V1.66 修改标签报警逻辑bug

zhyinch

2022-02-21 3674e113e9923184e8f1bd497c2f7832fc959d29

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -49,7 +49,7 @@
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];

static uint64_t get_tx_timestamp_u64(void)
{
@@ -882,18 +882,7 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            motorstate =1;
         }else{
            motorstate =0;
         }

         
         if(new_tagid)
         {
@@ -902,7 +891,28 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
			
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]==0)
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =2;
            }else{
               motorstate =0;
            }
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =1;
               }else{
               motorstate =0;
            }
         }else{
            motorstate =0;
         }
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -980,6 +990,12 @@
                    
               if(hex_dist>-100000&&hex_dist<2000000)
               {
                  if(abs(hex_dist-his_dist[taglist_pos])<10000)
                  {
                     flag_tag_distsmooth[taglist_pos] =1;
                  }else{
                     flag_tag_distsmooth[taglist_pos] =0;
                  }
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {
                  
@@ -1000,7 +1016,7 @@
                  {
                            g_Tagdist[taglist_pos]=hex_dist/10;   
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                            g_Tagdist[taglist_pos]= 999999;
                        }
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
@@ -1009,7 +1025,7 @@
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);         
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=10;
                                tagdist_list[taglist_pos]=999999;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;