From 2f058ec421172a7950d24b5b2d9dd7d88c94e619 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 07 十一月 2020 17:39:36 +0800
Subject: [PATCH] Revert "V1.34 增加滤波 防撞1对10发货"
---
源码/核心板/Src/application/dw_app.h | 2
源码/核心板/Src/application/global_param.c | 5
源码/核心板/Src/main.c | 3
/dev/null | 27 -----
源码/核心板/MDK-ARM/Project.uvprojx | 5 -
源码/核心板/MDK-ARM/Project.uvoptx | 127 ++++++++-----------------
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 79 +++++----------
源码/核心板/Src/application/dw_app.c | 18 +--
8 files changed, 75 insertions(+), 191 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 c54ecb6..3ea2125 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"
@@ -6,7 +6,7 @@
<Header>### uVision Project, (C) Keil Software</Header>
<PrjGuiSettings>
- <LastAddFilePath>E:\GIT\UWB_SmallModule\婧愮爜\鏍稿績鏉縗Src\algorithm</LastAddFilePath>
+ <LastAddFilePath></LastAddFilePath>
</PrjGuiSettings>
<ViewPool/>
@@ -70,7 +70,7 @@
<WinId>466</WinId>
<ViewName>Source Browser</ViewName>
<UserString>500</UserString>
- <TableColWidths>300</TableColWidths>
+ <TableColWidths>166</TableColWidths>
</View>
</TreeListPane>
@@ -93,8 +93,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-1</xPos>
- <yPos>-1</yPos>
+ <xPos>-32000</xPos>
+ <yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -110,8 +110,8 @@
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>2021</Len>
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<ViewEx>
@@ -490,7 +490,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>030000007C020000FD050000F5020000</Data>
+ <Data>0000000079020000000600000E030000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -1160,7 +1160,7 @@
<Window>
<RegID>38007</RegID>
<PaneID>38007</PaneID>
- <IsVisible>1</IsVisible>
+ <IsVisible>0</IsVisible>
<IsFloating>0</IsFloating>
<IsTabbed>0</IsTabbed>
<IsActivated>0</IsActivated>
@@ -1799,14 +1799,14 @@
</Window>
<DockMan>
<Len>3312</Len>
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index 01de894..0bd7aa2 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
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</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>25</FileNumber>
+ <FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -673,7 +628,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>26</FileNumber>
+ <FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -685,7 +640,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>27</FileNumber>
+ <FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -697,7 +652,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>28</FileNumber>
+ <FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -709,7 +664,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>29</FileNumber>
+ <FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -721,7 +676,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>30</FileNumber>
+ <FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -733,7 +688,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>31</FileNumber>
+ <FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -745,7 +700,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>32</FileNumber>
+ <FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -757,7 +712,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>33</FileNumber>
+ <FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -769,7 +724,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>34</FileNumber>
+ <FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -781,7 +736,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>35</FileNumber>
+ <FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -793,7 +748,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>36</FileNumber>
+ <FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -805,7 +760,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>37</FileNumber>
+ <FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -817,7 +772,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>38</FileNumber>
+ <FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -829,7 +784,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>39</FileNumber>
+ <FileNumber>38</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -841,7 +796,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>40</FileNumber>
+ <FileNumber>39</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -853,7 +808,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>41</FileNumber>
+ <FileNumber>40</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -865,7 +820,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>42</FileNumber>
+ <FileNumber>41</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -877,7 +832,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>43</FileNumber>
+ <FileNumber>42</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -897,7 +852,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>44</FileNumber>
+ <FileNumber>43</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -909,7 +864,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>45</FileNumber>
