780 lines
33 KiB
C
780 lines
33 KiB
C
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/*********************************************************************************************************************
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* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是CH32V307VCT6 开源库的一部分
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*
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* CH32V307VCT6 开源库 是免费软件
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* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
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* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
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*
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* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
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*
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* 文件名称 zf_device_dl1a
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 MounRiver Studio V1.8.1
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* 适用平台 CH32V307VCT6
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2023-03-18 大W first version
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********************************************************************************************************************/
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/*********************************************************************************************************************
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* 接线定义：
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* ------------------------------------
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* 模块管脚 单片机管脚
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* SCL 查看 zf_device_dl1a.h 中 DL1A_SCL_PIN 宏定义
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* SDA 查看 zf_device_dl1a.h 中 DL1A_SDA_PIN 宏定义
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* XS 查看 zf_device_dl1a.h 中 DL1A_XS_PIN 宏定义
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* VCC 5V 电源
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* GND 电源地
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* ------------------------------------
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********************************************************************************************************************/
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#include "zf_common_debug.h"
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#include "zf_driver_delay.h"
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#include "zf_driver_soft_iic.h"
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#include "zf_device_dl1a.h"
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#include "zf_device_type.h"
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static uint8 dl1a_init_flag = 0;
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uint8 dl1a_finsh_flag = 0;
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uint16 dl1a_distance_mm = 8192;
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#if DL1A_USE_SOFT_IIC
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static soft_iic_info_struct dl1a_iic_struct;
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#define dl1a_write_array(data, len) (soft_iic_write_8bit_array(&dl1a_iic_struct, (data), (len)))
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#define dl1a_write_register(reg, data) (soft_iic_write_8bit_register(&dl1a_iic_struct, (reg), (data)))
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#define dl1a_read_register(reg) (soft_iic_read_8bit_register(&dl1a_iic_struct, (reg)))
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#define dl1a_read_registers(reg, data, len) (soft_iic_read_8bit_registers(&dl1a_iic_struct, (reg), (data), (len)))
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#else
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#define dl1a_write_array(data, len) (iic_write_8bit_array(DL1A_IIC, DL1A_DEV_ADDR, (data), (len)))
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#define dl1a_write_register(reg, data) (iic_write_8bit_register(DL1A_IIC, DL1A_DEV_ADDR, (reg), (data)))
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#define dl1a_read_register(reg) (iic_read_8bit_register(DL1A_IIC, DL1A_DEV_ADDR, (reg)))
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#define dl1a_read_registers(reg, data, len) (iic_read_8bit_registers(DL1A_IIC, DL1A_DEV_ADDR, (reg), (data), (len)))
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#endif
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// 这个速率表示从目标反射并被设备检测到的信号的振幅
