Software / API Bindings / C/C++ for Microcontrollers / API Reference and Examples / Bricklets / Thermal Imaging Bricklet

C/C++ for Microcontrollers - Thermal Imaging Bricklet¶

This is the description of the C/C++ for Microcontrollers API bindings for the Thermal Imaging Bricklet. General information and technical specifications for the Thermal Imaging Bricklet are summarized in its hardware description.

An installation guide for the C/C++ for Microcontrollers API bindings is part of their general description.

Examples¶

The example code below is Public Domain (CC0 1.0).

Callback¶

Download (example_callback.c)

// This example is not self-contained.
// It requires usage of the example driver specific to your platform.
// See the HAL documentation.

#include "src/bindings/hal_common.h"
#include "src/bindings/bricklet_thermal_imaging.h"

void check(int rc, const char *msg);
void example_setup(TF_HAL *hal);
void example_loop(TF_HAL *hal);

static uint16_t image_size = 80 * 60;

static int lowest_index = -1;
static uint8_t lowest_value = 255;

// Callback function for high contrast image callback
static void high_contrast_image_low_level_handler(struct TF_ThermalImaging *device, uint16_t image_chunk_offset, uint8_t image_chunk_data[62], void *user_data) {
    (void)device;
    (void)user_data; // avoid unused parameter warning

    uint16_t chunk_size = 62;
    bool last_chunk = image_chunk_offset + chunk_size > image_size;
    uint16_t elements_to_read;

    if (last_chunk) {
        // Only read the remaining pixels
        elements_to_read = image_size - image_chunk_offset;
    } else {
        // Read the complete chunk
        elements_to_read = chunk_size;
    }

    if (image_chunk_offset == 0) {
        lowest_value = 255;
        lowest_index = -1;
    }

    for(int i = 0; i < elements_to_read; ++i) {
        if(image_chunk_data[i] < lowest_value) {
            lowest_value = image_chunk_data[i];
            lowest_index = image_chunk_offset + i;
        }
    }

    if(last_chunk) {
        tf_hal_printf("Image streamed successfully. Lowest value is %I8d at coordinates (%d, %d)\n", lowest_value, lowest_index % 80, lowest_index / 80);
    }
}

static TF_ThermalImaging ti;

void example_setup(TF_HAL *hal) {
    // Create device object
    check(tf_thermal_imaging_create(&ti, NULL, hal), "create device object");

    // Register high contrast image callback to function high_contrast_image_low_level_handler
    tf_thermal_imaging_register_high_contrast_image_low_level_callback(&ti,
                                                                       high_contrast_image_low_level_handler,
                                                                       NULL);

    // Enable high contrast image transfer for callback
    check(tf_thermal_imaging_set_image_transfer_config(&ti,
                                                       TF_THERMAL_IMAGING_IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE), "call set_image_transfer_config");
}

void example_loop(TF_HAL *hal) {
    // Poll for callbacks
    tf_hal_callback_tick(hal, 0);
}

API¶

Most functions of the C/C++ bindings for microcontrollers return an error code (e_code).

Possible error codes are:

TF_E_OK = 0
TF_E_TIMEOUT = -1
TF_E_INVALID_PARAMETER = -2
TF_E_NOT_SUPPORTED = -3
TF_E_UNKNOWN_ERROR_CODE = -4
TF_E_STREAM_OUT_OF_SYNC = -5
TF_E_INVALID_CHAR_IN_UID = -6
TF_E_UID_TOO_LONG = -7
TF_E_UID_OVERFLOW = -8
TF_E_TOO_MANY_DEVICES = -9
TF_E_DEVICE_NOT_FOUND = -10
TF_E_WRONG_DEVICE_TYPE = -11
TF_E_LOCKED = -12
TF_E_PORT_NOT_FOUND = -13

(as defined in errors.h) as well as the errors returned from the hardware abstraction layer (HAL) that is used.

Use :cpp:func`tf_hal_strerror` (defined in the HAL's header file) to get an error string for an error code.

Data returned from the device, when a getter is called, is handled via output parameters. These parameters are labeled with the ret_ prefix. The bindings will not write to an output parameter if NULL or nullptr is passed. This can be used to ignore outputs that you are not interested in.

None of the functions listed below are thread-safe. See the API bindings description for details.

