fuxiaoer/IMU_DUAL
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

添加本地晶振钟差补偿系数time_scale

Browse Source
This commit is contained in:
fuxiaoer 2023-10-23 19:43:02 +08:00
parent aff61940e0
commit 68939ce315
2 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Core/Src/global_var.c
View File

@ -19,4 +19,5 @@ uint8_t U1_TX_buf[UART_BF_SIZE]={0};
/* define var */
uint8_t ST_IMU_INT = 0, TDK_IMU_INT = 0; // IMU INT flag
uint8_t U1_DMA_BUSY = 0;
double time_scale=1;
int GPS_week;

6
Core/Src/stm32f1xx_it.c
View File

@ -67,6 +67,7 @@ extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
/* USER CODE BEGIN EV */
extern TIM_HandleTypeDef htim3;
extern double time_scale;
/* USER CODE END EV */
@ -371,7 +372,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
IMU_mng_ST.ready = 1;
IMU_mng_ST.gpstime = SYS_TIME.SYS_GPST_TIME;
IMU_mng_ST.utctime = SYS_TIME.SYS_UTC_TIME;
IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0*time_scale;
}
else
{
@ -387,6 +388,9 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
else if (GPIO_Pin == PPS_INT_Pin)
{
/* Neet to add sec and clean Tim CNT */
int timer_count =__HAL_TIM_GET_COUNTER(&htim3);
if (timer_count<12000 && timer_count > 8000)
time_scale=10000.0/timer_count;
__HAL_TIM_SET_COUNTER(&htim3, 0); // clean TIM3 CNT
if (SYS_TIME.NMEA_GET == 1)
{