| | |
| | | |
| | | /* Private define ------------------------------------------------------------*/ |
| | | /* USER CODE BEGIN PD */ |
| | | |
| | | |
| | | /* USER CODE END PD */ |
| | | |
| | | /* Private macro -------------------------------------------------------------*/ |
| | |
| | | while (1) |
| | | { |
| | | /* USER CODE BEGIN W1_HardFault_IRQn 0 */ |
| | | SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader |
| | | SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader |
| | | /* USER CODE END W1_HardFault_IRQn 0 */ |
| | | } |
| | | } |
| | |
| | | void EXTI0_1_IRQHandler(void) |
| | | { |
| | | /* USER CODE BEGIN EXTI0_1_IRQn 0 */ |
| | | if(GET_IMUINT) |
| | | { |
| | | nomove_count = 0; |
| | | } |
| | | |
| | | if(!GET_USERKEY) |
| | | { |
| | | nomove_count = 0; |
| | | waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME; |
| | | UsartInit(); |
| | | // MOTOR_ON; |
| | | } |
| | | |
| | | if(GET_IMUINT) |
| | | { |
| | | nomove_count = 0; |
| | | } |
| | | |
| | | if(!GET_USERKEY) |
| | | { |
| | | nomove_count = 0; |
| | | waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME; |
| | | UsartInit(); |
| | | // MOTOR_ON; |
| | | } |
| | | |
| | | /* USER CODE END EXTI0_1_IRQn 0 */ |
| | | HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0); |
| | | HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_1); |
| | | /* USER CODE BEGIN EXTI0_1_IRQn 1 */ |
| | | //DW_DISABLE; |
| | | //DW_DISABLE; |
| | | /* USER CODE END EXTI0_1_IRQn 1 */ |
| | | } |
| | | |
| | |
| | | { |
| | | /* USER CODE BEGIN LPTIM1_IRQn 0 */ |
| | | |
| | | |
| | | /* USER CODE END LPTIM1_IRQn 0 */ |
| | | HAL_LPTIM_IRQHandler(&hlptim1); |
| | | /* USER CODE BEGIN LPTIM1_IRQn 1 */ |
| | |
| | | void USART1_IRQHandler(void) |
| | | { |
| | | /* USER CODE BEGIN USART1_IRQn 0 */ |
| | | __HAL_UART_CLEAR_IDLEFLAG(&huart1); |
| | | __HAL_UART_CLEAR_IDLEFLAG(&huart1); |
| | | /* USER CODE END USART1_IRQn 0 */ |
| | | HAL_UART_IRQHandler(&huart1); |
| | | /* USER CODE BEGIN USART1_IRQn 1 */ |