From 945f0cc0210d2ea3339870f0e38d9be72314c4e2 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期二, 15 七月 2025 14:08:55 +0800
Subject: [PATCH] 修改PA引脚为FUN6，正确驱动PA，修改为官方demo算法,线性度需要优化
---
keil/uwb_app.c | 24 +++++++++++++++++-------
1 files changed, 17 insertions(+), 7 deletions(-)
diff --git a/keil/uwb_app.c b/keil/uwb_app.c
index 641255b..c282465 100644
--- a/keil/uwb_app.c
+++ b/keil/uwb_app.c
@@ -284,9 +284,9 @@
angle =angle*57.3;
//offset=10;
//angle+=offset;
-if(angle>=90)
+while(angle>=90)
angle-=180;
-else if(angle<=-90)
+while(angle<=-90)
{
angle+=180;
}
@@ -498,6 +498,7 @@
uint8_t flag_temp2,flag_temp1;
+uint8_t tx_num;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
temp_count2=poll_rx_en_start_u32;
@@ -532,6 +533,7 @@
temp_count3= phy_timer_count_get();
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();
+ tx_num++;
while(mac_is_busy());
}
@@ -958,7 +960,7 @@
// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
//angle_temp=angle_calculate();
angle_temp=-mk_q7_to_s16(azimuth);
- sts_rssi = sts_rssi_output_get();
+ //sts_rssi = sts_rssi_output_get();
}
recev_error_num=0;
@@ -972,11 +974,19 @@
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);
- }
+
+// while(angle_temp>=90)
+// angle_temp-=180;
+// while(angle_temp<=-90)
+// {
+// angle_temp+=180;
+// }
+ 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 角度 :%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++;
--
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