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| | | #include "dw_driver.h" |
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| | | #include "Spi.h" |
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| | | #include "led.h" |
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| | | #include "serial_at_cmd_app.h" |
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| | | #include "Usart.h" |
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| | | #include "global_param.h" |
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| | | #include "filters.h" |
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| | | |
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| | | |
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| | | /*------------------------------------ Marcos ------------------------------------------*/ |
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| | |
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| | | uint8_t random_delay_tim = 0; |
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| | | |
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| | | double distance, dist_no_bias, dist_cm; |
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| | | |
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| | | uint32_t g_UWB_com_interval = 0; |
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| | | float dis_after_filter; //å½åè·ç¦»å¼ |
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| | | LPFilter_Frac* p_Dis_Filter; //æµè·ç¨çä½éæ»¤æ³¢å¨ |
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| | | |
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| | | /*------------------------------------ Functions ------------------------------------------*/ |
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| | | |
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| | | |
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| | | /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */ |
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| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//ä¸ææ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
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| | | { }; |
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| | | { |
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| | | UART_CheckReceive(); |
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| | | UART_CheckSend(); |
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| | | }; |
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| | | |
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| | | if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶ |
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| | | { |
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| | |
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| | | dist_cm = dist_no_bias * 100; //dis 为åä½ä¸ºcmçè·ç¦» |
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| | | // dist[TAG_ID] = LP(dis, TAG_ID); //LP 为ä½é滤波å¨ï¼è®©æ°æ®æ´ç¨³å® |
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| | | |
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| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
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| | | LED0_BLINK; //æ¯æåä¸æ¬¡é讯åéªçä¸æ¬¡ |
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| | | g_UWB_com_interval = 0; |
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| | | dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
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| | | |
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| | | } |
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| | | } |
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