From 0fab14bd3b70cdb16f134eaeeaac7d0947f2078f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 25 十一月 2020 19:36:16 +0800
Subject: [PATCH] 增加速度滤波阈值
---
源码/核心板/Src/stm32f10x_it.c | 74 ++++++++++++++++++++++++++++---------
1 files changed, 56 insertions(+), 18 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index fd3f3d7..d3d58d3 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -28,6 +28,7 @@
#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;
@@ -37,33 +38,43 @@
u16 tag_recv_timer, tag_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++;
if(tag_timer++>=g_com_map[COM_INTERVAL])
{tag_timer=0;}
- if(g_Resttimer++>2000)
+ if(g_Resttimer++>10000)
{
NVIC_SystemReset();
}
-// if(g_UWB_com_interval > 1000)
-// {
-// dis_after_filter = DEFAULT_DISTANCE;
-// }
-//#ifdef WORK_MODE_ANCHOR
+
+ sync_timer++;
+
if(!g_com_map[DEV_ROLE]) //基站
{
tag_recv_timer++;
TagDistClear();
- sync_timer++;
- if(sync_timer==30)
+ 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{
@@ -73,20 +84,40 @@
{
sync_seq=0xff;
}
- if(sync_timer>=1000)
+ if(sync_timer>=1010)
{
- sync_timer=0;
- if(dev_id==0)
+ sync_timer=0;
+// if(synclost_timer++>20)
+// {
+// sync_mainbase=1;
+// }
+ if(sync_mainbase)
{
SyncPoll(0);
}
}
- //if(g_pairstart!=1)
- //main_logic();
+ }else{ //标签同步处理
+ 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;
+ }
+
}
-//#endif
+ }
}
+
+//void SysTick_Handler(void)
+//{
+//
+
+//}
/**
* @brief 中断服务函数
@@ -118,4 +149,11 @@
// }
}
+void HardFault_Handler(void)
+{
+ while(1)
+ {
+ NVIC_SystemReset();
+ }
+}
--
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