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// 设置此限制可以确定传感器报告有效读数所需的最小测量值
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// 设置一个较低的限制可以增加传感器的测量范围
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// 但似乎也增加了 <由于来自目标以外的物体的不需要的反射导致> 得到不准确读数的可能性
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// 默认为 0.25 MCPS 可预设范围为 0 - 511.99
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#define DL1A_DEFAULT_RATE_LIMIT (0.25)
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// 从寄存器数据解码 PCLKs 中 VCSEL (vertical cavity surface emitting laser) 的脉宽周期
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#define decode_vcsel_period(reg_val) (((reg_val) + 1) << 1)
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// 从 PCLK 中的 VCSEL 周期计算宏周期 (以 *纳秒为单位)
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// PLL_period_ps = 1655
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// macro_period_vclks = 2304
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#define calc_macro_period(vcsel_period_pclks) ((((uint32)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000)
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 获取设备 SPAD 信息
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// 参数说明 index 索引
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// 参数说明 type 类型值
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// 返回参数 uint8 是否成功 0-成功 1-失败
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// 使用示例 dl1a_get_spad_info(index, type_is_aperture);
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 dl1a_get_spad_info (uint8 *index, uint8 *type_is_aperture)
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{
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uint8 tmp = 0;
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uint8 return_state = 0;
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volatile uint16 loop_count = 0;
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do
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{
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dl1a_write_register(0x80, 0x01);
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dl1a_write_register(0xFF, 0x01);
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dl1a_write_register(0x00, 0x00);
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dl1a_write_register(0xFF, 0x06);
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dl1a_read_registers(0x83, &tmp, 1);
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dl1a_write_register(0x83, tmp | 0x04);
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dl1a_write_register(0xFF, 0x07);
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dl1a_write_register(0x81, 0x01);
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dl1a_write_register(0x80, 0x01);
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dl1a_write_register(0x94, 0x6b);
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dl1a_write_register(0x83, 0x00);
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tmp = 0x00;
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while(0x00 == tmp || 0xFF == tmp)
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{
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system_delay_ms(1);
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dl1a_read_registers(0x83, &tmp, 1);
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if(DL1A_TIMEOUT_COUNT < loop_count ++)
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{
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return_state = 1;
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break;
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}
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}
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if(return_state)
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{
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break;
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}
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dl1a_write_register(0x83, 0x01);
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dl1a_read_registers(0x92, &tmp, 1);
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*index = tmp & 0x7f;
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*type_is_aperture = (tmp >> 7) & 0x01;
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dl1a_write_register(0x81, 0x00);
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dl1a_write_register(0xFF, 0x06);
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dl1a_read_registers(0x83, &tmp, 1);
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dl1a_write_register(0x83, tmp);
