修改PA引脚为FUN6，正确驱动PA，修改为官方demo算法,线性度需要优化

chen

7 天以前 945f0cc0210d2ea3339870f0e38d9be72314c4e2

 keil/uwb_app.c

@@ -284,9 +284,9 @@
angle =angle*57.3;
//offset=10;
//angle+=offset;
if(angle>=90)
while(angle>=90)
        angle-=180;
else if(angle<=-90)
while(angle<=-90)
{
angle+=180;
}
@@ -498,6 +498,7 @@


uint8_t flag_temp2,flag_temp1;
uint8_t tx_num;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
    temp_count2=poll_rx_en_start_u32;
@@ -532,6 +533,7 @@
    temp_count3= phy_timer_count_get();
    flag_temp2=uwb_tx(send_buffer, 60,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    temp_count1=phy_timer_count_get();
      tx_num++;
    while(mac_is_busy());
    
}
@@ -958,7 +960,7 @@
//            LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
               //angle_temp=angle_calculate();
            angle_temp=-mk_q7_to_s16(azimuth);
               sts_rssi = sts_rssi_output_get();
               //sts_rssi = sts_rssi_output_get();
         }
      
                  recev_error_num=0;
@@ -972,11 +974,19 @@
         CalibratePdOffset(angle_temp);
         }else{
         angle_temp+=pd_offset;
         buffer_construct(tag_id_recv,distance,(int16_t)angle_temp,rssi);
         uart_send(TRACE_PORT_UART0,usart_send,10+17,NULL);
         //buffer_log_send(tag_id_recv,distance,(int16_t)angle_temp);
         }
         
			
//         while(angle_temp>=90)
//         angle_temp-=180;
//         while(angle_temp<=-90)
//         {
//         angle_temp+=180;
//         }
         buffer_construct(tag_id_recv,distance,(int16_t)angle_temp,rssi);
                  uart_send(TRACE_PORT_UART0,usart_send,10+17,NULL);
         //buffer_log_send(tag_id_recv,distance,(int16_t)angle_temp);
                  }

         //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 角度 :%lf\r\n",g_com_receive_id,distance,angle_temp);
                //check_if_in_or_out_car(g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
               success_num++;