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https://github.com/goldenfishs/MRobot.git
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119 lines
2.5 KiB
C
119 lines
2.5 KiB
C
#include "bsp_delay.h"
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#include "cmsis_os.h"
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#include "main.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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static uint8_t fac_us = 0;
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static uint32_t fac_ms = 0;
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/* Private function -------------------------------------------------------- */
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static void delay_ticks(uint32_t ticks)
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{
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uint32_t told = SysTick->VAL;
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uint32_t tnow = 0;
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uint32_t tcnt = 0;
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uint32_t reload = SysTick->LOAD;
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while (1)
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{
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tnow = SysTick->VAL;
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if (tnow != told)
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{
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if (tnow < told)
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{
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tcnt += told - tnow;
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}
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else
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{
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tcnt += reload - tnow + told;
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}
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told = tnow;
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if (tcnt >= ticks)
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{
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break;
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}
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}
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}
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 毫秒延时函数
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* @param ms
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* @return
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*/
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int8_t BSP_Delay(uint32_t ms)
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{
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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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{
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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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/**
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* @brief 延时初始化
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* @param
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* @return
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*/
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int8_t BSP_Delay_Init(void)
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{
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if (SystemCoreClock == 0)
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{
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return BSP_ERR;
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}
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fac_us = SystemCoreClock / 1000000;
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fac_ms = SystemCoreClock / 1000;
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return BSP_OK;
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}
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/**
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* @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
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* @param us
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* @return
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*/
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int8_t BSP_Delay_us(uint32_t us)
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{
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if (fac_us == 0)
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{
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return BSP_ERR;
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}
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uint32_t ticks = us * fac_us;
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delay_ticks(ticks);
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return BSP_OK;
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}
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/**
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* @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
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* @param ms
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* @return
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*/
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int8_t BSP_Delay_ms(uint32_t ms)
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{
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if (fac_ms == 0)
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{
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return BSP_ERR;
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}
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uint32_t ticks = ms * fac_ms;
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delay_ticks(ticks);
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return BSP_OK;
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}
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