V1.67

zhyinch

2022-02-24 4410c6d09af90006414d442a9b1a9043f5596ed4

 源码/核心板/Src/decadriver/deca_range_tables.c

@@ -20,8 +20,8 @@
#define NUM_64M_OFFSET  (26)
#define NUM_64M_OFFSETWB  (59)

const uint8 chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; // Only channels 1,2,3 and 5 are in the narrow band tables
const uint8 chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; // Only channels 4 and 7 are in in the wide band tables
const uint8_t chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; // Only channels 1,2,3 and 5 are in the narrow band tables
const uint8_t chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; // Only channels 4 and 7 are in in the wide band tables

//---------------------------------------------------------------------------------------------------------------------------
// Range Bias Correction TABLES of range values in integer units of 25 CM, for 8-bit unsigned storage, MUST END IN 255 !!!!!!
@@ -39,170 +39,170 @@
// range25cm16PRFnb: Range Bias Correction table for narrow band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8 range25cm16PRFnb[4][NUM_16M_OFFSET] =
const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET] =
{
    // Ch 1 - range25cm16PRFnb
    {
           1,
           3,
           4,
           5,
           7,
           9,
          11,
          12,
          13,
          15,
          18,
          20,
          23,
          25,
          28,
          30,
          33,
          36,
          40,
          43,
          47,
          50,
          54,
          58,
          63,
          66,
          71,
          76,
          82,
          89,
          98,
         109,
         127,
         155,
         222,
         255,
         255
        1,
        3,
        4,
        5,
        7,
        9,
        11,
        12,
        13,
        15,
        18,
        20,
        23,
        25,
        28,
        30,
        33,
        36,
        40,
        43,
        47,
        50,
        54,
        58,
        63,
        66,
        71,
        76,
        82,
        89,
        98,
        109,
        127,
        155,
        222,
        255,
        255
    },

    // Ch 2 - range25cm16PRFnb
    {
           1,
           2,
           4,
           5,
           6,
           8,
           9,
          10,
          12,
          13,
          15,
          18,
          20,
          22,
          24,
          27,
          29,
          32,
          35,
          38,
          41,
          44,
          47,
          51,
          55,
          58,
          62,
          66,
          71,
          78,
          85,
          96,
         111,
         135,
         194,
         240,
         255
        1,
        2,
        4,
        5,
        6,
        8,
        9,
        10,
        12,
        13,
        15,
        18,
        20,
        22,
        24,
        27,
        29,
        32,
        35,
        38,
        41,
        44,
        47,
        51,
        55,
        58,
        62,
        66,
        71,
        78,
        85,
        96,
        111,
        135,
        194,
        240,
        255
    },

    // Ch 3 - range25cm16PRFnb
    {
           1,
           2,
           3,
           4,
           5,
           7,
           8,
           9,
          10,
          12,
          14,
          16,
          18,
          20,
          22,
          24,
          26,
          28,
          31,
          33,
          36,
          39,
          42,
          45,
          49,
          52,
          55,
          59,
          63,
          69,
          76,
          85,
          98,
         120,
         173,
         213,
         255
        1,
        2,
        3,
        4,
        5,
        7,
        8,
        9,
        10,
        12,
        14,
        16,
        18,
        20,
        22,
        24,
        26,
        28,
        31,
        33,
        36,
        39,
        42,
        45,
        49,
        52,
        55,
        59,
        63,
        69,
        76,
        85,
        98,
        120,
        173,
        213,
        255
    },

    // Ch 5 - range25cm16PRFnb
    {
           1,
           1,
           2,
           3,
           4,
           5,
           6,
           6,
           7,
           8,
           9,
          11,
          12,
          14,
          15,
          16,
          18,
          20,
          21,
          23,
          25,
          27,
          29,
          31,
          34,
          36,
          38,
          41,
          44,
          48,
          53,
          59,
          68,
          83,
         120,
         148,
         255
        1,
        1,
        2,
        3,
        4,
        5,
        6,
        6,
        7,
        8,
        9,
        11,
        12,
        14,
        15,
        16,
        18,
        20,
        21,
        23,
        25,
        27,
        29,
        31,
        34,
        36,
        38,
        41,
        44,
        48,
        53,
        59,
        68,
        83,
        120,
        148,
        255
    }
}; // end range25cm16PRFnb

