V1.72 增加滤波器 增加频率可调

zhyinch

2022-10-14 815ea18d897111c4bf70861277acf94201ccf60a

 源码/核心板/Src/stm32f10x_it.c

@@ -32,59 +32,113 @@
/* Tick timer count. */
volatile uint32_t time32_incr;
uint8_t tt=0;
uint8_t g_start_send_flag = 0,sync_seq=0;
uint8_t g_start_send_flag = 0,sync_seq=0,usart_send_flag;
u16 usart_timer=0;
uint16_t sysscal;
u16 tag_recv_timer, tag_timer;
u16 tag_recv_timer, tag_timer,last_polltime;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart;

void SysTick_Handler(void)
extern uint8_t g_pairstart,getrange_success,dissucc_times;
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time,success_ancid;
extern uint32_t synclost_timer,current_syncid;
extern uint8_t usart_send_array[5][21],usart_array_num;
void TIM3_IRQHandler(void)   //TIM3??
{
	
  time32_incr++;
   g_UWB_com_interval++;
   if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
      {
      TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //??TIMx?????? 
   main_logic();		
   time32_incr++;
   heartbeat_timer++;
   poll_timer++;
	
   if(tag_timer++>=g_com_map[COM_INTERVAL])
   {tag_timer=0;}
   if(g_Resttimer++>2000)
   sync_timer++;	
   neartimout_timer++;
   synclost_timer++;		
   //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);			
   if(sync_timer>=1000)
      {
//         if(getrange_success==0)
//         {
//            NVIC_SystemReset();
//         }
         flag_newsecond=1;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
         sync_timer=0;
        TagListUpdate();
      }
		
   if(g_Resttimer++>10000)
   {
      NVIC_SystemReset();
   }

//   if(g_UWB_com_interval > 1000)
//   {	
//      dis_after_filter = DEFAULT_DISTANCE;
//   }
//#ifdef WORK_MODE_ANCHOR
        if(g_com_map[DEV_ROLE]&&(time32_incr%g_com_map[COM_INTERVAL]==0))
        {
            dissucc_times = 0;
            success_ancid = 0;
            USART_puts(usart_send_array[0],21*usart_array_num);
            usart_array_num = 0;
        }

	
   if(!g_com_map[DEV_ROLE])  //鍩虹珯
   {
      tag_recv_timer++;
      TagDistClear();
      sync_timer++;
      if(sync_timer==30)
   if(g_com_map[ANC_POLL])
      {
         GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
      }else{
         GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
         if(sync_timer==target_time)
         {
         g_start_send_flag=1;
         }
      }
		
      #ifdef USART_INTEGRATE_OUTPUT
      if(sync_timer%g_com_map[COM_INTERVAL]==0)
      {
			
         usart_send_flag=1;		
      }
      #endif
      if(sync_timer>500&&dev_id!=0)
      {
       sync_seq=0xff;
      }
      if(sync_timer>=1000)
   {
      sync_timer=0;	
      if(dev_id==0)
      if(synclost_timer>SYNCLOST_TIME)
      {
         SyncPoll(0);
         flag_syncbase=1;
      }

//      if(flag_syncbase)  //鏈ā鍧楁槸鍚屾鍩虹珯
//      {
//      if(sync_timer==995)
//      {
//         current_syncid = g_com_map[DEV_ID];
//         sync_seq=0;
//            SyncPoll(sync_seq,current_syncid);
//      }
//   }
   }else{      //鏍囩鍚屾澶勭悊
      if(sync_timer%20==0)
      {

      //   last_polltime=sync_timer;
      //   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
      g_start_send_flag=1;
      }
//        if(sync_timer>900&&(dissucc_flag2&dissucc_flag2)==0)
//        {
//            if(sync_timer%10==0)
//            g_start_send_flag=1;
//        } 
		
   }
   //if(g_pairstart!=1)
      //main_logic();
   }
//#endif	

      }
}

void SysTick_Handler(void)
{
	

}

@@ -118,4 +172,12 @@
//  }    

}
void HardFalut_Handler(void)
{
   while(1)
   {
      NVIC_SystemReset();
   }

}