Yu Jiaqi
TEST_CODE_ApplyTo2V1_API
Dependencies: SDFileSystem max32630fthr USBDevice
Diff: DUT_RegConfig.cpp
- Revision:
- 4:217334c3a5b2
- Parent:
- 3:35b05d91568d
--- a/DUT_RegConfig.cpp Mon Jun 22 05:27:48 2020 +0000
+++ b/DUT_RegConfig.cpp Tue Jul 28 01:40:05 2020 +0000
@@ -9,21 +9,48 @@
#include "Firmware.h"
#include "RegTable.h"
#include "CmdHandler.h"
+#include "Van_API.h"
DUTREG dut_reg[DUT_REG_NUM];
uint8_t Firmware[8192];
uint8_t histogram[10][1024];
+//uint8_t hist_ma[2048];
uint8_t dcr_matrix[17][9*2];
+uint8_t pixel_map[16][18] = {
+ 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00,
+ 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00,
+ 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00,
+ 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00,
+
+ 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00,
+ 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00,
+ 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00,
+ 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00,
+
+ 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01,
+ 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02, 0x00, 0x02,
+ 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04,
+ 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08,
+
+ 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10,
+ 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20, 0x00, 0x20,
+ 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40, 0x00, 0x40,
+ 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80
+ };
+
+uint8_t work_mode = 0;
uint8_t int_mark = 0;
uint8_t int_enable = 1;
uint8_t histogram_mode = 0;
uint8_t histogram_tdc = 0;
+uint8_t continus_ranging = 0;
Semaphore chip_int_semph(1);
extern DigitalOut xSHUT;
extern I2C i2c_v;
extern DigitalOut TRIM_EN;
+extern DigitalOut HIGH_EN;
uint16_t histogram_pos_num = 0;
uint16_t histogram_per_pos = 0;
@@ -31,16 +58,53 @@
uint16_t range_step_num = 0;
uint16_t range_per_step = 0;
+uint16_t single_measure_times = 0;
+
extern const uint8_t reg_table[];
extern const uint8_t Firmware_Ranging[];
extern uint8_t _uart_send_pbuff[CMD_BUF_LEN] ;
+
+void ECO_ByPassROM(void)
+{
+ uint8_t tmp = 0;
+
+ WriteOneReg(0x00, 0x00);
+ WriteOneReg(0x01, 0x00);
+ ReadOneReg(0x07, &tmp);
+ WriteOneReg(0x07, tmp & 0xFE);
+}
+
+void ECO_DefaultRegInit(void)
+{
+ WriteOneReg(0x00, 0x03);
+ WriteOneReg(0x01, 0x00);
+ WriteOneReg(0x02, 0x00);
+ WriteOneReg(0x37, 0x61);
+ WriteOneReg(0x38, 0x00);
+ WriteOneReg(0x39, 0x00);
+ WriteOneReg(0x3A, 0x1F);
+ WriteOneReg(0x41, 0x04);
+ WriteOneReg(0x48, 0x7F);
+ WriteOneReg(0x49, 0x01);
+ WriteOneReg(0x4C, 0xFF);
+ WriteOneReg(0x4D, 0x00);
+ WriteOneReg(0x51, 0x0E);
+ WriteOneReg(0xE4, 0xD1);
+ WriteOneReg(0xE8, 0x00);
+ WriteOneReg(0xF7, 0xFF);
+ WriteOneReg(0xF8, 0x8B);
+}
+
void ChipInitReset(void)
{
xSHUT = 0;
wait_ms(30);
xSHUT = 1;
wait_ms(30);
+ //ECO_ByPassROM();
+ //wait_ms(30);
+ //ECO_DefaultRegInit();
}
void SetBitThree(uint8_t rco, uint8_t tdc, uint8_t dcr)
@@ -53,14 +117,21 @@
void DUT_RegInit(uint8_t rco, uint8_t tdc, uint8_t dcr)
{
LoadRegTable();
- for(uint16_t i = 0; i < 256; i++)
- {
- WriteOneReg(dut_reg[i].addr, dut_reg[i].value);
+ for(uint16_t i = 0; i < 256; i++) {
+ WriteOneReg(dut_reg[i].addr, dut_reg[i].value);
}
SetBitThree(rco, tdc, dcr);
}
+void DUT_RegTableInit(void)
+{
+ for(uint16_t i = 0; i < 256; i++) {
+ dut_reg[i].addr = i;
+ dut_reg[i].value = i;
+ }
+}
+
void DUT_FirmwareInit(void)
{
WriteFW(LoadFirmware());
@@ -69,10 +140,13 @@
void DeviceAllInit(uint8_t rco, uint8_t tdc, uint8_t dcr)
{
ChipInitReset();
- wait_ms(100);
- DUT_RegInit(rco, tdc, dcr);
- wait_ms(100);
- DUT_FirmwareInit();
