From 1ebb084c4d5216f4e5e3e61a63c88f568caf779e Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期五, 28 九月 2018 11:27:10 +0800 Subject: [PATCH] 增加多标签测距功能,标签有bug,长时间会死机 --- 源码/核心板/Src/application/dw_app.h | 4 + 源码/核心板/Src/main.c | 10 +++- 源码/核心板/Src/application/beep_logic_app.c | 14 +++++- 源码/核心板/Src/stm32f10x_it.c | 16 ++++--- 源码/核心板/Src/application/dw_app.c | 23 +++++++++++ 5 files changed, 52 insertions(+), 15 deletions(-) diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" index d93e96f..945a7e9 100644 --- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" +++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" @@ -5,14 +5,22 @@ #include "dw_app.h" void main_logic(void) //主逻辑在这里执行 -{ +{uint16_t i, min_dist; //除UWB之外的其他代码... static uint16_t beep_judge_cnt = 0; if(beep_judge_cnt++ >= 200) { beep_judge_cnt = 0; - - if(dis_after_filter <= g_com_map[ALARM_DISTANCE]) + min_dist=0xffff; + for(i = 0; i < 255;i++) + { + if(g_Tagdist[i] < min_dist) + { + min_dist=g_Tagdist[i]; + } + + } + if(min_dist <= g_com_map[ALARM_DISTANCE]) { switch(g_com_map[ALARM_DEV]) { 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 bdd2e5a..731f7e8 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" @@ -138,6 +138,8 @@ float dis_after_filter; //当前距离值 LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器 +uint16_t g_Tagdist[256]; +uint8_t g_flag_Taggetdist[256]; /*------------------------------------ Functions ------------------------------------------*/ @@ -219,7 +221,23 @@ *ts += ts_field[i] << (i * 8); } } - +void TagDistClear(void) +{ + static uint16_t clear_judge_cnt; + uint16_t i; + if(clear_judge_cnt++>1000) //设定1S分频,每秒进一次。判断标志位大于等于2,2s没收到数据就把数据变成0xffff,不触发警报。 + { + clear_judge_cnt=0; + for(i=0;i<255;i++) + { + g_flag_Taggetdist[i]++; + if(g_flag_Taggetdist[i]>=2) + { + g_Tagdist[i]=0xffff; + } + } + } +} void Dw1000_Init(void) { /* Reset and initialise DW1000. @@ -245,6 +263,7 @@ } void Dw1000_App_Init(void) { + g_com_map[DEV_ID]=0x03; tx_poll_msg[MESSAGE_TYPE_IDX]=POLL; tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE; tx_final_msg[MESSAGE_TYPE_IDX]=FINAL; @@ -469,6 +488,8 @@ LED0_BLINK; //每成功一次通讯则闪烁一次 g_UWB_com_interval = 0; dis_after_filter=dist_cm; + g_Tagdist[tag_id_recv]=dist_cm; + g_flag_Taggetdist[tag_id_recv]=0; //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); } diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" index 3d77926..c232afa 100644 --- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" +++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" @@ -17,5 +17,7 @@ void Tag_App(void); void Anchor_App(void); void tag_sleep_configuraion(void); - +extern uint16_t g_Tagdist[256]; +extern uint8_t g_flag_Taggetdist[256]; +extern void TagDistClear(void); #endif 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 673affa..4d5adbc 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" @@ -10,8 +10,8 @@ #include "serial_at_cmd_app.h" #include "global_param.h" -#define WORK_MODE_TAG -//#define WORK_MODE_ANCHOR +//#define WORK_MODE_TAG +#define WORK_MODE_ANCHOR void Device_Init(void) { @@ -33,9 +33,13 @@ } void Program_Init(void) -{ +{uint16_t i; Usart1ParseDataCallback = UsartParseDataHandler; parameter_init(); + for(i=0;i<255;i++) + { + g_Tagdist[i]=0xffff; + } } /*! ------------------------------------------------------------------------------------------------------------------ diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" index c2822c2..69e2a34 100644 --- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" +++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" @@ -31,15 +31,17 @@ volatile uint32_t time32_incr; uint8_t tt=0; uint8_t g_start_send_flag = 0; - +uint16_t sysscal; void SysTick_Handler(void) -{ - time32_incr++; +{uint16_t i; + time32_incr++; g_UWB_com_interval++; - if(g_UWB_com_interval > 1000) - { - dis_after_filter = DEFAULT_DISTANCE; - } + +// if(g_UWB_com_interval > 1000) +// { +// dis_after_filter = DEFAULT_DISTANCE; +// } +TagDistClear(); main_logic(); -- Gitblit v1.9.3