From 1b83e716601b4c7ba981a00be6ecf24a9d549d52 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 20 一月 2021 10:18:56 +0800
Subject: [PATCH] V2.20 1.增加静止时间判定参数，测距有BUG抖动较大
---
Src/stm32l0xx_it.c | 42 +++++++++++++++++++++++++++++-------------
1 files changed, 29 insertions(+), 13 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index fb8ecaf..771283c 100644
--- a/Src/stm32l0xx_it.c
+++ b/Src/stm32l0xx_it.c
@@ -42,7 +42,7 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
-
+float nomove_count=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -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 +93,7 @@
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04;
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
@@ -148,20 +151,33 @@
void EXTI0_1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
- //GPIO_Toggle(MOTOR_GPIO_Port,MOTOR_Pin);
+ if(GET_IMUINT)
+ {
+ nomove_count = 0;
+ }
+
+ if(!GET_USERKEY)
+ {
+ 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;
+ }
+
/* 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 */
-// HAL_LPTIM_DeInit(&hlptim1);
-////HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
-//HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1);
-// /*Clear all related wakeup flags*/
-// __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU);
-// /*Re-enable all used wakeup sources: Pin1(PA.0)*/
-// HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);
-// /*Enter the Standby mode*/
-// HAL_PWR_EnterSTANDBYMode();
+ //DW_DISABLE;
/* USER CODE END EXTI0_1_IRQn 1 */
}
--
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