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@@ -1,136 +1,156 @@
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- #include "board.h"
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+#include "board.h"
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#include "tdc_tof.h"
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-#define ANZ_FIRE 12u//fire发送脉冲数
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-#define DIV_FIRE 3u //内部时钟产生脉冲的分频
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+#define ANZ_FIRE 12u //fire发送脉冲数
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+#define DIV_FIRE 3u //内部时钟产生脉冲的分频
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#define DIV_CLKHS 0u //高速时钟分频
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-#define START_CLKHS 2u //高速启动后测量前晶振启动间隔时间,120us;0关闭，1持续开启，2延迟120us后开启
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+#define START_CLKHS 2u //高速启动后测量前晶振启动间隔时间,2(120us),0 = 晶振关闭;1 = 晶振持续开启;2 = 启振延迟时间 120 μs
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#define NEG_START 0u //start通道边缘
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-#define NEG_STOP 0u //stop通道边缘
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-#define HITIN 9u //stop预期脉冲数
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-#define SEL_TIMO_MB 3u //测量范围溢出时间暂未确定数值
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-#define SEL_TSTO2 3u //32khz //和MS1030不同
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-#define SEL_TSTO1 0u //暂时不用这个引脚，配置为高速时钟输入模式
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-#define DFLT_WREG0 ((ANZ_FIRE<<25) | \
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- ( DIV_FIRE<<19) | \
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- ( DIV_CLKHS<<17) | \
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- ( START_CLKHS<<14) | \
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- ( NEG_START<<13) | \
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- ( NEG_STOP<<12) | \
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- ( HITIN<< 8) | \
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- ( SEL_TIMO_MB<< 4) | \
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- ( SEL_TSTO2<< 2) | \
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- ( SEL_TSTO1<< 0))
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-
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-
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-
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-#define EN_INT_TO 1 //TIMOUT中断触发位
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-#define EN_INT_HIT 0 //END HITS中断触发位
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-#define EN_INT_ALU 1 //alu中断触发位
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-#define RFEDGE 0 //stop通道边沿敏感性
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-#define UP_DELVAL1 200 //当EN_FIST_WAVE=1时,为第一波屏蔽窗口 BIT12~27 暂未设置
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-#define OFFSET 0 //当en_hc=1时, 62~-64mV 暂未设置
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-#define DFLT_WREG1 (( EN_INT_TO<<31) | \
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- ( EN_INT_HIT<<30) | \
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- ( EN_INT_ALU<<29) | \
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- ( RFEDGE<<28) | \
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- ( UP_DELVAL1<<12) | \
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- ( OFFSET<< 0))
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-
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-
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-#define EN_FIRST_WAVE 1u //BIT31, 为1时后面的定义有效
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-#define EDGE_FW 0u //第一波边缘敏感性
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-#define DELREL1 6u //第1个stop接收第几个回波周期
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-#define DELREL2 8u //第2个stop接收第几个回波周期
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-#define DELREL3 10u //第3个stop接收第几个回波周期
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-#define DELREL4 12u //第4个stop接收第几个回波周期
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-#define DELREL5 14u //第5个stop接收第几个回波周期
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-#define DFLT_WREG2 ((EN_FIRST_WAVE<<31)| \
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- (EDGE_FW<<30) | \
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- (DELREL1<<24) | \
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- (DELREL2<<18) | \
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- (DELREL3<<12) | \
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- (DELREL4<< 6) | \
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- (DELREL5<< 0))
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-
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-
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-
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-#define DELREL6 16u //第3个stop接收第几个回波周期
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-#define DELREL7 18u //第4个stop接收第几个回波周期
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-#define DELREL8 20u //第5个stop接收第几个回波周期
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-//#define DIS_PW 0u //关闭脉冲宽度测量功能,0=开启
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-//#define WAVE_OFFS 16u //第一波比较器偏置电压：EN_HC = 0 -64mV~63mV,10mv
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-#define DFLT_WREG3 ((DELREL6<<26) | \
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- (DELREL7<<20) | \
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- (DELREL8<<14))
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-// (DIS_PW<<13) | \
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-// (WAVE_OFFS<<6))
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-
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-
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-#define CONF_FIRE 2 //脉冲触发器的输出设置，暂时设置为0 bit29~31
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-#define PHASE_FIREUP 0 //FIREUP反向设置
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-#define PHASE_FIREDOWN 0 //FIREDOWN反向设置
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-#define SEL_START_FIRE 1 //FIRE脉冲用作触发TDCSTART
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-#define EN_ANALOG 1 //模拟测量控制开关
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-#define HZ60 0 //顺流测量和逆流测量的时间单位
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-#define TCYCLE 1 //温度测量循环时间
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-#define ANZ_FAKE 0 //温度测量热身次数，0：两次热身，1：7次热身
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-#define SEL_ECLK_TMP 1 //选择温度测量内部参考时钟
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-#define TW2 5 //180us充电时间，与1030不同
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-#define EN_PEAK 0 //峰值检波使能关闭，1030不同
