From 814983b45844cf08f8506bec8162553cd93e2dcd Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 26 二月 2025 15:02:44 +0800
Subject: [PATCH] 2.13，修改为k8的单片机 测试防撞跟ss定位没问题。
---
Src/decadriver/deca_device.c | 28 +++++++++++++++++++++++++++-
1 files changed, 27 insertions(+), 1 deletions(-)
diff --git a/Src/decadriver/deca_device.c b/Src/decadriver/deca_device.c
index 3208299..c8af22b 100644
--- a/Src/decadriver/deca_device.c
+++ b/Src/decadriver/deca_device.c
@@ -155,6 +155,7 @@
#define XTRIM_ADDRESS (0x1E)
uint8_t module_power;
uint32_t power_temp,power_input;
+extern u32 id,error_times;
int dwt_initialise(uint16_t config)
{
@@ -177,7 +178,7 @@
{
dw1000local.deviceID = dwt_readdevid() ;
}
-
+ id = dwt_readdevid() ;
_dwt_enableclocks(FORCE_SYS_XTI); // NOTE: set system clock to XTI - this is necessary to make sure the values read by _dwt_otpread are reliable
dw1000local.deviceID = dwt_readdevid() ;
if(module_power>36)
@@ -811,7 +812,32 @@
//diagnostics->debug2 = dwt_read32bitoffsetreg(0x27, 0xc);
}
+#define B20_SIGN_EXTEND_TEST (0x00100000UL)
+#define B20_SIGN_EXTEND_MASK (0xFFF00000UL)
+/* offset from DRX_CONF_ID in bytes to 21-bit signed RX carrier integrator value */
+#define DRX_CARRIER_INT_OFFSET 0x28
+#define DRX_CARRIER_INT_LEN (3)
+#define DRX_CARRIER_INT_MASK 0x001FFFFF
+int32_t dwt_readcarrierintegrator(void)
+{
+ uint32_t regval = 0 ;
+ int j ;
+ uint8_t buffer[DRX_CARRIER_INT_LEN] ;
+ /* Read 3 bytes into buffer (21-bit quantity) */
+
+ dwt_readfromdevice(DRX_CONF_ID,DRX_CARRIER_INT_OFFSET,DRX_CARRIER_INT_LEN, buffer) ;
+
+ for (j = 2 ; j >= 0 ; j --) // arrange the three bytes into an unsigned integer value
+ {
+ regval = (regval << 8) + buffer[j] ;
+ }
+
+ if (regval & B20_SIGN_EXTEND_TEST) regval |= B20_SIGN_EXTEND_MASK ; // sign extend bit #20 to whole word
+ else regval &= DRX_CARRIER_INT_MASK ; // make sure upper bits are clear if not sign extending
+
+ return (int32_t) regval ; // cast unsigned value to signed quantity.
+}
/*! ------------------------------------------------------------------------------------------------------------------
* @fn dwt_readtxtimestamp()
*
--
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