11
zhyinch
2020-06-01 9d2282974b45aecf66adbd707fcde1ea83456703
源码/核心板/Src/stm32f10x_it.c
@@ -32,66 +32,85 @@
/* 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;
u16 timer3;
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time;
extern uint32_t synclost_timer,current_syncid;
void TIM3_IRQHandler(void)   //TIM3??
{
   if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
      {
      TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //??TIMx?????? 
          time32_incr++;
   g_UWB_com_interval++;
   time32_incr++;
   heartbeat_timer++;
   poll_timer++;
   if(tag_timer++>=g_com_map[COM_INTERVAL])
   {tag_timer=0;}
   sync_timer++;
   neartimout_timer++;
   synclost_timer++;
   //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
   if(sync_timer>=1000)
      {
         flag_newsecond=1;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
         sync_timer=0;
        TagListUpdate();
      }
   if(g_Resttimer++>2000)
   {
      NVIC_SystemReset();
   }
   sync_timer++;
   
   if(!g_com_map[DEV_ROLE])  //鍩虹珯
   {
      tag_recv_timer++;
      TagDistClear();
      if(g_com_map[ALARM_DEV]!=0)
         main_logic();
      if(sync_timer==10)
   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%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer<990&&sync_timer!=last_polltime)
         {
         g_start_send_flag=1;
         }
      }
      #ifdef USART_INTEGRATE_OUTPUT
      if(sync_timer%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer<990)
      {
         usart_send_flag=1;
      }
      #endif
      if(sync_timer>500&&dev_id!=0)
      {
       sync_seq=0xff;
      }
      if(sync_timer>=1010)
   {
      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>=1010)
      {sync_timer=0;}
            if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
      if(sync_timer%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer<990&&sync_timer!=last_polltime)
      {
         GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
      }
      if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
      {
         last_polltime=sync_timer;
      //   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
      g_start_send_flag=1;
      }