| | |
| | | uint32_t g_UWB_com_interval = 0; |
| | | float dis_after_filter; //å½åè·ç¦»å¼ |
| | | LPFilter_Frac* p_Dis_Filter; //æµè·ç¨çä½éæ»¤æ³¢å¨ |
| | | uint16_t g_Tagdist[TAG_NUM_IN_SYS]; |
| | | int32_t g_Tagdist[TAG_NUM_IN_SYS]; |
| | | uint8_t g_flag_Taggetdist[256]; |
| | | |
| | | static uint64_t get_tx_timestamp_u64(void) |
| | |
| | | *ts += ts_field[i] << (i * 8); |
| | | } |
| | | } |
| | | extern int32_t tagdist_list[TAG_NUM_IN_SYS]; |
| | | void TagDistClear(void) |
| | | { |
| | | static uint16_t clear_judge_cnt; |
| | |
| | | g_flag_Taggetdist[i]++; |
| | | if(g_flag_Taggetdist[i]>=2) |
| | | { |
| | | g_Tagdist[i]=0xffff; |
| | | tagdist_list[i]=0x1ffff; |
| | | } |
| | | } |
| | | } |
| | |
| | | dwt_setdelayedtrxtime(resp_tx_time);//设置Responseåéæ¶é´T3 |
| | | dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置åé宿åå¼å¯æ¥æ¶å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶
æ¶æ¶é´ |
| | | dwt_readdiagnostics(&d1); |
| | | //dwt_readdiagnostics(&d1); |
| | | |
| | | if(new_tagid) |
| | | { |
| | |
| | | LED0_BLINK; //æ¯æå䏿¬¡é讯åéªç䏿¬¡ |
| | | 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) |
| | | { |
| | | g_flag_Taggetdist[taglist_pos]=0; |
| | | if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3) |
| | | { |
| | | misdist_num[taglist_pos]=0; |