From ec0d19df2a093c876bda6876f364756443e7bfa5 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 16 九月 2022 10:49:58 +0800
Subject: [PATCH] V1.3
---
源码/核心板/Src/application/dw_app.c | 91 +++++++++++++++++++++++++++++++++------------
1 files changed, 66 insertions(+), 25 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 4f01d7a..10f64f3 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"
@@ -317,7 +317,26 @@
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
+ double firstpath_power,firstpath_power2, rx_power,rec_firstpath_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+ dwt_rxdiag_t d1;
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -438,6 +457,7 @@
}
TIM3->CNT=tmp_time;
}
+ if(g_com_map[DEV_ROLE])
current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
@@ -465,6 +485,9 @@
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ tx_nearfinal_msg[TAGRXPOWER_IDX] = -(int)firstpath_power;
if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
@@ -835,26 +858,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
- double firstpath_power, rx_power,rec_firstpath_power;
- double f1, f2, r1, r2;
-uint16_t F1,F2,F3,N,C;
-double B = 131072;
-double A = 121.74;
-double min_power;
- dwt_rxdiag_t d1;
-double LOS(dwt_rxdiag_t *dia) {
- F1 = dia->firstPathAmp1;
- F2 = dia->firstPathAmp2;
- F3 = dia->firstPathAmp3;
- N = dia->rxPreamCount;
- C = dia->maxGrowthCIR;
-
- firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
- rx_power=10*log10(C*B/(N*N))-A;
- // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
- return min_power;
- }
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;
@@ -885,7 +889,11 @@
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
motorstate =0;
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]==0)
+ {
+ motorstate =0;
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
{
if(flag_tag_distsmooth[taglist_pos])
{motorstate =2;
@@ -900,7 +908,7 @@
motorstate =0;
}
}
- tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
@@ -966,7 +974,7 @@
//dist_cm=33000;
getrange_success = 1;
- LED0_BLINK; //每成功一次通讯则闪烁一次
+ //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;
@@ -987,7 +995,7 @@
}
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
-
+ u8 error_flag = 0;
g_Resttimer=0;
IWDG_Feed();
#ifdef TDFILTER
@@ -1000,7 +1008,7 @@
#endif
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = filter_dist;
- his_dist[taglist_pos]=hex_dist;
+
if(hex_dist>0)
{
g_Tagdist[taglist_pos]=hex_dist/10;
@@ -1022,7 +1030,40 @@
usart_send[16] = rx_power;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ firstpath_power2 = rx_buffer[TAGRXPOWER_IDX];
+ firstpath_power = -(int)firstpath_power;
+ if(firstpath_power2>firstpath_power)
+ {
+ if(firstpath_power2>93)
+ {
+ printf("错误1：被测模块接收损坏\r\n");
+ error_flag = 1;
+ }
+ if(firstpath_power<84)
+ {
+ printf("错误2：功率过大\r\n");
+ error_flag = 1;
+ }
+ }else{
+ if(firstpath_power>93)
+ {
+ printf("错误3：被测模块发射损坏\r\n");
+ error_flag = 1;
+ }
+ if(firstpath_power2<84)
+ {
+ printf("错误2：功率过大\r\n");
+ error_flag = 1;
+ }
+ }
+ if(error_flag == 0&&his_dist[taglist_pos]!=hex_dist)
+ {
+ LED0_BLINK;
+ printf("通过\r\n");
+ }
+ his_dist[taglist_pos]=hex_dist;
+ printf("包序：%d。距离：%d cm。接收强度: %d。发射强度：%d强度合格范围（大于83小于94）\r\n",frame_seq_nb2,g_Tagdist[taglist_pos],(int)firstpath_power,(int)firstpath_power2);
+ //UART_PushFrame(usart_send,21);
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
--
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