成功加入log打印和校准逻辑

chen

2025-05-07 c8c1cf5223f0576d4c378ac627d6eeed6caf04d5

成功加入log打印和校准逻辑

 keil/JLinkLog.txt

ÎļþÌ«´ó

 keil/Listings/uwb_simple_example.map

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.build_log.htm

@@ -22,15 +22,15 @@
 
<h2>Project:</h2>
D:\project_chen\anbang\ChinaUWBProject\keil\uwb_simple_example.uvprojx
Project File Date:  05/06/2025
Project File Date:  05/07/2025

<h2>Output:</h2>
*** Using Compiler 'V6.14', folder: 'd:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'MK8000 Release'
compiling main.c...
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=71048 RO-data=19520 RW-data=1360 ZI-data=31584  
Program Size: Code=71272 RO-data=19520 RW-data=1360 ZI-data=31704  
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\anbang\ChinaUWBProject\keil\Objects\uwb_simple_example.axf"
@@ -48,7 +48,7 @@
  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:  00:00:03
Build Time Elapsed:  00:00:04
</pre>
</body>
</html>

 keil/Objects/uwb_simple_example.hex

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.htm

ÎļþÌ«´ó

 keil/Objects/uwb_simple_example.lnp

@@ -25,6 +25,7 @@
".\objects\mk_uwb.o"
".\objects\mk_wdt.o"
".\objects\sn74hc595.o"
".\objects\commmap.o"
".\objects\usart1.o"
".\objects\usart.o"
".\objects\mk_4g.o"

 keil/Objects/uwb_simple_example_MK8000 Release.dep

@@ -481,6 +481,30 @@
I (include\drivers\mk_io.h)(0x66C95C55)

F (.\sn74hc595.h)(0x67872577)()

F (.\mk_4G.h)(0x67872577)()

F (.\include\drivers\CommMap.c)(0x681AC969)(-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/drivers -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 -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/commmap.o -MD)

I (include\drivers\CommMap.h)(0x681AC8A1)

I (include\board\board.h)(0x67E50DB1)

I (include\drivers\mk_common.h)(0x66C95C55)

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

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

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

I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

I (include\devices\MK800X\Include\MK800X.h)(0x66C95C55)

I (include\CMSIS\Include\core_cm0.h)(0x66C95C55)

I (include\CMSIS\Include\cmsis_version.h)(0x66C95C55)

I (include\CMSIS\Include\cmsis_compiler.h)(0x66C95C55)

I (include\CMSIS\Include\cmsis_armclang.h)(0x66C95C55)

I (d:\Keil_v5\ARM\ARMCLANG\include\arm_compat.h)(0x5E0CC2EC)

I (d:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x5E0CC318)

I (include\devices\MK800X\Include\system_MK800X.h)(0x66C95C55)

I (..\user_config.h)(0x67E50DB1)

I (include\drivers\mk_trace.h)(0x66C95C55)

I (include\drivers\mk_uart.h)(0x66C95C55)

I (include\drivers\mk_dma.h)(0x66C95C55)

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

I (include\drivers\mk_gpio.h)(0x66C95C55)

I (include\drivers\mk_io.h)(0x66C95C55)

F (.\include\drivers\CommMap.h)(0x681AC8A1)()

F (.\include\drivers\Usart1.c)(0x67872577)(-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 -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/usart1.o -MD)

I (include\drivers\Usart.h)(0x67872577)

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

@@ -501,7 +525,7 @@
I (..\user_config.h)(0x67E50DB1)

I (include\drivers\mk_uart.h)(0x66C95C55)

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

F (.\include\drivers\Usart.c)(0x67D38165)(-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 -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/usart.o -MD)

F (.\include\drivers\Usart.c)(0x681ACF9B)(-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 -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/usart.o -MD)

I (include\drivers\Usart.h)(0x67872577)

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

I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

@@ -543,7 +567,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x66C95C55)

I (include\drivers\mk_io.h)(0x66C95C55)

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

I (..\keil\sn74hc595.h)(0x67872577)

F (.\include\drivers\lis3dh_driver.c)(0x67E50DB1)(-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 -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/lis3dh_driver.o -MD)

I (include\drivers\lis3dh_driver.h)(0x66C95C55)

@@ -565,7 +589,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\arm_acle.h)(0x5E0CC318)

I (include\devices\MK800X\Include\system_MK800X.h)(0x66C95C55)

I (include\drivers\mk_gpio.h)(0x66C95C55)

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

F (.\dw_tag.c)(0x67872577)(-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 -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/dw_tag.o -MD)

I (..\keil\dw_tag.h)(0x67872577)

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

@@ -590,13 +614,13 @@
I (include\drivers\mk_dma.h)(0x66C95C55)

