zhyinch
2019-11-18 de54091782f3fef4a88df90327ea0243db97361b
修改距离异常bug
已修改3个文件
22 ■■■■ 文件已修改
源码/核心板/Src/application/dw_app.c 6 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
源码/核心板/Src/application/global_param.c 3 ●●●● 补丁 | 查看 | 原始文档 | blame | 历史
源码/核心板/Src/main.c 13 ●●●● 补丁 | 查看 | 原始文档 | blame | 历史
源码/核心板/Src/application/dw_app.c
@@ -395,7 +395,7 @@
            }
            TIM3->CNT=tmp_time;
        }
            memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
            memcpy(&hex_dist, &rx_buffer[DIST_IDX], 4);
            memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
            /* Compute final message transmission time. See NOTE 9 below. */
            final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//璁$畻final鍖呭彂閫佹椂闂达紝T5=T4+Treply2
@@ -418,7 +418,7 @@
            tag_succ_times++;
            
                LED0_BLINK;
                hex_dist = anchor_dist_last_frm[0];
                    memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//                    g_Tagdist[anc_id_recv]=    hex_dist;
//                    g_flag_Taggetdist[anc_id_recv]=0;
@@ -643,6 +643,8 @@
                    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{
                        LED0_BLINK;
                    }        
                }
            }else{
源码/核心板/Src/application/global_param.c
@@ -30,7 +30,7 @@
        g_com_map[COM_INTERVAL]=50;
        g_com_map[MAX_REPORT_ANC_NUM]=2;
        g_com_map[MIN_REPORT_ANC_NUM]=2;
        g_com_map[DIST_OFFSET]=-13;
        g_com_map[DIST_OFFSET]=-91;
        #ifdef WORK_MODE_TAG
            g_com_map[DEV_ROLE] =0x1;  //鏍囩
        #else
@@ -45,6 +45,7 @@
        g_com_map[CNT_RESTART]=0;
        g_com_map[CNT_REBOOT]=0;
        g_com_map[CNT_UPDATE]=0;
        g_com_map[MODBUS_MODE]=0;
        save_com_map_to_flash();
    }    
}
源码/核心板/Src/main.c
@@ -11,6 +11,7 @@
#include "global_param.h"
#include "ADC.h"
//#define DEBUG_MODE
void Device_Init(void)
{
@@ -52,12 +53,20 @@
    parameter_init();
    //deca_sleep(1000);
    HeartBeatInit();
    dev_id = g_com_map[DEV_ID];
//    g_com_map[DEV_ROLE]=1;
//        g_com_map[DEV_ID]=1;
//    g_com_map[COM_INTERVAL]=10;
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x0109;
#ifdef DEBUG_MODE
    g_com_map[COM_INTERVAL]=50;
    g_com_map[MAX_REPORT_ANC_NUM]=3;
    g_com_map[DEV_ID]=1;
    g_com_map[ANC_POLL]=1;
#endif
        dev_id = g_com_map[DEV_ID];
        g_com_map[VERSION] = 0x010a;
    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)