初步将STS方形矩阵测角移植成功，能稳定和一个设备测360度角

chen

2025-07-05 76fc938c40ba7bdf3c6769d1f76a22328151ee90

初步将STS方形矩阵测角移植成功，能稳定和一个设备测360度角

 keil/JLinkLog.txt

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 keil/Listings/uwb_simple_example.map

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 keil/Objects/uwb_simple_example.build_log.htm

@@ -27,14 +27,8 @@
<h2>Output:</h2>
*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'MK8000 Release'
compiling uwb_app.c...
linking...
.\include\devices\MK800X\Source\ARM\MK800X_ac6_copy.sct(25): warning: L6314W: No section matches pattern *(.XIP_SECTION).
Program Size: Code=60592 RO-data=8088 RW-data=1480 ZI-data=33760  
Finished: 0 information, 1 warning and 0 error messages.
FromELF: creating hex file...
After Build - User command #1: fromelf.exe --bincombined -o "Output\uwb_simple_example.bin" "D:\project_chen\ChinaUWBProject_tag\keil\Objects\uwb_simple_example.axf"
".\Objects\uwb_simple_example.axf" - 0 Error(s), 1 Warning(s).
".\Objects\uwb_simple_example.axf" - 0 Error(s), 0 Warning(s).

<h2>Software Packages used:</h2>

@@ -48,7 +42,7 @@
  d:\Users\xookk\AppData\Local\Arm\Packs\MKSEMI\MK800X_DFP\1.0.3\Device\Include

<h2>Collection of Component Files used:</h2>
Build Time Elapsed:  00:00:04
Build Time Elapsed:  00:00:02
</pre>
</body>
</html>

 keil/Objects/uwb_simple_example.hex

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 keil/Objects/uwb_simple_example.htm

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 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -757,7 +757,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x68486975)

I (include\drivers\Usart.h)(0x685F4896)

F (.\include\main\main.c)(0x68676DE7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/kernel/inc -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

F (.\include\main\main.c)(0x68688459)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/kernel/inc -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/main.o -MD)

I (include\drivers\mk_trace.h)(0x68486975)

I (include\drivers\mk_common.h)(0x68486975)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)

@@ -875,7 +875,7 @@
I (include\components\hido\Include\HIDO_Util.h)(0x67E522CB)

I (include\components\hido\Include\HIDO_TypeDef.h)(0x67E522CB)

I (include\drivers\global_param.h)(0x685F9926)

F (.\uwb_app.c)(0x6867AD91)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/kernel/inc -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

F (.\uwb_app.c)(0x6868841B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m0 -c

-fno-rtti -funsigned-char

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -w -I ./include/board -I ../keil -I .. -I ./include/board -I ./include/CMSIS/Include -I ./include/components/algo/inc -I ./include/components/crc -I ./include/components/libc -I ./include/components/wsf/include -I ./include/components/wsf/include/platform -I ./include/devices/MK800X/Include -I ./include/drivers -I ./include/components/hido/Include -I ./include/components/internet/inc -I ./include/components/hal -I ../keil -I ./include/src -I ./include/components/kernel/inc -Wno-declaration-after-statement -Wno-double-promotion -Wno-extra-semi-stmt -Wno-gnu-zero-variadic-macro-arguments -Wno-padded -Wno-unused-parameter

-I./RTE/_MK8000_Release

-Id:/Users/xookk/AppData/Local/Arm/Packs/MKSEMI/MK800X_DFP/1.0.3/Device/Include

-Id:/Keil_v5/ARM/CMSIS/Include

-D__UVISION_VERSION="530" -D_RTE_ -DUWB_EN -DSTD_LIBC

-o ./objects/uwb_app.o -MD)

I (include\drivers\mk_trace.h)(0x68486975)

I (include\drivers\mk_common.h)(0x68486975)

I (d:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x5DDFFD72)


 keil/include/main/main.c

@@ -309,16 +309,16 @@
        second_count = 0;
        MinuteTask();
    }
            if(bind_flag)
    {
        if(bind_count--<=0)
        {
        bind_count=BIND_COUNT_NUM;
        copy_taglist_to_flash();
        sys_reset(0);			
        bind_flag=0;
        }
    }
//            if(bind_flag)
//    {
//        if(bind_count--<=0)
//        {
//        bind_count=BIND_COUNT_NUM;
//        copy_taglist_to_flash();
//        sys_reset(0);			
//        bind_flag=0;
//        }
//    }
//    //UWB状态检测
//if(!power_low_flag)//低供电下不需要检测重连
//    {

 keil/uwb_app.c

@@ -334,8 +334,7 @@
//             /* Received data does not contain FCS */
//        rx_length = rx_report->pkt_len;
//        memcpy(rx_buf, rx_report->pkt_data, rx_length);
//             if (sts_valid_check())
//        {