I (include\drivers\mk_trace.h)(0x66C95C55)

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

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

F (.\dw_app_anchor.c)(0x66C95C55)(-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 -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/dw_app_anchor.o -MD)

I (..\keil\dw_app_anchor.h)(0x67E50DB1)

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

I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

F (.\include\drivers\global_param.c)(0x67872577)(-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 -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/global_param.o -MD)

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

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

I (include\drivers\mk_flash.h)(0x66C95C55)

I (include\drivers\mk_common.h)(0x66C95C55)

@@ -614,10 +638,10 @@
I (..\user_config.h)(0x67E50DB1)

I (include\drivers\mk_dma.h)(0x66C95C55)

I (include\drivers\mk_misc.h)(0x67D38165)

F (.\include\drivers\serial_at_cmd_app.c)(0x67E50DB1)(-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/drivers -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 -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/serial_at_cmd_app.o -MD)

F (.\include\drivers\serial_at_cmd_app.c)(0x681AB949)(-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/drivers -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 -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/serial_at_cmd_app.o -MD)

I (include\drivers\serial_at_cmd_app.h)(0x67BEBF73)

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

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

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

I (include\drivers\Usart.h)(0x67872577)

@@ -694,7 +718,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdarg.h)(0x5DDFFD72)

I (include\drivers\mk_gpio.h)(0x66C95C55)

I (include\drivers\Usart.h)(0x67872577)

F (.\include\main\main.c)(0x6819ABCD)(-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 -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)(0x681AC454)(-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 -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)(0x66C95C55)

I (include\drivers\mk_common.h)(0x66C95C55)

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

@@ -722,7 +746,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x5DDFFD6A)

I (d:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x5DDFFD6C)

I (include\drivers\serial_at_cmd_app.h)(0x67BEBF73)

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

I (include\board\board.h)(0x67E50DB1)

I (include\drivers\mk_gpio.h)(0x66C95C55)

I (include\drivers\mk_io.h)(0x66C95C55)

@@ -759,7 +783,7 @@
I (d:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x5DDFFD6C)

I (include\components\hido\Include\HIDO_Timer.h)(0x66C95C55)

I (include\components\hido\Include\HIDO_Util.h)(0x66C95C55)

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

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

I (include\components\hal\Uart.h)(0x66C95C55)

I (include\drivers\mk_uart.h)(0x66C95C55)

@@ -807,8 +831,8 @@
I (include\drivers\mk_io.h)(0x66C95C55)

I (include\components\hido\Include\HIDO_Util.h)(0x66C95C55)

I (include\components\hido\Include\HIDO_TypeDef.h)(0x66C95C55)

I (include\drivers\global_param.h)(0x67E50DB1)

F (.\uwb_app.c)(0x6819AB6C)(-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 -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\global_param.h)(0x681ABF8A)

F (.\uwb_app.c)(0x681B0A20)(-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 -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)(0x66C95C55)

I (include\drivers\mk_common.h)(0x66C95C55)

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

@@ -836,10 +860,11 @@
I (include\components\algo\inc\lib_ranging.h)(0x66C95C55)

I (include\components\algo\inc\lib_aoa.h)(0x66C95C55)

I (..\keil\dw_app_anchor.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x67E50DB1)

I (include\drivers\global_param.h)(0x681ABF8A)

I (include\board\board.h)(0x67E50DB1)

I (include\drivers\mk_gpio.h)(0x66C95C55)

I (include\drivers\mk_io.h)(0x66C95C55)

I (include\drivers\CommMap.h)(0x681AC8A1)

F (.\uwb_tag.c)(0x67872577)(-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 -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_tag.o -MD)

I (include\drivers\mk_trace.h)(0x66C95C55)

I (include\drivers\mk_common.h)(0x66C95C55)


 keil/include/drivers/CommMap.c

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,64 @@
#include "CommMap.h"
uint8_t JudgeTransMethod(uint8_t src_id, uint8_t dst_id)
{
    uint8_t comm_method = SEND_FROM_CAN;
	
