mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-11-04 05:23:10 +08:00
81 lines
2.2 KiB
C
81 lines
2.2 KiB
C
/* Includes ----------------------------------------------------------------- */
|
|
#include "bsp/time.h"
|
|
#include "bsp.h"
|
|
|
|
#include <cmsis_os2.h>
|
|
#include "FreeRTOS.h"
|
|
#include "main.h"
|
|
#include "task.h"
|
|
|
|
/* USER INCLUDE BEGIN */
|
|
|
|
/* USER INCLUDE END */
|
|
/* Private define ----------------------------------------------------------- */
|
|
/* USER DEFINE BEGIN */
|
|
|
|
/* USER DEFINE END */
|
|
|
|
/* Private macro ------------------------------------------------------------ */
|
|
/* Private typedef ---------------------------------------------------------- */
|
|
/* USER STRUCT BEGIN */
|
|
|
|
/* USER STRUCT END */
|
|
|
|
/* Private variables -------------------------------------------------------- */
|
|
/* Private function -------------------------------------------------------- */
|
|
/* Exported functions ------------------------------------------------------- */
|
|
|
|
uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); }
|
|
|
|
uint64_t BSP_TIME_Get_us() {
|
|
uint32_t tick_freq = osKernelGetTickFreq();
|
|
uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq);
|
|
uint32_t tick_value_old = SysTick->VAL;
|
|
uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq);
|
|
uint32_t tick_value_new = SysTick->VAL;
|
|
if (ticks_old == ticks_new) {
|
|
return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
|
|
} else {
|
|
return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
|
|
}
|
|
}
|
|
|
|
uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us")));
|
|
|
|
int8_t BSP_TIME_Delay_ms(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;
|
|
|
|
case osKernelRunning:
|
|
osDelay(ticks ? ticks : 1);
|
|
break;
|
|
|
|
case osKernelInactive:
|
|
case osKernelReady:
|
|
HAL_Delay(ms);
|
|
break;
|
|
}
|
|
return BSP_OK;
|
|
}
|
|
|
|
/*阻塞us延迟*/
|
|
int8_t BSP_TIME_Delay_us(uint32_t us) {
|
|
uint64_t start = BSP_TIME_Get_us();
|
|
while (BSP_TIME_Get_us() - start < us) {
|
|
// 等待us时间
|
|
}
|
|
return BSP_OK;
|
|
}
|
|
|
|
int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
|
|
|
|
/* USER FUNCTION BEGIN */
|
|
|
|
/* USER FUNCTION END */ |