CMS3in1/1.Cabin/4.MISC/ADS1278/Drivers/SYSTEM/delay/delay.c

/**
 ****************************************************************************************************
 * @file        delay.c
 * @author      <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><EFBFBD><EFBFBD>Ŷ<EFBFBD>(ALIENTEK)
 * @version     V1.0
 * @date        2021-10-14
 * @brief       ʹ<EFBFBD><EFBFBD>SysTick<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD>ӳٽ<EFBFBD><EFBFBD>й<EFBFBD><EFBFBD><EFBFBD>(֧<EFBFBD><EFBFBD>ucosii)
 *              <EFBFBD>ṩdelay_init<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> delay_us<EFBFBD><EFBFBD>delay_ms<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @license     Copyright (c) 2020-2032, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿƼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>޹<EFBFBD>˾
 ****************************************************************************************************
 * @attention
 *
 * ʵ<EFBFBD><EFBFBD>ƽ̨:<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><EFBFBD> ̽<EFBFBD><EFBFBD><EFBFBD><EFBFBD> F407<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ:www.yuanzige.com
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̳:www.openedv.com
 * <EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD>ַ:www.alientek.com
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ:openedv.taobao.com
 *
 * <EFBFBD>޸<EFBFBD>˵<EFBFBD><EFBFBD>
 * V1.0 20211014
 * <EFBFBD><EFBFBD>һ<EFBFBD>η<EFBFBD><EFBFBD><EFBFBD>
 *
 ****************************************************************************************************
 */

#include "./SYSTEM/sys/sys.h"
#include "./SYSTEM/delay/delay.h"


static uint32_t g_fac_us = 0;       /* us<75><73>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */

/* <20><><EFBFBD><EFBFBD>SYS_SUPPORT_OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,˵<><CBB5>Ҫ֧<D2AA><D6A7>OS<4F><53>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>UCOS) */
#if SYS_SUPPORT_OS

/* <20><><EFBFBD>ӹ<EFBFBD><D3B9><EFBFBD>ͷ<EFBFBD>ļ<EFBFBD> ( ucos<6F><73>Ҫ<EFBFBD>õ<EFBFBD>) */
#include "includes.h"

/* <20><><EFBFBD><EFBFBD>g_fac_ms<6D><73><EFBFBD><EFBFBD>, <20><>ʾms<6D><73>ʱ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>ms<6D><73>, (<28><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>os<6F><73>ʱ<EFBFBD><CAB1>,<2C><>Ҫ<EFBFBD>õ<EFBFBD>) */
static uint16_t g_fac_ms = 0;

/*
 *  <EFBFBD><EFBFBD>delay_us/delay_ms<EFBFBD><EFBFBD>Ҫ֧<EFBFBD><EFBFBD>OS<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS<EFBFBD><EFBFBD><EFBFBD>صĺ궨<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>
 *  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EFBFBD>:
 *      delay_osrunning    :<EFBFBD><EFBFBD><EFBFBD>ڱ<EFBFBD>ʾOS<EFBFBD><EFBFBD>ǰ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD>Ծ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><EFBFBD><EFBFBD>
 *      delay_ostickspersec:<EFBFBD><EFBFBD><EFBFBD>ڱ<EFBFBD>ʾOS<EFBFBD>趨<EFBFBD><EFBFBD>ʱ<EFBFBD>ӽ<EFBFBD><EFBFBD><EFBFBD>,delay_init<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>systick
 *      delay_osintnesting :<EFBFBD><EFBFBD><EFBFBD>ڱ<EFBFBD>ʾOS<EFBFBD>ж<EFBFBD>Ƕ<EFBFBD>׼<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD>Ϊ<EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD>治<EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><EFBFBD><EFBFBD>,delay_msʹ<EFBFBD>øò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *  Ȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
 *      delay_osschedlock  :<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *      delay_osschedunlock:<EFBFBD><EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD>OS<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD>¿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *      delay_ostimedly    :<EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS<EFBFBD><EFBFBD>ʱ,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
 *
 *  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̽<EFBFBD><EFBFBD><EFBFBD>UCOSII<EFBFBD><EFBFBD>UCOSIII<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>вο<EFBFBD><EFBFBD><EFBFBD>ֲ
 */
 
