small_water_meter_4g_src/Users/tdc_tof/tdc_ms1030.c

 #include "board.h"
#include "tdc_tof.h"

#define ANZ_FIRE 		12u	//fire发送脉冲数
#define DIV_FIRE 		3u	//内部时钟产生脉冲的分频
#define DIV_CLKHS 	    0u	//高速时钟分频
#define START_CLKHS     2u	//高速启动后测量前晶振启动间隔时间,120us
#define NEG_START  	    0u	//start通道边缘
#define NEG_STOP		0u	//stop通道边缘
#define HITIN			9u	//stop预期脉冲数
#define SEL_TIMO_MB	    0u	//暂未确定数值
#define SEL_TSTO2		3u	//32khz //和MS1030不同
#define SEL_TSTO1		0u	//暂时不用这个引脚，配置为高速时钟输入模式
#define DFLT_WREG0   ((ANZ_FIRE<<25) | \
                      ( DIV_FIRE<<19) | \
                      ( DIV_CLKHS<<17) | \
                      ( START_CLKHS<<14) | \
                      ( NEG_START<<13) | \
                      ( NEG_STOP<<12) | \
                      ( HITIN<< 8) | \
                      ( SEL_TSTO2<< 2) | \
                      ( SEL_TSTO1<< 0)) 
                      


#define EN_INT_TO       1  //TIMOUT中断触发位
#define EN_INT_HIT      0  //END HITS中断触发位
#define EN_INT_ALU      1  //alu中断触发位
#define RFEDGE          0  //stop通道边沿敏感性
#define UP_DELVAL1      0  //当EN_FIST_WAVE=1时,为第一波屏蔽窗口 BIT12~27  暂未设置
#define OFFSET          0	//当en_hc=1时, 62~-64mV   暂未设置
#define DFLT_WREG1   (( EN_INT_TO<<31)  | \
                      ( EN_INT_HIT<<30) | \
                      ( EN_INT_ALU<<29) | \
                      ( RFEDGE<<28)     | \
                      ( UP_DELVAL1<<12) | \
                      ( OFFSET<< 0))
                      

#define EN_FIRST_WAVE	    0u	//BIT31, 为1时后面的定义有效
#define EDGE_FW				0u	//第一波边缘敏感性
#define DELREL1				6u	//第1个stop接收第几个回波周期
#define DELREL2				8u	//第2个stop接收第几个回波周期
#define DELREL3				10u	//第3个stop接收第几个回波周期
#define DELREL4				12u	//第4个stop接收第几个回波周期
#define DELREL5				14u	//第5个stop接收第几个回波周期
#define DFLT_WREG2   ((EDGE_FW<<30) | \
                      (DELREL1<<24) | \
                      (DELREL2<<18) | \
                      (DELREL3<<12) | \
                      (DELREL4<< 6) | \
                      (DELREL5<< 0))



#define DELREL6				16u	//第3个stop接收第几个回波周期
#define DELREL7				18u	//第4个stop接收第几个回波周期
#define DELREL8				20u	//第5个stop接收第几个回波周期                             
#define DFLT_WREG3   ((DELREL6<<26) | \
                      (DELREL7<<20) | \
                      (DELREL8<<14))
                      
                            
#define CONF_FIRE			0		//暂时设置为0 bit29~31
#define PHASE_FIREUP		0
#define PHASE_FIREDOWN	    0
#define SEL_START_FIRE	    1
#define EN_ANALOG			1
#define HZ60				0
#define TCYCLE				1
#define ANZ_FAKE			0
#define SEL_ECLK_TMP		1
#define TW2					1       //120us充电时间，与1030不同
#define EN_PEAK				0		//峰值检波使能关闭，1030不同
#define EN_DISCHARGE		0		//检波放电使能关闭，1030不同
#define CYCLE_TOF			3		//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
#define EN_ERR_VAL			1
#define EN_DC				1		//stop端口充电模式 这里设置为直流  1030不同
#define FIRE0_DEF			1       //fire通道默认电平
#define DOUBLE_RES			0
#define QUAD_RES			1
#define DFLT_WREG4   (( PHASE_FIREUP<<28) | \
                      ( PHASE_FIREDOWN<<27) | \
                      ( SEL_START_FIRE<<26) | \
                      ( EN_ANALOG<<25) | \
                      ( HZ60<<24) | \
                      ( TCYCLE<<23) | \
                      ( ANZ_FAKE<<22) | \
                      ( SEL_ECLK_TMP<<21) | \
                      ( TW2<<17) | \
                      ( EN_PEAK<<16) | \
					  ( EN_DISCHARGE<<15) | \
					  ( CYCLE_TOF<<11) | \
                      ( EN_ERR_VAL<<10) | \
					  ( EN_DC<<9) | \
					  ( FIRE0_DEF<<8) | \
					  ( DOUBLE_RES<<7) | \
					  ( QUAD_RES<<6))


