From 0d1b2a9e6b47bf4850a69b5daeb7eb17eb0215a7 Mon Sep 17 00:00:00 2001
From: guanjiao <sqrgj@163.com>
Date: 星期六, 15 九月 2018 20:44:01 +0800
Subject: [PATCH] 修改滤波参数

---
 源码/核心板/Src/application/dw_app.c |   55 ++++++++++++++++++++++++++++++-------------------------
 1 files changed, 30 insertions(+), 25 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 d82f45e..84ee3d2 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"
@@ -28,6 +28,8 @@
 #include "led.h"
 #include "serial_at_cmd_app.h"
 #include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
 
 
 /*------------------------------------ Marcos ------------------------------------------*/
@@ -47,13 +49,13 @@
 #define POLL_TX_TO_RESP_RX_DLY_UUS 150
 /* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
  * frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 5100
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 1500
 /* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 14700
+#define RESP_RX_TIMEOUT_UUS 2700
 
-#define POLL_RX_TO_RESP_TX_DLY_UUS 3600
+#define POLL_RX_TO_RESP_TX_DLY_UUS 420
 /* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 1500
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
 /* Receive final timeout. See NOTE 5 below. */
 #define FINAL_RX_TIMEOUT_UUS 4300
 
@@ -76,18 +78,17 @@
 
 /*------------------------------------ Variables ------------------------------------------*/
 /* Default communication configuration. We use here EVK1000's default mode (mode 3). */
-static dwt_config_t config =
-{
-    2,               /* Channel number. */
-    DWT_PRF_64M,     /* Pulse repetition frequency. */
-    DWT_PLEN_1024,   /* Preamble length. */
-    DWT_PAC32,       /* Preamble acquisition chunk size. Used in RX only. */
-    9,               /* TX preamble code. Used in TX only. */
-    9,               /* RX preamble code. Used in RX only. */
-    1,               /* Use non-standard SFD (Boolean) */
-    DWT_BR_110K,     /* Data rate. */
-    DWT_PHRMODE_STD, /* PHY header mode. */
-    (1025 + 64 - 32) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+static dwt_config_t config = {
+	5,               /* Channel number. */
+	DWT_PRF_64M,     /* Pulse repetition frequency. */
+	DWT_PLEN_128,    /* Preamble length. */
+	DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
+	9,               /* TX preamble code. Used in TX only. */
+	9,               /* RX preamble code. Used in RX only. */
+	0,               /* Use non-standard SFD (Boolean) */
+	DWT_BR_6M8,      /* Data rate. */
+	DWT_PHRMODE_STD, /* PHY header mode. */
+	(129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
 };
 
 /* Frames used in the ranging process. See NOTE 2 below. */
@@ -129,6 +130,10 @@
 uint8_t random_delay_tim = 0;
 
 double distance, dist_no_bias, dist_cm;
+
+uint32_t g_UWB_com_interval = 0; 
+float dis_after_filter;				//当前距离值
+LPFilter_Frac* p_Dis_Filter;		//测距用的低通滤波器
 
 /*------------------------------------ Functions ------------------------------------------*/
 
@@ -235,23 +240,20 @@
     dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);			//设置发送后开启接收,并设定延迟时间
     dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);						//设置接收超时时间
 }
-void Delayus(uint16_t time) 
-{
-  uint16_t i = 0;
-  while (time--) {
-    i = 10;
-    while (i--)
-      ;
 
-  }
+void tag_sleep_configuraion(void)
+{
+	dwt_configuresleep(0x940, 0x7);
+	dwt_entersleep();
 }
+
 void Tag_App(void)//发送模式(TAG标签)
 {
 	uint32_t frame_len;
 	uint32_t final_tx_time;
 	
 	GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
-	Delayus(2000);
+	delay_us(2000);
 	GPIO_SetBits(SPIx_GPIO, SPIx_CS);
 	
 	/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -451,7 +453,10 @@
 					dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
 //					dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器,让数据更稳定
 					
+					/*--------------------------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 = LP_Frac_Update(p_Dis_Filter, dist_cm);
 
 				}
 			}

--
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