From adfc7e798b9cbdd022bf8df971843436912a0fe5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期日, 20 七月 2025 16:58:30 +0800
Subject: [PATCH] 成功移植g_com_map表逻辑，初步测试能读能写，并且TDOA效果和官方一致
---
keil/include/components/app/src/uwb_radar_task.c | 42 +++++++++++++++++++++++-------------------
1 files changed, 23 insertions(+), 19 deletions(-)
diff --git a/keil/include/components/app/src/uwb_radar_task.c b/keil/include/components/app/src/uwb_radar_task.c
index ad2e709..52360a4 100644
--- a/keil/include/components/app/src/uwb_radar_task.c
+++ b/keil/include/components/app/src/uwb_radar_task.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
+ * Copyright (c) 2019-2025 Beijing Hanwei Innovation Technology Ltd. Co. and
* its subsidiaries and affiliates (collectly called MKSEMI).
*
* All rights reserved.
@@ -43,14 +43,14 @@
#include "mk_power.h"
#include "mk_uwb.h"
#include "mk_radar.h"
-#include "mk_sleep_timer.h"
#include "mk_misc.h"
#include "uwb_api.h"
#include "uwb_radar_task.h"
#include "uwb_radar.h"
#if UWB_RADAR_DETECT_PROCESS_EN
-#include "mk8000_present_interface.h"
+#include "MK8000_presence_interface.h"
#endif
+
// #include "board.h"
#define DEBUG_MEM_ADDR 0x02010000
@@ -116,7 +116,7 @@
uint16_t header;
uint16_t length;
uint32_t seq;
- float acd_out[PULSE_PERIOD_POINTS(0) * 2];
+ float adc_out[PULSE_PERIOD_POINTS(0) * 2];
uint16_t check_num;
uint16_t end;
};
@@ -126,7 +126,7 @@
uint16_t header;
uint16_t length;
uint32_t seq;
- float acd_out[PULSE_PERIOD_POINTS(1) * 2];
+ float adc_out[PULSE_PERIOD_POINTS(1) * 2];
uint16_t check_num;
uint16_t end;
};
@@ -136,7 +136,7 @@
uint16_t header;
uint16_t length;
uint32_t seq;
- float acd_out[PULSE_PERIOD_POINTS(2) * 2];
+ float adc_out[PULSE_PERIOD_POINTS(2) * 2];
uint16_t check_num;
uint16_t end;
};
@@ -146,7 +146,7 @@
uint16_t header;
uint16_t length;
uint32_t seq;
- float acd_out[PULSE_PERIOD_POINTS(3) * 2];
+ float adc_out[PULSE_PERIOD_POINTS(3) * 2];
uint16_t check_num;
uint16_t end;
};
@@ -156,7 +156,7 @@
uint16_t header;
uint16_t length;
uint32_t seq;
- float acd_out[PULSE_PERIOD_POINTS(4) * 2];
+ float adc_out[PULSE_PERIOD_POINTS(4) * 2];
uint16_t check_num;
uint16_t end;
};
@@ -166,7 +166,7 @@
uint16_t header;
uint16_t length;
uint32_t seq;
- float acd_out[OUT_FRAME_LEN * UWB_RADAR_RX_PORT_NUM];
+ float adc_out[OUT_FRAME_LEN * UWB_RADAR_RX_PORT_NUM];
uint16_t check_num;
uint16_t end;
};
@@ -217,6 +217,7 @@
power_on_radio(1, 1);
radar_start(radar_env.rx_ant_idx);
power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
+ // LOG_INFO(TRACE_MODULE_APP, "radar start\r\n");
}
break;
@@ -227,15 +228,17 @@
radar_disable();
power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
- radar_data_process((uint32_t *)DEBUG_MEM_ADDR, xfer_pack.sample_1tnr.acd_out, &data_len);
+ radar_data_process((uint32_t *)DEBUG_MEM_ADDR, xfer_pack.sample_1tnr.adc_out, &data_len);
uwb_radar_destroy_event();
+ // LOG_INFO(TRACE_MODULE_APP, "radar done\r\n");
#if UWB_RADAR_UCI_EN
- uwbapi_report_radar_raw_data(data_len, (uint8_t *)xfer_pack.sample_1tnr.acd_out);
