Revert "Revert "Revert "V1.34 增加滤波 防撞1对10发货"""

zhyinch

2020-11-07 61b5220eefbec3fff8df2fa0ff13d216626df280

Revert "Revert "Revert "V1.34 增加滤波 防撞1对10发货"""

This reverts commit 8aca4882a9626eaf1c75d973b91d2b09b1758b72.

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

@@ -6,7 +6,7 @@
  <Header>### uVision Project, (C) Keil Software</Header>

  <PrjGuiSettings>
    <LastAddFilePath>E:\GIT\UWB_SmallModule\源码\核心板\Src\algorithm</LastAddFilePath>
    <LastAddFilePath></LastAddFilePath>
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  <ViewPool/>
@@ -70,7 +70,7 @@
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      <ViewName>Source Browser</ViewName>
      <UserString>500</UserString>
      <TableColWidths>300</TableColWidths>
      <TableColWidths>166</TableColWidths>
    </View>
  </TreeListPane>

@@ -93,8 +93,8 @@
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      <MaxPosition>
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@@ -581,7 +536,7 @@
    </File>
    <File>
      <GroupNumber>6</GroupNumber>
      <FileNumber>19</FileNumber>
      <FileNumber>18</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -593,7 +548,7 @@
    </File>
    <File>
      <GroupNumber>6</GroupNumber>
      <FileNumber>20</FileNumber>
      <FileNumber>19</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -613,7 +568,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>21</FileNumber>
      <FileNumber>20</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -625,7 +580,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>22</FileNumber>
      <FileNumber>21</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -637,7 +592,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>23</FileNumber>
      <FileNumber>22</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -649,7 +604,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>24</FileNumber>
      <FileNumber>23</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -661,7 +616,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>25</FileNumber>
      <FileNumber>24</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -673,7 +628,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>26</FileNumber>
      <FileNumber>25</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -685,7 +640,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>27</FileNumber>
      <FileNumber>26</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -697,7 +652,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>28</FileNumber>
      <FileNumber>27</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -709,7 +664,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>29</FileNumber>
      <FileNumber>28</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -721,7 +676,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>30</FileNumber>
      <FileNumber>29</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -733,7 +688,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>31</FileNumber>
      <FileNumber>30</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -745,7 +700,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>32</FileNumber>
      <FileNumber>31</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -757,7 +712,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>33</FileNumber>
      <FileNumber>32</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -769,7 +724,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>34</FileNumber>
      <FileNumber>33</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -781,7 +736,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>35</FileNumber>
      <FileNumber>34</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -793,7 +748,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>36</FileNumber>
      <FileNumber>35</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -805,7 +760,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>37</FileNumber>
      <FileNumber>36</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -817,7 +772,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>38</FileNumber>
      <FileNumber>37</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -829,7 +784,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>39</FileNumber>
      <FileNumber>38</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -841,7 +796,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>40</FileNumber>
      <FileNumber>39</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -853,7 +808,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>41</FileNumber>
      <FileNumber>40</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -865,7 +820,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>42</FileNumber>
      <FileNumber>41</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -877,7 +832,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
      <FileNumber>43</FileNumber>
      <FileNumber>42</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -897,7 +852,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>8</GroupNumber>
      <FileNumber>44</FileNumber>
      <FileNumber>43</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -909,7 +864,7 @@
    </File>
    <File>
      <GroupNumber>8</GroupNumber>
      <FileNumber>45</FileNumber>
      <FileNumber>44</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -921,7 +876,7 @@
    </File>
    <File>
      <GroupNumber>8</GroupNumber>
      <FileNumber>46</FileNumber>
      <FileNumber>45</FileNumber>
      <FileType>2</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvprojx

@@ -427,11 +427,6 @@
              <FileType>1</FileType>
              <FilePath>..\Src\algorithm\filters.c</FilePath>
            </File>
            <File>
              <FileName>TrackingDiff.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\Src\algorithm\TrackingDiff.c</FilePath>
            </File>
          </Files>
        </Group>
        <Group>

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

ÎļþÒÑɾ³ý

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

ÎļþÒÑɾ³ý

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,6 +1,5 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
enum enumtagstate
{
    DISCPOLL,
@@ -918,7 +917,7 @@
                    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 * 100; //dis ä¸ºå•ä½ä¸ºcm的距离				
                    /*--------------------------以下为非测距逻辑------------------------*/
                    //dist_cm=33000;
                    getrange_success = 1;
@@ -926,21 +925,14 @@
                    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>-10000&&hex_dist<2000000)
                    if(hex_dist>-1000&&hex_dist<200000)
                    {
                    if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
                    if(abs(hex_dist-his_dist[taglist_pos])<1500||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] = filter_dist;	
                    tagdist_list[taglist_pos] = hex_dist;	
                    his_dist[taglist_pos]=hex_dist;    
                        g_Tagdist[taglist_pos]=filter_dist;	
                        g_Tagdist[taglist_pos]=hex_dist;	
                #ifndef USART_INTEGRATE_OUTPUT
                    usart_send[2] = 1;//正常模式 
                    usart_send[3] = 17;//数据段长度

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -18,7 +18,7 @@
#include <stdio.h>
#include "beep.h"
#include <math.h>
#include "TrackingDiff.h"

//#define USART_INTEGRATE_OUTPUT



 Ô´Âë/ºËÐÄ°å/Src/application/global_param.c

@@ -46,9 +46,8 @@
        g_com_map[CNT_REBOOT]=0;
        g_com_map[CNT_UPDATE]=0;
        g_com_map[NEARBASE_NUM]=0;
        g_com_map[POWER]=30;
        g_com_map[FILTER_COEFFICIENT]=40;
        //memcpy(&g_com_map[BOARD_TYPE],boardtype,4);	
        g_com_map[POWER]=67;
        memcpy(&g_com_map[BOARD_TYPE],boardtype,4);	
        save_com_map_to_flash();
    }    
}

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -44,7 +44,6 @@
    checksum = Checksum_u16(&hbsend[2],12);
    memcpy(&hbsend[14],&checksum,2);
}
uint16_t vel_factor,pos_factor;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
@@ -79,8 +78,6 @@
    tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;    
    module_power = g_com_map[POWER];
    total_slotnum = 1000/g_com_map[COM_INTERVAL];
            vel_factor=g_com_map[FILTER_COEFFICIENT];
        pos_factor=g_com_map[FILTER_COEFFICIENT];
        if(module_power>67)
        {
            module_power=67;