Basic Functions¶

int tf_thermal_imaging_create(TF_ThermalImaging *thermal_imaging, const char *uid_or_port_name, TF_HAL *hal)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * uid – Type: const char * hal – Type: TF_HAL *
Returns:	e_code – Type: int

Creates the device object thermal_imaging with the optional unique device ID or port name uid_or_port_name and adds it to the HAL hal:

TF_ThermalImaging thermal_imaging;
tf_thermal_imaging_create(&thermal_imaging, NULL, &hal);

Normally uid_or_port_name can stay NULL. For more details about this see section UID or Port Name.

int tf_thermal_imaging_destroy(TF_ThermalImaging *thermal_imaging)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Returns:	e_code – Type: int

Removes the device object thermal_imaging from its HAL and destroys it. The device object cannot be used anymore afterwards.

int tf_thermal_imaging_get_high_contrast_image(TF_ThermalImaging *thermal_imaging, uint8_t *ret_image, uint16_t *ret_image_length)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_image – Type: uint8_t[4800], Range: [0 to 255] ret_image_length – Type: uint16_t
Returns:	e_code – Type: int

Returns the current high contrast image. See here for the difference between High Contrast and Temperature Image. If you don't know what to use the High Contrast Image is probably right for you.

The data is organized as a 8-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 8-bit value represents one gray-scale image pixel that can directly be shown to a user on a display.

Before you can use this function you have to enable it with tf_thermal_imaging_set_image_transfer_config().

int tf_thermal_imaging_get_temperature_image(TF_ThermalImaging *thermal_imaging, uint16_t *ret_image, uint16_t *ret_image_length)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_image – Type: uint16_t[4800], Unit: ? K, Range: [0 to 2¹⁶ - 1] ret_image_length – Type: uint16_t
Returns:	e_code – Type: int

Returns the current temperature image. See here for the difference between High Contrast and Temperature Image. If you don't know what to use the High Contrast Image is probably right for you.

The data is organized as a 16-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 16-bit value represents one temperature measurement in either Kelvin/10 or Kelvin/100 (depending on the resolution set with tf_thermal_imaging_set_resolution()).

Before you can use this function you have to enable it with tf_thermal_imaging_set_image_transfer_config().

int tf_thermal_imaging_get_statistics(TF_ThermalImaging *thermal_imaging, uint16_t ret_spotmeter_statistics[4], uint16_t ret_temperatures[4], uint8_t *ret_resolution, uint8_t *ret_ffc_status, bool ret_temperature_warning[2])¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_spotmeter_statistics – Type: uint16_t[4] 0: mean_temperature – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] 1: max_temperature – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] 2: min_temperature – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] 3: pixel_count – Type: uint16_t, Range: [0 to 4800] ret_temperatures – Type: uint16_t[4] 0: focal_plain_array – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] 1: focal_plain_array_last_ffc – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] 2: housing – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] 3: housing_last_ffc – Type: uint16_t, Unit: ? K, Range: [0 to 2¹⁶ - 1] ret_resolution – Type: uint8_t, Range: See constants ret_ffc_status – Type: uint8_t, Range: See constants ret_temperature_warning – Type: bool[2] 0: shutter_lockout – Type: bool 1: overtemperature_shut_down_imminent – Type: bool
Returns:	e_code – Type: int

Returns the spotmeter statistics, various temperatures, current resolution and status bits.

The spotmeter statistics are:

Index 0: Mean Temperature.
Index 1: Maximum Temperature.
Index 2: Minimum Temperature.
Index 3: Pixel Count of spotmeter region of interest.

The temperatures are:

Index 0: Focal Plain Array temperature.
Index 1: Focal Plain Array temperature at last FFC (Flat Field Correction).
Index 2: Housing temperature.
Index 3: Housing temperature at last FFC.

The resolution is either 0 to 6553 Kelvin or 0 to 655 Kelvin. If the resolution is the former, the temperatures are in Kelvin/10, if it is the latter the temperatures are in Kelvin/100.

FFC (Flat Field Correction) Status:

FFC Never Commanded: Only seen on startup before first FFC.
FFC Imminent: This state is entered 2 seconds prior to initiating FFC.
FFC In Progress: Flat field correction is started (shutter moves in front of lens and back). Takes about 1 second.
FFC Complete: Shutter is in waiting position again, FFC done.

Temperature warning bits:

Index 0: Shutter lockout (if true shutter is locked out because temperature is outside -10°C to +65°C)
Index 1: Overtemperature shut down imminent (goes true 10 seconds before shutdown)

The following constants are available for this function:

For ret_resolution:

TF_THERMAL_IMAGING_RESOLUTION_0_TO_6553_KELVIN = 0
TF_THERMAL_IMAGING_RESOLUTION_0_TO_655_KELVIN = 1

For ret_ffc_status:

TF_THERMAL_IMAGING_FFC_STATUS_NEVER_COMMANDED = 0
TF_THERMAL_IMAGING_FFC_STATUS_IMMINENT = 1
TF_THERMAL_IMAGING_FFC_STATUS_IN_PROGRESS = 2
TF_THERMAL_IMAGING_FFC_STATUS_COMPLETE = 3

int tf_thermal_imaging_set_resolution(TF_ThermalImaging *thermal_imaging, uint8_t resolution)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * resolution – Type: uint8_t, Range: See constants, Default: 1
Returns:	e_code – Type: int

Sets the resolution. The Thermal Imaging Bricklet can either measure

from 0 to 6553 Kelvin (-273.15°C to +6279.85°C) with 0.1°C resolution or
from 0 to 655 Kelvin (-273.15°C to +381.85°C) with 0.01°C resolution.

