From aeceb47ebd7883a54a9f7d842f26b6c061bf18d1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 12 十月 2022 14:49:50 +0800
Subject: [PATCH] 修改加速计驱动
---
Src/stm32l0xx_it.c | 22 +++++++++++++++++++---
1 files changed, 19 insertions(+), 3 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index 5f240d8..bae7fd0 100644
--- a/Src/stm32l0xx_it.c
+++ b/Src/stm32l0xx_it.c
@@ -61,11 +61,13 @@
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
-
+float motor_ontime=0;
+uint8_t userkey_state = 0;
+extern u8 active_flag;
/* USER CODE END EV */
/******************************************************************************/
-/* Cortex-M0+ Processor Interruption and Exception Handlers */
+/* Cortex-M0+ Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
@@ -91,6 +93,8 @@
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
+ printf("HardFault_Handler.\r\n");
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
@@ -148,6 +152,7 @@
void EXTI0_1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
+ SystemClock_Config();
if(GET_IMUINT)
{
nomove_count = 0;
@@ -155,7 +160,18 @@
if(!GET_USERKEY)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ userkey_state = 1;
+
+ if(g_com_map[MOTOR_ENABLE])
+ {
+ MOTOR_ON;
+ delay_ms(10);
+ MOTOR_OFF;
+ }
+ nomove_count = 0;
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ // UsartInit();
+
// MOTOR_ON;
}
--
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