    //下面列出所有通过串口发送数据的情况	
    switch(src_id)
    {
        case ID_VIO_UP_CTRLLER:
            if(dst_id == ID_UWB_ANCHOR || dst_id == ID_UWB_TAG)
                comm_method = SEND_FROM_UART;
            break;
        case ID_UWB_ANCHOR:
            comm_method = SEND_FROM_UART;
            break;
        case ID_VIO_MAIN_CTRLLER:
            //To do...请吴耀填写何时主控会通过串口发送数据
            if(dst_id == ID_VIO_BLE || dst_id == ID_VIO_BMS)
                comm_method = SEND_FROM_UART;
            break;
        case ID_VIO_BLE: 
            comm_method = SEND_FROM_UART;
            break;
        case ID_VIO_BMS: 
            comm_method = SEND_FROM_UART;
            break;
        default: break;
    }
	
    return comm_method;
}
uint32_t count_temp = 0;
void SendFrame(uint8_t data_length, uint8_t src_id, uint8_t dst_id, uint8_t cmd, uint8_t index, uint8_t* data)
{
    uint16_t checksum = 0;
    uint8_t send_method = SEND_FROM_CAN;


    static uint8_t send_frame[COM_FRAME_MAX_SIZE];

	
    send_method = SEND_FROM_UART;//JudgeTransMethod(src_id, dst_id);
	
    if(send_method == SEND_FROM_UART) {    //通过串口发送
        send_frame[COM_HEAD0] = 0x5a;
        send_frame[COM_HEAD1] = 0xa5;
        send_frame[COM_LENGTH] = data_length;
        send_frame[COM_SRC_ID] = src_id;
        send_frame[COM_DST_ID] = dst_id;
        send_frame[COM_CMD] = cmd;
        send_frame[COM_INDEX] = index;
        memcpy(&send_frame[COM_DATA], data, data_length);
		
        checksum = Checksum_u16(&send_frame[COM_LENGTH], data_length+5);
        memcpy(&send_frame[COM_DATA+data_length], &checksum, 2);
        count_temp++;
//        UART_PushFrame(send_frame, send_frame[COM_LENGTH]+9);
        uart_send(TRACE_PORT_UART0,send_frame,send_frame[COM_LENGTH]+9,NULL);
    }
}
void WriteCtrlPara(uint8_t index,uint8_t* p,uint8_t len)
{
    SendFrame(len*2,ID_UWB_ANCHOR,ID_VIO_UP_CTRLLER,CMD_CMAP_WR_NR,index,p);
}

 keil/include/drivers/CommMap.h

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,220 @@
#include "board.h"
#ifndef __COMMMAP_H
#define __COMMMAP_H

//#include "stm32f10x.h"
//#include <string.h>
//#include "Utility.h"
//#include "ConfigCan.h"
//#include "ConfigUsart.h"
//#include "port.h"
//#include "Flash.h"

#define COM_FRAME_MAX_SIZE            50

//----------------指令位置----------------
#define COM_HEAD0                    0x00
#define COM_HEAD1                    0x01
#define COM_LENGTH                    0x02
#define COM_SRC_ID                    0x03
#define COM_DST_ID                    0x04
#define COM_CMD                        0x05
#define COM_INDEX                    0x06
#define COM_DATA                    0x07

//----------------指令类型----------------
//控制表访问指令
#define CMD_CMAP_RD                    0x01
#define CMD_CMAP_WR                    0x02
#define CMD_CMAP_WR_NR                0x03
#define CMD_CMAP_ACK_RD                0x04
#define CMD_CMAP_ACK_WR                0x05
//数据下载相关指令
#define CMD_IAP_BEGIN                0x07
#define CMD_IAP_TRANS                0x08
#define CMD_IAP_VERIFY                0x09
#define CMD_MCU_RESET                0x0A
#define CMD_IAP_ACK                    0x0B
#define CMD_SAVE_UID                0x0C


////控制指令
//#define CMD_CTRL_RD                0x01        //读指令
//#define CMD_CTRL_WR                0x02        //写指令
//#define CMD_CTRL_WR_NR            0x03        //写控制表指令（无返回）
//#define IS_CTRL_PACK(PACK_TYPE)        (((PACK_TYPE) == CMD_CTRL_RD) || \
//                                     ((PACK_TYPE) == CMD_CTRL_WR)    || \
//                                     ((PACK_TYPE) == CMD_CTRL_WR_NR) )
//									 
////通讯指令
//#define CMD_IAP_BEGIN                0x07   //the macro declaration should be same between difference commu src
//#define CMD_IAP_WR                    0x08 
//#define CMD_IAP_CHECKSUM             0x09
//#define CMD_IAP_RESET               0x0A
//#define IS_IAP_PACK(PACK_TYPE)        (((PACK_TYPE) == CMD_IAP_BEGIN) || \
//                                     ((PACK_TYPE) == CMD_IAP_WR)    || \
//                                     ((PACK_TYPE) == CMD_IAP_CHECKSUM)    || \
//                                     ((PACK_TYPE) == CMD_IAP_RESET)    )		
////语音指令
//#define  CMD_SPK_PLAY                0x11
//#define  CMD_SPK_ERASE               0x12
//#define  CMD_SPK_WR_DATA            0x13
//#define  CMD_SPK_READ               0x14 //这里一次性读取语音段信息
//#define  IS_SPK_PACK(PACK_TYPE)        (((PACK_TYPE) == CMD_SPK_PLAY)    || \
//                                     ((PACK_TYPE) == CMD_SPK_ERASE)    || \
//                                     ((PACK_TYPE) == CMD_SPK_READ)    || \
//                                     ((PACK_TYPE) == CMD_SPK_WR_DATA) )
////配对指令
//#define CMD_RMC_PAIR                0x1A