The accuracy is specified for -10°C to 450°C in the first range and -10°C and 140°C in the second range.

The following constants are available for this function:

For resolution:

TF_THERMAL_IMAGING_RESOLUTION_0_TO_6553_KELVIN = 0
TF_THERMAL_IMAGING_RESOLUTION_0_TO_655_KELVIN = 1

int tf_thermal_imaging_get_resolution(TF_ThermalImaging *thermal_imaging, uint8_t *ret_resolution)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_resolution – Type: uint8_t, Range: See constants
Returns:	e_code – Type: int

Returns the resolution as set by tf_thermal_imaging_set_resolution().

The following constants are available for this function:

For ret_resolution:

TF_THERMAL_IMAGING_RESOLUTION_0_TO_6553_KELVIN = 0
TF_THERMAL_IMAGING_RESOLUTION_0_TO_655_KELVIN = 1

int tf_thermal_imaging_set_spotmeter_config(TF_ThermalImaging *thermal_imaging, const uint8_t region_of_interest[4])¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * region_of_interest – Type: const uint8_t[4] 0: first_column – Type: uint8_t, Range: [0 to 79], Default: 39 1: first_row – Type: uint8_t, Range: [0 to 59], Default: 29 2: last_column – Type: uint8_t, Range: [1 to 80], Default: 40 3: last_row – Type: uint8_t, Range: [1 to 60], Default: 30
Returns:	e_code – Type: int

Sets the spotmeter region of interest. The 4 values are

Index 0: Column start (has to be smaller then Column end).
Index 1: Row start (has to be smaller then Row end).
Index 2: Column end (has to be smaller then 80).
Index 3: Row end (has to be smaller then 60).

The spotmeter statistics can be read out with tf_thermal_imaging_get_statistics().

int tf_thermal_imaging_get_spotmeter_config(TF_ThermalImaging *thermal_imaging, uint8_t ret_region_of_interest[4])¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_region_of_interest – Type: uint8_t[4] 0: first_column – Type: uint8_t, Range: [0 to 78], Default: 39 1: first_row – Type: uint8_t, Range: [0 to 58], Default: 29 2: last_column – Type: uint8_t, Range: [1 to 79], Default: 40 3: last_row – Type: uint8_t, Range: [1 to 59], Default: 30
Returns:	e_code – Type: int

Returns the spotmeter config as set by tf_thermal_imaging_set_spotmeter_config().

int tf_thermal_imaging_set_high_contrast_config(TF_ThermalImaging *thermal_imaging, const uint8_t region_of_interest[4], uint16_t dampening_factor, const uint16_t clip_limit[2], uint16_t empty_counts)¶

Parameters:

Parameters:	thermal_imaging – Type: TF_ThermalImaging * region_of_interest – Type: const uint8_t[4] 0: first_column – Type: uint8_t, Range: [0 to 78], Default: 0 1: first_row – Type: uint8_t, Range: [0 to 58], Default: 0 2: last_column – Type: uint8_t, Range: [1 to 79], Default: 79 3: last_row – Type: uint8_t, Range: [1 to 59], Default: 59 dampening_factor – Type: uint16_t, Range: [0 to 256], Default: 64 clip_limit – Type: const uint16_t[2] 0: agc_heq_clip_limit_high – Type: uint16_t, Range: [0 to 4800], Default: 4800 1: agc_heq_clip_limit_low – Type: uint16_t, Range: [0 to 2¹⁰], Default: 2⁹ empty_counts – Type: uint16_t, Range: [0 to 2¹⁴ - 1], Default: 2
Returns:	e_code – Type: int

thermal_imaging – Type: TF_ThermalImaging *
region_of_interest – Type: const uint8_t[4]

0: first_column – Type: uint8_t, Range: [0 to 78], Default: 0
1: first_row – Type: uint8_t, Range: [0 to 58], Default: 0
2: last_column – Type: uint8_t, Range: [1 to 79], Default: 79
3: last_row – Type: uint8_t, Range: [1 to 59], Default: 59

dampening_factor – Type: uint16_t, Range: [0 to 256], Default: 64
clip_limit – Type: const uint16_t[2]

0: agc_heq_clip_limit_high – Type: uint16_t, Range: [0 to 4800], Default: 4800
1: agc_heq_clip_limit_low – Type: uint16_t, Range: [0 to 2¹⁰], Default: 2⁹

empty_counts – Type: uint16_t, Range: [0 to 2¹⁴ - 1], Default: 2

Returns:

e_code – Type: int

Sets the high contrast region of interest, dampening factor, clip limit and empty counts. This config is only used in high contrast mode (see tf_thermal_imaging_set_image_transfer_config()).

