Add IMU TOF and Thermal apps

docs/doc/en/basic/upgrade.md

@@ -41,7 +41,7 @@ Backup methods:
 
 | Item          | MaixCAM / MaixCAM-Pro    | MaixCAM2      |
 | --------------- | ---------- | ------ |
-| Flashing Docs      | [MaixCAM System Flashing](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) | [MaixCAM2 System Flashing](https://wiki.sipeed.com/hardware/zh/maixcam/os_maixcam2.html) |
+| Flashing Docs      | [MaixCAM System Flashing](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) | [MaixCAM2 System Flashing](https://wiki.sipeed.com/hardware/zh/maixcam/maixcam2_os.html) |
 | System Storage     | TF Card    | Built-in EMMC (/TF Card)    |
 | TF Card Required   | Yes   | No   |
 | Flashing Method    | USB flashing or card reader flashing   | USB flashing or card reader flashing |

docs/doc/zh/basic/upgrade.md

@@ -37,7 +37,7 @@ title: MaixCAM MaixPy 升级和烧录系统
 
 | 项目 | MaixCAM / MaixCAM-Pro | MaixCAM2 |
 | --- | --- | --- |
-| 烧录文档 | [MaixCAM 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) | [MaixCAM2 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/os_maixcam2.html) |
+| 烧录文档 | [MaixCAM 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/os.html) | [MaixCAM2 系统烧录](https://wiki.sipeed.com/hardware/zh/maixcam/maixcam2_os.html) |
 | 系统存放位置 | TF 卡 | 内置EMMC(/TF卡) |
 | 必须 TF 卡 | 是 | 否 |
 | 烧录方式 | USB 烧录 或 读卡器烧录 | USB 烧录 或 读卡器烧录 |

