From 912dd0543931c411d411923ee37f0433df940fe1 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 07 二月 2025 10:53:08 +0800
Subject: [PATCH] 2.12，加入方庄距离1-2之间报警 其他不报警
---
Src/stm32l0xx_it.c | 75 +++++++++++++++++++++++++++++++------
1 files changed, 62 insertions(+), 13 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index fb8ecaf..08b5087 100644
--- a/Src/stm32l0xx_it.c
+++ b/Src/stm32l0xx_it.c
@@ -42,7 +42,9 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
-
+float nomove_count=0;
+float button_delay = 1;
+u16 button_start;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -61,11 +63,13 @@
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 +95,8 @@
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 */
}
}
@@ -148,24 +154,67 @@
void EXTI0_1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
- //GPIO_Toggle(MOTOR_GPIO_Port,MOTOR_Pin);
+ static u16 lastcount=0;
+ u16 count_diff;
+ SystemClock_Config();
+ if(GET_IMUINT)
+ {
+ nomove_count = 0;
+ }
+
+ 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;
+// 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 */
}
/**
+ * @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_8);
+ /* 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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