TMF8801激光测距芯片驱动程序

TMF8801激光测距芯片驱动程序

一、芯片介绍

TMF8801是2019年艾迈斯半导体推出的用于测量直接飞行时间(dToF)距离的集成式模块,号称全球体积最小(表示怀疑,不过体积确实非常小)。这个传感器可以精准测量0.02m至2.5m范围,我实际测试在较亮的环境下能达到2.4m(我站在2.4m的位置,1s检测一次,测试了几分钟,大概有百分五十的概率能检测到),暗环境下能够测量到2.5m,2m以内基本都能检测到。相比于我们熟知的VL53L0X测距模块,测量距离和精度确实要好很多。关于芯片的介绍我就不多说了,感兴趣的同学可以去查一下。

二、引脚定义

TMF8801激光测距芯片驱动程序_第1张图片

引脚号 引脚名称 信号类型 描述
1 VCCD 电源 供电电压3V;接一个0.1uF电容到地
2 GNDC 电源负极
3 GPIO0 IO 通用IO口,如果不用,请保持开路
4 INT 输出 中断输出,如果不用,请接到地
5 SCL 输入 IIC时钟引脚
6 SDA IO IIC数据引脚
7 VDD 电源 供电电压3V;接一个0.1uF电容到地
8 GND 电源负极
9 EN 输入 启用输入有效高电平;设置为低电平强制器件关闭,所有内存内容都会丢失;如果未使用,则连接至VDD
10 GPIO1 IO 通用IO口,如果不用,请保持开路
11 GNDV 电源负极
12 VDDV 电源 供电电压3V;接一个0.1uF电容到地

三、驱动流程

1、IIC引脚初始化
2、模块初始化

1)复位(寄存器地址:0xE0)
2)初始化下载 HW(寄存器地址:0x08)
3)设置写 RAM 地址(寄存器首地址:0x08)
4)写 RAM数据(寄存器首地址:0x08)
5)重映射 RAM 到地址 0 并复位
6)获取 TMF8801 信息
6.1)读取APP0 主版本号(寄存器地址:0x01)
6.2)读取次版本号和修订版本号(寄存器地址:0x12)
6.3)读取芯片修订 ID(寄存器地址:0xE4)
6.4)生成序列号(寄存器地址:0x10)
6.5)读取序列号(寄存器地址:0x1E)
7)使能检测中断
3、配置APP0
写入校准数据(寄存器地址:0x20)
4、检测中断
5、获取结果

四、驱动程序

驱动的程序我这里以stm32的为例
1、IIC驱动部分(用IO口模拟IIC时序)

#include "tmf8801_iic.h"
#include "math.h"

#define TMF8001_Address                  0x82//器件地址

/*********************************************************
 * 名称: iic_delay_us
 * 功能: 用于IIC通讯延时
 * 形参: 无        
 * 返回: 无
 * 说明: 直接用软件延时,延时的时间和主频有关,如要移植到别的单片机
 * 	    可能需要修改i的次数以确保延时时间足够
 *********************************************************/
void iic_delay_us(u8 time)
{
	u8 i;
  	while(time --)
	{	
		for(i=0;i<6;i++);
	}
}

/*********************************************************
 * 名称: TMF8001_I2C_Init
 * 功能: I2C引脚初始化
 * 形参: 无        
 * 返回: 无
 * 说明: 无  
 *********************************************************/
void TMF8001_I2C_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	
	RCC_APB2PeriphClockCmd(TMF8001_I2C_RCC, ENABLE);	
	   
	GPIO_InitStructure.GPIO_Pin = TMF8001_I2C_SCL_PIN | TMF8001_I2C_SDA_PIN;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP ;  
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(TMF8001_I2C_PORT, &GPIO_InitStructure);
	
	TMF8001_I2C_SCL_HIGHT;
	TMF8001_I2C_SDA_HIGHT;
}

/*********************************************************
 * 名称: TMF8001_I2C_Start
 * 功能: 模拟I2C的起始条件
 * 形参: 无        
 * 返回: 无
 * 说明: 标准的I2C协议I2C起始条件:SCL为高时,SDA由高变低             
 *********************************************************/
void TMF8001_I2C_Start(void)
{
    TMF8001_I2C_SDA_Out;
    TMF8001_I2C_SCL_HIGHT;
    TMF8001_I2C_SDA_HIGHT;
    iic_delay_us(4);
    TMF8001_I2C_SDA_LOW;
    //标准的I2C协议I2C起始条件:SCL为高时,SDA由高变低
    iic_delay_us(4);
    TMF8001_I2C_SCL_LOW;//钳住I2C总线,准备发送或接收数据 
}

/*********************************************************
 * 名称: TMF8001_I2C_Stop
 * 功能: 模拟I2C的停止条件
 * 形参: 无        
 * 返回: 无
 * 说明: 标准的I2C协议I2C停止条件:SCL为高时,SDA由低变高             
 *********************************************************/
void TMF8001_I2C_Stop(void)
{
    TMF8001_I2C_SDA_Out;
    TMF8001_I2C_SCL_LOW;
    TMF8001_I2C_SDA_LOW;
    iic_delay_us(4);
    TMF8001_I2C_SCL_HIGHT;
    TMF8001_I2C_SDA_HIGHT;
    iic_delay_us(4);
}

/*********************************************************
 * 名称: TMF8001_I2C_Wait_Ack
 * 功能: 等待应答信号
 * 形参: 无        
 * 返回: 0:接收成功 1:接收失败
 * 说明: 无       
 *********************************************************/
u8 TMF8001_I2C_Wait_Ack(void)
{
	u8 ucErrTime=0;
	TMF8001_I2C_SDA_In;
	TMF8001_I2C_SDA_HIGHT;
	iic_delay_us(4);	   
	TMF8001_I2C_SCL_HIGHT;
	iic_delay_us(4);	 
	while(Get_TMF8001_I2C_SDA)
	{
		ucErrTime ++;
		if(ucErrTime > 250)
		{
			TMF8001_I2C_Stop();
			return 1;
		}
	}
	TMF8001_I2C_SCL_LOW;
	return 0;
}

/*********************************************************
 * 名称: TMF8001_I2C_Ack
 * 功能: 模拟I2C的应答
 * 形参: 无        
 * 返回: 无
 * 说明: 根据标准的I2C协议,从I2C从器件读1个byte后
         也就是在第9个CLK的时候,I2C主设备的SDA要变低
         表示I2C主器件已经接收完一个字节byte,I2C从器件
         继续发送数据              
 *********************************************************/
void TMF8001_I2C_Ack(void)
{
    TMF8001_I2C_SCL_LOW;
    TMF8001_I2C_SDA_Out;
    TMF8001_I2C_SDA_LOW;
    iic_delay_us(4);
    TMF8001_I2C_SCL_HIGHT;
    iic_delay_us(4);
    TMF8001_I2C_SCL_LOW;
}