The high contrast region of interest consists of four values:

Index 0: Column start (has to be smaller or equal then Column end).
Index 1: Row start (has to be smaller then Row end).
Index 2: Column end (has to be smaller then 80).
Index 3: Row end (has to be smaller then 60).

The algorithm to generate the high contrast image is applied to this region.

Dampening Factor: This parameter is the amount of temporal dampening applied to the HEQ (history equalization) transformation function. An IIR filter of the form:

(N / 256) * previous + ((256 - N) / 256) * current

is applied, and the HEQ dampening factor represents the value N in the equation, i.e., a value that applies to the amount of influence the previous HEQ transformation function has on the current function. The lower the value of N the higher the influence of the current video frame whereas the higher the value of N the more influence the previous damped transfer function has.

Clip Limit Index 0 (AGC HEQ Clip Limit High): This parameter defines the maximum number of pixels allowed to accumulate in any given histogram bin. Any additional pixels in a given bin are clipped. The effect of this parameter is to limit the influence of highly-populated bins on the resulting HEQ transformation function.

Clip Limit Index 1 (AGC HEQ Clip Limit Low): This parameter defines an artificial population that is added to every non-empty histogram bin. In other words, if the Clip Limit Low is set to L, a bin with an actual population of X will have an effective population of L + X. Any empty bin that is nearby a populated bin will be given an artificial population of L. The effect of higher values is to provide a more linear transfer function; lower values provide a more non-linear (equalized) transfer function.

Empty Counts: This parameter specifies the maximum number of pixels in a bin that will be interpreted as an empty bin. Histogram bins with this number of pixels or less will be processed as an empty bin.

int tf_thermal_imaging_get_high_contrast_config(TF_ThermalImaging *thermal_imaging, uint8_t ret_region_of_interest[4], uint16_t *ret_dampening_factor, uint16_t ret_clip_limit[2], uint16_t *ret_empty_counts)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_region_of_interest – Type: uint8_t[4] 0: first_column – Type: uint8_t, Range: [0 to 78], Default: 0 1: first_row – Type: uint8_t, Range: [0 to 58], Default: 0 2: last_column – Type: uint8_t, Range: [1 to 79], Default: 79 3: last_row – Type: uint8_t, Range: [1 to 59], Default: 59 ret_dampening_factor – Type: uint16_t, Range: [0 to 256], Default: 64 ret_clip_limit – Type: uint16_t[2] 0: agc_heq_clip_limit_high – Type: uint16_t, Range: [0 to 4800], Default: 4800 1: agc_heq_clip_limit_low – Type: uint16_t, Range: [0 to 2¹⁰], Default: 2⁹ ret_empty_counts – Type: uint16_t, Range: [0 to 2¹⁶ - 1], Default: 2
Returns:	e_code – Type: int

Returns the high contrast config as set by tf_thermal_imaging_set_high_contrast_config().

Advanced Functions¶

int tf_thermal_imaging_set_flux_linear_parameters(TF_ThermalImaging *thermal_imaging, uint16_t scene_emissivity, uint16_t temperature_background, uint16_t tau_window, uint16_t temperatur_window, uint16_t tau_atmosphere, uint16_t temperature_atmosphere, uint16_t reflection_window, uint16_t temperature_reflection)¶

Parameters:

Parameters:	thermal_imaging – Type: TF_ThermalImaging * scene_emissivity – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³ temperature_background – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515 tau_window – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³ temperatur_window – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515 tau_atmosphere – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³ temperature_atmosphere – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515 reflection_window – Type: uint16_t, Unit: 25/2048 %, Range: [0 to 2¹³], Default: 0 temperature_reflection – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515
Returns:	e_code – Type: int

thermal_imaging – Type: TF_ThermalImaging *
scene_emissivity – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³
temperature_background – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515
tau_window – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³
temperatur_window – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515
tau_atmosphere – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³
temperature_atmosphere – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515
reflection_window – Type: uint16_t, Unit: 25/2048 %, Range: [0 to 2¹³], Default: 0
temperature_reflection – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515

Returns:

e_code – Type: int

Sets the flux linear parameters that can be used for radiometry calibration.

See FLIR document 102-PS245-100-01 for more details.

New in version 2.0.5 (Plugin).

int tf_thermal_imaging_get_flux_linear_parameters(TF_ThermalImaging *thermal_imaging, uint16_t *ret_scene_emissivity, uint16_t *ret_temperature_background, uint16_t *ret_tau_window, uint16_t *ret_temperatur_window, uint16_t *ret_tau_atmosphere, uint16_t *ret_temperature_atmosphere, uint16_t *ret_reflection_window, uint16_t *ret_temperature_reflection)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_scene_emissivity – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³ ret_temperature_background – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515 ret_tau_window – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³ ret_temperatur_window – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515 ret_tau_atmosphere – Type: uint16_t, Unit: 25/2048 %, Range: [82 to 2¹³], Default: 2¹³ ret_temperature_atmosphere – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515 ret_reflection_window – Type: uint16_t, Unit: 25/2048 %, Range: [0 to 2¹³], Default: 0 ret_temperature_reflection – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 29515
Returns:	e_code – Type: int

Returns the flux linear parameters, as set by tf_thermal_imaging_set_flux_linear_parameters().

