From 4d532fcd1dcf3484a3e614347aa2164ca331ab74 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 27 十一月 2020 11:25:46 +0800
Subject: [PATCH] V1.36
---
源码/核心板/Src/application/dw_app.c | 62 +++++++++++++++++++------------
1 files changed, 38 insertions(+), 24 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 9c6998d..76402a4 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"
@@ -237,12 +237,14 @@
if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
{
clear_judge_cnt=0;
- for(i=0;i<255;i++)
+ for(i=0;i<100;i++)
{
g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=20)
+ if(g_flag_Taggetdist[i]>=2)
{
g_Tagdist[i]=0xffff;
+ Modbus_HoldReg[i*2]=1;
+ Modbus_HoldReg[i*2+1]=0xffff;
}
}
}
@@ -326,19 +328,24 @@
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
+extern float dw_vbat;
+extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
u8 i,getsync_flag=0;
+ u8 bat_percent;
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
+ bat_percent=(dw_vbat-2.8)/0.5*100;
+ if(bat_percent>100)
+ bat_percent=100;
+ tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
@@ -435,14 +442,16 @@
tag_succ_times++;
LED0_BLINK;
-
+ g_Resttimer=0;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
-
- if(!g_com_map[MODBUS_MODE]&&hex_dist2!=0xffff)
+ if(hex_dist2!=0xffff)
+ {
+ g_Tagdist[anc_id_recv]= hex_dist2;
+ g_flag_Taggetdist[anc_id_recv]=0;
+
+ if(!g_com_map[MODBUS_MODE])
{
- hex_dist2 = hex_dist2+(int16_t)g_com_map[DIST_OFFSET];
+ hex_dist2 = hex_dist2;
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -450,16 +459,19 @@
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
memcpy(&usart_send[9],&hex_dist2,4);
- usart_send[13] = battary;
+ usart_send[13] = bat_percent;
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
}
+ }
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
if(result==0)
- {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ {
+
+ while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };
}
/* Clear TXFRS event. */
@@ -483,10 +495,10 @@
// deca_sleep(10);
}
// dwt_entersleep();
-// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
-// {
-// //poll_timer +=time32_incr&0x7+3;
-// }
+ if(tag_succ_times<1)
+ {
+ tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
+ }
/* Execute a delay between ranging exchanges. */
@@ -496,11 +508,12 @@
#define TDFILTER
//#define CHECK_UID
extern uint8_t UID_ERROR;
+extern u16 dist_threshold;
+u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
uint32_t frame_len;
uint32_t resp_tx_time;
- static u8 misdist_num;
/* 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
@@ -511,7 +524,6 @@
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();
- g_Resttimer=0;
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -634,13 +646,14 @@
/*--------------------------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;
-
+ g_Resttimer=0;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
- if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
- {int32_t filter_dist;
- misdist_num=0;
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
+ {
+ int32_t filter_dist;
+ misdist_num[tag_id_recv-TAG_ID_START]=0;
if(hex_dist<1000000&&hex_dist>-10000)
{
#ifdef TDFILTER
@@ -675,8 +688,9 @@
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
- }else{
- misdist_num++;
+ }
+ else{
+ misdist_num[tag_id_recv-TAG_ID_START]++;
}
}
}
--
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