From 8344744687c8b7e8ab8ce10871e19256a94e861d Mon Sep 17 00:00:00 2001 From: chenyf <1343619937@qq.com> Date: Tue, 2 Jul 2024 18:29:46 +0800 Subject: [PATCH] fix: 1 --- .vscode/settings.json | 5 + 1.csv | 43 +++++ ana.c | 351 +++++++++++++++++++++++++++++++++++++ ana.exe | Bin 0 -> 119373 bytes ana2.c | 397 ++++++++++++++++++++++++++++++++++++++++++ ana2.exe | Bin 0 -> 216356 bytes data.h | 0 data_10ul_kongxi.c | 14 ++ data_10ul_water.c | 18 ++ error.csv | 0 error_10ul_one.csv | 22 +++ makefile | 0 to_csv.c | 155 +++++++++++++++++ to_csv.exe | Bin 0 -> 117006 bytes 14 files changed, 1005 insertions(+) create mode 100644 .vscode/settings.json create mode 100644 1.csv create mode 100644 ana.c create mode 100644 ana.exe create mode 100644 ana2.c create mode 100644 ana2.exe create mode 100644 data.h create mode 100644 data_10ul_kongxi.c create mode 100644 data_10ul_water.c create mode 100644 error.csv create mode 100644 error_10ul_one.csv create mode 100644 makefile create mode 100644 to_csv.c create mode 100644 to_csv.exe diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..14004e0 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "files.associations": { + "type_traits": "c" + } +} \ No newline at end of file diff --git a/1.csv b/1.csv new file mode 100644 index 0000000..4a11376 --- /dev/null +++ b/1.csv @@ -0,0 +1,43 @@ 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diff --git a/ana.c b/ana.c new file mode 100644 index 0000000..33465f3 --- /dev/null +++ b/ana.c @@ -0,0 +1,351 @@ +#include +#include +int data_10ul_kx[][350] = { + {2221, 2213, 2196, 2184, 2193, 2202, 2207, 2219, 2229, 2229, 2230, 2230, 2223, 2214, 2209, 2203, 2203, 2210, 2217, 2221, 2225, 2225, 2233, 2252, 2214, 2180, 2230, 2248, 2177, 2181, 2250, 2223, 2174, 2218, 2253, 2213, 2193, 2171, 1960, 1519, 1051, 752, 580, 493, 667, 1027, 1314, 1557, 1725, 1634, 1340, 1014, 740, 558, 470, 503, 659, 852, 948, 972, 994, 927, 763, 643, 589, 521, 490, 557, 734, 973, 1207, 1460, 1668, 1694, 1610, 1536, 1433, 1264, 1164, 1222, 1306, 1363, 1465, 1568, 1569, 1481, 1407, 1359, 1264, 1175, 1207, 1308, 1368, 1443, 1570, 1656, 1644, 1591, 1530, 1427, 1302, 1243, 1263, 1284, 1287, 1334, 1410, 1427, 1409, 1449, 1516, 1523, 1511, 1529, 1509, 1410, 1335, 1338, 1337, 1280, 1270, 1343, 1384, 1406, 1494, 1586, 1609, 1626, 1626, 1569, 1450, 1307, 1235, 1227, 1206, 1223, 1333, 1439, 1456, 1496, 1593, 1604, 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1643, 1527, 1401, 1309, 1244, 1212, 1235, 1302, 1359, 1400, 1468, 1542, 1558, 1549, 1564, 1552, 1477, 1395, 1352, 1322, 1293, 1303, 1353, 1380, 1373, 1406, 1490, 1553, 1585, 1632, 1651, 1593, 1506, 1411, 1314, 1232, 1183, 1211, 1290, 1346, 1414, 1530, 1608, 1609, 1613, 1629, 1589, 1516, 1466, 1417, 1328, 1242, 1229, 1258, 1278, 1335, 1450, 1551, 1607, 1654, 1693, 1689, 1651, 1605, 1542, 1441, 1313, 1222, 1197, 1210, 1273, 1409, 1556, 1635, 1675, 1710, 1701, 1636, 1571, 1525, 1456, 1372, 1320, 1309, 1306, 1318, 1396, 1507, 1569, 1591, 1610, 1604, 1580, 1579, 1593, 1592, 1545, 1475, 1421, 1357, 1286, 1296, 1400, 1505, 1579, 1655, 1698, 1665, 1607, 1566, 1524, 1453, 1396, 1394, 1394, 1359, 1361, 1435, 1516, 1576, 1628, 1649, 1616, 1563, 1535, 1533, 1533, 1528, 1530, 1513, 1461, 1403, 1362, 1356, 1417, 1514, 1590, 1642, 1667, 1659, 1642, 1617, 1568, 1514, 1508, 1615, 1844, 2154, 2473, 2721, 2867, 2902, 2833, 2705, 2571, 2481, 2467, 2532, 2653, 2788, 2914, 3000, 3032, 3031, 2999, 2943, 2912, 2901, 2918, 2976, 3030, 3115, 3207, 3219, 3156, 3052, 2904, 2710, 2515, 2327, 2174, 2124, 2163, 2246, 2364, 2473, 2533, 2548, 2520}, + {2225, 2213, 2195, 2193, 2202, 2206, 2214, 2225, 2230, 2232, 2234, 2232, 2225, 2218, 2213, 2208, 2208, 2214, 2220, 2225, 2228, 2228, 2225, 2221, 2218, 2231, 2244, 2213, 2201, 2243, 2235, 2182, 2200, 2241, 2214, 2196, 2213, 2107, 1779, 1392, 1054, 687, 431, 453, 707, 1109, 1522, 1762, 1760, 1557, 1212, 863, 635, 492, 457, 594, 779, 892, 982, 1040, 995, 867, 745, 670, 596, 520, 505, 574, 731, 986, 1285, 1554, 1702, 1716, 1679, 1588, 1417, 1276, 1249, 1268, 1289, 1364, 1468, 1504, 1484, 1464, 1428, 1351, 1270, 1251, 1294, 1341, 1400, 1519, 1630, 1656, 1642, 1604, 1494, 1352, 1261, 1230, 1230, 1251, 1307, 1390, 1453, 1488, 1536, 1582, 1575, 1532, 1504, 1465, 1376, 1308, 1314, 1324, 1317, 1341, 1386, 1418, 1432, 1490, 1587, 1625, 1624, 1628, 1573, 1459, 1351, 1269, 1228, 1214, 1226, 1309, 1409, 1459, 1520, 1617, 1654, 1607, 1585, 1584, 1508, 1415, 1367, 1316, 1249, 1220, 1259, 1334, 1395, 1465, 1575, 1650, 1657, 1664, 1680, 1646, 1570, 1493, 1406, 1292, 1200, 1188, 1252, 1343, 1453, 1583, 1678, 1693, 1676, 1671, 1636, 1551, 1476, 1431, 1365, 1294, 1280, 1324, 1378, 1434, 1527, 1608, 1607, 1580, 1585, 1577, 1567, 1578, 1575, 1545, 1471, 1374, 1327, 1309, 1314, 1408, 1556, 1643, 1658, 1673, 1671, 1597, 1525, 1493, 1453, 1395, 1362, 1367, 1379, 1385, 1444, 1561, 1635, 1635, 1625, 1604, 1549, 1510, 1520, 1542, 1538, 1519, 1497, 1442, 1376, 1353, 1380, 1452, 1549, 1621, 1654, 1663, 1652, 1630, 1597, 1545, 1497, 1528, 1687, 1952, 2276, 2579, 2792, 2894, 2884, 2785, 2646, 2529, 2469, 2484, 2575, 2706, 2837, 2951, 3016, 3030, 3021, 2977, 2924, 2905, 2902, 2935, 2999, 3060, 3154, 3224, 3205, 3120, 3000, 2835, 2634, 2443, 2266, 2145, 2132, 2192, 2288, 2408, 2503, 2542, 2539}, + {0}, +}; +int data_10ul_one5ul_kx[][350] = { + {2228, 2283, 2315, 2315, 2285, 2242, 2202, 2172, 2160, 2168, 2190, 2217, 2241, 2256, 2259, 2250, 2234, 2219, 2208, 2203, 2205, 2212, 2220, 2225, 2227, 2230, 2230, 2228, 2226, 2224, 2221, 2218, 2218, 2218, 2220, 2223, 2227, 2228, 2213, 2127, 1899, 1609, 1316, 914, 525, 426, 632, 1011, 1456, 1738, 1712, 1514, 1244, 926, 683, 574, 537, 598, 775, 978, 1225, 1510, 1716, 1843, 1905, 1852, 