From 41776246aed24b42e1d05da230f6f114e02c87b6 Mon Sep 17 00:00:00 2001
From: guanjiao <sqrgj@163.com>
Date: 星期日, 27 五月 2018 17:39:52 +0800
Subject: [PATCH] 增加低通滤波与渐进报警功能

---
 源码/核心板/Src/application/dw_app.c |  111 +++++++++++++++++--------------------------------------
 1 files changed, 35 insertions(+), 76 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 91bdfa4..822a810 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"
@@ -89,37 +89,35 @@
 };
 
 /* Frames used in the ranging process. See NOTE 2 below. */
-static uint8 tx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-//static uint8 rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8 tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+static uint8_t tx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
+//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
+static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 	
-//static uint8 rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8 tx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-//static uint8 rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
+static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
+//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 	
 /* Frame sequence number, incremented after each transmission. */
-static uint32 frame_seq_nb = 0;	
+static uint32_t frame_seq_nb = 0;	
 	
 /* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
-static uint32 status_reg = 0;
+static uint32_t status_reg = 0;
 	
 /* Buffer to store received response message.
  * Its size is adjusted to longest frame that this example code is supposed to handle. */
 #define RX_BUF_LEN 		24
-static uint8 rx_buffer[RX_BUF_LEN];
+static uint8_t rx_buffer[RX_BUF_LEN];
 	
 /* Time-stamps of frames transmission/reception, expressed in device time units.
  * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
-typedef unsigned long long uint64;
-static uint64 poll_tx_ts;
-static uint64 resp_rx_ts;
-static uint64 final_tx_ts;
+static uint64_t poll_tx_ts;
+static uint64_t resp_rx_ts;
+static uint64_t final_tx_ts;
 	
 /* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
-typedef signed long long int64;
-static uint64 poll_rx_ts;
-static uint64 resp_tx_ts;
-static uint64 final_rx_ts;
+static uint64_t poll_rx_ts;
+static uint64_t resp_tx_ts;
+static uint64_t final_rx_ts;
 
 static double tof;
 	
@@ -143,10 +141,10 @@
  *
  * @return  64-bit value of the read time-stamp.
  */
-static uint64 get_tx_timestamp_u64(void)
+static uint64_t get_tx_timestamp_u64(void)
 {
-    uint8 ts_tab[5];
-    uint64 ts = 0;
+    uint8_t ts_tab[5];
+    uint64_t ts = 0;
     int i;
     dwt_readtxtimestamp(ts_tab);
     for (i = 4; i >= 0; i--)
@@ -167,10 +165,10 @@
  *
  * @return  64-bit value of the read time-stamp.
  */
-static uint64 get_rx_timestamp_u64(void)
+static uint64_t get_rx_timestamp_u64(void)
 {
-    uint8 ts_tab[5];
-    uint64 ts = 0;
+    uint8_t ts_tab[5];
+    uint64_t ts = 0;
     int i;
     dwt_readrxtimestamp(ts_tab);
     for (i = 4; i >= 0; i--)
@@ -192,17 +190,17 @@
  *
  * @return none
  */
-static void final_msg_set_ts(uint8 *ts_field, uint64 ts)
+static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
 {
     int i;
     for (i = 0; i < FINAL_MSG_TS_LEN; i++)
     {
-        ts_field[i] = (uint8) ts;
+        ts_field[i] = (uint8_t) ts;
         ts >>= 8;
     }
 }
 
-static void final_msg_get_ts(const uint8 *ts_field, uint32 *ts)
+static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
 {
     int i;
     *ts = 0;
@@ -236,8 +234,8 @@
 
 void Tag_App(void)//发送模式(TAG标签)
 {
-	uint32 frame_len;
-	uint32 final_tx_time;
+	uint32_t frame_len;
+	uint32_t final_tx_time;
 	
 	/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
 	tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
@@ -282,7 +280,7 @@
 			dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
 
 			/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
-			final_tx_ts = (((uint64)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
+			final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
 
 			/* Write all timestamps in the final message. See NOTE 10 below. */
 			final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1,T4,T5写入发送数据
@@ -294,26 +292,6 @@
 			dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
 			dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
 			dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
-			//这里为串口输出
-//			if (GPIO_ReadInputDataBit(GPIOA, SW2) != RESET) //通过拨码开关判断数据输出格式
-//			{
-//				dID = TAG_ID;
-//				printf("TAG_ID: %2.0f		", dID);
-//				dID = ANCHOR_ID;
-//				printf("ANCHOR_ID: %2.0f		", dID);
-//				printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
-//			}
-//			else
-//			{
-//				send[2] = ANCHOR_ID;
-//				send[3] = TAG_ID;
-
-//				memcpy(&send[4], &dist[TAG_ID], 2);
-//				check = Checksum_u16(&send[2], 6);
-//				memcpy(&send[8], &check, 2);
-//				USART_puts(send, 10);
-//			}
 			
 			/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
 			while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
@@ -344,8 +322,8 @@
 
 void Anchor_App(void)
 {
-	uint32 frame_len;
-	uint32 resp_tx_time;
+	uint32_t frame_len;
+	uint32_t resp_tx_time;
 	
 	/* Clear reception timeout to start next ranging process. */
 	dwt_setrxtimeout(0);//设定接收超时时间,0位没有超时时间
@@ -421,8 +399,8 @@
 				rx_buffer[ALL_MSG_SN_IDX] = 0;
 				if (rx_buffer[9] == 0x23) //判断是否为Final包
 				{
-					uint32 poll_tx_ts, resp_rx_ts, final_tx_ts;
-					uint32 poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
+					uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
+					uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
 					double Ra, Rb, Da, Db;
 					int64_t tof_dtu;
 
@@ -436,14 +414,14 @@
 					final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
 
 					/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
-					poll_rx_ts_32 = (uint32)poll_rx_ts;//使用32位数据计算
-					resp_tx_ts_32 = (uint32)resp_tx_ts;
-					final_rx_ts_32 = (uint32)final_rx_ts;
+					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;
+					final_rx_ts_32 = (uint32_t)final_rx_ts;
 					Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
 					Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
 					Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
 					Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
-					tof_dtu = (int64)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+					tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
 
 					tof = tof_dtu * DWT_TIME_UNITS;
 					distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
@@ -453,25 +431,6 @@
 //					dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器,让数据更稳定
 					
 					LED0_BLINK; //每成功一次通讯则闪烁一次
-					//这里供串口输出
-//					if (GPIO_ReadInputDataBit(GPIOA, SW2) != RESET) //通过拨码开关判断数据输出格式
-//					{
-//						dID = TAG_ID;
-//						printf("TAG_ID: %2.0f		", dID);
-//						dID = ANCHOR_ID;
-//						printf("ANCHOR_ID: %2.0f		", dID);
-//						printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
-//					}
-//					else
-//					{
-//						send[2] = ANCHOR_ID;
-//						send[3] = TAG_ID;
-
-//						memcpy(&send[4], &dist[TAG_ID], 2);
-//						check = Checksum_u16(&send[2], 6);
-//						memcpy(&send[8], &check, 2);
-//						USART_puts(send, 10);
-//					}
 
 				}
 			}

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