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-#define EN_DISCHARGE 0 //检波放电使能关闭，1030不同
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-#define CYCLE_TOF 0 //顺流逆流自动检测模式下,顺流逆流测量间隔时间,初步确定为3=20ms 1030不同
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-#define EN_ERR_VAL 1 //溢出时alu将全f写到结果寄存器
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-#define EN_DC 1 //stop端口充电模式 这里设置为直流 1030不同
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-#define FIRE0_DEF 1 //fire通道默认状态，fire通道默认电平
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-#define DOUBLE_RES 0 //双精度模式
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-#define QUAD_RES 1 //4精度模式
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-#define DFLT_WREG4 (( CONF_FIRE<<29) | \
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- ( PHASE_FIREUP<<28) | \
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- ( PHASE_FIREDOWN<<27) | \
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- ( SEL_START_FIRE<<26) | \
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- ( EN_ANALOG<<25) | \
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- ( HZ60<<24) | \
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- ( TCYCLE<<23) | \
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- ( ANZ_FAKE<<22) | \
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- ( SEL_ECLK_TMP<<21) | \
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- ( TW2<<17) | \
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- ( EN_PEAK<<16) | \
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- ( EN_DISCHARGE<<15) | \
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- ( CYCLE_TOF<<11) | \
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- ( EN_ERR_VAL<<10) | \
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- ( EN_DC<<9) | \
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- ( FIRE0_DEF<<8) | \
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- ( DOUBLE_RES<<7) | \
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- ( QUAD_RES<<6))
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-
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-
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-#define CYCLE_AUTOTOF (250<<20) //自动测量循环时间 500ms
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-#define ANZ_AUTOTOF (1<<16) //循环次数 一直开启
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-#define AUTOTOF_MODE (0<<15) //顺逆顺逆
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-#define PHASE_FIRENUM (3<<6) //插入相位位置
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-#define ANZ_PHASE (8) //插入周期数
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-#define DFLT_WREG5 0
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-
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-#define DOWN_DELVAL1 (200<<12) //逆流屏蔽窗口
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-#define SEL_SRC_CLK (0<<7) //选择高速时钟输入源
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-#define EN_HC (0<<6) //比较器调节步长
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-#define CURR32K (0<<5) //32K晶振功耗设置
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-#define DIS_Vref (1<<4) //基准电压输出控制
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-#define ADJ_LDO_ROUGH (0<<3) //内部LDO输出粗调
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-#define ADJ_LDO_FINE (0<<0) //内部LDO输出细调
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-#define DFLT_WREG6 (DOWN_DELVAL1|SEL_SRC_CLK|EN_HC|CURR32K|DIS_Vref|ADJ_LDO_ROUGH|ADJ_LDO_FINE)
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-
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+#define NEG_STOP 0u //stop通道边缘
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+#define HITIN 9u //stop预期脉冲数
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+#define SEL_TIMO_MB 3u //测量范围溢出选择时间限制，3 = 512μs,4 = 1024μs
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+#define SEL_TSTO2 3u //TSTO2 管脚状态设置，3 = 32kHz 输出
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+#define SEL_TSTO1 0u //TSTO1 管脚状态设置，0 = 高速时钟输入
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+#define DFLT_WREG0 ((ANZ_FIRE<<25) | \
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+ ( DIV_FIRE<<19) | \
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+ ( DIV_CLKHS<<17) | \
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+ ( START_CLKHS<<14) | \
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+ ( NEG_START<<13) | \
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+ ( NEG_STOP<<12) | \
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+ ( HITIN<< 8) | \
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+ ( SEL_TIMO_MB<< 4) | \
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+ ( SEL_TSTO2<< 2) | \
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+ ( SEL_TSTO1<< 0))
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+
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+#define EN_INT_TO 1 //TIMOUT中断触发位，1=开启中断
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+#define EN_INT_HIT 0 //END HITS中断触发位，0=关闭中断
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+#define EN_INT_ALU 1 //alu中断触发位，1=开启中断
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+#define RFEDGE 0 //stop通道边沿敏感性，0 = 上升或下降沿
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+#define UP_DELVAL1 200u //当EN_FIST_WAVE=1时,为第一波顺流屏蔽窗口 BIT12~27，200*0.25=50us
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+#define OFFSET 0 //当en_hc=0时, OFFSET电压31~-32mV;0=0mV,1=1mV,...31=31mV,32=-32mV...63=-1mV,60=-4mV
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+#define DFLT_WREG1 ((EN_INT_TO<<31) | \
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+ ( EN_INT_HIT<<30) | \
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+ ( EN_INT_ALU<<29) | \
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+ ( RFEDGE<<28) | \
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+ ( UP_DELVAL1<<12) | \
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+ ( OFFSET<< 0))
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+
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+#define EN_FIRST_WAVE 1u //BIT31, 为1时后面的定义有效
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+#define EDGE_FW 0u //第一波边缘敏感性,0 = 上升沿
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+#define DELREL1 6u //第1个stop接收第几个回波周期
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+#define DELREL2 8u //第2个stop接收第几个回波周期
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+#define DELREL3 10u //第3个stop接收第几个回波周期
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+#define DELREL4 12u //第4个stop接收第几个回波周期
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+#define DELREL5 14u //第5个stop接收第几个回波周期
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+#define DFLT_WREG2 ((EN_FIRST_WAVE<<31) | \
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+ (EDGE_FW<<30) | \
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+ (DELREL1<<24) | \
