From c8fa9e7b73d663fd1ee78632d38cea1b49c14d39 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 17 十一月 2020 20:22:29 +0800
Subject: [PATCH] V1.35 大连电牵，测试版本。配置回复变成立即回复，收到数据才不重启
---
源码/核心板/Src/application/dw_app.c | 29 ++++++++++++++++++-----------
1 files changed, 18 insertions(+), 11 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..0f241c3 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,
@@ -448,6 +449,7 @@
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
@@ -699,7 +701,6 @@
{
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -917,22 +918,30 @@
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
/*--------------------------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(hex_dist>-10000&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<15000||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;
+ 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
@@ -1001,8 +1010,7 @@
// 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)
{
@@ -1043,8 +1051,7 @@
}
break;
- case NEAR_POLL:
- g_Resttimer=0;
+ case NEAR_POLL:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
--
Gitblit v1.9.3