1751, 1658, 1524, 1443, 1485, 1540, 1622, 1748, 1798, 1795, 1792, 1728, 1647, 1606, 1534, 1496, 1554, 1598, 1643, 1708, 1681, 1638, 1658, 1636, 1617, 1660, 1652, 1637, 1695, 1719, 1725, 1782, 1822, 1917, 2153, 2412, 2645, 2849, 2937, 2908, 2841, 2749, 2660, 2640, 2673, 2732, 2828, 2933, 3033, 3102, 3125, 3087, 2949, 2815, 2706, 2535, 2375, 2242, 2104, 2053, 2096, 2160, 2246, 2339, 2384, 2387, 2364}, + {2260, 2297, 2301, 2277, 2241, 2203, 2174, 2165, 2173, 2192, 2216, 2238, 2249, 2249, 2241, 2227, 2212, 2204, 2203, 2208, 2217, 2225, 2228, 2229, 2227, 2222, 2218, 2218, 2218, 2218, 2218, 2218, 2220, 2221, 2221, 2208, 2116, 1852, 1527, 1211, 791, 472, 437, 699, 1212, 1649, 1784, 1678, 1395, 1028, 742, 579, 546, 649, 762, 898, 1108, 1305, 1510, 1721, 1798, 1787, 1768, 1673, 1582, 1559, 1503, 1511, 1625, 1681, 1738, 1811, 1771, 1708, 1673, 1596, 1552, 1569, 1548, 1570, 1649, 1662, 1674, 1696, 1629, 1591, 1620, 1601, 1626, 1693, 1684, 1696, 1743, 1730, 1748, 1834, 1949, 2179, 2482, 2715, 2871, 2929, 2869, 2772, 2685, 2623, 2634, 2706, 2791, 2894, 2974, 3032, 3097, 3094, 3036, 2978, 2873, 2720, 2531, 2301, 2101, 2008, 2014, 2093, 2222, 2340, 2408, 2423, 2387, 2317}, + {2268, 2306, 2306, 2277, 2236, 2195, 2167, 2161, 2175, 2200, 2226, 2245, 2253, 2249, 2236, 2220, 2208, 2201, 2202, 2208, 2216, 2224, 2229, 2230, 2228, 2226, 2222, 2219, 2217, 2215, 2214, 2216, 2219, 2222, 2223, 2209, 2102, 1826, 1513, 1172, 698, 421, 503, 750, 1228, 1705, 1775, 1622, 1389, 1013, 711, 586, 536, 626, 813, 929, 1099, 1355, 1532, 1706, 1847, 1802, 1727, 1684, 1565, 1514, 1560, 1541, 1587, 1714, 1742, 1769, 1813, 1725, 1632, 1610, 1544, 1530, 1601, 1595, 1609, 1684, 1666, 1651, 1683, 1616, 1575, 1632, 1632, 1655, 1732, 1721, 1707, 1749, 1750, 1811, 2008, 2231, 2483, 2747, 2884, 2907, 2872, 2771, 2667, 2625, 2643, 2709, 2804, 2907, 2981, 3044, 3102, 3086, 3033, 2973, 2862, 2702, 2503, 2274, 2086, 2003, 2019, 2108, 2235, 2347, 2412, 2423, 2381, 2309}, + {2254, 2288, 2293, 2275, 2243, 2208, 2181, 2170, 2176, 2193, 2214, 2233, 2245, 2246, 2238, 2226, 2213, 2203, 2202, 2208, 2218, 2225, 2229, 2230, 2225, 2219, 2217, 2217, 2217, 2219, 2221, 2221, 2222, 2222, 2222, 2212, 2129, 1877, 1548, 1245, 839, 472, 465, 740, 1151, 1613, 1821, 1678, 1410, 1086, 756, 583, 566, 596, 717, 917, 1090, 1303, 1551, 1691, 1773, 1818, 1748, 1670, 1629, 1518, 1465, 1554, 1609, 1678, 1795, 1794, 1752, 1744, 1657, 1585, 1590, 1530, 1508, 1599, 1629, 1658, 1732, 1676, 1608, 1639, 1602, 1586, 1666, 1665, 1656, 1728, 1734, 1729, 1789, 1814, 1913, 2177, 2445, 2678, 2871, 2927, 2873, 2793, 2696, 2625, 2631, 2696, 2779, 2886, 2977, 3027, 3091, 3106, 3025, 2921, 2819, 2692, 2543, 2381, 2202, 2077, 2056, 2098, 2185, 2290, 2363, 2390, 2379, 2331}, + {2268, 2309, 2316, 2295, 2255, 2212, 2183, 2173, 2181, 2203, 2228, 2248, 2259, 2258, 2248, 2235, 2223, 2215, 2214, 2216, 2220, 2227, 2234, 2238, 2239, 2238, 2236, 2231, 2227, 2223, 2223, 2225, 2228, 2231, 2233, 2222, 2133, 1873, 1547, 1223, 785, 471, 464, 702, 1190, 1645, 1783, 1683, 1436, 1076, 770, 594, 535, 626, 756, 885, 1104, 1332, 1524, 1731, 1828, 1792, 1762, 1685, 1574, 1550, 1522, 1505, 1617, 1704, 1743, 1817, 1805, 1716, 1668, 1604, 1537, 1554, 1560, 1558, 1637, 1681, 1678, 1708, 1665, 1592, 1611, 1612, 1614, 1689, 1708, 1690, 1738, 1748, 1746, 1836, 1968, 2163, 2458, 2711, 2858, 2925, 2890, 2787, 2700, 2642, 2633, 2696, 2783, 2881, 2973, 3031, 3097, 3111, 3029, 2919, 2814, 2681, 2525, 2365, 2189, 2067, 2054, 2101, 2183, 2290, 2366, 2391, 2381, 2336}, + {2237, 2286, 2304, 2296, 2264, 2223, 2189, 2168, 2166, 2182, 2206, 2230, 2248, 2255, 2248, 2236, 2223, 2212, 2206, 2206, 2212, 2219, 2224, 2228, 2230, 2231, 2229, 2226, 2224, 2219, 2216, 2217, 2219, 2220, 2223, 2210, 2132, 1935, 1657, 1317, 829, 415, 399, 669, 1091, 1585, 1817, 1708, 1485, 1173, 828, 630, 539, 528, 676, 865, 1048, 1317, 1551, 1691, 1824, 1850, 1768, 1716, 1615, 1477, 1481, 1535, 1580, 1704, 1791, 1785, 1798, 1772, 1676, 1629, 1572, 1487, 1520, 1590, 1619, 1698, 1732, 1668, 1658, 1652, 1598, 1617, 1648, 1636, 1680, 1732, 1732, 1758, 1779, 1788, 1917, 2153, 2405, 2661, 2859, 2927, 2904, 2831, 2730, 2654, 2640, 2684, 2757, 2857, 2957, 3015, 3082, 3132, 3083, 2967, 2837, 2688, 2514, 2359, 2216, 2093, 2063, 2112, 2185, 2277, 2357, 2387, 2377, 2342}, + {2242, 2286, 2301, 2290, 2260, 2222, 2190, 2171, 2170, 2186, 2210, 2232, 2246, 2251, 2245, 2232, 2220, 2211, 2207, 2210, 2216, 2222, 2227, 2230, 2231, 2229, 2227, 2224, 2221, 2218, 2217, 2219, 2223, 2225, 2225, 2207, 2115, 1902, 1606, 1234, 774, 417, 415, 733, 1172, 1600, 1813, 1704, 1434, 1123, 806, 594, 549, 586, 683, 874, 1092, 1322, 1571, 1748, 1823, 1837, 1777, 1678, 1607, 1522, 1464, 1526, 1615, 1688, 1790, 1828, 1787, 1747, 1677, 1591, 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3011, 3051, 3053, 2990, 2834, 2614, 2371, 2136, 1948, 1843, 1826, 1878, 1987, 2132, 2280, 2400}, + {2141, 2217, 2280, 2321, 2327, 2303, 2263, 2217, 2178, 2159, 2158, 2173, 2198, 2224, 2246, 2260, 2262, 2253, 2240, 2227, 2212, 2203, 2202, 2206, 2213, 2224, 2233, 2238, 2238, 2235, 2228, 2222, 2217, 2215, 2216, 2202, 2128, 1967, 1732, 1414, 987, 554, 392, 554, 880, 1291, 1601, 1664, 1589, 1407, 1116, 866, 686, 539, 530, 641, 795, 1070, 1407, 1669, 1890, 2016, 1979, 1894, 1767, 1560, 1444, 1434, 1435, 1529, 1676, 1750, 1818, 1865, 1805, 1734, 1669, 1543, 1486, 1516, 1525, 1588, 1677, 1675, 1686, 1717, 1676, 1660, 1684, 1655, 1657, 1700, 1700, 1720, 1766, 1784, 1882, 2096, 2335, 2589, 2820, 2940, 2968, 2933, 2839, 2739, 2673, 2655, 2685, 2757, 2863, 2960, 3050, 3139, 3155, 3093, 2999, 2837, 2616, 2391, 2166, 1995, 1942, 1981, 2077, 2218, 2350, 2434, 2467, 2446}, + {2239, 2285, 2302, 2288, 2256, 2220, 2189, 2172, 2172, 2186, 2209, 