New in version 2.0.5 (Plugin).

int tf_thermal_imaging_set_ffc_shutter_mode(TF_ThermalImaging *thermal_imaging, uint8_t shutter_mode, uint8_t temp_lockout_state, bool video_freeze_during_ffc, bool ffc_desired, uint32_t elapsed_time_since_last_ffc, uint32_t desired_ffc_period, bool explicit_cmd_to_open, uint16_t desired_ffc_temp_delta, uint16_t imminent_delay)¶

Parameters:

Parameters:	thermal_imaging – Type: TF_ThermalImaging * shutter_mode – Type: uint8_t, Range: See constants, Default: 1 temp_lockout_state – Type: uint8_t, Range: See constants, Default: 0 video_freeze_during_ffc – Type: bool, Default: true ffc_desired – Type: bool, Default: false elapsed_time_since_last_ffc – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 desired_ffc_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 300000 explicit_cmd_to_open – Type: bool, Default: false desired_ffc_temp_delta – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 300 imminent_delay – Type: uint16_t, Range: [0 to 2¹⁶ - 1], Default: 52
Returns:	e_code – Type: int

thermal_imaging – Type: TF_ThermalImaging *
shutter_mode – Type: uint8_t, Range: See constants, Default: 1
temp_lockout_state – Type: uint8_t, Range: See constants, Default: 0
video_freeze_during_ffc – Type: bool, Default: true
ffc_desired – Type: bool, Default: false
elapsed_time_since_last_ffc – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0
desired_ffc_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 300000
explicit_cmd_to_open – Type: bool, Default: false
desired_ffc_temp_delta – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 300
imminent_delay – Type: uint16_t, Range: [0 to 2¹⁶ - 1], Default: 52

Returns:

e_code – Type: int

Sets the FFC shutter mode parameters.

See FLIR document 110-0144-03 4.5.15 for more details.

The following constants are available for this function:

For shutter_mode:

TF_THERMAL_IMAGING_SHUTTER_MODE_MANUAL = 0
TF_THERMAL_IMAGING_SHUTTER_MODE_AUTO = 1
TF_THERMAL_IMAGING_SHUTTER_MODE_EXTERNAL = 2

For temp_lockout_state:

TF_THERMAL_IMAGING_SHUTTER_LOCKOUT_INACTIVE = 0
TF_THERMAL_IMAGING_SHUTTER_LOCKOUT_HIGH = 1
TF_THERMAL_IMAGING_SHUTTER_LOCKOUT_LOW = 2

New in version 2.0.6 (Plugin).

int tf_thermal_imaging_get_ffc_shutter_mode(TF_ThermalImaging *thermal_imaging, uint8_t *ret_shutter_mode, uint8_t *ret_temp_lockout_state, bool *ret_video_freeze_during_ffc, bool *ret_ffc_desired, uint32_t *ret_elapsed_time_since_last_ffc, uint32_t *ret_desired_ffc_period, bool *ret_explicit_cmd_to_open, uint16_t *ret_desired_ffc_temp_delta, uint16_t *ret_imminent_delay)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_shutter_mode – Type: uint8_t, Range: See constants, Default: 1 ret_temp_lockout_state – Type: uint8_t, Range: See constants, Default: 0 ret_video_freeze_during_ffc – Type: bool, Default: true ret_ffc_desired – Type: bool, Default: false ret_elapsed_time_since_last_ffc – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 ret_desired_ffc_period – Type: uint32_t, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 300000 ret_explicit_cmd_to_open – Type: bool, Default: false ret_desired_ffc_temp_delta – Type: uint16_t, Unit: 1/100 K, Range: [0 to 2¹⁶ - 1], Default: 300 ret_imminent_delay – Type: uint16_t, Range: [0 to 2¹⁶ - 1], Default: 52
Returns:	e_code – Type: int

Sets the FFC shutter mode parameters.

See FLIR document 110-0144-03 4.5.15 for more details.