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dl1a_write_register(0xFF, 0x01);
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dl1a_write_register(0x00, 0x01);
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dl1a_write_register(0xFF, 0x00);
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dl1a_write_register(0x80, 0x00);
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}while(0);
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return return_state;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 将超时数值从 MCLKs 转换到对应的 ms
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// 参数说明 timeout_period_mclks 超时周期 MCLKs
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// 参数说明 vcsel_period_pclks PCLK 值
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// 返回参数 uint32 返回超时数值
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// 使用示例 dl1a_timeout_mclks_to_microseconds(timeout_period_mclks, vcsel_period_pclks);
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// 备注信息 将序列步骤超时从具有给定 VCSEL 周期的 MCLK (以 PCLK 为单位)转换为微秒
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//-------------------------------------------------------------------------------------------------------------------
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static uint32 dl1a_timeout_mclks_to_microseconds (uint16 timeout_period_mclks, uint8 vcsel_period_pclks)
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{
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uint32 macro_period_ns = calc_macro_period(vcsel_period_pclks);
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return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 将超时数值从 ms 转换到对应的 MCLKs
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// 参数说明 timeout_period_us 超时周期 微秒单位
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// 参数说明 vcsel_period_pclks PCLK 值
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// 返回参数 uint32 返回超时数值
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// 使用示例 dl1a_timeout_microseconds_to_mclks(timeout_period_us, vcsel_period_pclks);
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// 备注信息 将序列步骤超时从微秒转换为具有给定 VCSEL 周期的 MCLK (以 PCLK 为单位)
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//-------------------------------------------------------------------------------------------------------------------
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static uint32 dl1a_timeout_microseconds_to_mclks (uint32 timeout_period_us, uint8 vcsel_period_pclks)
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{
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uint32 macro_period_ns = calc_macro_period(vcsel_period_pclks);
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return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns);
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 对超时数值进行解码
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// 参数说明 reg_val 超时时长 寄存器值
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// 返回参数 uint16 返回超时数值
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// 使用示例 dl1a_decode_timeout(reg_val);
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// 备注信息 从寄存器值解码 MCLK 中的序列步骤超时
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//-------------------------------------------------------------------------------------------------------------------
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static uint16 dl1a_decode_timeout (uint16 reg_val)
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{
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// 格式: (LSByte * 2 ^ MSByte) + 1
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return (uint16)((reg_val & 0x00FF) <<
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(uint16)((reg_val & 0xFF00) >> 8)) + 1;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 对超时数值进行编码
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// 参数说明 timeout_mclks 超时时长 -MCLKs 值
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// 返回参数 uint16 返回编码值
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// 使用示例 dl1a_encode_timeout(timeout_mclks);
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// 备注信息 在 MCLK 中对超时的序列步骤超时寄存器值进行编码
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//-------------------------------------------------------------------------------------------------------------------
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static uint16 dl1a_encode_timeout (uint16 timeout_mclks)
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{
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uint32 ls_byte = 0;
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uint16 ms_byte = 0;
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uint16 return_data = 0;
