From fd498f8f31ff9428fa4c042337ac2fba895d4794 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <zhyinch@gmail.com>
Date: 星期五, 01 十一月 2019 13:29:49 +0800
Subject: [PATCH] 实现10us精度基站与标签时间同步
---
源码/核心板/Src/decadriver/deca_range_tables.c | 1086 ++++++++++++++++++++++++++++----------------------------
1 files changed, 543 insertions(+), 543 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_range_tables.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_range_tables.c"
index 3a61c3d..8392a6f 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_range_tables.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/decadriver/deca_range_tables.c"
@@ -20,8 +20,8 @@
#define NUM_64M_OFFSET (26)
#define NUM_64M_OFFSETWB (59)
-const uint8 chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; // Only channels 1,2,3 and 5 are in the narrow band tables
-const uint8 chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; // Only channels 4 and 7 are in in the wide band tables
+const uint8_t chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; // Only channels 1,2,3 and 5 are in the narrow band tables
+const uint8_t chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; // Only channels 4 and 7 are in in the wide band tables
//---------------------------------------------------------------------------------------------------------------------------
// Range Bias Correction TABLES of range values in integer units of 25 CM, for 8-bit unsigned storage, MUST END IN 255 !!!!!!
@@ -39,170 +39,170 @@
// range25cm16PRFnb: Range Bias Correction table for narrow band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------
-const uint8 range25cm16PRFnb[4][NUM_16M_OFFSET] =
+const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET] =
{
// Ch 1 - range25cm16PRFnb
{
- 1,
- 3,
- 4,
- 5,
- 7,
- 9,
- 11,
- 12,
- 13,
- 15,
- 18,
- 20,
- 23,
- 25,
- 28,
- 30,
- 33,
- 36,
- 40,
- 43,
- 47,
- 50,
- 54,
- 58,
- 63,
- 66,
- 71,
- 76,
- 82,
- 89,
- 98,
- 109,
- 127,
- 155,
- 222,
- 255,
- 255
+ 1,
+ 3,
+ 4,
+ 5,
+ 7,
+ 9,
+ 11,
+ 12,
+ 13,
+ 15,
+ 18,
+ 20,
+ 23,
+ 25,
+ 28,
+ 30,
+ 33,
+ 36,
+ 40,
+ 43,
+ 47,
+ 50,
+ 54,
+ 58,
+ 63,
+ 66,
+ 71,
+ 76,
+ 82,
+ 89,
+ 98,
+ 109,
+ 127,
+ 155,
+ 222,
+ 255,
+ 255
},
// Ch 2 - range25cm16PRFnb
{
- 1,
- 2,
- 4,
- 5,
- 6,
- 8,
- 9,
- 10,