+ //wait_ms(100);
+ //DUT_RegInit(rco, tdc, dcr);
+ //wait_ms(100);
+ //DUT_FirmwareInit();
+
+
+ DUT_RegTableInit();
wait_ms(100);
}
@@ -104,7 +178,7 @@
void HistogramReport()
{
uint8_t ret = 0;
- uint16_t lsb, mili, noise_level;
+ uint16_t lsb, mili, ref_lsb, ref_mili, noise_level;
uint32_t peak;
@@ -115,7 +189,7 @@
if(histogram_mode == 1) {
//ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
//WriteOneReg(REG_SYS_CFG, 0x00);
- ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level);
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);//////
if(ret != 0) {
histogram_mode = 0;
} else {
@@ -130,19 +204,15 @@
} else if(histogram_mode == 2) {
//ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
//WriteOneReg(REG_SYS_CFG, 0x00);
- ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level);
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);//////
if(ret != 0) {
histogram_mode = 0;
} else {
- for(uint8_t i = 0; i < 10; i++) {
- ret = vangogh_ram_rd(i);
- if(ret != 0) {
- histogram_mode = 0;
- break;
- } else {
- HandleReadHistogram(i);
- wait_ms(1);
- }
+ ret = vangogh_ram_rd_ma();
+ if(ret != 0) {
+ histogram_mode = 0;
+ } else {
+ HandleReadHistogram(0xF1);
}
}
//WriteOneReg(REG_SYS_CFG, sys_cfg_save);
@@ -155,12 +225,12 @@
if(histogram_pos >= histogram_pos_num) {
histogram_mode = 0;
}
- ServoRun(1, 10);
+ ServoRun(1, 20);
while(CheckUntil()) wait_ms(100);
}
//ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
//WriteOneReg(REG_SYS_CFG, 0x00);
- ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level);
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);
if(ret != 0) {
histogram_mode = 0;
} else {
@@ -180,7 +250,7 @@
} else if(histogram_mode == 4) {
//ReadOneReg(REG_SYS_CFG, &sys_cfg_save);
//WriteOneReg(REG_SYS_CFG, 0x00);
- ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level);
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);
if(ret != 0) {
histogram_mode = 0;
} else {
@@ -203,11 +273,12 @@
if(range_step >= range_step_num) {
histogram_mode = 0;
}
- ServoRun(1, 10);
- while(CheckUntil()) wait_ms(100);
+ //ServoRun(1, 10);
+ //while(CheckUntil()) wait_ms(100);
range_per_step = 0;
- ret = ContinuousMeasure();
+ single_measure_times = 256;
+ //ret = ContinuousMeasure();
if(ret != 0) {
histogram_mode = 0;
} else {
@@ -222,9 +293,16 @@
wait_ms(5);
StoreHistogram(range_step, 0, 3);
wait_ms(5);
+ StoreHistogram(range_step, 0, 4);
+ wait_ms(5);
+ StoreHistogram(range_step, 0, 5);
+ wait_ms(5);
range_per_step = 0;
}
+
+ ServoRun(1, 10);
+ while(CheckUntil()) wait_ms(100);
}
@@ -236,60 +314,104 @@
histogram_pos_num = 0;
histogram_per_pos = 0;
}
- wait(1);
+ wait_ms(100);
}
}
-void StoreMeasureData(uint16_t lsb, uint16_t milimeter, uint32_t peak, uint16_t noise_level, uint16_t i)
+void StoreMeasureData(uint16_t lsb, uint16_t milimeter, uint32_t peak, uint16_t noise_level, uint16_t ref_lsb, uint16_t ref_milimeter, uint16_t i)
{
histogram[0][4*i] = 0;
histogram[0][4*i+1] = 0;
histogram[0][4*i+2] = lsb >> 8;
histogram[0][4*i+3] = lsb ;
-
+
histogram[1][4*i] = 0;
histogram[1][4*i+1] = 0;
histogram[1][4*i+2] = milimeter >> 8;
histogram[1][4*i+3] = milimeter ;
-
+
histogram[2][4*i] = peak >> 24;
histogram[2][4*i+1] = peak >> 16;
histogram[2][4*i+2] = peak >> 8;
histogram[2][4*i+3] = peak ;
-
+
histogram[3][4*i] = 0;
histogram[3][4*i+1] = 0;
histogram[3][4*i+2] = noise_level >> 8;
histogram[3][4*i+3] = noise_level ;
+ histogram[4][4*i] = 0;
+ histogram[4][4*i+1] = 0;
+ histogram[4][4*i+2] = ref_lsb >> 8;
+ histogram[4][4*i+3] = ref_lsb ;
+
+ histogram[5][4*i] = 0;
+ histogram[5][4*i+1] = 0;
+ histogram[5][4*i+2] = ref_milimeter >> 8;
