200 lines
5.5 KiB
C
200 lines
5.5 KiB
C
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/**
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****************************************************************************************************
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* @file bsp_delay.c
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* @author
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* @version V1.0
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* @date 2024-03-10
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* @brief 延时模块
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****************************************************************************************************
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*/
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#include "drv_sys.h"
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#include "bsp_delay.h"
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static uint32_t g_fac_us = 0; /* us延时倍乘数 */
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/* 如果SYS_SUPPORT_OS定义了,说明要支持OS了(不限于UCOS) */
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#if SYS_SUPPORT_OS
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/* 添加公共头文件 ( ucos需要用到) */
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#include "os.h"
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/**
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* @brief systick中断服务函数,使用OS时用到
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* @param ticks : 延时的节拍数
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* @retval 无
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*/
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void SysTick_Handler(void)
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{
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/* OS 开始跑了,才执行正常的调度处理 */
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if (OSRunning == OS_STATE_OS_RUNNING)
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{
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/* 调用 uC/OS-III 的 SysTick 中断服务函数 */
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OS_CPU_SysTickHandler();
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}
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HAL_IncTick();
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}
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#endif
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/**
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* @brief 初始化延迟函数
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* @param sysclk: 系统时钟频率, 即CPU频率(rcc_c_ck), 168MHz
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* @retval 无
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*/
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void delay_init(uint16_t sysclk)
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{
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#if SYS_SUPPORT_OS /* 如果需要支持OS */
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uint32_t reload;
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#endif
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SysTick->CTRL = 0;
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HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);/* SYSTICK使用外部时钟源,频率为HCLK */
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g_fac_us = sysclk; /* 不论是否使用OS,g_fac_us都需要使用 */
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#if SYS_SUPPORT_OS /* 如果需要支持OS. */
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reload = sysclk; /* 每秒钟的计数次数 单位为M */
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reload *= 1000000 / OSCfg_TickRate_Hz; /* 根据delay_ostickspersec设定溢出时间,reload为24位
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* 寄存器,最大值:16777216,在168M下,约合0.09986s左右
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*/
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SysTick->CTRL |= 1 << 1;
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SysTick->LOAD = reload;
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SysTick->CTRL |= 1 << 0;
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#endif
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}
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#if SYS_SUPPORT_OS /* 如果需要支持OS, 用以下代码 */
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/**
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* @brief 延时nus
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* @param nus: 要延时的us数
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* @note nus取值范围 : 0 ~ 190887435us(最大值即 2^32 / fac_us @fac_us = 21)
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* @retval 无
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*/
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void delay_us(uint32_t nus)
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{
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uint32_t ticks;
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uint32_t told, tnow, tcnt = 0;
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uint32_t reload = SysTick->LOAD; /* LOAD的值 */
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/* 定义用于接收错误代码的变量 */
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OS_ERR err;
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ticks = nus * g_fac_us; /* 需要的节拍数 */
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/* 锁定 uC/OS-III 的任务调度器 */
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OSSchedLock(&err);
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told = SysTick->VAL; /* 刚进入时的计数器值 */
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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; /* 这里注意一下SYSTICK是一个递减的计数器就可以了 */
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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; /* 时间超过/等于要延迟的时间,则退出 */
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}
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}
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}
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/* 恢复 uC/OS-III 的任务调度器 */
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OSSchedUnlock(&err);
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}
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/**
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* @brief 延时nms
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* @param nms: 要延时的ms数 (0< nms <= 65535)
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* @retval 无
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*/
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void delay_ms(uint16_t nms)
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{
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uint32_t i;
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for (i=0; i<nms; i++)
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{
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delay_us(1000);
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}
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}
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#else /* 不使用OS时, 用以下代码 */
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/**
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* @brief 延时nus
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* @param nus: 要延时的us数.
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* @note nus取值范围 : 0~190887435(最大值即 2^32 / fac_us @fac_us = 21)
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* @retval 无
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*/
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void delay_us(uint32_t nus)
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{
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uint32_t ticks;
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uint32_t told, tnow, tcnt = 0;
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uint32_t reload = SysTick->LOAD; /* LOAD的值 */
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ticks = nus * g_fac_us; /* 需要的节拍数 */
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told = SysTick->VAL; /* 刚进入时的计数器值 */
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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; /* 这里注意一下SYSTICK是一个递减的计数器就可以了 */
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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; /* 时间超过/等于要延迟的时间,则退出 */
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}
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}
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}
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}
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/**
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* @brief 延时nms
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* @param nms: 要延时的ms数 (0< nms <= 65535)
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* @retval 无
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*/
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void delay_ms(uint16_t nms)
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{
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uint32_t repeat = nms / 540; /* 这里用540,是考虑到可能有超频应用, 比如248M的时候,delay_us最大只能延时541ms左右了 */
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uint32_t remain = nms % 540;
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while (repeat)
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{
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delay_us(540 * 1000); /* 利用delay_us 实现 540ms 延时 */
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repeat--;
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}
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if (remain)
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{
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delay_us(remain * 1000); /* 利用delay_us, 把尾数延时(remain ms)给做了 */
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}
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}
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/**
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* @brief HAL库内部函数用到的延时
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* @note HAL库的延时默认用Systick，如果我们没有开Systick的中断会导致调用这个延时后无法退出
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* @param Delay : 要延时的毫秒数
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* @retval None
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*/
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void HAL_Delay(uint32_t Delay)
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{
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delay_ms(Delay);
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}
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#endif
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