/*********************************************************
 * 名称: TMF8001_I2C_NAck
 * 功能: 模拟I2C的不应答
 * 形参: 无        
 * 返回: 无
 * 说明:            
 *********************************************************/
void TMF8001_I2C_NAck(void)
{
    TMF8001_I2C_SCL_LOW;
    TMF8001_I2C_SDA_Out;
    TMF8001_I2C_SDA_HIGHT;
    iic_delay_us(4);
    TMF8001_I2C_SCL_HIGHT;
    iic_delay_us(4);
    TMF8001_I2C_SCL_LOW;
}

/*********************************************************
 * 名称: TMF8001_I2C_Send_Byte
 * 功能: 模拟I2C发送一个字节
 * 形参: Byte        
 * 返回: 无
 * 说明:              
 *********************************************************/
void TMF8001_I2C_Send_Byte(u8 Byte)
{
    u8 bit;
    TMF8001_I2C_SDA_Out;
    TMF8001_I2C_SCL_LOW;
    for(bit=0;bit<8;bit++)
    {
        if((Byte&0x80)>>7)
        {
            TMF8001_I2C_SDA_HIGHT;
        }
        else 
        {
            TMF8001_I2C_SDA_LOW;
        }
        Byte<<=1;
        //iic_delay_us(4);
        TMF8001_I2C_SCL_HIGHT;
        iic_delay_us(4);
        TMF8001_I2C_SCL_LOW;
        iic_delay_us(4);
    }
}

/************************************************
 * 名称: TMF8001_I2C_Read_Byte
 * 功能: 模拟I2C读取一个字节
 * 形参: 无       
 * 返回: 1个字节
 * 说明: 无              
 **************************************************/
u8 TMF8001_I2C_Read_Byte(u8 ack)
{
    u8 bit,Receive_Byte=0;
    TMF8001_I2C_SDA_In;
    for(bit=0;bit<8;bit++)
    {
        TMF8001_I2C_SCL_LOW;
        iic_delay_us(4);
        TMF8001_I2C_SCL_HIGHT;
        Receive_Byte<<=1;//把上一时刻的值左移一位
        if(Get_TMF8001_I2C_SDA)
        {
            Receive_Byte|=0x01;
        }
        iic_delay_us(4);
    }
    if(!ack)
    {
        TMF8001_I2C_NAck();
    }
    else
    {
        TMF8001_I2C_Ack();
    }
    return Receive_Byte;
}

/*******************************************************************************
 * 名称: I2C_TMF8001_WriteByte
 * 功能: 通过I2C协议向TMF8001写入1个字节
 * 形参: Data_com -> 要写入的数据
 * 返回: 无
 * 说明: 无 
 ******************************************************************************/
void I2C_TMF8001_WriteByte(u8 Addr, u8 *Data_Com, u8 Len)
{
    u8 i;
    TMF8001_I2C_Start();	/*I2C Start*/
    TMF8001_I2C_Send_Byte(TMF8001_Address);	/*Send TMF8001 Driver  address*/
    TMF8001_I2C_Ack();
    TMF8001_I2C_Send_Byte(Addr);	/*Send byte*/
    TMF8001_I2C_Ack();
    for(i=0;i<Len;i++)
    {
        TMF8001_I2C_Send_Byte(Data_Com[i]);	/*Send byte*/
        TMF8001_I2C_Ack();
    }
    TMF8001_I2C_Stop();	/*I2C Stop*/
}

/*******************************************************************************
 * 名称: I2C_TMF8001_ReadByte
 * 功能: 通过I2C协议从TMF8001读取6个字节
 * 形参: Addr -> 写入寄存器地址 *Read_Buf -> 存数据的数组地址
 * 返回: 1个字节数据
 * 说明: 无 
 ******************************************************************************/
u8 I2C_TMF8001_ReadByte(u8 Addr, u8 *Read_Buf, u8 Len)
{	
    u8 i;
	TMF8001_I2C_Start();/*I2C start*/
	TMF8001_I2C_Send_Byte(TMF8001_Address);	/*Send TMF8001 Driver  address*/
    TMF8001_I2C_Ack();
	TMF8001_I2C_Send_Byte(Addr);	/*Send byte*/
    TMF8001_I2C_Ack();
    
	TMF8001_I2C_Start();/*I2C start*/
	TMF8001_I2C_Send_Byte(TMF8001_Address|0x01);/*Send ReadCommand*/
	TMF8001_I2C_Ack();
	for(i=0;i<Len;i++)
	{
	    if(i == (Len - 1))
	    {
	        Read_Buf[i] = TMF8001_I2C_Read_Byte(0);/*I2C ReadByte*/
	    }
	    else
	    {
            Read_Buf[i] = TMF8001_I2C_Read_Byte(1);/*I2C ReadByte*/
	    }
	}
	TMF8001_I2C_Stop();/*I2C Stop*/
//	printf("Read_Buf0: %02X ",Read_Buf[0]);
}

2、TMF8001驱动部分

#include "tmf8801.h"
#include "tmf8801_iic.h"

//TMF8x01 寄存器地址定义 
#define TMF8x01_REGADDR_COMMAND         0x10
#define TMF8x01_REGADDR_STATUS          0x1D       
#define TMF8x01_REGADDR_CONTENTS        0x1E
#define TMF8x01_REGADDR_TID             0x1F
#define TMF8x01_REGADDR_ENABLE          0xE0