+ histogram[5][4*i+3] = ref_milimeter ;
}
void ContinuousMeasureReport()
{
- uint16_t lsb, milimeter, noise_level;
+ uint16_t lsb, milimeter, ref_lsb, ref_milimeter, noise_level;
uint32_t peak;
- uint8_t int_flag = 0;
- uint16_t time_out = 0;
+
+ uint8_t ret = 0;
+
+ Van_Dist_TypeDef result;
+ Van_Status status;
+
while(1) {
-
- chip_int_semph.wait();
- if(histogram_mode == 5) {
- if(RaadContinuousMeasure(&lsb, &milimeter, &peak, &noise_level) == 0) {
- StoreMeasureData(lsb, milimeter, peak, noise_level, range_per_step++);
- if(range_per_step == 256) {
- StopContinuousMeasure();
- }
- }
- } else {
- if(RaadContinuousMeasure(&lsb, &milimeter, &peak, &noise_level) == 0) {
- HandleContinuousMeasureReport(lsb, milimeter, peak, noise_level);
+
+ if(continus_ranging == 1)
+ {
+
+
+ status = PollingGetRangingResult(&result, VAN_GO_ON);
+ if(status == VAN_OK)
+ {
+ lsb = 0;
+ milimeter = result.millimeter;
+ peak = result.peak;
+ noise_level = result.noise;
+ //ref_lsb = result.confidence;
+ ref_lsb = result.histcnt;
+ ref_milimeter = result.dmax;
+
+ ret = ReadOneReg(0x0d, (uint8_t*)&lsb);
+ ret = ReadOneReg(0x0e, (uint8_t*)&lsb + 1);
+
+ HandleContinuousMeasureReport(lsb, milimeter, peak, noise_level, ref_lsb, ref_milimeter);
}
}
+ wait_ms(25);
+ }
+}
+void AutoSingleMeasurment()
+{
+ uint16_t lsb, milimeter, ref_lsb, ref_milimeter, noise_level;
+ uint32_t peak;
+
+
+ while(1)
+ {
+ if(single_measure_times > 0)
+ {
+ if(OneTimeMeasure(&lsb, &milimeter, &peak, &noise_level, &ref_lsb, &ref_milimeter) == 0)
+ {
+ StoreMeasureData(lsb, milimeter, peak, noise_level, ref_lsb, ref_milimeter, range_per_step++);
+ }
+ single_measure_times--;
+ }
+
+ wait_ms(30);
}
}
+/*
+
uint8_t WriteOneReg(uint8_t addr, uint8_t data)
{
uint8_t buf[2];
@@ -312,6 +434,7 @@
return 0;
}
+*/
uint8_t ReadAllRegToTable(void)
{
@@ -324,48 +447,15 @@
uint8_t WriteFW(uint16_t size)
{
- uint8_t ret = 0;
- uint8_t i;
- uint8_t reg_sys_cfg;
- uint8_t uart_rx_data;
- uint16_t fw_size = size;
- uint16_t fw_send = 0;
-
- ret = WriteOneReg(REG_PW_CTRL, 0x08);
- ret = WriteOneReg(REG_PW_CTRL, 0x0a);
- ret = WriteOneReg(REG_MCU_CFG, 0x02);
- ret = ReadOneReg (REG_SYS_CFG, ®_sys_cfg);
- ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg | (0x01<<0));
- ret = WriteOneReg(REG_CMD, 0x01);
- ret = WriteOneReg(REG_SIZE, 0x02);
- ret = WriteOneReg(REG_SCRATCH_PAD_BASE+0x00, 0x00);
- ret = WriteOneReg(REG_SCRATCH_PAD_BASE+0x01, 0x00);
+ DownloadFirmware(Firmware, size);
+
+ wait_ms(30);
+ Van_Config_TypeDef cfg;
+ uint8_t cg_para[20];
+ cfg.preSetMode = VAN_HIGH_PRECISION;
+ InitRanging(&cfg, cg_para);
- while(fw_size >= 32) {
- ret = WriteOneReg(REG_CMD,0x03);
- ret = WriteOneReg(REG_SIZE,0x20);
- for(i=0; i<32; i++) {
- uart_rx_data = Firmware[fw_send++];
- ret = WriteOneReg(REG_SCRATCH_PAD_BASE+i, uart_rx_data);
- wait_us(5);
- }
- fw_size -= 32;
- }
- if(fw_size > 0) {
- ret = WriteOneReg(REG_CMD,0x03);
- ret = WriteOneReg(REG_SIZE,(uint8_t)fw_size);
- for(i=0; i<fw_size; i++) {
- uart_rx_data = Firmware[fw_send++];
- ret = WriteOneReg(REG_SCRATCH_PAD_BASE+i, uart_rx_data);
- wait_us(5);
- }
- }
- ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0));
- ret = WriteOneReg(REG_MCU_CFG, 0x03);
- ret = WriteOneReg(REG_PW_CTRL, 0x02); //reset r_otp_ld_done, is a must
- ret = WriteOneReg(REG_PW_CTRL, 0x00); //reset r_otp_ld_done, exit low power mode
-
- return ret;
+ return 0;
}
uint8_t vangogh_ram_rd(uint8_t tdc) //UART CMD foramt: CMD-1-byte|TDC-index-1-byte
@@ -401,38 +491,62 @@
ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0)); //clear sc_en
ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<1)); //restore power control register
ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl); //clear pw_ctrl_lp
+
return ret;
}
-uint8_t OneTimeMeasure(uint16_t *lsb, uint16_t *milimeter, uint32_t *peak, uint16_t *noise_level)
+uint8_t vangogh_ram_rd_ma(void) //UART CMD foramt: CMD-1-byte|TDC-index-1-byte
{
uint8_t ret = 0;
+ uint8_t i;
+ uint8_t j;
uint8_t reg_pw_ctrl;
- uint8_t reg_sys_cfg;
+ uint8_t reg_sys_cfg;
+ uint16_t ram_addr_base = 0x0800;
+
+ ret = ReadOneReg (REG_SYS_CFG, ®_sys_cfg );
+ ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg | (0x01<<0));
+ ret = ReadOneReg (REG_PW_CTRL, ®_pw_ctrl);
+ ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<3)); //set otp_ld_done
+ ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<3) | (0x01<<1)); //set otp_ld_done, pw_ctrl_lp
+ ret = WriteOneReg(REG_MCU_CFG, 0x01);
+ ret = WriteOneReg(REG_CMD, 0x01);
+ ret = WriteOneReg(REG_SIZE, 0x02);
+ ret = WriteOneReg(REG_SCRATCH_PAD_BASE+0x00, *((uint8_t*)(&ram_addr_base) ));
+ ret = WriteOneReg(REG_SCRATCH_PAD_BASE+0x01, *((uint8_t*)(&ram_addr_base)+1));
+ wait_us(100);
+ for(j=0; j<32; j++) {
+ ret = WriteOneReg(REG_CMD,0x05); //Issue RAM read command
+ ret = WriteOneReg(REG_SIZE,0x20); //Issue RAM read command
+ wait_us(100);
+ for(i=0; i<32; i++) {
+ ret = ReadOneReg(0x0c+i, &histogram[0][32*j + i]);
+ }
+ }
+ ret = WriteOneReg(REG_MCU_CFG, 0x03);
+ ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0)); //clear sc_en
+ ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<1)); //restore power control register
+ ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl); //clear pw_ctrl_lp
+
+ return ret;
+}
+
+uint8_t OneTimeMeasure(uint16_t *lsb, uint16_t *milimeter, uint32_t *peak, uint16_t *noise_level, uint16_t *ref_lsb, uint16_t *ref_milimeter)
+{
+ uint8_t ret = 0;
uint32_t timeout = 0;
- uint8_t flag = 0;
+
+ Van_Dist_TypeDef result;
int_mark = 1;//One Time Measure
- //ret = ReadOneReg (REG_SYS_CFG, ®_sys_cfg );
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg | (0x01<<0));
- //ret = ReadOneReg (REG_PW_CTRL, ®_pw_ctrl);
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<3)); //set otp_ld_done
- //ret = WriteOneReg(REG_PW_CTRL, (reg_pw_ctrl | (0x01<<3)) & ~(0x01<<1)); //set otp_ld_done, clear pw_ctrl_lp
- //ret = WriteOneReg(0x08, 0x00);
- ret = WriteOneReg(REG_CMD, 0x0E);
- //ret = WriteOneReg(REG_SIZE, 0x00);
+ StartRanging();
timeout = 1000;
while(int_mark == 1 && timeout != 0) {
timeout--;
- wait_ms(5);
- //ReadOneReg(0x08, &flag);
- // if(flag == 0xFF)
- //{
- // int_mark = 0;
- // }
+ wait_ms(5);
}
if(timeout == 0) {
@@ -440,25 +554,20 @@
} else {
+ ReadRangingResult(&result);
+
ret = ReadOneReg(0x0d, (uint8_t*)lsb);
ret = ReadOneReg(0x0e, (uint8_t*)lsb + 1);
-
- ret = ReadOneReg(0x18, (uint8_t*)milimeter);
- ret = ReadOneReg(0x19, (uint8_t*)milimeter + 1);
-
- ret = ReadOneReg(0x26, (uint8_t*)noise_level);
- ret = ReadOneReg(0x27, (uint8_t*)noise_level + 1);
+
+ *milimeter = result.millimeter;
+ *peak = result.peak;
+ *noise_level = result.noise;
+
+ //*ref_lsb = result.confidence;
+ *ref_lsb = result.histcnt;
+ *ref_milimeter = result.dmax;
- ret = ReadOneReg(0x28, (uint8_t*)peak );
- ret = ReadOneReg(0x29, (uint8_t*)peak + 1);
- ret = ReadOneReg(0x2a, (uint8_t*)peak + 2);
- ret = ReadOneReg(0x2b, (uint8_t*)peak + 3);
-
- }
-
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0)); //clear sc_en
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<1)); //restore power control register
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl & ~(0x01<<1)); //clear pw_ctrl_lp
+ }
return ret;
}
@@ -466,37 +575,16 @@
uint8_t ContinuousMeasure(void)
{
uint8_t ret = 0;
- uint8_t reg_pw_ctrl;
- uint8_t reg_sys_cfg;