#define CYCLE_AUTOTOF	 (250<<20)	//自动测量循环时间 500ms
#define ANZ_AUTOTOF      (1<<16)	//循环次数 一直开启
#define AUTOTOF_MODE     (0<<15)	//顺逆顺逆
#define PHASE_FIRENUM    (3<<6)		//插入相位位置
#define ANZ_PHASE		 (8)		//插入周期数
#define DFLT_WREG5        0

#define DOWN_DELVAL1    (0<<12)//第一波屏蔽窗口
#define SEL_SRC_CLK		(0<<7)//使用晶振产生时钟
#define EN_HC			(1<<6)
#define CURR32K			(0<<5)
#define DIS_Vref		(1<<4)
#define ADJ_LDO_ROUGH	(0<<3)
#define ADJ_LDO_FINE	(4<<0)	
#define DFLT_WREG6 (DOWN_DELVAL1|SEL_SRC_CLK|EN_HC|CURR32K|DIS_Vref|ADJ_LDO_ROUGH|ADJ_LDO_FINE)

uint16_t tof_state = TOF_ST_INIT;
uint32_t tof_flag;

//uint16_t CntSync = 0;

void tdc_tof_init(void)
{
    //MUX ADDA : PA08; ADDB : PC09
    mux_init();

    // MS1030 RSTN : PD02
    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_init();     // peripheral init

    PeriClk_MutEnable(PeriClk_Spi1);
    DMA_ReqClkOn();

    // TDC POR
    tdc_spi_wr_code(0x50);
    us_delay(1000);     // 1000us > specification(500us)

//    tdc_spi_wr_d32(0x80, 0x1E18884E);  // 修正：SEL_TIMO_MB = 8（合法）
//    tdc_spi_wr_d32(0x81, 0xA00C8005);
//    tdc_spi_wr_d32(0x82, 0x83105187);
//    tdc_spi_wr_d32(0x83, 0x20928400);
//    tdc_spi_wr_d32(0x84, 0x66E00540);
//    tdc_spi_wr_d32(0x85, 0x07D10000);
//    tdc_spi_wr_d32(0x86, 0x000C8004); 

     tdc_spi_wr_d32(0x80, DFLT_WREG0);
     uint32_t read_a0=tdc_spi_rd_d32(0xA0);
     read_a0=read_a0&0xFFu;
     
#if 1    
    tof_flag = TOF_FLAG_UNALGND_CHOP;
    if (read_a0!=(DFLT_WREG0&0xFFu)){
        tof_flag |= TOF_FLAG_TDC_FAULT;
    } else {
        // write_reg0
        tdc_spi_wr_d32(0x80, DFLT_WREG0 |
                              ( 2u<< 4)     // SEL_TIMO_MB, 0:64us; 1:128us; 2:256us; ~ 6:4096us;
                      );

        // write_reg1
        tdc_spi_wr_d32(0x81, DFLT_WREG1 |
                            (5760u<< 12)     // DELVAL1=45us, format:16.5, time unit:Tref;
                      );

        // write_reg2
        tdc_spi_wr_d32(0x82, DFLT_WREG2 |
                              ( 0u<<31)     // EN_FIRST_WAVE, 0:disable; 1:enable;
                      );

        // write_reg3
        tdc_spi_wr_d32(0x83, DFLT_WREG3 |
                              ( 1u<<13)     // measure FW pulse width, 0:on; 1:off
                      );

        // write_reg4
        tdc_spi_wr_d32(0x84, DFLT_WREG4);
        
        // write_reg5
	    tdc_spi_wr_d32(0x85, DFLT_WREG5);
 
        // write_reg6
		tdc_spi_wr_d32(0x86, DFLT_WREG6);
				

        tdc_spi_wr_code(0x70);
        tdc_spi_wr_code(0x06);

        // not 'INTN' but 'us_delay' to avoid dead loop when INTN fault
        us_delay(2000); // > 480 + 600 + 16 + 70
        tdc_read_cal(0x0u);
//            tof_flag ^= TOF_FLAG_UNALGND_CHOP;
//            // start a single ToF to align MS1030 internal calibration order(1 CAL every 24 ToF)
//            // must be sure that CAL not in the middle of UP Tof and DOWN Tof
//            tdc_start_tof(TDC_CFG_DO_WREG | TDC_CFG_FIRE_UP);
//
//            // not 'INTN' but 'us_delay' to avoid dead loop when INTN fault
//            us_delay(2000); // > 480 + 600 + 16 + 70
//
//            tdc_read_tof(TDC_CFG_FIRE_UP);  // read data and clear interrupt
    }
#endif 
DMA_ReqClkOff();
PeriClk_MutDisable(PeriClk_Spi1);