//----------------------ID list--------------------------------------
#define _SW_VER                (uint16_t)((0x0000<<8)|(0x0001<<4)|(1))      //固件版本
#define FW_VERSION            (uint16_t)((0x00<<12)|_SW_VER)

#define ID_THIS                        ID_UWB_ANCHOR

#define ID_APR_HEAD_R                0x00
#define ID_APR_TOP                    0x01
#define ID_APR_YAW                    0x02
#define ID_APR_HEAD_L                0x03
#define ID_VIO_MAIN_CTRLLER            0x04
#define ID_APR_X86                    0x05
#define ID_VIO_BLE                    0x06
#define ID_VIO_BMS                    0x07
#define ID_VIO_UP_CTRLLER            0x08
#define ID_UWB_ANCHOR                0x09
#define ID_UWB_TAG                    0x0A
#define ID_MOBILE                    0x0B
#define ID_DEBUGGER                    0x0C

//--------------------Communication Method---------------------------
#define SEND_FROM_CAN                0x01
#define SEND_FROM_UART                0x02


#define COMM_MAP_MAX_SIZE    70
//-------------------------Anchor板 Map------------------------------
#define COMM_MAP_UP_FW_VERSION        0x0A
#define COMM_MAP_ANCHOR_FW_VERSION    0x0B
#define COMM_MAP_TAG_FW_VERSION    0x0C

#define COMM_MAP_ELEC_ANG_OFFSET    0x10
#define COMM_MAP_PHY_ANG_OFFSET        0x11
#define COMM_MAP_PAIR_STATE            0x12
#define COMM_MAP_PDOFSET            0x13
#define COMM_MAP_PAIRFLAG            0x14
#define COMM_MAP_ANGLE_OFFSET            0x15
#define COMM_MAP_CALIB_OK            0x16

#define COMM_MAP_PAIR_REQUESTED        0x1A
#define COMM_MAP_TEST_FLAG        0x1B

//-------------------------Tag板 Map------------------------------
#define COM_MAP_UWB_DATA_SIZE        (COMM_MAP_IMU_MAGZ_SPD - COMM_MAP_IS_UWB_UPDATED + 1)
#define COMM_MAP_IS_UWB_UPDATED        0x20
#define COMM_MAP_ANGLE                0x21        //UWB测得的角度信息
#define COMM_MAP_DIST                0x22        //UWB测得的距离信息
#define COMM_MAP_SIG_QUALITY        0x23        //UWB信号质量
#define COMM_MAP_TAG_ADDR            0x24
#define COMM_MAP_KEYS                0x25        //遥控器按键信息
#define COMM_MAP_ROCKER_X            0x26        //遥控器横向摇杆的值
#define COMM_MAP_ROCKER_Y            0x27        //遥控器纵向摇杆的值
#define COMM_MAP_BAT_VOL            0x28        //遥控器电量
//遥控器IMU相关状态
#define COMM_MAP_IMU_ROLL_SPD        0x29
#define COMM_MAP_IMU_PITCH_SPD        0x2A
#define COMM_MAP_IMU_YAW_SPD        0x2B
#define COMM_MAP_IMU_ACCX_SPD        0x2C
#define COMM_MAP_IMU_ACCY_SPD        0x2D
#define COMM_MAP_IMU_ACCZ_SPD        0x2E
#define COMM_MAP_IMU_MAGX_SPD        0x2F
#define COMM_MAP_IMU_MAGY_SPD        0x30
#define COMM_MAP_IMU_MAGZ_SPD        0x31
//遥控器灯的状态
#define COMM_MAP_RC_LED_FOLLOW        0x32
#define COMM_MAP_RC_LED_SHOT        0x33	
#define COMM_MAP_WARN                0x34        //遥控器报警提示状态

//-------------------------协控板 Map--------------------------------
#define COMM_MAP_LED                0x40
#define COMM_MAP_IS_GIMBAL_PLUGED    0x41
#define COMM_MAP_SBV_MODE            0x42
#define COMM_MAP_GIMBAL_MODE        0x43
#define COMM_MAP_VOICE_FLAG            0x44
#define COMM_MAP_VOICE_INDEX        0x45





