From a6bed10c3a87f9b3517904de9c004d5cba82219e Mon Sep 17 00:00:00 2001
From: SEEKFREE_BUDING <2289331269@qq.com>
Date: Wed, 28 Dec 2022 18:45:21 +0800
Subject: [PATCH] =?UTF-8?q?V3.1.4=20=20=20=20=20=20=20=20=20=E5=A2=9E?=
=?UTF-8?q?=E5=8A=A0DL1A=E6=B5=8B=E8=B7=9D=E6=A8=A1=E5=9D=97=E7=9B=B8?=
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---
.../E01_gpio_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E02_uart_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E03_adc_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E04_pwm_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E05_pit_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E06_exit_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E08_eeprom_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../E09_timer_demo/libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
.../libraries/doc/version.txt | 2 +
.../libraries/zf_common/zf_common_headfile.h | 1 +
.../libraries/zf_device/zf_device_dl1a.c | 752 ++++++++++++++++++
.../libraries/zf_device/zf_device_dl1a.h | 199 +++++
60 files changed, 14310 insertions(+)
create mode 100644 Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.h
create mode 100644 Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.c
create mode 100644 Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.h
diff --git a/Example/E01_gpio_demo/libraries/doc/version.txt b/Example/E01_gpio_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E01_gpio_demo/libraries/doc/version.txt
+++ b/Example/E01_gpio_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E01_gpio_demo/libraries/zf_common/zf_common_headfile.h b/Example/E01_gpio_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E01_gpio_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E01_gpio_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E01_gpio_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E02_uart_demo/libraries/doc/version.txt b/Example/E02_uart_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E02_uart_demo/libraries/doc/version.txt
+++ b/Example/E02_uart_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E02_uart_demo/libraries/zf_common/zf_common_headfile.h b/Example/E02_uart_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E02_uart_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E02_uart_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E02_uart_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E03_adc_demo/libraries/doc/version.txt b/Example/E03_adc_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E03_adc_demo/libraries/doc/version.txt
+++ b/Example/E03_adc_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E03_adc_demo/libraries/zf_common/zf_common_headfile.h b/Example/E03_adc_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E03_adc_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E03_adc_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E03_adc_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E04_pwm_demo/libraries/doc/version.txt b/Example/E04_pwm_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E04_pwm_demo/libraries/doc/version.txt
+++ b/Example/E04_pwm_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E04_pwm_demo/libraries/zf_common/zf_common_headfile.h b/Example/E04_pwm_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E04_pwm_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E04_pwm_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E04_pwm_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E05_pit_demo/libraries/doc/version.txt b/Example/E05_pit_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E05_pit_demo/libraries/doc/version.txt
+++ b/Example/E05_pit_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E05_pit_demo/libraries/zf_common/zf_common_headfile.h b/Example/E05_pit_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E05_pit_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E05_pit_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E05_pit_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E06_exit_demo/libraries/doc/version.txt b/Example/E06_exit_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E06_exit_demo/libraries/doc/version.txt
+++ b/Example/E06_exit_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E06_exit_demo/libraries/zf_common/zf_common_headfile.h b/Example/E06_exit_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E06_exit_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E06_exit_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E06_exit_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E07_encoder_demo/libraries/doc/version.txt b/Example/E07_encoder_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E07_encoder_demo/libraries/doc/version.txt