The following constants are available for this function:

For ret_shutter_mode:

TF_THERMAL_IMAGING_SHUTTER_MODE_MANUAL = 0
TF_THERMAL_IMAGING_SHUTTER_MODE_AUTO = 1
TF_THERMAL_IMAGING_SHUTTER_MODE_EXTERNAL = 2

For ret_temp_lockout_state:

TF_THERMAL_IMAGING_SHUTTER_LOCKOUT_INACTIVE = 0
TF_THERMAL_IMAGING_SHUTTER_LOCKOUT_HIGH = 1
TF_THERMAL_IMAGING_SHUTTER_LOCKOUT_LOW = 2

New in version 2.0.6 (Plugin).

int tf_thermal_imaging_run_ffc_normalization(TF_ThermalImaging *thermal_imaging)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Returns:	e_code – Type: int

Starts the Flat-Field Correction (FFC) normalization.

See FLIR document 110-0144-03 4.5.16 for more details.

New in version 2.0.6 (Plugin).

int tf_thermal_imaging_get_spitfp_error_count(TF_ThermalImaging *thermal_imaging, uint32_t *ret_error_count_ack_checksum, uint32_t *ret_error_count_message_checksum, uint32_t *ret_error_count_frame, uint32_t *ret_error_count_overflow)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_error_count_ack_checksum – Type: uint32_t, Range: [0 to 2³² - 1] ret_error_count_message_checksum – Type: uint32_t, Range: [0 to 2³² - 1] ret_error_count_frame – Type: uint32_t, Range: [0 to 2³² - 1] ret_error_count_overflow – Type: uint32_t, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

ACK checksum errors,
message checksum errors,
framing errors and
overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

int tf_thermal_imaging_set_status_led_config(TF_ThermalImaging *thermal_imaging, uint8_t config)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * config – Type: uint8_t, Range: See constants, Default: 3
Returns:	e_code – Type: int

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

TF_THERMAL_IMAGING_STATUS_LED_CONFIG_OFF = 0
TF_THERMAL_IMAGING_STATUS_LED_CONFIG_ON = 1
TF_THERMAL_IMAGING_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
TF_THERMAL_IMAGING_STATUS_LED_CONFIG_SHOW_STATUS = 3

int tf_thermal_imaging_get_status_led_config(TF_ThermalImaging *thermal_imaging, uint8_t *ret_config)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_config – Type: uint8_t, Range: See constants, Default: 3
Returns:	e_code – Type: int

Returns the configuration as set by tf_thermal_imaging_set_status_led_config()

The following constants are available for this function:

For ret_config:

TF_THERMAL_IMAGING_STATUS_LED_CONFIG_OFF = 0
TF_THERMAL_IMAGING_STATUS_LED_CONFIG_ON = 1
TF_THERMAL_IMAGING_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
TF_THERMAL_IMAGING_STATUS_LED_CONFIG_SHOW_STATUS = 3

int tf_thermal_imaging_get_chip_temperature(TF_ThermalImaging *thermal_imaging, int16_t *ret_temperature)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_temperature – Type: int16_t, Unit: 1 °C, Range: [-2¹⁵ to 2¹⁵ - 1]
Returns:	e_code – Type: int

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

int tf_thermal_imaging_reset(TF_ThermalImaging *thermal_imaging)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Returns:	e_code – Type: int

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

int tf_thermal_imaging_get_identity(TF_ThermalImaging *thermal_imaging, char ret_uid[8], char ret_connected_uid[8], char *ret_position, uint8_t ret_hardware_version[3], uint8_t ret_firmware_version[3], uint16_t *ret_device_identifier)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_uid – Type: char[8] ret_connected_uid – Type: char[8] ret_position – Type: char, Range: ['a' to 'h', 'z'] ret_hardware_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255] ret_firmware_version – Type: uint8_t[3] 0: major – Type: uint8_t, Range: [0 to 255] 1: minor – Type: uint8_t, Range: [0 to 255] 2: revision – Type: uint8_t, Range: [0 to 255] ret_device_identifier – Type: uint16_t, Range: [0 to 2¹⁶ - 1]
Returns:	e_code – Type: int

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

int tf_thermal_imaging_set_image_transfer_config(TF_ThermalImaging *thermal_imaging, uint8_t config)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * config – Type: uint8_t, Range: See constants, Default: 0
Returns:	e_code – Type: int

The necessary bandwidth of this Bricklet is too high to use getter/callback or high contrast/temperature image at the same time. You have to configure the one you want to use, the Bricklet will optimize the internal configuration accordingly.

Corresponding functions:

Manual High Contrast Image: tf_thermal_imaging_get_high_contrast_image().
Manual Temperature Image: tf_thermal_imaging_get_temperature_image().
Callback High Contrast Image: High Contrast Image Low Level callback.
Callback Temperature Image: Temperature Image Low Level callback.

The following constants are available for this function:

For config:

TF_THERMAL_IMAGING_IMAGE_TRANSFER_MANUAL_HIGH_CONTRAST_IMAGE = 0
TF_THERMAL_IMAGING_IMAGE_TRANSFER_MANUAL_TEMPERATURE_IMAGE = 1
TF_THERMAL_IMAGING_IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE = 2
TF_THERMAL_IMAGING_IMAGE_TRANSFER_CALLBACK_TEMPERATURE_IMAGE = 3

int tf_thermal_imaging_get_image_transfer_config(TF_ThermalImaging *thermal_imaging, uint8_t *ret_config)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_config – Type: uint8_t, Range: See constants, Default: 0
Returns:	e_code – Type: int

Returns the image transfer config, as set by tf_thermal_imaging_set_image_transfer_config().