//RAM数据缓存
const uint8_t app_buf[] = {
0x6D, 0xC9, 0x41, 0x85, 0x3D, 0x15, 0xAA, 0x51, 0xF4, 0xD2, 0x9E, 0xA8, 0xA7, 0xAC, 0x77, 0xE9,
0xF9, 0xEC, 0x20, 0x24, 0x63, 0xB8, 0xF1, 0xA5, 0x0B, 0xA7, 0x65, 0xB4, 0x32, 0xB8, 0x18, 0xD7,
0x5C, 0xF4, 0x00, 0xD0, 0xDC, 0xFD, 0xD9, 0xD5, 0x98, 0xAF, 0x6F, 0x40, 0x96, 0x0A, 0xB2, 0xFA,
0x9E, 0x13, 0x44, 0xF8, 0x6F, 0x5B, 0xF1, 0x65, 0xA6, 0x88, 0x67, 0xD7, 0x75, 0x0A, 0x4A, 0x7F,
0x81, 0x9C, 0xF6, 0x91, 0x7B, 0xCF, 0xF2, 0x7C, 0xC1, 0x83, 0xF3, 0xA5, 0xF6, 0xEB, 0xD2, 0xFA,
0x14, 0x01, 0x7B, 0x81, 0x6D, 0xA9, 0x31, 0x0B, 0x79, 0x14, 0x9D, 0xFE, 0xAA, 0x24, 0x5A, 0x5A,
0x77, 0xF0, 0x00, 0x00, 0x88, 0x76, 0xBA, 0x20, 0xD1, 0x33, 0xB2, 0x66, 0xCF, 0xD9, 0x67, 0xDD,
0x4C, 0xF8, 0x5E, 0xAD, 0x6C, 0xF5, 0xF4, 0x7A, 0x60, 0x3D, 0xFB, 0x05, 0x4B, 0xB9, 0x26, 0xA5,
0xDF, 0xF1, 0xE3, 0xC7, 0x7E, 0x55, 0xEC, 0x50, 0x9C, 0xE3, 0xC9, 0xDA, 0x91, 0xAE, 0x5E, 0x9F,
0x13, 0x0E, 0x96, 0x52, 0x27, 0x8E, 0x06, 0x22, 0x63, 0x69, 0xAC, 0x61, 0x9C, 0x23, 0xF1, 0x38,
0x5F, 0x3A, 0x1D, 0x03, 0xBD, 0xCA, 0xDA, 0x42, 0xBB, 0x21, 0x55, 0x35, 0xC8, 0x30, 0x50, 0x6D,
0x09, 0xBF, 0x32, 0x39, 0x7D, 0xF1, 0x4B, 0x9C, 0x09, 0x33, 0xF0, 0xA1, 0xBD, 0x1B, 0x89, 0xCD,
0xFC, 0x75, 0xCD, 0x92, 0x52, 0x8E, 0xA8, 0xD1, 0xD2, 0xED, 0x6B, 0x63, 0x41, 0x38, 0x0F, 0x22,
0xFF, 0xA6, 0x6A, 0xE3, 0xE0, 0x78, 0x83, 0xF5, 0x95, 0xC2, 0x88, 0x77, 0x5C, 0x4B, 0x9C, 0xAD,
0x32, 0xE4, 0x39, 0x85, 0xBF, 0x4E, 0x2C, 0x21, 0xCF, 0x19, 0x9D, 0x93, 0xFD, 0x9B, 0xFA, 0x15,
0x2D, 0xB5, 0x7C, 0xD1, 0x43, 0x83, 0x58, 0x4F, 0x8C, 0x66, 0x3E, 0xAA, 0xD2, 0xD2, 0x66, 0xA1,
0x56, 0x80, 0xD8, 0xF1, 0xED, 0x1F, 0x4D, 0x45, 0x06, 0x64, 0x9A, 0x02, 0xF9, 0x69, 0x6B, 0xCE,
0xA0, 0x84, 0xD2, 0x67, 0x85, 0xE1, 0xE7, 0x8D, 0xE2, 0xEF, 0x11, 0x5B, 0xDD, 0x27, 0x5A, 0x9E,
0x34, 0x9D, 0x66, 0x66, 0xE3, 0xA5, 0xD4, 0xC7, 0x6E, 0x80, 0x0D, 0xC6, 0x9C, 0x36, 0x86, 0x19,
0x32, 0xD0, 0x16, 0x67, 0x45, 0x2D, 0xE5, 0x09, 0x89, 0xC5, 0x80, 0x0F, 0x71, 0x2C, 0x9F, 0xB1,
0x38, 0x4A, 0x0B, 0xFD, 0x6F, 0x27, 0x69, 0xCD, 0x8B, 0x0F, 0x4B, 0x62, 0xF0, 0xC5, 0xC1, 0x96,
0xFD, 0xD2, 0x06, 0xCE, 0x01, 0xC4, 0x16, 0x84, 0x42, 0xEA, 0x01, 0x06, 0x16, 0xD9, 0x2C, 0x10,
0x7B, 0x6D, 0x95, 0xA0, 0x3C, 0x90, 0x7E, 0x83, 0x91, 0xF0, 0x9B, 0x51, 0x2E, 0xD8, 0x87, 0x81,
0x69, 0x54, 0x9C, 0xD9, 0x7F, 0x99, 0x11, 0x65, 0x85, 0xAA, 0xC7, 0x65, 0xDA, 0x00, 0xE4, 0xDA,
0x94, 0xDD, 0xCB, 0xEE, 0x04, 0xD6, 0xB5, 0xBD, 0x2D, 0x30, 0xFC, 0x20, 0x4F, 0x15, 0x7C, 0x9E,
0xD3, 0x2F, 0x39, 0xFC, 0xA6, 0xFB, 0xB5, 0x83, 0xD1, 0xDE, 0x43, 0x3A, 0x72, 0x51, 0x4A, 0xE2,
0x15, 0xCC, 0x63, 0x70, 0x88, 0x72, 0x52, 0x84, 0x86, 0x35, 0x05, 0xCF, 0xEF, 0x5D, 0x51, 0xFA,
0x95, 0x39, 0x0D, 0x37, 0xA1, 0xDD, 0x51, 0xDF, 0x54, 0x39, 0xC6, 0xFB, 0x76, 0x4C, 0x0B, 0xD6,
0x62, 0xEA, 0x84, 0x95, 0x56, 0xDF, 0xF8, 0x7F, 0xAA, 0x76, 0xDE, 0xDE, 0x5E, 0xA0, 0xA6, 0x56,
0x93, 0x31, 0xB3, 0x06, 0x34, 0x7B, 0xEC, 0x71, 0xB5, 0x47, 0xEF, 0x3E, 0xD4, 0x8B, 0x0A, 0xB2,
0xB1, 0xC7, 0x5F, 0xC5, 0x9B, 0xB0, 0x72, 0x38, 0xFF, 0x6C, 0x2E, 0x2E, 0xCF, 0x04, 0x00, 0x3C,
0xFC, 0x07, 0x9F, 0xF0, 0x6F, 0xB0, 0x14, 0xAD, 0x7B, 0x4D, 0xAC, 0x71, 0x53, 0xD8, 0xD1, 0x08,
0x5F, 0x11, 0xD8, 0x24, 0xD9, 0xB5, 0xA2, 0x0B, 0xFE, 0x8C, 0xDA, 0x83, 0x25, 0xC5, 0x2A, 0xCA,
0x97, 0x31, 0x3C, 0x4E, 0x53, 0xA6, 0x65, 0x3E, 0x59, 0xC5, 0xFE, 0x92, 0x8E, 0xA8, 0xE9, 0x93,
0xB6, 0xDF, 0xB8, 0x3A, 0xFE, 0xE9, 0x1C, 0x29, 0x60, 0x42, 0xA6, 0xC4, 0xE0, 0x0A, 0x04, 0xDC,
0xC5, 0x97, 0xCF, 0x79, 0x94, 0x67, 0x6D, 0x78, 0x7B, 0x88, 0xBA, 0x71, 0x96, 0xC1, 0xB9, 0x2D,
0xB6, 0x79, 0xFA, 0xC0, 0x00, 0x46, 0xE5, 0x11, 0x96, 0x13, 0xB0, 0x15, 0x48, 0x06, 0x5A, 0x94,
