V1.47 增加NLOS模式

zhyinch

2021-06-11 07691209317d73ebe7b89bce522cd43fa4bcadc0

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,6 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
//#define TDFILTER
enum enumtagstate
{
   DISCPOLL,
@@ -115,6 +115,14 @@
      }
   }
}
void SetNLOSNTMSettings(void)
{
    uint8_t temp;
    temp = 7;
    dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
    dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
    // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
}
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -127,7 +135,7 @@
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
   

    SetNLOSNTMSettings();
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
@@ -449,6 +457,7 @@
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                              #ifndef USART_INTEGRATE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -700,7 +709,6 @@
{
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
      GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   switch(tag_state)
   {
@@ -922,13 +930,14 @@
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
               g_Resttimer=0;
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-10000&&hex_dist<2000000)
               if(hex_dist>0&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
               if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
                  #ifdef TDFILTER
@@ -1009,8 +1018,7 @@
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:		
            g_Resttimer=0;				
         case SYNC:					
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -1051,9 +1059,10 @@
            }
            break;
      
         case NEAR_POLL:		
            g_Resttimer=0;				
         case NEAR_POLL:						
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {