V1.47 增加NLOS模式

zhyinch

2021-06-11 07691209317d73ebe7b89bce522cd43fa4bcadc0

 源码/核心板/Src/main.c

@@ -45,7 +45,7 @@
   memcpy(&hbsend[14],&checksum,2);
}
uint16_t vel_factor,pos_factor;
u16 tyncpoll_time,dist_threshold;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
extern u16 total_slotnum;
@@ -72,13 +72,7 @@
   {
     g_com_map[COM_INTERVAL]=100;
   }

   g_com_map[VERSION] = 0x012b;
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_com_map[VERSION] = 0x012f;
   g_com_map[SW_TYPE] =    SW_FANGZHUANG;
   dev_id = g_com_map[DEV_ID];
   slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
@@ -163,15 +157,15 @@
   if(flag_newsecond)
   {
      uint32_t temp23;
//         temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
//         if(temp23!=0x4A480022)
//         {
//            temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
//               if(temp23!=0x4A480022)
//               {
//                  NVIC_SystemReset();
//               }
//            }
         temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
         if(temp23!=0x4A480022)
         {
            temp23 =  dwt_read32bitreg(CHAN_CTRL_ID) ;
               if(temp23!=0x4A480022)
               {
                  NVIC_SystemReset();
               }
            }
     flag_newsecond=0;
      tagpos_binary=0;
      memcpy(ancidlist_send,ancidlist_rec,ancidlist_num*2);