amiro-lld / source / alld_dw1000.c @ 8c47f14b
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*! ------------------------------------------------------------------------------------------------------------------
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* @file deca_device.c
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* @brief Decawave device configuration and control functions
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*
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* @attention
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*
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* Copyright 2013 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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*/
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#include <alld_dw1000.h> |
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#if defined(AMIROLLD_CFG_USE_DW1000) || defined(__DOXYGEN__)
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#include <alld_dw1000_regs.h> |
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#include <aos_thread.h> |
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#include <assert.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#include <math.h> |
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// HW dependent implementation (see bottom of file)
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static int _alld_dw1000_writespi(uint16_t headerLength, |
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const uint8_t *headerBuffer,
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uint32_t bodyLength, |
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const uint8_t *bodyBuffer);
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static int _alld_dw1000_readspi(uint16_t headerLength, |
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const uint8_t *headerBuffer,
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uint32_t readlength, |
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uint8_t *readBuffer); |
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// Defines for enable_clocks function
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#define FORCE_SYS_XTI 0 |
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#define ENABLE_ALL_SEQ 1 |
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#define FORCE_SYS_PLL 2 |
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#define READ_ACC_ON 7 |
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#define READ_ACC_OFF 8 |
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#define FORCE_OTP_ON 11 |
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#define FORCE_OTP_OFF 12 |
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#define FORCE_TX_PLL 13 |
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#define FORCE_LDE 14 |
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// Defines for ACK request bitmask in DATA and MAC COMMAND frame control (first byte) - Used to detect AAT bit wrongly set.
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#define FCTRL_ACK_REQ_MASK 0x20 |
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// Frame control maximum length in bytes.
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#define FCTRL_LEN_MAX 2 |
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#define NUM_BR 3 |
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#define NUM_PRF 2 |
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#define NUM_PACS 4 |
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#define NUM_BW 2 //2 bandwidths are supported |
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#define NUM_SFD 2 //supported number of SFDs - standard = 0, non-standard = 1 |
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#define NUM_CH 6 //supported channels are 1, 2, 3, 4, 5, 7 |
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#define NUM_CH_SUPPORTED 8 //supported channels are '0', 1, 2, 3, 4, 5, '6', 7 |
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#define PCODES 25 //supported preamble codes |
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typedef struct { |
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uint32_t lo32; |
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uint16_t target[NUM_PRF]; |
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} agc_cfg_struct ; |
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extern const agc_cfg_struct agc_config ; |
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//SFD threshold settings for 110k, 850k, 6.8Mb standard and non-standard
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extern const uint16_t sftsh[NUM_BR][NUM_SFD]; |
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extern const uint16_t dtune1[NUM_PRF]; |
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#define XMLPARAMS_VERSION (1.17f) |
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extern const uint32_t fs_pll_cfg[NUM_CH]; |
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extern const uint8_t fs_pll_tune[NUM_CH]; |
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extern const uint8_t rx_config[NUM_BW]; |
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extern const uint32_t tx_config[NUM_CH]; |
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extern const uint8_t dwnsSFDlen[NUM_BR]; //length of SFD for each of the bitrates |
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extern const uint32_t digital_bb_config[NUM_PRF][NUM_PACS]; |
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extern const uint8_t chan_idx[NUM_CH_SUPPORTED]; |
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extern const double txpwr_compensation[NUM_CH]; |
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#define PEAK_MULTPLIER (0x60) //3 -> (0x3 * 32) & 0x00E0 |
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#define N_STD_FACTOR (13) |
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#define LDE_PARAM1 (PEAK_MULTPLIER | N_STD_FACTOR)
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#define LDE_PARAM3_16 (0x1607) |
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#define LDE_PARAM3_64 (0x0607) |
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#define MIXER_GAIN_STEP (0.5) |
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#define DA_ATTN_STEP (2.5) |
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// #define DWT_API_ERROR_CHECK // define so API checks config input parameters
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//-----------------------------------------
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// map the channel number to the index in the configuration arrays below
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// 0th element is chan 1, 1st is chan 2, 2nd is chan 3, 3rd is chan 4, 4th is chan 5, 5th is chan 7
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const uint8_t chan_idx[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 3, 4, 0, 5}; |
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//-----------------------------------------
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const uint32_t tx_config[NUM_CH] =
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{
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RF_TXCTRL_CH1, |
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RF_TXCTRL_CH2, |
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RF_TXCTRL_CH3, |
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RF_TXCTRL_CH4, |
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RF_TXCTRL_CH5, |
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RF_TXCTRL_CH7, |
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}; |
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//Frequency Synthesiser - PLL configuration
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const uint32_t fs_pll_cfg[NUM_CH] =
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{
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FS_PLLCFG_CH1, |
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FS_PLLCFG_CH2, |
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FS_PLLCFG_CH3, |
