From bbb6a0f1379f06a06a9a2414fd847539ec4f122e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 15 十二月 2019 19:37:02 +0800
Subject: [PATCH] 跟踪微分器调试完成，V1.12
---
源码/核心板/Src/application/global_param.c | 9
源码/核心板/Src/main.c | 4
源码/核心板/MDK-ARM/Project.uvoptx | 58 +-------
源码/核心板/Src/application/global_param.h | 11 +
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 296 ++++++++++++++++++++++++++----------------
源码/核心板/Src/application/dw_app.c | 20 +-
6 files changed, 221 insertions(+), 177 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index d2ead9e..0799ae1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -11,17 +11,17 @@
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<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>115 275</TableColWidths>
+ <TableColWidths>131 106</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>370 160</TableColWidths>
+ <TableColWidths>370 328</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>530</TableColWidths>
+ <TableColWidths>440 79 79 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -75,8 +75,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-1</xPos>
- <yPos>-1</yPos>
+ <xPos>-32000</xPos>
+ <yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -92,8 +92,8 @@
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<ControlBarsSummary>
<Bars>0</Bars>
- <ScreenCX>1920</ScreenCX>
- <ScreenCY>1080</ScreenCY>
+ <ScreenCX>1280</ScreenCX>
+ <ScreenCY>720</ScreenCY>
</ControlBarsSummary>
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@@ -2585,7 +2585,133 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>1</ActiveTab>
+ <ActiveTab>2</ActiveTab>
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<Name>..\Src\OnChipDevices\Usart.h</Name>
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diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index a78f567..9b2c0e4 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -143,6 +143,11 @@
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
+ <Key>DLGUARM</Key>
+ <Name></Name>
+ </SetRegEntry>
+ <SetRegEntry>
+ <Number>0</Number>
<Key>UL2CM3</Key>
<Name>-UV0010M9E -O2254 -S0 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FN1 -FC1000 -FD20000000 -FF0STM32F10x_128 -FL020000 -FS08000000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
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<Name>-T0</Name>
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</WatchWindow1>
<MemoryWindow1>
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 151b817..def4780 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"
@@ -94,7 +94,7 @@
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
- 0, /* Use non-standard SFD (Boolean) */
+ 1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -604,7 +604,7 @@
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
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
/*--------------------------以下为非测距逻辑------------------------*/
@@ -612,22 +612,26 @@
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]<1500||misdist_num>4)
- {
+ if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
+ {int32_t filter_dist;
misdist_num=0;
- if(hex_dist<100000&&hex_dist>-1000)
+ 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])<1000)
+ 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;
- g_Tagdist[tag_id_recv]= hex_dist;
+
#ifdef TDFILTER
TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
- hex_dist=pUWBDistanceTrackingDiff->pos_predict;
+ filter_dist=pUWBDistanceTrackingDiff->pos_predict/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];
}
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index c97863a..3c30898 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -30,17 +30,18 @@
g_com_map[COM_INTERVAL]=50;
g_com_map[MAX_REPORT_ANC_NUM]=2;
g_com_map[MIN_REPORT_ANC_NUM]=2;
- g_com_map[DIST_OFFSET]=-91;
+ g_com_map[DIST_OFFSET]=-31;
#ifdef WORK_MODE_TAG
g_com_map[DEV_ROLE] =0x1; //标签
#else
g_com_map[DEV_ROLE] =0x0; //基站
#endif
+ g_com_map[NEARBASE_NUM]=0;
g_com_map[ANC_POLL]=0;
g_com_map[ALARM_DEV] = 0;
- g_com_map[ALARM_DISTANCE1] = 100; //默认报警距离50cm
- g_com_map[ALARM_DISTANCE2] = 600; //默认报警距离50cm
- g_com_map[ALARM_DISTANCE3] = 900; //默认报警距离50cm
+ g_com_map[ALARM_DISTANCE1] = 0; //默认报警距离50cm
+ g_com_map[ALARM_DISTANCE2] = 0; //默认报警距离50cm
+ g_com_map[ALARM_DISTANCE3] = 0; //默认报警距离50cm
g_com_map[HEARTBEAT]=0;
g_com_map[CNT_RESTART]=0;
g_com_map[CNT_REBOOT]=0;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index dfca262..1b895c1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -25,6 +25,17 @@
#define HEARTBEAT 0xE
#define MODBUS_MODE 0xF
+#define NEARBASE_NUM 0x10
+#define NEARBASE_ID1 0x11
+#define NEARBASE_ID2 0x12
+#define NEARBASE_ID3 0x13
+#define NEARBASE_ID4 0x14
+#define NEARBASE_ID5 0x15
+#define NEARBASE_ID6 0x16
+#define NEARBASE_ID7 0x17
+#define NEARBASE_ID8 0x18
+#define NEARBASE_ID9 0x19
+#define NEARBASE_ID10 0x1a
#define CNT_RESTART 0x30
#define CNT_REBOOT 0x31
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 43f6f36..acba733 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -67,9 +67,9 @@
g_com_map[ANC_POLL]=0;
g_com_map[ALARM_DISTANCE1]=100;
#endif
- pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.1);
+ pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
dev_id = g_com_map[DEV_ID];
- g_com_map[VERSION] = 0x010b;
+ g_com_map[VERSION] = 0x010c;
temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
if(temp2<temp)
--
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