From 737a981dc473a1e6018bd7e0db35fee69e5b3b01 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 05 五月 2023 15:37:53 +0800
Subject: [PATCH] 初步测试完成
---
源码/核心板/Src/main.c | 9 +
源码/核心板/MDK-ARM/Project.uvguix.zhyin | 166 ++++++++++++++++----------------
源码/核心板/Src/application/beep_logic_app.c | 28 +++--
源码/核心板/MDK-ARM/Project.uvoptx | 29 ++---
源码/核心板/Src/application/dw_app.c | 61 ++++++++++-
5 files changed, 169 insertions(+), 124 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
index 59f138d..28285e9 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.zhyin"
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>145 79</TableColWidths>
+ <TableColWidths>145 100</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>763 100</TableColWidths>
+ <TableColWidths>755 100</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>930 139 139 100</TableColWidths>
+ <TableColWidths>477 139 139 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -90,28 +90,28 @@
<sActiveDebugView></sActiveDebugView>
<WindowPosition>
<length>44</length>
- <flags>0</flags>
- <showCmd>1</showCmd>
+ <flags>2</flags>
+ <showCmd>3</showCmd>
<MinPosition>
- <xPos>-32000</xPos>
- <yPos>-32000</yPos>
+ <xPos>-1</xPos>
+ <yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>0</Top>
+ <Top>-6</Top>
<Left>-6</Left>
- <Right>1539</Right>
- <Bottom>824</Bottom>
+ <Right>1541</Right>
+ <Bottom>832</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
<Len>2697</Len>
- 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</Buttons>
<OriginalItems>
<Len>1423</Len>
@@ -3563,7 +3563,7 @@
<Name>Build</Name>
<Buttons>
<Len>955</Len>
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+ <Data>00200000000000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0000000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000000002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050FFFFFFFF00960000000000000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000000240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
</Buttons>
<OriginalItems>
<Len>583</Len>
@@ -3579,7 +3579,7 @@
<Name>Debug</Name>
<Buttons>
<Len>2362</Len>
- <Data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ata>
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</Buttons>
<OriginalItems>
<Len>898</Len>
@@ -3603,21 +3603,21 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>1</ActiveTab>
+ <ActiveTab>0</ActiveTab>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>32</ColumnNumber>
- <TopLine>900</TopLine>
- <CurrentLine>913</CurrentLine>
+ <ColumnNumber>2</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>3</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>45</ColumnNumber>
- <TopLine>134</TopLine>
- <CurrentLine>140</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>308</TopLine>
+ <CurrentLine>315</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3688,7 +3688,7 @@
<Doc>
<Name>..\Src\ExternalDevices\dw_driver.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>95</TopLine>
+ <TopLine>94</TopLine>
<CurrentLine>123</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3705,7 +3705,7 @@
</Doc>
<Doc>
<Name>..\Src\decadriver\deca_device_api.h</Name>
- <ColumnNumber>54</ColumnNumber>
+ <ColumnNumber>57</ColumnNumber>
<TopLine>1423</TopLine>
<CurrentLine>1424</CurrentLine>
<Folding>1</Folding>
@@ -3805,7 +3805,7 @@
<Doc>
<Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>184</TopLine>
+ <TopLine>183</TopLine>
<CurrentLine>209</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3813,9 +3813,9 @@
</Doc>
<Doc>
<Name>..\Src\application\beep_logic_app.c</Name>
- <ColumnNumber>58</ColumnNumber>
- <TopLine>164</TopLine>
- <CurrentLine>177</CurrentLine>
+ <ColumnNumber>55</ColumnNumber>
+ <TopLine>157</TopLine>
+ <CurrentLine>180</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 88e01f2..862f105 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -158,24 +158,7 @@
<Name>-T0</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
- <Breakpoint>
- <Bp>
- <Number>0</Number>
- <Type>0</Type>
- <LineNumber>904</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134243140</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\dw_app.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/application/dw_app.c\904</Expression>
- </Bp>
- </Breakpoint>
+ <Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
@@ -342,6 +325,16 @@
<WinNumber>1</WinNumber>
<ItemText>tx_nearpoll_msg</ItemText>
</Ww>
+ <Ww>