+++ b/Example/E07_encoder_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E07_encoder_demo/libraries/zf_common/zf_common_headfile.h b/Example/E07_encoder_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E07_encoder_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E07_encoder_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E07_encoder_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E08_eeprom_demo/libraries/doc/version.txt b/Example/E08_eeprom_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E08_eeprom_demo/libraries/doc/version.txt
+++ b/Example/E08_eeprom_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E08_eeprom_demo/libraries/zf_common/zf_common_headfile.h b/Example/E08_eeprom_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E08_eeprom_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E08_eeprom_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E08_eeprom_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E09_timer_demo/libraries/doc/version.txt b/Example/E09_timer_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E09_timer_demo/libraries/doc/version.txt
+++ b/Example/E09_timer_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E09_timer_demo/libraries/zf_common/zf_common_headfile.h b/Example/E09_timer_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E09_timer_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E09_timer_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E09_timer_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E10_printf_debug_log_demo/libraries/doc/version.txt b/Example/E10_printf_debug_log_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E10_printf_debug_log_demo/libraries/doc/version.txt
+++ b/Example/E10_printf_debug_log_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E10_printf_debug_log_demo/libraries/zf_common/zf_common_headfile.h b/Example/E10_printf_debug_log_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E10_printf_debug_log_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E10_printf_debug_log_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E11_interrupt_priority_set_demo/libraries/doc/version.txt b/Example/E11_interrupt_priority_set_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E11_interrupt_priority_set_demo/libraries/doc/version.txt
+++ b/Example/E11_interrupt_priority_set_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E11_interrupt_priority_set_demo/libraries/zf_common/zf_common_headfile.h b/Example/E11_interrupt_priority_set_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E11_interrupt_priority_set_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E11_interrupt_priority_set_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E12_cpu1_handles_interrupts_demo/libraries/doc/version.txt b/Example/E12_cpu1_handles_interrupts_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E12_cpu1_handles_interrupts_demo/libraries/doc/version.txt
+++ b/Example/E12_cpu1_handles_interrupts_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_common/zf_common_headfile.h b/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E12_cpu1_handles_interrupts_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E13_dual_core_demo/libraries/doc/version.txt b/Example/E13_dual_core_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E13_dual_core_demo/libraries/doc/version.txt
+++ b/Example/E13_dual_core_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E13_dual_core_demo/libraries/zf_common/zf_common_headfile.h b/Example/E13_dual_core_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E13_dual_core_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E13_dual_core_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E13_dual_core_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Example/E14_specifies_variable_or_code_location_demo/libraries/doc/version.txt b/Example/E14_specifies_variable_or_code_location_demo/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Example/E14_specifies_variable_or_code_location_demo/libraries/doc/version.txt
+++ b/Example/E14_specifies_variable_or_code_location_demo/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_common/zf_common_headfile.h b/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_common/zf_common_headfile.h
+++ b/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.c b/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.h b/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Example/E14_specifies_variable_or_code_location_demo/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+
diff --git a/Seekfree_TC264_Opensource_Library/libraries/doc/version.txt b/Seekfree_TC264_Opensource_Library/libraries/doc/version.txt
index 91a20be..aad1a9b 100644
--- a/Seekfree_TC264_Opensource_Library/libraries/doc/version.txt
+++ b/Seekfree_TC264_Opensource_Library/libraries/doc/version.txt