/*---------------------------------------------------------------------
                            VOICE PACK INDEX
---------------------------------------------------------------------*/
//语音指令
#define VOICE_WARNING                0
#define VOICE_ERROR                    1
#define VOICE_SHOT                    2
#define VOICE_RECORD                3
#define    VOICE_DI                    4
#define VOICE_DIDI                    5
#define VOICE_CALL_ARRIVE            6
#define VOICE_STANDBY                7
#define VOICE_OVERSPEED2            8

#define VOICE_START                    16
#define VOICE_CLOSE                    17
#define VOICE_OVERSPEED1            18
#define VOICE_LOCK                    19
#define VOICE_SIGNAL_WEAK            20
#define VOICE_BACKWARD                21
#define VOICE_LOWBATERAY            22
#define    VOICE_FOLLOW_MODE            23
#define VOICE_FOLLOW_MODE_EXIT        24
#define VOICE_GIMBAL_PLUGEDIN        25
#define VOICE_NO_CAMERA                26
#define VOICE_GIMBAL_TAKEOFF        27
#define VOICE_REMOTE_CTRL_MODE        28
#define VOICE_BLE_CONNECT            29
#define VOICE_BLE_DISCONECT            30
#define VOICE_NOT_ACTIVATED            31
#define VOICE_CLOSE_ALERT            32
#define VOICE_CAM_MODE_STABLE        33
#define VOICE_CAM_MODE_FOLLOW        34
#define VOICE_CAM_MODE_LOCK            35

#define VOICE_MALFUNCTION            56
#define VOICE_HIGHBATERAY            57

typedef struct ComData_
{
    uint8_t length;
    uint8_t src_id;
    uint8_t dst_id;
    uint8_t cmd;
    uint8_t index;
    uint8_t data[COM_FRAME_MAX_SIZE];
} ComDataClass;

typedef enum{    UsartReceiveWaitHead0, 
                UsartReceiveWaitHead1, 
                UsartReceiveWaitLength, 
                UsartReceiveWaitData
}UsartRecvPackState;

extern uint16_t gCommMap[COMM_MAP_MAX_SIZE];
extern uint16_t gSbvComMap[COMM_MAP_MAX_SIZE];
extern uint8_t gErrorCode;


//--------------应用层回调函数---------------
//extern void (*IapHandlerCallback)(CanReceiveFrame *);
//extern void (*CtrlHandlerCallback)(CanReceiveFrame *);
//extern void (*SpkHandlerCallback)(CanReceiveFrame *);
//extern void (*UwbHandlerCallback)(void);

void CommMapInit(void);
//void CanParseDataHandler(CanRxMsg* pRxMessage);
void SendFrame(uint8_t data_length, uint8_t src_id, uint8_t dst_id, uint8_t cmd, uint8_t index, uint8_t* data);
#endif



 keil/include/drivers/Usart.c

@@ -70,7 +70,40 @@
    m_bEUARTCheckingRec = 0;
}


void UART0_CheckReceive(void)
{
        int32_t DMACnt = 0;
        int32_t MaxDataLen = EUART_RX_BUF_SIZE;	
        cndtr=get_uart0_dma_cndtr();
        //缺少check保护
    //如果正在往发送队列中添加数据，退出
    if(m_bEUARTPushingFrms)
        return;
    //判断是否正在Check
    if(m_bEUARTCheckingRec)
        return;
    m_bEUARTCheckingRec = 1;
    if(cndtr== 0)
    {
        m_bEUARTCheckingRec = 0;
        return;
    }
    DMACnt = EUART_RX_BUF_SIZE - cndtr;
    while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
    {
        Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
        //waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
        m_EUART_DMA_RXPtr++;
        if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
        {
            m_EUART_DMA_RXPtr = 0;
        }
        DMACnt = EUART_RX_BUF_SIZE - cndtr;
        MaxDataLen--;
    }
    m_bEUARTCheckingRec = 0;	
	
}

#ifndef EXUART_USE_TXDMA
//查询方式发送数据

 keil/include/drivers/global_param.h

@@ -62,6 +62,7 @@
#define     IMU_ENABLE          0x1F
#define     REMOTEPARA_STATE      0x20
#define     IMU_DUARTION                 0x21
#define     PDOFFSET            0x21
#define     ACTIVE_INDEX                 0x22
#define     UWB_ACTIVE_FLAG_IDX                 0x23
#define     HEIGHTOFFEST_INDEX                 0x28
@@ -69,7 +70,7 @@
#define     CNT_RESTART                        0x30
#define     CNT_REBOOT                        0x31
#define     CNT_UPDATE                        0x32

