MSP430F5529: 使用MSP430和TDC7201-ZAX-EVM结合进行激光测距，运行MSP430自带的例子程序会报如下错误：

您好，这边硬件代码错误修改已完毕。想问下如果实现MSP430和TDC7201结合实现激光测距，那采用的嵌入式程序是否为下面的示例代码？

#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include "TI_TDC720x.h"  
#include "TI_MSP430.h"
#include "TI_MSP430_hardware_board.h"
#include "TI_MSP430_spi.h"
#include "timer_queue.h"
#include "tdc720x_calculation.h"
#include "uart_commn.h"

//******************************************************************************
extern uint8_t TDC720x_reg_local_copy[];
// default onboard clk in ns
float tdc_clk_period = 125.0;
float start2stop[MAX_STOPS];
uint8_t outString[128];
int32_t meas_result_regrs[MEAS_RESULT_REG_NUM];
float norm_lsb;
float ccnt;
float mreg[13];
float Time1,Time2,Time3,Time4,Time5,Time6;
float Clk_count1,Clk_count2,Clk_count3,Clk_count4,Clk_count5;
float Calibration1,Calibration2;
float st2sp[5];
float nlsb;
//------------------------------------------------------------------------------
void TDC720x_calc(uint8_t *buf, uint8_t dev)
{
  TDC720x_build_mreg(buf);
  TDC720x_start2stopn(dev);
  print_start2stopn();

}
//******************************************************************************
void print_start2stopn(void)
{
  uint8_t i;
#if 0  
  float tmp;
  for(i=0; i < MEAS_RESULT_REG_NUM; i++)
  {
    tmp = (float) meas_result_regrs[i];
    sprintf((char *)outString, "mreg[%d]: %4.6f   ", i, tmp);    
    putsUART((unsigned char *)outString,strlen((char *)outString)); 
    if (((i+1) % 3) == 0) 
    {
      sprintf((char *)outString, " \r\n");
      putsUART((unsigned char *)outString,strlen((char *)outString));      
    }
      
  }
  sprintf((char *)outString, " \r\n");
  putsUART((unsigned char *)outString,strlen((char *)outString));  
  sprintf((char *)outString, "norm_lsb: %4.6f  ", norm_lsb);
  putsUART((unsigned char *)outString,strlen((char *)outString)); 
  sprintf((char *)outString, "cal_count: %4.6f \r\n", ccnt);
  putsUART((unsigned char *)outString,strlen((char *)outString));  
#endif
  for (i=0;i<MAX_STOPS;i++)
  {
    sprintf((char *)outString, "Start_to_Stop[%d]: %4.6f    ", i+1, start2stop[i]);
    putsUART((unsigned char *)outString,strlen((char *)outString));    
  }
  sprintf((char *)outString, " \r\n");
  putsUART((unsigned char *)outString,strlen((char *)outString));  
}
//计算飞行时间
void TDC720x_start2stopn(uint8_t dev)
{
  uint8_t n;
  
  TDC720x_normlsb(dev);
  mreg[0]  = Time1;      mreg[1] = Clk_count1; mreg[2] = Time2;
  mreg[3]  = Clk_count2; mreg[4] = Time3;      mreg[5] = Clk_count3;
  mreg[6]  = Time4;      mreg[7] = Clk_count4; mreg[8] = Time5;
  mreg[9]  = Clk_count5; mreg[10] = Time6;     mreg[11] = Calibration1;
  mreg[12] = Calibration2;
  
  st2sp[0] = nlsb * (Time1 - Time2) + tdc_clk_period * Clk_count1;
  st2sp[1] = nlsb * (Time1 - Time3) + tdc_clk_period * Clk_count2;
  st2sp[2] = nlsb * (Time1 - Time4) + tdc_clk_period * Clk_count3;
  st2sp[3] = nlsb * (Time1 - Time5) + tdc_clk_period * Clk_count4;
  st2sp[4] = nlsb * (Time1 - Time6) + tdc_clk_period * Clk_count5;
  
  // 最多5个stop
  for(n=0; n < MAX_STOPS; n++)
    start2stop[n] = norm_lsb * (meas_result_regrs[0] - meas_result_regrs[2*(n+1)]) + 
                    tdc_clk_period * meas_result_regrs[2*(n+1)-1];

}

//校准得到的归一化LSB值
void TDC720x_normlsb(uint8_t dev)
{
  uint8_t tdcbyte, cal2cy;
  

  // read config2 register - use local saved data
  tdcbyte = (TI_TDC720x_SPIByteReadReg(TI_TDC720x_CONFIG2_REG, dev) & CAL2MASK)>>CAL2SHFT;
  switch (tdcbyte)
  {
    case 0: 
      cal2cy = 2;
      break;
    case 1:
      cal2cy = 10;
      break;
    case 2:
      cal2cy = 20;
      break;
    case 3:
      cal2cy = 40;
    default:
      cal2cy = 10;
  }
  ccnt = (float) (meas_result_regrs[12]-meas_result_regrs[11])/(cal2cy-1);
  norm_lsb = tdc_clk_period / ccnt;  
}
//******************************************************************************
void TDC720x_build_mreg(uint8_t *buf)
{
  uint8_t i;
  mreg[0]  = Time1;     mreg[1] = Clk_count1; mreg[2] = Time2;
  mreg[3]  = Clk_count2; mreg[4] = Time3;      mreg[5] = Clk_count3;
  mreg[6]  = Time4;      mreg[7] = Clk_count4; mreg[8] = Time5;
  mreg[9]  = Clk_count5; mreg[10] = Time6;     mreg[11] = Calibration1;
  mreg[12] = Calibration2;
  for(i=0; i < MEAS_RESULT_REG_NUM; i++)
  {
    meas_result_regrs[i] = (((uint32_t) buf[3*i]) << 16) + 
                            (((uint32_t) buf[(3*i)+1]) << 8) + 
                             (((uint32_t) buf[(3*i)+2]));
  }
}

示例代码中的Time1~Time6及等式右边的这些变量是在TDC7201收到激光发射信号和回波信号后就能直接得到吗？需要自己再修改代码定义并计算这些参数吗？

 mreg[0]  = Time1;     mreg[1] = Clk_count1; mreg[2] = Time2;
  mreg[3]  = Clk_count2; mreg[4] = Time3;      mreg[5] = Clk_count3;
  mreg[6]  = Time4;      mreg[7] = Clk_count4; mreg[8] = Time5;
  mreg[9]  = Clk_count5; mreg[10] = Time6;     mreg[11] = Calibration1;
  mreg[12] = Calibration2;