feat(can): 增加EEPROM状态码和系统配置保存功能
- 在CAN通信中增加EEPROM状态码字段，并通过CAN FD发送 - 实现Flash EEPROM对系统配置参数的CRC校验与保存 - 改进目标角度、速度等关键参数的读写逻辑，支持掉电保存 - 调整EEPROM地址映射，优化错误处理和状态反馈机制 - 修复CRC计算相关问题，增强数据可靠性
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/*!
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\file systick.c
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\brief the systick configuration file
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\version 2025-06-20, V1.5.1, firmware for GD32C10x
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\file systick.c
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\brief the systick configuration file
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\version 2025-06-20, V1.5.1, firmware for GD32C10x
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*/
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/*
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Copyright (c) 2024, GigaDevice Semiconductor Inc.
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Copyright (c) 2024, GigaDevice Semiconductor Inc.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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specific prior written permission.
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1. Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from this
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software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
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OF SUCH DAMAGE.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "gd32c10x.h"
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#include "systick.h"
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#include "gd32c10x.h"
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#include "gd32c10x_exti.h"
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#include "gd32c10x_gpio.h"
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volatile static uint32_t delay;
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/*!
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\brief configure systick
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\param[in] none
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\param[out] none
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\retval none
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\brief configure systick
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\param[in] none
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\param[out] none
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\retval none
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*/
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void systick_config(void)
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{
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/* setup systick timer for 1000Hz interrupts */
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if (SysTick_Config(SystemCoreClock / 1000U)){
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/* capture error */
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while (1){
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}
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}
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/* configure the systick handler priority */
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NVIC_SetPriority(SysTick_IRQn, 0x00U);
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void systick_config(void) {
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/* setup systick timer for 1000Hz interrupts */
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if (SysTick_Config(SystemCoreClock / 1000U)) {
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/* capture error */
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while (1) {
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}
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}
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/* configure the systick handler priority */
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NVIC_SetPriority(SysTick_IRQn, 0x00U);
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}
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/*!
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\brief delay a time in seconds
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\param[in] count: count in seconds
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\param[out] none
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\retval none
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\brief delay a time in seconds
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\param[in] count: count in seconds
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\param[out] none
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\retval none
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*/
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void delay_1s(uint32_t count)
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{
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uint32_t i;
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for(i = 0; i < count; i++){
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delay_1ms(1000);
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}
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void delay_1s(uint32_t count) {
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uint32_t i;
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for (i = 0; i < count; i++) {
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delay_1ms(1000);
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}
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}
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/*!
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\brief delay a time in milliseconds
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\param[in] count: count in milliseconds
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\param[out] none
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\retval none
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\brief delay a time in milliseconds
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\param[in] count: count in milliseconds
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\param[out] none
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\retval none
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*/
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void delay_1ms(uint32_t count)
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{
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delay = count;
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while(0U != delay){
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void delay_1ms(uint32_t count) {
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delay = count;
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while (0U != delay) {
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fwdgt_counter_reload();
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fwdgt_counter_reload();
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}
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}
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}
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/*!
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\brief delay decrement
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\param[in] none
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\param[out] none
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\retval none
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\brief delay decrement
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\param[in] none
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\param[out] none
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\retval none
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*/
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void delay_decrement(void)
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{
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if (0U != delay){
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delay--;
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}
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void delay_decrement(void) {
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if (0U != delay) {
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delay--;
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}
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}
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/*!
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\brief system soft reset
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\param[in] none
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\param[out] none
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\retval none
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\brief system soft reset
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\param[in] none
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\param[out] none
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\retval none
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*/
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void system_soft_reset(void)
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{
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/* Set the software reset bit */
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SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));
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/* Data Synchronization Barrier */
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__DSB();
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/* Wait for reset */
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while (1){
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__NOP();
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}
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void system_soft_reset(void) {
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/* Set the software reset bit */
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SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));
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/* Data Synchronization Barrier */
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__DSB();
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/* Wait for reset */
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while (1) {
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__NOP();
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}
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}
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// 1. 进入深度睡眠前的准备
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void prepare_deep_sleep(void) {
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// 将SIT1044设置为低功耗待机模式
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gpio_bit_set(GPIOB, GPIO_PIN_8); // STB = 高电平
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// 配置EXTI中断（连接到SIT1044的RXD引脚）
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exti_init(EXTI_1, EXTI_INTERRUPT, EXTI_TRIG_FALLING); // 下降沿触发
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// 进入深度睡眠
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pmu_to_deepsleepmode(PMU_LDO_LOWPOWER, WFI_CMD);
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}
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// 2. 唤醒中断处理
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void EXTI1_IRQHandler(void) {
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if (exti_interrupt_flag_get(EXTI_1) != RESET) {
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// 清除中断标志
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exti_interrupt_flag_clear(EXTI_1);
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// 禁用EXTI线1的中断
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exti_interrupt_disable(EXTI_1);
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// 唤醒SIT1044到正常模式
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gpio_bit_reset(GPIOB, GPIO_PIN_8); // STB = 低电平
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}
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}
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