+ <FileNumber>44</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -921,7 +876,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>46</FileNumber>
+ <FileNumber>45</FileNumber>
<FileType>2</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
index 8b0df33..3e19d91 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
@@ -427,11 +427,6 @@
<FileType>1</FileType>
<FilePath>..\Src\algorithm\filters.c</FilePath>
</File>
- <File>
- <FileName>TrackingDiff.c</FileName>
- <FileType>1</FileType>
- <FilePath>..\Src\algorithm\TrackingDiff.c</FilePath>
- </File>
</Files>
</Group>
<Group>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/algorithm/TrackingDiff.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/algorithm/TrackingDiff.c"
deleted file mode 100644
index 17f2a5f..0000000
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/algorithm/TrackingDiff.c"
+++ /dev/null
@@ -1,43 +0,0 @@
-#include "TrackingDiff.h"
-#include <stdlib.h>
-#include "dw_app.h"
-
-//TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor)
-//{
-// TrackingDiffClass* p = (TrackingDiffClass*) malloc(sizeof(TrackingDiffClass));
-//
-// p->pos_factor = pos_factor;
-// p->vel_factor = vel_factor;
-// p->time_correction = time_factor;
-//
-// p->pos_predict = 0;
-// p->vel_predict = 0;
-// p->error = 0;
-//
-// return p;
-//}
-
-//void TrackingDiffUpdate(TrackingDiffClass* self, float target)
-//{
-// self->error = target - self->pos_predict;
-//
-// self->vel_predict += (self->error * self->vel_factor) * self->time_correction;
-// self->pos_predict += (self->vel_predict + self->error * self->pos_factor) * self->time_correction;
-//}
-
-//#define vel_factor 2
-//#define pos_factor 4
-extern uint16_t vel_factor,pos_factor;
-#define time_correction 0.01
-float vel_predict[255],pos_predict[255];
-void NewTrackingDiffUpdate(u8 channel, float target)
-{
- float error;
- if(g_Tagdist[channel]==0xffff)
- {
- pos_predict[channel]=target;
- }
- error=target-pos_predict[channel];
- vel_predict[channel]+=(error*vel_factor)*time_correction;
- pos_predict[channel]+=(vel_predict[channel]+error*pos_factor)*time_correction;
-}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/algorithm/TrackingDiff.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/algorithm/TrackingDiff.h"
deleted file mode 100644
index a5fcaf5..0000000
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/algorithm/TrackingDiff.h"
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef TRACKINGDIFF_H_
-#define TRACKINGDIFF_H_
-#include "stm32f10x.h"
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct TrackingDiffClass_
-{
- float error;
- float vel_predict;
- float pos_predict;
-
- float vel_factor;
- float pos_factor;
- float time_correction;
-} TrackingDiffClass;
-
-//TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor);
-//void TrackingDiffUpdate(TrackingDiffClass* self, float target);
-void NewTrackingDiffUpdate(u8 channel, float target);
-extern float pos_predict[255];
-#ifdef __cplusplus
-}
-#endif
-
-#endif
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 767770f..bbdefa4 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"
@@ -1,6 +1,5 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -918,7 +917,7 @@
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
@@ -926,21 +925,14 @@
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-10000&&hex_dist<2000000)
+ if(hex_dist>-1000&&hex_dist<200000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
- int32_t filter_dist;
- #ifdef TDFILTER
- NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist=pos_predict[taglist_pos]/10;
- #else
- filter_dist=hex_dist/10;
- #endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
+ tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=filter_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
#ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
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 cb3115f..f39a2d3 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"
@@ -18,7 +18,7 @@
#include <stdio.h>
#include "beep.h"
#include <math.h>
-#include "TrackingDiff.h"
+
//#define USART_INTEGRATE_OUTPUT
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 3bf5b38..fd6d5fa 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -46,9 +46,8 @@
g_com_map[CNT_REBOOT]=0;
g_com_map[CNT_UPDATE]=0;
g_com_map[NEARBASE_NUM]=0;
- g_com_map[POWER]=30;
- g_com_map[FILTER_COEFFICIENT]=40;
- //memcpy(&g_com_map[BOARD_TYPE],boardtype,4);
+ g_com_map[POWER]=67;
+ memcpy(&g_com_map[BOARD_TYPE],boardtype,4);
save_com_map_to_flash();
}
}
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 56a32db..014e391 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"
@@ -44,7 +44,6 @@
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
}
-uint16_t vel_factor,pos_factor;
u16 tyncpoll_time;
u16 slottime,max_slotpos;
extern u8 module_power;
@@ -79,8 +78,6 @@
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];
if(module_power>67)
{
module_power=67;
--
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