392 lines
9.1 KiB
C
392 lines
9.1 KiB
C
/* USER CODE BEGIN Header */
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#include "stdio.h"
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#include "rtklib.h"
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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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/* 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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int16_t count=0,temp_count=0;
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extern uint8_t Rx_Buffer[2500];
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nmea_t nmea_gpa;
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int8_t flag=0,flag_t=-3;
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int GPS_week;
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double UTC_time[6],GPS_sec;
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extern double time_hh,time_mm,time_ss,time_ms;
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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 TIM_HandleTypeDef htim3;
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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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/* 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(GPIO_PIN_1);
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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 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 TIM3 global interrupt.
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*/
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void TIM3_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM3_IRQn 0 */
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/* USER CODE END TIM3_IRQn 0 */
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HAL_TIM_IRQHandler(&htim3);
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/* USER CODE BEGIN TIM3_IRQn 1 */
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/* USER CODE END TIM3_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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/* 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=1;
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nmea_t* p=&nmea_gpa;
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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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__HAL_UART_CLEAR_IDLEFLAG(&huart2);
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temp = __HAL_DMA_GET_COUNTER(&hdma_usart2_rx);
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HAL_UART_DMAStop(&huart2);
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for(i=0;i<2500-temp;i++)
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{
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ans=input_nmea(p,Rx_Buffer[i]);
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}
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if(ans==0)
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{
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// time2epoch(p->sol.utctime,UTC_time);
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if(flag_t==-1 || flag_t==20){
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GPS_sec=time2gpst(p->sol.time,&GPS_week);
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// time_hh=UTC_time[3];
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// time_mm=UTC_time[4];
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flag_t=0;
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}
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flag_t+=1;
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}
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// printf("time: %.0lfh:%.0lfm:%.0lfs \r\n",time_hh,time_mm,time_ss);
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HAL_UART_Receive_DMA(&huart2,Rx_Buffer, sizeof(Rx_Buffer));
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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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extern uint8_t SPI2_INT_RD,SPI1_INT_RD;
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if(GPIO_Pin == SPI2_INIT1_Pin)
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{
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SPI2_INT_RD =1;
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}
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if(GPIO_Pin == SPI1_INIT1_Pin)
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{
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SPI1_INT_RD=1;
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}
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if(GPIO_Pin == GPIO_PIN_1)
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{
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if(time_ss==59) //ʱ<><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
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{
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time_ss=-1;
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time_mm+=1;
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if(time_mm==60)
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{
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time_mm=0;
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time_hh+=1;
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if(time_hh==24)
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{
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time_hh=0;
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}
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}
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}
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time_ss+=1;
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time_ms=0;
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GPS_sec+=1;
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count=__HAL_TIM_GET_COUNTER(&htim3);
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temp_count = __HAL_TIM_GET_COUNTER(&htim3);
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}
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}
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double TIM3_Get_100us()
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{
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extern int16_t count,temp_count;
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extern double time_ms,time_ss;
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temp_count = __HAL_TIM_GET_COUNTER(&htim3);
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if(temp_count >= count)
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{
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time_ms=(temp_count - count)*0.1; //100ns一次计数
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}
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else
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{
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time_ms=(65535-count+temp_count)*0.1; //计数值溢出的情况
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}
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return time_ms;
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}
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/* USER CODE END 1 */
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