128 lines
2.3 KiB
C
128 lines
2.3 KiB
C
#include "main.h"
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#define USE_HAL_LEGACY
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#include "stm32_hal_legacy.h"
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#define Timebase_Source_is_SysTick 1 //当Timebase Source为SysTick时改为1
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//#define Timebase_Source_is_SysTick 0 //当使用FreeRTOS，Timebase Source为其他定时器时改为0
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#if (!Timebase_Source_is_SysTick)
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extern TIM_HandleTypeDef htimx; //当使用FreeRTOS，Timebase Source为其他定时器时，修改为对应的定时器
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#define Timebase_htim htimx
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#define Delay_GetCounter() __HAL_TIM_GetCounter(&Timebase_htim)
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#define Delay_GetAutoreload() __HAL_TIM_GetAutoreload(&Timebase_htim)
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#else
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#define Delay_GetCounter() (SysTick->VAL)
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#define Delay_GetAutoreload() (SysTick->LOAD)
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#endif
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static uint16_t fac_us = 0;
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static uint32_t fac_ms = 0;
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/*初始化*/
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void delay_init(void)
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{
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#if (!Timebase_Source_is_SysTick)
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fac_ms = 1000000; //作为时基的计数器时钟频率在HAL_InitTick()中被设为了1MHz
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fac_us = fac_ms / 1000;
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#else
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fac_ms = SystemCoreClock / 1000;
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fac_us = fac_ms / 1000;
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#endif
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}
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/*微秒级延时*/
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void delay_us(uint32_t nus)
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{
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uint32_t ticks = 0;
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uint32_t told = 0;
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uint32_t tnow = 0;
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uint32_t tcnt = 0;
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uint32_t reload = 0;
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reload = Delay_GetAutoreload();
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ticks = nus * fac_us;
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told = Delay_GetCounter();
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while (1)
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{
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tnow = Delay_GetCounter();
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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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/*毫秒级延时*/
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void delay_ms(uint32_t nms)
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{
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uint32_t ticks = 0;
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uint32_t told = 0;
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uint32_t tnow = 0;
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uint32_t tcnt = 0;
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uint32_t reload = 0;
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reload = Delay_GetAutoreload();
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ticks = nms * fac_ms;
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told = Delay_GetCounter();
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while (1)
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{
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tnow = Delay_GetCounter();
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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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/*重写HAL_Delay*/
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void HAL_Delay(uint32_t Delay)
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{
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uint32_t tickstart = HAL_GetTick();
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uint32_t wait = Delay;
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/*不太明白官方源码为啥这么写，会多延时1ms，注释掉后更准*/
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// /* Add a freq to guarantee minimum wait */
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// if (wait < HAL_MAX_DELAY)
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// {
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// wait += (uint32_t)(uwTickFreq);
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// }
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while ((HAL_GetTick() - tickstart) < wait)
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{
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}
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}
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