0x2C, 0x05, 0x01, 0xCF, 0x21, 0x7C, 0x7E, 0x47, 0xA1, 0x1E, 0x68, 0xD7, 0x84, 0x45, 0x1B, 0x1B,
0x1B, 0x03, 0x78, 0xD9, 0x2C, 0x58, 0xEF, 0xB5, 0xCC, 0x88, 0xF5, 0x0D, 0xCD, 0xC3, 0xD5, 0xF6,
0x26, 0x18, 0xCE, 0x53, 0x7C, 0x90, 0x34, 0x0D, 0xF1, 0x43, 0x70, 0x0F, 0xF1, 0x70, 0x77, 0xB0,
0x71, 0x4B, 0x83, 0x3D, 0xCC, 0xA3, 0x16, 0xAA, 0x8D, 0x96, 0xFF, 0x00, 0xB5, 0xC5, 0xB4, 0x52,
0x90, 0xDE, 0x1F, 0xB5, 0x7A, 0x8F, 0x6C, 0xA0, 0x22, 0xD5, 0x76, 0x48, 0xE5, 0x10, 0xE6, 0x59,
0xC2, 0xB7, 0xF7, 0x16, 0x13, 0x8E, 0x35, 0xFF, 0xCE, 0x34, 0x96, 0x7C, 0xFD, 0x18, 0x61, 0xA2,
0x5A, 0x88, 0x88, 0x2C, 0xE6, 0x66, 0x26, 0xB6, 0xA0, 0xDE, 0x04, 0x6D, 0x71, 0x46, 0xDB, 0xCE,
0xFC, 0x2D, 0x4C, 0xAF, 0x1B, 0xCE, 0xE2, 0x18, 0xCA, 0x96, 0x3D, 0xDF, 0x2B, 0xFC, 0x57, 0x29,
0xF4, 0x07, 0xC3, 0xB6, 0x5A, 0x37, 0x00, 0x44, 0xF7, 0x1F, 0x54, 0x8D, 0x38, 0x5D, 0xA0, 0xBC,
0xF8, 0x34, 0x7B, 0x9C, 0xFD, 0xCB, 0x42, 0x62, 0x0F, 0xC3, 0xBF, 0x5C, 0xE6, 0x3F, 0x8D, 0xBD,
0xDD, 0x3C, 0xA8, 0xE6, 0x21, 0x24, 0xF1, 0x38, 0x58, 0xF5, 0xF0, 0x9B, 0xB3, 0xA2, 0xE1, 0x40,
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0x77, 0x9E, 0xED, 0x64, 0xC5, 0x82, 0xF6, 0x19, 0x06, 0x31, 0xC2, 0xCD, 0x18, 0x52, 0x01, 0xB7,
0x67, 0x6E, 0x1D, 0xCD, 0x38, 0xDF, 0xCE, 0x56, 0xAC, 0x7F, 0x66, 0xED, 0x2D, 0xD1, 0x20, 0xE1,
0xB8, 0x6D, 0xA8, 0x8B, 0x7D, 0x6C, 0x14, 0x10, 0xFE, 0x3A, 0xCA, 0xBA, 0x5C, 0xD6, 0x02, 0xA9,
0xCC, 0x2E, 0xC4, 0xB4, 0xCE, 0x31, 0x91, 0x81, 0x50, 0xCA, 0x6F, 0x36, 0xF9, 0xF4, 0xC4, 0x5F,
0xE9, 0x98, 0xA6, 0x67, 0x09, 0x07, 0x0C, 0x7A, 0x04, 0x3F, 0xAE, 0x20, 0xF9, 0x41, 0x25, 0xA6,
0x0D, 0xD7, 0x78, 0x08, 0xA0, 0x51, 0xE3, 0x72, 0xD6, 0x6F, 0xB2, 0x4C, 0x33, 0x8A, 0x4D, 0xC7,
0x17, 0xA3, 0x33, 0xC3, 0x44, 0xE3, 0x92, 0xDA, 0x33, 0xA5, 0x4B, 0x88, 0xF3, 0x7C, 0x85, 0x2E,
0xC2, 0x7D, 0x19, 0x1E, 0x9C, 0x40, 0xA9, 0x09, 0x2B, 0xF8, 0xD5, 0x91, 0xFD, 0x8A, 0xC4, 0xBD,
0x25, 0x23, 0x43, 0xB7, 0x37, 0x9A, 0x89, 0xA9, 0x7C, 0xEB, 0x2E, 0x47, 0x38, 0x00, 0xEC, 0x6A,
0x94, 0xB7, 0xA9, 0x60, 0xEF, 0xCD, 0x4A, 0x2A, 0xA5, 0x40, 0xA5, 0x40, 0x2B, 0x1C, 0xFA, 0x48,
0xA1, 0x71, 0xC6, 0xA2, 0x79, 0x76, 0x5D, 0x74, 0xE6, 0x09, 0x05, 0x1C, 0x97, 0xED, 0x15, 0x37,
0x61, 0xE5, 0x9F, 0xDA, 0xAA, 0x79, 0x4A, 0x7F, 0x85, 0x71, 0x29, 0x62, 0x1B, 0x56, 0x89, 0x23,
0xC1, 0xC4, 0xBB, 0x32, 0x5A, 0x3B, 0xAE, 0x5F, 0xC2, 0x3A, 0x90, 0xAD, 0xE6, 0x72, 0x36, 0xB5,
0xB3, 0x25, 0xDB, 0x78, 0x5D, 0x24, 0xD7, 0x20, 0x32, 0x88, 0xC9, 0x01, 0x29, 0x41, 0xE3, 0x20,
0x3A, 0xC1, 0x6D, 0xD8, 0x7C, 0xB5, 0xCB, 0x54, 0x69, 0xE6, 0x65, 0xA3, 0xE2, 0x61, 0xF7, 0x7A,
0x79, 0x89, 0xB6, 0xE6, 0x4F, 0x82, 0x20, 0x30, 0x6F, 0x11, 0x56, 0xB1, 0x9E, 0xC1, 0xFD, 0x1F,
0xF0, 0x7A, 0xF5, 0x10, 0x3F, 0x33, 0x64, 0xEE, 0x16, 0x26, 0x94, 0x5A, 0xDB, 0xFC, 0x02, 0xB4,
0x7F, 0xC6, 0x4B, 0xAF, 0x88, 0xAB, 0x06, 0xBA, 0x5B, 0x70, 0xD4, 0xAD, 0x90, 0xBB, 0x7E, 0x71,
0x45, 0x3C, 0x62, 0xF0, 0xD9, 0xDE, 0xBC, 0x3C, 0x61, 0x7F, 0x50, 0x65, 0x8D, 0x1E, 0x72, 0x88,
0x69, 0xF4, 0xD5, 0xDA, 0x1F, 0x2B, 0x65, 0x9A, 0xEA, 0x05, 0x0A, 0x30, 0xC0, 0x56, 0x20, 0x01,
0x27, 0xCD, 0xDD, 0xF4, 0xBD, 0x37, 0x87, 0x58, 0x4F, 0x6D, 0x52, 0x12, 0xDC, 0xD7, 0x25, 0xCD,
0x21, 0xEF, 0x77, 0x78, 0x61, 0x06, 0x6B, 0x63, 0xC5, 0xCC, 0x9A, 0x36, 0x27, 0x5A, 0xF9, 0xC6,
0xDF, 0x28, 0x58, 0x38, 0xD9, 0x62, 0x98, 0x7E, 0x79, 0x4A, 0x6F, 0xD0, 0xBF, 0x6D, 0x20, 0x1D,
0x78, 0x5C, 0xF3, 0xAD, 0x4A, 0x31, 0xB4, 0xDD, 0xCD, 0xFC, 0xF2, 0x9C, 0x66, 0xEF, 0xC4, 0x46,
0xDB, 0xA8, 0x39, 0xDF, 0x6B, 0x78, 0x6F, 0xB5, 0xC2, 0xE0, 0xB2, 0xE4, 0x82, 0xF4, 0xAC, 0x26,
0xB6, 0xEA, 0xEF, 0xDD, 0xEB, 0xE9, 0x04, 0x39, 0x7E, 0x43, 0xD6, 0x7A, 0xF2, 0xE4, 0x26, 0xDB,
