From 3db912651e297c662fcd190b79d2ca90a34a8f66 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 18 十二月 2019 08:36:47 +0800
Subject: [PATCH] 无UID校验V1.13
---
源码/核心板/Src/application/dw_app.c | 32 +++++++++++++++++++++++---------
1 files changed, 23 insertions(+), 9 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 2a41c5b..e7c4a18 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"
@@ -94,7 +94,7 @@
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) */
+ 1, /* 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. */
@@ -238,7 +238,7 @@
for(i=0;i<255;i++)
{
g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=2)
+ if(g_flag_Taggetdist[i]>=20)
{
g_Tagdist[i]=0xffff;
}
@@ -474,7 +474,9 @@
}
int8_t correction_time;
extern uint8_t sync_seq;
-
+#define TDFILTER
+//#define CHECK_UID
+extern uint8_t UID_ERROR;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -589,6 +591,10 @@
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+ #ifdef CHECK_UID
+ if(UID_ERROR==1)
+ poll_rx_ts=0;
+ #endif
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
@@ -603,7 +609,7 @@
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 * 100; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 1000; //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------------------------*/
@@ -611,18 +617,26 @@
g_UWB_com_interval = 0;
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
- if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<1500||misdist_num>4)
- {
+ if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
+ {int32_t filter_dist;
misdist_num=0;
- if(hex_dist<100000&&hex_dist>-1000)
+ 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])<1000)
+ 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;
- g_Tagdist[tag_id_recv]= hex_dist;
+
+ #ifdef TDFILTER
+ TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
+ filter_dist=pUWBDistanceTrackingDiff->pos_predict/10;
+ #else
+ 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];
}
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
--
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