V1.34 增加滤波 防撞1对10发货

zhyinch

2020-11-07 b67408ed367738d5b235ee6bd06e25258e0cbf04

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,5 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
enum enumtagstate
{
   DISCPOLL,
@@ -823,7 +824,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -917,22 +918,29 @@
               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 * 100; //dis ä¸ºå•ä½ä¸ºcm的距离				
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离				
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
					
               getrange_success = 1;
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<200000)
               if(hex_dist>-10000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;	
               tagdist_list[taglist_pos] = filter_dist;	
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;	
                  g_Tagdist[taglist_pos]=filter_dist;	
            #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -980,6 +988,7 @@
//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
		
      IdleTask();
   };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
@@ -987,7 +996,7 @@
   { u16 tag_recv_interval;
      float temp_tagpos;
   
      g_Resttimer=0;

      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
@@ -1000,7 +1009,8 @@
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:			
         case SYNC:		
            g_Resttimer=0;				
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -1041,7 +1051,8 @@
            }
            break;
      
         case NEAR_POLL:			
         case NEAR_POLL:		
            g_Resttimer=0;				
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)