0x42, 0xBB, 0x0C, 0xDB, 0xB9, 0x00, 0xF2, 0x07, 0x7A, 0xED, 0xCC, 0x32, 0xFE, 0xEB, 0x12, 0x8D,
0x8E, 0x9D, 0x5B, 0xCF, 0x36, 0x4A, 0xB2, 0x90, 0xAE, 0xAE, 0xC3, 0x46, 0x94, 0x2B, 0x67, 0xD9,
0x0D, 0x88, 0x22, 0x74, 0x42, 0x90, 0x80, 0x24, 0xDD, 0x11, 0xE0, 0xC2, 0x20, 0xAC, 0xD1, 0x90,
0x5E, 0x18, 0x70, 0x5C, 0xB1, 0x2E, 0xA5, 0x6B, 0xC5, 0x0F, 0x7E, 0xFF, 0x86, 0x91, 0x26, 0x09,
0x76, 0x5F, 0x8A, 0xB6, 0xAC, 0xFA, 0x84, 0x6C, 0x5C, 0x4F, 0x1F, 0x45, 0x45, 0x45, 0xE8, 0x0A,
0x5B, 0x95, 0x05, 0x1F, 0xFC, 0xD7, 0x72, 0xA9, 0xA0, 0x2E, 0x1D, 0x7F, 0xE3, 0xF6, 0xC1, 0xBF,
0x64, 0xA1, 0x11, 0x1C, 0x9F, 0xDA, 0x64, 0x78, 0x1A, 0x5A, 0xC8, 0x1D, 0x85, 0xD3, 0xC5, 0x70,
0xCE, 0x7E, 0xAB, 0x94, 0x92, 0xCE, 0xF5, 0x20, 0xD3, 0x59, 0xD5, 0x43, 0xDE, 0xC7, 0x40, 0x1E,
0x1F, 0x1B, 0xFC, 0x06, 0xD3, 0xE5, 0x81, 0xE6, 0xDC, 0x75, 0x13, 0xF5, 0xD7, 0x95, 0x3A, 0xC3,
0x2F, 0xBE, 0xD5, 0x27, 0xEB, 0xE9, 0x82, 0x55, 0x74, 0x2A, 0x30, 0x50, 0xB4, 0xAD, 0x06, 0xB2,
0xE6, 0x4C, 0xAF, 0x1E, 0x8B, 0x6B, 0xB4, 0x76, 0x89, 0x37, 0x38, 0x23, 0x2C, 0xA2, 0xAF, 0x7E,
0xA0, 0x60, 0x1A, 0xFA, 0xD5, 0xB4, 0xD1, 0x66, 0x5F, 0xBB, 0x03, 0x8A, 0x09, 0x26, 0xAE, 0xE5,
0x0C, 0xF7, 0xF8, 0x02, 0xA6, 0xC4, 0x75, 0x37, 0xD4, 0x90, 0x58, 0xD0, 0x44, 0xFC, 0x57, 0xD6,
0xF3, 0x85, 0x9A, 0xEF, 0x44, 0xC3, 0xF3, 0xE3, 0xDE, 0x38, 0xFE, 0xA6, 0x48, 0x96, 0x9A, 0xB4,
0xB7, 0x9D, 0x0B, 0x3A, 0x2C, 0xCE, 0xD5, 0x37, 0xA0, 0xB7, 0x9E, 0x6B, 0x5F, 0xDE, 0x04, 0x52,
0x81, 0xC4, 0x92, 0xE6, 0xDC, 0x56, 0x08, 0xF2, 0x11, 0x98, 0x3E, 0xFF, 0x31, 0x3C, 0x54, 0xD2,
0xB5, 0xAF, 0x69, 0x51, 0x06, 0xB4, 0xF3, 0x54, 0xAF, 0xC4, 0x3B, 0x8D, 0x94, 0xC3, 0x05, 0x4D,
0x5F, 0xD8, 0x06, 0xA0, 0x90, 0xEB, 0xEC, 0xFB, 0x6E, 0x7B, 0xA5, 0xBE, 0x94, 0xAD, 0xFF, 0x32,
0x9E, 0x59, 0xF4, 0x6C, 0x55, 0x17, 0x6A, 0xE9, 0xA8, 0x5A, 0x14, 0xAA, 0x7C, 0x1B, 0xD3, 0xBB,
0xA4, 0x7E, 0x80, 0xCE, 0x02, 0xDF, 0xA2, 0x93, 0x07, 0xF3, 0xD9, 0xDB, 0x96, 0x5F, 0xA8, 0xC7,
0xF8, 0xE7, 0x5D, 0xB6, 0x52, 0xC7, 0x3B, 0x6D, 0xE0, 0xAF, 0x4F, 0x19, 0xEB, 0x77, 0xE9, 0x7D,
0xDB, 0x51, 0xEE, 0x60, 0xC9, 0x94, 0x5B, 0x4D, 0x4B, 0x6B, 0x59, 0x97, 0x8D, 0xB6, 0x06, 0x30,
0x57, 0x0D, 0xB6, 0x70, 0xC9, 0xDC, 0x54, 0x68, 0xB4, 0xF1, 0x8B, 0x3B, 0xB0, 0x09, 0xD7, 0x20,
0x21, 0x12, 0x29, 0x87, 0x4C, 0x35, 0x01, 0xB3, 0x76, 0xB6, 0x99, 0xD1, 0x4B, 0x2C, 0x3C, 0xED,
0xF9, 0xC0, 0x78, 0x97, 0x19, 0xF3, 0x9F, 0x73, 0x9D, 0xF7, 0xCC, 0x06, 0x6A, 0x9B, 0xEC, 0x94,
0xD7, 0xD1, 0x77, 0x20, 0xC3, 0xA2, 0x8B, 0x74, 0xCA, 0x96, 0x9F, 0x69, 0x6D, 0xAD, 0xE3, 0x62,
0x98, 0xEB, 0x86, 0x7E, 0xAC, 0xB9, 0x8B, 0x17, 0xA9, 0x4F, 0x07, 0xBB, 0x0C, 0xE3, 0x82, 0xDD,
0x40, 0xFF, 0x22, 0x7A, 0xF2, 0x46, 0x80, 0x5A, 0x8D, 0x5A, 0xF6, 0xCC, 0x3E, 0xC5, 0x34, 0x02,
0x0D, 0xAC, 0xDC, 0xE9, 0xC1, 0x1A, 0xC6, 0x5E, 0x68, 0xEE, 0x05, 0x1B, 0x6A, 0x6D, 0x39, 0x3F,
0x10, 0xF8, 0xEB, 0x43, 0x6F, 0x52, 0x81, 0x49, 0x6C, 0x0A, 0x23, 0x30, 0x24, 0x25, 0xF9, 0xB4,
0xF3, 0x95, 0x74, 0x23, 0x51, 0x6E, 0x27, 0xEC, 0x1C, 0x84, 0xB5, 0xD1, 0x0D, 0x8D, 0x17, 0x53,
0xCA, 0xB7, 0x1E, 0x3F, 0xA4, 0x5F, 0x07, 0x58, 0xB1, 0x6D, 0x94, 0xAE, 0x60, 0x23, 0x3F, 0x51,
0xAF, 0x7A, 0x45, 0xC3, 0x3B, 0x76, 0xE4, 0x9A, 0x5B, 0xB3, 0x5C, 0xBA, 0x64, 0xB9, 0x25, 0x92,
0xAB, 0x60, 0xB6, 0x2E, 0xF5, 0xCF, 0x85, 0xEB, 0x3E, 0xAB, 0xD4, 0x6B, 0x47, 0xDC, 0x8D, 0x69,
0x3C, 0x53, 0x51, 0x64, 0x7B, 0x22, 0xBE, 0xC8, 0xB0, 0x61, 0xD7, 0x89, 0xF6, 0xCA, 0xCF, 0x1D,
0x29, 0x18, 0xF2, 0x71, 0x5C, 0x58, 0xD7, 0x18, 0xEF, 0xDB, 0xE1, 0xD6, 0x83, 0xC3, 0x26, 0x1A,
0xBE, 0xF2, 0x7F, 0xDB, 0x0E, 0x99, 0x9F, 0x8C, 0x56, 0xD7, 0x6E, 0xD6, 0xCA, 0x55, 0x52, 0x66,
};

