From 18fe9f79aa8511e8a86821922a8f33363dabd527 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 07 八月 2025 17:48:25 +0800
Subject: [PATCH] 2.89，改为时间片间隔8ms 125个片 25个标签 5hz最多，去掉dispoll regpoll 防撞3是写实时间片 临近基站2是主基站id
---
Src/stm32l0xx_it.c | 29 ++++++++++++++++++++++++-----
1 files changed, 24 insertions(+), 5 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index abed576..874f8f4 100644
--- a/Src/stm32l0xx_it.c
+++ b/Src/stm32l0xx_it.c
@@ -43,6 +43,8 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
float nomove_count=0;
+float button_delay = 1;
+u16 button_start;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -93,6 +95,7 @@
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 */
}
@@ -151,24 +154,40 @@
void EXTI0_1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
+ static u16 lastcount=0;
+ u16 count_diff;
+ SystemClock_Config();
if(GET_IMUINT)
{
nomove_count = 0;
}
- if(!GET_USERKEY)
+ 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);
+ delay_ms(100);
MOTOR_OFF;
}
nomove_count = 0;
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
- UsartInit();
+// waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ // UsartInit();
// MOTOR_ON;
}
--
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