        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
@@ -348,32 +347,35 @@
        rssi = rx_report->rssi;
        //receive_flag=1;
                Anchor_App();
//            //    // PDoA caculation
//            pdoa_3d_calculate(0, &elevation, &azimuth);
//            pdoa_fom_get(NULL, &fom);
//            if(resp_tx_flag==0)
//            {
//              OpenUWB();
//            }
            //    // PDoA caculation
            if (sts_valid_check())//为了避免影响时序放到了回包后进行操作
      {
            pdoa_3d_calculate(0, &elevation, &azimuth);
            pdoa_fom_get(NULL, &fom);
            }
            if(resp_tx_flag==0)
            {
              OpenUWB();
            }
//                }else{
//                    poll_rx_error_num++;
//                rx_report->err_code |= UWB_STS_ERR;
//                }
            #ifdef STS_MODE
                valid_sts= sts_valid_check();
      if (valid_sts)
      {
                aoa_calculate(&elevation, &azimuth);
                aoa_fom_get(NULL, &fom);
//                float pdoa[3];
//                pdoa[0] = pdoa_select_get(0, 3);
//                pdoa[1] = pdoa_select_get(1, 3);
//                pdoa[2] = pdoa_select_get(2, 3);
//                LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
//            #ifdef STS_MODE
//                valid_sts= sts_valid_check();
//      if (valid_sts)
//      {
//                aoa_calculate(&elevation, &azimuth);
//                aoa_fom_get(NULL, &fom);
////                float pdoa[3];
////                pdoa[0] = pdoa_select_get(0, 3);
////                pdoa[1] = pdoa_select_get(1, 3);
////                pdoa[2] = pdoa_select_get(2, 3);
////                LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

                    sts_rssi = sts_rssi_output_get();
            }
            #endif
//                    sts_rssi = sts_rssi_output_get();
//            }
//            #endif
    }
    else
    {
@@ -386,9 +388,9 @@
                    temp_count= phy_timer_count_get();
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
//                OpenUWB();//再次开启UWB接收
                OpenUWB();//再次开启UWB接收
    }
    OpenUWB();//再次开启UWB接收
    //OpenUWB();//再次开启UWB接收
}

/* TX done process handler. */
@@ -403,8 +405,8 @@
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
			
//                OpenUWB();//再次开启UWB接收
                resp_tx_flag=0;
                OpenUWB();//再次开启UWB接收
        //LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }else{
        mac_error=1;
@@ -895,7 +897,27 @@
    }
}
}

void buffer_485_construct(uint8_t* show_buffer)
{                static uint8_t usart_send[100];
                uint16_t checksum = 0;
        usart_send[0] = 0x55;
        usart_send[1] = 0xAA;
        usart_send[2] = 0x50;                        
        usart_send[3] = 9+5*taglist_num;      //length            
        memcpy(&usart_send[4],&dev_id,2); //anchor_id)
                usart_send[6]=taglist_num;       //区域数量
        memcpy(&usart_send[7],&show_buffer,taglist_num);//区域位置
        memcpy(&usart_send[7+taglist_num],&ancidlist_rec,2*taglist_num);//tag_idlist
        memcpy(&usart_send[7+taglist_num+2*taglist_num],&rec_ancdistlist,2*taglist_num); //tag_distlist
                usart_send[7+5*taglist_num]=0;//保留4位RESERVE1
                usart_send[7+5*taglist_num+1]=0;
                usart_send[7+5*taglist_num+2]=0;
                usart_send[7+5*taglist_num+3]=0;
	
        checksum = Checksum_u16(&usart_send[2],9+5*taglist_num);
        memcpy(&usart_send[7+5*taglist_num+4], &checksum, 2);
                uart_send(UART_ID0, usart_send,13+5*taglist_num, NULL);
}
int Anchor_App(void)
{
                uint8_t i;
@@ -961,10 +983,8 @@
                                    Anchor_RecNearPoll(rec_nearbase_num);
                }
                }
//                 //phy_update_sts_iv_counter(0x00, sts_iv_key.sts_vcounter);//新增sts
//                 LOG_INFO(TRACE_MODULE_APP, "PDoA Azimuth %d Elevation %d FoM %u\r\n", mk_q7_to_s16(azimuth),
//                                 mk_q7_to_s16(elevation), fom);
				
                                 LOG_INFO(TRACE_MODULE_APP, "PDoA Azimuth %d Elevation %d FoM %u\r\n", mk_q7_to_s16(azimuth),
                                 mk_q7_to_s16(elevation), fom);
}
int UwbRange(void)
{

 keil/uwb_simple_example.uvguix.xookk

@@ -15,7 +15,7 @@
    <View>
      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>140 100</TableColWidths>
      <TableColWidths>140 90</TableColWidths>
    </View>
    <View>
      <WinId>346</WinId>
@@ -101,17 +101,17 @@
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>323</Top>
        <Left>2246</Left>
        <Right>3749</Right>
        <Bottom>1299</Bottom>
        <Top>361</Top>
        <Left>2199</Left>
        <Right>3702</Right>
        <Bottom>1337</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>5045</Len>
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 keil/uwb_simple_example.uvoptx

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