2232, 2247, 2252, 2246, 2234, 2220, 2211, 2207, 2209, 2216, 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data_10ul_water +#define DATA3 data_10ul_one5ul_kx +#define PART_SIZE(x) (sizeof(x) / sizeof(x[0])) + +/* + Q:过程噪声，Q增大，动态响应变快，收敛稳定性变坏 + R:测量噪声，R增大，动态响应变慢，收敛稳定性变好 + KALMAN_First_X : 观测初值，一般需要自己去采样一下 + KALMAN_Frist_P : 采样误差初值 这个一般写0 +*/ + +#define KALMAN_Q 0.02 +#define KALMAN_R 10.0000 + +#define KALMAN_First_X 1 +#define KALMAN_Frist_P 0.00 +/* 卡尔曼滤波处理 */ +static float x_last = KALMAN_First_X; +static float p_last = KALMAN_Frist_P; +static float KalmanFilter(const float ResrcData, float ProcessNiose_Q, float MeasureNoise_R) +{ + + float R = MeasureNoise_R; + float Q = ProcessNiose_Q; + + float x_mid = x_last; + float x_now; + + float p_mid; + float p_now; + + float kg; + + x_mid = x_last; // x_last=x(k-1|k-1),x_mid=x(k|k-1) + p_mid = p_last + Q; // p_mid=p(k|k-1),p_last=p(k-1|k-1),Q=噪声 + + /* + * 卡尔曼滤波的五个重要公式 + */ + kg = p_mid / (p_mid + R); // kg为kalman filter，R 为噪声 + x_now = x_mid + kg * (ResrcData - x_mid); // 估计出的最优值 + p_now = (1 - kg) * p_mid; // 最优值对应的covariance + p_last = p_now; // 更新covariance 值 + x_last = x_now; // 更新系统状态值 + + return x_now; +} + +typedef struct un_draw_t +{ + unsigned int delta_cnt; + +} un_draw_t; + +void un_draw_detect() +{ +} +float abs_f(float x) +{ + return x > 0 ? x : -x; +} +/** + * 吸液曲线分成3阶段 + * 1. 平衡 + * 2. 压力下降 + * 3. 压力平衡 + */ +typedef struct press_stage_t +{ + float old_data; + unsigned char stage; + unsigned int deal_cnt; + float value_cache[4]; + int value_cnt; + + float start_value; + int down_end_cnt; + float wave_end_value; + int delay_enter_steady; + int up_cnt; + + unsigned char no_draw_flag : 1; +} press_stage_t; +press_stage_t stage; +void pt_cache() +{ + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + printf("%f ", stage.value_cache[i]); + } +} +void press_deal(float data) +{ + // 赋初值 + if (stage.value_cnt < PART_SIZE(stage.value_cache)) + { + stage.value_cache[stage.value_cnt++] = data; + // 计算一下初始平均值 + if (stage.value_cnt == PART_SIZE(stage.value_cache)) + { + float sum = 0; + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + sum += stage.value_cache[i]; + } + stage.start_value = sum / PART_SIZE(stage.value_cache); + // printf("start value =%f\n",stage.start_value); + // printf("staic stage\n"); + } + return; + } + // 移位 + for (int i = 0; i < PART_SIZE(stage.value_cache) - 1; i++) + { + stage.value_cache[i] = stage.value_cache[i + 1]; + } + stage.value_cache[PART_SIZE(stage.value_cache) - 1] = data; + // 稳定段 + if (stage.stage == 0) + { + // printf("%f,", data); + char down = 0; + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + float delta = abs_f(stage.value_cache[i] - stage.start_value); + if (delta > 30.0) + { + down = 1; + break; + } + } + if (down) + { + // printf("\n"); + // pt_cache(); + // printf("\ncnt = %d", stage.deal_cnt); + // 4个数递减，说明要进入负压阶段 + // printf("\nwave_stage\n"); + stage.stage = 1; + } + } + else if (stage.stage == 1) + { + // printf("%f,", data); + int wave = 0; + for (int i = 0; i < PART_SIZE(stage.value_cache) - 1; i++) + { + if (abs_f(stage.value_cache[i + 1] - stage.value_cache[i]) > 5.0) + { + wave = 1; + break; + } + } + if (wave == 0) + { + stage.delay_enter_steady = 5; + // printf("\n"); + // printf("cnt = %d\n", stage.deal_cnt); + // 停止急速下降，说明进入平稳段 + + // printf("wave = %f\n", stage.wave_end_value); + } + if (stage.delay_enter_steady) + { + stage.delay_enter_steady--; + if (stage.delay_enter_steady == 0) + { + stage.stage = 2; + stage.wave_end_value = 0.0; + stage.up_cnt = 0; + stage.no_draw_flag = 0; + + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + stage.wave_end_value += stage.value_cache[i]; + } + + stage.wave_end_value = stage.wave_end_value / PART_SIZE(stage.value_cache); + printf("steady cnt = %d\n", stage.deal_cnt); + } + } + } + else if (stage.stage == 2) + { + float delta = abs_f(data - stage.wave_end_value); + if (delta > 50.0) + { + if (stage.value_cache[PART_SIZE(stage.value_cache) - 2] < data) + { + // old 比 now 小 + float speed = data - stage.value_cache[PART_SIZE(stage.value_cache) - 2]; + // printf("speed = %f\n", speed); + if (speed > 30.0) + { + stage.stage = 3; + } + } + + if (stage.up_cnt < 4) + { + stage.up_cnt++; + } + else + { + // printf("%f\n", data); + // printf("no draw warming\n"); + printf("no draw cnt = %d\n", stage.deal_cnt); + stage.no_draw_flag = 1; + stage.stage = 0xff; + } + } + else + { + stage.up_cnt = 0; + } + } + stage.deal_cnt++; +} +void press_init() +{ + stage.stage = 0; + stage.value_cnt = 0; + stage.deal_cnt = 0; +} + +int main(void) +{ + FILE *f = fopen("error.csv", "w+"); + int i = 0; + while (DATA[i][0] != 0) + { + int j = 0; + x_last = DATA[i][0]; + press_init(); + while (DATA[i][j] != 0) + { + float get_value = KalmanFilter(DATA[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + + if (stage.no_draw_flag == 0) + { + printf("no draw detece fail :%d\n", i); + } + i++; + // break; + } + i = 0; + printf(">>>>>>>>>1\n"); + while (DATA3[i][0] != 0) + { + int j = 0; + x_last = DATA3[i][0]; + press_init(); + while (DATA3[i][j] != 0) + { + float get_value = KalmanFilter(DATA3[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + if (stage.no_draw_flag == 0) + { + printf("no draw detece fail :%d\n", i); + int j = 0; + while (DATA3[i][j] != 0) + { + fprintf(f, "%d,", DATA3[i][j]); + j++; + } + + } + i++; + // break; + } + i = 0; + printf(">>>>>>>>>2\n"); + while (DATA2[i][0] != 0) + { + int j = 0; + x_last = DATA2[i][0]; + press_init(); + while (DATA2[i][j] != 0) + { + float get_value = KalmanFilter(DATA2[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + if (stage.no_draw_flag == 1) + { + printf("no draw detece fail :%d\n", i); + } + i++; + // break; + } + fclose(f); +} \ No newline at end of file diff --git a/ana.exe b/ana.exe new file mode 100644 index 0000000000000000000000000000000000000000..7513e960858a2cf82ee1ee93e33988875ce3442f GIT binary patch literal 119373 zcmeFacXU-%+qatl!64ucN&pokDkvZ#C{;ldO>_r?q5>jKlpei!MM1>g 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zH_^oBkIblT3M(7k?4YT`-WE(u`_kzwMi&p?DAPBTXI!H_d9ujDjN5u439vWp601tsT$0`{{LRmSRtlJ|A@p zZJtKD|0_ol$t@|7U~c;Qj76UKBvXi2DCHAb%?GZSHy0NBRmO`c6zMMXv9M0XjteH# z?3I}9km$CDjZ*fBw?Y(*()01pOFh0Gz#U*yP$aaM0-n##$1kuH!9Smmr zEB1l;<}cfBZhtn#d-IJ`Jh(Ss*y|2!MKeY0wMw6za|ts@K|eYBpo>n>g{g`Iov z0Y#R2hf$+NV +#include +int data_10ul_kx[][350] = { + {2221, 2213, 2196, 2184, 2193, 2202, 2207, 2219, 2229, 2229, 2230, 2230, 2223, 2214, 2209, 2203, 2203, 2210, 2217, 2221, 2225, 2225, 2233, 2252, 2214, 2180, 2230, 2248, 2177, 2181, 2250, 2223, 2174, 2218, 2253, 2213, 2193, 2171, 1960, 1519, 1051, 752, 580, 493, 667, 1027, 1314, 1557, 1725, 1634, 1340, 1014, 740, 558, 470, 503, 659, 852, 948, 972, 994, 927, 763, 643, 589, 521, 490, 557, 734, 973, 1207, 1460, 1668, 1694, 1610, 1536, 1433, 1264, 1164, 1222, 1306, 1363, 1465, 1568, 1569, 1481, 1407, 1359, 1264, 1175, 1207, 1308, 1368, 1443, 1570, 1656, 1644, 1591, 1530, 1427, 1302, 1243, 1263, 1284, 1287, 1334, 1410, 1427, 1409, 1449, 1516, 1523, 1511, 1529, 1509, 1410, 1335, 1338, 1337, 1280, 1270, 1343, 1384, 1406, 1494, 1586, 1609, 1626, 1626, 1569, 1450, 1307, 1235, 1227, 1206, 1223, 1333, 1439, 1456, 1496, 1593, 1604, 1558, 1571, 1591, 1526, 1416, 1355, 1311, 1221, 1167, 1227, 1315, 1374, 1470, 1600, 1675, 1679, 1680, 1686, 1631, 1523, 1433, 1357, 1253, 1165, 1182, 1280, 1369, 1462, 1597, 1692, 1680, 1646, 1642, 1599, 1510, 1456, 1447, 1407, 1314, 1273, 1307, 1325, 1360, 1468, 1562, 1583, 1606, 1640, 1653, 1621, 1569, 1550, 1512, 1406, 1320, 1308, 1305, 1303, 1411, 1585, 1654, 1646, 1651, 1624, 1529, 1454, 1455, 1467, 1432, 1410, 1435, 1420, 1372, 1403, 1497, 1553, 1563, 1579, 1590, 1562, 1538, 1560, 1572, 1543, 1516, 1470, 1390, 1331, 1332, 1381, 1466, 1562, 1630, 1655, 1649, 1625, 1590, 1553, 1513, 1517, 1642, 1876, 2169, 2476, 2713, 2829, 2837, 2765, 2643, 2528, 2473, 2482, 2550, 2684, 2829, 2933, 2999, 3020, 2994, 2954, 2926, 2907, 2899, 2935, 2985, 3037, 3137, 3197, 3186, 3172, 3101, 2933, 2729, 2501, 2263, 2108, 2076, 2125, 2237, 2383, 2501, 2563, 2573, 2530}, + {2215, 2209, 2192, 2186, 2201, 2208, 2211, 2222, 2229, 2227, 2228, 2227, 2220, 2215, 2212, 2206, 2206, 2214, 2219, 2222, 2226, 2224, 2231, 2249, 2207, 2177, 2234, 2246, 2175, 2189, 2255, 2217, 2172, 2220, 2249, 2208, 2200, 2206, 2056, 1667, 1178, 808, 621, 526, 614, 947, 1256, 1477, 1703, 1707, 1408, 1065, 805, 591, 464, 496, 654, 836, 941, 981, 1005, 933, 765, 646, 596, 532, 504, 557, 692, 899, 1126, 1387, 1616, 1667, 1608, 1562, 1468, 1290, 1185, 1232, 1298, 1347, 1455, 1560, 1558, 1478, 1420, 1374, 1273, 1180, 1207, 1296, 1348, 1428, 1560, 1641, 1636, 1604, 1549, 1439, 1311, 1247, 1262, 1281, 1284, 1331, 1405, 1419, 1404, 1449, 1509, 1507, 1505, 1542, 1521, 1420, 1346, 1341, 1334, 1283, 1276, 1343, 1373, 1387, 1477, 1569, 1595, 1622, 1636, 1588, 1473, 1328, 1246, 1228, 1199, 1216, 1328, 1424, 1435, 1482, 1582, 1590, 1551, 1575, 1597, 1536, 1442, 1384, 1330, 1232, 1170, 1216, 1293, 1352, 1451, 1582, 1656, 1666, 1672, 1682, 1639, 1543, 1458, 1387, 1279, 1179, 1180, 1260, 1338, 1435, 1576, 1673, 1668, 1645, 1646, 1603, 1522, 1473, 1460, 1419, 1330, 1284, 1305, 1312, 1342, 1451, 1547, 1573, 1596, 1626, 1640, 1613, 1572, 1560, 1525, 1424, 1343, 1323, 1300, 1283, 1384, 1555, 1641, 1652, 1660, 1634, 1538, 1457, 1455, 1464, 1426, 1409, 1441, 1427, 1374, 1397, 1486, 1544, 1565, 1585, 1590, 1556, 1525, 1545, 1567, 1553, 1532, 1489, 1407, 1336, 1319, 1356, 1441, 1545, 1622, 1656, 1654, 1627, 1591, 1555, 1513, 1494, 1581, 1793, 2078, 2393, 2661, 2810, 2839, 2782, 2665, 2539, 2466, 2467, 2529, 2651, 2803, 2921, 2990, 3015, 2991, 2947, 2912, 2896, 2891, 2919, 2978, 3030, 3116, 3199, 3199, 3174, 3126, 2985, 2788, 2570, 2331, 2145, 2084, 2120, 2217, 2356, 2482, 2551, 2567, 2530}, + {2224, 2220, 2203, 2185, 2193, 2204, 2204, 2214, 2227, 2227, 2227, 2230, 2225, 2215, 2209, 2205, 2203, 2209, 2217, 2221, 2225, 2225, 2231, 2251, 2221, 2179, 2221, 2253, 2185, 2171, 2246, 2235, 2173, 2207, 2256, 2218, 2194, 2222, 2163, 1886, 1438, 993, 699, 537, 497, 724, 1083, 1334, 1591, 1767, 1592, 1231, 959, 725, 503, 451, 576, 741, 862, 948, 1015, 987, 847, 719, 649, 571, 514, 527, 605, 761, 972, 1237, 1512, 1646, 1640, 1619, 1559, 1384, 1225, 1219, 1263, 1288, 1384, 1519, 1560, 1503, 1456, 1427, 1330, 1208, 1190, 1258, 1303, 1367, 1502, 1615, 1638, 1632, 1608, 1512, 1367, 1266, 1248, 1258, 1256, 1298, 1384, 1419, 1405, 1442, 1513, 1513, 1492, 1530, 1538, 1448, 1365, 1354, 1350, 1298, 1273, 1329, 1361, 1357, 1429, 1538, 1579, 1608, 1646, 1631, 1535, 1387, 1281, 1241, 1194, 1178, 1276, 1391, 1412, 1447, 1563, 1603, 1554, 1567, 1610, 1565, 1469, 1415, 1373, 1270, 1174, 1193, 1266, 1308, 1388, 1531, 1631, 1654, 1672, 1697, 1671, 1584, 1499, 1433, 1327, 1201, 1163, 1224, 1291, 1371, 1522, 1653, 1671, 1651, 1663, 1635, 1551, 1494, 1477, 1439, 1351, 1293, 1305, 1307, 1312, 1405, 1522, 1564, 1587, 1622, 1642, 1621, 1582, 1580, 1562, 1465, 1370, 1341, 1309, 1256, 1316, 1490, 1608, 1645, 1675, 1674, 1585, 1481, 1459, 1467, 1423, 1392, 1429, 1441, 1385, 1380, 1463, 1529, 1554, 1584, 1602, 1570, 1525, 1532, 1559, 1556, 1549, 1523, 1450, 1369, 1326, 1329, 1392, 1496, 1587, 1640, 1657, 1645, 1613, 1577, 1538, 1495, 1512, 1659, 1913, 2223, 2529, 2748, 2844, 2836, 2747, 2613, 2501, 2459, 2484, 2573, 2717, 2859, 2955, 3009, 3015, 2981, 2938, 2908, 2894, 2898, 2942, 2997, 3060, 3156, 3203, 3188, 3163, 3077, 2907, 2697, 2459, 2227, 