#include <math.h>
    #include<Console.h>
    //#include <NewSoftSerial.h>       //if display in LCD(seeed serial LCD driver)
    //#include <SerialLCD.h>           //if display in LCD(seeed serial LCD driver)
    //#include "temp.h"

    const int temp_analog_in = A0;  // Analog input pin connect to temperature sensor SUR pin
    const int objt_analog_in = A1;  // Analog input pin connect to temperature sensor OBJ pin
    float temp_calibration=0;       //this parameter was used to calibrate the temperature
    //float objt_calibration=0.000; //this parameter was used to calibrate the object temperature
    float temperature_range=10;    //we make a map of temperature-voltage according to sensor datasheet. 10 is the temperature step when sensor and
                                   //object distance is 9CM.
    float offset_vol=0.014;        //this parameter was used to set the mid level voltage,when put the sensor in normal environment after 10 min,
                                   //the sensor output 0.For example,the surrounding temperature is 29℃，but the result is 27℃ via the sensor,
                                   //you should set the reerence to 0.520 or more,according to your sensor to change.
                                   //the unit is V

    //SerialLCD slcd(11,12);
    float tempValue = 0;
    float objtValue= 0;
    float current_temp=0;
    float temp=0;
    float temp1=0;
    float temp2=0;
    unsigned int temp3=0;
    const float reference_vol=0.500;
    unsigned char clear_num=0;//when use lcd to display
    float R=0;
    float voltage=0;


    long res[100]={
                     318300,302903,288329,274533,261471,249100,237381,226276,215750,205768,
                     196300,187316,178788,170691,163002,155700,148766,142183,135936,130012,
                     124400,119038,113928,109059,104420,100000,95788,91775,87950,84305,
                     80830,77517,74357,71342,68466,65720,63098,60595,58202,55916,
                     53730,51645,49652,47746,45924,44180,42511,40912,39380,37910,
                     36500,35155,33866,32631,31446,30311,29222,28177,27175,26213,
                     25290,24403,23554,22738,21955,21202,20479,19783,19115,18472,
                     17260,16688,16138,15608,15098,14608,14135,13680,13242,12819,
                     12412,12020,11642,11278,10926,10587,10260,9945,9641,9347,
                     9063,8789,8525,8270,8023,7785,7555,7333,7118,6911};

    float obj [13][12]={
    /*0*/             { 0,-0.274,-0.58,-0.922,-1.301,-1.721,-2.183,-2.691,-3.247,-3.854,-4.516,-5.236}, //
    /*1*/             { 0.271,0,-0.303,-0.642,-1.018,-1.434,-1.894,-2.398,-2.951,-3.556,-4.215,-4.931},  //→surrounding temperature,from -10,0,10,...100
    /*2*/             { 0.567,0.3,0,-0.335,-0.708,-1.121,-1.577,-2.078,-2.628,-3.229,-3.884,-4.597},   //↓object temperature,from -10,0,10,...110
    /*3*/             { 0.891,0.628,0.331,0,-0.369,-0.778,-1.23,-1.728,-2.274,-2.871,-3.523,-4.232},
    /*4*/             { 1.244,0.985,0.692,0.365,0,-0.405,-0.853,-1.347,-1.889,-2.482,-3.13,-3.835},
    /*5*/             { 1.628,1.372,1.084,0.761,0.401,0,-0.444,-0.933,-1.47,-2.059,-2.702,-3.403},
    /*6*/             { 2.043,1.792,1.509,1.191,0.835,0.439,0,-0.484,-1.017,-1.601,-2.24,-2.936},
    /*7*/             { 2.491,2.246,1.968,1.655,1.304,0.913,0.479,0,-0.528,-1.107,-1.74,-2.431},
    /*8*/             { 2.975,2.735,2.462,2.155,1.809,1.424,0.996,0.522,0,-0.573,-1.201,-1.887},
    /*9*/             { 3.495,3.261,2.994,2.692,2.353,1.974,1.552,1.084,0.568,0,-0.622,-1.301},
    /*10*/            { 4.053,3.825,3.565,3.27,2.937,2.564,2.148,1.687,1.177,0.616,0,-0.673},
    /*11*/            { 4.651,4.43,4.177,3.888,3.562,3.196,2.787,2.332,1.829,1.275,0.666,0},
    /*12*/            { 5.29,5.076,4.83,4.549,4.231,3.872,3.47,3.023,2.527,1.98,1.379,0.72}
    };