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FS_PLLCFG_CH4, |
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FS_PLLCFG_CH5, |
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FS_PLLCFG_CH7 |
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}; |
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//Frequency Synthesiser - PLL tuning
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const uint8_t fs_pll_tune[NUM_CH] =
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{
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FS_PLLTUNE_CH1, |
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FS_PLLTUNE_CH2, |
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FS_PLLTUNE_CH3, |
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FS_PLLTUNE_CH4, |
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FS_PLLTUNE_CH5, |
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FS_PLLTUNE_CH7 |
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}; |
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//bandwidth configuration
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const uint8_t rx_config[NUM_BW] =
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{
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RF_RXCTRLH_NBW, |
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RF_RXCTRLH_WBW |
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}; |
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const agc_cfg_struct agc_config =
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{
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AGC_TUNE2_VAL, |
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{ AGC_TUNE1_16M , AGC_TUNE1_64M } //adc target
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}; |
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//DW non-standard SFD length for 110k, 850k and 6.81M
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const uint8_t dwnsSFDlen[NUM_BR] =
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{
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DW_NS_SFD_LEN_110K, |
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DW_NS_SFD_LEN_850K, |
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DW_NS_SFD_LEN_6M8 |
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}; |
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// SFD Threshold
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const uint16_t sftsh[NUM_BR][NUM_SFD] =
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{
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{
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DRX_TUNE0b_110K_STD, |
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DRX_TUNE0b_110K_NSTD |
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}, |
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{
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DRX_TUNE0b_850K_STD, |
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DRX_TUNE0b_850K_NSTD |
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}, |
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{
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DRX_TUNE0b_6M8_STD, |
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DRX_TUNE0b_6M8_NSTD |
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} |
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}; |
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const uint16_t dtune1[NUM_PRF] =
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{
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DRX_TUNE1a_PRF16, |
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DRX_TUNE1a_PRF64 |
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}; |
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const uint32_t digital_bb_config[NUM_PRF][NUM_PACS] =
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{
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{
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DRX_TUNE2_PRF16_PAC8, |
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DRX_TUNE2_PRF16_PAC16, |
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DRX_TUNE2_PRF16_PAC32, |
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DRX_TUNE2_PRF16_PAC64 |
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}, |
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{
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DRX_TUNE2_PRF64_PAC8, |
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DRX_TUNE2_PRF64_PAC16, |
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DRX_TUNE2_PRF64_PAC32, |
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DRX_TUNE2_PRF64_PAC64 |
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} |
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}; |
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const uint16_t lde_replicaCoeff[PCODES] =
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{
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0, // No preamble code 0 |
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LDE_REPC_PCODE_1, |
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LDE_REPC_PCODE_2, |
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LDE_REPC_PCODE_3, |
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LDE_REPC_PCODE_4, |
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LDE_REPC_PCODE_5, |
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LDE_REPC_PCODE_6, |
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LDE_REPC_PCODE_7, |
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LDE_REPC_PCODE_8, |
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LDE_REPC_PCODE_9, |
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LDE_REPC_PCODE_10, |
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LDE_REPC_PCODE_11, |
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LDE_REPC_PCODE_12, |
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LDE_REPC_PCODE_13, |
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LDE_REPC_PCODE_14, |
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LDE_REPC_PCODE_15, |
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LDE_REPC_PCODE_16, |
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LDE_REPC_PCODE_17, |
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LDE_REPC_PCODE_18, |
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LDE_REPC_PCODE_19, |
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LDE_REPC_PCODE_20, |
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LDE_REPC_PCODE_21, |
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LDE_REPC_PCODE_22, |
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LDE_REPC_PCODE_23, |
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LDE_REPC_PCODE_24 |
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}; |
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const double txpwr_compensation[NUM_CH] = { |
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0.0, |
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0.035, |
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0.0, |
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0.0, |
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0.065, |
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0.0 |
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}; |
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#define NUM_16M_OFFSET (37) |
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#define NUM_16M_OFFSETWB (68) |
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#define NUM_64M_OFFSET (26) |
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#define NUM_64M_OFFSETWB (59) |
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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 |
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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 |
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//---------------------------------------------------------------------------------------------------------------------------
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// Range Bias Correction TABLES of range values in integer units of 25 CM, for 8-bit unsigned storage, MUST END IN 255 !!!!!!