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if(0 < timeout_mclks)
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{
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// 格式: (LSByte * 2 ^ MSByte) + 1
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ls_byte = timeout_mclks - 1;
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while(0 < (ls_byte & 0xFFFFFF00))
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{
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ls_byte >>= 1;
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ms_byte++;
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}
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return_data = (ms_byte << 8) | ((uint16)ls_byte & 0xFF);
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}
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return return_data;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 获取序列步骤使能设置
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// 参数说明 enables 序列使能步骤结构体
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// 返回参数 void
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// 使用示例 dl1a_get_sequence_step_enables(enables);
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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static void dl1a_get_sequence_step_enables(dl1a_sequence_enables_step_struct *enables)
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{
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uint8 sequence_config = 0;
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dl1a_read_registers(DL1A_SYSTEM_SEQUENCE_CONFIG, &sequence_config, 1);
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enables->tcc = (sequence_config >> 4) & 0x1;
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enables->dss = (sequence_config >> 3) & 0x1;
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enables->msrc = (sequence_config >> 2) & 0x1;
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enables->pre_range = (sequence_config >> 6) & 0x1;
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enables->final_range = (sequence_config >> 7) & 0x1;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 获取脉冲周期
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// 参数说明 type 预量程类型
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// 返回参数 uint8 返回的周期值
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// 使用示例 dl1a_get_vcsel_pulse_period(DL1A_VCSEL_PERIOD_PER_RANGE);
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// 备注信息 在 PCLKs 中获取给定周期类型的 VCSEL 脉冲周期
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//-------------------------------------------------------------------------------------------------------------------
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static uint8 dl1a_get_vcsel_pulse_period (dl1a_vcsel_period_type_enum type)
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{
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uint8 data_buffer = 0;
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if(DL1A_VCSEL_PERIOD_PER_RANGE == type)
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{
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dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
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data_buffer = decode_vcsel_period(data_buffer);
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}
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else if(DL1A_VCSEL_PERIOD_FINAL_RANGE == type)
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{
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dl1a_read_registers(DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
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data_buffer = decode_vcsel_period(data_buffer);
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}
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else
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{
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data_buffer = 255;
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}
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return data_buffer;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 获取序列步骤超时设置
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// 参数说明 enables 序列使能步骤结构体
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// 参数说明 timeouts 序列超时步骤结构体
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// 返回参数 void
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// 使用示例 dl1a_get_sequence_step_timeouts(enables, timeouts);
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// 备注信息 获取所有超时而不仅仅是请求的超时 并且还存储中间值