2094, 2081, 2145, 2268, 2415, 2524, 2571, 2565, 2508}, + {2200, 2196, 2189, 2199, 2215, 2221, 2227, 2231, 2228, 2224, 2222, 2218, 2214, 2211, 2210, 2210, 2213, 2218, 2222, 2225, 2226, 2223, 2232, 2243, 2205, 2186, 2236, 2240, 2185, 2201, 2247, 2215, 2188, 2223, 2239, 2215, 2200, 2100, 1765, 1285, 883, 606, 439, 493, 796, 1218, 1616, 1805, 1714, 1468, 1118, 729, 506, 466, 500, 643, 871, 1029, 1046, 991, 911, 775, 625, 551, 538, 533, 564, 675, 893, 1148, 1361, 1549, 1660, 1621, 1518, 1437, 1345, 1233, 1207, 1303, 1397, 1455, 1518, 1549, 1500, 1403, 1328, 1287, 1232, 1201, 1275, 1392, 1463, 1536, 1628, 1662, 1611, 1527, 1434, 1331, 1249, 1235, 1284, 1325, 1341, 1379, 1436, 1446, 1436, 1476, 1529, 1527, 1504, 1496, 1446, 1356, 1311, 1328, 1337, 1308, 1313, 1375, 1418, 1462, 1546, 1612, 1628, 1623, 1579, 1492, 1366, 1237, 1198, 1223, 1238, 1291, 1405, 1485, 1500, 1541, 1598, 1585, 1554, 1556, 1542, 1475, 1378, 1310, 1269, 1214, 1199, 1279, 1380, 1455, 1547, 1644, 1681, 1671, 1662, 1643, 1573, 1468, 1369, 1287, 1210, 1171, 1230, 1357, 1467, 1558, 1650, 1691, 1654, 1607, 1589, 1550, 1481, 1436, 1418, 1373, 1300, 1282, 1329, 1377, 1445, 1541, 1591, 1594, 1602, 1614, 1624, 1603, 1550, 1519, 1466, 1360, 1289, 1292, 1321, 1382, 1521, 1662, 1689, 1648, 1612, 1556, 1479, 1430, 1436, 1452, 1429, 1407, 1419, 1412, 1406, 1469, 1559, 1596, 1586, 1572, 1559, 1539, 1534, 1561, 1568, 1537, 1492, 1420, 1341, 1312, 1350, 1441, 1550, 1631, 1664, 1657, 1627, 1590, 1553, 1515, 1490, 1556, 1758, 2048, 2371, 2646, 2803, 2841, 2785, 2664, 2535, 2459, 2460, 2531, 2658, 2808, 2926, 2991, 3007, 2977, 2934, 2901, 2887, 2895, 2928, 2987, 3038, 3102, 3189, 3204, 3142, 3057, 2946, 2792, 2619, 2429, 2245, 2150, 2156, 2219, 2326, 2441, 2511, 2533, 2513}, + {2247, 2243, 2223, 2198, 2194, 2195, 2192, 2201, 2217, 2223, 2230, 2238, 2234, 2223, 2217, 2210, 2202, 2204, 2211, 2215, 2220, 2224, 2223, 2221, 2220, 2232, 2245, 2213, 2193, 2237, 2240, 2175, 2182, 2246, 2224, 2154, 2022, 1677, 1199, 819, 554, 389, 479, 807, 1201, 1578, 1781, 1703, 1486, 1192, 817, 544, 475, 476, 530, 722, 921, 982, 983, 984, 907, 739, 611, 569, 518, 477, 593, 851, 1118, 1383, 1624, 1753, 1736, 1618, 1489, 1369, 1235, 1167, 1234, 1345, 1395, 1447, 1536, 1540, 1448, 1378, 1340, 1267, 1205, 1254, 1369, 1440, 1500, 1612, 1684, 1632, 1536, 1459, 1360, 1252, 1219, 1253, 1282, 1302, 1355, 1434, 1480, 1490, 1524, 1576, 1563, 1494, 1458, 1426, 1335, 1272, 1302, 1327, 1303, 1321, 1403, 1471, 1500, 1560, 1649, 1661, 1596, 1535, 1451, 1318, 1222, 1204, 1229, 1256, 1298, 1392, 1491, 1529, 1557, 1622, 1645, 1580, 1531, 1528, 1451, 1323, 1264, 1252, 1213, 1203, 1298, 1421, 1487, 1551, 1659, 1714, 1685, 1664, 1652, 1568, 1440, 1336, 1253, 1181, 1161, 1235, 1369, 1489, 1577, 1662, 1719, 1694, 1634, 1611, 1571, 1466, 1383, 1364, 1320, 1259, 1275, 1360, 1433, 1482, 1558, 1624, 1615, 1588, 1607, 1613, 1577, 1545, 1514, 1455, 1360, 1279, 1282, 1340, 1407, 1521, 1660, 1702, 1645, 1608, 1586, 1509, 1437, 1431, 1440, 1403, 1367, 1385, 1417, 1432, 1487, 1587, 1626, 1589, 1568, 1572, 1551, 1532, 1552, 1565, 1524, 1454, 1393, 1338, 1315, 1371, 1471, 1556, 1626, 1668, 1664, 1638, 1611, 1570, 1513, 1498, 1596, 1807, 2094, 2412, 2677, 2834, 2886, 2840, 2722, 2585, 2494, 2470, 2508, 2616, 2762, 2889, 2981, 3032, 3034, 3001, 2961, 2929, 2906, 2915, 2956, 3003, 3089, 3181, 3192, 3142, 3077, 2960, 2775, 2581, 2379, 2188, 2097, 2118, 2191, 2303, 2435, 2526, 2559, 2549}, + {2224, 2212, 2190, 2190, 2201, 2203, 2211, 2225, 2228, 2228, 2233, 2230, 2222, 2217, 2211, 2205, 2206, 2213, 2218, 2222, 2225, 2224, 2221, 2217, 2214, 2232, 2248, 2206, 2193, 2249, 2237, 2167, 2195, 2249, 2208, 2189, 2236, 2180, 1893, 1477, 1093, 753, 469, 397, 617, 987, 1386, 1728, 1830, 1641, 1311, 973, 686, 479, 411, 522, 705, 850, 967, 1054, 1033, 892, 752, 677, 588, 500, 499, 568, 702, 955, 1261, 1527, 1675, 1691, 1662, 1579, 1403, 1256, 1232, 1258, 1273, 1358, 1488, 1524, 1491, 1474, 1439, 1344, 1245, 1229, 1278, 1315, 1371, 1497, 1607, 1632, 1632, 1614, 1514, 1373, 1282, 1256, 1250, 1254, 1301, 1376, 1415, 1426, 1473, 1533, 1533, 1515, 1536, 1527, 1432, 1345, 1335, 1324, 1289, 1302, 1356, 1384, 1382, 1449, 1565, 1605, 1610, 1640, 1607, 1494, 1385, 1297, 1239, 1205, 1202, 1283, 1381, 1415, 1470, 1582, 1627, 1577, 1579, 1613, 1545, 1452, 1409, 1351, 1251, 1191, 1221, 1288, 1333, 1408, 1544, 1632, 1647, 1670, 1701, 1672, 1593, 1516, 1433, 1310, 1199, 1170, 1218, 1292, 1395, 1542, 1657, 1674, 1665, 1677, 1648, 1560, 1495, 1465, 1403, 1327, 1298, 1313, 1325, 1348, 1446, 1560, 1584, 1576, 1601, 1603, 1584, 1594, 1596, 1568, 1487, 1387, 1340, 1300, 1267, 1342, 1504, 1611, 1640, 1672, 1674, 1589, 1509, 1490, 1468, 1419, 1393, 1412, 1414, 1374, 1385, 1484, 1558, 1579, 1604, 1614, 1569, 1525, 1533, 1561, 1556, 1532, 1513, 1454, 1370, 1329, 1340, 1404, 1510, 1601, 1649, 1665, 1654, 1623, 1587, 1547, 1501, 1515, 1659, 1912, 2221, 2527, 2751, 2861, 2864, 2777, 2642, 2520, 2464, 2478, 2559, 2694, 2833, 2943, 3011, 3026, 3002, 2963, 2923, 2899, 2900, 2936, 2985, 3044, 3142, 3206, 3184, 3118, 3027, 2882, 2698, 2500, 2295, 2148, 2113, 2157, 2249, 2376, 2483, 2539, 2549, 2512}, + {2241, 2239, 2220, 2205, 2203, 2199, 2198, 2207, 2216, 2222, 2231, 2236, 2231, 2225, 2219, 2211, 2207, 2210, 2214, 2217, 2221, 2223, 2235, 2250, 2214, 2192, 2240, 2245, 2182, 2193, 2246, 2215, 2181, 2223, 2245, 2198, 2089, 1822, 1424, 1048, 718, 496, 494, 686, 1036, 1482, 1770, 1732, 1536, 1286, 922, 595, 481, 500, 565, 718, 914, 1030, 1020, 951, 882, 768, 624, 552, 536, 518, 569, 755, 1030, 1295, 1496, 1648, 1719, 1646, 1507, 1411, 1330, 1227, 1213, 1326, 1416, 1446, 1497, 1533, 1484, 1384, 1320, 1294, 1247, 1223, 1313, 1439, 1506, 1577, 1665, 1674, 1585, 1477, 1381, 1289, 