#define     CNT_CALIB                            0x33


/*------------END Map Definition-------------------*/

 keil/include/drivers/serial_at_cmd_app.c

@@ -101,7 +101,7 @@
    checksum = Checksum_u16(&send_frame[2],5+data_length);
    memcpy(&send_frame[7+data_length],&checksum,2);

    uart_send(UART_ID1, send_frame,data_length+9, NULL);
    uart_send(UART_ID0, send_frame,data_length+9, NULL);
}
void UpdateProcess(uint8_t index)
{

 keil/include/main/main.c

@@ -145,7 +145,7 @@
};
void uart_receive_callback(void *dev, uint32_t err_code)
{
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
}
void mcu_deep_sleep(void)
{
@@ -411,6 +411,7 @@
extern uint16_t ip0,ip1,ip2,ip3,port;
extern uint8_t gps_4g_flag;
extern uint8_t gps_need_data_flag,gps_open_flag;
extern  float pd_offset,offset;
void Program_Init(void)
{
    Usart1ParseDataCallback = UsartParseDataHandler;//需改为默认为gps处理，UsartParseDataHandler为升级处理当调试时候改为
@@ -419,6 +420,7 @@
    group_id=g_com_map[GROUP_ID];//组ID
//    tag_frequency = 1000/g_com_map[COM_INTERVAL];//测距频率这个存的是测距时间
    memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
        memcpy(&pd_offset,&g_com_map[PDOFFSET],4);
//    g_com_map[ALARM_DISTANCE1] = 40;
//    g_com_map[ALARM_DISTANCE2] = 40;
    warning_distance=g_com_map[ALARM_DISTANCE1];
@@ -455,7 +457,7 @@
}



uint8_t calibration_start;
void IdleTask(void)
{
//    if(gpio_pin_get_val(INPUT_5V_Pin))
@@ -484,7 +486,13 @@
//            //UartDeinit();
//        }
//    }
        UART_CheckReceive();
        UART0_CheckReceive();
            if(g_com_map[CNT_CALIB])
    {
        g_com_map[CNT_CALIB]=0;
        save_com_map_to_flash();
        calibration_start=1;
    }
}
int bind_check(void)
{
@@ -589,7 +597,7 @@
 
   // uart1_change_from_gps_to_debug();   
    //Uart1GpsRecDebugSend();   
    uart_receive(UART_ID1,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
    uart_receive(UART_ID0,m_EUART_DMA_RXBuf,EUART_RX_BUF_SIZE,uart_receive_callback);
   
// Initialize low power mode
    power_init();

 keil/uwb_app.c

@@ -9,6 +9,7 @@
#include "dw_app_anchor.h"
#include "global_param.h"
#include "board.h"
#include "CommMap.h"
#include "lib_aoa.h"

extern int simple_main(void);
@@ -99,7 +100,7 @@
#define HALF_SECOND_TIME 624000000
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10