-
- int_mark = 2;//Continuous Time Measure
-
- //ret = ReadOneReg (REG_SYS_CFG, ®_sys_cfg );
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg | (0x01<<0));
- //ret = ReadOneReg (REG_PW_CTRL, ®_pw_ctrl);
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<3)); //set otp_ld_done
- //ret = WriteOneReg(REG_PW_CTRL, (reg_pw_ctrl | (0x01<<3)) & ~(0x01<<1)); //set otp_ld_done, clear pw_ctrl_lp
- ret = WriteOneReg(REG_CMD, 0x0F);
- //ret = WriteOneReg(REG_SIZE, 0x00);
-
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0)); //clear sc_en
+
+ StartRanging();
+ continus_ranging = 1;
return ret;
}
-uint8_t RaadContinuousMeasure(uint16_t *lsb, uint16_t *milimeter, uint32_t *peak, uint16_t *noise_level)
+uint8_t RaadContinuousMeasure(uint16_t *lsb, uint16_t *milimeter, uint32_t *peak, uint16_t *noise_level, uint16_t *ref_lsb, uint16_t *ref_milimeter)
{
- uint8_t ret = 0;
- uint8_t reg_pw_ctrl;
- uint8_t reg_sys_cfg;
-
- int_mark = 2;//Continuous Time Measure
-
- //ret = ReadOneReg (REG_SYS_CFG, ®_sys_cfg );
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg | (0x01<<0));
- //ret = ReadOneReg (REG_PW_CTRL, ®_pw_ctrl);
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<3)); //set otp_ld_done
- //ret = WriteOneReg(REG_PW_CTRL, (reg_pw_ctrl | (0x01<<3)) & ~(0x01<<1)); //set otp_ld_done, clear pw_ctrl_lp
+ uint8_t ret = 0;
ret = ReadOneReg(0x0d, (uint8_t*)lsb);
ret = ReadOneReg(0x0e, (uint8_t*)lsb + 1);
@@ -504,15 +592,19 @@
ret = ReadOneReg(0x18, (uint8_t*)milimeter);
ret = ReadOneReg(0x19, (uint8_t*)milimeter + 1);
+ ret = ReadOneReg(0x20, (uint8_t*)ref_lsb);
+ ret = ReadOneReg(0x21, (uint8_t*)ref_lsb + 1);
+
+ ret = ReadOneReg(0x22, (uint8_t*)ref_milimeter);
+ ret = ReadOneReg(0x23, (uint8_t*)ref_milimeter+1);
+
ret = ReadOneReg(0x26, (uint8_t*)noise_level);
ret = ReadOneReg(0x27, (uint8_t*)noise_level + 1);
ret = ReadOneReg(0x28, (uint8_t*)peak );
ret = ReadOneReg(0x29, (uint8_t*)peak + 1);
ret = ReadOneReg(0x2a, (uint8_t*)peak + 2);
- ret = ReadOneReg(0x2b, (uint8_t*)peak + 3);
-
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0)); //clear sc_en
+ ret = ReadOneReg(0x2b, (uint8_t*)peak + 3);
return ret;
}
@@ -520,45 +612,14 @@
uint8_t StopContinuousMeasure()
{
uint8_t ret = 0;
- uint8_t reg_pw_ctrl;
- uint8_t reg_sys_cfg;
-
- int_mark = 0;//Continuous Time Measure
-
- //ret = ReadOneReg (REG_SYS_CFG, ®_sys_cfg );
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg | (0x01<<0));
- //ret = ReadOneReg (REG_PW_CTRL, ®_pw_ctrl);
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<3)); //set otp_ld_done
- //ret = WriteOneReg(REG_PW_CTRL, (reg_pw_ctrl | (0x01<<3)) & ~(0x01<<1)); //set otp_ld_done, clear pw_ctrl_lp
- ret = WriteOneReg(REG_CMD, 0x00);
- ret = WriteOneReg(REG_SIZE, 0x00);
-
- //ret = WriteOneReg(REG_SYS_CFG, reg_sys_cfg & ~(0x01<<0)); //clear sc_en
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl | (0x01<<1)); //restore power control register
- //ret = WriteOneReg(REG_PW_CTRL, reg_pw_ctrl & ~(0x01<<1)); //clear pw_ctrl_lp
+
+ continus_ranging = 0;
return ret;
}
void StoreHistogram(uint16_t histogram_pos, uint16_t histogram_num, uint8_t tdc)
{
- /*
- char file_name[20];
-
- //sprintf(file_name, "/sd/hist_%d_%d_tdc%d", histogram_pos, histogram_num, tdc);
- sprintf(file_name, "/sd/hello.txt");
-
- FILE *fp = fopen(file_name, "w");
- //for(uint32_t i = 0; i < 1024; i++) {
- // fseek(fp,0,SEEK_END);
- // fprintf(fp, "%02X ", histogram[tdc][i]);
- //}
- fprintf(fp, "hello ");
-
- fflush(fp);
- fclose(fp);
- */
-
_uart_send_pbuff[0] = histogram_pos;
_uart_send_pbuff[1] = histogram_pos >> 8;
@@ -613,9 +674,7 @@
uint8_t DelayLineTest(uint8_t phase, uint8_t* buf)