examples/ext_dev/sensors/imu/acc_gyro_lsm6dsow/lsm6dsow.py

@@ -0,0 +1,101 @@
+import smbus2
+import struct
+import numpy as np
+
+class Lsm6dsow:
+    STATUS_REG = 0x1E
+    ACC_REG = 0x28
+    GYRO_REG = 0x22
+    CTRL1_XL = 0x10  # Accelerometer ODR/scale
+    CTRL2_G = 0x11   # Gyro ODR/scale
+
+    ACC_SENS_TABLE = {0:0.061, 1:0.122, 2:0.244, 3:0.488}
+    GYRO_SENS_TABLE = {0:8.75, 1:17.5, 2:35, 3:70}
+    GRAVITY = 9.80665
+    ODR_TABLE = [0, 12.5, 26, 52, 104, 208, 416, 833, 1660, 3330, 6660]
+
+    def __init__(self, i2c_bus=1, dev_addr=0x6b):
+        self.bus = smbus2.SMBus(i2c_bus)
+        self.addr = dev_addr
+        self._last_frame = np.zeros((2,3))  # [acc, gyro] last valid
+        self._last_updated = 0
+
+    def _read_reg(self, reg, length=1):
+        if length == 1:
+            return self.bus.read_byte_data(self.addr, reg)
+        return self.bus.read_i2c_block_data(self.addr, reg, length)
+
+    def _write_reg(self, reg, value):
+        self.bus.write_byte_data(self.addr, reg, value)
+
+    def get_acc_odr(self):
+        val = self._read_reg(self.CTRL1_XL)
+        odr_idx = (val >> 4) & 0x0F
+        return self.ODR_TABLE[odr_idx] if odr_idx < len(self.ODR_TABLE) else 0
+
+    def set_acc_odr(self, hz):
+        idx = min(range(len(self.ODR_TABLE)), key=lambda i: abs(self.ODR_TABLE[i]-hz))
+        val = self._read_reg(self.CTRL1_XL)
+        val = (val & 0x0F) | (idx << 4)
+        self._write_reg(self.CTRL1_XL, val)
+
+    def get_gyro_odr(self):
+        val = self._read_reg(self.CTRL2_G)
+        odr_idx = (val >> 4) & 0x0F
+        return self.ODR_TABLE[odr_idx] if odr_idx < len(self.ODR_TABLE) else 0
+
+    def set_gyro_odr(self, hz):
+        idx = min(range(len(self.ODR_TABLE)), key=lambda i: abs(self.ODR_TABLE[i]-hz))
+        val = self._read_reg(self.CTRL2_G)
+        val = (val & 0x0F) | (idx << 4)
+        self._write_reg(self.CTRL2_G, val)
+
+    def get_acc_scale(self):
+        val = self._read_reg(self.CTRL1_XL)
+        fs = (val >> 2) & 0x03
+        return self.ACC_SENS_TABLE.get(fs, 0.061)
+
+    def set_acc_scale(self, g_val):
+        fs_map = {2:0, 4:1, 8:2, 16:3}
+        fs = fs_map.get(g_val, 0)
+        val = self._read_reg(self.CTRL1_XL)
+        val = (val & ~(0x0C)) | (fs << 2)
+        self._write_reg(self.CTRL1_XL, val)
+
+    def get_gyro_scale(self):
+        val = self._read_reg(self.CTRL2_G)
+        fs = (val >> 2) & 0x03
+        return self.GYRO_SENS_TABLE.get(fs, 8.75)
+
+    def set_gyro_scale(self, dps_val):
+        fs_map = {250:0, 500:1, 1000:2, 2000:3}
+        fs = fs_map.get(dps_val, 0)
+        val = self._read_reg(self.CTRL2_G)
+        val = (val & ~(0x0C)) | (fs << 2)
+        self._write_reg(self.CTRL2_G, val)
+
+    def read(self):
+        status = self._read_reg(self.STATUS_REG)
+        updated = 0
+        if (status & 0x01) and (status & 0x02):
+            acc_bytes = self._read_reg(self.ACC_REG, 6)
+            gyro_bytes = self._read_reg(self.GYRO_REG, 6)
+            acc_raw = np.array(struct.unpack('<hhh', bytes(acc_bytes)), dtype=np.int16)
+            gyro_raw = np.array(struct.unpack('<hhh', bytes(gyro_bytes)), dtype=np.int16)
+            acc_scale = self.get_acc_scale()
+            gyro_scale = self.get_gyro_scale()
+            acc_val = acc_raw * acc_scale * self.GRAVITY / 1000      # m/s²
+            gyro_val = gyro_raw * gyro_scale / 1000                  # °/s
+            self._last_frame = np.array([acc_val, gyro_val])
+            updated = 1
+        else:
+            # No new data, return last
+            updated = 0
+        return updated, self._last_frame.copy()
+
+    def read_raw(self):
+        acc_bytes = self._read_reg(self.ACC_REG, 6)
+        gyro_bytes = self._read_reg(self.GYRO_REG, 6)
+        acc_raw = np.array(struct.unpack('<hhh', bytes(acc_bytes)), dtype=np.int16)
+        gyro_raw = np.array(struct.unpack('<hhh', bytes(gyro_bytes)), dtype=np.int16)
+        return np.array([acc_raw, gyro_raw])

