From de54091782f3fef4a88df90327ea0243db97361b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 18 十一月 2019 17:40:59 +0800
Subject: [PATCH] 修改距离异常bug
---
源码/核心板/Src/application/dw_app.c | 18 ++++++++++++------
1 files changed, 12 insertions(+), 6 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..23b23c2 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"
@@ -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 ------------------------------------------*/
@@ -395,7 +395,7 @@
}
TIM3->CNT=tmp_time;
}
- memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
+ memcpy(&hex_dist, &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;
@@ -611,14 +611,17 @@
g_UWB_com_interval = 0;
dis_after_filter=dist_cm;
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&&hex_dist<100000)
+ {
+ 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_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 +642,10 @@
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{
+ LED0_BLINK;
+ }
}
}else{
/* Clear RX error events in the DW1000 status register. */
--
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