From 32fa4a5edfbd06a3c0be40a2f3890aae2c1a4d23 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 20 十二月 2019 10:50:00 +0800
Subject: [PATCH] ver1.15
---
源码/核心板/Src/algorithm/TrackingDiff.c | 55 ++++++++-----
源码/核心板/Src/main.c | 4
源码/核心板/MDK-ARM/Project.uvoptx | 2
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 102 +++++++++++++++++++++---
源码/核心板/Src/algorithm/TrackingDiff.h | 7 +
源码/核心板/Src/application/dw_app.c | 16 +--
6 files changed, 136 insertions(+), 50 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 e1268e5..285b7f6 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"
@@ -16,12 +16,12 @@
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>370 160</TableColWidths>
+ <TableColWidths>108 422</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>530</TableColWidths>
+ <TableColWidths>182 79 79 190</TableColWidths>
</View>
</SECTreeCtrl>
@@ -75,8 +75,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-1</xPos>
- <yPos>-1</yPos>
+ <xPos>-32000</xPos>
+ <yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -92,8 +92,8 @@
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>326</Len>
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<ViewEx>
@@ -1287,8 +1287,8 @@
<RegID>59392</RegID>
<Name>File</Name>
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<OriginalItems>
<Len>1423</Len>
@@ -1320,7 +1320,7 @@
<Name>Debug</Name>
<Buttons>
<Len>2220</Len>
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<Len>898</Len>
@@ -2588,18 +2588,90 @@
<ActiveTab>1</ActiveTab>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>39</ColumnNumber>
- <TopLine>543</TopLine>
- <CurrentLine>552</CurrentLine>
+ <ColumnNumber>2</ColumnNumber>
+ <TopLine>544</TopLine>
+ <CurrentLine>553</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>31</ColumnNumber>
- <TopLine>57</TopLine>
- <CurrentLine>72</CurrentLine>
+ <ColumnNumber>24</ColumnNumber>
+ <TopLine>58</TopLine>
+ <CurrentLine>74</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Usart.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>160</TopLine>
+ <CurrentLine>165</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\dw_app.h</Name>
+ <ColumnNumber>6</ColumnNumber>
+ <TopLine>2</TopLine>
+ <CurrentLine>3</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\OnChipDevices\Spi.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>149</TopLine>
+ <CurrentLine>161</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\decadriver\deca_device.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>2711</TopLine>
+ <CurrentLine>2732</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\stm32f10x_it.c</Name>
+ <ColumnNumber>65</ColumnNumber>
+ <TopLine>75</TopLine>
+ <CurrentLine>82</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
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+ <Doc>
+ <Name>..\Src\application\serial_at_cmd_app.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>65</TopLine>
+ <CurrentLine>66</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.h</Name>
+ <ColumnNumber>49</ColumnNumber>
+ <TopLine>25</TopLine>
+ <CurrentLine>37</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\src\stm32f10x_exti.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>226</TopLine>
+ <CurrentLine>231</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
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diff --git "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"
index 9b2c0e4..bfaddfd 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>18</CpuCode>
+ <CpuCode>255</CpuCode>
<Books>
<Book>
<Number>0</Number>
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"
index 2b3f358..67a1922 100644
--- "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"
@@ -1,26 +1,41 @@
#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;
+//}
-TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor)
+//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
+#define time_correction 0.03
+float vel_predict[255],pos_predict[255];
+void NewTrackingDiffUpdate(u8 channel, float target)
{
- 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;
+ 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"
index 6cc52de..a5fcaf5 100644
--- "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"
@@ -16,9 +16,10 @@
float time_correction;
} TrackingDiffClass;
-TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor);
-void TrackingDiffUpdate(TrackingDiffClass* self, float target);
-
+//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
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 e7c4a18..d6387c4 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"
@@ -543,7 +543,7 @@
/* Write and send the response message. See NOTE 9 below.*/
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
+ memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
@@ -615,8 +615,8 @@
/*--------------------------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=dist_cm;
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+
+ 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)
{int32_t filter_dist;
misdist_num=0;
@@ -626,12 +626,11 @@
{
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<10000)
{
- g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
- anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
+ //anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
#ifdef TDFILTER
- TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
- filter_dist=pUWBDistanceTrackingDiff->pos_predict/10;
+ NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
+ filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
#else
filter_dist=hex_dist/10;
#endif
@@ -664,8 +663,7 @@
}else{
misdist_num++;
}
- if(anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>1000)
- {anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];}
+
}
}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 ffc5ed5..a630078 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"
@@ -67,9 +67,9 @@
g_com_map[ANC_POLL]=0;
g_com_map[ALARM_DISTANCE1]=100;
#endif
- pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
+ //pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
dev_id = g_com_map[DEV_ID];
- g_com_map[VERSION] = 0x010d;
+ g_com_map[VERSION] = 0x010f;
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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