From e391e8ff47bd0c6b55fe268ac54414c093ae6246 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 16 九月 2021 20:08:30 +0800
Subject: [PATCH] V1.55 增加馈线长度，测试通过
---
源码/核心板/Src/application/global_param.c | 4 +-
源码/核心板/Src/main.c | 20 ++++++---
源码/核心板/MDK-ARM/Project.uvoptx | 2
源码/核心板/Src/application/global_param.h | 1
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 73 ++++++++++++++++++++----------------
源码/核心板/Src/application/dw_app.c | 13 ++++++
6 files changed, 70 insertions(+), 43 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 0657918..aee5bd3 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>128 128</TableColWidths>
+ <TableColWidths>128 139</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>1058 160</TableColWidths>
+ <TableColWidths>764 100</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>1218</TableColWidths>
+ <TableColWidths>400 182 182 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -101,17 +101,17 @@
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>203</Top>
+ <Top>44</Top>
<Left>106</Left>
<Right>1542</Right>
- <Bottom>830</Bottom>
+ <Bottom>727</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
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<Name>File</Name>
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</Buttons>
<OriginalItems>
<Len>583</Len>
@@ -3546,8 +3546,8 @@
<RegID>59392</RegID>
<Name>File</Name>
<Buttons>
- <Len>2878</Len>
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+ <Len>2928</Len>
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</Buttons>
<OriginalItems>
<Len>1423</Len>
@@ -3603,39 +3603,39 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>0</ActiveTab>
+ <ActiveTab>1</ActiveTab>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>80</ColumnNumber>
- <TopLine>95</TopLine>
- <CurrentLine>120</CurrentLine>
+ <ColumnNumber>28</ColumnNumber>
+ <TopLine>40</TopLine>
+ <CurrentLine>142</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>1054</TopLine>
- <CurrentLine>1082</CurrentLine>
+ <ColumnNumber>34</ColumnNumber>
+ <TopLine>930</TopLine>
+ <CurrentLine>946</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\global_param.c</Name>
- <ColumnNumber>19</ColumnNumber>
- <TopLine>17</TopLine>
- <CurrentLine>53</CurrentLine>
+ <ColumnNumber>43</ColumnNumber>
+ <TopLine>20</TopLine>
+ <CurrentLine>32</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\global_param.h</Name>
- <ColumnNumber>30</ColumnNumber>
- <TopLine>45</TopLine>
- <CurrentLine>59</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>19</TopLine>
+ <CurrentLine>20</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3643,8 +3643,8 @@
<Doc>
<Name>..\Src\application\dw_app.h</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>71</TopLine>
- <CurrentLine>82</CurrentLine>
+ <TopLine>38</TopLine>
+ <CurrentLine>47</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3661,8 +3661,8 @@
<Doc>
<Name>..\Src\decadriver\deca_device.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>2717</TopLine>
- <CurrentLine>2718</CurrentLine>
+ <TopLine>573</TopLine>
+ <CurrentLine>582</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3687,9 +3687,9 @@
</Doc>
<Doc>
<Name>..\Src\application\serial_at_cmd_app.c</Name>
- <ColumnNumber>36</ColumnNumber>
+ <ColumnNumber>50</ColumnNumber>
<TopLine>88</TopLine>
- <CurrentLine>110</CurrentLine>
+ <CurrentLine>111</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3757,11 +3757,20 @@
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\dw_driver.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>81</TopLine>
+ <CurrentLine>93</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
</MDIGroup>
</MDIGroups>
<Bookmarks>
- <ListItem>..\Src\application\dw_app.c 450</ListItem>
+ <ListItem>..\Src\application\dw_app.c 451</ListItem>
</Bookmarks>
</ProjectGui>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index ceec889..a52c991 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -164,7 +164,7 @@
<Type>0</Type>
<LineNumber>60</LineNumber>
<EnabledFlag>1</EnabledFlag>
- <Address>134261258</Address>
+ <Address>134261482</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
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 17a2dd3..e9f4462 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"
@@ -115,6 +115,7 @@
}
}
}
+extern u16 g_commap_antdelay;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -131,7 +132,7 @@
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
- dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
+ dwt_settxantennadelay(g_commap_antdelay); //设置发射天线延迟
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
@@ -836,6 +837,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
@@ -915,6 +917,7 @@
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
+ u8 si;
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
@@ -940,7 +943,15 @@
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]*10;
+ for(si=0;si<10;si++)
+ {
+ if(smallcar_idlist[si]==tag_id_recv)
+ {
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-(int16_t)g_com_map[NOMOVESLEEP_TIME]*10;
+ }
+ }
g_flag_Taggetdist[taglist_pos]=0;
+
if(hex_dist>-1000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 9d33720..09664ee 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -23,7 +23,7 @@
g_com_map[DEV_ID] =0x04;//DEFAULT_DEV_ID; //默认设备ID
g_com_map[COM_INTERVAL]=100;
- g_com_map[MAX_REPORT_ANC_NUM]=2;
+ g_com_map[MAX_REPORT_ANC_NUM]=10;
g_com_map[GROUP_ID]=0;
g_com_map[DIST_OFFSET]=-13;
#ifdef WORK_MODE_TAG
@@ -42,7 +42,7 @@
g_com_map[CNT_UPDATE]=0;
g_com_map[MODBUS_ADDRESS]=1;
g_com_map[WAR_JDQ_TIME] = 1; //1秒
- g_com_map[POWER]=30;
+ g_com_map[POWER]=67;
g_com_map[SPEEDFILTER_THRES]=10000;
g_com_map[FILTER_COEFFICIENT]=40;
g_com_map[WAR_JDQ_TIME] = 1;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index 24205ef..56bfade7 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -51,6 +51,7 @@
#define WHITELIST1_END 0x26
#define SW_TYPE 0x27
#define WAR_JDQ_TIME 0x28
+#define ANT_LENGTH 0x2A
#define CNT_RESTART 0x30
#define CNT_REBOOT 0x31
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 5e6e514..5c98265 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -82,16 +82,25 @@
void ComMapCheck(void)
{
+ if(g_com_map[ANT_LENGTH]>10000)
+ {
+ g_com_map[ANT_LENGTH] = 0;
+ }
if(g_com_map[WAR_JDQ_TIME]>1000||g_com_map[WAR_JDQ_TIME]<0)
{
g_com_map[WAR_JDQ_TIME] = 1;
}
+ if(g_com_map[COM_INTERVAL]==0)
+ {
+ g_com_map[COM_INTERVAL]=100;
+ }
if(dist_threshold<300)
{dist_threshold = 300;}
if(dist_threshold>15000)
{dist_threshold = 15000;}
}
u16 JDQ_time;
+u16 g_commap_antdelay;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -111,15 +120,12 @@
save_com_map_to_flash();
#endif
OUT485_ENABLE;
- if(g_com_map[COM_INTERVAL]==0)
- {
- g_com_map[COM_INTERVAL]=100;
- }
- JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
- g_com_map[VERSION] = 0x0135;
+ ComMapCheck();
+ g_com_map[VERSION] = 0x0137;
FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
- ComMapCheck();
+ g_commap_antdelay = (float)g_com_map[ANT_LENGTH]*5.8;
+ JDQ_time = g_com_map[WAR_JDQ_TIME]*10;
g_com_map[SW_TYPE] = SW_FANGZHUANG;
dev_id = g_com_map[DEV_ID];
group_id=g_com_map[GROUP_ID];
--
Gitblit v1.9.3