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//---------------------------------------------------------------------------------------------------------------------------
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// offsets to nearest centimeter for index 0, all rest are +1 cm per value
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#define CM_OFFSET_16M_NB (-23) // for normal band channels at 16 MHz PRF |
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#define CM_OFFSET_16M_WB (-28) // for wider band channels at 16 MHz PRF |
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#define CM_OFFSET_64M_NB (-17) // for normal band channels at 64 MHz PRF |
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#define CM_OFFSET_64M_WB (-30) // for wider band channels at 64 MHz PRF |
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//---------------------------------------------------------------------------------------------------------------------------
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// range25cm16PRFnb: Range Bias Correction table for narrow band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
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//---------------------------------------------------------------------------------------------------------------------------
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const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET] = |
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{
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// ch 1 - range25cm16PRFnb
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{
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1,
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3,
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4,
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5,
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7,
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9,
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11,
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12,
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13,
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15,
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18,
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20,
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23,
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25,
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28,
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30,
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33,
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36,
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40,
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43,
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47,
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50,
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58,
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63,
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66,
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71,
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76,
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82,
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89,
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98,
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109,
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127,
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155,
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222,
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255,
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255
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}, |
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// ch 2 - range25cm16PRFnb
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{
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1,
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2,
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4,
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5,
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6,
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8,
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9,
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10,
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12,
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13,
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15,
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18,
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20,
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22,
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24,
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27,
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29,
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32,
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35,
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38,
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41,
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44,
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47,
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51,
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55,
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58,
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62,
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66,
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71,
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78,
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85,
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96,
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111,
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135,
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194,
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240,
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255
