From 62c98aa748df7e6393958c7250afc8c3b5c69807 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 25 九月 2023 15:57:48 +0800
Subject: [PATCH] 增加时间同步功能，和ID最小的基站同步，同步代码和定位相同
---
Src/stm32l0xx_it.c | 127 ++++++++++++++++++++++--------------------
1 files changed, 66 insertions(+), 61 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index fb8ecaf..7ba3d42 100644
--- a/Src/stm32l0xx_it.c
+++ b/Src/stm32l0xx_it.c
@@ -32,7 +32,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -42,7 +42,7 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
-
+float nomove_count=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -65,19 +65,19 @@
/* 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.
*/
void NMI_Handler(void)
{
- /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+ /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
- /* USER CODE END NonMaskableInt_IRQn 0 */
- /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+ /* USER CODE END NonMaskableInt_IRQn 0 */
+ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
- /* USER CODE END NonMaskableInt_IRQn 1 */
+ /* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
@@ -85,14 +85,15 @@
*/
void HardFault_Handler(void)
{
- /* USER CODE BEGIN HardFault_IRQn 0 */
+ /* USER CODE BEGIN HardFault_IRQn 0 */
- /* USER CODE END HardFault_IRQn 0 */
- while (1)
- {
- /* USER CODE BEGIN W1_HardFault_IRQn 0 */
- /* USER CODE END W1_HardFault_IRQn 0 */
- }
+ /* USER CODE END HardFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ /* USER CODE END W1_HardFault_IRQn 0 */
+ }
}
/**
@@ -100,12 +101,12 @@
*/
void SVC_Handler(void)
{
- /* USER CODE BEGIN SVC_IRQn 0 */
+ /* USER CODE BEGIN SVC_IRQn 0 */
- /* USER CODE END SVC_IRQn 0 */
- /* USER CODE BEGIN SVC_IRQn 1 */
+ /* USER CODE END SVC_IRQn 0 */
+ /* USER CODE BEGIN SVC_IRQn 1 */
- /* USER CODE END SVC_IRQn 1 */
+ /* USER CODE END SVC_IRQn 1 */
}
/**
@@ -113,12 +114,12 @@
*/
void PendSV_Handler(void)
{
- /* USER CODE BEGIN PendSV_IRQn 0 */
+ /* USER CODE BEGIN PendSV_IRQn 0 */
- /* USER CODE END PendSV_IRQn 0 */
- /* USER CODE BEGIN PendSV_IRQn 1 */
+ /* USER CODE END PendSV_IRQn 0 */
+ /* USER CODE BEGIN PendSV_IRQn 1 */
- /* USER CODE END PendSV_IRQn 1 */
+ /* USER CODE END PendSV_IRQn 1 */
}
/**
@@ -126,13 +127,13 @@
*/
void SysTick_Handler(void)
{
- /* USER CODE BEGIN SysTick_IRQn 0 */
+ /* USER CODE BEGIN SysTick_IRQn 0 */
- /* USER CODE END SysTick_IRQn 0 */
- HAL_IncTick();
- /* USER CODE BEGIN SysTick_IRQn 1 */
+ /* USER CODE END SysTick_IRQn 0 */
+ HAL_IncTick();
+ /* USER CODE BEGIN SysTick_IRQn 1 */
- /* USER CODE END SysTick_IRQn 1 */
+ /* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
@@ -147,22 +148,26 @@
*/
void EXTI0_1_IRQHandler(void)
{
- /* USER CODE BEGIN EXTI0_1_IRQn 0 */
- //GPIO_Toggle(MOTOR_GPIO_Port,MOTOR_Pin);
- /* 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();
- /* USER CODE END EXTI0_1_IRQn 1 */
+ /* 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;
+ }
+
+ /* 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;
+ /* USER CODE END EXTI0_1_IRQn 1 */
}
/**
@@ -170,14 +175,14 @@
*/
void DMA1_Channel2_3_IRQHandler(void)
{
- /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
+ /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
- /* USER CODE END DMA1_Channel2_3_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_usart1_tx);
- HAL_DMA_IRQHandler(&hdma_usart1_rx);
- /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
+ /* USER CODE END DMA1_Channel2_3_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_tx);
+ HAL_DMA_IRQHandler(&hdma_usart1_rx);
+ /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
- /* USER CODE END DMA1_Channel2_3_IRQn 1 */
+ /* USER CODE END DMA1_Channel2_3_IRQn 1 */
}
/**
@@ -185,14 +190,14 @@
*/
void LPTIM1_IRQHandler(void)
{
- /* USER CODE BEGIN LPTIM1_IRQn 0 */
+ /* USER CODE BEGIN LPTIM1_IRQn 0 */
-
- /* USER CODE END LPTIM1_IRQn 0 */
- HAL_LPTIM_IRQHandler(&hlptim1);
- /* USER CODE BEGIN LPTIM1_IRQn 1 */
- /* USER CODE END LPTIM1_IRQn 1 */
+ /* USER CODE END LPTIM1_IRQn 0 */
+ HAL_LPTIM_IRQHandler(&hlptim1);
+ /* USER CODE BEGIN LPTIM1_IRQn 1 */
+
+ /* USER CODE END LPTIM1_IRQn 1 */
}
/**
@@ -200,13 +205,13 @@
*/
void USART1_IRQHandler(void)
{
- /* USER CODE BEGIN USART1_IRQn 0 */
- __HAL_UART_CLEAR_IDLEFLAG(&huart1);
- /* USER CODE END USART1_IRQn 0 */
- HAL_UART_IRQHandler(&huart1);
- /* USER CODE BEGIN USART1_IRQn 1 */
+ /* USER CODE BEGIN USART1_IRQn 0 */
+ __HAL_UART_CLEAR_IDLEFLAG(&huart1);
+ /* USER CODE END USART1_IRQn 0 */
+ HAL_UART_IRQHandler(&huart1);
+ /* USER CODE BEGIN USART1_IRQn 1 */
- /* USER CODE END USART1_IRQn 1 */
+ /* USER CODE END USART1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
--
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