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+ (DELREL2<<18) | \
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+ (DELREL3<<12) | \
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+ (DELREL4<< 6) | \
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+ (DELREL5<< 0))
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+
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+#define DELREL6 16u //第6个stop接收第几个回波周期
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+#define DELREL7 18u //第7个stop接收第几个回波周期
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+#define DELREL8 20u //第8个stop接收第几个回波周期
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+#define DIS_PW 1u //关闭脉冲宽度测量功能,1=关闭
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+#define WAVE_OFFS 0u //第一波比较器偏置电压：EN_HC = 0 -64mV~63mV;0=0mV,1=1mV,...63=63mV,64=-64mV,...127=-1mV;16=16mV
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+#define DFLT_WREG3 ((DELREL6<<26) | \
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+ (DELREL7<<20) | \
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+ (DELREL8<<14) | \
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+ (DIS_PW<<13) | \
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+ (WAVE_OFFS<<6))
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+
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+#define CONF_FIRE 2 //脉冲触发器的输出设置,不可以设置为3, bit 30 = 1: 开启输出 FIRE_UP
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+#define PHASE_FIREUP 0 //FIREUP反向设置,0：同相
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+#define PHASE_FIREDOWN 0 //FIREDOWN 反向设置,0：同相
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+#define SEL_START_FIRE 1 //FIRE 脉冲用作触发 TDC START,1 = FIRE 内部触发 START
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+#define EN_ANALOG 1 //模拟测量部分开启控制,1 = 模拟部分开启， STOP1 和 STOP2 模拟信号输入
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+#define HZ60 0 //顺流测量和逆流测量的时间单位,0 = 50 Hz，20ms
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+#define TCYCLE 1 //设置温度测量的循环时间,1 = 512μs
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+#define ANZ_FAKE 0 //在温度测量前的热身测量次数,1 = 7 次热身测量
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+#define SEL_ECLK_TMP 1 //选择温度测量内部 cycle参考时钟,1 = CLKHS/128 作为 cycle 时钟
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+#define TW2 5 //EN_ANALOG = 1，给STOP 端口的电容充电时间,0=60μs,1=120μs,2=180μs,3=240μs,4=300μs
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+#define EN_PEAK 0 //峰值检波使能,0：不使能
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+#define EN_DISCHARGE 0 //检波放电使能,0：不使能
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+#define CYCLE_TOF 0 //顺流逆流自动检测模式下,顺流逆流测量间隔时间,0=0.25×HZ60(20ms@50Hz),5ms
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+#define EN_ERR_VAL 1 //溢出时 ALU 写入全 F 到第一个 STOP 结果寄存器与累加和结果寄存器,1=开启
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+#define EN_DC 1 //stop端口充电模式;0=交流模式,1=直流模式
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+#define FIRE0_DEF 1 //非工作情况下 FIRE 通道的默认状态; 0=高阻（数字模式）,1=低（模拟模式）
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+#define DOUBLE_RES 0 //双精度模式使能,0：不使能
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+#define QUAD_RES 1 //四精度模式使能,1：使能
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+#define DFLT_WREG4 ((CONF_FIRE<<29) | \
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+ ( PHASE_FIREUP<<28) | \
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+ ( PHASE_FIREDOWN<<27) | \
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+ ( SEL_START_FIRE<<26) | \
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+ ( EN_ANALOG<<25) | \
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+ ( HZ60<<24) | \
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+ ( TCYCLE<<23) | \
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+ ( ANZ_FAKE<<22) | \
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+ ( SEL_ECLK_TMP<<21) | \
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+ ( TW2<<17) | \
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+ ( EN_PEAK<<16) | \
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+ ( EN_DISCHARGE<<15) | \
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+ ( CYCLE_TOF<<11) | \
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+ ( EN_ERR_VAL<<10) | \
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+ ( EN_DC<<9) | \
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+ ( FIRE0_DEF<<8) | \
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+ ( DOUBLE_RES<<7) | \
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+ ( QUAD_RES<<6))
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+
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+#define CYCLE_AUTOTOF 0 //自动测量循环时间, 0: 自动循环测量禁止
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+#define ANZ_AUTOTOF 0 //自动循环测量的次数,0：不开启
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+#define AUTOTOF_MODE 0 //自动循环测量模式,0：顺-逆-顺-逆
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+#define PHASE_FIRENUM 0 //定义在第几个脉冲进行相位插入,0 = 关闭
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+#define ANZ_PHASE 0 //插入的 FIRE 周期个数,0：不进行相位插入
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+#define DFLT_WREG5 ((CYCLE_AUTOTOF<<20) | \
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+ ( ANZ_AUTOTOF<<16) | \
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+ ( AUTOTOF_MODE<<15) | \
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+ ( PHASE_FIRENUM<<6) | \
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+ ( ANZ_PHASE<<0))
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+
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+#define DOWN_DELVAL1 200u //当EN_FIST_WAVE=1时,为第一波逆流屏蔽窗口 BIT12~27，200*0.25=50us
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+#define SEL_SRC_CLK 0 //选择高速时钟输入源，0：高速晶振产生时钟
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+#define EN_HC 0 //比较器调节步长，0：1mV，1：2mV
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+#define CURR32K 0 //32kHz 晶振功耗设置，0：低功耗
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+#define DIS_Vref 1 //基准电压输出控制，0：开启基准输出, 1：关闭基准输出
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+#define ADJ_LDO_ROUGH 0 //内部 LDO 输出粗调，0：1.8V 档位, 1：1.5V 档位
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+#define ADJ_LDO_FINE 0 //内部 LDO 输出细调, 0-7：细调 LDO 输出电压
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+#define DFLT_WREG6 ((DOWN_DELVAL1<<12) | \
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+ ( SEL_SRC_CLK<<7) | \
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+ ( EN_HC<<6) | \
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+ ( CURR32K<<5) | \
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+ ( DIS_Vref<<4) | \
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+ ( ADJ_LDO_ROUGH<<3) | \
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+ ( ADJ_LDO_FINE<<0))
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uint16_t tof_state = TOF_ST_INIT;
