V1.31 无测距信息2s重启

zhyinch

2020-11-12 ffca10d02cc0913fba8f8d0dbe6051ebd8a0efe2

 源码/核心板/Src/stm32f10x_it.c

@@ -28,18 +28,25 @@
#include "beep_logic_app.h"
#include "led.h"
#include "Usart.h"
#include "beep.h"
#include "dw_app.h"
/* Tick timer count. */
volatile uint32_t time32_incr;
uint8_t tt=0;
uint8_t g_start_send_flag = 0;
uint8_t g_start_send_flag = 0,sync_seq=0;
uint16_t sysscal;
u16 tag_recv_timer, tag_timer;
extern uint16_t g_Resttimer,heartbeat_timer;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart;

void SysTick_Handler(void)
u16 timer3;
extern u16 tyncpoll_time;
u8 delay_count=0;
void TIM3_IRQHandler(void)   //TIM3??
{
  time32_incr++;
   if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
      {
      TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //??TIMx?????? 
          time32_incr++;
   g_UWB_com_interval++;
   heartbeat_timer++;
   poll_timer++;
@@ -51,21 +58,67 @@
      NVIC_SystemReset();
   }

//   if(g_UWB_com_interval > 1000)
//   {	
//      dis_after_filter = DEFAULT_DISTANCE;
//   }
//#ifdef WORK_MODE_ANCHOR
   if(!g_com_map[DEV_ROLE])
   {tag_recv_timer++;
   TagDistClear();
   //if(g_pairstart!=1)
      main_logic();
   }
//#endif	

   sync_timer++;
	
   if(!g_com_map[DEV_ROLE])  //鍩虹珯
   {
      tag_recv_timer++;
      TagDistClear();
            if(g_com_map[ANC_POLL])
      {
         if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10&&sync_timer!=1010)
         {
         g_start_send_flag=1;
         }
      }
   //   if(g_com_map[ALARM_DEV]!=0)
      main_logic();
      if(sync_timer==10)
      {
         GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
      }else{
         GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
      }
      if(sync_timer>500&&dev_id!=0)
      {
       sync_seq=0xff;
      }
      if(sync_timer>=1010)
   {
      sync_timer=0;
//      if(synclost_timer++>20)
//      {
//         sync_mainbase=1;
//      }			
      if(sync_mainbase)
      {
         SyncPoll(0);
      }
   }
   }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)
      {
         GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
      }
      if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
      {
      g_start_send_flag=1;
      }
		
   }

      }
}

//void SysTick_Handler(void)
//{
//	

//}

/** 
  * @brief  涓柇鏈嶅姟鍑芥暟
  */