150 lines
4.7 KiB
C
150 lines
4.7 KiB
C
|
#include "delay.h"
|
|||
|
|
#include "sys.h"
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////////
|
|||
|
|
//如果使用ucos,则包括下面的头文件即可.
|
|||
|
|
#if SYSTEM_SUPPORT_UCOS
|
|||
|
|
#include "includes.h" //ucos 使用
|
|||
|
|
#endif
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////////
|
|||
|
|
|
|||
|
|
//使用SysTick的普通计数模式对延迟进行管理(支持ucosii)
|
|||
|
|
//包括delay_us,delay_ms
|
|||
|
|
// STM32F4工程-库函数版本
|
|||
|
|
//********************************************************************************
|
|||
|
|
//修改说明
|
|||
|
|
//无
|
|||
|
|
//////////////////////////////////////////////////////////////////////////////////
|
|||
|
|
|
|||
|
|
static u8 fac_us = 0; // us延时倍乘数
|
|||
|
|
static u16 fac_ms = 0; // ms延时倍乘数,在ucos下,代表每个节拍的ms数
|
|||
|
|
|
|||
|
|
#ifdef OS_CRITICAL_METHOD //如果OS_CRITICAL_METHOD定义了,说明使用ucosII了.
|
|||
|
|
// systick中断服务函数,使用ucos时用到
|
|||
|
|
void SysTick_Handler(void)
|
|||
|
|
{
|
|||
|
|
OSIntEnter(); //进入中断
|
|||
|
|
OSTimeTick(); //调用ucos的时钟服务程序
|
|||
|
|
OSIntExit(); //触发任务切换软中断
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
//初始化延迟函数
|
|||
|
|
//当使用ucos的时候,此函数会初始化ucos的时钟节拍
|
|||
|
|
// SYSTICK的时钟固定为HCLK时钟的1/8
|
|||
|
|
// SYSCLK:系统时钟
|
|||
|
|
void delay_init(u8 SYSCLK)
|
|||
|
|
{
|
|||
|
|
#ifdef OS_CRITICAL_METHOD //如果OS_CRITICAL_METHOD定义了,说明使用ucosII了.
|
|||
|
|
u32 reload;
|
|||
|
|
#endif
|
|||
|
|
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
|
|||
|
|
fac_us = SYSCLK / 8; //不论是否使用ucos,fac_us都需要使用
|
|||
|
|
|
|||
|
|
#ifdef OS_CRITICAL_METHOD //如果OS_CRITICAL_METHOD定义了,说明使用ucosII了.
|
|||
|
|
reload = SYSCLK / 8; //每秒钟的计数次数 单位为K
|
|||
|
|
reload *= 1000000 / OS_TICKS_PER_SEC; //根据OS_TICKS_PER_SEC设定溢出时间
|
|||
|
|
// reload为24位寄存器,最大值:16777216,在168M下,约合0.7989s左右
|
|||
|
|
fac_ms = 1000 / OS_TICKS_PER_SEC; //代表ucos可以延时的最少单位
|
|||
|
|
SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk; //开启SYSTICK中断
|
|||
|
|
SysTick->LOAD = reload; //每1/OS_TICKS_PER_SEC秒中断一次
|
|||
|
|
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; //开启SYSTICK
|
|||
|
|
#else
|
|||
|
|
fac_ms = (u16)fac_us * 1000; //非ucos下,代表每个ms需要的systick时钟数
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#ifdef OS_CRITICAL_METHOD //如果OS_CRITICAL_METHOD定义了,说明使用ucosII了.
|
|||
|
|
//延时nus
|
|||
|
|
// nus:要延时的us数.
|
|||
|
|
void delay_us(u32 nus)
|
|||
|
|
{
|
|||
|
|
u32 ticks;
|
|||
|
|
u32 told, tnow, tcnt = 0;
|
|||
|
|
u32 reload = SysTick->LOAD; // LOAD的值
|
|||
|
|
ticks = nus * fac_us; //需要的节拍数
|
|||
|
|
tcnt = 0;
|
|||
|
|
OSSchedLock(); //阻止ucos调度，防止打断us延时
|
|||
|
|
told = SysTick->VAL; //刚进入时的计数器值
|
|||
|
|
while (1)
|
|||
|
|
{
|
|||
|
|
tnow = SysTick->VAL;
|
|||
|
|
if (tnow != told)
|
|||
|
|
{
|
|||
|
|
if (tnow < told)
|
|||
|
|
tcnt += told - tnow; //这里注意一下SYSTICK是一个递减的计数器就可以了.
