From 815ea18d897111c4bf70861277acf94201ccf60a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 14 十月 2022 16:25:59 +0800
Subject: [PATCH] V1.72 增加滤波器 增加频率可调
---
源码/核心板/Src/main.c | 29 +++++++++++++++++------------
1 files changed, 17 insertions(+), 12 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index b592840..5df77bb 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -82,10 +82,10 @@
void ComMapCheck(void)
{
- if(g_com_map[ANT_LENGTH]>10000)
- {
- g_com_map[ANT_LENGTH] = 0;
- }
+// if(g_com_map[ANT_LENGTH]>10000)
+// {
+// g_com_map[ANT_LENGTH] = 0;
+// }
if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
{
g_com_map[WAR_JDQ_TIME] = 1;
@@ -99,8 +99,9 @@
if(dist_threshold>15000)
{dist_threshold = 15000;}
}
-u16 JDQ_time;
+u16 JDQ_time,supergroupid;
int16_t g_commap_antdelay;
+extern float fiter_p;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -145,7 +146,8 @@
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x013a;
+ g_com_map[VERSION] = (1<<8)|72;
+ supergroupid = g_com_map[IMU_THRES];
FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
g_commap_antdelay = g_com_map[ANT_LENGTH];
@@ -158,9 +160,11 @@
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];
-
+ vel_factor=g_com_map[FILTER_COEFFICIENT];
+ pos_factor=g_com_map[FILTER_COEFFICIENT];
+ if(g_com_map[FILTER_COEFFICIENT]>100)
+ g_com_map[FILTER_COEFFICIENT] = 100;
+ fiter_p = (float)g_com_map[FILTER_COEFFICIENT]/100;
if(module_power>67)
{
module_power=67;
@@ -305,7 +309,7 @@
}
}
-
+extern uint8_t dissucc_times;
int main(void)
{
@@ -327,8 +331,9 @@
g_start_sync_flag=0;
if(g_start_send_flag)
{
- g_start_send_flag = 0;
- Tag_App();
+ g_start_send_flag = 0;
+ if(dissucc_times<2)
+ Tag_App();
}
IdleTask();
if(g_com_map[DEV_ROLE]==0)
--
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