V1.4 去掉阈值修改，增加滤波功能，客户反馈还不行

yincheng.zhong

2023-11-29 5f02075313d646cd2bdb7a5ff720870455ba61fc

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -46,7 +46,7 @@
   RCC_Configuration();
   //SystemInit();
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
	
   Nvic_Init();
//   Systick_Init();
   TIM3_Int_Init();
   Led_Init();
@@ -55,9 +55,8 @@
   Uart1_Init();
   Spi_Init();
   ADC_Configuration();
   //IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
   Nvic_Init();
  IWDG_Feed();
   IWDG_Config(IWDG_Prescaler_128 ,4095);   //10s
    IWDG_Feed();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
u8 anchor_type;
@@ -95,14 +94,10 @@
   {
     g_com_map[COM_INTERVAL]=100;
   }
    if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
}
extern u8 needanchorrx;  
u16 JDQ_time;
int16_t g_commap_antdelay;
extern float fiter_p;
void Program_Init(void)
{   float temp;
   u16 temp2;
@@ -148,35 +143,38 @@
        
   OUT485_ENABLE;
   ComMapCheck();   
   g_com_map[VERSION] = 1<<8|62;
   g_com_map[VERSION] = 1<<8|4;
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
     if(dist_threshold<300)
      {dist_threshold = 300;}
      if(dist_threshold>15000)
      {dist_threshold = 15000;}
    g_commap_antdelay = g_com_map[ANT_LENGTH];
    JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
   g_com_map[SW_TYPE] =    SW_FANGZHUANG;
   dev_id = g_com_map[DEV_ID];
        group_id=g_com_map[GROUP_ID];
    group_id=g_com_map[GROUP_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
   max_slotpos=g_com_map[COM_INTERVAL]/slottime;
   tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
   module_power = g_com_map[POWER];
   total_slotnum = 1000/g_com_map[COM_INTERVAL];
         vel_factor=g_com_map[FILTER_COEFFICIENT];
      pos_factor=g_com_map[FILTER_COEFFICIENT];

      if(module_power>67)
      {
         module_power=67;
      }
    vel_factor=g_com_map[FILTER_COEFFICIENT];
   pos_factor=g_com_map[FILTER_COEFFICIENT];
    fiter_p = (float)g_com_map[FILTER_COEFFICIENT]/100;
    if(module_power>67)
    {
        module_power=67;
    }
   
   if(g_com_map[DEV_ROLE])
   {
      needanchorrx = 0;
   printf("标签ID: %d .\r\n",dev_id);
   printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
   printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
   }else{
   needanchorrx = 1;
	
   anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
   printf("基站ID: %x .\r\n",dev_id);
   printf("基站类型: %c .\r\n",anchor_type+0x41);
@@ -228,7 +226,7 @@
{
      
         UART_CheckReceive();
   //   UART_CheckSend();
      UART_CheckSend();
   
   if(heartbeat_timer>1000)
   {
@@ -307,12 +305,11 @@
      {
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
      }
		
      g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
        g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
      g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;

   }

    
int main(void)
{
 
@@ -320,7 +317,7 @@
   //StartUpTest();
   Program_Init();
   Dw1000_Init();
  delay_ms(10);	
    delay_ms(10);	
   Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
@@ -328,23 +325,19 @@
   usart_send[1]=0xAA;
   usart_send_anc[0]=0x55;
   usart_send_anc[1]=0xAA;
   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

   while(1)
   {
//   g_start_sync_flag=0;
   g_start_sync_flag=0;
   if(g_start_send_flag)
   {
      g_start_send_flag = 0;      
      Tag_App();
      //needanchorrx = 1;
   }
      IdleTask();      
//if(g_com_map[DEV_ROLE]==0)
//    {needanchorrx = 0;
//         Anchor_App();
//       // Anchor_Start();
//    }
if(g_com_map[DEV_ROLE]==0)
      Anchor_App();

   }
}