| | |
| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
| | | 9, /* TX preamble code. Used in TX only. */ |
| | | 9, /* RX preamble code. Used in RX only. */ |
| | | 0, /* Use non-standard SFD (Boolean) */ |
| | | 1, /* Use non-standard SFD (Boolean) */ |
| | | DWT_BR_6M8, /* Data rate. */ |
| | | DWT_PHRMODE_STD, /* PHY header mode. */ |
| | | (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ |
| | |
| | | } |
| | | int8_t correction_time; |
| | | extern uint8_t sync_seq; |
| | | |
| | | #define TDFILTER |
| | | //#define CHECK_UID |
| | | extern uint8_t UID_ERROR; |
| | | void Anchor_App(void) |
| | | { |
| | | uint32_t frame_len; |
| | |
| | | final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts); |
| | | final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts); |
| | | |
| | | #ifdef CHECK_UID |
| | | if(UID_ERROR==1) |
| | | poll_rx_ts=0; |
| | | #endif |
| | | /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */ |
| | | poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使ç¨32使°æ®è®¡ç® |
| | | resp_tx_ts_32 = (uint32_t)resp_tx_ts; |
| | |
| | | distance = tof * SPEED_OF_LIGHT;//è·ç¦»=å
é*é£è¡æ¶é´ |
| | | dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //è·ç¦»åå»ç«æ£ç³»æ° |
| | | |
| | | dist_cm = dist_no_bias * 100; //dis 为åä½ä¸ºcmçè·ç¦» |
| | | dist_cm = dist_no_bias * 1000; //dis 为åä½ä¸ºcmçè·ç¦» |
| | | // dist[TAG_ID] = LP(dis, TAG_ID); //LP 为ä½é滤波å¨ï¼è®©æ°æ®æ´ç¨³å® |
| | | |
| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
| | |
| | | g_UWB_com_interval = 0; |
| | | dis_after_filter=dist_cm; |
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; |
| | | if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<1500||misdist_num>4) |
| | | { |
| | | if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4) |
| | | {int32_t filter_dist; |
| | | misdist_num=0; |
| | | if(hex_dist<100000&&hex_dist>-1000) |
| | | if(hex_dist<1000000&&hex_dist>-10000) |
| | | { |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | { |
| | | if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000) |
| | | if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<10000) |
| | | { |
| | | g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist; |
| | | anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist; |
| | | g_Tagdist[tag_id_recv]= hex_dist; |
| | | |
| | | #ifdef TDFILTER |
| | | TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist); |
| | | filter_dist=pUWBDistanceTrackingDiff->pos_predict/10; |
| | | #else |
| | | filter_dist=hex_dist/10; |
| | | #endif |
| | | anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist; |
| | | g_Tagdist[tag_id_recv]= anchor_dist_last_frm[tag_id_recv-TAG_ID_START]; |
| | | } |
| | | his_dist[tag_id_recv-TAG_ID_START]=hex_dist; |
| | | g_flag_Taggetdist[tag_id_recv]=0; |