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uint32_t tof_flag;
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+uint16_t TdcStatus;
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+uint16_t TdcUPwFw;
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+uint16_t TdcUPwHw;
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+uint32_t TdcUToF[9];
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+uint16_t TdcDPwFw;
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+uint16_t TdcDPwHw;
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+uint32_t TdcDToF[9];
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+uint32_t TdcCal;
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+//float TdcScale = 250.0f/65536;
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+float TdcScale = 0.00381147861f;
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+uint32_t TdcPT[4];
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+float TdcResist = 5000; // OhmX10
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+//modified by yuewei 20260520
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+//float WaterPrmt[2] = {25.0f, 1496.6f};
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+float WaterPrmt[2] = {25.0f, 1497.1484f};
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-//uint16_t CntSync = 0;
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-
|
|
|
+/**
|
|
|
+ * @brief MS1031初始化函数
|
|
|
+ * @param 无
|
|
|
+ * @retval 无
|
|
|
+ */
|
|
|
void tdc_tof_init(void)
|
|
|
{
|
|
|
//MUX ADDA : PA08; ADDB : PC09
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@@ -147,56 +167,44 @@ void tdc_tof_init(void)
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PeriClk_MutEnable(PeriClk_Spi1);
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DMA_ReqClkOn();
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-
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+
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// TDC POR
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tdc_spi_wr_code(0x50);
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us_delay(1000); // 1000us > specification(500us)
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- tdc_spi_wr_d32(0x80, DFLT_WREG0);
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|
- uint32_t read_a0=tdc_spi_rd_d32(0xA0);
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- read_a0=read_a0&0xFFu;
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-
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-#if 1
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+ tdc_spi_wr_d32(0x80, DFLT_WREG0);
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tof_flag = TOF_FLAG_UNALGND_CHOP;
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- if (read_a0!=(DFLT_WREG0&0xFFu)){
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|
+
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+ if (tdc_spi_rd_d32(0xa0) != DFLT_WREG0)
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|
|
+ {
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|
tof_flag |= TOF_FLAG_TDC_FAULT;
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|
- } else {
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- // write_reg0
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- tdc_spi_wr_d32(0x80, DFLT_WREG0);
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- // write_reg1
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- tdc_spi_wr_d32(0x81, DFLT_WREG1);
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- // write_reg2
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- tdc_spi_wr_d32(0x82, DFLT_WREG2);
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- // write_reg3
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- tdc_spi_wr_d32(0x83, DFLT_WREG3);
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- // write_reg4
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- tdc_spi_wr_d32(0x84, DFLT_WREG4);
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- // write_reg5
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- tdc_spi_wr_d32(0x85, DFLT_WREG5);
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- // write_reg6
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- tdc_spi_wr_d32(0x86, DFLT_WREG6);
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|
-
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+ }
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+ else
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+ {
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+ tdc_spi_wr_d32(0x80,DFLT_WREG0);
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+ tdc_spi_wr_d32(0x81,DFLT_WREG1);
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+ tdc_spi_wr_d32(0x82,DFLT_WREG2);
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+ tdc_spi_wr_d32(0x83,DFLT_WREG3);
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+ tdc_spi_wr_d32(0x84,DFLT_WREG4);
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+ tdc_spi_wr_d32(0x85,DFLT_WREG5);
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+ tdc_spi_wr_d32(0x86,DFLT_WREG6);
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+
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+ //读取时钟校准时，如果不加该项，状态寄存器d0中的TDC_Flood位会一直置位
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tdc_spi_wr_d32(0x87,0x20000000);//!!!!!!!!do not delete!!!!!!!!!
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tdc_spi_wr_code(0x70);
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+ //启动一次时钟校准
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tdc_spi_wr_code(0x06);
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-// // not 'INTN' but 'us_delay' to avoid dead loop when INTN fault
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- us_delay(2000); // > 480 + 600 + 16 + 70
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- tdc_read_cal(0x0u);
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-// tof_flag ^= TOF_FLAG_UNALGND_CHOP;
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-// // start a single ToF to align MS1030 internal calibration order(1 CAL every 24 ToF)
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-// // must be sure that CAL not in the middle of UP Tof and DOWN Tof
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-// tdc_start_tof(TDC_CFG_DO_WREG | TDC_CFG_FIRE_UP);
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|
-//
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|
|
-// // not 'INTN' but 'us_delay' to avoid dead loop when INTN fault
|
|
|
-// us_delay(2000); // > 480 + 600 + 16 + 70
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|
-//
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|
-// tdc_read_tof(TDC_CFG_FIRE_UP); // read data and clear interrupt
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+ //延时等待，时间必须大于时钟校准中断时间,便于后一步正确读取校准时间
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|
|
+ us_delay(2000);//!!!!!!!!do not delete!!!!!!!!!