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//-------------------------------------------------------------------------------------------------------------------
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static void dl1a_get_sequence_step_timeouts (dl1a_sequence_enables_step_struct const *enables, dl1a_sequence_timeout_step_struct *timeouts)
|
|||
|
|
{
|
|||
|
|
uint8 reg_buffer[2];
|
|||
|
|
uint16 reg16_buffer = 0;
|
|||
|
|
|
|||
|
|
timeouts->pre_range_vcsel_period_pclks = dl1a_get_vcsel_pulse_period(DL1A_VCSEL_PERIOD_PER_RANGE);
|
|||
|
|
|
|||
|
|
dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, reg_buffer, 1);
|
|||
|
|
timeouts->msrc_dss_tcc_mclks = reg_buffer[0] + 1;
|
|||
|
|
timeouts->msrc_dss_tcc_us = dl1a_timeout_mclks_to_microseconds(timeouts->msrc_dss_tcc_mclks, (uint8)timeouts->pre_range_vcsel_period_pclks);
|
|||
|
|
|
|||
|
|
dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, reg_buffer, 2);
|
|||
|
|
reg16_buffer = ((uint16) reg_buffer[0] << 8) | reg_buffer[1];
|
|||
|
|
timeouts->pre_range_mclks = dl1a_decode_timeout(reg16_buffer);
|
|||
|
|
timeouts->pre_range_us = dl1a_timeout_mclks_to_microseconds(timeouts->pre_range_mclks, (uint8)timeouts->pre_range_vcsel_period_pclks);
|
|||
|
|
|
|||
|
|
timeouts->final_range_vcsel_period_pclks = dl1a_get_vcsel_pulse_period(DL1A_VCSEL_PERIOD_FINAL_RANGE);
|
|||
|
|
|
|||
|
|
dl1a_read_registers(DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, reg_buffer, 2);
|
|||
|
|
reg16_buffer = ((uint16) reg_buffer[0] << 8) | reg_buffer[1];
|
|||
|
|
timeouts->final_range_mclks = dl1a_decode_timeout(reg16_buffer);
|
|||
|
|
|
|||
|
|
if(enables->pre_range)
|
|||
|
|
{
|
|||
|
|
timeouts->final_range_mclks -= timeouts->pre_range_mclks;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
timeouts->final_range_us = dl1a_timeout_mclks_to_microseconds(timeouts->final_range_mclks, (uint8)timeouts->final_range_vcsel_period_pclks);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
// 函数简介 执行单次参考校准
|
|||
|
|
// 参数说明 vhv_init_byte 预设校准值
|
|||
|
|
// 返回参数 uint8 操作是否成功 0-成功 1-失败
|
|||
|
|
// 使用示例 dl1a_get_vcsel_pulse_period(DL1A_VCSEL_PERIOD_PER_RANGE);
|
|||
|
|
// 备注信息 在 PCLKs 中获取给定周期类型的 VCSEL 脉冲周期
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
static uint8 dl1a_perform_single_ref_calibration (uint8 vhv_init_byte)
|
|||
|
|
{
|
|||
|
|
uint8 return_state = 0;
|
|||
|
|
uint8 data_buffer = 0;
|
|||
|
|
volatile uint16 loop_count = 0;
|
|||
|
|
do
|
|||
|
|
{
|
|||
|
|
dl1a_write_register(DL1A_SYSRANGE_START, 0x01 | vhv_init_byte);
|
|||
|
|
dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
|
|||
|
|
while(0 == (data_buffer & 0x07))
|
|||
|
|
{
|
|||
|
|
system_delay_ms(1);
|
|||
|
|
dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
|
|||
|
|
if(DL1A_TIMEOUT_COUNT < loop_count ++)
|
|||
|
|
{
|
|||
|
|
return_state = 1;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if(return_state)
|
|||
|
|
{
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
|||
|
|
dl1a_write_register(DL1A_SYSRANGE_START, 0x00);
|
|||
|
|
}while(0);
|
|||
|
|
|
|||
|
|
return return_state;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
// 函数简介 设置测量定时预算 (以微秒为单位)
|
|||
|
|
// 参数说明 budget_us 设定的测量允许的时间
|
|||
|
|
// 返回参数 uint8 操作结果 0-成功 1-失败
|
|||
|
|
// 使用示例 dl1a_set_measurement_timing_budget(measurement_timing_budget_us);
|
|||
|
|
// 备注信息 这是一次测量允许的时间
|
|||
|
|
// 即在测距序列的子步骤之间分配时间预算
|
|||
|
|
// 更长的时间预算允许更精确的测量
|
|||
|
|
// 增加一个N倍的预算可以减少一个sqrt(N)倍的范围测量标准偏差
|
|||
|
|
// 默认为33毫秒 最小值为20 ms
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
static uint8 dl1a_set_measurement_timing_budget (uint32 budget_us)
|
|||
|
|
{
|
|||
|
|
uint8 return_state = 0;
|
|||
|
|
uint8 data_buffer[3];
|
|||
|
|
uint16 data = 0;
|
|||
|
|
|
|||
|
|
dl1a_sequence_enables_step_struct enables;
|
|||
|
|
dl1a_sequence_timeout_step_struct timeouts;
|
|||
|
|
|
|||
|
|
do
|
|||
|
|
{
|
|||
|
|
if(DL1A_MIN_TIMING_BUDGET > budget_us)
|
|||
|
|
{
|
|||
|
|
return_state = 1;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint32 used_budget_us = DL1A_SET_START_OVERHEAD + DL1A_END_OVERHEAD;
|
|||
|
|
dl1a_get_sequence_step_enables(&enables);
|
|||
|
|
dl1a_get_sequence_step_timeouts(&enables, &timeouts);
|
|||
|
|
|
|||
|
|
if(enables.tcc)
|
|||
|
|
{
|
|||
|
|
used_budget_us += (timeouts.msrc_dss_tcc_us + DL1A_TCC_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(enables.dss)
|
|||
|
|
{
|
|||
|
|
used_budget_us += 2 * (timeouts.msrc_dss_tcc_us + DL1A_DSS_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
else if(enables.msrc)
|
|||
|
|
{
|
|||
|
|
used_budget_us += (timeouts.msrc_dss_tcc_us + DL1A_MSRC_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(enables.pre_range)
|
|||
|
|
{
|
|||
|
|