The following constants are available for this function:

For ret_config:

TF_THERMAL_IMAGING_IMAGE_TRANSFER_MANUAL_HIGH_CONTRAST_IMAGE = 0
TF_THERMAL_IMAGING_IMAGE_TRANSFER_MANUAL_TEMPERATURE_IMAGE = 1
TF_THERMAL_IMAGING_IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE = 2
TF_THERMAL_IMAGING_IMAGE_TRANSFER_CALLBACK_TEMPERATURE_IMAGE = 3

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding tf_thermal_imaging_register_*_callback function. The user_data passed to the registration function as well as the device that triggered the callback are passed to the registered callback handler.

Only one handler can be registered to a callback at the same time. To deregister a callback, call the tf_thermal_imaging_register_*_callback function with NULL as handler.

Note

Using callbacks for recurring events is preferred compared to using getters. Polling for a callback requires writing one byte only. See here Optimizing Performance.

Warning

Calling bindings function from inside a callback handler is not allowed. See here Thread safety.

int tf_thermal_imaging_register_high_contrast_image_low_level_callback(TF_ThermalImaging *thermal_imaging, TF_ThermalImaging_HighContrastImageLowLevelHandler handler, void *user_data)¶

void handler(TF_ThermalImaging *thermal_imaging, uint16_t image_chunk_offset, uint8_t image_chunk_data[62], void *user_data)

Callback Parameters:	thermal_imaging – Type: TF_ThermalImaging * image_chunk_offset – Type: uint16_t, Range: [0 to 2¹⁶ - 1] image_chunk_data – Type: uint8_t[62], Range: [0 to 255] user_data – Type: void *

This callback is triggered with every new high contrast image if the transfer image config is configured for high contrast callback (see tf_thermal_imaging_set_image_transfer_config()).

The data is organized as a 8-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 8-bit value represents one gray-scale image pixel that can directly be shown to a user on a display.

int tf_thermal_imaging_register_temperature_image_low_level_callback(TF_ThermalImaging *thermal_imaging, TF_ThermalImaging_TemperatureImageLowLevelHandler handler, void *user_data)¶

void handler(TF_ThermalImaging *thermal_imaging, uint16_t image_chunk_offset, uint16_t image_chunk_data[31], void *user_data)

Callback Parameters:	thermal_imaging – Type: TF_ThermalImaging * image_chunk_offset – Type: uint16_t, Range: [0 to 2¹⁶ - 1] image_chunk_data – Type: uint16_t[31], Unit: ? K, Range: [0 to 2¹⁶ - 1] user_data – Type: void *

This callback is triggered with every new temperature image if the transfer image config is configured for temperature callback (see tf_thermal_imaging_set_image_transfer_config()).

The data is organized as a 16-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 16-bit value represents one temperature measurement in either Kelvin/10 or Kelvin/100 (depending on the resolution set with tf_thermal_imaging_set_resolution()).

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object.

int tf_thermal_imaging_get_response_expected(TF_ThermalImaging *thermal_imaging, uint8_t function_id, bool *ret_response_expected)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * function_id – Type: uint8_t, Range: See constants
Output Parameters:	ret_response_expected – Type: bool
Returns:	e_code – Type: int

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by tf_thermal_imaging_set_response_expected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

TF_THERMAL_IMAGING_FUNCTION_SET_RESOLUTION = 4
TF_THERMAL_IMAGING_FUNCTION_SET_SPOTMETER_CONFIG = 6
TF_THERMAL_IMAGING_FUNCTION_SET_HIGH_CONTRAST_CONFIG = 8
TF_THERMAL_IMAGING_FUNCTION_SET_IMAGE_TRANSFER_CONFIG = 10
TF_THERMAL_IMAGING_FUNCTION_SET_FLUX_LINEAR_PARAMETERS = 14
TF_THERMAL_IMAGING_FUNCTION_SET_FFC_SHUTTER_MODE = 16
TF_THERMAL_IMAGING_FUNCTION_RUN_FFC_NORMALIZATION = 18
TF_THERMAL_IMAGING_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
TF_THERMAL_IMAGING_FUNCTION_SET_STATUS_LED_CONFIG = 239
TF_THERMAL_IMAGING_FUNCTION_RESET = 243
TF_THERMAL_IMAGING_FUNCTION_WRITE_UID = 248

int tf_thermal_imaging_set_response_expected(TF_ThermalImaging *thermal_imaging, uint8_t function_id, bool response_expected)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * function_id – Type: uint8_t, Range: See constants response_expected – Type: bool
Returns:	e_code – Type: int

