From 382decb66116a76f5c7bff9e1a9c4e728b9444a6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 29 十月 2020 14:28:37 +0800
Subject: [PATCH] 增加信号强度功能
---
源码/核心板/Src/application/dw_app.c | 34 ++++++++++++++++++++++++++++++++--
1 files changed, 32 insertions(+), 2 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index bed88eb..d4c1ad6 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -309,11 +309,30 @@
}
return max_slotpos-1;
}
+dwt_rxdiag_t d1;
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
+ double firstpath_power, rx_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
void Poll(void)
{
uint32_t frame_len;
@@ -896,12 +915,14 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
+ time_monitor[0] = sync_timer*1000+TIM3->CNT;
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -913,7 +934,7 @@
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
-
+ dwt_readdiagnostics(&d1);
if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
{
motorstate =0;
@@ -1003,6 +1024,10 @@
int64_t tof_dtu;
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
+
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
@@ -1010,6 +1035,7 @@
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
final_rx_ts_32 = (uint32_t)final_rx_ts;
+ time_monitor[1] = sync_timer*1000+TIM3->CNT;
Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
@@ -1018,7 +1044,11 @@
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
+// dwt_readdiagnostics(&d1);
+// time_monitor[2] = sync_timer*1000+TIM3->CNT;
+// LOS(&d1);
+// time_monitor[3] = sync_timer*1000+TIM3->CNT;
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
--
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