From 448e16db1aaadf2ae321af8a7955aba2b610b12e Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期三, 16 七月 2025 18:25:55 +0800
Subject: [PATCH] 增加防撞基站修改485和读取指令，修改showbuffer距离修改为g_com表设置距离
---
keil/dw_tag.c | 28 ++++++++++++++++++----------
1 files changed, 18 insertions(+), 10 deletions(-)
diff --git a/keil/dw_tag.c b/keil/dw_tag.c
index b48c51d..9870fe0 100644
--- a/keil/dw_tag.c
+++ b/keil/dw_tag.c
@@ -9,6 +9,7 @@
static float clockOffsetRatio;
static double rtd_init, rtd_resp;
double tof,distance_tag;
+
#define SPEED_OF_LIGHT 299702547
#define DWT_TIME_UNITS (1.0/499.2e6/128.0) //!< = 15.65e-12 s
static uint32_t anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM],tag_polltx[MAX_NEARBASE_NUM];
@@ -28,6 +29,12 @@
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
{
@@ -65,7 +72,7 @@
// }
//}
// 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)
{
@@ -78,16 +85,15 @@
}
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));
@@ -100,14 +106,14 @@
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;
@@ -127,10 +133,12 @@
if(distance_tag>-1000&&distance_tag<100000)
{
- nearbase_distlist[i] = distance_tag+(int16_t)g_com_map[OFFSET_AS_TAG];//offset加入上位机校准
- }
+ taglist_dist[i+taglist_current_index] = distance_tag+(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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