From 8611c0f0267870ef8c7d456a3cf6dea001462d93 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 24 三月 2020 21:21:08 +0800
Subject: [PATCH] 修改MOBUS地址=模块ID
---
源码/核心板/Src/application/dw_app.c | 28 +++++++++++++---------------
1 files changed, 13 insertions(+), 15 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 d6387c4..1268afd 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"
@@ -422,8 +422,10 @@
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])
+
+ if(!g_com_map[MODBUS_MODE]&&hex_dist2!=0xffff)
{
+ hex_dist2 = hex_dist2+(int16_t)g_com_map[DIST_OFFSET];
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
@@ -617,17 +619,13 @@
g_UWB_com_interval = 0;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
- if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
+ 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(hex_dist<1000000&&hex_dist>-10000)
- {
- if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- {
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<10000)
- {
- //anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
-
+ {
#ifdef TDFILTER
NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
@@ -635,8 +633,8 @@
filter_dist=hex_dist/10;
#endif
anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
- g_Tagdist[tag_id_recv]= anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
- }
+ g_Tagdist[tag_id_recv]= filter_dist;
+
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
if(!g_com_map[MODBUS_MODE])
@@ -655,15 +653,15 @@
UART_PushFrame(usart_send,21);
}
// memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
- Modbus_HoldReg[tag_id_recv*2]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>>16;
- Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
+ Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
+ Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
- }
+
}else{
misdist_num++;
}
-
+ }
}
}else{
/* Clear RX error events in the DW1000 status register. */
--
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