From 724f1e7164d903eb14151bb352e483fa0b2ea0fc Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期四, 02 一月 2025 09:59:27 +0800
Subject: [PATCH] 去掉打印，恢复默认不测距下1HZ20ua左右稳定测距版本
---
keil/dw_app.c | 18 ++++++++++--------
1 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/keil/dw_app.c b/keil/dw_app.c
index 0f00856..b7dda3b 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;
@@ -35,7 +36,7 @@
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)
{
@@ -79,10 +80,9 @@
}
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
@@ -108,7 +108,7 @@
// 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] / ch_center_freq_map[UWB_CH_NUM]));
tround_temp=tround;
treply_temp=treply;
tof_i = (int32_t)(tround - treply) / 2;
@@ -128,10 +128,12 @@
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[OFFSET_AS_URT_TAG];//offset未加
+ }else{
+ taglist_dist[i] = 0x2ffff;
+ }
}else{
- nearbase_distlist[i] = 0x1ffff;
+ //nearbase_distlist[i] = 0x7fff;
}
}
--
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