| | |
|---|
| | | for(i=0;i<255;i++) |
|---|
| | | { |
|---|
| | | g_flag_Taggetdist[i]++; |
|---|
| | | if(g_flag_Taggetdist[i]>=2) |
|---|
| | | if(g_flag_Taggetdist[i]>=20) |
|---|
| | | { |
|---|
| | | g_Tagdist[i]=0xffff; |
|---|
| | | } |
|---|
| | |
|---|
| | | { |
|---|
| | | 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å®æ¥æ¶è¶
æ¶æ¶é´ï¼0ä½æ²¡æè¶
æ¶æ¶é´ |
|---|
| | | |
|---|
| | |
|---|
| | | g_UWB_com_interval = 0; |
|---|
| | | dis_after_filter=dist_cm; |
|---|
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; |
|---|
| | | if(hex_dist>1000) |
|---|
| | | {hex_dist=hex_dist;} |
|---|
| | | if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<1500||misdist_num>4) |
|---|
| | | { |
|---|
| | | misdist_num=0; |
|---|
| | | if(hex_dist<100000&&hex_dist>-1000) |
|---|
| | | { |
|---|
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
|---|
| | |
|---|
| | | Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]; |
|---|
| | | //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | }else{ |
|---|
| | | LED0_BLINK; |
|---|
| | | } |
|---|
| | | misdist_num++; |
|---|
| | | } |
|---|
| | | if(anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>1000) |
|---|
| | | {anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];} |
|---|
| | | } |
|---|
| | | }else{ |
|---|
| | | /* Clear RX error events in the DW1000 status register. */ |
|---|