|
|||
|
|
else
|
|||
|
|
tcnt += reload - tnow + told;
|
|||
|
|
told = tnow;
|
|||
|
|
if (tcnt >= ticks)
|
|||
|
|
break; //时间超过/等于要延迟的时间,则退出.
|
|||
|
|
}
|
|||
|
|
};
|
|||
|
|
OSSchedUnlock(); //开启ucos调度
|
|||
|
|
}
|
|||
|
|
//延时nms
|
|||
|
|
// nms:要延时的ms数
|
|||
|
|
void delay_ms(u16 nms)
|
|||
|
|
{
|
|||
|
|
if (OSRunning == OS_TRUE && OSLockNesting == 0) //如果os已经在跑了
|
|||
|
|
{
|
|||
|
|
if (nms >= fac_ms) //延时的时间大于ucos的最少时间周期
|
|||
|
|
{
|
|||
|
|
OSTimeDly(nms / fac_ms); // ucos延时
|
|||
|
|
}
|
|||
|
|
nms %= fac_ms; // ucos已经无法提供这么小的延时了,采用普通方式延时
|
|||
|
|
}
|
|||
|
|
delay_us((u32)(nms * 1000)); //普通方式延时
|
|||
|
|
}
|
|||
|
|
#else //不用ucos时
|
|||
|
|
//延时nus
|
|||
|
|
// nus为要延时的us数.
|
|||
|
|
//注意:nus的值,不要大于798915us
|
|||
|
|
void delay_us(u32 nus)
|
|||
|
|
{
|
|||
|
|
u32 temp;
|
|||
|
|
SysTick->LOAD = nus * fac_us; //时间加载
|
|||
|
|
SysTick->VAL = 0x00; //清空计数器
|
|||
|
|
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; //开始倒数
|
|||
|
|
do
|
|||
|
|
{
|
|||
|
|
temp = SysTick->CTRL;
|
|||
|
|
} while ((temp & 0x01) && !(temp & (1 << 16))); //等待时间到达
|
|||
|
|
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; //关闭计数器
|
|||
|
|
SysTick->VAL = 0X00; //清空计数器
|
|||
|
|
}
|
|||
|
|
//延时nms
|
|||
|
|
//注意nms的范围
|
|||
|
|
// SysTick->LOAD为24位寄存器,所以,最大延时为:
|
|||
|
|
// nms<=0xffffff*8*1000/SYSCLK
|
|||
|
|
// SYSCLK单位为Hz,nms单位为ms
|
|||
|
|
//对168M条件下,nms<=798ms
|
|||
|
|
void delay_xms(u16 nms)
|
|||
|
|
{
|
|||
|
|
u32 temp;
|
|||
|
|
SysTick->LOAD = (u32)nms * fac_ms; //时间加载(SysTick->LOAD为24bit)
|
|||
|
|
SysTick->VAL = 0x00; //清空计数器
|
|||
|
|
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; //开始倒数
|
|||
|
|
do
|
|||
|
|
{
|
|||
|
|
temp = SysTick->CTRL;
|
|||
|
|
} while ((temp & 0x01) && !(temp & (1 << 16))); //等待时间到达
|
|||
|
|
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; //关闭计数器
|
|||
|
|
SysTick->VAL = 0X00; //清空计数器
|
|||
|
|
}
|
|||
|
|
//延时nms
|
|||
|
|
// nms:0~65535
|
|||
|
|
void delay_ms(u16 nms)
|
|||
|
|
{
|
|||
|
|
u8 repeat = nms / 540; //这里用540,是考虑到某些客户可能超频使用,
|
|||
|
|
//比如超频到248M的时候,delay_xms最大只能延时541ms左右了
|
|||
|
|
u16 remain = nms % 540;
|
|||
|
|
while (repeat)
|
|||
|
|
{
|
|||
|
|
delay_xms(540);
|
|||
|
|
repeat--;
|
|||
|
|
}
|
|||
|
|
if (remain)
|
|||
|
|
delay_xms(remain);
|
|||
|
|
}
|
|||
|
|
#endif
|