg.ENABLE, poff=1)  # request power down
+            self.io.regWrite( self.reg.ENABLE, poff=1)  # request standby
             time.sleep(0.003)                           # wait for xx milliseconds until the device powers down
             self.io.regRead( self.reg.ENABLE )          # read again from HW to see new state
             if self.reg.ENABLE.cpu_ready == 0 and ( self.reg.ENABLE.standby_mode == 1 or  self.reg.ENABLE.timed_standby_mode == 1 ):
diff --git a/tmf8829/tmf8829_config_page.py b/tmf8829/tmf8829_config_page.py
@@ -1062,11 +1062,26 @@ class _post_processing:
 			mask  = 255
 			width = 8
 			shift = 0
-			_PERSISTENCE = 0 # persistence algorithm enabled
-			_MOTION = 1 # motion detection, (also int_persistence must be set to >=1 in field TMF8829_CFG_INT_PERSISTENCE)
+			_PERSISTENCE = 0 # persistence algorithm enabled, Persistence Interrupt is bit 1
+			_MOTION = 1 # motion detection, Motion Interrupt is bit 1, (also int_persistence must be set to >=1 in field TMF8829_CFG_INT_PERSISTENCE),
+			_MOTION_ALWAYS_RESULTS = 2 # same as motion detection but result frames are always published, Motion Interrupt is bit 1, (also int_persistence must be set to >=1 in field TMF8829_CFG_INT_PERSISTENCE)
 		def __init__(self):
 			self.post_processing = self._post_processing.reset
 
+	class TMF8829_CFG_PROX_DISTANCE(ctypes.LittleEndianStructure):
+		addr = 0x6e
+		_pack_ = 1
+		_fields_ = [
+			("prox_distance",ctypes.c_uint8,8),
+			]
+		class _prox_distance:
+			reset = 0
+			mask  = 255
+			width = 8
+			shift = 0
+		def __init__(self):
+			self.prox_distance = self._prox_distance.reset
+
 	class TMF8829_CFG_CROP_TOP_X(ctypes.LittleEndianStructure):
 		addr = 0x70
 		_pack_ = 1
@@ -1556,6 +1571,7 @@ def __init__(self):
 		self.TMF8829_CFG_INT_THRESHOLD_HIGH_MSB = Tmf8829_config_page.TMF8829_CFG_INT_THRESHOLD_HIGH_MSB()
 		self.TMF8829_CFG_INT_PERSISTENCE = Tmf8829_config_page.TMF8829_CFG_INT_PERSISTENCE()
 		self.TMF8829_CFG_POST_PROCESSING = Tmf8829_config_page.TMF8829_CFG_POST_PROCESSING()
+		self.TMF8829_CFG_PROX_DISTANCE = Tmf8829_config_page.TMF8829_CFG_PROX_DISTANCE()
 		self.TMF8829_CFG_CROP_TOP_X = Tmf8829_config_page.TMF8829_CFG_CROP_TOP_X()
 		self.TMF8829_CFG_CROP_TOP_Y = Tmf8829_config_page.TMF8829_CFG_CROP_TOP_Y()
 		self.TMF8829_CFG_CROP_BOTTOM_X = Tmf8829_config_page.TMF8829_CFG_CROP_BOTTOM_X()
diff --git a/tmf8829/zeromq/cfg_client.json b/tmf8829/zeromq/cfg_client.json
@@ -4,8 +4,5 @@
         "period": 33,                 
         "iterations": 600                             
     },
-    "logging": {
-        "3d_correction": true
-    },
     "record_frames":3
 }
diff --git a/tmf8829/zeromq/tmf8829_host_com_reg.py b/tmf8829/zeromq/tmf8829_host_com_reg.py
@@ -134,7 +134,7 @@ class Union(ctypes.Union, AsDictMixin):
 TMF8829_ZEROMQ_HOST_H5_BOARD = 4 # macro
 TMF8829_ZEROMQ_HEADER_INFO_SIZE = 64 # macro
 TMF8829_ZEROMQ_IDENTIFY_INFO_SIZE = 56 # macro
-EVM_VERSION = "2.2.3   " # macro
+EVM_VERSION = "2.2.4   " # macro
 class struct__tmf8829ZmqDeviceInfo(Structure):
     pass
 
diff --git a/tmf8829/zeromq/tmf8829_zeromq_client.py b/tmf8829/zeromq/tmf8829_zeromq_client.py
@@ -269,7 +269,7 @@ def set_pre_config(self, cmd: bytes) -> bool:
     #####################################################
     default_client_cfg = {
         "measure_cfg": {},
-        "logging": {"combined_results": True, "3d_correction": True },
+        "logging": {"combined_results": True },
         "record_frames":3
     }
     #####################################################
@@ -366,8 +366,7 @@ def set_pre_config(self, cmd: bytes) -> bool:
 
     if _cfg_dict["select"] >= 1:
         print("The result frames have the distance in 0.25mm, but will be logged in mm! ")
-    if cfg["logging"]["3d_correction"]:
-        print("The result frames are point cloud corrected")
+
 
     if client.start_measurement():
         try:
@@ -390,12 +389,11 @@ def set_pre_config(self, cmd: bytes) -> bool:
                 if cfg["logging"]["combined_results"]:
 
                     _toMM = False
-                    _3dCorr = False
+
                     if _cfg_dict["select"] >= 1:
                         _toMM = True
-                    if cfg["logging"]["3d_correction"]:
-                        _3dCorr = True
-                    pixelResults = Tmf8829AppCommon.getFullPixelResult(frames=resultFrame, toMM=_toMM, pointCloud=_3dCorr, distanceToXYZ=True)
+
+                    pixelResults = Tmf8829AppCommon.getFullPixelResult(frames=resultFrame, toMM=_toMM, pointCloud=False, distanceToXYZ=True)
 
                     # log the header of the first result frame
                     fheader = tmf8829FrameHeader.from_buffer_copy( bytearray(resultFrame[0])[Tmf8829AppCommon.PRE_HEADER_SIZE: \

Original file line number	Diff line number	Diff line change
`@@ -4,8 +4,5 @@`
`4`	`4`	`"period": 33,`
`5`	`5`	`"iterations": 600`
`6`	`6`	`},`
`7`		`- "logging": {`
`8`		`- "3d_correction": true`
`9`		`- },`
`10`	`7`	`"record_frames":3`
`11`	`8`	`}`