/* ֧<><D6A7>UCOSII */
#ifdef  OS_CRITICAL_METHOD                      /* OS_CRITICAL_METHOD<4F><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,˵<><CBB5>Ҫ֧<D2AA><D6A7>UCOSII */
#define delay_osrunning     OSRunning           /* OS<4F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>б<EFBFBD><D0B1><EFBFBD>,0,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;1,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
#define delay_ostickspersec OS_TICKS_PER_SEC    /* OSʱ<53>ӽ<EFBFBD><D3BD><EFBFBD>,<2C><>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD> */
#define delay_osintnesting  OSIntNesting        /* <20>ж<EFBFBD>Ƕ<EFBFBD>׼<EFBFBD><D7BC><EFBFBD>,<2C><><EFBFBD>ж<EFBFBD>Ƕ<EFBFBD>״<EFBFBD><D7B4><EFBFBD> */
#endif

/* ֧<><D6A7>UCOSIII */
#ifdef  CPU_CFG_CRITICAL_METHOD                 /* CPU_CFG_CRITICAL_METHOD<4F><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,˵<><CBB5>Ҫ֧<D2AA><D6A7>UCOSIII */
#define delay_osrunning     OSRunning           /* OS<4F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>б<EFBFBD><D0B1><EFBFBD>,0,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;1,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
#define delay_ostickspersec OSCfg_TickRate_Hz   /* OSʱ<53>ӽ<EFBFBD><D3BD><EFBFBD>,<2C><>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD> */
#define delay_osintnesting  OSIntNestingCtr     /* <20>ж<EFBFBD>Ƕ<EFBFBD>׼<EFBFBD><D7BC><EFBFBD>,<2C><><EFBFBD>ж<EFBFBD>Ƕ<EFBFBD>״<EFBFBD><D7B4><EFBFBD> */
#endif

/**
 * @brief     us<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱʱ,<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>us<EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD>)
 * @param     <EFBFBD><EFBFBD>  
 * @retval    <EFBFBD><EFBFBD>
 */  
void delay_osschedlock(void)
{
#ifdef CPU_CFG_CRITICAL_METHOD          /* ʹ<><CAB9>UCOSIII */
    OS_ERR err;
    OSSchedLock(&err);                  /* UCOSIII<49>ķ<EFBFBD>ʽ,<2C><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>,<2C><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73>ʱ */
#else                                   /* <20><><EFBFBD><EFBFBD>UCOSII */
    OSSchedLock();                      /* UCOSII<49>ķ<EFBFBD>ʽ,<2C><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>,<2C><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73>ʱ */
#endif
}

/**
 * @brief     us<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱʱ,<EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param     <EFBFBD><EFBFBD>
 * @retval    <EFBFBD><EFBFBD>
 */  
void delay_osschedunlock(void)
{
#ifdef CPU_CFG_CRITICAL_METHOD          /* ʹ<><CAB9>UCOSIII */
    OS_ERR err;
    OSSchedUnlock(&err);                /* UCOSIII<49>ķ<EFBFBD>ʽ,<2C>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD> */
#else                                   /* <20><><EFBFBD><EFBFBD>UCOSII */
    OSSchedUnlock();                    /* UCOSII<49>ķ<EFBFBD>ʽ,<2C>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD> */
#endif
}

/**
 * @brief     us<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱʱ,<EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param     ticks : <EFBFBD><EFBFBD>ʱ<EFBFBD>Ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @retval    <EFBFBD><EFBFBD>
 */  
void delay_ostimedly(uint32_t ticks)
{
#ifdef CPU_CFG_CRITICAL_METHOD
    OS_ERR err; 
    OSTimeDly(ticks, OS_OPT_TIME_PERIODIC, &err);   /* UCOSIII<49><49>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ */
#else
    OSTimeDly(ticks);                               /* UCOSII<49><49>ʱ */
#endif 
}

/**
 * @brief     systick<EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,ʹ<EFBFBD><EFBFBD>OSʱ<EFBFBD>õ<EFBFBD>
 * @param     ticks : <EFBFBD><EFBFBD>ʱ<EFBFBD>Ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  
 * @retval    <EFBFBD><EFBFBD>
 */  
void SysTick_Handler(void)
{
    HAL_IncTick();
    if (delay_osrunning == 1)       /* OS<4F><53>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>,<2C><>ִ<EFBFBD><D6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5>ȴ<EFBFBD><C8B4><EFBFBD> */
    {
        OSIntEnter();               /* <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> */
        OSTimeTick();               /* <20><><EFBFBD><EFBFBD>ucos<6F><73>ʱ<EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
        OSIntExit();                /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD>ж<EFBFBD> */
    }
}
#endif