#define calib_len 60
#define UWB_DELAY_TIME_US 496
static uint8_t receive_flag=0;
struct mk_uwb_configure
@@ -256,6 +257,7 @@
#define MSG_POS          0x01
#define M_PI        3.1415927
uint8_t usart_send[40];
uint8_t usart_send1[40];
extern uint8_t bat_percent;
double angle_temp;
double angle_calculate(void)
@@ -271,13 +273,13 @@
//LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", iq1[2], iq1[3]);
//LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", iq1[4], iq1[5]);
//LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", iq1[6], iq1[7]);
float iq_re = iq1[2 * 0] * iq1[2 * 1] + iq1[2 * 0 + 1] * iq1[2 * 1 + 1];
float iq_im = iq1[2 * 0] * iq1[2 * 1 + 1] - iq1[2 * 0 + 1] * iq1[2 * 1];
float iq_re = iq1[2 * 0] * iq1[2 * 3] + iq1[2 * 0 + 1] * iq1[2 * 3 + 1];
float iq_im = iq1[2 * 0] * iq1[2 * 3 + 1] - iq1[2 * 0 + 1] * iq1[2 * 3];
double result=atan2f(iq_im, iq_re)/ M_PI;
double angle=asin(result);
angle =angle*57.3;
offset=30;
angle+=offset;
//offset=10;
//angle+=offset;
if(angle>=90)
        angle-=180;
else if(angle<=-90)
@@ -285,17 +287,17 @@
angle+=180;
}
//LOG_INFO(TRACE_MODULE_APP, "ANGLE_X: %lf \r\n", angle);
float iq_re2 = iq1[2 * 2] * iq1[2 * 3] + iq1[2 * 2 + 1] * iq1[2 * 3 + 1];
float iq_im2 = iq1[2 * 2] * iq1[2 * 3 + 1] - iq1[2 * 2 + 1] * iq1[2 * 3];
double result2=atan2f(iq_im2, iq_re2)/ M_PI;
double angle2=asin(result2);
angle2 =angle2*57.3;
if(angle2>=90)
        angle2-=180;
else if(angle2<=-90)
{
angle2+=180;
}
//float iq_re2 = iq1[2 * 2] * iq1[2 * 3] + iq1[2 * 2 + 1] * iq1[2 * 3 + 1];
//float iq_im2 = iq1[2 * 2] * iq1[2 * 3 + 1] - iq1[2 * 2 + 1] * iq1[2 * 3];
//double result2=atan2f(iq_im2, iq_re2)/ M_PI;
//double angle2=asin(result2);
//angle2 =angle2*57.3;
//if(angle2>=90)
//        angle2-=180;
//else if(angle2<=-90)
//{
//angle2+=180;
//}
return angle;
}
void buffer_construct(uint16_t tag_id,uint16_t distance_temp,int16_t angle1,uint8_t rssi1)
@@ -315,6 +317,27 @@
        usart_send[14] = 0;  //RESERVE2
        checksum = Checksum_u16(&usart_send[2], 13+10);
        memcpy(&usart_send[15+10], &checksum, 2);
}
 char log_buf[300];
 uint32_t u32LogLen1,dataloglenth;
 uint32_t cnt_log;
void buffer_log_send(uint16_t tag_id,uint16_t distance_temp,int16_t angle1)
{
    dataloglenth = snprintf((char*)&log_buf,sizeof(log_buf), "DATA,%x,%d,%d,%d\n",tag_id,cnt_log++,angle1,distance_temp);
    uart_send(TRACE_PORT_UART0,log_buf,dataloglenth,NULL);
}
void buffer_construct_user(uint16_t tag_id)
{					
        uint16_t checksum = 0;
        usart_send1[0] = 0x55;
        usart_send1[1] = 0xAA;
        usart_send1[2] = 0x0d;                        //length
        usart_send1[3] = 5+10;                        //MSG_TYPE
        memcpy(&usart_send1[4],&tag_id,2);                //tag_id)
        usart_send1[6] = 10;
        //用户数据段
        checksum = Checksum_u16(&usart_send1[2], 5+10);
        memcpy(&usart_send1[7+10], &checksum, 2);
}
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{        
@@ -489,9 +512,12 @@
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
        //放入用户控制参数
        buffer_construct_user(tag_id_recv);
        memcpy(&send_buffer[40],usart_send1,20);
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
    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();
    while(mac_is_busy());
    
@@ -728,6 +754,68 @@
        }    
    }
}
extern uint8_t calibration_start;
 float pd_offset,offset;
  float divide_param = 1.97; //3.25为分立天线的值
void CalibratePdOffset(int16_t angle)
{
    uint16_t i;
    static uint8_t times=0,steady=0;
    static int16_t tmp,max,min,ave;
    static int32_t sum;
    static int16_t History[calib_len];
    History[times]=angle;
    times++;
    if(times >= calib_len)
    {
        max = -900;
        min = 900;
        times = 0;
        sum = 0;
        for(i = 0;i < calib_len;i++)
        {
            tmp=History[i];
            sum += tmp;
            if (tmp > max)
                max = tmp;
            else if(tmp<min)
                min = tmp;	
        }
        ave = sum / calib_len;
		
//        if(steady)
//        {
            if (abs(ave) < 100)
            {
//                Save.pd_offset=pd_offset;
                pd_offset=-ave;
                memcpy(&g_com_map[PDOFFSET],&pd_offset,4);
                save_com_map_to_flash();
                i = 2;
                WriteCtrlPara(COMM_MAP_CALIB_OK,(uint8_t*)&i,1);
                calibration_start = 0;	
                    //printf("Calibration Success.\r\n");
            }
//            else
//            {
//                steady = 0;
//            }
//		
//        }
//            else
//            {
//                if(max - min < 200)
//                {
//                    offset =- ave * M_PI * divide_param/1800;
//                    pd_offset += offset;
//                    steady = 1;
//                }else{
//                    pd_offset -= 1;
//                }
//            }
    }

}

int UwbRange(void)
{
@@ -837,14 +925,23 @@
                    angle_temp=angle_calculate();
                    sts_rssi = sts_rssi_output_get();
            }
         buffer_construct(tag_id_recv,distance,(int16_t)angle_temp,rssi);
		
                        recev_error_num=0;
               //range_timeout_us=5000;//恢复为5000进入range后
           //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d åŒ…序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);
                        //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d ä¿¡å·å¼ºåº¦ANT0:%f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
                        //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d ä¿¡å·å¼ºåº¦ANT0:%f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[1],sts_rssi[2]);
                        //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d\r\n",g_com_receive_id,distance);
            if(calibration_start)
            {
            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);
            }
			