+ <count>33</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>tag_angle,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>34</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>first_dist,0x0A</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
index dafd917..f6ce661 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
@@ -157,6 +157,7 @@
}
}
#define RELAY2IDHEAD 9
+extern int16_t tag_angle[TAG_NUM_IN_SYS],alarm_angle;
extern u16 tagid_list[TAG_NUM_IN_SYS];
void main_logic(void) //主逻辑在这里执行
{
@@ -170,20 +171,23 @@
beep_judge_cnt = 0;
min_dist1=0x1ffff;
min_dist2=0x1ffff;
- for(i = 0; i < 255;i++)
+ for(i = 0; i < TAG_NUM_IN_SYS;i++)
{
- if((tagid_list[i]>>12)!=RELAY2IDHEAD)
- {
- if(g_Tagdist[i] < min_dist1&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
+ if((tagid_list[i]>>12)!=RELAY2IDHEAD)
{
- min_dist1=g_Tagdist[i];
- }
- }else{
- if(g_Tagdist[i] < min_dist2&&g_Tagdist[i]>g_com_map[RELAY2_DISTANCE1])
- {
- min_dist2=g_Tagdist[i];
- }
- }
+ if(g_Tagdist[i] < min_dist1&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
+ {
+ if(tag_angle[i]>alarm_angle)
+ min_dist1=g_Tagdist[i];
+ }
+
+ }else{
+ if(g_Tagdist[i] < min_dist2&&g_Tagdist[i]>g_com_map[RELAY2_DISTANCE1])
+ {
+ if(tag_angle[i]>alarm_angle)
+ min_dist2=g_Tagdist[i];
+ }
+ }
}
Relay1Task();
// Relay2Task(min_dist2);
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 dac4566..21d2483 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"
@@ -1,6 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
+//#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -861,6 +861,52 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
+uint32_t current_syncid=0xffffffff,synclost_timer;
+extern uint8_t flag_syncbase;
+uint8_t tagpos_rec[50],tagpos_send[50],ancidlist_num;
+uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+uint16_t samegroup_ancid,anc_mount_dist;
+uint8_t getvaluetimes = 0;
+uint16_t first_dist,second_dist,delta_dist;
+int16_t tag_angle[TAG_NUM_IN_SYS];
+float p_dist;
+void AngleCalculate(void)
+{
+ getvaluetimes = 0;
+ for(uint8_t i=0;i<rec_nearbase_num;i++)
+ {
+ if(rec_ancidlist[i]==dev_id)
+ {
+
+ first_dist = rec_ancdistlist[i];
+ if(first_dist!=0xffff)
+ {
+ getvaluetimes++;
+ }
+ }else if(rec_ancidlist[i]==samegroup_ancid)
+ {
+
+ second_dist = rec_ancdistlist[i];
+ if(second_dist != 0xffff)
+ {
+ getvaluetimes++;
+ }
+ }
+ }
+ if(getvaluetimes==2)
+ {
+ p_dist = ((float)first_dist-(float)second_dist)/anc_mount_dist;
+ if(p_dist>1)
+ {
+ p_dist = 1;
+ }else if(p_dist<-1)
+ {
+ p_dist = -1;
+ }
+ tag_angle[taglist_pos] = -asin(p_dist)*57.3;
+ }
+}
+extern int16_t alarm_angle;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -892,14 +938,14 @@
motorstate =0;
}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
{
- if(flag_tag_distsmooth[taglist_pos])
+ if(flag_tag_distsmooth[taglist_pos]&&tag_angle[taglist_pos]>alarm_angle)
{motorstate =2;
}else{
motorstate =0;
}
}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
{
- if(flag_tag_distsmooth[taglist_pos])
+ if(flag_tag_distsmooth[taglist_pos]&&tag_angle[taglist_pos]>alarm_angle)
{motorstate =1;
}else{
motorstate =0;
@@ -1012,6 +1058,7 @@
}else{
g_Tagdist[taglist_pos]= 0x2ffff;
}
+ AngleCalculate();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -1024,7 +1071,7 @@
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
- usart_send[16] = rx_power;
+ usart_send[16] = tag_angle[taglist_pos];
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -1043,11 +1090,9 @@
//printf("%x/n",status_reg);
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+
}
-uint32_t current_syncid=0xffffffff,synclost_timer;
-extern u8 flag_syncbase;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
-u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+
void Anchor_App(void)
{
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 3dcdb27..7553ad5 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"
@@ -100,7 +100,8 @@
{dist_threshold = 15000;}
}
u16 JDQ_time;
-int16_t g_commap_antdelay;
+int16_t g_commap_antdelay,alarm_angle;
+extern uint16_t samegroup_ancid,anc_mount_dist;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -141,11 +142,13 @@
// g_com_map[FILTER_COEFFICIENT]=40;
// g_com_map[ANT_LENGTH]=0;
// g_com_map[NOMOVESLEEP_TIME]=728;
-
+ samegroup_ancid = g_com_map[MODBUS_ID2]; //同组基站ID
+ anc_mount_dist = g_com_map[MODBUS_ID3]; //基站安装距离
+ alarm_angle = g_com_map[MODBUS_ID4]; //基站报警角度
OUT485_ENABLE;
- g_com_map[VERSION] = (1<<8)|(70);
+ g_com_map[VERSION] = (1<<8)|(71);
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]);
g_commap_antdelay = g_com_map[ANT_LENGTH];
--
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