examples/ext_dev/sensors/imu/acc_gyro_lsm6dsow/main.py

@@ -0,0 +1,113 @@
+from maix import display, app, image
+disp = display.Display()
+print("display init done")
+print(f"display size: {disp.width()}x{disp.height()}")
+
+######################################
+import cv2
+import numpy as np
+# 画布大小
+w, h = disp.width(), disp.height()
+# 坐标中心
+center = np.array([w//2, h//2])
+
+# 构造旋转矩阵: 把原始Z轴(0,0,1)转到acc_norm方向
+def rotation_matrix_from_vectors(a, b):
+    a = a / np.linalg.norm(a)
+    b = b / np.linalg.norm(b)
+    v = np.cross(a, b)
+    c = np.dot(a, b)
+    s = np.linalg.norm(v)
+    if s < 1e-8:
+        return np.eye(3)
+    kmat = np.array([[    0, -v[2],  v[1]],
+                     [ v[2],     0, -v[0]],
+                     [-v[1],  v[0],     0]])
+    return np.eye(3) + kmat + kmat @ kmat * ((1-c)/(s**2))
+
+# 原始坐标轴单位向量
+axes = {
+    'X': np.array([1,0,0]),
+    'Y': np.array([0,1,0]),
+    'Z': np.array([0,0,1])
+}
+colors = {'X': (0,0,255), 'Y': (0,255,0), 'Z': (255,0,0)}
+
+# 投影到画布（简单正交投影，忽略Z）
+def project(vec):
+    scale = 150
+    x = int(center[0] + vec[0]*scale)
+    y = int(center[1] - vec[1]*scale)
+    return (x, y)
+######################################
+
+import time
+import lsm6dsow
+imu = lsm6dsow.Lsm6dsow()
+imu.set_acc_odr(imu.ODR_TABLE[7])
+imu.set_gyro_odr(imu.ODR_TABLE[7])
+imu.set_acc_scale(imu.ACC_SENS_TABLE[0])
+imu.set_gyro_scale(imu.GYRO_SENS_TABLE[0])
+
+count = 0
+duration = 180.0  # 统计180秒
+start = time.time()
+while not app.need_exit():
+    # 新建画布
+    canvas = np.ones((h, w, 3), dtype=np.uint8) * 255
+
+    remain_time = start + duration - time.time()
+    if remain_time < 0:
+        break
+    else:
+        cv2.putText(canvas, f"Auto exit after {remain_time:.1f}s", (20,30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,0,0), 2)
+
+    # 同时采样加速度和陀螺仪
+    upd, acc_gyro_vals = imu.read()
+    if upd:
+        # print("ACC(m/s²):", " ".join("{:8.4f}".format(x) for x in acc_vals),
+        #         "GYRO(°/s):", " ".join("{:8.4f}".format(x) for x in gyro_vals))
+        count += 1
+    acc_vals = acc_gyro_vals[0]
+    gyro_vals = acc_gyro_vals[1]
+
+    # 1. 示例加速度（m/s²）和角速度（°/s），请替换为你的实际数据
+    acc = np.array(acc_vals)    # X, Y, Z
+    gyro = np.array(gyro_vals)      # X, Y, Z
+
+    # 2. 归一化加速度作为“新Z轴方向”
+    acc_norm = acc / np.linalg.norm(acc) if np.linalg.norm(acc) > 1e-5 else np.array([0,0,1])
+
+    # 3. 计算旋转后的坐标轴
+    R = rotation_matrix_from_vectors(np.array([0,0,1]), acc_norm)
+    rot_axes = {k: R @ v for k,v in axes.items()}
+
+    # 4. 画三轴
+    for k in ['X', 'Y', 'Z']:
+        tip = project(rot_axes[k])
+        cv2.arrowedLine(canvas, tuple(center), tip, colors[k], 3, tipLength=0.10)
+        cv2.putText(canvas, k, tip, cv2.FONT_HERSHEY_SIMPLEX, 0.7, colors[k], 2)
+
+    # 5. 角速度箭头可视化（方向和长度）
+    gyro_body = gyro / (np.linalg.norm(gyro)+1e-8) if np.linalg.norm(gyro)>1e-8 else np.array([0,0,1])
+    gyro_len = min(float(np.linalg.norm(gyro)), 1.0) * 100  # 可调整箭头长度比例
+    # 6. 旋转到加速度系
+    gyro_proj = R @ gyro_body
+    gyro_tip = project(gyro_proj * (gyro_len/150))  # 按长度比例缩放
+
+    cv2.arrowedLine(canvas, tuple(center), gyro_tip, (0,0,0), 4, tipLength=0.15)
+    cv2.putText(canvas, "gyro", gyro_tip, cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0,0,0), 2)
+
+    # 7. 显示数值
+    cv2.putText(canvas, f"acc: [{acc[0]:.2f}, {acc[1]:.2f}, {acc[2]:.2f}]", (20,60), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0,0,0), 2)
+    cv2.putText(canvas, f"gyro: [{gyro[0]:.2f}, {gyro[1]:.2f}, {gyro[2]:.2f}]", (20,90), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0,0,0), 2)
+
+    fps = count / (time.time() - start)
+    cv2.putText(canvas, f"fps: {fps:.2f}", (20,120), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0,255,0), 2)
+
+    img = image.cv2image(canvas)
+    disp.show(img)
+
+rate = count / duration
+print(f"有效采集速率: {rate:.2f} Hz")
+

examples/ext_dev/sensors/tiny1c/tiny1c_example.py

@@ -252,10 +252,10 @@ def scale_to_range(arr, target_min, target_max):
 
         if PREVIEW_TEMP:
             gray = np.frombuffer(image_frame, dtype=np.uint16).reshape((height, width))
+            gray = cv2.rotate(gray, cv2.ROTATE_180)
 
