mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-02-04 18:00:19 +08:00
Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
81 lines
2.2 KiB
C
81 lines
2.2 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "bsp/time.h"
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#include "bsp.h"
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#include <cmsis_os2.h>
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#include "FreeRTOS.h"
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#include "main.h"
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#include "task.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Private define ----------------------------------------------------------- */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); }
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uint64_t BSP_TIME_Get_us() {
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uint32_t tick_freq = osKernelGetTickFreq();
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uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq);
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uint32_t tick_value_old = SysTick->VAL;
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uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq);
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uint32_t tick_value_new = SysTick->VAL;
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if (ticks_old == ticks_new) {
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return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
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} else {
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return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
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}
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}
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uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us")));
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int8_t BSP_TIME_Delay_ms(uint32_t ms) {
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uint32_t tick_period = 1000u / osKernelGetTickFreq();
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uint32_t ticks = ms / tick_period;
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switch (osKernelGetState()) {
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case osKernelError:
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case osKernelReserved:
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case osKernelLocked:
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case osKernelSuspended:
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return BSP_ERR;
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case osKernelRunning:
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osDelay(ticks ? ticks : 1);
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break;
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case osKernelInactive:
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case osKernelReady:
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HAL_Delay(ms);
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break;
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}
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return BSP_OK;
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}
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/*阻塞us延迟*/
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int8_t BSP_TIME_Delay_us(uint32_t us) {
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uint64_t start = BSP_TIME_Get_us();
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while (BSP_TIME_Get_us() - start < us) {
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// 等待us时间
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}
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return BSP_OK;
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}
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int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */ |