From 1964c9f6c990dde20db364b687275d8d50416ff4 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 14 四月 2020 23:15:25 +0800
Subject: [PATCH] V1.9 修改成串口距离信息整合输出
---
源码/核心板/Src/stm32f10x_it.c | 79 ++++++++++++++++++++++++---------------
1 files changed, 49 insertions(+), 30 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..16657d7 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"
@@ -32,59 +32,78 @@
/* 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_timer=0;
uint16_t sysscal;
u16 tag_recv_timer, tag_timer;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart;
-
-void SysTick_Handler(void)
+u8 neartimout_timer=0;
+extern u16 tyncpoll_time, checksum;;
+extern u8 anc_report_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??????
+
+ time32_incr++;
heartbeat_timer++;
- poll_timer++;
-
- if(tag_timer++>=g_com_map[COM_INTERVAL])
- {tag_timer=0;}
+ sync_timer++;
+ neartimout_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+
if(g_Resttimer++>2000)
{
- NVIC_SystemReset();
+ //NVIC_SystemReset();
}
-// if(g_UWB_com_interval > 1000)
-// {
-// dis_after_filter = DEFAULT_DISTANCE;
-// }
-//#ifdef WORK_MODE_ANCHOR
+
+
+
if(!g_com_map[DEV_ROLE]) //基站
{
tag_recv_timer++;
TagDistClear();
- sync_timer++;
- if(sync_timer==30)
+ if(g_com_map[ALARM_DEV]!=0)
+ main_logic();
+ #ifdef USART_INTEGRATE_OUTPUT
+ if(usart_timer++>g_com_map[COM_INTERVAL])
{
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
- }else{
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
+ usart_timer=0;
+ usart_send[2] = anc_report_num;//正常模式
+ checksum = Checksum_u16(&usart_send[2],anc_report_num*6+1);
+ memcpy(&usart_send[3+anc_report_num*6],&checksum,2);
+ UART_PushFrame(usart_send,5+anc_report_num*6);
+anc_report_num=0;
}
+ #endif
if(sync_timer>500&&dev_id!=0)
{
sync_seq=0xff;
}
- if(sync_timer>=1000)
- {
- sync_timer=0;
- if(dev_id==0)
+
+ if(sync_timer==0)
{
- SyncPoll(0);
+ TagListUpdate();
+ if(dev_id==0)
+ SyncPoll(0);
}
+ }else{ //标签同步处理
+ if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10)
+ {
+ GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
+ g_start_send_flag=1;
+ }
+
}
- //if(g_pairstart!=1)
- //main_logic();
- }
-//#endif
+
+ }
+}
+
+void SysTick_Handler(void)
+{
+
}
--
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