ver1.15

zhyinch

2019-12-20 32fa4a5edfbd06a3c0be40a2f3890aae2c1a4d23

ver1.15

修改微分跟踪器，修改标签数据异常bug。

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.Administrator

@@ -16,12 +16,12 @@
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>370 160</TableColWidths>
      <TableColWidths>108 422</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
      <ViewName>Performance Analyzer</ViewName>
      <TableColWidths>530</TableColWidths>
      <TableColWidths>182 79 79 190</TableColWidths>
    </View>
  </SECTreeCtrl>

@@ -75,8 +75,8 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
@@ -92,8 +92,8 @@
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      <RegID>0</RegID>
      <MDITabState>
        <Len>326</Len>
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    <ViewEx>
@@ -1287,8 +1287,8 @@
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        <Name>File</Name>
        <Buttons>
          <Len>2375</Len>
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@@ -1320,7 +1320,7 @@
        <Name>Debug</Name>
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          <Len>2220</Len>
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        <CurrentLine>552</CurrentLine>
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        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
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        <Name>..\Src\main.c</Name>
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 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -77,7 +77,7 @@
        <tvExpOptDlg>0</tvExpOptDlg>
        <IsCurrentTarget>1</IsCurrentTarget>
      </OPTFL>
      <CpuCode>18</CpuCode>
      <CpuCode>255</CpuCode>
      <Books>
        <Book>
          <Number>0</Number>

 Ô´Âë/ºËÐÄ°å/Src/algorithm/TrackingDiff.c

@@ -1,26 +1,41 @@
#include "TrackingDiff.h"
#include <stdlib.h>
#include "dw_app.h"

//TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor)
//{
//    TrackingDiffClass* p = (TrackingDiffClass*) malloc(sizeof(TrackingDiffClass));
//	
//    p->pos_factor = pos_factor;
//    p->vel_factor = vel_factor;
//    p->time_correction = time_factor;
//	
//    p->pos_predict = 0;
//    p->vel_predict = 0;
//    p->error = 0;
//	
//    return p;
//}

TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor)
//void TrackingDiffUpdate(TrackingDiffClass* self, float target)
//{
//    self->error = target - self->pos_predict;
//	
//    self->vel_predict += (self->error * self->vel_factor) * self->time_correction;
//    self->pos_predict += (self->vel_predict + self->error * self->pos_factor) * self->time_correction;
//}
#define vel_factor 2
#define pos_factor 4
#define time_correction 0.03
float vel_predict[255],pos_predict[255];
void NewTrackingDiffUpdate(u8 channel, float target)
{
    TrackingDiffClass* p = (TrackingDiffClass*) malloc(sizeof(TrackingDiffClass));
	
    p->pos_factor = pos_factor;
    p->vel_factor = vel_factor;
    p->time_correction = time_factor;
	
    p->pos_predict = 0;
    p->vel_predict = 0;
    p->error = 0;
	
    return p;
    float error;
    if(g_Tagdist[channel]==0xffff)
    {
    pos_predict[channel]=target;
}

void TrackingDiffUpdate(TrackingDiffClass* self, float target)
{
    self->error = target - self->pos_predict;
	
    self->vel_predict += (self->error * self->vel_factor) * self->time_correction;
    self->pos_predict += (self->vel_predict + self->error * self->pos_factor) * self->time_correction;
    error=target-pos_predict[channel];
    vel_predict[channel]+=(error*vel_factor)*time_correction;
    pos_predict[channel]+=(vel_predict[channel]+error*pos_factor)*time_correction;
}

 Ô´Âë/ºËÐÄ°å/Src/algorithm/TrackingDiff.h

@@ -16,9 +16,10 @@
    float time_correction;
} TrackingDiffClass;

TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor);
void TrackingDiffUpdate(TrackingDiffClass* self, float target);

//TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor);
//void TrackingDiffUpdate(TrackingDiffClass* self, float target);
void NewTrackingDiffUpdate(u8 channel, float target);
extern float pos_predict[255];
#ifdef __cplusplus
}
#endif

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -543,7 +543,7 @@

            /* Write and send the response message. See NOTE 9 below.*/
            if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
            memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
            memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
        
            dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
            dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
@@ -615,8 +615,8 @@
                    /*--------------------------以下为非测距逻辑------------------------*/
                    LED0_BLINK; //每成功一次通讯则闪烁一次
                    g_UWB_com_interval = 0;
                    dis_after_filter=dist_cm;
                    hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
					
                    hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
                    if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
                    {int32_t filter_dist;
                        misdist_num=0;
@@ -626,12 +626,11 @@
                        {
                    if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<10000)
                    {
                        g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
                        anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
                        //anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
                        
                        #ifdef TDFILTER
                        TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
                        filter_dist=pUWBDistanceTrackingDiff->pos_predict/10;
                        NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
                        filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
                        #else
                        filter_dist=hex_dist/10;
                        #endif
@@ -664,8 +663,7 @@
                    }else{
                        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. */

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -67,9 +67,9 @@
    g_com_map[ANC_POLL]=0;
    g_com_map[ALARM_DISTANCE1]=100;
#endif
        pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
        //pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
        dev_id = g_com_map[DEV_ID];
        g_com_map[VERSION] = 0x010d;	
        g_com_map[VERSION] = 0x010f;	
    temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;    
    temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
    if(temp2<temp)