@@ -1,3 +1,5 @@
+V3.1.4
+ 增加DL1A测距模块相关驱动文件
V3.1.3
修复部分注释以及使用示例错误的问题
V3.1.2
diff --git a/Seekfree_TC264_Opensource_Library/libraries/zf_common/zf_common_headfile.h b/Seekfree_TC264_Opensource_Library/libraries/zf_common/zf_common_headfile.h
index 668fcf5..4e7194f 100644
--- a/Seekfree_TC264_Opensource_Library/libraries/zf_common/zf_common_headfile.h
+++ b/Seekfree_TC264_Opensource_Library/libraries/zf_common/zf_common_headfile.h
@@ -83,6 +83,7 @@
#include "zf_device_bluetooth_ch9141.h"
#include "zf_device_gps_tau1201.h"
#include "zf_device_camera.h"
+#include "zf_device_dl1a.h"
#include "zf_device_icm20602.h"
#include "zf_device_imu660ra.h"
#include "zf_device_imu963ra.h"
diff --git a/Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.c b/Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.c
new file mode 100644
index 0000000..e5477ed
--- /dev/null
+++ b/Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.c
@@ -0,0 +1,752 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* 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"
+
+uint8 dl1a_finsh_flag;
+uint16 dl1a_distance_mm;
+
+#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(tmp == 0x00 || tmp == 0xFF)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(0x83, &tmp, 1);
+ if(loop_count++ > DL1A_TIMEOUT_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 (timeout_mclks > 0)
+ {
+ // 格式: (LSByte * 2 ^ MSByte) + 1
+ ls_byte = timeout_mclks - 1;
+ while ((ls_byte & 0xFFFFFF00) > 0)
+ {
+ 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 (type == DL1A_VCSEL_PERIOD_PER_RANGE)
+ {
+ dl1a_read_registers(DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD, &data_buffer, 1);
+ data_buffer = decode_vcsel_period(data_buffer);
+ }
+ else if (type == DL1A_VCSEL_PERIOD_FINAL_RANGE)
+ {
+ 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 ((data_buffer & 0x07) == 0)
+ {
+ system_delay_ms(1);
+ dl1a_read_registers(DL1A_MSRC_CONFIG_TIMEOUT_MACROP, &data_buffer, 1);
+ if (loop_count ++ > DL1A_TIMEOUT_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 (budget_us < DL1A_MIN_TIMING_BUDGET)
+ {
+ 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(limit_mcps >= 0 || limit_mcps <= 511.99);
+ uint8 data_buffer[3];
+ uint16 limit_mcps_16bit = (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)
+{
+ uint8 reg_databuffer[3];
+
+ dl1a_read_registers(DL1A_RESULT_INTERRUPT_STATUS, reg_databuffer, 1);
+ if((reg_databuffer[0] & 0x07) != 0)
+ {
+ // 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 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;
+ uint8 return_state = 0;
+ uint8 reg_data_buffer ;
+ uint8 ref_spad_map[6];
+ uint8 data_buffer[7];
+
+ 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_XSHUT_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL);
+
+ do
+ {
+ system_delay_ms(100);
+ gpio_low(DL1A_XSHUT_PIN);
+ system_delay_ms(50);
+ gpio_high(DL1A_XSHUT_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 (uint8 i = 0; i < 48; 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(uint8 i = 1; i < 7; 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);
+ }while(0);
+
+ return return_state;
+}
diff --git a/Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.h b/Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.h
new file mode 100644
index 0000000..bc834bb
--- /dev/null
+++ b/Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_dl1a.h
@@ -0,0 +1,199 @@
+/*********************************************************************************************************************
+* TC264 Opensourec Library 即（TC264 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 TC264 开源库的一部分
+*
+* TC264 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 ADS v1.8.0
+* 适用平台 TC264D
+* 店铺链接 https://seekfree.taobao.com/
+*
+* 修改记录
+* 日期 作者 备注
+* 2022-09-15 pudding 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
+* VCC 5V 电源
+* GND 电源地
+* ------------------------------------
+* ------------------------------------
+********************************************************************************************************************/
+
+#ifndef _ZF_DEVICE_DL1A_H_
+#define _ZF_DEVICE_DL1A_H_
+
+#include "zf_common_typedef.h"
+
+
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+// 需要注意的是 DL1A 最高支持 400KHz 的 IIC 通信速率
+
+#define DL1A_USE_SOFT_IIC (1) // 默认使用软件 IIC 方式驱动 建议使用软件 IIC 方式
+#if DL1A_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
+//====================================================软件 IIC 驱动====================================================
+#define DL1A_SOFT_IIC_DELAY (100) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
+#define DL1A_SCL_PIN (P33_4) // 软件 IIC SCL 引脚 连接 VL53L0X 的 SCL 引脚
+#define DL1A_SDA_PIN (P33_5) // 软件 IIC SDA 引脚 连接 VL53L0X 的 SDA 引脚