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+
|
|
|
+ //读取一次时钟校准
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|
+ tdc_read_cal(0);
|
|
|
}
|
|
|
-#endif
|
|
|
-DMA_ReqClkOff();
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|
|
-PeriClk_MutDisable(PeriClk_Spi1);
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|
|
+
|
|
|
+ DMA_ReqClkOff();
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|
|
+ PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
|
|
|
// MS1030 INTN : PD03 falling edge trigger
|
|
|
GpioInit(PD03_AF0, GPIO_DIG_IN_PULLUP_NONEDOWN);
|
|
|
@@ -206,119 +214,123 @@ PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
IRQMutEnable(PORTD_F_IRQn, NVIC_PRIO_1);
|
|
|
}
|
|
|
|
|
|
+/**
|
|
|
+ * @brief MS1031开启第一波自动双向测量
|
|
|
+ * @param uint32_t cfg可选下面参数
|
|
|
+ * 1、TDC_CFG_DO_CKENA:开启SPI时钟+DMA中断
|
|
|
+ * 2、TDC_CFG_DO_WREG:调整局部寄存器
|
|
|
+ * 3、TDC_CFG_DO_CKDIS:关闭SPI时钟+DMA中断
|
|
|
+ * @retval 无
|
|
|
+ */
|
|
|
void tdc_start_tof(uint32_t cfg)
|
|
|
{
|
|
|
- //rt_enter_critical();
|
|
|
uint32_t u32tmp;
|
|
|
|
|
|
- if (cfg & TDC_CFG_DO_CKENA){
|
|
|
+ if (cfg & TDC_CFG_DO_CKENA)
|
|
|
+ {
|
|
|
PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
DMA_ReqClkOn();
|
|
|
}
|
|
|
|
|
|
- if (cfg & TDC_CFG_DO_WREG){
|
|
|
-
|
|
|
-
|
|
|
- u32tmp = (DFLT_WREG3 & ~(1u << 13)) | (TdcFwOfst << 6);
|
|
|
+ if (cfg & TDC_CFG_DO_WREG)
|
|
|
+ {
|
|
|
+ // write_reg3
|
|
|
+ u32tmp = (DFLT_WREG3 & ~((1u << 13) | (0x7F << 6))) | (TdcFwOfst << 6); //6到12位以及13位清0然后写入新数据到6到12位
|
|
|
// measure FW pulse width, 0:on; 1:off
|
|
|
// FW wave_offs, 0:0mv; 1~63:2~126mV; 64~127:-128~-2mV;
|
|
|
- if (tof_state&TOF_ST_VOID){
|
|
|
- u32tmp |= (1u<<13); // disable FW pulse width to save power
|
|
|
+ if (tof_state&TOF_ST_VOID)
|
|
|
+ {
|
|
|
+ u32tmp |= (1u << 13); // disable FW pulse width to save power
|
|
|
}
|
|
|
+
|
|
|
tdc_spi_wr_d32(0x83, u32tmp);
|
|
|
}
|
|
|
|
|
|
// Initial TDC status regs
|
|
|
tdc_spi_wr_code(0x70);
|
|
|
-
|
|
|
- // start single-direction measure
|
|
|
+ // 开启第一波自动双向测量
|
|
|
tdc_spi_wr_code(0x03);
|
|
|
-
|
|
|
- if (cfg & TDC_CFG_DO_CKDIS){
|
|
|
+
|
|
|
+ if (cfg & TDC_CFG_DO_CKDIS)
|
|
|
+ {
|
|
|
DMA_ReqClkOff();
|
|
|
PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
}
|
|
|
-//rt_exit_critical();
|
|
|
}
|
|
|
|
|
|
-uint16_t TdcStatus;
|
|
|
-
|
|
|
-uint16_t TdcUPwFw;
|
|
|
-uint16_t TdcUPwHw;
|
|
|
-uint32_t TdcUToF[9];
|
|
|
-
|
|
|
-uint16_t TdcDPwFw;
|
|
|
-uint16_t TdcDPwHw;
|
|
|
-uint32_t TdcDToF[9];
|
|
|
-
|
|
|
-uint32_t TdcCal;
|
|
|
-//float TdcScale = 250.0f/65536;
|
|
|
-float TdcScale = 0.00381147861f;
|
|
|
-
|
|
|
-uint32_t TdcPT[4];
|
|
|
-float TdcResist = 5000; // OhmX10
|
|
|
-//modified by yuewei 20260520
|
|
|
-//float WaterPrmt[2] = {25.0f, 1496.6f};
|
|
|
-float WaterPrmt[2] = {25.0f, 1497.1484f};
|
|
|
-
|
|
|
+/**
|
|
|
+ * @brief MS1031读取第一波自动双向测量结果
|
|
|
+ * @param uint32_t cfg可选下面参数
|
|
|
+ * 1、TDC_CFG_DO_CKENA:开启SPI时钟+DMA中断
|
|
|
+ * 2、TDC_CFG_DO_WREG:调整局部寄存器
|
|
|
+ * 3、TDC_CFG_DO_CKDIS:关闭SPI时钟+DMA中断
|
|
|
+ * @retval 无
|
|
|
+ */
|
|
|
void tdc_read_tof(uint32_t cfg)
|
|
|
{
|
|
|
-// uint16_t i;
|
|
|
- if (cfg & TDC_CFG_DO_CKENA){
|
|
|
+ if (cfg & TDC_CFG_DO_CKENA)
|
|
|
+ {
|
|
|
PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
DMA_ReqClkOn();
|
|
|
}
|
|
|
+
|
|
|
+ TdcStatus = tdc_spi_rd_d16(0xd0); //modified by yuewei 260813 0xd2 -> 0xd0, to match ms1031
|
|
|
|
|
|
- TdcStatus = tdc_spi_rd_d16(0xd0); // 读取状态寄存器
|
|
|
- if ((TdcStatus&0x0300)==0x0000u){
|
|
|
+ if ((TdcStatus&0x0300) == 0x0000u) //modified by yuewei 260813 0x0600 -> 0x0300, to match ms1031
|
|
|
+ {
|
|
|
tof_flag ^= TOF_FLAG_UNALGND_CHOP;
|
|
|
-
|
|
|
+ //tdc_spi_wr_code(0x70);
|
|
|
}
|
|
|
|
|
|
- if ((TdcStatus&0x03F0)!=0x0090u){
|
|
|
+ if ((TdcStatus&0x03F0) != 0x0090u) //modified by yuewei 260813 0x06F0 -> 0x03F0, to match ms1031
|
|
|
+ {
|
|
|
tof_flag |= TOF_FLAG_BLANK_PIPE;
|
|
|
tdc_spi_wr_code(0x70);
|
|
|
- tdc_spi_wr_d32(0x80, DFLT_WREG0 & ~(0x07 << 14)); //一旦为空管马上关闭高速晶振，降低功耗
|
|
|
}
|
|
|
else
|
|
|
- {
|
|
|
-
|
|
|
- TdcUPwFw = tdc_spi_rd_d16(0xd3); // First wave pulse width
|
|
|
- TdcUPwHw = tdc_spi_rd_d16(0xd4); // 1st Hit wave pulse width
|
|
|
- TdcDPwFw = tdc_spi_rd_d16(0xd3);
|
|
|
- TdcDPwHw = tdc_spi_rd_d16(0xd4);
|
|
|
-
|
|
|
- // TOF_UP_HITs
|
|
|
- TdcUToF[0] = tdc_spi_rd_d32(0xb8)*(1.0f/8); // average of all
|
|
|
- // TOF_DOWN_HITs
|
|
|
