405 lines
9.9 KiB
C
405 lines
9.9 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f1xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2022 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f1xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "stdio.h"
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#include "rtklib.h"
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#include <global_var.h>
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN TD */
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/* USER CODE END TD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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//double UTC_time[6], GPS_sec;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/* External variables --------------------------------------------------------*/
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern DMA_HandleTypeDef hdma_usart2_rx;
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart2;
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/* USER CODE BEGIN EV */
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extern TIM_HandleTypeDef htim3;
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extern double time_scale;
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/* USER CODE END EV */
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/******************************************************************************/
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/* Cortex-M3 Processor Interruption and Exception Handlers */
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/******************************************************************************/
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/**
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* @brief This function handles Non maskable interrupt.
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*/
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void NMI_Handler(void)
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{
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/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
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/* USER CODE END NonMaskableInt_IRQn 0 */
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1)
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{
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}
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/* USER CODE END NonMaskableInt_IRQn 1 */
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}
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/**
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* @brief This function handles Hard fault interrupt.
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*/
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void HardFault_Handler(void)
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{
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/* USER CODE BEGIN HardFault_IRQn 0 */
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/* USER CODE END HardFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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/* USER CODE END W1_HardFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Memory management fault.
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*/
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void MemManage_Handler(void)
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{
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/* USER CODE BEGIN MemoryManagement_IRQn 0 */
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/* USER CODE END MemoryManagement_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
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/* USER CODE END W1_MemoryManagement_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Prefetch fault, memory access fault.
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*/
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void BusFault_Handler(void)
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{
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/* USER CODE BEGIN BusFault_IRQn 0 */
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/* USER CODE END BusFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_BusFault_IRQn 0 */
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/* USER CODE END W1_BusFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Undefined instruction or illegal state.
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*/
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void UsageFault_Handler(void)
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{
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/* USER CODE BEGIN UsageFault_IRQn 0 */
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/* USER CODE END UsageFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
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/* USER CODE END W1_UsageFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles System service call via SWI instruction.
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*/
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void SVC_Handler(void)
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{
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/* USER CODE BEGIN SVCall_IRQn 0 */
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/* USER CODE END SVCall_IRQn 0 */
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/* USER CODE BEGIN SVCall_IRQn 1 */
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/* USER CODE END SVCall_IRQn 1 */
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}
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/**
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* @brief This function handles Debug monitor.
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*/
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void DebugMon_Handler(void)
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{
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/* USER CODE BEGIN DebugMonitor_IRQn 0 */
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/* USER CODE END DebugMonitor_IRQn 0 */
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/* USER CODE BEGIN DebugMonitor_IRQn 1 */
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/* USER CODE END DebugMonitor_IRQn 1 */
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}
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/**
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* @brief This function handles Pendable request for system service.
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*/
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void PendSV_Handler(void)
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{
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/* USER CODE BEGIN PendSV_IRQn 0 */
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/* USER CODE END PendSV_IRQn 0 */
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/* USER CODE BEGIN PendSV_IRQn 1 */
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/* USER CODE END PendSV_IRQn 1 */
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}
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/**
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* @brief This function handles System tick timer.
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*/
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void SysTick_Handler(void)
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{
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/* USER CODE BEGIN SysTick_IRQn 0 */
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/* USER CODE END SysTick_IRQn 0 */
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HAL_IncTick();
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/* USER CODE BEGIN SysTick_IRQn 1 */
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/* USER CODE END SysTick_IRQn 1 */
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}
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/******************************************************************************/
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/* STM32F1xx Peripheral Interrupt Handlers */
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/* Add here the Interrupt Handlers for the used peripherals. */
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/* For the available peripheral interrupt handler names, */
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/* please refer to the startup file (startup_stm32f1xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles EXTI line0 interrupt.
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*/
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void EXTI0_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI0_IRQn 0 */
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/* USER CODE END EXTI0_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(SPI1_INIT1_Pin);
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/* USER CODE BEGIN EXTI0_IRQn 1 */
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/* USER CODE END EXTI0_IRQn 1 */
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}
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/**
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* @brief This function handles EXTI line1 interrupt.
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*/
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void EXTI1_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI1_IRQn 0 */
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/* USER CODE END EXTI1_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(PPS_INT_Pin);
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/* USER CODE BEGIN EXTI1_IRQn 1 */
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/* USER CODE END EXTI1_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel4 global interrupt.
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*/
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void DMA1_Channel4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
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/* USER CODE END DMA1_Channel4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_tx);
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/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
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/* USER CODE END DMA1_Channel4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel6 global interrupt.
