#include "dw_tag.h"
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#include "stdint.h"
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#include <string.h>
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#include "mk_uwb.h"
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#include "mk_misc.h"
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#include "mk_uart.h"
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#include "mk_trace.h"
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#include "global_param.h"
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static float clockOffsetRatio;
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static double rtd_init, rtd_resp;
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double tof,distance_tag;
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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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//#if defined (MK_SS_TWR_DW_INIT)
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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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static int64_t tround,treply;
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static int64_t poll_tx_timestamp,resp_rx_timestamp,resp_tx_timestamp,poll_rx_timestamp;
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int32_t temp_freq_offset;
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int64_t tround_temp,treply_temp;
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int32_t tof_i;
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uint32_t tof_i_ui;
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double tof_f;
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extern int32_t freq_offset,freq_offset_filter;
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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,uint32_t polltx) //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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memcpy(&tag_polltx[i],&polltx,4);
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//anc_clockoffset[i] = anc_clockoffset_from_MK;//MK8000ÐÞ¸Ä
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}
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//void CalculateDists1(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_tag = tof * SPEED_OF_LIGHT/100;
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// if(distance_tag>-10&&distance_tag<1000)
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// {
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// nearbase_distlist[i] = distance_tag+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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// ts_a - ts_b
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int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
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{
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if (ts_a < ts_b)
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{
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return (0x20000000000 - ts_b + ts_a);
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}
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else
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{
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return (ts_a - ts_b);
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}
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}
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