used_budget_us += (timeouts.pre_range_us + DL1A_PRERANGE_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(enables.final_range)
|
|||
|
|
{
|
|||
|
|
// 请注意 最终范围超时由计时预算和序列中所有其他超时的总和决定
|
|||
|
|
// 如果没有空间用于最终范围超时 则将设置错误
|
|||
|
|
// 否则 剩余时间将应用于最终范围
|
|||
|
|
used_budget_us += DL1A_FINALlRANGE_OVERHEAD;
|
|||
|
|
if(used_budget_us > budget_us)
|
|||
|
|
{
|
|||
|
|
// 请求的超时太大
|
|||
|
|
return_state = 1;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 对于最终超时范围 必须添加预量程范围超时
|
|||
|
|
// 为此 最终超时和预量程超时必须以宏周期 MClks 表示
|
|||
|
|
// 因为它们具有不同的 VCSEL 周期
|
|||
|
|
uint32 final_range_timeout_us = budget_us - used_budget_us;
|
|||
|
|
uint16 final_range_timeout_mclks =
|
|||
|
|
(uint16)dl1a_timeout_microseconds_to_mclks(final_range_timeout_us,
|
|||
|
|
(uint8)timeouts.final_range_vcsel_period_pclks);
|
|||
|
|
|
|||
|
|
if(enables.pre_range)
|
|||
|
|
{
|
|||
|
|
final_range_timeout_mclks += timeouts.pre_range_mclks;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
data = dl1a_encode_timeout(final_range_timeout_mclks);
|
|||
|
|
data_buffer[0] = DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI;
|
|||
|
|
data_buffer[1] = ((data >> 8) & 0xFF);
|
|||
|
|
data_buffer[2] = (data & 0xFF);
|
|||
|
|
dl1a_write_array(data_buffer, 3);
|
|||
|
|
}
|
|||
|
|
}while(0);
|
|||
|
|
return return_state;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
// 函数简介 获取测量定时预算 (以微秒为单位)
|
|||
|
|
// 参数说明 void
|
|||
|
|
// 返回参数 uint32 已设定的测量允许的时间
|
|||
|
|
// 使用示例 dl1a_get_measurement_timing_budget();
|
|||
|
|
// 备注信息
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
static uint32 dl1a_get_measurement_timing_budget (void)
|
|||
|
|
{
|
|||
|
|
dl1a_sequence_enables_step_struct enables;
|
|||
|
|
dl1a_sequence_timeout_step_struct timeouts;
|
|||
|
|
|
|||
|
|
// 开始和结束开销时间始终存在
|
|||
|
|
uint32 budget_us = DL1A_GET_START_OVERHEAD + DL1A_END_OVERHEAD;
|
|||
|
|
|
|||
|
|
dl1a_get_sequence_step_enables(&enables);
|
|||
|
|
dl1a_get_sequence_step_timeouts(&enables, &timeouts);
|
|||
|
|
|
|||
|
|
if(enables.tcc)
|
|||
|
|
{
|
|||
|
|
budget_us += (timeouts.msrc_dss_tcc_us + DL1A_TCC_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(enables.dss)
|
|||
|
|
{
|
|||
|
|
budget_us += 2 * (timeouts.msrc_dss_tcc_us + DL1A_DSS_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
else if(enables.msrc)
|
|||
|
|
{
|
|||
|
|
budget_us += (timeouts.msrc_dss_tcc_us + DL1A_MSRC_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(enables.pre_range)
|
|||
|
|
{
|
|||
|
|
budget_us += (timeouts.pre_range_us + DL1A_PRERANGE_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(enables.final_range)
|
|||
|
|
{
|
|||
|
|
budget_us += (timeouts.final_range_us + DL1A_FINALlRANGE_OVERHEAD);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return budget_us;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
// 函数简介 设置返回信号速率限制 该值单位为 MCPS (百万次每秒)
|
|||
|
|
// 参数说明 limit_mcps 设置的最小速率
|
|||
|
|
// 返回参数 void
|
|||
|
|
// 使用示例 dl1a_set_signal_rate_limit(0.25);
|
|||
|
|
// 备注信息 这个速率表示从目标反射并被设备检测到的信号的振幅
|
|||
|
|
// 设置此限制可以确定传感器报告有效读数所需的最小测量值
|
|||
|
|
// 设置一个较低的限制可以增加传感器的测量范围
|
|||
|
|
// 但似乎也增加了 <由于来自目标以外的物体的不需要的反射导致> 得到不准确读数的可能性
|
|||
|
|
// 默认为 0.25 MCPS 可预设范围为 0 - 511.99
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
static void dl1a_set_signal_rate_limit (float limit_mcps)
|
|||
|
|
{
|
|||
|
|
zf_assert(0 <= limit_mcps || 511.99 >= limit_mcps);
|
|||
|
|
uint8 data_buffer[3];
|
|||
|
|
uint16 limit_mcps_16bit = (uint16)(limit_mcps * (1 << 7));
|
|||
|
|
|
|||
|
|
data_buffer[0] = DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT;
|
|||
|
|
data_buffer[1] = ((limit_mcps_16bit >> 8) & 0xFF);
|
|||
|
|
data_buffer[2] = (limit_mcps_16bit & 0xFF);
|
|||
|
|
|
|||
|
|
dl1a_write_array(data_buffer, 3);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
// 函数简介 返回以毫米为单位的范围读数
|
|||
|
|
// 参数说明 void
|
|||
|
|
// 返回参数 void
|
|||
|
|
// 使用示例 dl1a_get_distance();
|
|||
|
|
// 备注信息 在开始单次射程测量后也调用此函数
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
void dl1a_get_distance (void)
|
|||
|
|
{
|
|||
|
|
if(dl1a_init_flag)
|
|||
|
|
{
|
|||
|
|
uint8 reg_databuffer[3];
|
|||
|
|
|
|||
|
|
dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
|
|||
|
|
if(0 != (reg_databuffer[0] & 0x07))
|
|||
|
|
{
|
|||
|
|
// 假设线性度校正增益为默认值 1000 且未启用分数范围
|
|||
|
|
dl1a_read_registers(DL1A_RESULT_RANGE_STATUS + 10, reg_databuffer, 2);
|
|||
|
|
dl1a_distance_mm = ((uint16_t)reg_databuffer[0] << 8);
|
|||
|
|
dl1a_distance_mm |= reg_databuffer[1];
|
|||
|
|
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
|||
|
|
dl1a_finsh_flag = 1;
|
|||
|
|
}
|
|||
|
|
if(reg_databuffer[0] & 0x10)
|
|||
|
|
{
|
|||
|
|
dl1a_read_registers(DL1A_RESULT_RANGE_STATUS + 10, reg_databuffer, 2);
