From cba4dbb02fc442a8e238d2dabb389e1e5e8185f6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 13 十一月 2019 17:02:16 +0800
Subject: [PATCH] 测距异常值bug没找到原因
---
源码/核心板/Src/application/dw_app.c | 72 +++++++++++++++++++++--------------
1 files changed, 43 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 83dcf89..6ac274f 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"
@@ -27,7 +27,7 @@
#include "filters.h"
#include <stdio.h>
#include "beep.h"
-
+#include "modbus.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -111,7 +111,7 @@
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Frame sequence number, incremented after each transmission. */
-static uint32_t frame_seq_nb = 0;
+static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32_t status_reg = 0;
@@ -134,7 +134,7 @@
static double tof;
-uint32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint8_t random_delay_tim = 0;
@@ -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 ------------------------------------------*/
@@ -337,7 +337,7 @@
for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i-1;
+ tx_poll_msg[ANC_TYPE_IDX] = i;
dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
@@ -350,7 +350,7 @@
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
{ if(time32_incr - start_poll>20)
NVIC_SystemReset();
- UART_CheckReceive();
+ IdleTask();
};
@@ -375,12 +375,12 @@
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- {
+ { u16 anc_id_recv;
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
- if(getsync_flag==0)
+ if(getsync_flag==0&&g_com_map[DEV_ROLE])
{
getsync_flag=1;
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
@@ -418,21 +418,26 @@
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;
+ if(!g_com_map[MODBUS_MODE])
+ {
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
- hex_dist = anchor_dist_last_frm[0];;
+
memcpy(&usart_send[9],&hex_dist,4);
usart_send[13] = battary;
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
-
+ }
+ // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
if(result==0)
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
@@ -544,7 +549,7 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
- frame_seq_nb = rx_buffer[SEQUENCE_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
if(result==0)
@@ -605,31 +610,40 @@
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
dis_after_filter=dist_cm;
- hex_dist = (int16_t)(dist_cm+g_com_map[DIST_OFFSET]);
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ if(hex_dist<100000&&hex_dist>-1000)
+ {
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
+ {
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
{
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;
}
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
+ g_flag_Taggetdist[tag_id_recv]=0;
+ if(!g_com_map[MODBUS_MODE])
+ {
+ 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
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb;//数据段长度
- memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
-
- memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
-
-
+ memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+ }
+ // memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ 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{
/* Clear RX error events in the DW1000 status register. */
--
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