ChinaUWBProject.git

			@@ -9,6 +9,7 @@
			static float clockOffsetRatio;
			static double rtd_init, rtd_resp;
			double tof,distance_tag;

			#define SPEED_OF_LIGHT 299702547
			#define DWT_TIME_UNITS (1.0/499.2e6/128.0) //!< = 15.65e-12 s
			static uint32_t anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM],tag_polltx[MAX_NEARBASE_NUM];
			@@ -28,6 +29,12 @@
			int32_t tof_i;
			uint32_t tof_i_ui;
			double tof_f;
			struct mk_uwb_configure
			{
			uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX\|PHY_RX */
			struct UWB_CONFIG_T phy_cfg;
			};
			extern struct mk_uwb_configure config;
			extern int32_t freq_offset,freq_offset_filter;
			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) //写入时间戳信息
			{
			@@ -78,10 +85,9 @@
			}
			void CalculateDists(int64_t poll_tx_ts)
			{
			for(int i=0;i<MAX_NEARBASE_NUM;i++)
			for(int i=0;i<MAX_NEARBASE_NUM+10;i++)
			{

			if(exsistbase_list[i]==KEEP_TIMES)
			if(taglist_keeptime[i+taglist_current_index]==KEEP_TIMES)
			{

			//temp_freq_offset=freq_offset_filter;//测试
			@@ -107,8 +113,7 @@
			// correct antenna delay
			// tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
			// corrected by frequency offset

			tround = (int64_t)((double)tround * (1 - (double)freq_offset_filter / uwb_ch_freq_table[UWB_CH_NUM]));
			tround = (int64_t)((double)tround * (1 - (double)anc_clockoffset[i] / uwb_ch_freq_table[config.phy_cfg.ch_num]));//此处有修改
			tround_temp=tround;
			treply_temp=treply;
			tof_i = (int32_t)(tround - treply) / 2;
			@@ -128,10 +133,12 @@

			if(distance_tag>-1000&&distance_tag<100000)
			{
			nearbase_distlist[i] = distance_tag+(int16_t)g_com_map[OFFSET_AS_TAG];//offset加入上位机校准
			}
			taglist_dist[i+taglist_current_index] = distance_tag+(int16_t)g_com_map[DIST_OFFSET];//offset未加
			}else{
			taglist_dist[i] = 0x2ffff;
			}
			}else{
			nearbase_distlist[i] = 0x1ffff;
			//nearbase_distlist[i] = 0x7fff;
			}

			}