11.6：完善多任务和消息队列机制。

2025-11-06 16:32:17 +08:00
commit 5f408b4ece
337 changed files with 257102 additions and 0 deletions
--- a/STM32/Environment_Node/System/Delay.h
+++ b/STM32/Environment_Node/System/Delay.h
@@ -0,0 +1,40 @@
+#ifndef __DELAY_H__
+#define __DELAY_H__                            
+
+#include "stm32f10x_conf.h"
+#include "stm32f10x.h"
+
+#define MODE                      USE_DWT
+
+#define USE_SYS_TICK              0
+#define USE_DWT                   1
+
+// 0xE000EDFC DEMCR RW Debug Exception and Monitor Control Register.
+#define DEMCR                     ( *(__IO uint32_t *)0xE000EDFC )
+#define TRCENA                    ( 0x01 << 24) // DEMCR的DWT使能位
+#define  DBGMCU_CR                *(__IO uint32_t *)0xE0042004                        //MCU调试模块控制寄存器，详细内容参考《stm32中文参考手册》调试支持（DBG）章节，747页
+
+// 0xE0001000 DWT_CTRL RW The Debug Watchpoint and Trace (DWT) unit
+#define DWT_CTRL                  ( *(__IO uint32_t *)0xE0001000 )
+#define DWT_CTRL_CYCCNTENA        ( 0x01 << 0 ) // DWT的SYCCNT使能位
+
+// 0xE0001004 DWT_CYCCNT RW Cycle Count register,
+#define DWT_CYCCNT                ( *(__IO uint32_t *)0xE0001004) // 显示或设置处理器的周期计数值
+
+//#define DWT_DELAY_mS(mSec)      DWT_DELAY_uS(mSec*1000)
+
+typedef struct {
+  uint8_t ucFacUs;
+  int16_t usFacMs;
+} UcFacInit_t;
+
+static UcFacInit_t xUcFacInit = {
+  .ucFacUs = 0,
+  .usFacMs = 0
+};
+
+void vDelayInit(void);
+void vDelayUs(uint32_t ulNus);
+void vDelayMs(uint16_t usNms);
+
+#endif