From 23480ab197150979f4505501a1abe8a64796fb18 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 04 七月 2025 18:37:07 +0800
Subject: [PATCH] 初步调好发包，解决因为uwb未open导致txlen不断溢出重启问题，两边sts配置初步调好
---
keil/dw_app.c | 30 +++++++++++++++++++-----------
1 files changed, 19 insertions(+), 11 deletions(-)
diff --git a/keil/dw_app.c b/keil/dw_app.c
index 0f00856..4327f98 100644
--- a/keil/dw_app.c
+++ b/keil/dw_app.c
@@ -5,6 +5,7 @@
#include "mk_misc.h"
#include "mk_uart.h"
#include "mk_trace.h"
+#include "global_param.h"
static float clockOffsetRatio;
static double rtd_init, rtd_resp;
double tof,distance;
@@ -27,6 +28,12 @@
int32_t tof_i;
uint32_t tof_i_ui;
double tof_f;
+struct mk_uwb_configure
+{
+ uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
+ struct UWB_CONFIG_T phy_cfg;
+};
+extern struct mk_uwb_configure config;
extern int32_t freq_offset,freq_offset_filter;
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset,int32_t anc_clockoffset_from_MK,uint32_t polltx) //写入时间戳信息
{
@@ -35,7 +42,7 @@
memcpy(&tag_resprx[i],&resprx,4);
memcpy(&anc_distoffset[i],distoffset,2);
memcpy(&tag_polltx[i],&polltx,4);
- //anc_clockoffset[i] = anc_clockoffset_from_MK;//MK8000修改
+ anc_clockoffset[i] = freq_offset;//MK8000修改
}
void CalculateDists1(int64_t poll_tx_ts)
{
@@ -66,7 +73,7 @@
}
// ts_a - ts_b
-int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
+int64_t ranging_timestamp_diff1(int64_t ts_a, int64_t ts_b)
{
if (ts_a < ts_b)
{
@@ -79,16 +86,15 @@
}
void CalculateDists(int64_t poll_tx_ts)
{
- for(int i=0;i<MAX_NEARBASE_NUM;i++)
+ for(int i=0;i<MAX_NEARBASE_NUM+10;i++)
{
-
- if(exsistbase_list[i]==KEEP_TIMES)
+ if(taglist_keeptime[i+taglist_current_index]==KEEP_TIMES)
{
//temp_freq_offset=freq_offset_filter;//测试
memcpy(&resp_tx_timestamp,&anc_resptx[i],4);
memcpy(&poll_rx_timestamp,&anc_pollrx[i],4);
- treply = ranging_timestamp_diff(resp_tx_timestamp, poll_rx_timestamp);
+ treply = ranging_timestamp_diff1(resp_tx_timestamp, poll_rx_timestamp);
//基站
// // correct antenna delay
// treply += ranging_ant_delays_get((uint8_t)(RX_MAIN_ANT_PORT));
@@ -101,14 +107,14 @@
memcpy(&poll_tx_timestamp,&tag_polltx[i],4);
memcpy(&resp_rx_timestamp,&tag_resprx[i],4);
- tround=ranging_timestamp_diff(resp_rx_timestamp, poll_tx_timestamp);
+ tround=ranging_timestamp_diff1(resp_rx_timestamp, poll_tx_timestamp);
tround_temp=tround;
treply_temp=treply;
//标签
// correct antenna delay
// tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
// corrected by frequency offset
- tround = (int64_t)((double)tround * (1 - (double)freq_offset_filter / ch_center_freq_map[UWB_CH_NUM]));
+ tround = (int64_t)((double)tround * (1 - (double)anc_clockoffset[i] / uwb_ch_freq_table[config.phy_cfg.ch_num]));//此处有修改
tround_temp=tround;
treply_temp=treply;
tof_i = (int32_t)(tround - treply) / 2;
@@ -128,10 +134,12 @@
if(distance>-1000&&distance<100000)
{
- nearbase_distlist[i] = distance+anc_distoffset[i];//offset未加
- }
+ taglist_dist[i+taglist_current_index] = distance+(int16_t)g_com_map[DIST_OFFSET];//offset未加
+ }else{
+ taglist_dist[i] = 0x2ffff;
+ }
}else{
- nearbase_distlist[i] = 0x1ffff;
+ //nearbase_distlist[i] = 0x7fff;
}
}
--
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