- 12,
- 13,
- 15,
- 18,
- 20,
- 22,
- 24,
- 27,
- 29,
- 32,
- 35,
- 38,
- 41,
- 44,
- 47,
- 51,
- 55,
- 58,
- 62,
- 66,
- 71,
- 78,
- 85,
- 96,
- 111,
- 135,
- 194,
- 240,
- 255
+ 1,
+ 2,
+ 4,
+ 5,
+ 6,
+ 8,
+ 9,
+ 10,
+ 12,
+ 13,
+ 15,
+ 18,
+ 20,
+ 22,
+ 24,
+ 27,
+ 29,
+ 32,
+ 35,
+ 38,
+ 41,
+ 44,
+ 47,
+ 51,
+ 55,
+ 58,
+ 62,
+ 66,
+ 71,
+ 78,
+ 85,
+ 96,
+ 111,
+ 135,
+ 194,
+ 240,
+ 255
},
// Ch 3 - range25cm16PRFnb
{
- 1,
- 2,
- 3,
- 4,
- 5,
- 7,
- 8,
- 9,
- 10,
- 12,
- 14,
- 16,
- 18,
- 20,
- 22,
- 24,
- 26,
- 28,
- 31,
- 33,
- 36,
- 39,
- 42,
- 45,
- 49,
- 52,
- 55,
- 59,
- 63,
- 69,
- 76,
- 85,
- 98,
- 120,
- 173,
- 213,
- 255
+ 1,
+ 2,
+ 3,
+ 4,
+ 5,
+ 7,
+ 8,
+ 9,
+ 10,
+ 12,
+ 14,
+ 16,
+ 18,
+ 20,
+ 22,
+ 24,
+ 26,
+ 28,
+ 31,
+ 33,
+ 36,
+ 39,
+ 42,
+ 45,
+ 49,
+ 52,
+ 55,
+ 59,
+ 63,
+ 69,
+ 76,
+ 85,
+ 98,
+ 120,
+ 173,
+ 213,
+ 255
},
// Ch 5 - range25cm16PRFnb
{
- 1,
- 1,
- 2,
- 3,
- 4,
- 5,
- 6,
- 6,
- 7,
- 8,
- 9,
- 11,
- 12,
- 14,
- 15,
- 16,
- 18,
- 20,
- 21,
- 23,
- 25,
- 27,
- 29,
- 31,
- 34,
- 36,
- 38,
- 41,
- 44,
- 48,
- 53,
- 59,
- 68,
- 83,
- 120,
- 148,
- 255
+ 1,
+ 1,
+ 2,
+ 3,
+ 4,
+ 5,
+ 6,
+ 6,
+ 7,
+ 8,
+ 9,
+ 11,
+ 12,
+ 14,
+ 15,
+ 16,
+ 18,
+ 20,
+ 21,
+ 23,
+ 25,
+ 27,
+ 29,
+ 31,
+ 34,
+ 36,
+ 38,
+ 41,
+ 44,
+ 48,
+ 53,
+ 59,
+ 68,
+ 83,
+ 120,
+ 148,
+ 255
}
}; // end range25cm16PRFnb
@@ -211,150 +211,150 @@
// range25cm16PRFwb: Range Bias Correction table for wide band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------
-const uint8 range25cm16PRFwb[2][NUM_16M_OFFSETWB] =
+const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB] =
{
// Ch 4 - range25cm16PRFwb
{
- 7,
- 7,
- 8,
- 9,
- 9,
- 10,
- 11,
- 11,
- 12,
- 13,
- 14,
- 15,
- 16,
- 17,
- 18,
- 19,
- 20,
- 21,
- 22,
- 23,
- 24,
- 26,
- 27,
- 28,
- 30,
- 31,
- 32,
- 34,
- 36,
- 38,
- 40,
- 42,
- 44,
- 46,
- 48,
- 50,
- 52,
- 55,
- 57,
- 59,
- 61,
- 63,
- 66,
- 68,
- 71,
- 74,
- 78,
- 81,
- 85,
- 89,
- 94,
- 99,
- 104,
- 110,
- 116,
- 123,
- 130,
- 139,
- 150,
- 164,
- 182,
- 207,
- 238,
- 255,
- 255,
- 255,
- 255,
- 255
+ 7,
+ 7,
+ 8,
+ 9,
+ 9,
+ 10,
+ 11,
+ 11,
+ 12,
+ 13,
+ 14,
+ 15,
+ 16,
+ 17,
+ 18,
+ 19,
+ 20,
+ 21,
+ 22,
+ 23,
+ 24,
+ 26,
+ 27,
+ 28,
+ 30,
+ 31,
+ 32,
+ 34,
+ 36,
+ 38,
+ 40,
+ 42,
+ 44,
+ 46,
+ 48,
+ 50,
+ 52,
+ 55,
+ 57,
+ 59,
+ 61,
+ 63,
