From da9ce9541aee3b4f4d55cf114758a44ae98b8b1f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 11 十二月 2019 21:44:23 +0800
Subject: [PATCH] 增加40米异常滤波
---
源码/核心板/Src/application/dw_app.c | 89 ++++++++++++++++++++++++++++++--------------
1 files changed, 60 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 cf56ef5..93bc9a8 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"
@@ -310,8 +310,40 @@
return i;
}
}
+#define CHANGE_BASE_THRESHOLD 5
+void NearAncSelect(void)
+{static u16 last_mainbase_id,change_base_count;
+ int32_t nearbase_mindist=99999, nearbase_minpos;
+ u8 i;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(nearbase_mindist<nearbase_distlist[i])
+ {
+ nearbase_mindist=nearbase_distlist[i];
+ nearbase_minpos=i;
+ }
+ }
+ if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+ {
+ if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
+ {
+ change_base_count++;
+ if(change_base_count>CHANGE_BASE_THRESHOLD)
+ {
+ mainbase_id=last_mainbase_id;
+ tag_state=GETNEARMSG;
+ }
+ }else{
+ change_base_count=0;
+ }
+ last_mainbase_id=nearbaseid_list[nearbase_minpos];
+ }else{
+ change_base_count=0;
+ }
+}
void NearPoll(void)
{
+ static u8 mainbase_lost_count=0;
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
@@ -332,7 +364,9 @@
neartimout_timer=0;
recbase_num=0;
- timeout=nearbase_num/4+2;
+ timeout=nearbase_num/4+12;
+ mainbase_dist=100000;
+ mainbase_lost_count++;
while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
{
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
@@ -349,7 +383,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+100);//设定接收超时时间，0位没有超时时间
+ dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+120);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
@@ -359,7 +393,7 @@
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
if(rec_nearbaseid==mainbase_id)
{
- //时间同步
+ //////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
@@ -376,8 +410,9 @@
tagslotpos=tagslotpos%(max_slotpos+1);
tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
+ mainbase_lost_count=0;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * UUS_TO_DWT_TIME)) >> 8;
+ final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+130) * UUS_TO_DWT_TIME)) >> 8;
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
@@ -393,12 +428,19 @@
memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
+ LED0_BLINK;
+ //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+ // result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
//dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
}
}
}
}
- dwt_forcetrxoff();
+ if(mainbase_lost_count>5)
+ {
+ tag_state=DISCPOLL;
+ }
+ NearAncSelect();
// 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
// { };
@@ -406,28 +448,11 @@
// }
// else
// {
-// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
// }
}
-void NearAncSelect(void)
-{
- int32_t nearbase_mindist=99999, nearbase_minpos;
- u8 i;
- for(i=0;i<nearbase_num;i++)
- {
- if(nearbase_mindist<nearbase_distlist[i])
- {
- nearbase_mindist=nearbase_distlist[i];
- nearbase_minpos=i;
- }
- }
- if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
- {
- mainbase_id=nearbaseid_list[nearbase_minpos];
- tag_state=GETNEARMSG;
- }
-}
+
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -588,14 +613,14 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-
+u8 misdist_num;
void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
tmp_time=TIM3->CNT;
memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);
-
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
@@ -652,10 +677,12 @@
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];
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
+ if(hex_dist>-1000&&hex_dist<100000)
{
- tagdist_list[taglist_pos] = hex_dist;
- }
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
+ {
+ misdist_num=0;
+ tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -668,7 +695,11 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ }else{
+ misdist_num++;
+ }
}
+ }
}else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
--
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