From 16ed36e9ca17412fc2886b71fbdefd4fffe8cbe1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 23 十二月 2019 19:07:07 +0800
Subject: [PATCH] v1.16 修改数据频率bug
---
源码/核心板/Src/main.c | 2
源码/核心板/MDK-ARM/Project.uvoptx | 185 +++++---------------------
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 190 ++++++++++++++++-----------
源码/核心板/Src/application/dw_app.c | 24 +--
4 files changed, 160 insertions(+), 241 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 285b7f6..fe6a692 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -11,17 +11,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>115 275</TableColWidths>
+ <TableColWidths>115 122</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>108 422</TableColWidths>
+ <TableColWidths>108 590</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>182 79 79 190</TableColWidths>
+ <TableColWidths>374 79 79 166</TableColWidths>
</View>
</SECTreeCtrl>
@@ -92,8 +92,8 @@
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<RegID>0</RegID>
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index bfaddfd..5a33680 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -77,7 +77,7 @@
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
- <CpuCode>255</CpuCode>
+ <CpuCode>18</CpuCode>
<Books>
<Book>
<Number>0</Number>
@@ -144,7 +144,6 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
- <Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -177,160 +176,48 @@
<Name>-T0</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
- <Breakpoint/>
+ <Breakpoint>
+ <Bp>
+ <Number>0</Number>
+ <Type>0</Type>
+ <LineNumber>68</LineNumber>
+ <EnabledFlag>1</EnabledFlag>
+ <Address>134253572</Address>
+ <ByteObject>0</ByteObject>
+ <HtxType>0</HtxType>
+ <ManyObjects>0</ManyObjects>
+ <SizeOfObject>0</SizeOfObject>
+ <BreakByAccess>0</BreakByAccess>
+ <BreakIfRCount>1</BreakIfRCount>
+ <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\serial_at_cmd_app.c</Filename>
+ <ExecCommand></ExecCommand>
+ <Expression></Expression>
+ </Bp>
+ <Bp>
+ <Number>1</Number>
+ <Type>0</Type>
+ <LineNumber>66</LineNumber>
+ <EnabledFlag>1</EnabledFlag>
+ <Address>134253564</Address>
+ <ByteObject>0</ByteObject>
+ <HtxType>0</HtxType>
+ <ManyObjects>0</ManyObjects>
+ <SizeOfObject>0</SizeOfObject>
+ <BreakByAccess>0</BreakByAccess>
+ <BreakIfRCount>1</BreakIfRCount>
+ <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\serial_at_cmd_app.c</Filename>
+ <ExecCommand></ExecCommand>
+ <Expression></Expression>
+ </Bp>
+ </Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
- <ItemText>dist_cm</ItemText>
+ <ItemText>m_EUART_TxFrm_FreeFrmLen,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_beep_on_time,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>2</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_beep_off_time,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>3</count>
- <WinNumber>1</WinNumber>
- <ItemText>dis_after_filter</ItemText>
- </Ww>
- <Ww>
- <count>4</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_beep_off_time,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>5</count>
- <WinNumber>1</WinNumber>
- <ItemText>status_reg</ItemText>
- </Ww>
- <Ww>
- <count>6</count>
- <WinNumber>1</WinNumber>
- <ItemText>temp,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>7</count>
- <WinNumber>1</WinNumber>
- <ItemText>aa</ItemText>
- </Ww>
- <Ww>
- <count>8</count>
- <WinNumber>1</WinNumber>
- <ItemText>Anchor_App</ItemText>
- </Ww>
- <Ww>
- <count>9</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_alarm_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>10</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_frame_data</ItemText>
- </Ww>
- <Ww>
- <count>11</count>
- <WinNumber>1</WinNumber>
- <ItemText>m_EUART_DMA_RXBuf</ItemText>
- </Ww>
- <Ww>
- <count>12</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_frame_data_len</ItemText>
- </Ww>
- <Ww>
- <count>13</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_alarm_dev</ItemText>
- </Ww>
- <Ww>
- <count>14</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_com_map[DIST_OFFSET]</ItemText>
- </Ww>
- <Ww>
- <count>15</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_com_map</ItemText>
- </Ww>
- <Ww>
- <count>16</count>
- <WinNumber>1</WinNumber>
- <ItemText>hex_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>17</count>
- <WinNumber>1</WinNumber>
- <ItemText>timer3,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>18</count>
- <WinNumber>1</WinNumber>
- <ItemText>g_com_map</ItemText>
- </Ww>
- <Ww>
- <count>19</count>
- <WinNumber>1</WinNumber>
- <ItemText>mUsartReceivePack</ItemText>
- </Ww>
- <Ww>
- <count>20</count>
- <WinNumber>1</WinNumber>
- <ItemText>min_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>21</count>
- <WinNumber>1</WinNumber>
- <ItemText>Modbus_HoldReg</ItemText>
- </Ww>
- <Ww>
- <count>22</count>
- <WinNumber>1</WinNumber>
- <ItemText>t4,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>23</count>
- <WinNumber>1</WinNumber>
- <ItemText>t2,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>24</count>
- <WinNumber>1</WinNumber>
- <ItemText>t1,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>25</count>
- <WinNumber>1</WinNumber>
- <ItemText>DMACnt,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>26</count>
- <WinNumber>1</WinNumber>
- <ItemText>m_EUART_DMA_RXPtr,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>27</count>
- <WinNumber>1</WinNumber>
- <ItemText>DMA_rxtemp2,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>28</count>
- <WinNumber>1</WinNumber>
- <ItemText>m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]</ItemText>
- </Ww>
- <Ww>
- <count>29</count>
- <WinNumber>1</WinNumber>
- <ItemText>m_EUART_DMA_RXBuf</ItemText>
- </Ww>
- <Ww>
- <count>30</count>
<WinNumber>1</WinNumber>
<ItemText>hex_dist,0x0A</ItemText>
</Ww>
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 d6387c4..d0b496d 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"
@@ -617,17 +617,13 @@
g_UWB_com_interval = 0;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
- if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
+ {
+ if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
{int32_t filter_dist;
misdist_num=0;
if(hex_dist<1000000&&hex_dist>-10000)
- {
- if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- {
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<10000)
- {
- //anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
-
+ {
#ifdef TDFILTER
NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
@@ -635,8 +631,8 @@
filter_dist=hex_dist/10;
#endif
anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
- g_Tagdist[tag_id_recv]= anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
- }
+ g_Tagdist[tag_id_recv]= filter_dist;
+
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
if(!g_com_map[MODBUS_MODE])
@@ -655,15 +651,15 @@
UART_PushFrame(usart_send,21);
}
// memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
- Modbus_HoldReg[tag_id_recv*2]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>>16;
- Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
+ Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
+ Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
- }
+
}else{
misdist_num++;
}
-
+ }
}
}else{
/* Clear RX error events in the DW1000 status register. */
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 a630078..e4299dc 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"
@@ -69,7 +69,7 @@
#endif
//pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
dev_id = g_com_map[DEV_ID];
- g_com_map[VERSION] = 0x010f;
+ g_com_map[VERSION] = 0x0110;
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)
--
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