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/main.c | 93 ++++++++++++++++++++++++++++++++--------------
1 files changed, 65 insertions(+), 28 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 c4f90b7..5df77bb 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"
@@ -2,6 +2,7 @@
#include "Rcc_Nvic_Systick.h"
#include "Usart.h"
#include "Spi.h"
+#include "Flash.h"
#include "led.h"
#include "beep.h"
#include "dw_driver.h"
@@ -81,16 +82,26 @@
void ComMapCheck(void)
{
+// if(g_com_map[ANT_LENGTH]>10000)
+// {
+// g_com_map[ANT_LENGTH] = 0;
+// }
if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
{
g_com_map[WAR_JDQ_TIME] = 1;
}
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
if(dist_threshold<300)
{dist_threshold = 300;}
if(dist_threshold>15000)
{dist_threshold = 15000;}
}
-u16 JDQ_time;
+u16 JDQ_time,supergroupid;
+int16_t g_commap_antdelay;
+extern float fiter_p;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -109,15 +120,38 @@
g_com_map[ANC_FLAG]=1;
save_com_map_to_flash();
#endif
+//
+// g_com_map[COM_INTERVAL]=100;
+// g_com_map[MAX_REPORT_ANC_NUM]=10;
+// g_com_map[GROUP_ID]=0;
+// g_com_map[DIST_OFFSET]=-116;
+
+// g_com_map[DEV_ROLE] =0x0; //基站
+//
+// g_com_map[ANC_POLL]=1;
+// g_com_map[ALARM_DEV] = 0;
+// g_com_map[ALARM_DISTANCE1] = 0; //默认报警距离50cm
+// g_com_map[ALARM_DISTANCE2] = 900; //默认报警距离50cm
+// g_com_map[ALARM_DISTANCE3] = 1400; //默认报警距离50cm
+// g_com_map[RELAY2_DISTANCE1] = 0; //默认报警距离50cm
+// g_com_map[RELAY2_DISTANCE2] = 900; //默认报警距离50cm
+// g_com_map[RELAY2_DISTANCE3] = 1400; //默认报警距离50cm
+// g_com_map[WAR_JDQ_TIME] = 1; //1秒
+// g_com_map[POWER]=30;
+// g_com_map[SPEEDFILTER_THRES]=10000;
+// g_com_map[FILTER_COEFFICIENT]=40;
+// g_com_map[ANT_LENGTH]=0;
+// g_com_map[NOMOVESLEEP_TIME]=728;
+
+
OUT485_ENABLE;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- JDQ_time = g_com_map[WAR_JDQ_TIME];
- g_com_map[VERSION] = 0x0133;
- dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
ComMapCheck();
+ g_com_map[VERSION] = (1<<8)|72;
+ supergroupid = g_com_map[IMU_THRES];
+ 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];
+ 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];
@@ -126,26 +160,28 @@
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];
-
+ vel_factor=g_com_map[FILTER_COEFFICIENT];
+ pos_factor=g_com_map[FILTER_COEFFICIENT];
+ if(g_com_map[FILTER_COEFFICIENT]>100)
+ g_com_map[FILTER_COEFFICIENT] = 100;
+ fiter_p = (float)g_com_map[FILTER_COEFFICIENT]/100;
if(module_power>67)
{
module_power=67;
}
-// if(g_com_map[DEV_ROLE])
-// {
-// printf("标签ID: %d .\r\n",dev_id);
-// printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
-// printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-// }else{
-//
-// anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
-// printf("基站ID: %x .\r\n",dev_id);
-// printf("基站类型: %c .\r\n",anchor_type+0x41);
-// printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
-// }
+ if(g_com_map[DEV_ROLE])
+ {
+ printf("标签ID: %d .\r\n",dev_id);
+ printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
+ printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+ }else{
+
+ anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
+ printf("基站ID: %x .\r\n",dev_id);
+ printf("基站类型: %c .\r\n",anchor_type+0x41);
+ printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+ }
OUT485_DISABLE;
// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
// printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
@@ -153,7 +189,7 @@
for(i=0;i<255;i++)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
@@ -273,11 +309,11 @@
}
}
-
+extern uint8_t dissucc_times;
int main(void)
{
- Device_Init();
+ Device_Init();
//StartUpTest();
Program_Init();
Dw1000_Init();
@@ -295,8 +331,9 @@
g_start_sync_flag=0;
if(g_start_send_flag)
{
- g_start_send_flag = 0;
- Tag_App();
+ g_start_send_flag = 0;
+ if(dissucc_times<2)
+ Tag_App();
}
IdleTask();
if(g_com_map[DEV_ROLE]==0)
--
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