/********************************************************************************************************************* * 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 * Copyright (c) 2022 SEEKFREE 逐飞科技 * * 本文件是CH32V307VCT6 开源库的一部分 * * CH32V307VCT6 开源库 是免费软件 * 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 * 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 * * 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 * 甚至没有隐含的适销性或适合特定用途的保证 * 更多细节请参见 GPL * * 您应该在收到本开源库的同时收到一份 GPL 的副本 * 如果没有，请参阅 * * 额外注明： * 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 * 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中 * 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件 * 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） * * 文件名称 zf_device_dl1a * 公司名称 成都逐飞科技有限公司 * 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明 * 开发环境 MounRiver Studio V1.8.1 * 适用平台 CH32V307VCT6 * 店铺链接 https://seekfree.taobao.com/ * * 修改记录 * 日期 作者 备注 * 2023-03-18 大W first version ********************************************************************************************************************/ /********************************************************************************************************************* * 接线定义： * ------------------------------------ * 模块管脚 单片机管脚 * SCL 查看 zf_device_dl1a.h 中 DL1A_SCL_PIN 宏定义 * SDA 查看 zf_device_dl1a.h 中 DL1A_SDA_PIN 宏定义 * XS 查看 zf_device_dl1a.h 中 DL1A_XS_PIN 宏定义 * VCC 5V 电源 * GND 电源地 * ------------------------------------ ********************************************************************************************************************/ #include "zf_common_debug.h" #include "zf_driver_delay.h" #include "zf_driver_soft_iic.h" #include "zf_device_dl1a.h" #include "zf_device_type.h" static uint8 dl1a_init_flag = 0; uint8 dl1a_finsh_flag = 0; uint16 dl1a_distance_mm = 8192; #if DL1A_USE_SOFT_IIC static soft_iic_info_struct dl1a_iic_struct; #define dl1a_write_array(data, len) (soft_iic_write_8bit_array(&dl1a_iic_struct, (data), (len))) #define dl1a_write_register(reg, data) (soft_iic_write_8bit_register(&dl1a_iic_struct, (reg), (data))) #define dl1a_read_register(reg) (soft_iic_read_8bit_register(&dl1a_iic_struct, (reg))) #define dl1a_read_registers(reg, data, len) (soft_iic_read_8bit_registers(&dl1a_iic_struct, (reg), (data), (len))) #else #define dl1a_write_array(data, len) (iic_write_8bit_array(DL1A_IIC, DL1A_DEV_ADDR, (data), (len))) #define dl1a_write_register(reg, data) (iic_write_8bit_register(DL1A_IIC, DL1A_DEV_ADDR, (reg), (data))) #define dl1a_read_register(reg) (iic_read_8bit_register(DL1A_IIC, DL1A_DEV_ADDR, (reg))) #define dl1a_read_registers(reg, data, len) (iic_read_8bit_registers(DL1A_IIC, DL1A_DEV_ADDR, (reg), (data), (len))) #endif // 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 #define DL1A_DEFAULT_RATE_LIMIT (0.25) // 从寄存器数据解码 PCLKs 中 VCSEL (vertical cavity surface emitting laser) 的脉宽周期 #define decode_vcsel_period(reg_val) (((reg_val) + 1) << 1) // 从 PCLK 中的 VCSEL 周期计算宏周期 (以 *纳秒为单位) // PLL_period_ps = 1655 // macro_period_vclks = 2304 #define calc_macro_period(vcsel_period_pclks) ((((uint32)2304 * (vcsel_period_pclks) * 1655) + 500) / 1000) //------------------------------------------------------------------------------------------------------------------- // 函数简介 获取设备 SPAD 信息 // 参数说明 index 索引 // 参数说明 type 类型值 // 返回参数 uint8 是否成功 0-成功 1-失败 // 使用示例 dl1a_get_spad_info(index, type_is_aperture); // 备注信息 //------------------------------------------------------------------------------------------------------------------- static uint8 dl1a_get_spad_info (uint8 *index, uint8 *type_is_aperture) { uint8 tmp = 0; uint8 return_state = 0; volatile uint16 loop_count = 0; do { dl1a_write_register(0x80, 0x01); dl1a_write_register(0xFF, 0x01); dl1a_write_register(0x00, 0x00); dl1a_write_register(0xFF, 0x06); dl1a_read_registers(0x83, &tmp, 1); dl1a_write_register(0x83, tmp | 0x04); dl1a_write_register(0xFF, 0x07); dl1a_write_register(0x81, 0x01); dl1a_write_register(0x80, 0x01); dl1a_write_register(0x94, 0x6b); dl1a_write_register(0x83, 0x00); tmp = 0x00; while(0x00 == tmp || 0xFF == tmp) { system_delay_ms(1); dl1a_read_registers(0x83, &tmp, 1); if(DL1A_TIMEOUT_COUNT < loop_count ++) { return_state = 1; break; } } if(return_state) { break; } dl1a_write_register(0x83, 0x01); dl1a_read_registers(0x92, &tmp, 1); *index = tmp & 0x7f; *type_is_aperture = (tmp >> 7) & 0x01; dl1a_write_register(0x81, 0x00); dl1a_write_register(0xFF, 0x06); dl1a_read_registers(0x83, &tmp, 1); dl1a_write_register(0x83, tmp); dl1a_write_register(0xFF, 0x01); dl1a_write_register(0x00, 0x01); dl1a_write_register(0xFF, 0x00); dl1a_write_register(0x80, 0x00); }while(0); return return_state; } //------------------------------------------------------------------------------------------------------------------- // 函数简介 将超时数值从 MCLKs 转换到对应的 ms // 参数说明 timeout_period_mclks 超时周期 MCLKs // 参数说明 vcsel_period_pclks PCLK 值 // 返回参数 uint32 返回超时数值 // 使用示例 dl1a_timeout_mclks_to_microseconds(timeout_period_mclks, vcsel_period_pclks); // 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 //------------------------------------------------------------------------------------------------------------------- static uint32 dl1a_timeout_mclks_to_microseconds (uint16 timeout_period_mclks, uint8 vcsel_period_pclks) { uint32 macro_period_ns = calc_macro_period(vcsel_period_pclks); return ((timeout_period_mclks * macro_period_ns) + (macro_period_ns / 2)) / 1000; } //------------------------------------------------------------------------------------------------------------------- // 函数简介 将超时数值从 ms 转换到对应的 MCLKs // 参数说明 timeout_period_us 超时周期 微秒单位 // 参数说明 vcsel_period_pclks PCLK 值 // 返回参数 uint32 返回超时数值 // 使用示例 dl1a_timeout_microseconds_to_mclks(timeout_period_us, vcsel_period_pclks); // 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) //------------------------------------------------------------------------------------------------------------------- static uint32 dl1a_timeout_microseconds_to_mclks (uint32 timeout_period_us, uint8 vcsel_period_pclks) { uint32 macro_period_ns = calc_macro_period(vcsel_period_pclks); return (((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns); } //------------------------------------------------------------------------------------------------------------------- // 函数简介 对超时数值进行解码 // 参数说明 reg_val 超时时长 寄存器值 // 返回参数 uint16 返回超时数值 // 使用示例 dl1a_decode_timeout(reg_val); // 备注信息 从寄存器值解码 MCLK 中的序列步骤超时 //------------------------------------------------------------------------------------------------------------------- static uint16 dl1a_decode_timeout (uint16 reg_val) { // 格式: (LSByte * 2 ^ MSByte) + 1 return (uint16)((reg_val & 0x00FF) << (uint16)((reg_val & 0xFF00) >> 8)) + 1; } //------------------------------------------------------------------------------------------------------------------- // 函数简介 对超时数值进行编码 // 参数说明 timeout_mclks 超时时长 -MCLKs 值 // 返回参数 uint16 返回编码值 // 使用示例 dl1a_encode_timeout(timeout_mclks); // 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 //------------------------------------------------------------------------------------------------------------------- static uint16 dl1a_encode_timeout (uint16 timeout_mclks) { uint32 ls_byte = 0; uint16 ms_byte = 0; uint16 return_data = 0; if(0 < timeout_mclks) { // 格式: (LSByte * 2 ^ MSByte) + 1 ls_byte = timeout_mclks - 1; while(0 < (ls_byte & 0xFFFFFF00)) { ls_byte >>= 1; ms_byte++; } return_data = (ms_byte << 8) | ((uint16)ls_byte & 0xFF); } return return_data; } //------------------------------------------------------------------------------------------------------------------- // 函数简介 获取序列步骤使能设置 // 参数说明 enables 序列使能步骤结构体 // 返回参数 void // 使用示例 dl1a_get_sequence_step_enables(enables); // 备注信息 //------------------------------------------------------------------------------------------------------------------- static void dl1a_get_sequence_step_enables(dl1a_sequence_enables_step_struct *enables) { uint8 sequence_config = 0; dl1a_read_registers(DL1A_SYSTEM_SEQUENCE_CONFIG, &sequence_config, 1); enables->tcc = (sequence_config >> 4) & 0x1; enables->dss = (sequence_config >> 3) & 0x1; enables->msrc = (sequence_config >> 2) & 0x1; enables->pre_range = (sequence_config >> 6) & 0x1; enables->final_range = (sequence_config >> 7) & 0x1; } //------------------------------------------------------------------------------------------------------------------- // 函数简介 获取脉冲周期 // 参数说明 type 预量程类型 // 返回参数 uint8 返回的周期值 // 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_get_vcsel_pulse_period (dl1a_vcsel_period_type_enum type) { uint8 data_buffer = 0; if(DL1A_VCSEL_PERIOD_PER_RANGE == type) { dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1); data_buffer = decode_vcsel_period(data_buffer); } else if(DL1A_VCSEL_PERIOD_FINAL_RANGE == type) { dl1a_read_registers(DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1); data_buffer = decode_vcsel_period(data_buffer); } else { data_buffer = 255; } return data_buffer; } //------------------------------------------------------------------------------------------------------------------- // 函数简介 获取序列步骤超时设置 // 参数说明 enables 序列使能步骤结构体 // 参数说明 timeouts 序列超时步骤结构体 // 返回参数 void // 使用示例 dl1a_get_sequence_step_timeouts(enables, timeouts); // 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 //------------------------------------------------------------------------------------------------------------------- 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; }