From 9f117ad80a25735b7ee4e54c2fdc375a828a899c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 15 六月 2021 10:52:57 +0800
Subject: [PATCH] 增加信号轻度，去掉滤波
---
源码/核心板/Src/application/dw_app.c | 81 ++++++++++++++++++++++++++++++----------
1 files changed, 61 insertions(+), 20 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 bbdefa4..a03c04c 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"
@@ -1,5 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
+//#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -114,6 +115,14 @@
}
}
}
+void SetNLOSNTMSettings(void)
+{
+ uint8_t temp;
+ temp = 7;
+ dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
+ dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
+ // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -126,7 +135,7 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+ // SetNLOSNTMSettings();
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
@@ -448,6 +457,7 @@
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
if(temp_dist!=0x1ffff)
{
+ g_Resttimer=0;
#ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -694,12 +704,30 @@
UART_PushFrame(usart_send,6+report_num*6);
#endif
}
+ double firstpath_power, rx_power,rec_firstpath_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+ dwt_rxdiag_t d1;
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -917,23 +945,34 @@
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
+ g_Resttimer=0;
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-1000&&hex_dist<200000)
- {
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
- {
+ // if(hex_dist>0&&hex_dist<2000000)
+ //{
+ //if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
+ //{
+ int32_t filter_dist;
+ #ifdef TDFILTER
+ NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
+ filter_dist=pos_predict[taglist_pos]/10;
+ #else
+ filter_dist=hex_dist/10;
+ #endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = hex_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist;
- #ifndef USART_INTEGRATE_OUTPUT
+ g_Tagdist[taglist_pos]=filter_dist;
+ #ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb2;//数据段长度
@@ -942,6 +981,8 @@
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);
@@ -950,11 +991,11 @@
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
anc_report_num++;
#endif
- }else{
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
- }
+// }else{
+// // printf("%d",hex_dist);
+// misdist_num[taglist_pos]++;
+// }
+// }
}
}else{
//printf("%x/n",status_reg);
@@ -1001,8 +1042,7 @@
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
- g_Resttimer=0;
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -1043,9 +1083,10 @@
}
break;
- case NEAR_POLL:
- g_Resttimer=0;
+ case NEAR_POLL:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
+ {break;}
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
{
--
Gitblit v1.9.3