    // MS1030 INTN : PD03 falling edge trigger
    GpioInit(PD03_AF0, GPIO_DIG_IN_PULLUP_NONEDOWN);
    GpioEventInit(PD03_AF0, GPIO_EVENT_FALL);

    // enable interrupt at NVIC side
    IRQMutEnable(PORTD_F_IRQn, NVIC_PRIO_1);
}

void tdc_start_tof(uint32_t cfg)
{
	//rt_enter_critical();
    uint32_t u32tmp;

    if (cfg & TDC_CFG_DO_CKENA){
        PeriClk_MutEnable(PeriClk_Spi1);
        DMA_ReqClkOn();
    }

    if (cfg & TDC_CFG_DO_WREG){
        // write_reg0
        tdc_spi_wr_d32(0x80, DFLT_WREG0 |
                              ( 3u<< 4)     // SEL_TIMO_MB, 0:64us; 1:128us; 2:256us; ~ 6:4096us;
                                            //modified by yuewei 20260526 1->3, 128us -> 512us, for DN300 almost 240us
                      );

        // write_reg1
        // DN15: L/C > (42+21+10*2)*1000/1555=53us
        tdc_spi_wr_d32(0x81, DFLT_WREG1 |
                              (5760u<< 12)     // DELVAL1=45us, format:16.5, time unit:Tref;//1031 从BIT12开始
//                            (6400u<< 7)   // DELVAL1=50us, format:16.5, time unit:Tref;
//                            (7040u<< 7)   // DELVAL1=55us, format:16.5, time unit:Tref;
//                            (7680u<< 7)   // DELVAL1=60us, format:16.5, time unit:Tref;
//                            (8230u<< 7)   // DELVAL1=65us, format:16.5, time unit:Tref;
//                            (8960u<< 7)   // DELVAL1=70us, format:16.5, time unit:Tref;
                      );

        // write_reg2
        tdc_spi_wr_d32(0x82, DFLT_WREG2 |
                              ( 1u<<31)     // EN_FIRST_WAVE, 0:disable; 1:enable;
                      );
    
        // write_reg3
        u32tmp = DFLT_WREG3 |
                  ( 0u<<13) |       // measure FW pulse width, 0:on; 1:off
                  (TdcFwOfst<<6);   // 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
        }
        tdc_spi_wr_d32(0x83, u32tmp);
    }

    // write_reg4
    u32tmp = DFLT_WREG4;
    u32tmp |= (1u<<30);     // FIRE_UP,   0:off; 1:on;
    tdc_spi_wr_d32(0x84, u32tmp);

    // Initial TDC status regs
    tdc_spi_wr_code(0x70);

    // start single-direction measure
    tdc_spi_wr_code(0x03);

    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};

void tdc_read_tof(uint32_t cfg)
{
//    uint16_t i;
    if (cfg & TDC_CFG_DO_CKENA){
        PeriClk_MutEnable(PeriClk_Spi1);
        DMA_ReqClkOn();
    }

    TdcStatus = tdc_spi_rd_d16(0xd0);   // 读取状态寄存器
    if ((TdcStatus&0x0300)==0x0000u){
        tof_flag ^= TOF_FLAG_UNALGND_CHOP;
//        if (CntSync>=240){
//            CntSync = 10;
//        } else {
//            CntSync += 10;
//        }
    }

    if ((TdcStatus&0x03F0)!=0x0090u){
        tof_flag |= TOF_FLAG_BLANK_PIPE;
        tdc_spi_wr_code(0x70);
    } 
    else 
     {
       
            TdcUPwFw = tdc_spi_rd_d16(0xd3);    // First wave pulse width
            TdcUPwHw = tdc_spi_rd_d16(0xd4);    // 1st Hit wave pulse width
            tdc_spi_wr_code(0x70);
            // 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);
//            };
        
    }

    if (cfg & TDC_CFG_DO_CKDIS){
        DMA_ReqClkOff();
        PeriClk_MutDisable(PeriClk_Spi1);
    }
}

void tdc_start_cal(uint32_t cfg)
{
//rt_enter_critical();
    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;
                      );

