测试延迟差=0 精度

yincheng.zhong

2022-10-25 ae53ad9142f8092693118eac64a138d050082afa

 源码/核心板/Src/application/dw_app.c

@@ -30,8 +30,8 @@
#include "beep.h"
#include "modbus.h"
//#define DEBUG_OUTPUT
#define TDFILTER
#define CONSTANT_FILTER
//#define TDFILTER
//#define CONSTANT_FILTER
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -49,7 +49,7 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
 * frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
#define RESP_RX_TO_FINAL_TX_DLY_UUS 420
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

@@ -339,7 +339,7 @@
     C = dia->maxGrowthCIR;
    
    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
//    rx_power=10*log10(C*B/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
@@ -507,7 +507,8 @@
               {   
               g_Tagdist[anc_id_recv]=   hex_dist2;
               g_flag_Taggetdist[anc_id_recv]=0;

                    Modbus_HoldReg[anc_id_recv*2]=hex_dist2>>16;
               Modbus_HoldReg[anc_id_recv*2+1]=hex_dist2;
               if(!g_com_map[MODBUS_MODE])
               {
               hex_dist2 = hex_dist2;      
@@ -524,6 +525,7 @@
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);

               }
            }
      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
@@ -757,6 +759,7 @@
                  usart_send[13] = battary;
                  usart_send[14] = button;
                        usart_send[15] = firstpath_power;
                        usart_send[16] = rx_power;
                  checksum = Checksum_u16(&usart_send[2],17);
                  memcpy(&usart_send[19],&checksum,2);
                  UART_PushFrame(usart_send,21);