From 5f02075313d646cd2bdb7a5ff720870455ba61fc Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 十一月 2023 10:08:12 +0800
Subject: [PATCH] V1.4 去掉阈值修改，增加滤波功能，客户反馈还不行
---
源码/核心板/Src/application/dw_app.c | 45 +++++++++++++++++++++++++++++----------------
1 files changed, 29 insertions(+), 16 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index bd021f0..d9533db 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -137,7 +137,7 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
- SetNLOSNTMSettings();
+ // SetNLOSNTMSettings();
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
@@ -743,7 +743,7 @@
u16 taglist_num=0,taglist_pos;
u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];;
u8 tagofflinetime[TAG_NUM_IN_SYS];
-int32_t tagdist_list[TAG_NUM_IN_SYS];
+int32_t tagdist_list[TAG_NUM_IN_SYS],tag_histdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -879,6 +879,7 @@
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
uint8_t temp_nearbaspos;
+float fiter_p;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
uint8_t motorstate;
@@ -958,20 +959,32 @@
}
if(!seize_anchor)
{
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb2;//数据段长度
- memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
- memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
- usart_send[13] = battary;
- usart_send[14] = button;
- usart_send[15] = firstpath_power;
- usart_send[16] = rx_power;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
-
- UART_PushFrame(usart_send,21);
+ if(abs(tagdist_list[taglist_pos]-tag_histdist_list[taglist_pos])<g_com_map[SPEEDFILTER_THRES]||misdist_num[taglist_pos]>3)
+ {
+ if(tag_histdist_list[taglist_pos]>0&&tag_histdist_list[taglist_pos]<50000)
+ {
+ filter_dist=tagdist_list[taglist_pos]*fiter_p+(1-fiter_p)*tag_histdist_list[taglist_pos];
+ }else{
+ filter_dist = tagdist_list[taglist_pos];
+ }
+ tag_histdist_list[taglist_pos] = filter_dist;
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[9],&tag_histdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = rx_power;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+
+ UART_PushFrame(usart_send,21);
+ }else{
+ misdist_num[taglist_pos]++;
+ }
}
}
--
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