@@ -211,150 +211,150 @@
// range25cm16PRFwb: Range Bias Correction table for wide band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8 range25cm16PRFwb[2][NUM_16M_OFFSETWB] =
const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB] =
{
    // Ch 4 - range25cm16PRFwb
    {
           7,
           7,
           8,
           9,
           9,
          10,
          11,
          11,
          12,
          13,
          14,
          15,
          16,
          17,
          18,
          19,
          20,
          21,
          22,
          23,
          24,
          26,
          27,
          28,
          30,
          31,
          32,
          34,
          36,
          38,
          40,
          42,
          44,
          46,
          48,
          50,
          52,
          55,
          57,
          59,
          61,
          63,
          66,
          68,
          71,
          74,
          78,
          81,
          85,
          89,
          94,
          99,
         104,
         110,
         116,
         123,
         130,
         139,
         150,
         164,
         182,
         207,
         238,
         255,
         255,
         255,
         255,
         255
        7,
        7,
        8,
        9,
        9,
        10,
        11,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        26,
        27,
        28,
        30,
        31,
        32,
        34,
        36,
        38,
        40,
        42,
        44,
        46,
        48,
        50,
        52,
        55,
        57,
        59,
        61,
        63,
        66,
        68,
        71,
        74,
        78,
        81,
        85,
        89,
        94,
        99,
        104,
        110,
        116,
        123,
        130,
        139,
        150,
        164,
        182,
        207,
        238,
        255,
        255,
        255,
        255,
        255
    },

    // Ch 7 - range25cm16PRFwb
    {
           4,
           5,
           5,
           5,
           6,
           6,
           7,
           7,
           7,
           8,
           9,
           9,
          10,
          10,
          11,
          11,
          12,
          13,
          13,
          14,
          15,
          16,
          17,
          17,
          18,
          19,
          20,
          21,
          22,
          23,
          25,
          26,
          27,
          29,
          30,
          31,
          32,
          34,
          35,
          36,
          38,
          39,
          40,
          42,
          44,
          46,
          48,
          50,
          52,
          55,
          58,
          61,
          64,
          68,
          72,
          75,
          80,
          85,
          92,
         101,
         112,
         127,
         147,
         168,
         182,
         194,
         205,
         255
        4,
        5,
        5,
        5,
        6,
        6,
        7,
        7,
        7,
        8,
        9,
        9,
        10,
        10,
        11,
        11,
        12,
        13,
        13,
        14,
        15,
        16,
        17,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        25,
        26,
        27,
        29,
        30,
        31,
        32,
        34,
        35,
        36,
        38,
        39,
        40,
        42,
        44,
        46,
        48,
        50,
        52,
        55,
        58,
        61,
        64,
        68,
        72,
        75,
        80,
        85,
        92,
        101,
        112,
        127,
        147,
        168,
        182,
        194,
        205,
        255
    }
}; // end range25cm16PRFwb

@@ -362,126 +362,126 @@
// range25cm64PRFnb: Range Bias Correction table for narrow band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8 range25cm64PRFnb[4][NUM_64M_OFFSET] =
const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET] =
{
    // Ch 1 - range25cm64PRFnb
    {
           1,
           2,
           2,
           3,
           4,
           5,
           7,
          10,
          13,
          16,
          19,
          22,
          24,
          27,
          30,
          32,
          35,
          38,
          43,
          48,
          56,
          78,
         101,
         120,
         157,
         255
        1,
        2,
        2,
        3,
        4,
        5,
        7,
        10,
        13,
        16,
        19,
        22,
        24,
        27,
        30,
        32,
        35,
        38,
        43,
        48,
        56,
        78,
        101,
        120,
        157,
        255
    },

    // Ch 2 - range25cm64PRFnb
    {
           1,
           2,
           2,
           3,
           4,
           4,
           6,
           9,
          12,
          14,
          17,
          19,
          21,
          24,
          26,
          28,
          31,
          33,
          37,
          42,
          49,
          68,
          89,
         105,
         138,
         255
        1,
        2,
        2,
        3,
        4,
        4,
        6,
        9,
        12,
        14,
        17,
        19,
        21,
        24,
        26,
        28,
        31,
        33,
        37,
        42,
        49,
        68,
        89,
        105,
        138,
        255
    },

    // Ch 3 - range25cm64PRFnb
    {
           1,
           1,
           2,
           3,
           3,
           4,
           5,
           8,
          10,
          13,
          15,
          17,
          19,
          21,
          23,
          25,
          27,
          30,
          33,
          37,
          44,
          60,
          79,
          93,
         122,
         255
        1,
        1,
        2,
        3,
        3,
        4,
        5,
        8,
        10,
        13,
        15,
        17,
        19,
        21,
        23,
        25,
        27,
        30,
        33,
        37,
        44,
        60,
        79,
        93,
        122,
        255
    },

    // Ch 5 - range25cm64PRFnb
    {
           1,
           1,
           1,
           2,
           2,
           3,
           4,
           6,
           7,
           9,
          10,
          12,
          13,
          15,
          16,
          17,
          19,
          21,
          23,
          26,
          30,
          42,
          55,
          65,
          85,
         255
        1,
        1,
        1,
        2,
        2,
        3,
        4,
        6,
        7,
        9,
        10,
        12,
        13,
        15,
        16,
        17,
        19,
        21,
        23,
        26,
        30,
        42,
        55,
        65,
        85,
        255
    }
}; // end range25cm64PRFnb

