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/dw_app.c | 45 +++++++++++++++++++++++++++++++++------------
1 files changed, 33 insertions(+), 12 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 4c8db75..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. */
@@ -145,7 +145,7 @@
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-uint16_t g_Tagdist[TAG_NUM_IN_SYS];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -238,7 +238,7 @@
for(i=0;i<255;i++)
{
g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=2)
+ if(g_flag_Taggetdist[i]>=20)
{
g_Tagdist[i]=0xffff;
}
@@ -313,7 +313,7 @@
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
-int32_t hex_dist;
+int32_t hex_dist,hex_dist2;
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
@@ -395,7 +395,7 @@
}
TIM3->CNT=tmp_time;
}
- memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
+ memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
/* Compute final message transmission time. See NOTE 9 below. */
final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
@@ -418,7 +418,7 @@
tag_succ_times++;
LED0_BLINK;
- hex_dist = anchor_dist_last_frm[0];
+
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
// g_Tagdist[anc_id_recv]= hex_dist;
// g_flag_Taggetdist[anc_id_recv]=0;
@@ -430,7 +430,7 @@
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
- memcpy(&usart_send[9],&hex_dist,4);
+ memcpy(&usart_send[9],&hex_dist2,4);
usart_send[13] = battary;
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
@@ -474,12 +474,13 @@
}
int8_t correction_time;
extern uint8_t sync_seq;
+#define TDFILTER
void Anchor_App(void)
{
uint32_t frame_len;
uint32_t resp_tx_time;
-
+ static u8 misdist_num;
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -603,7 +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------------------------*/
@@ -611,14 +612,28 @@
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)
+ {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])<1000&&hex_dist<100000)
+ {
+ 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;
+ #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_Tagdist[tag_id_recv]= anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
g_flag_Taggetdist[tag_id_recv]=0;
if(!g_com_map[MODBUS_MODE])
{
@@ -639,7 +654,13 @@
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];
//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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