        // write_reg3
        tdc_spi_wr_d32(0x83, DFLT_WREG3 |
                              ( 1u<<13)         // measure FW pulse width, 0:on; 1:off
                      );
    }

    tdc_spi_wr_code(0x70);
    tdc_spi_wr_code(0x06);

    if (cfg & TDC_CFG_DO_CKDIS){
        DMA_ReqClkOff();
        PeriClk_MutDisable(PeriClk_Spi1);
    }
//rt_exit_critical();
}

void tdc_read_cal(uint32_t cfg)
{
	//rt_enter_critical();
    if (cfg & TDC_CFG_DO_CKENA){
        PeriClk_MutEnable(PeriClk_Spi1);
        DMA_ReqClkOn();
    }

    TdcStatus = tdc_spi_rd_d16(0xd0);   // status
    if ((TdcStatus&0x0300)==0x0000u){
        tof_flag ^= TOF_FLAG_UNALGND_CHOP;
//        if (CntSync>=240){
//            CntSync = 10;
//        } else {
//            CntSync += 10;
//        }
        tdc_spi_wr_code(0x70);
        TdcCal = tdc_spi_rd_d32(0xd5);

//        TdcScale = 244140.625f/TdcCal;
        TdcScale += (244140.625f/TdcCal - TdcScale)*(1.0f/2);
				//LOG("----------TdcScale=%.6f\n",TdcScale);
    } else {
        tdc_spi_wr_code(0x70);
    }

    if (cfg & TDC_CFG_DO_CKDIS){
        DMA_ReqClkOff();
        PeriClk_MutDisable(PeriClk_Spi1);
    }
//rt_exit_critical();
}

void tdc_start_temp(uint32_t cfg)
{
//rt_enter_critical();
    if (cfg & TDC_CFG_DO_CKENA){
        PeriClk_MutEnable(PeriClk_Spi1);
        DMA_ReqClkOn();
    }

    if (cfg & TDC_CFG_DO_WREG){
        // write_reg0
        
        
        tdc_spi_wr_d32(0x80, DFLT_WREG0 |
                              ( 3u<< 6)     // SEL_TIMO_MB, 0:64us; 1:128us; 2:256us; 3:512us; ~ 6:4096us;
                      );

        // write_reg1
        tdc_spi_wr_d32(0x81, DFLT_WREG1 |
                              ( 0u<< 12)   // DELVAL1=0us, format:16.5, time unit:Tref;
                      );

        // write_reg3
        tdc_spi_wr_d32(0x83, DFLT_WREG3 |
                              ( 1u<<13)         // measure FW pulse width, 0:on; 1:off
                      );
    }

    tdc_spi_wr_code(0x70);
    tdc_spi_wr_code(0x04);

    if (cfg & TDC_CFG_DO_CKDIS){
        DMA_ReqClkOff();
        PeriClk_MutDisable(PeriClk_Spi1);
    }
//rt_exit_critical();
}

void tdc_read_temp(uint32_t cfg)
{
//rt_enter_critical();
    if (cfg & TDC_CFG_DO_CKENA){
        PeriClk_MutEnable(PeriClk_Spi1);
        DMA_ReqClkOn();
    }

    TdcStatus = tdc_spi_rd_d16(0xd0);   // status
    tdc_spi_wr_code(0x70);
    TdcPT[0] = tdc_spi_rd_d32(0xd1);  // REF 5K +/- 5
    TdcPT[1] = tdc_spi_rd_d32(0xd2);  // U7
    //TdcPT[2] = tdc_spi_rd_d32(0xc4);  // U8
    //TdcPT[3] = tdc_spi_rd_d32(0xc5);  // REF 1.5K

//    if (TdcPT[0]>0x1000000u && TdcPT[0]<0x2000000u){
//        TdcResist = 5000.0f*TdcPT[1]/TdcPT[0];
//        Ohm2Dgr2USSpd(TdcResist, WaterPrmt);        // [0]:Temperature; [1]:ultrasonic speed @Temp
//    }
    if (TdcPT[0]>0xB00000u && TdcPT[0]<0xE00000u){
        TdcResist = 2500.0f*TdcPT[1]/TdcPT[0];  // ohmX10
        Ohm2Dgr2USSpd(TdcResist, WaterPrmt);        // [0]:Temperature; [1]:ultrasonic speed @Temp
    }
		//LOG("----------T=%.6f,C=%.6f\n",WaterPrmt[0],WaterPrmt[1]);
    if (cfg & TDC_CFG_DO_CKDIS){
        DMA_ReqClkOff();
        PeriClk_MutDisable(PeriClk_Spi1);
    }
//rt_exit_critical();
}