+ 66,
+ 68,
+ 71,
+ 74,
+ 78,
+ 81,
+ 85,
+ 89,
+ 94,
+ 99,
+ 104,
+ 110,
+ 116,
+ 123,
+ 130,
+ 139,
+ 150,
+ 164,
+ 182,
+ 207,
+ 238,
+ 255,
+ 255,
+ 255,
+ 255,
+ 255
},
// Ch 7 - range25cm16PRFwb
{
- 4,
- 5,
- 5,
- 5,
- 6,
- 6,
- 7,
- 7,
- 7,
- 8,
- 9,
- 9,
- 10,
- 10,
- 11,
- 11,
- 12,
- 13,
- 13,
- 14,
- 15,
- 16,
- 17,
- 17,
- 18,
- 19,
- 20,
- 21,
- 22,
- 23,
- 25,
- 26,
- 27,
- 29,
- 30,
- 31,
- 32,
- 34,
- 35,
- 36,
- 38,
- 39,
- 40,
- 42,
- 44,
- 46,
- 48,
- 50,
- 52,
- 55,
- 58,
- 61,
- 64,
- 68,
- 72,
- 75,
- 80,
- 85,
- 92,
- 101,
- 112,
- 127,
- 147,
- 168,
- 182,
- 194,
- 205,
- 255
+ 4,
+ 5,
+ 5,
+ 5,
+ 6,
+ 6,
+ 7,
+ 7,
+ 7,
+ 8,
+ 9,
+ 9,
+ 10,
+ 10,
+ 11,
+ 11,
+ 12,
+ 13,
+ 13,
+ 14,
+ 15,
+ 16,
+ 17,
+ 17,
+ 18,
+ 19,
+ 20,
+ 21,
+ 22,
+ 23,
+ 25,
+ 26,
+ 27,
+ 29,
+ 30,
+ 31,
+ 32,
+ 34,
+ 35,
+ 36,
+ 38,
+ 39,
+ 40,
+ 42,
+ 44,
+ 46,
+ 48,
+ 50,
+ 52,
+ 55,
+ 58,
+ 61,
+ 64,
+ 68,
+ 72,
+ 75,
+ 80,
+ 85,
+ 92,
+ 101,
+ 112,
+ 127,
+ 147,
+ 168,
+ 182,
+ 194,
+ 205,
+ 255
}
}; // end range25cm16PRFwb
@@ -362,126 +362,126 @@
// range25cm64PRFnb: Range Bias Correction table for narrow band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------
-const uint8 range25cm64PRFnb[4][NUM_64M_OFFSET] =
+const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET] =
{
// Ch 1 - range25cm64PRFnb
{
- 1,
- 2,
- 2,
- 3,
- 4,
- 5,
- 7,
- 10,
- 13,
- 16,
- 19,
- 22,
- 24,
- 27,
- 30,
- 32,
- 35,
- 38,
- 43,
- 48,
- 56,
- 78,
- 101,
- 120,
- 157,
- 255
+ 1,
+ 2,
+ 2,
+ 3,
+ 4,
+ 5,
+ 7,
+ 10,
+ 13,
+ 16,
+ 19,
+ 22,
+ 24,
+ 27,
+ 30,
+ 32,
+ 35,
+ 38,
+ 43,
+ 48,
+ 56,
+ 78,
+ 101,
+ 120,
+ 157,
+ 255
},
// Ch 2 - range25cm64PRFnb
{
- 1,
- 2,
- 2,
- 3,
- 4,
- 4,
- 6,
- 9,
- 12,
- 14,
- 17,
- 19,
- 21,
- 24,
- 26,
- 28,
- 31,
- 33,
- 37,
- 42,
- 49,
- 68,
- 89,
- 105,
- 138,
- 255
+ 1,
+ 2,
+ 2,
+ 3,
+ 4,
+ 4,
+ 6,
+ 9,
+ 12,
+ 14,
+ 17,
+ 19,
+ 21,
+ 24,
+ 26,
+ 28,
+ 31,
+ 33,
+ 37,
+ 42,
+ 49,
+ 68,
+ 89,
+ 105,
+ 138,
+ 255
},
// Ch 3 - range25cm64PRFnb
{
- 1,
- 1,
- 2,
- 3,
- 3,
- 4,
- 5,
- 8,
- 10,
- 13,
- 15,
- 17,
- 19,
- 21,
- 23,
- 25,
- 27,
- 30,
- 33,
- 37,
- 44,
- 60,
- 79,
- 93,
- 122,
- 255
+ 1,
+ 1,
+ 2,
+ 3,
+ 3,
+ 4,
+ 5,
+ 8,
+ 10,
+ 13,
+ 15,
+ 17,
+ 19,
+ 21,
+ 23,
+ 25,
+ 27,
+ 30,
+ 33,
+ 37,
+ 44,
+ 60,
+ 79,
+ 93,
+ 122,
+ 255
},
