From 89fbaf8e55101d08fe6a0f511c79ca4050839bb6 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 31 Jul 2025 04:48:01 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=A8=A1=E7=89=88=E4=BB=A3?=
 =?UTF-8?q?=E7=A0=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 assets/User_code/bsp/delay.h          | 46 ++++++++++++++++-----------
 assets/User_code/bsp/describe.csv     |  3 +-
 assets/User_code/task/task.c.template | 20 ++++++------
 3 files changed, 40 insertions(+), 29 deletions(-)

diff --git a/assets/User_code/bsp/delay.h b/assets/User_code/bsp/delay.h
index e7c68fc..1a95039 100644
--- a/assets/User_code/bsp/delay.h
+++ b/assets/User_code/bsp/delay.h
@@ -1,24 +1,34 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 /* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
+#include "bsp\delay.h"
 
-#include "bsp/bsp.h"
+#include <cmsis_os2.h>
+#include <main.h>
 
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-/* Exported functions prototypes -------------------------------------------- */
-int8_t BSP_Delay(uint32_t ms);
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+int8_t BSP_Delay(uint32_t ms) {
+  uint32_t tick_period = 1000u / osKernelGetTickFreq();
+  uint32_t ticks = ms / tick_period;
 
-int8_t BSP_Delay_Init(void);
-int8_t BSP_Delay_us(uint32_t us);
-int8_t BSP_Delay_ms(uint32_t ms);
+  switch (osKernelGetState()) {
+    case osKernelError:
+    case osKernelReserved:
+    case osKernelLocked:
+    case osKernelSuspended:
+      return BSP_ERR;
 
-#ifdef __cplusplus
+    case osKernelRunning:
+      osDelay(ticks ? ticks : 1);
+      break;
+
+    case osKernelInactive:
+    case osKernelReady:
+      HAL_Delay(ms);
+      break;
+  }
+  return BSP_OK;
 }
-#endif
diff --git a/assets/User_code/bsp/describe.csv b/assets/User_code/bsp/describe.csv
index 0fee207..2788534 100644
--- a/assets/User_code/bsp/describe.csv
+++ b/assets/User_code/bsp/describe.csv
@@ -1,2 +1,3 @@
 uart,要求开启dma和中断
-can,要求开启can的中断
\ No newline at end of file
+can,要求开启can的中断
+delay,暂时只有delay_ms函数
\ No newline at end of file
diff --git a/assets/User_code/task/task.c.template b/assets/User_code/task/task.c.template
index eef30d1..e238fa2 100644
--- a/assets/User_code/task/task.c.template
+++ b/assets/User_code/task/task.c.template
@@ -5,17 +5,17 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
-/* USER INCLUDE BEGIN*/
+/* USER INCLUDE BEGIN */
 
-/* USER INCLUDE END*/
+/* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN*/
+/* USER STRUCT BEGIN */
 
-/* USER STRUCT END*/
+/* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
@@ -28,11 +28,11 @@ void {{task_function}}(void *argument) {
 
   osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
 
-  /* USER CODE INIT BEGIN*/
-
-  /* USER CODE INIT END*/
-
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+  
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
@@ -43,9 +43,9 @@ void {{task_function}}(void *argument) {
   {% else %}
   osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
 
-  /* USER CODE INIT BEGIN*/
+  /* USER CODE INIT BEGIN */
 
-  /* USER CODE INIT END*/
+  /* USER CODE INIT END */
 
   while (1) {
     /* USER CODE BEGIN */