From 9b5beb905d2c3846b912adcce8051ce4ea3377de Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 13 一月 2020 22:09:52 +0800
Subject: [PATCH] v1.18 标签可调距离补偿 第一个测距信息bug
---
源码/核心板/Src/application/dw_app.c | 46 +++++++++++++++++++++++-----------------------
1 files changed, 23 insertions(+), 23 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 def4780..df72ffd 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"
@@ -422,7 +422,8 @@
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])
+ hex_dist2 = hex_dist2+(int16_t)g_com_map[DIST_OFFSET];
+ if(!g_com_map[MODBUS_MODE]&&hex_dist2!=65555)
{
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -475,7 +476,8 @@
int8_t correction_time;
extern uint8_t sync_seq;
#define TDFILTER
-
+#define CHECK_UID
+extern uint8_t UID_ERROR;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -542,7 +544,7 @@
/* Write and send the response message. See NOTE 9 below.*/
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
+ memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
@@ -590,6 +592,10 @@
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+ #ifdef CHECK_UID
+ if(UID_ERROR==1)
+ poll_rx_ts=0;
+ #endif
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
@@ -610,29 +616,24 @@
/*--------------------------以下为非测距逻辑------------------------*/
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
- dis_after_filter=dist_cm;
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
- if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
+
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+ 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)
- {
- g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
- anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
-
+ {
#ifdef TDFILTER
- TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
- filter_dist=pUWBDistanceTrackingDiff->pos_predict/10;
+ NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
+ filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
#else
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])
@@ -651,16 +652,15 @@
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++;
}
- if(anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>1000)
- {anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];}
+ }
}
}else{
/* Clear RX error events in the DW1000 status register. */
--
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