From ced464290eb4a1e15d62e1ed537aac2488e2785a Mon Sep 17 00:00:00 2001
From: RB <robofish>
Date: Wed, 7 May 2025 23:38:39 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0us=E5=BB=B6=E6=97=B6?=
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---
 User/bsp/delay.c | 114 ++++++++++++++++++++++++++++++++++++++++-------
 User/bsp/delay.h |   4 ++
 2 files changed, 103 insertions(+), 15 deletions(-)

diff --git a/User/bsp/delay.c b/User/bsp/delay.c
index 1a95039..d906c4a 100644
--- a/User/bsp/delay.c
+++ b/User/bsp/delay.c
@@ -1,34 +1,118 @@
-/* Includes ----------------------------------------------------------------- */
-#include "bsp\delay.h"
+#include "bsp_delay.h"
 
-#include <cmsis_os2.h>
-#include <main.h>
+#include "cmsis_os.h"
+#include "main.h"
 
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 /* Private variables -------------------------------------------------------- */
+static uint8_t fac_us = 0;
+static uint32_t fac_ms = 0;
 /* Private function  -------------------------------------------------------- */
+static void delay_ticks(uint32_t ticks)
+{
+    uint32_t told = SysTick->VAL;
+    uint32_t tnow = 0;
+    uint32_t tcnt = 0;
+    uint32_t reload = SysTick->LOAD;
+    while (1)
+    {
+        tnow = SysTick->VAL;
+        if (tnow != told)
+        {
+            if (tnow < told)
+            {
+                tcnt += told - tnow;
+            }
+            else
+            {
+                tcnt += reload - tnow + told;
+            }
+            told = tnow;
+            if (tcnt >= ticks)
+            {
+                break;
+            }
+        }
+    }
+}
 /* Exported functions ------------------------------------------------------- */
-int8_t BSP_Delay(uint32_t ms) {
-  uint32_t tick_period = 1000u / osKernelGetTickFreq();
-  uint32_t ticks = ms / tick_period;
 
-  switch (osKernelGetState()) {
+/**
+ * @brief 毫秒延时函数
+ * @param ms
+ * @return
+ */
+int8_t BSP_Delay(uint32_t ms)
+{
+    uint32_t tick_period = 1000u / osKernelGetTickFreq();
+    uint32_t ticks = ms / tick_period;
+
+    switch (osKernelGetState())
+    {
     case osKernelError:
     case osKernelReserved:
     case osKernelLocked:
     case osKernelSuspended:
-      return BSP_ERR;
+        return BSP_ERR;
 
     case osKernelRunning:
-      osDelay(ticks ? ticks : 1);
-      break;
+        osDelay(ticks ? ticks : 1);
+        break;
 
     case osKernelInactive:
     case osKernelReady:
-      HAL_Delay(ms);
-      break;
-  }
-  return BSP_OK;
+        HAL_Delay(ms);
+        break;
+    }
+    return BSP_OK;
+}
+
+/**
+ * @brief 延时初始化
+ * @param  
+ * @return 
+ */
+int8_t BSP_Delay_Init(void)
+{
+    if (SystemCoreClock == 0)
+    {
+        return BSP_ERR;
+    }
+    fac_us = SystemCoreClock / 1000000;
+    fac_ms = SystemCoreClock / 1000;
+    return BSP_OK;
+}
+
+/**
+ * @brief 微秒延时，注意：此函数会阻塞当前线程，直到延时结束，并且会被中断打断
+ * @param us 
+ * @return 
+ */
+int8_t BSP_Delay_us(uint32_t us)
+{
+    if (fac_us == 0)
+    {
+        return BSP_ERR;
+    }
+    uint32_t ticks = us * fac_us;
+    delay_ticks(ticks);
+    return BSP_OK;
+}
+
+/**
+ * @brief 毫秒延时，注意：此函数会阻塞当前线程，直到延时结束，并且会被中断打断
+ * @param ms 
+ * @return 
+ */
+int8_t BSP_Delay_ms(uint32_t ms)
+{
+    if (fac_ms == 0)
+    {
+        return BSP_ERR;
+    }
+    uint32_t ticks = ms * fac_ms;
+    delay_ticks(ticks);
+    return BSP_OK;
 }
diff --git a/User/bsp/delay.h b/User/bsp/delay.h
index 82e730f..e7c68fc 100644
--- a/User/bsp/delay.h
+++ b/User/bsp/delay.h
@@ -15,6 +15,10 @@ extern "C" {
 /* Exported functions prototypes -------------------------------------------- */
 int8_t BSP_Delay(uint32_t ms);
 
+int8_t BSP_Delay_Init(void);
+int8_t BSP_Delay_us(uint32_t us);
+int8_t BSP_Delay_ms(uint32_t ms);
+
 #ifdef __cplusplus
 }
 #endif