/** \brief 校准数据 */
uint8_t g_cali_buf[14] = {
        0x81, 0x47, 0x00, 0xf5, 0x94, 0x3f, 0xc3, 
        0x07, 0x0b, 0x08, 0x32, 0x6c, 0x00, 0x04,};

/** \brief 状态数据 */
uint8_t g_state_buf[11] = {        
        0xB1, 0xD3, 0x04, 0x00, 0x37, 0x70,
        0x02, 0x00, 0x00, 0x00, 0x00}; 

/** \brief 存储 TOF 获取的结果 */
result_info_t   g_tof_result = {0};     

/**
 * \brief 读取 TMF8801 状态标志位 
 *
 * \retval TMF8x01_OK  : 操作成功
 * \retval TMF8x01_NK  : 操作失败
 */
static int8_t __tmf8801_status_read (void)
{
    uint8_t sta_buf[3] = {0};
    
    /* 读状态寄存器 */
    I2C_TMF8001_ReadByte(0x08, sta_buf, 3);

    if (sta_buf[0] != 0x00 ||
        sta_buf[1] != 0x00 ||
        sta_buf[2] != 0xFF) 
    {
        
//        printf("Error\r\n");
        return TMF8x01_NK;
    }
    return TMF8x01_OK;
}

/**
 * \brief 初始化下载 HW 
 */
static int8_t __tmf8801_download_init (void)
{
    /*
     * cmd_buf[0]    : 初始化下载 HW 命令(0x14)
     * cmd_buf[1]    : 数据长度(0x01)
     * cmd_buf[3]    : 1个字节数据
     * cmd_buf[4]    : 校验字节
     */
    uint8_t  cmd_buf[] = {0x14, 0x01, 0x29, 0xC1};
    uint32_t tick = 0;
    
    I2C_TMF8001_WriteByte(0x08, cmd_buf, 4);
    
    while (1) 
    {
        if (__tmf8801_status_read() == TMF8x01_OK) 
        {
            break;
        }
        tick ++;
        if (tick >= 10) 
        {
            printf("__tmf8801_download_init tmo!\r\n");
            return TMF8x01_NK;
        }
    }
    return TMF8x01_OK;
}

/**
 * \brief 设置写 RAM 地址
 */
static int8_t __tmf8801_set_ram_addr (uint16_t addr)
{
    /*
     * cmd_buf[0]    : 写 RAM 地址命令(0x43)
     * cmd_buf[1]    : 数据长度(0x02)
     * cmd_buf[4:3]  : 2个字节数据
     * cmd_buf[5]    : 校验字节
     */
    uint8_t  cmd_buf[5] = {0};
    uint32_t tick       =  0;
    
    cmd_buf[0] = 0x43;                  
    cmd_buf[1] = 0x02;
    cmd_buf[2] = (uint8_t)addr;         /* 地址低 8 位 */
    cmd_buf[3] = (uint8_t)(addr >> 8);  /* 地址高 8 位 */
    cmd_buf[4] = (cmd_buf[0]            /* 校验字节 */ 
               +  cmd_buf[1]
               +  cmd_buf[2]
               +  cmd_buf[3])
               ^ 0xFF;
             
    I2C_TMF8001_WriteByte(0x08, cmd_buf, 5);
    
    while (1) 
    {
        if (__tmf8801_status_read() == TMF8x01_OK) 
        {
            break;
        }
        tick ++;
        if (tick >= 10) 
        {
            printf("__tmf8801_set_ram_addr tmo!\r\n");
            return TMF8x01_NK;
        }
    }
    return TMF8x01_OK;
}