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

The following constants are available for this function:

For function_id:

TF_THERMAL_IMAGING_FUNCTION_SET_RESOLUTION = 4
TF_THERMAL_IMAGING_FUNCTION_SET_SPOTMETER_CONFIG = 6
TF_THERMAL_IMAGING_FUNCTION_SET_HIGH_CONTRAST_CONFIG = 8
TF_THERMAL_IMAGING_FUNCTION_SET_IMAGE_TRANSFER_CONFIG = 10
TF_THERMAL_IMAGING_FUNCTION_SET_FLUX_LINEAR_PARAMETERS = 14
TF_THERMAL_IMAGING_FUNCTION_SET_FFC_SHUTTER_MODE = 16
TF_THERMAL_IMAGING_FUNCTION_RUN_FFC_NORMALIZATION = 18
TF_THERMAL_IMAGING_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
TF_THERMAL_IMAGING_FUNCTION_SET_STATUS_LED_CONFIG = 239
TF_THERMAL_IMAGING_FUNCTION_RESET = 243
TF_THERMAL_IMAGING_FUNCTION_WRITE_UID = 248

int tf_thermal_imaging_set_response_expected_all(TF_ThermalImaging *thermal_imaging, bool response_expected)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * response_expected – Type: bool
Returns:	e_code – Type: int

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

int tf_thermal_imaging_set_bootloader_mode(TF_ThermalImaging *thermal_imaging, uint8_t mode, uint8_t *ret_status)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * mode – Type: uint8_t, Range: See constants
Output Parameters:	ret_status – Type: uint8_t, Range: See constants
Returns:	e_code – Type: int

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

TF_THERMAL_IMAGING_BOOTLOADER_MODE_BOOTLOADER = 0
TF_THERMAL_IMAGING_BOOTLOADER_MODE_FIRMWARE = 1
TF_THERMAL_IMAGING_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
TF_THERMAL_IMAGING_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
TF_THERMAL_IMAGING_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For ret_status:

TF_THERMAL_IMAGING_BOOTLOADER_STATUS_OK = 0
TF_THERMAL_IMAGING_BOOTLOADER_STATUS_INVALID_MODE = 1
TF_THERMAL_IMAGING_BOOTLOADER_STATUS_NO_CHANGE = 2
TF_THERMAL_IMAGING_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
TF_THERMAL_IMAGING_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
TF_THERMAL_IMAGING_BOOTLOADER_STATUS_CRC_MISMATCH = 5

int tf_thermal_imaging_get_bootloader_mode(TF_ThermalImaging *thermal_imaging, uint8_t *ret_mode)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_mode – Type: uint8_t, Range: See constants
Returns:	e_code – Type: int

Returns the current bootloader mode, see tf_thermal_imaging_set_bootloader_mode().

The following constants are available for this function:

For ret_mode:

TF_THERMAL_IMAGING_BOOTLOADER_MODE_BOOTLOADER = 0
TF_THERMAL_IMAGING_BOOTLOADER_MODE_FIRMWARE = 1
TF_THERMAL_IMAGING_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
TF_THERMAL_IMAGING_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
TF_THERMAL_IMAGING_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

int tf_thermal_imaging_set_write_firmware_pointer(TF_ThermalImaging *thermal_imaging, uint32_t pointer)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * pointer – Type: uint32_t, Unit: 1 B, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

Sets the firmware pointer for tf_thermal_imaging_write_firmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

int tf_thermal_imaging_write_firmware(TF_ThermalImaging *thermal_imaging, const uint8_t data[64], uint8_t *ret_status)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * data – Type: const uint8_t[64], Range: [0 to 255]
Output Parameters:	ret_status – Type: uint8_t, Range: [0 to 255]
Returns:	e_code – Type: int

Writes 64 Bytes of firmware at the position as written by tf_thermal_imaging_set_write_firmware_pointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

int tf_thermal_imaging_write_uid(TF_ThermalImaging *thermal_imaging, uint32_t uid)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging * uid – Type: uint32_t, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

int tf_thermal_imaging_read_uid(TF_ThermalImaging *thermal_imaging, uint32_t *ret_uid)¶

Parameters:	thermal_imaging – Type: TF_ThermalImaging *
Output Parameters:	ret_uid – Type: uint32_t, Range: [0 to 2³² - 1]
Returns:	e_code – Type: int

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants¶

TF_THERMAL_IMAGING_DEVICE_IDENTIFIER¶

This constant is used to identify a Thermal Imaging Bricklet.

The functions tf_thermal_imaging_get_identity() and tf_hal_get_device_info() have a device_identifier output parameter to specify the Brick's or Bricklet's type.

TF_THERMAL_IMAGING_DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a Thermal Imaging Bricklet.