增加速度滤波阈值

zhyinch

2020-11-25 0fab14bd3b70cdb16f134eaeeaac7d0947f2078f

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -237,12 +237,14 @@
   if(clear_judge_cnt++>1000)  //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
   {
      clear_judge_cnt=0;
      for(i=0;i<255;i++)
      for(i=0;i<100;i++)
      {
         g_flag_Taggetdist[i]++;
         if(g_flag_Taggetdist[i]>=20)
         if(g_flag_Taggetdist[i]>=2)
         {
            g_Tagdist[i]=0xffff;
            Modbus_HoldReg[i*2]=1;
            Modbus_HoldReg[i*2+1]=0xffff;
         }
      }
   }
@@ -326,19 +328,24 @@
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
extern float dw_vbat;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,getsync_flag=0;
   u8 bat_percent;
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
   tx_poll_msg[BATTARY_IDX] = Get_Battary();
   bat_percent=(dw_vbat-2.8)/0.5*100;
   if(bat_percent>100)
      bat_percent=100;
   tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
@@ -437,12 +444,14 @@
            LED0_BLINK;
            
               memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//               g_Tagdist[anc_id_recv]=   hex_dist;
//               g_flag_Taggetdist[anc_id_recv]=0;
					
               if(!g_com_map[MODBUS_MODE]&&hex_dist2!=0xffff)
               if(hex_dist2!=0xffff)
               {	
               g_Tagdist[anc_id_recv]=   hex_dist2;
               g_flag_Taggetdist[anc_id_recv]=0;
//               g_Resttimer=0;
               if(!g_com_map[MODBUS_MODE])
               {
               hex_dist2 = hex_dist2+(int16_t)g_com_map[DIST_OFFSET];		
               hex_dist2 = hex_dist2;		
               usart_send[2] = 1;//正常模式
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb;//数据段长度
@@ -450,16 +459,19 @@
               memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
            
               memcpy(&usart_send[9],&hex_dist2,4);
               usart_send[13] = battary;
               usart_send[13] = bat_percent;
               usart_send[14] = button;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               }
            }
      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
         if(result==0)
         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         {
			
            while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         { };
      }
         /* Clear TXFRS event. */
@@ -483,10 +495,10 @@
//   deca_sleep(10);
}
//   dwt_entersleep();
//   if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
//   {
//   //poll_timer +=time32_incr&0x7+3;
//   }
   if(tag_succ_times<1)
   {
      tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
   }

   /* Execute a delay between ranging exchanges. */
   
@@ -496,11 +508,12 @@
#define TDFILTER
//#define CHECK_UID
extern uint8_t UID_ERROR;
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
   uint32_t frame_len;
   uint32_t resp_tx_time;
   static u8 misdist_num;
   /* Clear reception timeout to start next ranging process. */
   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间

@@ -511,7 +524,6 @@
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
      IdleTask();
      g_Resttimer=0;
   };

   if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -634,13 +646,14 @@
               /*--------------------------以下为非测距逻辑------------------------*/
               LED0_BLINK; //每成功一次通讯则闪烁一次
               g_UWB_com_interval = 0;
					
//                  g_Resttimer=0;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
               {
               if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
               {int32_t filter_dist;
                  misdist_num=0;
               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
               {
                  int32_t filter_dist;
                  misdist_num[tag_id_recv-TAG_ID_START]=0;
               if(hex_dist<1000000&&hex_dist>-10000)
               {      
                  #ifdef TDFILTER
@@ -675,8 +688,9 @@
               //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
                  }
               
               }else{
                  misdist_num++;
               }
               else{
                  misdist_num[tag_id_recv-TAG_ID_START]++;
               }
            }
            }