// Ch 5 - range25cm64PRFnb
{
- 1,
- 1,
- 1,
- 2,
- 2,
- 3,
- 4,
- 6,
- 7,
- 9,
- 10,
- 12,
- 13,
- 15,
- 16,
- 17,
- 19,
- 21,
- 23,
- 26,
- 30,
- 42,
- 55,
- 65,
- 85,
- 255
+ 1,
+ 1,
+ 1,
+ 2,
+ 2,
+ 3,
+ 4,
+ 6,
+ 7,
+ 9,
+ 10,
+ 12,
+ 13,
+ 15,
+ 16,
+ 17,
+ 19,
+ 21,
+ 23,
+ 26,
+ 30,
+ 42,
+ 55,
+ 65,
+ 85,
+ 255
}
}; // end range25cm64PRFnb
@@ -489,132 +489,132 @@
// range25cm64PRFwb: Range Bias Correction table for wide band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------
-const uint8 range25cm64PRFwb[2][NUM_64M_OFFSETWB] =
+const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB] =
{
// Ch 4 - range25cm64PRFwb
{
- 7,
- 8,
- 8,
- 9,
- 9,
- 10,
- 11,
- 12,
- 13,
- 13,
- 14,
- 15,
- 16,
- 16,
- 17,
- 18,
- 19,
- 19,
- 20,
- 21,
- 22,
- 24,
- 25,
- 27,
- 28,
- 29,
- 30,
- 32,
- 33,
- 34,
- 35,
- 37,
- 39,
- 41,
- 43,
- 45,
- 48,
- 50,
- 53,
- 56,
- 60,
- 64,
- 68,
- 74,
- 81,
- 89,
- 98,
- 109,
- 122,
- 136,
- 146,
- 154,
- 162,
- 178,
- 220,
- 249,
- 255,
- 255,
- 255
+ 7,
+ 8,
+ 8,
+ 9,
+ 9,
+ 10,
+ 11,
+ 12,
+ 13,
+ 13,
+ 14,
+ 15,
+ 16,
+ 16,
+ 17,
+ 18,
+ 19,
+ 19,
+ 20,
+ 21,
+ 22,
+ 24,
+ 25,
+ 27,
+ 28,
+ 29,
+ 30,
+ 32,
+ 33,
+ 34,
+ 35,
+ 37,
+ 39,
+ 41,
+ 43,
+ 45,
+ 48,
+ 50,
+ 53,
+ 56,
+ 60,
+ 64,
+ 68,
+ 74,
+ 81,
+ 89,
+ 98,
+ 109,
+ 122,
+ 136,
+ 146,
+ 154,
+ 162,
+ 178,
+ 220,
+ 249,
+ 255,
+ 255,
+ 255
},
// Ch 7 - range25cm64PRFwb
{
- 4,
- 5,
- 5,
- 5,
- 6,
- 6,
- 7,
- 7,
- 8,
- 8,
- 9,
- 9,
- 10,
- 10,
- 10,
- 11,
- 11,
- 12,
- 13,
- 13,
- 14,
- 15,
- 16,
- 16,
- 17,
- 18,
- 19,
- 19,
- 20,
- 21,
- 22,
- 23,
- 24,
- 25,
- 26,
- 28,
- 29,
- 31,
- 33,
- 35,
- 37,
- 39,
- 42,
- 46,
- 50,
- 54,
- 60,
- 67,
- 75,
- 83,
- 90,
- 95,
- 100,
- 110,
- 135,
- 153,
- 172,
- 192,
- 255
+ 4,
+ 5,
+ 5,
+ 5,
+ 6,
+ 6,
+ 7,
+ 7,
+ 8,
+ 8,
+ 9,
+ 9,
+ 10,
+ 10,
+ 10,
+ 11,
+ 11,
+ 12,
+ 13,
+ 13,
+ 14,
+ 15,
+ 16,
+ 16,
+ 17,
+ 18,
+ 19,
+ 19,
+ 20,
+ 21,
+ 22,
+ 23,
+ 24,
+ 25,
+ 26,
+ 28,
+ 29,
+ 31,
+ 33,
+ 35,
+ 37,
+ 39,
+ 42,
+ 46,
+ 50,
+ 54,
+ 60,
+ 67,
+ 75,
+ 83,
+ 90,
+ 95,
+ 100,
+ 110,
+ 135,
+ 153,
+ 172,
+ 192,
+ 255
}
}; // end range25cm64PRFwb
@@ -624,8 +624,8 @@
*
* @brief This function is used to return the range bias correction need for TWR with DW1000 units.
*
- * input parameters:
- * @param chan - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7)
+ * input parameters:
+ * @param chan - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7)
* @param range - the calculated distance before correction
* @param prf - this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
*
@@ -633,7 +633,7 @@
*
* returns correction needed in meters
*/
-double dwt_getrangebias(uint8 chan, float range, uint8 prf)
+double dwt_getrangebias(uint8_t chan, float range, uint8_t prf)
{
// First get the lookup index that corresponds to given range for a particular channel at 16M PRF
int i = 0 ;
@@ -652,40 +652,40 @@
{
switch(chan)
{
- case 4:
- case 7:
- {
- chanIdx = chan_idxwb[chan];
- while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
- cmoffseti = i + CM_OFFSET_16M_WB ; // Nearest centimetre correction
- }
- break;
- default:
- {
- chanIdx = chan_idxnb[chan];
- while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
- cmoffseti = i + CM_OFFSET_16M_NB ; // Nearest centimetre correction
- }
+ case 4:
+ case 7:
+ {
+ chanIdx = chan_idxwb[chan];
+ while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
+ cmoffseti = i + CM_OFFSET_16M_WB ; // Nearest centimetre correction
+ }
+ break;
+ default:
+ {
+ chanIdx = chan_idxnb[chan];
+ while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
+ cmoffseti = i + CM_OFFSET_16M_NB ; // Nearest centimetre correction
+ }
}//end of switch
}
else // 64M PRF
{
switch(chan)
{
- case 4:
- case 7:
- {
- chanIdx = chan_idxwb[chan];
- while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
- cmoffseti = i + CM_OFFSET_64M_WB ; // Nearest centimetre correction
- }
- break;
- default:
- {
- chanIdx = chan_idxnb[chan];
- while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
- cmoffseti = i + CM_OFFSET_64M_NB ; // Nearest centimetre correction
- }
+ case 4:
+ case 7:
+ {
+ chanIdx = chan_idxwb[chan];
+ while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ; // Find index in table corresponding to range
+ cmoffseti = i + CM_OFFSET_64M_WB ; // Nearest centimetre correction
+ }
+ break;
+ default:
+ {
+ chanIdx = chan_idxnb[chan];
+ while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ; // Find index in table corresponding to range
+ cmoffseti = i + CM_OFFSET_64M_NB ; // Nearest centimetre correction
+ }
}//end of switch
} // end else
--
Gitblit v1.9.3