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https://github.com/goldenfishs/MRobot.git
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64 lines
1.9 KiB
C
64 lines
1.9 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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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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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 ms_old = xTaskGetTickCount();
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uint32_t tick_value_old = SysTick->VAL;
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uint32_t ms_new = xTaskGetTickCount();
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uint32_t tick_value_new = SysTick->VAL;
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if (ms_old == ms_new) {
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return ms_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
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} else {
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return ms_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"))); |