From 4a13529748c983ff0d5627a28365ad7737141016 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 二月 2022 09:31:49 +0800
Subject: [PATCH] V1.62
---
源码/核心板/Src/application/dw_app.c | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 54 insertions(+), 3 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 7c3db08..741a0fe 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"
@@ -1,5 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
+#include "modbus.h"
#define TDFILTER
enum enumtagstate
{
@@ -738,7 +739,7 @@
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
u16 taglist_num=0,taglist_pos;
-u16 tagid_list[TAG_NUM_IN_SYS];
+u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];;
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
@@ -842,6 +843,26 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+ double firstpath_power, rx_power,rec_firstpath_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+ dwt_rxdiag_t d1;
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
+
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
@@ -940,7 +961,9 @@
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 * 1000; //dis 为单位为cm的距离
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
@@ -959,7 +982,7 @@
if(hex_dist>-100000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
- {
+ {u8 i=0;
g_Resttimer=0;
IWDG_Feed();
@@ -991,14 +1014,42 @@
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = rx_power;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
+ if(g_com_map[MODBUS_MODE]!=1)
UART_PushFrame(usart_send,21);
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
anc_report_num++;
#endif
+ for(i=0;i<taglist_num-1;i++)
+ {
+ if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
+ {
+ int32_t tempdist;
+ u16 tempid,tempstate;
+ tempdist = tagdist_list[i];
+ tempid = tagid_list[i];
+ tempstate = tagstate_list[i];
+
+ tagdist_list[i] = tagdist_list[i+1];
+ tagid_list[i] = tagid_list[i+1];
+ tagstate_list[i] = tagstate_list[i+1];
+
+ tagdist_list[i+1] = tempdist;
+ tagid_list[i+1] = tempid;
+ tagstate_list[i+1] = tempstate;
+ }
+ }
+ for(i=0;i<taglist_num;i++)
+ {
+ Modbus_HoldReg[i*4] = tagid_list[i];
+ Modbus_HoldReg[i*4+1] = tagstate_list[i];
+ memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4);
+ }
}else{
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
--
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