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}, |
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// ch 3 - range25cm16PRFnb
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{
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1,
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2,
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3,
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4,
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5,
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7,
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8,
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9,
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10,
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12,
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14,
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16,
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18,
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20,
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22,
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24,
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26,
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28,
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31,
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33,
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36,
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39,
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42,
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45,
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49,
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52,
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55,
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59,
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63,
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69,
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76,
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85,
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98,
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120,
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173,
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213,
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255
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}, |
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// ch 5 - range25cm16PRFnb
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{
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1,
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1,
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2,
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3,
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4,
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5,
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6,
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6,
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7,
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8,
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9,
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11,
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12,
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14,
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16,
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18,
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20,
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21,
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25,
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27,
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31,
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34,
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36,
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38,
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41,
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44,
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48,
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53,
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59,
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68,
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83,
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120,
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148,
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255
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} |
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}; // end range25cm16PRFnb
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//---------------------------------------------------------------------------------------------------------------------------
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// range25cm16PRFwb: Range Bias Correction table for wide band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
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//---------------------------------------------------------------------------------------------------------------------------
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const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB] = |
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{
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// ch 4 - range25cm16PRFwb
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{
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7,
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7,
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8,
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9,
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9,
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78,
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81,
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85,
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89,
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104,
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110,
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116,
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123,
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130,
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139,
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150,
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164,
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182,
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207,
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238,
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255,
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255,
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255,
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255,
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255
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}, |
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// ch 7 - range25cm16PRFwb
|
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{
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4,
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5,
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5,
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5,
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6,
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6,
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7,
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7,
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9,
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10,
|
| 540 |
11,
|
| 541 |
11,
|
| 542 |
12,
|
| 543 |
13,
|
| 544 |
13,
|
| 545 |
14,
|
| 546 |
15,
|
| 547 |
16,
|
| 548 |
17,
|
| 549 |
17,
|
| 550 |
18,
|
| 551 |
19,
|
| 552 |
20,
|
| 553 |
21,
|
| 554 |
22,
|
| 555 |
23,
|
| 556 |
25,
|
| 557 |
26,
|
| 558 |
27,
|
| 559 |
29,
|
| 560 |
30,
|
| 561 |
31,
|
| 562 |
32,
|
| 563 |
34,
|
| 564 |
35,
|
| 565 |
36,
|
| 566 |
38,
|
| 567 |
39,
|
| 568 |
40,
|
| 569 |
42,
|
| 570 |
44,
|
| 571 |
46,
|
| 572 |
48,
|
| 573 |
50,
|
| 574 |
52,
|
| 575 |
55,
|
| 576 |
58,
|
| 577 |
61,
|
| 578 |
64,
|
| 579 |
68,
|
| 580 |
72,
|
| 581 |
75,
|
| 582 |
80,
|
| 583 |
85,
|
| 584 |
92,
|
| 585 |
101,
|
| 586 |
112,
|
| 587 |
127,
|
| 588 |
147,
|
| 589 |
168,
|
| 590 |
182,
|
| 591 |
194,
|
| 592 |
205,
|
| 593 |
255
|
| 594 |
} |
| 595 |
}; // end range25cm16PRFwb
|
| 596 |
|
| 597 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 598 |
// range25cm64PRFnb: Range Bias Correction table for narrow band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
|
| 599 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 600 |
|
| 601 |
const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET] = |
| 602 |
{
|
| 603 |
// ch 1 - range25cm64PRFnb
|
| 604 |
{
|
| 605 |
1,
|
| 606 |
2,
|
| 607 |
2,
|
| 608 |
3,
|
| 609 |
4,
|
| 610 |
5,
|
| 611 |
7,
|
| 612 |
10,
|
| 613 |
13,
|
| 614 |
16,
|
| 615 |
19,
|
| 616 |
22,
|
| 617 |
24,
|
| 618 |
27,
|
| 619 |
30,
|
| 620 |
32,
|
| 621 |
35,
|
| 622 |
38,
|
| 623 |
43,
|
| 624 |
48,
|
| 625 |
56,
|
| 626 |
78,
|
| 627 |
101,
|
| 628 |
120,
|
| 629 |
157,
|
| 630 |
255
|
| 631 |
}, |
| 632 |
|
| 633 |
// ch 2 - range25cm64PRFnb
|
| 634 |
{
|
| 635 |
1,
|
| 636 |
2,
|
| 637 |
2,
|
| 638 |
3,
|
| 639 |
4,
|
| 640 |
4,
|
| 641 |
6,
|
| 642 |
9,
|
| 643 |
12,
|
| 644 |
14,
|
| 645 |
17,
|
| 646 |
19,
|
| 647 |
21,
|
| 648 |
24,
|
| 649 |
26,
|
| 650 |
28,
|
| 651 |
31,
|
| 652 |
33,
|
| 653 |
37,
|
| 654 |
42,
|
| 655 |
49,
|
| 656 |
68,
|
| 657 |
89,
|
| 658 |
105,
|
| 659 |
138,
|
| 660 |
255
|
| 661 |
}, |
| 662 |
|
| 663 |
// ch 3 - range25cm64PRFnb
|
| 664 |
{
|
| 665 |
1,
|
| 666 |
1,
|
| 667 |
2,
|
| 668 |
3,
|
| 669 |
3,
|
| 670 |
4,
|
| 671 |
5,
|
| 672 |
8,
|
| 673 |
10,
|
| 674 |
13,
|
| 675 |
15,
|
| 676 |
17,
|
| 677 |
19,
|
| 678 |
21,
|
| 679 |
23,
|
| 680 |
25,
|
| 681 |
27,
|
| 682 |
30,
|
| 683 |
33,
|
| 684 |
37,
|
| 685 |
44,
|
| 686 |
60,
|
| 687 |
79,
|
| 688 |
93,
|
| 689 |
122,
|
| 690 |
255
|
| 691 |
}, |
| 692 |
|
| 693 |
// ch 5 - range25cm64PRFnb
|
| 694 |
{
|
| 695 |
1,
|
| 696 |
1,
|
| 697 |
1,
|
| 698 |
2,
|
| 699 |
2,
|
| 700 |
3,
|
| 701 |
4,
|
| 702 |
6,
|
| 703 |
7,
|
| 704 |
9,
|
| 705 |
10,
|
| 706 |
12,
|
| 707 |
13,
|
| 708 |
15,
|
| 709 |
16,
|
| 710 |
17,
|
| 711 |
19,
|
| 712 |
21,
|
| 713 |
23,
|
| 714 |
26,
|
| 715 |
30,
|
| 716 |
42,
|
| 717 |
55,
|
| 718 |
65,
|
| 719 |
85,
|
| 720 |
255
|
| 721 |
} |
| 722 |
}; // end range25cm64PRFnb
|
| 723 |
|
| 724 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 725 |
// range25cm64PRFwb: Range Bias Correction table for wide band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
|
| 726 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 727 |
|
| 728 |
const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB] = |
| 729 |
{
|
| 730 |
// ch 4 - range25cm64PRFwb
|
| 731 |
{
|
| 732 |
7,
|
| 733 |
8,
|
| 734 |
8,
|
| 735 |
9,
|
| 736 |
9,
|
| 737 |
10,
|
| 738 |
11,
|
| 739 |
12,
|
| 740 |
13,
|
| 741 |
13,
|
| 742 |
14,
|
| 743 |
15,
|
| 744 |
16,
|
| 745 |
16,
|
| 746 |
17,
|
| 747 |
18,
|
| 748 |
19,
|
| 749 |
19,
|
| 750 |
20,
|
| 751 |
21,
|
| 752 |
22,
|
| 753 |
24,
|
| 754 |
25,
|
| 755 |
27,
|
| 756 |
28,
|
| 757 |
29,
|
| 758 |
30,
|
| 759 |
32,
|
| 760 |
33,
|
| 761 |
34,
|
| 762 |
35,
|
| 763 |
37,
|
| 764 |
39,
|
| 765 |
41,
|
| 766 |
43,
|
| 767 |
45,
|
| 768 |
48,
|
| 769 |
50,
|
| 770 |
53,
|
| 771 |
56,
|
| 772 |
60,
|
| 773 |
64,
|
| 774 |
68,
|
| 775 |
74,
|
| 776 |
81,
|
| 777 |
89,
|
| 778 |
98,
|
| 779 |
109,
|
| 780 |
122,
|
| 781 |
136,
|
| 782 |
146,
|
| 783 |
154,
|
| 784 |
162,
|
| 785 |
178,
|
| 786 |
220,
|
| 787 |
249,
|
| 788 |
255,
|
| 789 |
255,
|
| 790 |
255
|
| 791 |
}, |
| 792 |
|
| 793 |
// ch 7 - range25cm64PRFwb
|
| 794 |
{
|
| 795 |
4,
|
| 796 |
5,
|
| 797 |
5,
|
| 798 |
5,
|
| 799 |
6,
|
| 800 |
6,
|
| 801 |
7,
|
| 802 |
7,
|
| 803 |
8,
|
| 804 |
8,
|
| 805 |
9,
|
| 806 |
9,
|
| 807 |
10,
|
| 808 |
10,
|
| 809 |
10,
|