{
- uint8_t ret = 0;
- uint32_t timeout = 0;
-
+
WriteOneReg(0xE4, phase);
wait_ms(10);
@@ -623,21 +682,22 @@
WriteOneReg(0xE1, 0x61 | (step << 1));
wait_ms(10);
- timeout = 50;
- int_mark = 1;
+ //timeout = 50;
+ //int_mark = 1;
WriteOneReg(0x0A, 0x0B);
- wait_ms(10);
- while(int_mark == 1 && timeout != 0) {
- timeout--;
- wait_ms(100);
+ wait_ms(100);
+ //while(int_mark == 1 && timeout != 0) {
+ // timeout--;
+ // wait_ms(100);
+ //}
+ //wait_ms(100);
+ for(uint8_t tdc = 0; tdc < 9; tdc++) {
+ ReadOneReg(0x0c + tdc*2, buf + step*18 + tdc*2 + 1);
+ //wait_ms(1);
+ ReadOneReg(0x0c + tdc*2 + 1, buf + step*18 + tdc*2);
+ //wait_ms(1);
}
- for(uint8_t tdc = 0; tdc < 9; tdc++) {
- ret = ReadOneReg(0x0c + tdc*2, buf + step*18 + tdc*2 + 1);
- wait_ms(1);
- ret = ReadOneReg(0x0c + tdc*2 + 1, buf + step*18 + tdc*2);
- wait_ms(1);
- }
-
+ //wait_ms(100);
}
return 0;
@@ -649,20 +709,20 @@
uint32_t timeout = 0;
memset(buf, 0x00, 10);
- WriteOneReg(0x0C, 0x0C);
- WriteOneReg(0x0A, 0x0A);
+ //WriteOneReg(0x0C, 0x0C);
+ //WriteOneReg(0x0A, 0x0A);
wait_ms(1);
- timeout = 10;
+ timeout = 20;
int_mark = 1;
- WriteOneReg(0x0A, 0x0B);
+ WriteOneReg(0x0A, 0x0A);
while(int_mark == 1 && timeout != 0) {
timeout--;
wait_ms(100);
}
//osDelay(80);
- ret = ReadOneReg(0x0D, buf);
+ ret = ReadOneReg(0x0C, buf);
ret = ReadOneReg(0xE4, buf + 1);
if(ret != 0)
@@ -675,51 +735,50 @@
{
uint8_t ret = 0;
uint8_t buf[14];
-
+
memset(buf, 0x00, 14);
-
+
buf[0] |= (pd[5]&0xF);
buf[0] |= ((pd[6] << 4)&0xF0);
-
+
buf[1] |= (pd[7]&0xF);
buf[1] |= ((pd[8] << 4)&0xF0);
-
+
buf[2] |= (pd[9]&0xF);
buf[2] |= ((pd[10] << 4)&0xF0);
-
+
buf[3] |= (pd[11]&0xF);
buf[3] |= ((pd[12] << 4)&0xF0);
-
+
buf[4] |= (pd[13]&0xF);
buf[4] |= ((pd[14] << 4)&0xF0);
-
+
buf[5] |= (pd[15]&0xF);
buf[5] |= ((pd[16] << 4)&0xF0);
-
+
buf[6] |= (pd[17]&0xF);
buf[6] |= ((pd[18] << 4)&0xF0);
-
+
buf[7] |= (pd[19]&0xF);
buf[7] |= ((pd[20] << 4)&0xF0);
-
+
buf[8] = 0x00;// Fisrt 16LSB cut off
buf[9] = 0xFF;
-
+
buf[10] = 0x01;// Ref PAD switch
-
+
buf[11] = 0x1F;// TDC Resolution 1F = 31
-
+
buf[12] = 0x0C;// Length
buf[13] = 0x09;//CMD
-
- for(uint8_t i = 0; i < 12; i++)
- {
+
+ for(uint8_t i = 0; i < 12; i++) {
WriteOneReg(0x0C + i, buf[i]);
}
-
+
WriteOneReg(0x0B, 0x0C);
WriteOneReg(0x0A, 0x09);
-
+
return 0;
}
@@ -727,103 +786,99 @@
{
uint8_t ret = 0;
uint8_t value = 0, result = 0;
-
+
TRIM_EN = 1;
//==================First BAND=====================//
ChipInitReset();
- ret = WriteOneReg(0xED , 0x03);
- ret = WriteOneReg(0xEC , 0x36);
- ret = WriteOneReg(0x3D , 0xC0);
- ret = WriteOneReg(0xE8 , 0x00);
- ret = WriteOneReg(0xEA , 0x3F);
- ret = WriteOneReg(0x3D , 0xC8);
- ret = WriteOneReg(0xED , 0x83);
+ ret = WriteOneReg(0xED, 0x03);
+ ret = WriteOneReg(0xEC, 0x36);
+ ret = WriteOneReg(0x3D, 0xC0);
+ ret = WriteOneReg(0xE8, 0x00);
+ ret = WriteOneReg(0xEA, 0x3F);
+ ret = WriteOneReg(0x3D, 0xC8);
+ ret = WriteOneReg(0xED, 0x83);
wait_ms(1000);
ret = ReadOneReg(0xFA, &value);
ret = ReadOneReg(0xFB, &result);
- if((result&0xC0) == 0xC0)
- {
+ if((result&0xC0) == 0xC0) {
*rco = value;
- ChipInitReset();
- TRIM_EN = 0;
+ ChipInitReset();
+ TRIM_EN = 0;
return 0;
}
//==================Second BAND=====================//
ChipInitReset();
- ret = WriteOneReg(0xED , 0x03);
- ret = WriteOneReg(0xEC , 0x36);
- ret = WriteOneReg(0x3D , 0xC0);
- ret = WriteOneReg(0xE8 , 0x00);
- ret = WriteOneReg(0xEA , 0x7F);
- ret = WriteOneReg(0xEB , 0x40);
- ret = WriteOneReg(0x3D , 0xC8);
- ret = WriteOneReg(0xED , 0x83);
+ ret = WriteOneReg(0xED, 0x03);
+ ret = WriteOneReg(0xEC, 0x36);
+ ret = WriteOneReg(0x3D, 0xC0);
+ ret = WriteOneReg(0xE8, 0x00);
+ ret = WriteOneReg(0xEA, 0x7F);
