#include "dw_app_anchor.h"
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#include "stdint.h"
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#include <string.h>
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#if defined (MK_SS_TWR_DW_INIT)
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static float clockOffsetRatio;
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static double rtd_init, rtd_resp;
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static double tof,distance;
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#define SPEED_OF_LIGHT 299702547
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#define DWT_TIME_UNITS (1.0/499.2e6/128.0) //!< = 15.65e-12 s
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static uint32_t anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM],tag_polltx[MAX_NEARBASE_NUM];
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static int32_t anc_clockoffset[MAX_NEARBASE_NUM];
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static int16_t anc_distoffset[MAX_NEARBASE_NUM];
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extern uint8_t taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
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extern uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID
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extern uint16_t taglist_total_num,taglist_current_index;
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extern uint8_t exsistbase_list[MAX_NEARBASE_NUM];
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extern int32_t nearbase_distlist[MAX_NEARBASE_NUM];
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void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset,int32_t anc_clockoffset_from_MK) //дÈëʱ¼ä´ÁÐÅÏ¢
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{
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memcpy(&anc_pollrx[i],pollrx,4);
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memcpy(&anc_resptx[i],resptx,4);
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memcpy(&tag_resprx[i],&resprx,4);
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memcpy(&anc_distoffset[i],distoffset,2);
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anc_clockoffset[i] = anc_clockoffset_from_MK;//MK8000ÐÞ¸Ä
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}
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void CalculateDists(int64_t poll_tx_ts)
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{
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for(int i=0;i<MAX_NEARBASE_NUM;i++)
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{
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//rec_anc_signalpower[i] = exsistbase_list[i];
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if(exsistbase_list[i]==KEEP_TIMES)
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{
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// exsistbase_list[i]--;
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#ifdef _UWB_4G
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clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
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#else
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clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;//MK8000ÐÞ¸Ä
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#endif
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rtd_init = tag_resprx[i] - (uint32_t)poll_tx_ts;
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rtd_resp = anc_resptx[i] - anc_pollrx[i];
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tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
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distance = tof * SPEED_OF_LIGHT;
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if(distance>-10&&distance<1000)
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{
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nearbase_distlist[i] = distance*100+anc_distoffset[i];
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}
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}else{
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// nearbase_distlist[i] = 0x1ffff;
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}
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}
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}
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#endif
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