            //LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d è§’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++;

 keil/uwb_simple_example.uvguix.xookk

@@ -70,7 +70,7 @@
      <WinId>466</WinId>
      <ViewName>Source Browser</ViewName>
      <UserString>500</UserString>
      <TableColWidths>300</TableColWidths>
      <TableColWidths>166</TableColWidths>
    </View>
  </TreeListPane>

@@ -93,25 +93,25 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>273</Top>
        <Left>261</Left>
        <Right>1561</Right>
        <Bottom>1093</Bottom>
        <Top>112</Top>
        <Left>172</Left>
        <Right>1472</Right>
        <Bottom>932</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>511</Len>
        <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000400000000000000010000003F443A5C70726F6A6563745F6368656E5C616E62616E675C4368696E6155574250726F6A6563745C6B65696C5C696E636C7564655C6D61696E5C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF35443A5C70726F6A6563745F6368656E5C616E62616E675C4368696E6155574250726F6A6563745C6B65696C5C7577625F6170702E6300000000097577625F6170702E6300000000FFDC7800FFFFFFFF43443A5C70726F6A6563745F6368656E5C616E62616E675C4368696E6155574250726F6A6563745C6B65696C5C696E636C7564655C647269766572735C55736172742E63000000000755736172742E6300000000BECEA100FFFFFFFF35443A5C70726F6A6563745F6368656E5C616E62616E675C4368696E6155574250726F6A6563745C6B65696C5C7577625F7461672E6300000000097577625F7461672E6300000000F0A0A100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F40000006600000080070000DB030000</Data>
        <Len>1359</Len>
        <Data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ata>
      </MDITabState>
    </MDIClientArea>
    <ViewEx>
@@ -130,11 +130,11 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>F40000004F00000090050000DD000000</Data>
          <Data>F40000004F00000090050000EF000000</Data>
        </RectRecentDocked>
        <RectRecentFloat>
          <Len>16</Len>
          <Data>F40000006600000090050000F4000000</Data>
          <Data>F4000000660000009005000006010000</Data>
        </RectRecentFloat>
      </Window>
      <Window>
@@ -150,11 +150,11 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>0300000066000000ED000000AB030000</Data>
          <Data>0300000066000000ED00000021030000</Data>
        </RectRecentDocked>
        <RectRecentFloat>
          <Len>16</Len>
          <Data>F200000009010000E2010000D2010000</Data>
          <Data>8A000000A10000007A01000082010000</Data>
        </RectRecentFloat>
      </Window>
      <Window>
@@ -170,11 +170,11 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>0300000066000000ED000000AB030000</Data>
          <Data>0300000066000000ED00000021030000</Data>
        </RectRecentDocked>
        <RectRecentFloat>
          <Len>16</Len>
          <Data>F2000000090100000E02000045030000</Data>
          <Data>8A000000A1000000A601000025030000</Data>
        </RectRecentFloat>
      </Window>
      <Window>
@@ -190,11 +190,11 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
          <Data>030000002C0200008D0500009E020000</Data>
          <Data>03000000740200008D050000F8020000</Data>
        </RectRecentDocked>
        <RectRecentFloat>
          <Len>16</Len>
          <Data>F200000009010000BA03000097010000</Data>
          <Data>8A000000A10000005203000041010000</Data>
        </RectRecentFloat>
      </Window>
      <Window>
@@ -210,11 +210,11 @@
        <RecentRowIndex>0</RecentRowIndex>
        <RectRecentDocked>
          <Len>16</Len>
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    <File>
      <GroupNumber>10</GroupNumber>
      <FileNumber>62</FileNumber>
      <FileNumber>64</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1224,7 +1269,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
      <FileNumber>63</FileNumber>
      <FileNumber>65</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1236,7 +1281,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
      <FileNumber>64</FileNumber>
      <FileNumber>66</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1248,7 +1293,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
      <FileNumber>65</FileNumber>
      <FileNumber>67</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1260,7 +1305,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
      <FileNumber>66</FileNumber>
      <FileNumber>68</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1280,7 +1325,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>11</GroupNumber>
      <FileNumber>67</FileNumber>
      <FileNumber>69</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>

 keil/uwb_simple_example.uvprojx

@@ -740,6 +740,16 @@
              <FileType>5</FileType>
              <FilePath>.\mk_4G.h</FilePath>
            </File>
            <File>
              <FileName>CommMap.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\include\drivers\CommMap.c</FilePath>
            </File>
            <File>
              <FileName>CommMap.h</FileName>
              <FileType>5</FileType>
              <FilePath>.\include\drivers\CommMap.h</FilePath>
            </File>
          </Files>
        </Group>
        <Group>