/**
 * \brief 写 RAM 
 */
static int8_t __tmf8801_write_ram (void)
{   
    /*
     * cmd_buf[0]    : 命令(0x41)
     * cmd_buf[1]    : 数据长度(0x10)
     * cmd_buf[17:2] : 16个字节数据
     * cmd_buf[18]   : 校验字节
     */
    uint8_t  cmd_buf[19] = {0};  
    
    uint16_t buf_length  =  0;        /* app_buf 总字节个数 */ 
    uint16_t buf_line    =  0;        /* app_buf 行地址 */
    
    uint32_t tick        =  0;
    uint16_t i           =  0;
    uint16_t j           =  0;
    
    buf_length = sizeof(app_buf) / sizeof(app_buf[0]);
    buf_line   = buf_length / 16;
    
    cmd_buf[0] = 0x41;                          /* 写 RAM */
    cmd_buf[1] = 0x10;                          /* 待写数据长度:16字节 */
    
    for (i = 0; i < buf_line; i++) {
    
        /* 装载命令数据缓存区 */
        for (j = 0; j < 16; j++) {              /* 16字节 */
        
            cmd_buf[2+j] = app_buf[16 * i + j]; 
        }
        
        /* 计算校验字节 */
        cmd_buf[18] = 0;                        /* 清零校验字节 */
        for (j = 0; j < 18; j++) {              /* 累加 */
        
            cmd_buf[18] += cmd_buf[j];
        }
        cmd_buf[18] ^= 0xFF;                    /* 异或 0xFF */
        
        /* 写 RAM */
        I2C_TMF8001_WriteByte(0x08, cmd_buf, 19);    
        
        /* 读状态寄存器 */
        while (1) 
        {
            if (__tmf8801_status_read() == TMF8x01_OK) 
            {
                break;
            }
            tick ++;
            if (tick >= 10) 
            {
                printf("__tmf8801_write_ram tmo!\r\n");
                return TMF8x01_NK;
            }
        } 
    } 
    return TMF8x01_OK;
}

/**
 * \brief 重映射 RAM 到地址 0 并复位
 */
static int8_t __tmf8801_ram_remap_rst (void)
{
    /*
     * cmd_buf[0]    : RAM 地址重映射并复位命令(0x11)
     * cmd_buf[1]    : 数据长度(0x00)
     * cmd_buf[2]    : 校验字节
     */
    uint8_t  cmd_buf[] = {0x11, 0x00, 0xEE};       
    uint8_t  regval    =  0;
    uint32_t tick      =  0;
    
    I2C_TMF8001_WriteByte(0x08, cmd_buf, 3);

    while (1) 
    {             /* wait CPU ready */
        I2C_TMF8001_ReadByte(0xE0, &regval, 1);
        if (regval == 0x41) 
        {
            break;
        }
        tick ++;
        if (tick >= 10) 
        {
            printf("__tmf8801_ram_remap_rst tmo!\r\n");
            return TMF8x01_NK;
        }
    }
    return TMF8x01_OK; 
}

/**
 * \brief TMF8801 复位
 */
static int8_t __tmf8801_rst (void) 
{
    uint8_t  regval = 0;       
    uint32_t tick   = 0;
    
    regval = 0x81;
    I2C_TMF8001_WriteByte(0xE0, &regval, 1);
    
    while (1) 
    {/* wait CPU ready */
        I2C_TMF8001_ReadByte(0xE0, &regval , 1);
        if (regval == 0x41) 
        {
            break;
        }
        tick ++;
        if (tick >= 100) 
        {
            printf("__tmf8801_rst tmo!\r\n");
            return TMF8x01_NK;
        }
    }  
    return TMF8x01_OK;
}

/**
 * \brief 获取 TMF8801 信息
 */
static int8_t __tmf8801_info_read (void)
{  
    uint8_t  app0_rev_num[3] = {0};
    uint8_t  chip_rev_id     =  0;
    uint8_t  serial_num[4]   = {0};
    
    uint8_t  regval          =  0;    
    uint32_t tick            =  0;
    
    /* APP0 主版本号 */
    I2C_TMF8001_ReadByte(0x01, &app0_rev_num[0], 1);
    
    /* 次版本号和修订版本号 */
    I2C_TMF8001_ReadByte(0x12, &app0_rev_num[1], 2);
    
    /* 芯片修订 ID */
    I2C_TMF8001_ReadByte(0xE4, &chip_rev_id, 1);       
    
    /* 序列号 */
    regval = 0x47;                                  /* 发送读序列号命令 */
    I2C_TMF8001_WriteByte(0x10, &regval, 1);
   
    while (1) 
    {                                     /* 等待序列号生成完毕 */
        I2C_TMF8001_ReadByte(0x1E, &regval, 1);
        if (regval == 0x47) 
        {
            break;
        }
        tick ++;
        if (tick >= 10) 
        {
            printf("__tmf8801_info_read tmo!\r\n");
            return TMF8x01_NK;
        }
    }   
    I2C_TMF8001_ReadByte(0x28, serial_num, 4);
    
    /* 打印 */
    printf("Serial Number: %02x-%02x-%02x-%02x\r\n",
            serial_num[0], serial_num[1], serial_num[2], serial_num[3]);
    printf("App0 Revision: %d.%d.%d\r\n",
            app0_rev_num[0], app0_rev_num[1], app0_rev_num[2]);
    printf("Chip Revision: %d\r\n", chip_rev_id);
    
    return TMF8x01_OK;
}

/******************************************************************************/
int8_t tmf8801_init (void)
{   
    /* TMF8801 复位 */
    if (__tmf8801_rst() == TMF8x01_NK) 
    {
        return TMF8x01_NK;
    }  
    /* 补丁下载初始化 */    
    if (__tmf8801_download_init() == TMF8x01_NK) 
    {  
        return TMF8x01_NK;
    }
    /* 设置写 RAM 地址 */
    if (__tmf8801_set_ram_addr(0x00) == TMF8x01_NK) 
    {
        return TMF8x01_NK;
    }
    /* 写 RAM */
    if (__tmf8801_write_ram() == TMF8x01_NK) 
    {
        return TMF8x01_NK;
    }     
    /* 复位 RAM */
    if (__tmf8801_ram_remap_rst() == TMF8x01_NK) 
    {
        return TMF8x01_NK;
    }
    delay_ms(100);
    /* 获取 TMF8801 芯片信息 */
    if (__tmf8801_info_read() == TMF8x01_NK) 
    {
        return TMF8x01_NK;
    } 
    /* 使能检测中断 */
    tmf8801_intx_enable();
    return TMF8x01_OK;
}