/**
 * @brief     <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>ӳٺ<EFBFBD><EFBFBD><EFBFBD>
 * @param     sysclk: ϵͳʱ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>, <EFBFBD><EFBFBD>CPUƵ<EFBFBD><EFBFBD>(rcc_c_ck), 168MHz
 * @retval    <EFBFBD><EFBFBD>
 */  
void delay_init(uint16_t sysclk)
{
#if SYS_SUPPORT_OS                                      /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS */
    uint32_t reload;
#endif
    HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);/* SYSTICKʹ<4B><CAB9><EFBFBD>ⲿʱ<E2B2BF><CAB1>Դ,Ƶ<><C6B5>ΪHCLK */
    g_fac_us = sysclk;                                  /* <20><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>OS,g_fac_us<75><73><EFBFBD><EFBFBD>Ҫʹ<D2AA><CAB9> */
#if SYS_SUPPORT_OS                                      /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS. */
    reload = sysclk;                                    /* ÿ<><C3BF><EFBFBD>ӵļ<D3B5><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪM */
    reload *= 1000000 / delay_ostickspersec;            /* <20><><EFBFBD><EFBFBD>delay_ostickspersec<65>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>,reloadΪ24λ
                                                         * <EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ:16777216,<EFBFBD><EFBFBD>168M<EFBFBD><EFBFBD>,Լ<EFBFBD><EFBFBD>0.09986s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
                                                         */
    g_fac_ms = 1000 / delay_ostickspersec;              /* <20><><EFBFBD><EFBFBD>OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD>λ */ 
    SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;          /* <20><><EFBFBD><EFBFBD>SYSTICK<43>ж<EFBFBD> */
    SysTick->LOAD = reload;                             /* ÿ1/delay_ostickspersec<65><63><EFBFBD>ж<EFBFBD>һ<EFBFBD><D2BB> */
    SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;           /* <20><><EFBFBD><EFBFBD>SYSTICK */
#endif 
}

#if SYS_SUPPORT_OS                                      /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS, <20><><EFBFBD><EFBFBD><EFBFBD>´<EFBFBD><C2B4><EFBFBD> */

/**
 * @brief     <EFBFBD><EFBFBD>ʱnus
 * @param     nus: Ҫ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>us<EFBFBD><EFBFBD>
 * @note      nusȡֵ<EFBFBD><EFBFBD>Χ : 0 ~ 190887435us(<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD> 2^32 / fac_us @fac_us = 21)
 * @retval    <EFBFBD><EFBFBD>
 */ 
void delay_us(uint32_t nus)
{
    uint32_t ticks;
    uint32_t told, tnow, tcnt = 0;
    uint32_t reload = SysTick->LOAD;        /* LOAD<41><44>ֵ */
    ticks = nus * g_fac_us;                 /* <20><>Ҫ<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD> */
    delay_osschedlock();                    /* <20><>ֹOS<4F><53><EFBFBD>ȣ<EFBFBD><C8A3><EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73>ʱ */
    told = SysTick->VAL;                    /* <20>ս<EFBFBD><D5BD><EFBFBD>ʱ<EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>ֵ */
    while (1)
    {
        tnow = SysTick->VAL;
        if (tnow != told)
        {
            if (tnow < told)
            {
                tcnt += told - tnow;        /* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>һ<EFBFBD><D2BB>SYSTICK<43><4B>һ<EFBFBD><D2BB><EFBFBD>ݼ<EFBFBD><DDBC>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><CDBF><EFBFBD><EFBFBD><EFBFBD> */
            }
            else
            {
                tcnt += reload - tnow + told;
            }
            told = tnow;
            if (tcnt >= ticks) 
            {
                break;                      /* ʱ<>䳬<EFBFBD><E4B3AC>/<2F><><EFBFBD><EFBFBD>Ҫ<EFBFBD>ӳٵ<D3B3>ʱ<EFBFBD><CAB1>,<2C><><EFBFBD>˳<EFBFBD> */
            }
        }
    }
    delay_osschedunlock();                  /* <20>ָ<EFBFBD>OS<4F><53><EFBFBD><EFBFBD> */
} 