@@ -489,132 +489,132 @@
// range25cm64PRFwb: Range Bias Correction table for wide band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8 range25cm64PRFwb[2][NUM_64M_OFFSETWB] =
const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB] =
{
    // Ch 4 - range25cm64PRFwb
    {
           7,
           8,
           8,
           9,
           9,
          10,
          11,
          12,
          13,
          13,
          14,
          15,
          16,
          16,
          17,
          18,
          19,
          19,
          20,
          21,
          22,
          24,
          25,
          27,
          28,
          29,
          30,
          32,
          33,
          34,
          35,
          37,
          39,
          41,
          43,
          45,
          48,
          50,
          53,
          56,
          60,
          64,
          68,
          74,
          81,
          89,
          98,
         109,
         122,
         136,
         146,
         154,
         162,
         178,
         220,
         249,
         255,
         255,
         255
        7,
        8,
        8,
        9,
        9,
        10,
        11,
        12,
        13,
        13,
        14,
        15,
        16,
        16,
        17,
        18,
        19,
        19,
        20,
        21,
        22,
        24,
        25,
        27,
        28,
        29,
        30,
        32,
        33,
        34,
        35,
        37,
        39,
        41,
        43,
        45,
        48,
        50,
        53,
        56,
        60,
        64,
        68,
        74,
        81,
        89,
        98,
        109,
        122,
        136,
        146,
        154,
        162,
        178,
        220,
        249,
        255,
        255,
        255
    },

    // Ch 7 - range25cm64PRFwb
    {
           4,
           5,
           5,
           5,
           6,
           6,
           7,
           7,
           8,
           8,
           9,
           9,
          10,
          10,
          10,
          11,
          11,
          12,
          13,
          13,
          14,
          15,
          16,
          16,
          17,
          18,
          19,
          19,
          20,
          21,
          22,
          23,
          24,
          25,
          26,
          28,
          29,
          31,
          33,
          35,
          37,
          39,
          42,
          46,
          50,
          54,
          60,
          67,
          75,
          83,
          90,
          95,
         100,
         110,
         135,
         153,
         172,
         192,
         255
        4,
        5,
        5,
        5,
        6,
        6,
        7,
        7,
        8,
        8,
        9,
        9,
        10,
        10,
        10,
        11,
        11,
        12,
        13,
        13,
        14,
        15,
        16,
        16,
        17,
        18,
        19,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        28,
        29,
        31,
        33,
        35,
        37,
        39,
        42,
        46,
        50,
        54,
        60,
        67,
        75,
        83,
        90,
        95,
        100,
        110,
        135,
        153,
        172,
        192,
        255
    }
}; // end range25cm64PRFwb

@@ -624,8 +624,8 @@
 *
 * @brief This function is used to return the range bias correction need for TWR with DW1000 units.
 *
 * input parameters:	
 * @param chan  - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7) 
 * input parameters:
 * @param chan  - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7)
 * @param range - the calculated distance before correction
 * @param prf   - this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
 *
@@ -633,7 +633,7 @@
 *
 * returns correction needed in meters
 */
double dwt_getrangebias(uint8 chan, float range, uint8 prf)
double dwt_getrangebias(uint8_t chan, float range, uint8_t prf)
{
    // First get the lookup index that corresponds to given range for a particular channel at 16M PRF
    int i = 0 ;
@@ -652,40 +652,40 @@
    {
        switch(chan)
        {
            case 4:
            case 7:
            {
                chanIdx = chan_idxwb[chan];
                while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_16M_WB ;                        // Nearest centimetre correction
            }
            break;
            default:
            {
                chanIdx = chan_idxnb[chan];
                while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_16M_NB ;                        // Nearest centimetre correction
            }
        case 4:
        case 7:
        {
            chanIdx = chan_idxwb[chan];
            while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
            cmoffseti = i + CM_OFFSET_16M_WB ;                        // Nearest centimetre correction
        }
        break;
        default:
        {
            chanIdx = chan_idxnb[chan];
            while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
            cmoffseti = i + CM_OFFSET_16M_NB ;                        // Nearest centimetre correction
        }
        }//end of switch
    }
    else // 64M PRF
    {
        switch(chan)
        {
            case 4:
            case 7:
            {
                chanIdx = chan_idxwb[chan];
                while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_64M_WB ;                        // Nearest centimetre correction
            }
            break;
            default:
            {
                chanIdx = chan_idxnb[chan];
                while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_64M_NB ;                        // Nearest centimetre correction
            }
        case 4:
        case 7:
        {
            chanIdx = chan_idxwb[chan];
            while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
            cmoffseti = i + CM_OFFSET_64M_WB ;                        // Nearest centimetre correction
        }
        break;
        default:
        {
            chanIdx = chan_idxnb[chan];
            while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
            cmoffseti = i + CM_OFFSET_64M_NB ;                        // Nearest centimetre correction
        }
        }//end of switch
    } // end else