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
// 函数简介 DL1A INT 中断响应处理函数
|
|||
|
|
// 参数说明 void
|
|||
|
|
// 返回参数 void
|
|||
|
|
// 使用示例 dl1a_int_handler();
|
|||
|
|
// 备注信息 本函数需要在 DL1A_INT_PIN 对应的外部中断处理函数中调用
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
void dl1a_int_handler (void)
|
|||
|
|
{
|
|||
|
|
#if DL1A_INT_ENABLE
|
|||
|
|
dl1a_get_distance();
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
// 函数简介 初始化 DL1A
|
|||
|
|
// 参数说明 void
|
|||
|
|
// 返回参数 uint8 1-初始化失败 0-初始化成功
|
|||
|
|
// 使用示例 dl1a_init();
|
|||
|
|
// 备注信息
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
uint8 dl1a_init (void)
|
|||
|
|
{
|
|||
|
|
uint32 measurement_timing_budget_us;
|
|||
|
|
uint8 stop_variable = 0;
|
|||
|
|
uint8 return_state = 0;
|
|||
|
|
uint8 reg_data_buffer = 0;
|
|||
|
|
uint8 ref_spad_map[6];
|
|||
|
|
uint8 data_buffer[7];
|
|||
|
|
uint8 i = 0;
|
|||
|
|
|
|||
|
|
memset(ref_spad_map, 0, 6);
|
|||
|
|
memset(data_buffer, 0, 7);
|
|||
|
|
|
|||
|
|
#if DL1A_USE_SOFT_IIC
|
|||
|
|
soft_iic_init(&dl1a_iic_struct, DL1A_DEV_ADDR, DL1A_SOFT_IIC_DELAY, DL1A_SCL_PIN, DL1A_SDA_PIN);
|
|||
|
|
#else
|
|||
|
|
iic_init(DL1A_IIC, DL1A_DEV_ADDR, DL1A_IIC_SPEED, DL1A_SCL_PIN, DL1A_SDA_PIN);
|
|||
|
|
#endif
|
|||
|
|
gpio_init(DL1A_XS_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
|
|||
|
|
|
|||
|
|
do
|
|||
|
|
{
|
|||
|
|
system_delay_ms(100);
|
|||
|
|
gpio_low(DL1A_XS_PIN);
|
|||
|
|
system_delay_ms(50);
|
|||
|
|
gpio_high(DL1A_XS_PIN);
|
|||
|
|
system_delay_ms(100);
|
|||
|
|
|
|||
|
|
// -------------------------------- DL1A 启动初始化 --------------------------------
|
|||
|
|
reg_data_buffer = dl1a_read_register(DL1A_IO_VOLTAGE_CONFIG); // 传感器默认 IO 为 1.8V 模式
|
|||
|
|
dl1a_write_register(DL1A_IO_VOLTAGE_CONFIG, reg_data_buffer | 0x01); // 配置 IO 为 2.8V 模式
|
|||
|
|
|
|||
|
|
dl1a_write_register(0x88, 0x00); // 设置为标准 IIC 模式
|
|||
|
|
|
|||
|
|
dl1a_write_register(0x80, 0x01);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x00, 0x00);
|
|||
|
|
|
|||
|
|
dl1a_read_registers(0x91, &stop_variable , 1);
|
|||
|
|
|
|||
|
|
dl1a_write_register(0x00, 0x01);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x80, 0x00);
|
|||
|
|
|
|||
|
|
// 禁用 SIGNAL_RATE_MSRC(bit1) 和 SIGNAL_RATE_PRE_RANGE(bit4) 限制检查
|
|||
|
|
reg_data_buffer = dl1a_read_register(DL1A_MSRC_CONFIG);
|
|||
|
|
dl1a_write_register(DL1A_MSRC_CONFIG, reg_data_buffer | 0x12);
|
|||
|
|
|
|||
|
|
dl1a_set_signal_rate_limit(DL1A_DEFAULT_RATE_LIMIT); // 设置信号速率限制
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_SEQUENCE_CONFIG, 0xFF);
|
|||
|
|
// -------------------------------- DL1A 启动初始化 --------------------------------
|
|||
|
|
|
|||
|
|
// -------------------------------- DL1A 配置初始化 --------------------------------
|
|||
|
|
if(dl1a_get_spad_info(&data_buffer[0], &data_buffer[1]))
|
|||
|
|
{
|
|||
|
|
return_state = 1;
|
|||
|
|
zf_log(0, "DL1A self check error.");
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 从 GLOBAL_CONFIG_SPAD_ENABLES_REF_[0-6] 获取 SPAD map (RefGoodSpadMap) 数据
|
|||
|
|
dl1a_read_registers(DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, ref_spad_map, 6);
|
|||
|
|
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
|
|||
|
|
dl1a_write_register(DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT, 0xB4);
|
|||
|
|
|
|||
|
|
data_buffer[2] = data_buffer[1] ? 12 : 0; // 12 is the first aperture spad
|
|||
|
|
for(i = 0; 48 > i; i ++)
|
|||
|
|
{
|
|||
|
|
if(i < data_buffer[2] || data_buffer[3] == data_buffer[0])
|
|||
|
|
{
|
|||
|
|
// 此位低于应启用的第一个位
|
|||
|
|
// 或者 (eference_spad_count) 位已启用
|
|||
|
|
// 因此此位为零
|
|||
|
|
ref_spad_map[i / 8] &= ~(1 << (i % 8));
|
|||
|
|
}
|
|||
|
|
else if((ref_spad_map[i / 8] >> (i % 8)) & 0x1)
|
|||
|
|
{
|
|||
|
|
data_buffer[3] ++;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
data_buffer[0] = DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0;
|
|||
|
|
for(i = 1; 7 > i; i ++)
|
|||
|
|
{
|
|||
|
|
data_buffer[1] = ref_spad_map[i - 1];
|
|||
|
|
}
|
|||
|
|
dl1a_write_array(data_buffer, 7);
|
|||
|
|
|
|||
|
|
// 默认转换设置 version 02/11/2015_v36
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x00, 0x00);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x09, 0x00);
|
|||
|
|
dl1a_write_register(0x10, 0x00);
|
|||
|
|
dl1a_write_register(0x11, 0x00);
|
|||
|
|
dl1a_write_register(0x24, 0x01);
|
|||
|
|
dl1a_write_register(0x25, 0xFF);
|
|||
|
|
dl1a_write_register(0x75, 0x00);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x4E, 0x2C);
|
|||
|
|
dl1a_write_register(0x48, 0x00);
|
|||
|
|
dl1a_write_register(0x30, 0x20);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x30, 0x09);
|
|||
|
|
dl1a_write_register(0x54, 0x00);
|
