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CMS3in1/2.Blade/1.Software/STM32/VM_App/delay.c

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机舱、叶片已上机正常运行，塔筒本人只负责硬件设计
2024-11-19 09:31:02 +00:00
#include "delay.h"
#include "sys.h"
//////////////////////////////////////////////////////////////////////////////////
//<2F><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>ucos,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>.
#if SYSTEM_SUPPORT_OS
#include "includes.h" //ucos ʹ<><CAB9>
#endif
static u32 fac_us=0; //us<75><73>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#if SYSTEM_SUPPORT_OS
static u16 fac_ms=0; //ms<6D><73>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>os<6F><73>,<2C><><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>ms<6D><73>
#endif
#if SYSTEM_SUPPORT_OS //<2F><><EFBFBD><EFBFBD>SYSTEM_SUPPORT_OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,˵<><CBB5>Ҫ֧<D2AA><D6A7>OS<4F><53>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>UCOS).
//<2F><>delay_us/delay_ms<6D><73>Ҫ֧<D2AA><D6A7>OS<4F><53>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS<4F><53><EFBFBD>صĺ궨<C4BA><EAB6A8><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD>֧<EFBFBD><D6A7>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><33><EFBFBD>궨<EFBFBD><EAB6A8>:
//delay_osrunning:<3A><><EFBFBD>ڱ<EFBFBD>ʾOS<4F><53>ǰ<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C>Ծ<EFBFBD><D4BE><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD>
//delay_ostickspersec:<3A><><EFBFBD>ڱ<EFBFBD>ʾOS<4F>趨<EFBFBD><E8B6A8>ʱ<EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD>,delay_init<69><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>systick
//delay_osintnesting:<3A><><EFBFBD>ڱ<EFBFBD>ʾOS<4F>ж<EFBFBD>Ƕ<EFBFBD>׼<EFBFBD><D7BC><EFBFBD>,<2C><>Ϊ<EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>治<EFBFBD><E6B2BB><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD>,delay_msʹ<73>øò<C3B8><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//Ȼ<><C8BB><EFBFBD><EFBFBD>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
//delay_osschedlock:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>
//delay_osschedunlock:<3A><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//delay_ostimedly:<3A><><EFBFBD><EFBFBD>OS<4F><53>ʱ,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//<2F><><EFBFBD><EFBFBD><EFBFBD>̽<EFBFBD><CCBD><EFBFBD>UCOSII<49><49>UCOSIII<49><49>֧<EFBFBD><D6A7>,<2C><><EFBFBD><EFBFBD>OS,<2C><><EFBFBD><EFBFBD><EFBFBD>вο<D0B2><CEBF><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 //<2F>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 //<2F>ж<EFBFBD>Ƕ<EFBFBD>׼<EFBFBD><D7BC><EFBFBD>,<2C><><EFBFBD>ж<EFBFBD>Ƕ<EFBFBD>״<EFBFBD><D7B4><EFBFBD>
#endif
//us<75><73><EFBFBD><EFBFBD>ʱʱ,<2C>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73><EFBFBD>ӳ<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>ȣ<EFBFBD><C8A3><EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73>ʱ
#else //<2F><><EFBFBD><EFBFBD>UCOSII
OSSchedLock(); //UCOSII<49>ķ<EFBFBD>ʽ,<2C><>ֹ<EFBFBD><D6B9><EFBFBD>ȣ<EFBFBD><C8A3><EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73>ʱ
#endif
}
//us<75><73><EFBFBD><EFBFBD>ʱʱ,<2C>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><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 //<2F><><EFBFBD><EFBFBD>UCOSII
OSSchedUnlock(); //UCOSII<49>ķ<EFBFBD>ʽ,<2C>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>
#endif
}
//<2F><><EFBFBD><EFBFBD>OS<4F>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ
//ticks:<3A><>ʱ<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD>
void delay_ostimedly(u32 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
}
//systick<63>жϷ<D0B6><CFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,ʹ<><CAB9>OSʱ<53>õ<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(); //<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
OSTimeTick(); //<2F><><EFBFBD><EFBFBD>ucos<6F><73>ʱ<EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
OSIntExit(); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD>ж<EFBFBD>
}
}
#endif
//<2F><>ʼ<EFBFBD><CABC><EFBFBD>ӳٺ<D3B3><D9BA><EFBFBD>
//<2F><>ʹ<EFBFBD><CAB9>ucos<6F><73>ʱ<EFBFBD><CAB1>,<2C>˺<EFBFBD><CBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>ucos<6F><73>ʱ<EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD>
//SYSTICK<43><4B>ʱ<EFBFBD>ӹ̶<D3B9>ΪAHBʱ<42><CAB1>
//SYSCLK:ϵͳʱ<CDB3><CAB1>Ƶ<EFBFBD><C6B5>
void delay_init(u8 SYSCLK)
{
#if SYSTEM_SUPPORT_OS //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS.
