From 4b0f6f4a2e83d9e56364e12cd2855eb1ff21d38a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 20 五月 2023 11:22:41 +0800
Subject: [PATCH] 2
---
Src/stm32l0xx_it.c | 41 ++++++++++++++++++++++++++++++++++++++---
1 files changed, 38 insertions(+), 3 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index 5f240d8..bc1446b 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,motorskip_flag,motor_state;
/* 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 +160,23 @@
if(!GET_USERKEY)
{
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ if(motor_state)
+ {
+ motorskip_flag = 1;
+ JianXieMotorProcess();
+ }
+ //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;
}
@@ -168,6 +189,20 @@
}
/**
+ * @brief This function handles EXTI line 4 to 15 interrupts.
+ */
+void EXTI4_15_IRQHandler(void)
+{
+ /* USER CODE BEGIN EXTI4_15_IRQn 0 */
+
+ /* USER CODE END EXTI4_15_IRQn 0 */
+ HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_14);
+ /* USER CODE BEGIN EXTI4_15_IRQn 1 */
+
+ /* USER CODE END EXTI4_15_IRQn 1 */
+}
+
+/**
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
*/
void DMA1_Channel2_3_IRQHandler(void)
--
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