From 5f02075313d646cd2bdb7a5ff720870455ba61fc Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 十一月 2023 10:08:12 +0800
Subject: [PATCH] V1.4 去掉阈值修改，增加滤波功能，客户反馈还不行
---
源码/核心板/Src/main.c | 23 +++++++++++++----------
1 files changed, 13 insertions(+), 10 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 1c48faa..4526797 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -97,6 +97,7 @@
}
u16 JDQ_time;
int16_t g_commap_antdelay;
+extern float fiter_p;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -142,7 +143,7 @@
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 1<<8|64;
+ g_com_map[VERSION] = 1<<8|4;
FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
if(dist_threshold<300)
@@ -153,19 +154,19 @@
JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
g_com_map[SW_TYPE] = SW_FANGZHUANG;
dev_id = g_com_map[DEV_ID];
- group_id=g_com_map[GROUP_ID];
+ group_id=g_com_map[GROUP_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
module_power = g_com_map[POWER];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
- vel_factor=g_com_map[FILTER_COEFFICIENT];
- pos_factor=g_com_map[FILTER_COEFFICIENT];
-
- if(module_power>67)
- {
- module_power=67;
- }
+ vel_factor=g_com_map[FILTER_COEFFICIENT];
+ pos_factor=g_com_map[FILTER_COEFFICIENT];
+ fiter_p = (float)g_com_map[FILTER_COEFFICIENT]/100;
+ if(module_power>67)
+ {
+ module_power=67;
+ }
if(g_com_map[DEV_ROLE])
{
@@ -304,6 +305,8 @@
{
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
+ g_com_map[RELAY1_STATE_INDEX] = READ_RELAY1;
+ g_com_map[RELAY2_STATE_INDEX] = READ_RELAY2;
}
@@ -314,7 +317,7 @@
//StartUpTest();
Program_Init();
Dw1000_Init();
- delay_ms(10);
+ delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
--
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