From 46dba0eda7c48d68f4f6a5dd179f823c8193bb64 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 07 十一月 2020 17:43:26 +0800
Subject: [PATCH] V1.34正式
---
源码/核心板/Src/application/dw_app.c | 35 +++++++++++++++++++++++------------
1 files changed, 23 insertions(+), 12 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 e699c30..767770f 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"
@@ -1,11 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
+#define TDFILTER
enum enumtagstate
{
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=GETNEARMSG;
+}tag_state=NEARPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -553,7 +554,7 @@
// }
tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- tag_state=GETNEARMSG;
+ tag_state=NEARPOLL;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -823,7 +824,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -917,22 +918,29 @@
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 * 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
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
-
+ getrange_success = 1;
LED0_BLINK; //每成功一次通讯则闪烁一次
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>-1000&&hex_dist<200000)
+ if(hex_dist>-10000&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<15000||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] = hex_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=filter_dist;
#ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -980,6 +988,7 @@
// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
{
+
IdleTask();
};
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
@@ -987,7 +996,7 @@
{ u16 tag_recv_interval;
float temp_tagpos;
- g_Resttimer=0;
+
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
@@ -1000,7 +1009,8 @@
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
+ case SYNC:
+ g_Resttimer=0;
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -1041,7 +1051,8 @@
}
break;
- case NEAR_POLL:
+ case NEAR_POLL:
+ g_Resttimer=0;
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
--
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