From 815ea18d897111c4bf70861277acf94201ccf60a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 14 十月 2022 16:25:59 +0800
Subject: [PATCH] V1.72 增加滤波器 增加频率可调
---
源码/核心板/Src/application/dw_app.c | 147 ++++++++++++++++++++++++++++++------------------
1 files changed, 92 insertions(+), 55 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 d035c83..72fcfc2 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,
@@ -313,11 +313,13 @@
}
return max_slotpos-1;
}
-u8 test=0;
-u8 anclost_times=0;
+u8 test=0,dissucc_times,lastdist1,lastdist2;
+u8 anclost_times=0,usartoutput_count;
+u16 usartoutput_notenough=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
-u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
+u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id,success_ancid;
int32_t rec_extratag_dist;
+uint8_t usart_send_array[5][21],usart_array_num;
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -330,6 +332,7 @@
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;
+ usartoutput_count = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
@@ -421,23 +424,23 @@
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- if(g_com_map[DEV_ROLE]!=0)
- {
- sync_timer=temp_sync_timer1;
-//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+// if(g_com_map[DEV_ROLE]!=0)
+// {
+// sync_timer=temp_sync_timer1;
+////// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+////
//
-
- tmp_time=tmp_time+650;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- }
- current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
+// tmp_time=tmp_time+650;
+// if(tmp_time>999)
+// {
+// tmp_time-=999;
+// sync_timer++;
+// if(sync_timer>=1000)
+// {sync_timer=0;}
+// }
+// TIM3->CNT=tmp_time;
+// }
+// current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
@@ -470,53 +473,52 @@
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff)
- {
+ if(temp_dist!=0x1ffff)//没有成功测距，且距离和上一次不相等
+ {
+ if(success_ancid!=rec_nearbaseid&&dissucc_times<2)
+ {
+ success_ancid = rec_nearbaseid;
+ dissucc_times++;
+
+
+
g_Resttimer=0;
IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
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
- if(g_com_map[DEV_ROLE])
- {
memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
memcpy(&usart_send[9],&temp_dist,4);
usart_send[13] = rx_buffer[DIST_IDX+3];
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ //UART_PushFrame(usart_send,21);
+ memcpy(&usart_send_array[usart_array_num++],usart_send,21);
+ usartoutput_count++;
#endif
- }
+
if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
{
#ifdef USART_SINGLE_OUTPUT
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
- if(g_com_map[DEV_ROLE])
- {
memcpy(&usart_send[5],&rec_extratag_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&rec_extratag_id,2);
- }
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
memcpy(&usart_send[9],&rec_extratag_dist,4);
usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send_array[usart_array_num++],usart_send,21);
+ //UART_PushFrame(usart_send,21);
#endif
}
-
+ }
+ }
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -543,8 +545,13 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff)
- {
+ if(temp_dist!=0x1ffff)//没有成功测距，且距离和上一次不相等
+ {
+ if(success_ancid!=rec_nearbaseid&&dissucc_times<2)
+ {
+ success_ancid = rec_nearbaseid;
+ dissucc_times++;
+
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -562,13 +569,15 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ //UART_PushFrame(usart_send,21);
+ memcpy(&usart_send_array[usart_array_num++],usart_send,21);
+ usartoutput_count++;
#endif
-
+
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
//dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
- }
+
if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
{
#ifdef USART_SINGLE_OUTPUT
@@ -588,9 +597,12 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send_array[usart_array_num++],usart_send,21);
+ //UART_PushFrame(usart_send,21);
#endif
}
+ }
+ }
}
}
}else{
@@ -699,6 +711,16 @@
// }else{
// anclost_times=0;
// }
+ if(usartoutput_count>=2)
+ {
+ usartoutput_notenough = 0;
+ }else{
+ sync_timer += time32_incr%2;
+ if(usartoutput_notenough++>500)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ }
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
@@ -779,7 +801,7 @@
break;
}
- SetNextPollTime(tyncpoll_time);
+// SetNextPollTime(tyncpoll_time);
g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
}
@@ -790,6 +812,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
+u8 tagseq_list[TAG_NUM_IN_SYS],tagnewdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -916,6 +939,7 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
+float fiter_p;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -943,15 +967,21 @@
}else{
motorstate =0;
}
-
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}else{
- memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ if(tagnewdist_list[taglist_pos])
+ {
+ tagnewdist_list[taglist_pos] = 0;
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }else{
+ int32_t nodistvalue = 0x1ffff;
+ memcpy(&tx_nearresp_msg[DIST_IDX], &nodistvalue, 4);
+ }
}
- tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=0;//(remotesend_state<<4)|motorstate;
@@ -1001,7 +1031,7 @@
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
- u8 si;
+ u8 si;
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
@@ -1047,13 +1077,18 @@
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
filter_dist = pos_predict[taglist_pos]/10;
- filter_speed = vel_predict[taglist_pos]/10;
+ //filter_speed = vel_predict[taglist_pos];
newmeasure = 1;
#else
- filter_dist=hex_dist/10;
+ if(tagdist_list[taglist_pos]>0&&tagdist_list[taglist_pos]<50000)
+ {
+ filter_dist=(hex_dist/10)*fiter_p+(1-fiter_p)*tagdist_list[taglist_pos];
+ }else{
+ filter_dist = hex_dist/10;
+ }
#endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
if(hex_dist>0)
{
@@ -1061,6 +1096,8 @@
}else{
g_Tagdist[taglist_pos]= 1;
}
+ tagnewdist_list[taglist_pos] = 1;
+ tagseq_list[taglist_pos] = frame_seq_nb2;
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -1070,7 +1107,7 @@
if(tagdist_list[taglist_pos]<=0)
tagdist_list[taglist_pos]=10;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
- tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
+ tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
--
Gitblit v1.9.3