             # 归一化到8位（0~255）
             img_8bit = cv2.normalize(gray >> 2, None, 0, 255, cv2.NORM_MINMAX).astype(np.uint8)
-            img_8bit = cv2.rotate(img_8bit, cv2.ROTATE_180)
             img_8bit_raw_min_max = (img_8bit.min(), img_8bit.max())
 
             if enable_x3:

examples/ext_dev/sensors/tof100/tof100_example.py

@@ -1,19 +1,49 @@
-from maix import display, app, time, ext_dev
+from maix import display, image, app, time, ext_dev
+
+from maix import pinmap
+
+import numpy as np
+import cv2
+
+pin_function = {
+    "A8": "I2C7_SCL",
+    "A9": "I2C7_SDA",
+    "B21": "SPI2_CS1",
+    "B19": "SPI2_MISO",
+    "B18": "SPI2_MOSI",
+    "B20": "SPI2_SCK"
+}
+
+for pin, func in pin_function.items():
+    if 0 != pinmap.set_pin_function(pin, func):
+        print(f"Failed: pin{pin}, func{func}")
+        exit(-1)
 
 disp = display.Display()
 
 tof = ext_dev.tof100.Tof100(
-    4,
-    ext_dev.tof100.Resolution.RES_50x50,
+    2,
+    ext_dev.tof100.Resolution.RES_100x100,
     ext_dev.cmap.Cmap.JET,
     40, 1000)
 
+t0 = time.time()
 while not app.need_exit():
     img = tof.image()
     if img is not None:
-        disp.show(img)
-        print("min: ", tof.min_dis_point())
-        print("max: ", tof.max_dis_point())
-        print("center: ", tof.center_point())
+        img_bgr = image.image2cv(img, ensure_bgr=True, copy=True)
+        img_bgr = cv2.rotate(img_bgr, cv2.ROTATE_180)
+        img_bgr = cv2.resize(img_bgr, (400, 400))
+
+        scr = np.zeros((disp.height(), disp.width(), 3), dtype=np.uint8)
+        scr[:img_bgr.shape[0], :img_bgr.shape[1], ...] = img_bgr
+        disp.show(image.cv2image(scr))
         fps = time.fps()
-        print(f"time: {1000/fps:.02f}ms, fps: {fps:.02f}")
+        t1 = time.time()
+        if t1-t0>1:
+            print("min: ", tof.min_dis_point())
+            print("max: ", tof.max_dis_point())
+            print("center: ", tof.center_point())
+            print(f"time: {1000/fps:.02f}ms, fps: {fps:.02f}")
+            print(f"t0:{t0}, t1:{t1}")
+            t0=t1

projects/app_imu_lsm6dsow/.gitignore

@@ -0,0 +1,3 @@
+data
+__pycache__
+dist

projects/app_imu_lsm6dsow/README.md

@@ -0,0 +1,11 @@
+IMU AHRS 姿态解算
+=====
+
+
+Use integrated IMU to get device status(euler angles).
+
+APP: [https://maixhub.com/app/128](https://maixhub.com/app/128)
+
+
+
+

projects/app_imu_lsm6dsow/app.yaml

@@ -0,0 +1,18 @@
+id: imu_ahrs
+name: IMU AHRS
+name[zh]: 姿态解算
+version: 1.0.3
+icon: ''
+author: Sipeed Ltd
+desc: IMU AHRS
+desc[zh]: IMU 姿态解算
+exclude:
+  - dist
+  - build
+  - .gitignore
+files:
+  - assets/icon.png
+  - app.yaml
+  - lsm6dsow.py
+  - main.py
+  - README.md