From 9105bf90e4dca008221da442e8077bf4040292bb Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 03 八月 2022 14:55:00 +0800
Subject: [PATCH] 增加标签端MODBUS输出
---
源码/核心板/Src/application/dw_app.c | 43 ++++++++++++++++++++++++++++++++++++++++---
1 files changed, 40 insertions(+), 3 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 01463b2..5c2ad4a 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"
@@ -30,6 +30,8 @@
#include "beep.h"
#include "modbus.h"
//#define DEBUG_OUTPUT
+#define TDFILTER
+//#define CONSTANT_FILTER
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -342,6 +344,33 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
+#define CONSTANT_LEN 50
+extern u16 dist_threshold;
+int32_t ConstantFilter(int32_t currentdist,u8 channel)
+ {
+ static int32_t cs_lastdist[10],cs_lastvalid[10];
+ static u8 cfstart_flag[10] = {1};
+ static u8 constant_count[10] = {100};
+ if(cfstart_flag[channel])
+ {
+ cfstart_flag[channel] = 0;
+ cs_lastdist[channel] = currentdist;
+ }
+ if( abs(currentdist - cs_lastdist[channel])<100)
+ {
+ if(constant_count[channel]<CONSTANT_LEN)
+ constant_count[channel]++;
+ }else{
+ constant_count[channel] = 0;
+ }
+ if(constant_count[channel] == CONSTANT_LEN)
+ {
+ cs_lastvalid[channel] = currentdist;
+ }
+ cs_lastdist[channel] = currentdist;
+ return cs_lastvalid[channel];
+ }
+
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
@@ -478,7 +507,8 @@
{
g_Tagdist[anc_id_recv]= hex_dist2;
g_flag_Taggetdist[anc_id_recv]=0;
-
+ Modbus_HoldReg[anc_id_recv*2]=hex_dist2>>16;
+ Modbus_HoldReg[anc_id_recv*2+1]=hex_dist2;
if(!g_com_map[MODBUS_MODE])
{
hex_dist2 = hex_dist2;
@@ -495,6 +525,7 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+
}
}
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
@@ -540,10 +571,10 @@
int8_t correction_time;
extern uint8_t sync_seq;
-#define TDFILTER
+
//#define CHECK_UID
extern uint8_t UID_ERROR;
-extern u16 dist_threshold;
+
u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
@@ -705,9 +736,15 @@
#else
filter_dist=hex_dist/10;
#endif
+
+ #ifdef CONSTANT_FILTER
+ filter_dist = ConstantFilter(filter_dist,tag_id_recv-TAG_ID_START);
+ #endif
anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
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])
--
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