- TdcDToF[0] = tdc_spi_rd_d32(0xc8)*(1.0f/8); // average of all
|
|
|
-// for(i=0; i<8; i++){
|
|
|
-// TdcDToF[i+1] = tdc_spi_rd_d32(0xb0 + i);
|
|
|
-// };
|
|
|
-
|
|
|
+ {
|
|
|
+ //modified by yuewei 260813 start
|
|
|
+ TdcUPwFw = tdc_spi_rd_d16(0xd3); // First wave pulse width
|
|
|
+ TdcUPwHw = tdc_spi_rd_d16(0xd4); // 1st Hit wave pulse width
|
|
|
+ TdcDPwFw = TdcUPwFw;
|
|
|
+ TdcDPwHw = TdcUPwHw;
|
|
|
+
|
|
|
+ // TOF_UP_HITs
|
|
|
+ TdcUToF[0] = tdc_spi_rd_d32(0xb8)*(1.0f/8); // average of all
|
|
|
+
|
|
|
+ // TOF_DOWN_HITs
|
|
|
+ TdcDToF[0] = tdc_spi_rd_d32(0xc8)*(1.0f/8); // average of all
|
|
|
+
|
|
|
+ tdc_spi_wr_code(0x70);
|
|
|
+ //modified by yuewei 260813 end
|
|
|
}
|
|
|
|
|
|
- if (cfg & TDC_CFG_DO_CKDIS){
|
|
|
+ if (cfg & TDC_CFG_DO_CKDIS)
|
|
|
+ {
|
|
|
DMA_ReqClkOff();
|
|
|
PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
+/**
|
|
|
+ * @brief MS1031开启高速晶振校准
|
|
|
+ * @param uint32_t cfg可选下面参数
|
|
|
+ * 1、TDC_CFG_DO_CKENA:开启SPI时钟+DMA中断
|
|
|
+ * 2、TDC_CFG_DO_WREG:调整局部寄存器
|
|
|
+ * 3、TDC_CFG_DO_CKDIS:关闭SPI时钟+DMA中断
|
|
|
+ * @retval 无
|
|
|
+ */
|
|
|
void tdc_start_cal(uint32_t cfg)
|
|
|
{
|
|
|
-//rt_enter_critical();
|
|
|
- if (cfg & TDC_CFG_DO_CKENA){
|
|
|
+ if (cfg & TDC_CFG_DO_CKENA)
|
|
|
+ {
|
|
|
PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
DMA_ReqClkOn();
|
|
|
}
|
|
|
|
|
|
// 8*T_32k = 244.140625us
|
|
|
- if (cfg & TDC_CFG_DO_WREG){
|
|
|
- // write_reg0
|
|
|
-// tdc_spi_wr_d32(0x80, DFLT_WREG0 |
|
|
|
-// ( 2u<< 4) // SEL_TIMO_MB, 0:64us; 1:128us; 2:256us; ~ 6:4096us;
|
|
|
-// );
|
|
|
-
|
|
|
+ if (cfg & TDC_CFG_DO_WREG)
|
|
|
+ {
|
|
|
// write_reg3
|
|
|
tdc_spi_wr_d32(0x83, DFLT_WREG3 |
|
|
|
( 1u<<13) // measure FW pulse width, 0:on; 1:off
|
|
|
@@ -328,61 +340,72 @@ void tdc_start_cal(uint32_t cfg)
|
|
|
tdc_spi_wr_code(0x70);
|
|
|
tdc_spi_wr_code(0x06);
|
|
|
|
|
|
- if (cfg & TDC_CFG_DO_CKDIS){
|
|
|
+ if (cfg & TDC_CFG_DO_CKDIS)
|
|
|
+ {
|
|
|
DMA_ReqClkOff();
|
|
|
PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
}
|
|
|
-//rt_exit_critical();
|
|
|
}
|
|
|
|
|
|
+/**
|
|
|
+ * @brief MS1031读取高速晶振校准结果
|
|
|
+ * @param uint32_t cfg可选下面参数
|
|
|
+ * 1、TDC_CFG_DO_CKENA:开启SPI时钟+DMA中断
|
|
|
+ * 2、TDC_CFG_DO_WREG:调整局部寄存器
|
|
|
+ * 3、TDC_CFG_DO_CKDIS:关闭SPI时钟+DMA中断
|
|
|
+ * @retval 无
|
|
|
+ */
|
|
|
void tdc_read_cal(uint32_t cfg)
|
|
|
{
|
|
|
- //rt_enter_critical();
|
|
|
- if (cfg & TDC_CFG_DO_CKENA){
|
|
|
+ if (cfg & TDC_CFG_DO_CKENA)
|
|
|
+ {
|
|
|
PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
DMA_ReqClkOn();
|
|
|
}
|
|
|
+
|
|
|
+ TdcStatus = tdc_spi_rd_d16(0xd0); //modified by yuewei 260813 0xd2 -> 0xd0, to match ms1031
|
|
|
|
|
|
- TdcStatus = tdc_spi_rd_d16(0xd0); // status
|
|
|
- if ((TdcStatus&0x0300)==0x0000u){
|
|
|
+ if ((TdcStatus&0x0300) == 0x0000u) //modified by yuewei 260813 0x0600 -> 0x0300, to match ms1031
|
|
|
+ {
|
|
|
tof_flag ^= TOF_FLAG_UNALGND_CHOP;
|
|
|
|
|
|
TdcCal = tdc_spi_rd_d32(0xd5);
|
|
|
|
|
|
-// TdcScale = 244140.625f/TdcCal;
|
|
|
+ //TdcScale = 244140.625f/TdcCal;
|
|
|
TdcScale += (244140.625f/TdcCal - TdcScale)*(1.0f/2);
|
|
|
- //LOG("----------TdcScale=%.6f\n",TdcScale);
|
|
|
- } else {
|
|
|
-// tdc_spi_wr_code(0x70);
|
|
|
+
|
|
|
+ tdc_spi_wr_code(0x70);
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ tdc_spi_wr_code(0x70);
|
|
|
}
|
|
|
|
|
|
- if (cfg & TDC_CFG_DO_CKDIS){
|
|
|
+ if (cfg & TDC_CFG_DO_CKDIS)
|
|
|
+ {
|
|
|
DMA_ReqClkOff();
|
|
|
PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
}
|
|
|
-//rt_exit_critical();
|
|
|
}
|
|
|
|
|
|
+/**
|
|
|
+ * @brief MS1031开启温度采集
|
|
|
+ * @param uint32_t cfg可选下面参数
|
|
|
+ * 1、TDC_CFG_DO_CKENA:开启SPI时钟+DMA中断
|
|
|
+ * 2、TDC_CFG_DO_WREG:调整局部寄存器
|
|
|
+ * 3、TDC_CFG_DO_CKDIS:关闭SPI时钟+DMA中断
|
|
|
+ * @retval 无
|
|
|
+ */
|
|
|
void tdc_start_temp(uint32_t cfg)
|
|
|
{
|
|
|
-//rt_enter_critical();
|
|
|
- if (cfg & TDC_CFG_DO_CKENA){
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+ if (cfg & TDC_CFG_DO_CKENA)
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+ {
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PeriClk_MutEnable(PeriClk_Spi1);
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DMA_ReqClkOn();
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}
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- if (cfg & TDC_CFG_DO_WREG){
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-
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-