    float binsearch(long x)// this function used for measure the surrounding temperature
    {
        int low,mid,high;
        low=0;
        //mid=0;
        high=100;
        while (low<=high)
        {
            mid=(low+high)/2;
            if(x<res[mid])
                low= mid+1;
            else//(x>res[mid])
                high=mid-1;
        }
        return mid;
    }

    float arraysearch(float x,float y)//x is the surrounding temperature,y is the object temperature
    {
        int i=0;
        float tem_coefficient=100;//放大器倍数100
        i=(x/10)+1;//环境温度
        voltage=(float)y/tem_coefficient;//转化后对应的原始电压
        //Serial.print("sensor voltage:t");
        //Serial.print(voltage,5);
        //Serial.print("V");
        for(temp3=0;temp3<13;temp3++)
        {
            if((voltage>obj[temp3][i])&&(voltage<obj[temp3+1][i]))
            {
                return temp3;
            }
        }
    }
    float temp_measure()
    {
        unsigned char i=0;
        float current_temp1=0;
        int signal=0;
        tempValue=0;

        for(i=0;i<10;i++)       //
        {
            tempValue+= analogRead(temp_analog_in);
            delay(10);
        }
        tempValue=tempValue/10;
        temp = tempValue*1.1/1023;
        R=2000000*temp/(2.50-temp);
        signal=binsearch(R);
        current_temp=signal-1+temp_calibration+(res[signal-1]-R)/(res[signal-1]-res[signal]);
        //current_temp1=current_temp;
        //slcd.setCursor(0,1);
        //slcd.print("sur T:");
        //slcd.print((int)current_temp1,DEC);
        Console.print("Surrounding temperature:");
        Console.print(current_temp);
        return current_temp;
    }

    float objt_measure()
    {
        unsigned char i=0;
        unsigned char j=0;
        float sur_temp=0;
        unsigned int array_temp=0;
        float temp1,temp2;
        float final_temp=0;
        objtValue=0;
        for(i=0;i<10;i++)
        {
            objtValue+= analogRead(objt_analog_in);
            delay(10);
        }
        objtValue=objtValue/10;//平均值处理
        temp1=objtValue*1.1/1023;//+objt_calibration;
        sur_temp=temp1-(reference_vol+offset_vol);
        Console.print("t Sensor voltage:");
        Console.print(sur_temp,3);
        Console.print("V");
        //slcd.setCursor(11,1);
        //slcd.print((int)(temp1*10000),DEC);
        array_temp=arraysearch(current_temp,sur_temp*1000);
        temp2=current_temp;
        temp1=(temperature_range*voltage)/(obj[array_temp+1][(int)(temp2/10)+1]-obj[array_temp][(int)(temp2/10)+1]);
        final_temp=temp2+temp1;
        if((final_temp>100)||(final_temp<=-10))
            {
            Console.println ("t out of range!");
            }
        else
            {
                Console.print("t object temperature:");
                Console.println(final_temp,2);
                //Serial.println("℃");
                }
        ////////////////////////////////////////////////////
        //The fllowing code is used for display by serialLCD
    /*
        slcd.setCursor(0,0);
        slcd.print("obj T:");
        if((final_temp>=0)&&(final_temp<=100))
        {
            slcd.print(final_temp,DEC);
        }
        else if((final_temp<0)&&(final_temp>=-10))
        {
            slcd.setCursor(10,0);
            slcd.print('-');
            slcd.print(abs(final_temp),DEC);
        }
        else
            {
                slcd.setCursor(5,0);
                slcd.print("out of range");
                }*/
        //////////////////////////////////////////
    }

    void setup()
    {
            Bridge.begin();
            Console.begin();
            while (!Console);
            Console.println("Hi, what's your name?");// initialize serial communications at 9600 bps:
        //slcd.begin();//Add while using LCD to display
        //slcd.backlight();//Turn on the backlight of LCD while using LCD to display
            analogReference(INTERNAL);//set the refenrence voltage 1.1V,the distinguishability can up to 1mV.
        //analogReference(INTERNAL1V1);//(mega only)set the refenrence voltage 1.1V,the distinguishability can up to 1mV.
    }
    //If use LCD to display, adding below code to clear the screen in time
    void loop()
    {
        temp_measure();
        objt_measure();

    /*
        if(clear_num==10)
            {
                slcd.clear();
                clear_num=0;
                }
        else
            clear_num++;
            */

    }