+//====================================================软件 IIC 驱动====================================================
+#else
+#error "暂不支持硬件IIC通讯"
+#endif
+
+#define DL1A_XSHUT_PIN (P20_10)
+#define DL1A_TIMEOUT_COUNT (0x00FF) // VL53L0X 超时计数
+
+//================================================定义 DL1A 内部地址================================================
+#define DL1A_DEV_ADDR (0x52 >> 1) // 0b0101001
+
+#define DL1A_SYSRANGE_START (0x00)
+
+#define DL1A_SYSTEM_SEQUENCE_CONFIG (0x01)
+#define DL1A_SYSTEM_INTERMEASUREMENT_PERIOD (0x04)
+#define DL1A_SYSTEM_RANGE_CONFIG (0x09)
+#define DL1A_SYSTEM_INTERRUPT_GPIO_CONFIG (0x0A)
+#define DL1A_SYSTEM_INTERRUPT_CLEAR (0x0B)
+#define DL1A_SYSTEM_THRESH_HIGH (0x0C)
+#define DL1A_SYSTEM_THRESH_LOW (0x0E)
+#define DL1A_SYSTEM_HISTOGRAM_BIN (0x81)
+
+#define DL1A_RESULT_INTERRUPT_STATUS (0x13)
+#define DL1A_RESULT_RANGE_STATUS (0x14)
+#define DL1A_RESULT_PEAK_SIGNAL_RATE_REF (0xB6)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN (0xBC)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN (0xC0)
+#define DL1A_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF (0xD0)
+#define DL1A_RESULT_CORE_RANGING_TOTAL_EVENTS_REF (0xD4)
+
+#define DL1A_PRE_RANGE_CONFIG_MIN_SNR (0x27)
+#define DL1A_PRE_RANGE_CONFIG_VCSEL_PERIOD (0x50)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x51)
+#define DL1A_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x52)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_LOW (0x56)
+#define DL1A_PRE_RANGE_CONFIG_VALID_PHASE_HIGH (0x57)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_HI (0x61)
+#define DL1A_PRE_RANGE_CONFIG_SIGMA_THRESH_LO (0x62)
+#define DL1A_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT (0x64)
+
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_LOW (0x47)
+#define DL1A_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH (0x48)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT (0x44)
+#define DL1A_FINAL_RANGE_CONFIG_MIN_SNR (0x67)
+#define DL1A_FINAL_RANGE_CONFIG_VCSEL_PERIOD (0x70)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI (0x71)
+#define DL1A_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO (0x72)
+
+#define DL1A_GLOBAL_CONFIG_VCSEL_WIDTH (0x32)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 (0xB0)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 (0xB1)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 (0xB2)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 (0xB3)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 (0xB4)
+#define DL1A_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 (0xB5)
+#define DL1A_GLOBAL_CONFIG_REF_EN_START_SELECT (0xB6)
+
+#define DL1A_ALGO_PART_TO_PART_RANGE_OFFSET_MM (0x28)
+#define DL1A_ALGO_PHASECAL_LIM (0x30)
+#define DL1A_ALGO_PHASECAL_CONFIG_TIMEOUT (0x30)
+
+#define DL1A_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT (0x33)
+#define DL1A_HISTOGRAM_CONFIG_READOUT_CTRL (0x55)
+
+#define DL1A_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD (0x4E)
+#define DL1A_DYNAMIC_SPAD_REF_EN_START_OFFSET (0x4F)
+
+#define DL1A_MSRC_CONFIG_TIMEOUT_MACROP (0x46)
+#define DL1A_MSRC_CONFIG (0x60)
+
+#define DL1A_IDENTIFICATION_MODEL_ID (0xC0)
+#define DL1A_IDENTIFICATION_REVISION_ID (0xC2)
+
+#define DL1A_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS (0x20)
+
+#define DL1A_POWER_MANAGEMENT_GO1_POWER_FORCE (0x80)
+
+#define DL1A_GPIO_HV_MUX_ACTIVE_HIGH (0x84)
+
+#define DL1A_I2C_SLAVE_DEVICE_ADDRESS (0x8A)
+
+#define DL1A_SOFT_RESET_GO2_SOFT_RESET_N (0xBF)
+
+#define DL1A_OSC_CALIBRATE_VAL (0xF8)
+
+#define DL1A_IO_VOLTAGE_CONFIG (0x89) // IO 电压设置寄存器地址 默认 1V8 使用修改为 2V8
+
+//================================================定义 DL1A 内部地址================================================
+
+#define DL1A_MIN_TIMING_BUDGET (20000)
+
+#define DL1A_GET_START_OVERHEAD (1910)
+#define DL1A_SET_START_OVERHEAD (1320)
+#define DL1A_END_OVERHEAD (960 )
+#define DL1A_TCC_OVERHEAD (590 )
+#define DL1A_DSS_OVERHEAD (690 )
+#define DL1A_MSRC_OVERHEAD (660 )
+#define DL1A_PRERANGE_OVERHEAD (660 )
+#define DL1A_FINALlRANGE_OVERHEAD (550 )
+
+typedef enum
+{
+ DL1A_VCSEL_PERIOD_PER_RANGE,
+ DL1A_VCSEL_PERIOD_FINAL_RANGE,
+}dl1a_vcsel_period_type_enum;
+
+typedef struct
+{
+ uint8 tcc;
+ uint8 msrc;
+ uint8 dss;
+ uint8 pre_range;
+ uint8 final_range;
+}dl1a_sequence_enables_step_struct;
+
+typedef struct
+{
+ uint16 pre_range_vcsel_period_pclks;
+ uint16 final_range_vcsel_period_pclks;
+
+ uint16 msrc_dss_tcc_mclks;
+ uint16 pre_range_mclks;
+ uint16 final_range_mclks;
+ uint32 msrc_dss_tcc_us;
+ uint32 pre_range_us;
+ uint32 final_range_us;
+}dl1a_sequence_timeout_step_struct;
+
+extern uint8 dl1a_finsh_flag;
+extern uint16 dl1a_distance_mm;
+
+void dl1a_get_distance (void);
+
+uint8 dl1a_init (void);
+
+#endif
+