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-// tdc_spi_wr_d32(0x80, DFLT_WREG0 |
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-// ( 3u<< 6) // SEL_TIMO_MB, 0:64us; 1:128us; 2:256us; 3:512us; ~ 6:4096us;
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-// );
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-
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-// // write_reg1
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-// tdc_spi_wr_d32(0x81, DFLT_WREG1 |
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-// ( 0u<< 12) // DELVAL1=0us, format:16.5, time unit:Tref;
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-// );
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-
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+ if (cfg & TDC_CFG_DO_WREG)
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+ {
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// write_reg3
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tdc_spi_wr_d32(0x83, DFLT_WREG3 |
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( 1u<<13) // measure FW pulse width, 0:on; 1:off
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@@ -392,77 +415,95 @@ void tdc_start_temp(uint32_t cfg)
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tdc_spi_wr_code(0x70);
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tdc_spi_wr_code(0x04);
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- if (cfg & TDC_CFG_DO_CKDIS){
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+ if (cfg & TDC_CFG_DO_CKDIS)
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+ {
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DMA_ReqClkOff();
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PeriClk_MutDisable(PeriClk_Spi1);
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}
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-//rt_exit_critical();
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}
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-uint8_t temp_error_flag=0;
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+
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+/**
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+ * @brief MS1031读取温度采集结果
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+ * @param uint32_t cfg可选下面参数
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+ * 1、TDC_CFG_DO_CKENA:开启SPI时钟+DMA中断
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+ * 2、TDC_CFG_DO_WREG:调整局部寄存器
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+ * 3、TDC_CFG_DO_CKDIS:关闭SPI时钟+DMA中断
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+ * @retval 无
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+ */
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void tdc_read_temp(uint32_t cfg)
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{
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-
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- if (cfg & TDC_CFG_DO_CKENA){
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+ if (cfg & TDC_CFG_DO_CKENA)
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+ {
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PeriClk_MutEnable(PeriClk_Spi1);
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DMA_ReqClkOn();
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}
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- TdcStatus = tdc_spi_rd_d16(0xd0); // status
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-
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- TdcPT[0] = tdc_spi_rd_d32(0xd1); // REF 5K +/- 5
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- TdcPT[1] = tdc_spi_rd_d32(0xd2); // U7
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+ //delete by yuewei 260813, ms1031 status reg(d0) bit 11 and bit 10 can only indicate the PT1 is short or open
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+ //TdcStatus = tdc_spi_rd_d16(0xd0); //modified by yuewei 260813 0xd2 -> 0xd0, to match ms1031
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- if(TdcPT[0]==0xffffffff || TdcPT[1]==0xffffffff || TdcPT[0] ==0x00000000 || TdcPT[1]==0x00000000)
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+ // REF 25K
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+ TdcPT[0] = tdc_spi_rd_d32(0xd1); //modified by yuewei 260813 0xc2 -> 0xd1, to match ms1031
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+ // NTC
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+ TdcPT[1] = tdc_spi_rd_d32(0xd2); //modified by yuewei 260813 0xc3 -> 0xd2, to match ms1031
