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加入大疆C板例程bsp

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2026-04-12 20:34:47 +08:00
parent 7475077b9e
commit b68ac54a34
51 changed files with 5950 additions and 1290 deletions
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76
bsp/boards/bsp_delay.c Normal file
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#include "bsp_delay.h"
#include "main.h"
static uint8_t fac_us = 0;
static uint32_t fac_ms = 0;
void delay_init(void)
{
fac_us = SystemCoreClock / 1000000;
fac_ms = SystemCoreClock / 1000;
}
void delay_us(uint16_t nus)
{
uint32_t ticks = 0;
uint32_t told = 0;
uint32_t tnow = 0;
uint32_t tcnt = 0;
uint32_t reload = 0;
reload = SysTick->LOAD;
ticks = nus * fac_us;
told = SysTick->VAL;
while (1)
{
tnow = SysTick->VAL;
if (tnow != told)
{
if (tnow < told)
{
tcnt += told - tnow;
}
else
{
tcnt += reload - tnow + told;
}
told = tnow;
if (tcnt >= ticks)
{
break;
}
}
}
}
void delay_ms(uint16_t nms)
{
uint32_t ticks = 0;
uint32_t told = 0;
uint32_t tnow = 0;
uint32_t tcnt = 0;
uint32_t reload = 0;
reload = SysTick->LOAD;
ticks = nms * fac_ms;
told = SysTick->VAL;
while (1)
{
tnow = SysTick->VAL;
if (tnow != told)
{
if (tnow < told)
{
tcnt += told - tnow;
}
else
{
tcnt += reload - tnow + told;
}
told = tnow;
if (tcnt >= ticks)
{
break;
}
}
}
}