/**
 * @brief     <EFBFBD><EFBFBD>ʱnms
 * @param     nms: Ҫ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ms<EFBFBD><EFBFBD> (0< nms <= 65535) 
 * @retval    <EFBFBD><EFBFBD>
 */
void delay_ms(uint16_t nms)
{
    if (delay_osrunning && delay_osintnesting == 0)     /* <20><><EFBFBD><EFBFBD>OS<4F>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>Ҳ<EFBFBD><D2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD>(<28>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>治<EFBFBD><E6B2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) */
    {
        if (nms >= g_fac_ms)                            /* <20><>ʱ<EFBFBD><CAB1>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
        { 
            delay_ostimedly(nms / g_fac_ms);            /* OS<4F><53>ʱ */
        }
        nms %= g_fac_ms;                                /* OS<4F>Ѿ<EFBFBD><D1BE>޷<EFBFBD><DEB7>ṩ<EFBFBD><E1B9A9>ôС<C3B4><D0A1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ʽ<EFBFBD><CABD>ʱ */
    }                                        
    delay_us((uint32_t)(nms * 1000));                   /* <20><>ͨ<EFBFBD><CDA8>ʽ<EFBFBD><CABD>ʱ */
}

#else  /* <20><>ʹ<EFBFBD><CAB9>OSʱ, <20><><EFBFBD><EFBFBD><EFBFBD>´<EFBFBD><C2B4><EFBFBD> */

/**
 * @brief       <EFBFBD><EFBFBD>ʱnus
 * @param       nus: Ҫ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>us<EFBFBD><EFBFBD>.
 * @note        nusȡֵ<EFBFBD><EFBFBD>Χ : 0~190887435(<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD> 2^32 / fac_us @fac_us = 21)
 * @retval      <EFBFBD><EFBFBD>
 */
void delay_us(uint32_t nus)
{
    uint32_t ticks;
    uint32_t told, tnow, tcnt = 0;
    uint32_t reload = SysTick->LOAD;        /* LOAD<41><44>ֵ */
    ticks = nus * g_fac_us;                 /* <20><>Ҫ<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD> */
    told = SysTick->VAL;                    /* <20>ս<EFBFBD><D5BD><EFBFBD>ʱ<EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>ֵ */
    while (1)
    {
        tnow = SysTick->VAL;
        if (tnow != told)
        {
            if (tnow < told)
            {
                tcnt += told - tnow;        /* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>һ<EFBFBD><D2BB>SYSTICK<43><4B>һ<EFBFBD><D2BB><EFBFBD>ݼ<EFBFBD><DDBC>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><CDBF><EFBFBD><EFBFBD><EFBFBD> */
            }
            else 
            {
                tcnt += reload - tnow + told;
            }
            told = tnow;
            if (tcnt >= ticks)
            {
                break;                      /* ʱ<>䳬<EFBFBD><E4B3AC>/<2F><><EFBFBD><EFBFBD>Ҫ<EFBFBD>ӳٵ<D3B3>ʱ<EFBFBD><CAB1>,<2C><><EFBFBD>˳<EFBFBD> */
            }
        }
    }
}

/**
 * @brief       <EFBFBD><EFBFBD>ʱnms
 * @param       nms: Ҫ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ms<EFBFBD><EFBFBD> (0< nms <= 65535)
 * @retval      <EFBFBD><EFBFBD>
 */
void delay_ms(uint16_t nms)
{
    uint32_t repeat = nms / 540;    /*  <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>540,<2C>ǿ<EFBFBD><C7BF>ǵ<EFBFBD><C7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>г<EFBFBD>ƵӦ<C6B5><D3A6>, <20><><EFBFBD><EFBFBD>248M<38><4D>ʱ<EFBFBD><CAB1>,delay_us<75><73><EFBFBD><EFBFBD>ֻ<EFBFBD><D6BB><EFBFBD><EFBFBD>ʱ541ms<6D><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
    uint32_t remain = nms % 540;

    while (repeat)
    {
        delay_us(540 * 1000);        /* <20><><EFBFBD><EFBFBD>delay_us ʵ<><CAB5> 540ms <20><>ʱ */
        repeat--;
    }

    if (remain)
    {
        delay_us(remain * 1000);    /* <20><><EFBFBD><EFBFBD>delay_us, <20><>β<EFBFBD><CEB2><EFBFBD><EFBFBD>ʱ(remain ms)<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
    }
}

/**
 * @brief       HAL<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ
 * @note        HAL<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱĬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Systick<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>п<EFBFBD>Systick<EFBFBD><EFBFBD><EFBFBD>жϻᵼ<EFBFBD>µ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD><EFBFBD>˳<EFBFBD>
 * @param       Delay : Ҫ<EFBFBD><EFBFBD>ʱ<EFBFBD>ĺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @retval      None
 */
void HAL_Delay(uint32_t Delay)
{
     delay_ms(Delay);
}
#endif