版本v2.70，加入防撞代码，uwb 4G

WXK

2023-09-14 f41e89f0825b39b4b98b8a82e9e8fd5c655de55d

 Src/stm32l0xx_it.c

@@ -43,6 +43,8 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
float nomove_count=0;
float button_delay = 1;
u16 button_start;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
@@ -152,15 +154,31 @@
void EXTI0_1_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI0_1_IRQn 0 */
    static u16 lastcount=0;
    u16 count_diff;
   SystemClock_Config();
   if(GET_IMUINT)
   {
      nomove_count = 0;
   }
   
      if(!GET_USERKEY)
   if(!GET_USERKEY)
   {
      userkey_state = 1;
		
      if(button_delay>=1)
        {
            button_start = GetLPTime();
            button_delay = 0;
        }else{
            u16 button_time = GetLPTime()-button_start;
           if(button_time<0)
               button_time+=1000;
           if(button_time>50&&button_time<300)
           {
            DoubleClickProcess();
           }
            
        }
      if(g_com_map[MOTOR_ENABLE])
      {
      MOTOR_ON;