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+
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|
+ tdc_spi_wr_code(0x70);
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+
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+ //add by yuewei 260813 to deal Rref or Rntc is short or open
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|
|
+ if((TdcPT[0] == 0) || (TdcPT[0] == 0xFFFFFFFF) || (TdcPT[1] == 0) || (TdcPT[1] == 0xFFFFFFFF))
|
|
|
{
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|
|
- temp_error_flag=1;
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|
+ TdcResist = 0;//when Rref or Rntc is short or open, set TdcResist = 0, to set the Temprature = -3276.8f in Ohm2Dgr2USSpd(TdcResist, WaterPrmt)
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|
|
}
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|
else
|
|
|
{
|
|
|
- temp_error_flag=0;
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|
|
- TdcResist = 2500.0f*TdcPT[1]/TdcPT[0]; // ohmX10
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|
- Ohm2Dgr2USSpd(TdcResist, WaterPrmt); // [0]:Temperature; [1]:ultrasonic speed @Temp
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- }
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|
+ TdcResist = 2500.0f*TdcPT[1]/TdcPT[0]; // ohmX10
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|
|
+ }
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|
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+
|
|
|
+ Ohm2Dgr2USSpd(TdcResist, WaterPrmt); // [0]:Temperature; [1]:ultrasonic speed @Temp
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|
|
|
|
|
- if (cfg & TDC_CFG_DO_CKDIS){
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|
|
+ if (cfg & TDC_CFG_DO_CKDIS)
|
|
|
+ {
|
|
|
DMA_ReqClkOff();
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|
|
PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
}
|
|
|
-
|
|
|
}
|
|
|
|
|
|
-void MS1031_DisableHighSpeedOsc(void)
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|
|
+/**
|
|
|
+ * @brief 打开、关闭MS1031高速时钟(空管时，节约功耗)
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|
|
+ * @param state:0关闭，1开启
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|
|
+ * @retval 无
|
|
|
+ */
|
|
|
+void tdc_turn_on_off_high_clk(uint8_t state)
|
|
|
{
|
|
|
- PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
- DMA_ReqClkOn();
|
|
|
-
|
|
|
- tdc_spi_wr_d32(0x80, DFLT_WREG0 & ~(0x07 << 14)); //一旦为空管马上关闭高速晶振，降低功耗
|
|
|
-
|
|
|
- DMA_ReqClkOff();
|
|
|
- PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
+ PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
+ DMA_ReqClkOn();
|
|
|
|
|
|
-}
|
|
|
+ if(state == 0)
|
|
|
+ {
|
|
|
+ tdc_spi_wr_d32(0x80, DFLT_WREG0 & ~(0x03 << 14));//set bit 14、15、16=0, disable the high clk
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ GpioInit(PD02_AF0, GPIO_DIG_OUT_WEAK_PUSH_NONEUP_NONEDOWN);
|
|
|
+ GpioClrPins(GpioPortD, GpioBitMsk2); // reset active low
|
|
|
+ us_delay(10); // 10us > tPH(30ns)
|
|
|
+ GpioSetPins(GpioPortD, GpioBitMsk2); // reset release
|
|
|
+ us_delay(10); // 10us > tRFS(30ns)
|
|
|
+
|
|
|
+ tdc_spi_wr_d32(0x80,DFLT_WREG0);
|
|
|
+ tdc_spi_wr_d32(0x81,DFLT_WREG1);
|
|
|
+ tdc_spi_wr_d32(0x82,DFLT_WREG2);
|
|
|
+ tdc_spi_wr_d32(0x83,DFLT_WREG3);
|
|
|
+ tdc_spi_wr_d32(0x84,DFLT_WREG4);
|
|
|
+ tdc_spi_wr_d32(0x85,DFLT_WREG5);
|
|
|
+ tdc_spi_wr_d32(0x86,DFLT_WREG6);
|
|
|
+
|
|
|
+ //读取时钟校准时，如果不加该项，状态寄存器d0中的TDC_Flood位会一直置位
|
|
|
+ tdc_spi_wr_d32(0x87,0x20000000);//!!!!!!!!do not delete!!!!!!!!!
|
|
|
|
|
|
-void MS1031_EnableHighSpeedOsc(void)
|
|
|
-{
|
|
|
- PeriClk_MutEnable(PeriClk_Spi1);
|
|
|
- DMA_ReqClkOn();
|
|
|
-
|
|
|
- GpioClrPins(GpioPortD, GpioBitMsk2);
|
|
|
- us_delay(10);
|
|
|
- GpioSetPins(GpioPortD, GpioBitMsk2);
|
|
|
- us_delay(10);
|
|
|
-
|
|
|
- tdc_spi_wr_d32(0x80,DFLT_WREG0);
|
|
|
- tdc_spi_wr_d32(0x81,DFLT_WREG1);
|
|
|
- tdc_spi_wr_d32(0x82,DFLT_WREG2);
|
|
|
- tdc_spi_wr_d32(0x83,DFLT_WREG3);
|
|
|
- tdc_spi_wr_d32(0x84,DFLT_WREG4);
|
|
|
- tdc_spi_wr_d32(0x85,DFLT_WREG5);
|
|
|
- tdc_spi_wr_d32(0x86,DFLT_WREG6);
|
|
|
- tdc_spi_wr_d32(0x87,0x20000000);//!!!!!!!!do not delete!!!!!!!!!
|
|
|
+ tdc_spi_wr_code(0x70);
|
|
|
+ }
|
|
|
|
|
|
-
|
|
|
- DMA_ReqClkOff();
|
|
|
- PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
-
|
|
|
+
|
|
|
+ DMA_ReqClkOff();
|
|
|
+ PeriClk_MutDisable(PeriClk_Spi1);
|
|
|
}
|
HBR