增加信号轻度，去掉滤波

zhyinch

2021-06-15 9f117ad80a25735b7ee4e54c2fdc375a828a899c

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -135,7 +135,7 @@
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
   
    SetNLOSNTMSettings();
  //  SetNLOSNTMSettings();
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
@@ -704,7 +704,26 @@
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
}
 double firstpath_power, rx_power,rec_firstpath_power;
  double f1, f2, r1, r2;
uint16_t F1,F2,F3,N,C;
double B = 131072;
double A = 121.74;
double min_power;
 dwt_rxdiag_t d1;
double LOS(dwt_rxdiag_t *dia) {
     F1 = dia->firstPathAmp1;
     F2 = dia->firstPathAmp2;
     F3 = dia->firstPathAmp3;
     N = dia->rxPreamCount;
     C = dia->maxGrowthCIR;
    
    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
    rx_power=10*log10(C*B/(N*N))-A;

 //   min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
    return min_power;
  }
void Tag_App(void)//发送模式(TAG标签)
{
   //LED0_ON;
@@ -926,7 +945,10 @@
               tof = tof_dtu * DWT_TIME_UNITS;
               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离				
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离	

               dwt_readdiagnostics(&d1);
               LOS(&d1);
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
@@ -935,10 +957,10 @@
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>0&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               {
            //   if(hex_dist>0&&hex_dist<2000000)
               //{
               //if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               //{
                  int32_t filter_dist;
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
@@ -950,7 +972,7 @@
               tagdist_list[taglist_pos] = filter_dist;   
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=filter_dist;   
            #ifndef USART_INTEGRATE_OUTPUT
             #ifndef USART_INTEGRATE_OUTPUT 
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
@@ -959,6 +981,8 @@
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
                    usart_send[15] = firstpath_power;
                    usart_send[16] = rx_power;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
@@ -967,11 +991,11 @@
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }
//               }else{
//               //   printf("%d",hex_dist);
//                  misdist_num[taglist_pos]++;
//               }
//            }
         }
         }else{
               //printf("%x/n",status_reg);