+ ret = WriteOneReg(0xEB, 0x40);
+ ret = WriteOneReg(0x3D, 0xC8);
+ ret = WriteOneReg(0xED, 0x83);
wait_ms(1000);
ret = ReadOneReg(0xFA, &value);
ret = ReadOneReg(0xFB, &result);
- if((result&0xC0) == 0xC0)
- {
+ if((result&0xC0) == 0xC0) {
*rco = value;
- ChipInitReset();
- TRIM_EN = 0;
+ ChipInitReset();
+ TRIM_EN = 0;
return 0;
- }
+ }
//==================Third BAND=====================//
ChipInitReset();
- ret = WriteOneReg(0xED , 0x03);
- ret = WriteOneReg(0xEC , 0x36);
- ret = WriteOneReg(0x3D , 0xC0);
- ret = WriteOneReg(0xE8 , 0x00);
- ret = WriteOneReg(0xEA , 0xBF);
- ret = WriteOneReg(0xEB , 0x80);
- ret = WriteOneReg(0x3D , 0xC8);
- ret = WriteOneReg(0xED , 0x83);
+ ret = WriteOneReg(0xED, 0x03);
+ ret = WriteOneReg(0xEC, 0x36);
+ ret = WriteOneReg(0x3D, 0xC0);
+ ret = WriteOneReg(0xE8, 0x00);
+ ret = WriteOneReg(0xEA, 0xBF);
+ ret = WriteOneReg(0xEB, 0x80);
+ ret = WriteOneReg(0x3D, 0xC8);
+ ret = WriteOneReg(0xED, 0x83);
wait_ms(1000);
ret = ReadOneReg(0xFA, &value);
ret = ReadOneReg(0xFB, &result);
- if((result&0xC0) == 0xC0)
- {
+ if((result&0xC0) == 0xC0) {
*rco = value;
- ChipInitReset();
- TRIM_EN = 0;
+ ChipInitReset();
+ TRIM_EN = 0;
return 0;
- }
+ }
//==================Fourth BAND=====================//
ChipInitReset();
- ret = WriteOneReg(0xED , 0x03);
- ret = WriteOneReg(0xEC , 0x36);
- ret = WriteOneReg(0x3D , 0xC0);
- ret = WriteOneReg(0xE8 , 0x00);
- ret = WriteOneReg(0xEA , 0xFF);
- ret = WriteOneReg(0xEB , 0xC0);
- ret = WriteOneReg(0x3D , 0xC8);
- ret = WriteOneReg(0xED , 0x83);
+ ret = WriteOneReg(0xED, 0x03);
+ ret = WriteOneReg(0xEC, 0x36);
+ ret = WriteOneReg(0x3D, 0xC0);
+ ret = WriteOneReg(0xE8, 0x00);
+ ret = WriteOneReg(0xEA, 0xFF);
+ ret = WriteOneReg(0xEB, 0xC0);
+ ret = WriteOneReg(0x3D, 0xC8);
+ ret = WriteOneReg(0xED, 0x83);
wait_ms(1000);
ret = ReadOneReg(0xFA, &value);
ret = ReadOneReg(0xFB, &result);
- if((result&0xC0) == 0xC0)
- {
+ if((result&0xC0) == 0xC0) {
*rco = value;
- ChipInitReset();
- TRIM_EN = 0;
+ ChipInitReset();
+ TRIM_EN = 0;
return 0;
- }
+ }
ChipInitReset();
TRIM_EN = 0;
@@ -834,8 +889,8 @@
{
uint8_t ret = 0;
uint32_t timeout = 0;
-
- WriteOneReg(0xC0, 0x00);
+
+ WriteOneReg(0xC0, 0x00);
wait_ms(1);
timeout = 600;
@@ -845,8 +900,8 @@
timeout--;
wait_ms(100);
}
- //osDelay(80);
-
+ //osDelay(80);
+
ret = ReadOneReg(0xC0, bvd);
if(timeout == 0)
@@ -857,12 +912,301 @@
uint8_t Pixel_Enable(uint8_t *buf)
{
- for(uint8_t i = 0; i < 18; i++)
+ for(uint8_t i = 0; i < 18; i++) {
+ WriteOneReg(0xC2 + i, buf[i]);
+ }
+
+ return 0;
+}
+
+uint8_t MP_Measure(uint8_t mp, uint16_t *mp_tof, uint32_t* mp_peak)
+{
+ uint8_t ret = 0;
+ uint16_t lsb, mili, ref_lsb, ref_mili, noise_level;
+ uint32_t peak;
+
+ uint32_t total_peak = 0, total_tof = 0;
+
+ switch(mp)
{
- WriteOneReg(0xC2 + i, buf[i]);
+ case 0:
+ case 1:
+ case 4:
+ case 5:
+ WriteOneReg(0xD7, 0x00);
+ Pixel_Enable(pixel_map[mp]);
+ for(uint8_t j = 0; j < 16; j++)
+ {
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);//////
+ if(ret != 0)
+ {
+ return 1;
+ }
+
+ total_peak += peak;
+ total_tof += mili;
+ }
+
+ *mp_tof = total_tof / 16;
+ *mp_peak = total_peak / 16;
+ break;
+
+ case 2:
+ case 3:
+ case 6:
+ case 7:
+ WriteOneReg(0xD7, 0x01);
+ Pixel_Enable(pixel_map[mp]);
+ for(uint8_t j = 0; j < 16; j++)
+ {
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);//////
+ if(ret != 0)
+ {
+ return 1;
+ }
+
+ total_peak += peak;
+ total_tof += mili;
+ }
+
+ *mp_tof = total_tof / 16;
+ *mp_peak = total_peak / 16;
+ break;
+
+ case 8:
+ case 9:
+ case 12:
+ case 13:
+ WriteOneReg(0xD7, 0x02);
+ Pixel_Enable(pixel_map[mp]);
+ for(uint8_t j = 0; j < 16; j++)
+ {