1223, 1227, 1287, 1334, 1354, 1407, 1484, 1507, 1496, 1534, 1573, 1525, 1455, 1427, 1378, 1308, 1295, 1335, 1357, 1332, 1347, 1430, 1488, 1523, 1594, 1651, 1634, 1581, 1508, 1409, 1291, 1196, 1193, 1247, 1279, 1333, 1453, 1546, 1556, 1583, 1638, 1617, 1554, 1526, 1493, 1401, 1292, 1247, 1248, 1228, 1247, 1361, 1474, 1534, 1605, 1685, 1700, 1670, 1650, 1611, 1519, 1397, 1290, 1224, 1187, 1197, 1302, 1457, 1561, 1623, 1688, 1714, 1657, 1596, 1576, 1520, 1428, 1376, 1360, 1323, 1279, 1313, 1411, 1479, 1528, 1589, 1608, 1590, 1593, 1609, 1619, 1584, 1518, 1477, 1416, 1310, 1262, 1320, 1405, 1479, 1601, 1703, 1683, 1625, 1591, 1546, 1475, 1419, 1423, 1436, 1396, 1366, 1401, 1439, 1472, 1550, 1623, 1621, 1582, 1561, 1551, 1537, 1534, 1547, 1541, 1502, 1446, 1381, 1333, 1348, 1427, 1521, 1603, 1656, 1666, 1650, 1626, 1593, 1544, 1497, 1525, 1682, 1943, 2259, 2560, 2769, 2867, 2861, 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{0}, +}; +int data_10ul_one5ul_kx[][1000] = { + {2792, 2808, 2821, 2832, 2841, 2847, 2852, 2854, 2854, 2852, 2848, 2842, 2835, 2827, 2817, 2805, 2792, 2778, 2762, 2745, 2727, 2708, 2688, 2667, 2645, 2623, 2600, 2576, 2552, 2528, 2503, 2478, 2453, 2428, 2403, 2378, 2354, 2330, 2307, 2284, 2262, 2240, 2219, 2199, 2179, 2160, 2142, 2125, 2109, 2093, 2079, 2065, 2053, 2041, 2030, 2021, 2013, 2006, 2000, 1996, 1993, 1990, 1989, 1989, 1990, 1991, 1993, 1996, 2000, 2006, 2012, 2019, 2027, 2036, 2045, 2056, 2066, 2078, 2089, 2101, 2113, 2126, 2139, 2153, 2166, 2181, 2195, 2210, 2224, 2239, 2253, 2267, 2281, 2295, 2309, 2322, 2335, 2347, 2359, 2371, 2382, 2393, 2404, 2414, 2423, 2432, 2440, 2448, 2455, 2461, 2467, 2472, 2477, 2480, 2484, 2486, 2487, 2487, 2485, 2481, 2475, 2468, 2457, 2445, 2430, 2413, 2393, 2370, 2344, 2315, 2282, 2246, 2206, 2163, 2117, 2069, 2018, 1965, 1909, 1853, 1796, 1739, 1685, 1633, 1583, 1535, 1488, 1440, 1391, 1339, 1286, 1232, 1177, 1124, 1073, 1024, 977, 932, 888, 844, 800, 756, 712, 668, 626, 585, 547, 510, 475, 442, 411, 380, 350, 322, 295, 270, 245, 223, 201, 181, 161, 144, 129, 116, 106, 99, 95, 92, 92, 94, 98, 103, 112, 124, 140, 159, 182, 207, 234, 263, 293, 324, 357, 392, 430, 470, 513, 557, 603, 649, 696, 742, 788, 835, 884, 933, 984, 1035, 1085, 1135, 1184, 1232, 1280, 1328, 1377, 1426, 1475, 1523, 1569, 1612, 1653, 1691, 1727, 1762, 1797, 1831, 1864, 1896, 1926, 1952, 1976, 1996, 2014, 2029, 2042, 2054, 2064, 2073, 2079, 2083, 2084, 2082, 2078, 2073, 2065, 2056, 2046, 2034, 2020, 2004, 1985, 1964, 1942, 1920, 1898, 1875, 1852, 1827, 1801, 1774, 1744, 1713, 1681, 1650, 1620, 1590, 1561, 1531, 1501, 1470, 1437, 1404, 1372, 1341, 1312, 1285, 1259, 1235, 1210, 1186, 1161, 1136, 1111, 1089, 1068, 1050, 1035, 1021, 1008, 997, 985, 974, 964, 956, 949, 944, 940, 939, 938, 938, 939, 940, 941, 945, 950, 958, 968, 980, 994, 1011, 1029, 1048, 1070, 1095, 1122, 1151, 1183, 1217, 1254, 1292, 1332, 1374, 1417, 1463, 1509, 1558, 1608, 1659, 1712, 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10.0000 + +#define KALMAN_First_X 1 +#define KALMAN_Frist_P 0.00 +/* 卡尔曼滤波处理 */ +static float x_last = KALMAN_First_X; +static float p_last = KALMAN_Frist_P; +static float KalmanFilter(const float ResrcData, float ProcessNiose_Q, float MeasureNoise_R) +{ + + float R = MeasureNoise_R; + float Q = ProcessNiose_Q; + + float x_mid = x_last; + float x_now; + + float p_mid; + float p_now; + + float kg; + + x_mid = x_last; // x_last=x(k-1|k-1),x_mid=x(k|k-1) + p_mid = p_last + Q; // p_mid=p(k|k-1),p_last=p(k-1|k-1),Q=噪声 + + /* + * 卡尔曼滤波的五个重要公式 + */ + kg = p_mid / (p_mid + R); // kg为kalman filter，R 为噪声 + x_now = x_mid + kg * (ResrcData - x_mid); // 估计出的最优值 + p_now = (1 - kg) * p_mid; // 最优值对应的covariance + p_last = p_now; // 更新covariance 值 + x_last = x_now; // 更新系统状态值 + + return x_now; +} + +typedef struct un_draw_t +{ + unsigned int delta_cnt; + +} un_draw_t; + +void un_draw_detect() +{ +} +float abs_f(float x) +{ + return x > 0 ? x : -x; +} +/** + * 吸液曲线分成3阶段 + * 1. 平衡 + * 2. 压力下降 + * 3. 压力平衡 + */ +typedef struct press_stage_t +{ + float old_data; + unsigned char stage; + unsigned int deal_cnt; + float value_cache[4]; + int value_cnt; + + float start_value; + int down_end_cnt; + float wave_end_value; + int delay_enter_steady; + int up_cnt; + + unsigned char no_draw_flag : 1; +} press_stage_t; +press_stage_t stage; +void pt_cache() +{ + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + printf("%f ", stage.value_cache[i]); + } +} +void press_deal(float data) +{ + // 赋初值 + if (stage.value_cnt < PART_SIZE(stage.value_cache)) + { + stage.value_cache[stage.value_cnt++] = data; + // 计算一下初始平均值 + if (stage.value_cnt == PART_SIZE(stage.value_cache)) + { + float sum = 0; + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + sum += stage.value_cache[i]; + } + stage.start_value = sum / PART_SIZE(stage.value_cache); + // printf("start value =%f\n",stage.start_value); + // printf("staic stage\n"); + } + return; + } + // 移位 + for (int i = 0; i < PART_SIZE(stage.value_cache) - 1; i++) + { + stage.value_cache[i] = stage.value_cache[i + 1]; + } + stage.value_cache[PART_SIZE(stage.value_cache) - 1] = data; + // 稳定段 + if (stage.stage == 0) + { + // printf("%f,", data); + char down = 0; + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + float delta = abs_f(stage.value_cache[i] - stage.start_value); + if (delta > 30.0) + { + down = 1; + break; + } + } + if (down) + { + // printf("\n"); + // pt_cache(); + // printf("\ncnt = %d", stage.deal_cnt); + // 4个数递减，说明要进入负压阶段 + // printf("\nwave_stage\n"); + stage.stage = 1; + } + } + else if (stage.stage == 1) + { + // printf("%f,", data); + int wave = 0; + for (int i = 0; i < PART_SIZE(stage.value_cache) - 1; i++) + { + if (abs_f(stage.value_cache[i + 1] - stage.value_cache[i]) > 5.0) + { + wave = 1; + break; + } + } + if (wave == 0) + { + stage.delay_enter_steady = 5; + // printf("\n"); + // printf("cnt = %d\n", stage.deal_cnt); + // 停止急速下降，说明进入平稳段 + + // printf("wave = %f\n", stage.wave_end_value); + } + if (stage.delay_enter_steady) + { + stage.delay_enter_steady--; + if (stage.delay_enter_steady == 0) + { + stage.stage = 2; + stage.wave_end_value = 0.0; + stage.up_cnt = 0; + stage.no_draw_flag = 0; + + for (int i = 0; i < PART_SIZE(stage.value_cache); i++) + { + stage.wave_end_value += stage.value_cache[i]; + } + + stage.wave_end_value = stage.wave_end_value / PART_SIZE(stage.value_cache); + printf("steady cnt = %d\n", stage.deal_cnt); + } + } + } + else if (stage.stage == 2) + { + float delta = abs_f(data - stage.wave_end_value); + if (delta > 50.0) + { + if (stage.value_cache[PART_SIZE(stage.value_cache) - 2] < data) + { + // old 比 now 小 + float speed = data - stage.value_cache[PART_SIZE(stage.value_cache) - 2]; + // printf("speed = %f\n", speed); + if (speed > 30.0) + { + stage.stage = 3; + } + } + + if (stage.up_cnt < 4) + { + stage.up_cnt++; + } + else + { + // printf("%f\n", data); + // printf("no draw warming\n"); + printf("no draw cnt = %d\n", stage.deal_cnt); + stage.no_draw_flag = 1; + stage.stage = 0xff; + } + } + else + { + stage.up_cnt = 0; + } + } + stage.deal_cnt++; +} +void press_init() +{ + stage.stage = 0; + stage.value_cnt = 0; + stage.deal_cnt = 0; +} + +int main(void) +{ + FILE *f = fopen("error.csv", "w+"); + int i = 0; + while (DATA[i][0] != 0) + { + int j = 0; + x_last = DATA[i][0]; + press_init(); + while (DATA[i][j] != 0) + { + float get_value = KalmanFilter(DATA[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + + if (stage.no_draw_flag == 0) + { + printf("no draw detece fail :%d\n", i); + } + i++; + // break; + } + i = 0; + printf(">>>>>>>>>1\n"); + while (DATA3[i][0] != 0) + { + int j = 0; + x_last = DATA3[i][0]; + press_init(); + while (DATA3[i][j] != 0) + { + float get_value = KalmanFilter(DATA3[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + if (stage.no_draw_flag == 0) + { + printf("no draw detece fail :%d\n", i); + int j = 0; + while (DATA3[i][j] != 0) + { + fprintf(f, "%d,", DATA3[i][j]); + j++; + } + } + i++; + // break; + } + i = 0; + printf(">>>>>>>>>2\n"); + while (DATA2[i][0] != 0) + { + int j = 0; + x_last = DATA2[i][0]; + press_init(); + while (DATA2[i][j] != 0) + { + float get_value = KalmanFilter(DATA2[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + if (stage.no_draw_flag == 1) + { + printf("no draw detece fail :%d\n", i); + } + i++; + // break; + } + i = 0; + printf(">>>>>>>>>3\n"); + FILE *fp4 = fopen("error_10ul_one.csv", "w+"); + while (DATA4[i][0] != 0) + { + int j = 0; + x_last = DATA4[i][0]; + press_init(); + while (DATA4[i][j] != 0) + { + float get_value = KalmanFilter(DATA4[i][j], KALMAN_Q, KALMAN_R); + press_deal(get_value); + j++; + } + if (stage.no_draw_flag == 1) + { + x_last = DATA4[i][0]; + for (int k = 0; k < j-1; k++) + { + float get_value = KalmanFilter(DATA4[i][k], KALMAN_Q, KALMAN_R); + fprintf(fp4, "%f,",get_value); + } + fprintf(fp4, "\n"); + + printf("no draw detece fail :%d\n", i); + } + 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1701, 1636, 1571, 1525, 1456, 1372, 1320, 1309, 1306, 1318, 1396, 1507, 1569, 1591, 1610, 1604, 1580, 1579, 1593, 1592, 1545, 1475, 1421, 1357, 1286, 1296, 1400, 1505, 1579, 1655, 1698, 1665, 1607, 1566, 1524, 1453, 1396, 1394, 1394, 1359, 1361, 1435, 1516, 1576, 1628, 1649, 1616, 1563, 1535, 1533, 1533, 1528, 1530, 1513, 1461, 1403, 1362, 1356, 1417, 1514, 1590, 1642, 1667, 1659, 1642, 1617, 1568, 1514, 1508, 1615, 1844, 2154, 2473, 2721, 2867, 2902, 2833, 2705, 2571, 2481, 2467, 2532, 2653, 2788, 2914, 3000, 3032, 3031, 2999, 2943, 2912, 2901, 2918, 2976, 3030, 3115, 3207, 3219, 3156, 3052, 2904, 2710, 2515, 2327, 2174, 2124, 2163, 2246, 2364, 2473, 2533, 2548, 2520}, + {2225, 2213, 2195, 2193, 2202, 2206, 2214, 2225, 2230, 2232, 2234, 2232, 2225, 2218, 2213, 2208, 2208, 2214, 2220, 2225, 2228, 2228, 2225, 2221, 2218, 2231, 2244, 2213, 2201, 2243, 2235, 2182, 2200, 2241, 2214, 2196, 2213, 2107, 1779, 1392, 1054, 687, 431, 453, 707, 1109, 1522, 1762, 1760, 1557, 1212, 863, 635, 492, 457, 594, 779, 892, 982, 1040, 995, 867, 745, 670, 596, 520, 505, 574, 731, 986, 1285, 1554, 1702, 1716, 1679, 1588, 1417, 1276, 1249, 1268, 1289, 1364, 1468, 1504, 1484, 1464, 1428, 1351, 1270, 1251, 1294, 1341, 1400, 1519, 1630, 1656, 1642, 1604, 1494, 1352, 1261, 1230, 1230, 1251, 1307, 1390, 1453, 1488, 1536, 1582, 1575, 1532, 1504, 1465, 1376, 1308, 1314, 1324, 1317, 1341, 1386, 1418, 1432, 1490, 1587, 1625, 1624, 1628, 1573, 1459, 1351, 1269, 1228, 1214, 1226, 1309, 1409, 1459, 1520, 1617, 1654, 1607, 1585, 1584, 1508, 1415, 1367, 1316, 1249, 1220, 1259, 1334, 1395, 1465, 1575, 1650, 1657, 1664, 1680, 1646, 1570, 1493, 1406, 1292, 1200, 1188, 1252, 1343, 1453, 1583, 1678, 1693, 1676, 1671, 1636, 1551, 1476, 1431, 1365, 1294, 1280, 1324, 1378, 1434, 1527, 1608, 1607, 1580, 1585, 1577, 1567, 1578, 1575, 1545, 1471, 1374, 1327, 1309, 1314, 1408, 1556, 1643, 1658, 1673, 1671, 1597, 1525, 1493, 1453, 1395, 1362, 1367, 1379, 1385, 1444, 1561, 1635, 1635, 1625, 1604, 1549, 1510, 1520, 1542, 1538, 1519, 1497, 1442, 1376, 1353, 1380, 1452, 1549, 1621, 1654, 1663, 1652, 1630, 1597, 1545, 1497, 1528, 1687, 1952, 2276, 2579, 2792, 2894, 2884, 2785, 2646, 2529, 2469, 2484, 2575, 2706, 2837, 2951, 3016, 3030, 3021, 2977, 2924, 2905, 2902, 2935, 2999, 3060, 3154, 3224, 3205, 3120, 3000, 2835, 2634, 2443, 2266, 2145, 2132, 2192, 2288, 2408, 2503, 2542, 2539}, + {0}, +}; +int data_10ul_one5ul_kx[][350] = { + {2228, 2283, 2315, 2315, 2285, 2242, 2202, 2172, 