From a91f175e9eac6f44d058e94473b296d34230c071 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 31 Jul 2025 04:46:32 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9delay?=
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---
 bsp/delay.h      | 46 ++++++++++++++++++++++++++++------------------
 bsp/describe.csv |  3 ++-
 2 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/bsp/delay.h b/bsp/delay.h
index e7c68fc..1a95039 100644
--- a/bsp/delay.h
+++ b/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/bsp/describe.csv b/bsp/describe.csv
index 0fee207..2788534 100644
--- a/bsp/describe.csv
+++ b/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