| | |
|---|
| | | g_UWB_com_interval = 0; |
|---|
| | | dis_after_filter=dist_cm; |
|---|
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; |
|---|
| | | if(hex_dist<100000&&hex_dist>-1000) |
|---|
| | | { |
|---|
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
|---|
| | | if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000&&hex_dist<100000&&hex_dist>-1000) |
|---|
| | | { |
|---|
| | | if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000) |
|---|
| | | { |
|---|
| | | 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; |
|---|
| | | } |
|---|
| | | his_dist[tag_id_recv-TAG_ID_START]=hex_dist; |
|---|
| | | g_Tagdist[tag_id_recv]= anchor_dist_last_frm[tag_id_recv-TAG_ID_START]; |
|---|
| | | g_flag_Taggetdist[tag_id_recv]=0; |
|---|
| | | if(!g_com_map[MODBUS_MODE]) |
|---|
| | | { |
|---|
| | |
|---|
| | | Modbus_HoldReg[tag_id_recv*2]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>>16; |
|---|
| | | 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{ |
|---|
| | | /* Clear RX error events in the DW1000 status register. */ |
|---|
