From f41e89f0825b39b4b98b8a82e9e8fd5c655de55d Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 14 九月 2023 15:07:43 +0800
Subject: [PATCH] 版本v2.70，加入防撞代码，uwb 4G
---
Src/stm32l0xx_it.c | 43 +++++++++++++++++++++++++++++++++++++++++--
1 files changed, 41 insertions(+), 2 deletions(-)
diff --git a/Src/stm32l0xx_it.c b/Src/stm32l0xx_it.c
index 7ee3a91..45a2638 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 -----------------------------------------------*/
@@ -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 */
}
}
@@ -148,11 +154,44 @@
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)
+ {
+ 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);
--
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