2160, 2168, 2190, 2217, 2241, 2256, 2259, 2250, 2234, 2219, 2208, 2203, 2205, 2212, 2220, 2225, 2227, 2230, 2230, 2228, 2226, 2224, 2221, 2218, 2218, 2218, 2220, 2223, 2227, 2228, 2213, 2127, 1899, 1609, 1316, 914, 525, 426, 632, 1011, 1456, 1738, 1712, 1514, 1244, 926, 683, 574, 537, 598, 775, 978, 1225, 1510, 1716, 1843, 1905, 1852, 1751, 1658, 1524, 1443, 1485, 1540, 1622, 1748, 1798, 1795, 1792, 1728, 1647, 1606, 1534, 1496, 1554, 1598, 1643, 1708, 1681, 1638, 1658, 1636, 1617, 1660, 1652, 1637, 1695, 1719, 1725, 1782, 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2967, 2837, 2688, 2514, 2359, 2216, 2093, 2063, 2112, 2185, 2277, 2357, 2387, 2377, 2342}, + {2242, 2286, 2301, 2290, 2260, 2222, 2190, 2171, 2170, 2186, 2210, 2232, 2246, 2251, 2245, 2232, 2220, 2211, 2207, 2210, 2216, 2222, 2227, 2230, 2231, 2229, 2227, 2224, 2221, 2218, 2217, 2219, 2223, 2225, 2225, 2207, 2115, 1902, 1606, 1234, 774, 417, 415, 733, 1172, 1600, 1813, 1704, 1434, 1123, 806, 594, 549, 586, 683, 874, 1092, 1322, 1571, 1748, 1823, 1837, 1777, 1678, 1607, 1522, 1464, 1526, 1615, 1688, 1790, 1828, 1787, 1747, 1677, 1591, 1562, 1530, 1512, 1580, 1643, 1674, 1730, 1715, 1641, 1633, 1619, 1592, 1642, 1684, 1680, 1724, 1757, 1745, 1773, 1829, 1931, 2165, 2450, 2688, 2864, 2941, 2904, 2813, 2724, 2655, 2636, 2691, 2772, 2868, 2968, 3027, 3088, 3128, 3071, 2949, 2823, 2677, 2497, 2342, 2203, 2084, 2063, 2122, 2198, 2286, 2363, 2389, 2374, 2336}, + {2214, 2225, 2283, 2367, 2455, 2536, 2599, 2632, 2632, 2607, 2565, 2513, 2463, 2424, 2400, 2392, 2401, 2425, 2455, 2486, 2513, 2531, 2538, 2533, 2521, 2506, 2488, 2471, 2459, 2452, 2451, 2456, 2466, 2477, 2486, 2477, 2415, 2279, 2068, 1766, 1368, 985, 764, 725, 827, 1033, 1262, 1422, 1508, 1543, 1497, 1334, 1083, 831, 618, 431, 328, 389, 601, 898, 1246, 1591, 1871, 2058, 2140, 2114, 1997, 1812, 1614, 1458, 1351, 1298, 1308, 1364, 1437, 1524, 1614, 1690, 1736, 1742, 1722, 1689, 1646, 1595, 1551, 1509, 1481, 1490, 1534, 1589, 1648, 1700, 1736, 1760, 1782, 1817, 1895, 2032, 2220, 2437, 2650, 2824, 2940, 2997, 2996, 2947, 2872, 2801, 2742, 2707, 2712, 2750, 2821, 2925, 3011, 3051, 3053, 2990, 2834, 2614, 2371, 2136, 1948, 1843, 1826, 1878, 1987, 2132, 2280, 2400}, + {2141, 2217, 2280, 2321, 2327, 2303, 2263, 2217, 2178, 2159, 2158, 2173, 2198, 2224, 2246, 2260, 2262, 2253, 2240, 2227, 2212, 2203, 2202, 2206, 2213, 2224, 2233, 2238, 2238, 2235, 2228, 2222, 2217, 2215, 2216, 2202, 2128, 1967, 1732, 1414, 987, 554, 392, 554, 880, 1291, 1601, 1664, 1589, 1407, 1116, 866, 686, 539, 530, 641, 795, 1070, 1407, 1669, 1890, 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2385, 2649, 2860, 2942, 2916, 2834, 2723, 2646, 2629, 2671, 2763, 2867, 2972, 3035, 3066, 3108, 3089, 2990, 2877, 2725, 2536, 2363, 2188, 2064, 2052, 2103, 2192, 2303, 2374, 2400, 2388, 2333}, + {2229, 2272, 2284, 2272, 2242, 2203, 2171, 2155, 2153, 2168, 2194, 2217, 2231, 2236, 2230, 2218, 2204, 2194, 2189, 2190, 2196, 2206, 2211, 2213, 2214, 2211, 2209, 2207, 2207, 2205, 2202, 2200, 2201, 2204, 2205, 2190, 2109, 1902, 1599, 1209, 759, 449, 394, 683, 1175, 1564, 1745, 1682, 1414, 1075, 786, 580, 523, 604, 678, 826, 1076, 1292, 1521, 1747, 1808, 1781, 1755, 1645, 1557, 1546, 1477, 1480, 1607, 1663, 1728, 1811, 1769, 1691, 1651, 1565, 1517, 1543, 1510, 1526, 1625, 1645, 1671, 1722, 1637, 1566, 1601, 1576, 1596, 1696, 1702, 1691, 1740, 1727, 1719, 1796, 1896, 2093, 2400, 2659, 2835, 2925, 2906, 2801, 2703, 2636, 2608, 2655, 2747, 2849, 2948, 3015, 3082, 3117, 3061, 2936, 2800, 2652, 2475, 2317, 2181, 2068, 2045, 2105, 2185, 2270, 2343, 2368, 2350, 2312}, + {2139, 2228, 2294, 2330, 2332, 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float KalmanFilter(const float ResrcData, float ProcessNiose_Q, float MeasureNoise_R) +{ + + float R = MeasureNoise_R; + float Q = ProcessNiose_Q; + + float x_mid = x_last; + float x_now; + + float p_mid; + float p_now; + + float kg; + + x_mid = x_last; // x_last=x(k-1|k-1),x_mid=x(k|k-1) + p_mid = p_last + Q; // p_mid=p(k|k-1),p_last=p(k-1|k-1),Q=噪声 + + /* + * 卡尔曼滤波的五个重要公式 + */ + kg = p_mid / (p_mid + R); // kg为kalman filter，R 为噪声 + x_now = x_mid + kg * (ResrcData - x_mid); // 估计出的最优值 + p_now = (1 - kg) * p_mid; // 最优值对应的covariance + p_last = p_now; // 更新covariance 值 + x_last = x_now; // 更新系统状态值 + + return x_now; +} + +int main(void) +{ + + FILE *fp = fopen("1.csv", "w+"); + int i = 0; + while (DATA[i][0] != 0) + { + int j = 0; + x_last = DATA[i][0]; + while (DATA[i][j] != 0) + { + float get_value = KalmanFilter(DATA[i][j], KALMAN_Q, KALMAN_R); + fprintf(fp, "%f,", get_value); + j++; + } + fprintf(fp, "\n"); + i++; + } + fprintf(fp, "\n"); + i = 0; + while (DATA3[i][0] != 0) + { + int j = 0; + x_last = DATA3[i][0]; + while (DATA3[i][j] != 0) + { + float get_value = KalmanFilter(DATA3[i][j], KALMAN_Q, KALMAN_R); + + fprintf(fp, "%f,", get_value); + j++; + } + fprintf(fp, "\n"); + i++; + } + fprintf(fp, "\n"); + + i = 0; + while (DATA2[i][0] != 0) + { + int j = 0; + x_last = DATA2[i][0]; + while (DATA2[i][j] != 0) + { + float get_value = KalmanFilter(DATA2[i][j], KALMAN_Q, KALMAN_R); + + fprintf(fp, "%f,", get_value); + j++; + } + fprintf(fp, "\n"); + i++; + } + fclose(fp); +} \ No newline at end of file diff --git a/to_csv.exe b/to_csv.exe new file mode 100644 index 0000000000000000000000000000000000000000..2ca0af48179ee5b63283f9902f304d27b7f770d4 GIT binary patch literal 117006 zcmeF4cX(9Q+P4!R2m&T30Ths^pn!rzKtMnf2|B@`C`GzR$ASonpi&J1$1#e6ih^CR zccs|^NEMJG#RjN|69L6W6U}$ulNm+NdC&L9xjz5+-sHOOti4y;d#}CLZ$10jWjgej z8do|lF0Kp|6~)EPC-g5Z^8Y{on?Uk$wHF>2_eS|Or_7JfT60S0Awx%|3?FgB;1O3} zpVI&8VZ(07PU$x=Wkk-fl%c~?GA`?sa{Ubh1~#fx>DW5asynueiyJUGG48Q7xr5?* 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