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);//////
+ if(ret != 0)
+ {
+ return 1;
+ }
+
+ total_peak += peak;
+ total_tof += mili;
+ }
+
+ *mp_tof = total_tof / 16;
+ *mp_peak = total_peak / 16;
+ break;
+
+ case 10:
+ case 11:
+ case 14:
+ case 15:
+ WriteOneReg(0xD7, 0x03);
+ Pixel_Enable(pixel_map[mp]);
+ for(uint8_t j = 0; j < 16; j++)
+ {
+ ret = OneTimeMeasure(&lsb, &mili, &peak, &noise_level, &ref_lsb, &ref_mili);//////
+ if(ret != 0)
+ {
+ return 1;
+ }
+
+ total_peak += peak;
+ total_tof += mili;
+ }
+
+ *mp_tof = total_tof / 16;
+ *mp_peak = total_peak / 16;
+ break;
}
return 0;
}
+uint8_t MP_Slect(uint8_t *buf)
+{
+ uint32_t sum3x3[4];
+ uint32_t tmp = 0;
+
+ uint16_t tof;
+ uint32_t peak;
+
+ uint32_t tof_buf[16], peak_buf[16];
+
+ for(uint8_t i = 0; i < 16; i++)
+ {
+ MP_Measure(i, &tof, &peak);
+ tof_buf[i] = tof;
+ peak_buf[i] = peak;
+ }
+
+ sum3x3[0] = peak_buf[0] + peak_buf[1] + peak_buf[2]
+ + peak_buf[4] + peak_buf[5] + peak_buf[6]
+ + peak_buf[8] + peak_buf[9] + peak_buf[10];
+
+ sum3x3[1] = peak_buf[1] + peak_buf[2] + peak_buf[3]
+ + peak_buf[5] + peak_buf[6] + peak_buf[7]
+ + peak_buf[9] + peak_buf[10] + peak_buf[11];
+
+ sum3x3[2] = peak_buf[4] + peak_buf[5] + peak_buf[6]
+ + peak_buf[8] + peak_buf[9] + peak_buf[10]
+ + peak_buf[12] + peak_buf[13] + peak_buf[14];
+
+ sum3x3[3] = peak_buf[5] + peak_buf[6] + peak_buf[7]
+ + peak_buf[9] + peak_buf[10] + peak_buf[11]
+ + peak_buf[13] + peak_buf[14] + peak_buf[15];
+
+ for(uint8_t j = 0; j < 4; j++)
+ {
+ if(sum3x3[j] >= tmp)
+ {
+ tmp = sum3x3[j];
+ buf[0] = j;
+ }
+ }
+
+ for(uint8_t k = 0; k < 16; k++)
+ {
+ memcpy(&buf[1+k*8], &tof_buf[k], 4);
+ memcpy(&buf[1+k*8 + 4], &peak_buf[k], 4);
+ }
+
+ return 0;
+}
+uint8_t OTP_WritePart(uint8_t base, uint8_t len, uint8_t *buf)
+{
+ uint32_t timeout = 0;
+ uint8_t flag = 0;
+
+ if(len > 29)
+ return 2;
+
+ WriteOneReg(0x0C, 0x02);
+ WriteOneReg(0x0D, len);
+ WriteOneReg(0x0E, base);
+
+ for(uint8_t i = 0; i < len; i++)
+ {
+ WriteOneReg(0x0F + i, buf[i]);
+ }
+
+ timeout = 2000;
+ WriteOneReg(0x08, 0x00);
+ WriteOneReg(0x0A, 0x09);
+ while(timeout != 0) {
+ timeout--;
+ wait_ms(1);
+ ReadOneReg(0x08, &flag);
+ if(flag == 0xFF)
+ {
+ break;
+ }
+ }
+ if(timeout == 0)
+ {
+ return 1;
+ }
+
+ HIGH_EN = 1;
+ timeout = 1000;
+ while(timeout != 0) {
+ timeout--;
+ wait_ms(1);
+ ReadOneReg(0x08, &flag);
+ if(flag == 0x00)
+ {
+ break;
+ }
+ }
+ HIGH_EN = 0;
+ if(timeout == 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+uint8_t OTP_Write(uint8_t *buf)
+{
+ uint8_t i = 0;
+ uint8_t ret = 0;
+ uint8_t base = buf[0];
+ uint8_t len = buf[1];
+
+ while(len > 29)
+ {
+ ret = OTP_WritePart(base + i*29, 29, &buf[2 + i*29]);
+ if(ret != 0)
+ {
+ return ret;
+ }
+ len -= 29;
+ i++;
+
+ wait_ms(1000);
+ }
+ if(len > 0)
+ {
+ ret = OTP_WritePart(base + i*29, len, &buf[2 + i*29]);
+ if(ret != 0)
+ {
+ return ret;
+ }
+ }
+
+ return 0;
+}
+
+uint8_t OTP_ReadPart(uint8_t base, uint8_t len, uint8_t* out)
+{
+ if(len > 29)
+ return 2;
+
+ WriteOneReg(0x0C, 0x03);
+ WriteOneReg(0x0D, len);
+ WriteOneReg(0x0E, base);
+ WriteOneReg(0x0A, 0x09);
+
+ wait_ms(100);
+
+ for(uint8_t i = 0; i < len; i++)
+ {
+ ReadOneReg(0x0F + i, &out[i]);
+ }
+
+ return 0;
+}
+
+uint8_t OTP_Read(uint8_t* in, uint8_t* out)
+{
+ uint8_t ret = 0;
+ uint8_t i = 0;
+
+ uint8_t base = in[0];
+ uint8_t len = in[1];
+
+ while(len > 29)
+ {
+ ret = OTP_ReadPart(base + i*29, 29, &out[2 + i*29]);
+ if(ret != 0)
+ {
+ return ret;
+ }
+ len -= 29;
+ i++;
+ }
+ if(len > 0)
+ {
+ ret = OTP_ReadPart(base + i*29, len, &out[2 + i*29]);
+ if(ret != 0)
+ {
+ return ret;
+ }
+ }
+
+ out[0] = base;
+ out[1] = len;
+
+ return 0;
+}
+