From 9e4167eeef5b1841936266300ec20443d372c5da Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 三月 2022 16:28:38 +0800
Subject: [PATCH] 初次完成
---
源码/核心板/Src/application/dw_app.c | 73 ++++++++++++++++++++++--------------
1 files changed, 44 insertions(+), 29 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 20612af..17cea2e 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"
@@ -49,7 +49,7 @@
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
-uint8_t g_flag_Taggetdist[256];
+uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];
static uint64_t get_tx_timestamp_u64(void)
{
@@ -862,6 +862,7 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
+extern u8 uartrec_userdata[20];
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
@@ -882,18 +883,7 @@
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
- {
- motorstate =0;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
- {
- motorstate =2;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
- {
- motorstate =1;
- }else{
- motorstate =0;
- }
+
if(new_tagid)
{
@@ -902,19 +892,36 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
- tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ motorstate =0;
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =2;
+ }else{
+ motorstate =0;
+ }
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =1;
+ }else{
+ motorstate =0;
+ }
+ }
+ 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]=(remotesend_state<<4)|motorstate;
- if(remotesend_state)
- {
- memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
- dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
- }else{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
- }
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
+// if(remotesend_state)
+// {
+// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
+// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
+// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
+// }else{
+ dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24, 0);//设定发送长度
+ // }
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -980,6 +987,12 @@
if(hex_dist>-100000&&hex_dist<2000000)
{
+ if(abs(hex_dist-his_dist[taglist_pos])<10000)
+ {
+ flag_tag_distsmooth[taglist_pos] =1;
+ }else{
+ flag_tag_distsmooth[taglist_pos] =0;
+ }
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
@@ -1000,7 +1013,7 @@
{
g_Tagdist[taglist_pos]=hex_dist/10;
}else{
- g_Tagdist[taglist_pos]= 1;
+ g_Tagdist[taglist_pos]= 0x2ffff;
}
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
@@ -1009,15 +1022,17 @@
memcpy(&usart_send[5],&tag_id_recv,2);
memcpy(&usart_send[7],&dev_id,2);
if(tagdist_list[taglist_pos]<=0)
- tagdist_list[taglist_pos]=10;
+ tagdist_list[taglist_pos]=0x2ffff;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
usart_send[16] = rx_power;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send[19],selftest,2);
+ memcpy(&usart_send[21],uartrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
--
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