u32 reload;
#endif
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);//SysTickƵ<6B><C6B5>ΪHCLK
fac_us=SYSCLK; //<2F><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>OS,fac_us<75><73><EFBFBD><EFBFBD>Ҫʹ<D2AA><CAB9>
#if SYSTEM_SUPPORT_OS //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS.
reload=SYSCLK; //ÿ<><C3BF><EFBFBD>ӵļ<D3B5><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪK
reload*=1000000/delay_ostickspersec; //<2F><><EFBFBD><EFBFBD>delay_ostickspersec<65>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
//reloadΪ24λ<34>Ĵ<EFBFBD><C4B4><EFBFBD>,<2C><><EFBFBD><EFBFBD>ֵ:16777216,<2C><>180M<30><4D>,Լ<><D4BC>0.745s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
fac_ms=1000/delay_ostickspersec; //<2F><><EFBFBD><EFBFBD>OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD>λ
SysTick->CTRL|=SysTick_CTRL_TICKINT_Msk;//<2F><><EFBFBD><EFBFBD>SYSTICK<43>ж<EFBFBD>
SysTick->LOAD=reload; //ÿ1/OS_TICKS_PER_SEC<45><43><EFBFBD>ж<EFBFBD>һ<EFBFBD><D2BB>
SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk; //<2F><><EFBFBD><EFBFBD>SYSTICK
#else
#endif
}
#if SYSTEM_SUPPORT_OS //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS.
//<2F><>ʱnus
//nus:Ҫ<><D2AA>ʱ<EFBFBD><CAB1>us<75><73>.
//nus:0~190887435(<28><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>2^32/fac_us@fac_us=22.5)
void delay_us(u32 nus)
{
u32 ticks;
u32 told,tnow,tcnt=0;
u32 reload=SysTick->LOAD; //LOAD<41><44>ֵ
ticks=nus*fac_us; //<2F><>Ҫ<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD>
delay_osschedlock(); //<2F><>ֹOS<4F><53><EFBFBD>ȣ<EFBFBD><C8A3><EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>us<75><73>ʱ
told=SysTick->VAL; //<2F>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; //<2F><><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(); //<2F>ָ<EFBFBD>OS<4F><53><EFBFBD><EFBFBD>
}
//<2F><>ʱnms
//nms:Ҫ<><D2AA>ʱ<EFBFBD><CAB1>ms<6D><73>
//nms:0~65535
void delay_ms(u16 nms)
{
if(delay_osrunning&&delay_osintnesting==0)//<2F><><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>=fac_ms) //<2F><>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/fac_ms); //OS<4F><53>ʱ
}
nms%=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((u32)(nms*1000)); //<2F><>ͨ<EFBFBD><CDA8>ʽ<EFBFBD><CABD>ʱ
}
#else //<2F><><EFBFBD><EFBFBD>ucosʱ
//<2F><>ʱnus
//nusΪҪ<CEAA><D2AA>ʱ<EFBFBD><CAB1>us<75><73>.
//nus:0~190887435(<28><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>2^32/fac_us@fac_us=22.5)
void delay_us(u32 nus)
{
u32 ticks;
u32 told,tnow,tcnt=0;
u32 reload=SysTick->LOAD; //LOAD<41><44>ֵ
ticks=nus*fac_us; //<2F><>Ҫ<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD>
told=SysTick->VAL; //<2F>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; //<2F><><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>.
}
};
}
//<2F><>ʱnms
//nms:Ҫ<><D2AA>ʱ<EFBFBD><CAB1>ms<6D><73>
void delay_ms(u16 nms)
{
u32 i;
for(i=0;i<nms;i++) delay_us(1000);
}
#endif
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