+ uwbapi_report_radar_raw_data(data_len, (uint8_t *)xfer_pack.sample_1tnr.adc_out);
+ LOG_INFO(TRACE_MODULE_APP, "Radar output data len: %u\r\n", data_len);
#else
#if UWB_RADAR_DETECT_PROCESS_EN
// board_led_on(BOARD_LED_1);
- mcu_target_detect_process(xfer_pack.sample_1tnr.acd_out, PULSE_PERIOD_POINTS(UWB_RADAR_PULSE_PERIOD), &pre_para, &present);
+ mcu_target_detect_process(xfer_pack.sample_1tnr.adc_out, PULSE_PERIOD_POINTS(UWB_RADAR_PULSE_PERIOD), &pre_para, &present);
/* Object detection, the result shows */
if (present.flag)
{
@@ -253,7 +256,7 @@
LOG_INFO(TRACE_MODULE_APP, "Radar output data len: %u\r\n", data_len);
xfer_pack.sample_1tnr.length = data_len + SAMPLE_PACK_FIX_LENGTH;
xfer_pack.sample_1tnr.seq = radar_env.rx_ant_idx;
- uint16_t check_num = uwb_radar_data_checksum((const uint8_t *)xfer_pack.sample_1tnr.acd_out, data_len);
+ uint16_t check_num = uwb_radar_data_checksum((const uint8_t *)xfer_pack.sample_1tnr.adc_out, data_len);
#if UWB_RADAR_1TNR_MODE == 1
xfer_pack.sample_1tnr.check_num = check_num;
@@ -325,22 +328,23 @@
radar_disable();
power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
- radar_data_process((uint32_t *)DEBUG_MEM_ADDR, xfer_pack.sample_1tnr.acd_out, &data_len);
+ radar_data_process((uint32_t *)DEBUG_MEM_ADDR, xfer_pack.sample_1tnr.adc_out, &data_len);
#if UWB_RADAR_UCI_EN
- uwbapi_report_radar_raw_data(data_len, (uint8_t *)xfer_pack.sample_1tnr.acd_out);
+ uwbapi_report_radar_raw_data(data_len, (uint8_t *)xfer_pack.sample_1tnr.adc_out);
+ LOG_INFO(TRACE_MODULE_APP, "Radar output data len: %u\r\n", data_len);
#else
#if RADAR_PRINT_EN
LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "--------------%u--------------\r\n", data_len);
for (uint8_t i = 0; i < PULSE_PERIOD_POINTS(UWB_RADAR_PULSE_PERIOD); i++)
{
- LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "%.2f %.2f\n", xfer_pack.sample_1tnr.acd_out[i * 2],
- xfer_pack.sample_1tnr.acd_out[i * 2 + 1]);
+ LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "%.2f %.2f\n", xfer_pack.sample_1tnr.adc_out[i * 2],
+ xfer_pack.sample_1tnr.adc_out[i * 2 + 1]);
}
#endif
#if UWB_RADAR_DETECT_PROCESS_EN
// board_led_on(BOARD_LED_1);
- mcu_target_detect_process(xfer_pack.sample_1tnr.acd_out, PULSE_PERIOD_POINTS(UWB_RADAR_PULSE_PERIOD), &pre_para, &present);
+ mcu_target_detect_process(xfer_pack.sample_1tnr.adc_out, PULSE_PERIOD_POINTS(UWB_RADAR_PULSE_PERIOD), &pre_para, &present);
/* Object detection, the result shows */
if (present.flag)
{
@@ -357,7 +361,7 @@
LOG_INFO(TRACE_MODULE_APP, "Radar output data len: %u\r\n", data_len);
xfer_pack.sample_1tnr.length = data_len + SAMPLE_PACK_FIX_LENGTH;
xfer_pack.sample_1tnr.seq = radar_env.rx_ant_idx;
- uint16_t check_num = uwb_radar_data_checksum((const uint8_t *)xfer_pack.sample_1tnr.acd_out, data_len);
+ uint16_t check_num = uwb_radar_data_checksum((const uint8_t *)xfer_pack.sample_1tnr.adc_out, data_len);
#if UWB_RADAR_1TNR_MODE == 1
xfer_pack.sample_1tnr.check_num = check_num;
xfer_pack.sample_1tnr.end = 0xAAAA;
--
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