|||
|
|
dl1a_write_register(0x31, 0x04);
|
|||
|
|
dl1a_write_register(0x32, 0x03);
|
|||
|
|
dl1a_write_register(0x40, 0x83);
|
|||
|
|
dl1a_write_register(0x46, 0x25);
|
|||
|
|
dl1a_write_register(0x60, 0x00);
|
|||
|
|
dl1a_write_register(0x27, 0x00);
|
|||
|
|
dl1a_write_register(0x50, 0x06);
|
|||
|
|
dl1a_write_register(0x51, 0x00);
|
|||
|
|
dl1a_write_register(0x52, 0x96);
|
|||
|
|
dl1a_write_register(0x56, 0x08);
|
|||
|
|
dl1a_write_register(0x57, 0x30);
|
|||
|
|
dl1a_write_register(0x61, 0x00);
|
|||
|
|
dl1a_write_register(0x62, 0x00);
|
|||
|
|
dl1a_write_register(0x64, 0x00);
|
|||
|
|
dl1a_write_register(0x65, 0x00);
|
|||
|
|
dl1a_write_register(0x66, 0xA0);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x22, 0x32);
|
|||
|
|
dl1a_write_register(0x47, 0x14);
|
|||
|
|
dl1a_write_register(0x49, 0xFF);
|
|||
|
|
dl1a_write_register(0x4A, 0x00);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x7A, 0x0A);
|
|||
|
|
dl1a_write_register(0x7B, 0x00);
|
|||
|
|
dl1a_write_register(0x78, 0x21);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x23, 0x34);
|
|||
|
|
dl1a_write_register(0x42, 0x00);
|
|||
|
|
dl1a_write_register(0x44, 0xFF);
|
|||
|
|
dl1a_write_register(0x45, 0x26);
|
|||
|
|
dl1a_write_register(0x46, 0x05);
|
|||
|
|
dl1a_write_register(0x40, 0x40);
|
|||
|
|
dl1a_write_register(0x0E, 0x06);
|
|||
|
|
dl1a_write_register(0x20, 0x1A);
|
|||
|
|
dl1a_write_register(0x43, 0x40);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x34, 0x03);
|
|||
|
|
dl1a_write_register(0x35, 0x44);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x31, 0x04);
|
|||
|
|
dl1a_write_register(0x4B, 0x09);
|
|||
|
|
dl1a_write_register(0x4C, 0x05);
|
|||
|
|
dl1a_write_register(0x4D, 0x04);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x44, 0x00);
|
|||
|
|
dl1a_write_register(0x45, 0x20);
|
|||
|
|
dl1a_write_register(0x47, 0x08);
|
|||
|
|
dl1a_write_register(0x48, 0x28);
|
|||
|
|
dl1a_write_register(0x67, 0x00);
|
|||
|
|
dl1a_write_register(0x70, 0x04);
|
|||
|
|
dl1a_write_register(0x71, 0x01);
|
|||
|
|
dl1a_write_register(0x72, 0xFE);
|
|||
|
|
dl1a_write_register(0x76, 0x00);
|
|||
|
|
dl1a_write_register(0x77, 0x00);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x0D, 0x01);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x80, 0x01);
|
|||
|
|
dl1a_write_register(0x01, 0xF8);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x8E, 0x01);
|
|||
|
|
dl1a_write_register(0x00, 0x01);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x80, 0x00);
|
|||
|
|
|
|||
|
|
// 将中断配置设置为新样品就绪
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG, 0x04);
|
|||
|
|
reg_data_buffer = dl1a_read_register(DL1A_GPIO_HV_MUX_ACTIVE_HIGH);
|
|||
|
|
dl1a_write_register(DL1A_GPIO_HV_MUX_ACTIVE_HIGH, reg_data_buffer & ~0x10);
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
|||
|
|
|
|||
|
|
measurement_timing_budget_us = dl1a_get_measurement_timing_budget();
|
|||
|
|
|
|||
|
|
// 默认情况下禁用 MSRC 和 TCC
|
|||
|
|
// MSRC = Minimum Signal Rate Check
|
|||
|
|
// TCC = Target CentreCheck
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_SEQUENCE_CONFIG, 0xE8);
|
|||
|
|
dl1a_set_measurement_timing_budget(measurement_timing_budget_us); // 重新计算时序预算
|
|||
|
|
// -------------------------------- DL1A 配置初始化 --------------------------------
|
|||
|
|
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_SEQUENCE_CONFIG, 0x01);
|
|||
|
|
if(dl1a_perform_single_ref_calibration(0x40))
|
|||
|
|
{
|
|||
|
|
return_state = 1;
|
|||
|
|
zf_log(0, "DL1A perform single reference calibration error.");
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_SEQUENCE_CONFIG, 0x02);
|
|||
|
|
if(dl1a_perform_single_ref_calibration(0x00))
|
|||
|
|
{
|
|||
|
|
return_state = 1;
|
|||
|
|
zf_log(0, "DL1A perform single reference calibration error.");
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
dl1a_write_register(DL1A_SYSTEM_SEQUENCE_CONFIG, 0xE8); // 恢复以前的序列配置
|
|||
|
|
|
|||
|
|
system_delay_ms(100);
|
|||
|
|
|
|||
|
|
dl1a_write_register(0x80, 0x01);
|
|||
|
|
dl1a_write_register(0xFF, 0x01);
|
|||
|
|
dl1a_write_register(0x00, 0x00);
|
|||
|
|
dl1a_write_register(0x91, stop_variable);
|
|||
|
|
dl1a_write_register(0x00, 0x01);
|
|||
|
|
dl1a_write_register(0xFF, 0x00);
|
|||
|
|
dl1a_write_register(0x80, 0x00);
|
|||
|
|
|
|||
|
|
dl1a_write_register(DL1A_SYSRANGE_START, 0x02);
|
|||
|
|
dl1a_init_flag = 1;
|
|||
|
|
|
|||
|
|
#if DL1A_INT_ENABLE
|
|||
|
|
exti_init(DL1A_INT_PIN, EXTI_TRIGGER_FALLING);
|
|||
|
|
dl1a_int_handler();
|
|||
|
|
dl1a_finsh_flag = 0;
|
|||
|
|
#endif
|
|||
|
|
set_tof_type(TOF_DL1A, dl1a_int_handler);
|
|||
|
|
}while(0);
|
|||
|
|
|
|||
|
|
return return_state;
|
|||
|
|
}
|