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*/
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void DMA1_Channel6_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
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/* USER CODE END DMA1_Channel6_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart2_rx);
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/* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
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/* USER CODE END DMA1_Channel6_IRQn 1 */
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}
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/**
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* @brief This function handles EXTI line[9:5] interrupts.
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*/
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void EXTI9_5_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI9_5_IRQn 0 */
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/* USER CODE END EXTI9_5_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(SPI2_INIT1_Pin);
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/* USER CODE BEGIN EXTI9_5_IRQn 1 */
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/* USER CODE END EXTI9_5_IRQn 1 */
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}
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/**
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* @brief This function handles USART1 global interrupt.
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*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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if (__HAL_UART_GET_FLAG(&huart1,UART_FLAG_TC) != RESET)
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{
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__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_TC);
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U1_DMA_BUSY = 0;
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}
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/* USER CODE END USART1_IRQn 1 */
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}
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/**
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* @brief This function handles USART2 global interrupt.
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*/
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void USART2_IRQHandler(void)
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{
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/* USER CODE BEGIN USART2_IRQn 0 */
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uint32_t temp, i;
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uint8_t ans = 0;
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/* USER CODE END USART2_IRQn 0 */
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HAL_UART_IRQHandler(&huart2);
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/* USER CODE BEGIN USART2_IRQn 1 */
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if (__HAL_UART_GET_FLAG(&huart2,UART_FLAG_IDLE) != RESET)
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{
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__HAL_UART_CLEAR_IDLEFLAG(&huart2); // clean IDEL INT flag
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__HAL_UART_DISABLE_IT(&huart2, UART_IT_IDLE); // disable IDLE
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HAL_UART_DMAStop(&huart2); // stop DMA receive
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temp = __HAL_DMA_GET_COUNTER(&hdma_usart2_rx); // get read size
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for (i = 0; i < UART_BF_SIZE - temp; i++)
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{
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ans = input_nmea(&nmea_rmc, U2_Rx_buf[i]);
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if (2 == ans) // success get time for name RMC
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{
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SYS_TIME.SYS_GPST_TIME = nmea_rmc.sol.gpsttime;
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SYS_TIME.SYS_UTC_TIME = nmea_rmc.sol.utctime;
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SYS_TIME.NMEA_GET = 1;
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break;
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}
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}
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if (2 != ans)
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{
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__HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE);
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HAL_UART_Receive_DMA(&huart2, U2_Rx_buf, UART_BF_SIZE);
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}
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}
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/* USER CODE END USART2_IRQn 1 */
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}
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/* USER CODE BEGIN 1 */
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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// if (GPIO_Pin == SPI2_INIT1_Pin && 1 == IMU_mng_TDK.enable)
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// {
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//
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// TDK_IMU_INT = 1;
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// if (0 == IMU_mng_TDK.lock)
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// {
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// IMU_mng_TDK.ready = 1;
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// IMU_mng_TDK.gpstime = SYS_TIME.SYS_GPST_TIME;
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// IMU_mng_TDK.utctime = SYS_TIME.SYS_UTC_TIME;
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// IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
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// }
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// else
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// {
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// HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
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// printf("ERROR -> TDK IMU RD TIME OUT! \r\n");
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// printf("Go to loop! please reboot MCU! \r\n");
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//// while (1)
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//// ;
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// }
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// HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
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// }
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// else
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if (GPIO_Pin == SPI1_INIT1_Pin && 1 == IMU_mng_ST.enable)
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{
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ST_IMU_INT = 1;
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if (0 == IMU_mng_ST.lock)
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{
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IMU_mng_ST.ready = 1;
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IMU_mng_ST.gpstime = SYS_TIME.SYS_GPST_TIME;
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IMU_mng_ST.utctime = SYS_TIME.SYS_UTC_TIME;
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IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0*time_scale;
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}
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else
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{
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HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
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printf("ERROR -> STM IMU RD TIME OUT! \r\n");
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printf("Go to loop! please reboot MCU! \r\n");
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// while (1)
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// ;
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}
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HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
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}
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else if (GPIO_Pin == PPS_INT_Pin)
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{
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/* Neet to add sec and clean Tim CNT */
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int timer_count =__HAL_TIM_GET_COUNTER(&htim3);
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if (timer_count<12000 && timer_count > 8000)
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time_scale=10000.0/timer_count;
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__HAL_TIM_SET_COUNTER(&htim3, 0); // clean TIM3 CNT
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if (SYS_TIME.NMEA_GET == 1)
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{
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SYS_TIME.SYS_GPST_TIME.time += 1;
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SYS_TIME.SYS_UTC_TIME.time += 1;
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}
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}
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}
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/* USER CODE END 1 */
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