/******************************************************************************/
int8_t tmf8801_app0_start (app0_init_config_t *p_config)
{   
    /*
     * cmd_data7=03  Algorithm state and factory calibration is provided
     * cmd_data6=23  
     * cmd_data5=00  No GPIO control used
     * cmd_data4=00  No GPIO control used
     * cmd_data3=00  Object detection threshold
     * cmd_data2=64  Repetition period in ms 64 hex = 100ms
     * cmd_data1=84  Number of iterations, low byte; 1 LSB=1 k
     * cmd_data0=03  Number of iterations, high byte; Set to 900k iterations
     * command  =02  Set flag to perform target distance measurement with 8 
     *               bytes of data containing where including setting of 
     *               calibration (and algorithm state) configuration.
     */
    uint8_t cmd_buf[9] = {0x00, 0xA3, 0x00, 0x00, 0x00, 0x64, 0x84, 0x03, 0x02};    
    
    uint8_t  cali_ok   =  0;
    uint8_t  regval    =  0;    
    uint8_t  i         =  0;
    
    I2C_TMF8001_ReadByte(0xE0, &regval, 1);
    if (regval != 0x41) 
    {/* CPU 没准备好与主机 IIC 通信 */
        return TMF8x01_NK;
    }
    
    /* 配置 APP0 相关参数 */
    cmd_buf[0] = p_config->calibration_state_mask;
    cmd_buf[2] = p_config->gpio_control;
    cmd_buf[3] = p_config->gpio_output_control;
    cmd_buf[5] = p_config->repetition_period_ms;
    cmd_buf[6] = p_config->iterations & 0xFF;
    cmd_buf[7] = (p_config->iterations >> 8) & 0xFF;
     
    /* 预装载工厂校准数据或算法状态数据 */    
    if (cmd_buf[0] & FACTORY_CALIBRATION_PROVIDE) 
    {/* 提供了工厂校准数据 */
        #if 0
        if (eepromRead(CALI_STA_ADDR, &cali_ok, 1) != EE_SUCCESS) 
        {
            return TMF8x01_NK;
        }
        if (cali_ok == 0xAA) 
        {/* 执行过工厂校准 */
            if (eepromRead(CALI_DATA_ADDR, g_cali_buf, 14) != EE_SUCCESS)/* 读取工厂校准数据 */
            {
                return TMF8x01_NK;
            }
        }
        #endif
        
        I2C_TMF8001_WriteByte(0x20, g_cali_buf, 14);/* 写入 14 字节校准数据 */

        if (cmd_buf[0] & ALGORITHM_STATE_PROVIDE) 
        {/* 提供了算法状态数据 */
            I2C_TMF8001_WriteByte(0x2E, g_state_buf, 11);/* 写入 11 字节算法状态数据 */
        }
    } 
    else if (cmd_buf[0] & ALGORITHM_STATE_PROVIDE) 
    {/* 提供了算法状态数据 */
        I2C_TMF8001_WriteByte(0x20, g_state_buf, 11);/* 写入 11 字节算法状态数据 */
    }
    
    I2C_TMF8001_WriteByte(0x08, cmd_buf, 9);/* 配置 TOF 功能并启动 */

    printf("配置并启动APP0:\r\n"); /* 回显打印 */
    for (i = 0; i < 9; i++) 
    {             
        printf("%02x ", cmd_buf[i]);
    }
    printf("\r\n");
    
    return TMF8x01_OK;
}

/******************************************************************************/
int8_t tof_timestamp_get (uint8_t *timestamp) 
{
    uint8_t  status    =  0;
           
    /*
     * 一定要从ToF_REGADDR_STATUS开始读,并判断ToF_REGADDR_CONTENTS中的值为0x55
     * 否则可能读出时间戳为0!!! 
     */
    I2C_TMF8001_ReadByte(TMF8x01_REGADDR_STATUS, &status, 1);
    printf("TMF8x01_REGADDR_STATUS: %x\r\n", status);

    I2C_TMF8001_ReadByte(TMF8x01_REGADDR_CONTENTS, &status, 1);
    printf("TMF8x01_REGADDR_CONTENTS: %x\r\n", status);

    if (status != 0x55) 
    {/* 未生成结果数据 */
        return TMF8x01_ENORES;
    }
    
    I2C_TMF8001_ReadByte(0x24, timestamp, 4);     /* 读取时间戳 */
    printf("timestamp: %d\r\n", *timestamp);
    
    return TMF8x01_OK;
}

/******************************************************************************/
int8_t tmf8801_result_get (result_info_t *p_res)
{
    uint8_t result_buf[0x3A - 0x20 + 1] = {0};
    uint8_t regval                      =  0;
    uint8_t i                           =  0;
    
    I2C_TMF8001_ReadByte(TMF8x01_REGADDR_STATUS, &regval, 1);
    I2C_TMF8001_ReadByte(TMF8x01_REGADDR_CONTENTS, &regval, 1);
    if (regval != 0x55) 
    {/* 未生成结果数据 */
        return TMF8x01_ENORES;
    }
    
    /* 读取结果数据 */
    I2C_TMF8001_ReadByte(0x20, result_buf, 0x3A - 0x20 + 1);
    
    p_res->result_num        = result_buf[0x20 - 0x20];
    p_res->reliability       = result_buf[0x21 - 0x20] & 0x3F;
    
    
    p_res->distance_peak     = ((uint16_t)result_buf[0x23 - 0x20] << 8) 
                             + result_buf[0x22 - 0x20];
    
    p_res->time_stamp        = ((uint32_t)result_buf[0x27 - 0x20] << 24) | 
                               ((uint32_t)result_buf[0x26 - 0x20] << 16) |
                               ((uint32_t)result_buf[0x25 - 0x20] << 8)  |
                               ((uint32_t)result_buf[0x24 - 0x20] << 0);
    
    p_res->reference_hits    = ((uint32_t)result_buf[0x36 - 0x20] << 24) | 
                               ((uint32_t)result_buf[0x35 - 0x20] << 16) |
                               ((uint32_t)result_buf[0x34 - 0x20] << 8)  |
                               ((uint32_t)result_buf[0x33 - 0x20] << 0);
                               
    p_res->object_hits       = ((uint32_t)result_buf[0x3A - 0x20] << 24) | 
                               ((uint32_t)result_buf[0x39 - 0x20] << 16) |
                               ((uint32_t)result_buf[0x38 - 0x20] << 8)  |
                               ((uint32_t)result_buf[0x37 - 0x20] << 0);  
            
    /* 备份算法状态数据 */
    for (i = 0; i < 11; i++) {      
        g_state_buf[i] = result_buf[0x28 - 0x20 + i];
    } 
    return TMF8x01_OK;
}

/******************************************************************************/
void tmf8801_result_display (result_info_t result)
{    
    printf("Result number:%d\r\n", result.result_num);
    
    printf("Distance(mm):%d\r\n", result.distance_peak);
    
    printf("Reliability:%d\r\n", result.reliability);  

    printf("Timestamp(100us):%d\r\n", result.time_stamp);
    
    printf("State data:%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
            g_state_buf[0], g_state_buf[1], g_state_buf[2], 
            g_state_buf[3], g_state_buf[4], g_state_buf[5], 
            g_state_buf[6],

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