串口扫描功能调通，升级有问题

zhangbo

5 天以前 5cb269400905175cf618729ab44dfa4ccd3d0331

 keil/dw_tag.c

@@ -28,17 +28,17 @@
int32_t tof_i;
uint32_t tof_i_ui;
double tof_f;
extern int32_t freq_offset,freq_offset_filter; 
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
{
    memcpy(&anc_pollrx[i],pollrx,4);
    memcpy(&anc_resptx[i],resptx,4);
    memcpy(&tag_resprx[i],&resprx,4);
    memcpy(&anc_distoffset[i],distoffset,2);
      memcpy(&tag_polltx[i],&polltx,4);
    memcpy(&tag_polltx[i],&polltx,4);
    //anc_clockoffset[i] = anc_clockoffset_from_MK;//MK8000修改
}
//void CalculateDists1(int64_t poll_tx_ts) 
//void CalculateDists1(int64_t poll_tx_ts)
//{
//for(int i=0;i<MAX_NEARBASE_NUM;i++)
//    {
@@ -75,64 +75,4 @@
    {
        return (ts_a - ts_b);
    }
}
void CalculateDists(int64_t poll_tx_ts)
{
   for(int i=0;i<MAX_NEARBASE_NUM;i++)
    {
        
      if(exsistbase_list[i]==KEEP_TIMES)
      {

         //temp_freq_offset=freq_offset_filter;//测试
         memcpy(&resp_tx_timestamp,&anc_resptx[i],4);
         memcpy(&poll_rx_timestamp,&anc_pollrx[i],4);
         treply = ranging_timestamp_diff(resp_tx_timestamp, poll_rx_timestamp);
         //基站
//    // correct antenna delay
//    treply += ranging_ant_delays_get((uint8_t)(RX_MAIN_ANT_PORT));
				
//         uint32_t tag_tx_temp=(uint32_t)poll_tx_ts;//测试
//         memcpy(&tag_polltx[0],&tag_tx_temp,4);//测试
				
         //poll_tx_timestamp=poll_tx_ts;
				
         memcpy(&poll_tx_timestamp,&tag_polltx[i],4);
         memcpy(&resp_rx_timestamp,&tag_resprx[i],4);
			
         tround=ranging_timestamp_diff(resp_rx_timestamp, poll_tx_timestamp);
            tround_temp=tround;
            treply_temp=treply;
            //标签
         // 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 / ch_center_freq_map[UWB_CH_NUM]));
         tround_temp=tround;
         treply_temp=treply;
         tof_i = (int32_t)(tround - treply) / 2;
//         tof_i_ui=(uint32_t)tof_i;
			
            // outlier filter去掉负值过滤未添加offset
//      if (tof_i < 0)
//      {
//      tof_i = 0;
//         }
         //tof_f = (double)TIMESTAMP_UNIT_TO_NS((uint32_t)tof_i);//yuan
         tof_f = (double)TIMESTAMP_UNIT_TO_NS(tof_i);
         //distance_tag=(uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);//yuan
         distance_tag=tof_f * 0.299702547 * VP_VAL - RANGING_CORR;
         distance_tag=distance_tag+30;//测试加的offset
         //LOG_INFO(TRACE_MODULE_APP, "distance_tag is %lf\r\n",distance_tag);
			
          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
          }
      }else{
          nearbase_distlist[i] = 0x1ffff;
      }

         }
}
//#endif
}