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/SysTick.c
+++ b/STM32/Environment_Node/System/SysTick.c
@@ -0,0 +1,64 @@
+#include "SysTick.h"
+
+#if SYSTEM == SYSTEM_NONE
+//<2F><>ʼ<EFBFBD><CABC><EFBFBD>ӳٺ<D3B3><D9BA><EFBFBD>
+//SYSTICK<43><4B>ʱ<EFBFBD>ӹ̶<D3B9>ΪAHBʱ<42>ӵ<EFBFBD>1/8
+//SYSCLK:ϵͳʱ<CDB3><CAB1>Ƶ<EFBFBD><C6B5>
+void vSysTickInit(uint8_t ucSYSCLK)
+{
+    SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); 
+    xUcFacInit.ucFacUs=ucSYSCLK/8;					
+    xUcFacInit.usFacMs=(uint16_t)xUcFacInit.ucFacUs*1000;				   
+}								    
+
+//<2F><>ʱnus
+//nusΪҪ<CEAA><D2AA>ʱ<EFBFBD><CAB1>us<75><73>.		    								   
+void vDelayUs(uint32_t ulNus)
+{
+    uint32_t ulTemp;	    	 
+    SysTick->LOAD=ulNus*xUcFacInit.ucFacUs; 					      //ʱ<><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	  		 
+    SysTick->VAL=0x00;        					                    //<2F><><EFBFBD>ռ<EFBFBD><D5BC><EFBFBD><EFBFBD><EFBFBD>
+    SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk ;                //<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>	  
+    do
+    {
+        ulTemp=SysTick->CTRL;
+    } while((ulTemp&0x01)&&!(ulTemp&(1<<16)));		            //<2F>ȴ<EFBFBD>ʱ<EFBFBD>䵽<EFBFBD><E4B5BD>   
+    SysTick->CTRL&=~SysTick_CTRL_ENABLE_Msk;	              //<2F>رռ<D8B1><D5BC><EFBFBD><EFBFBD><EFBFBD>
+    SysTick->VAL =0X00;      					                      //<2F><><EFBFBD>ռ<EFBFBD><D5BC><EFBFBD><EFBFBD><EFBFBD>	 	
+}
+
+//<2F><>ʱnms
+//ע<><D7A2>nms<6D>ķ<EFBFBD>Χ
+//SysTick->LOADΪ24λ<34>Ĵ<EFBFBD><C4B4><EFBFBD>,<2C><><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱΪ:
+//nms<=0xffffff*8*1000/SYSCLK
+//SYSCLK<4C><4B>λΪHz,nms<6D><73>λΪms
+//<2F><>72M<32><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,nms<=1864
+
+/**
+  * @brief  <20><><EFBFBD>뼶<EFBFBD><EBBCB6>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+  * @note   <20><><EFBFBD><EFBFBD>Systick<63><6B>ʱ<EFBFBD><CAB1>Ϊ24λ<34><CEBB>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>ֵΪ0xFFFFFF<46><46>Ҳ<EFBFBD><D2B2><EFBFBD><EFBFBD>16777215<31><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>0xFFFFFF<46><46><EFBFBD><EFBFBD>ʵ<EFBFBD>ʼ<EFBFBD><CABC>ص<EFBFBD>ֵ<EFBFBD><D6B5>ȡģ<C8A1><C4A3><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱʱ<CAB1><CAB1><EFBFBD><EFBFBD><EFBFBD>̡<EFBFBD>
+  *         <20><><EFBFBD>Գ<EFBFBD><D4B3><EFBFBD>1.864s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ᵼ<EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>ʱΪxms-16777215<31>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD>
+  * @note   <20><><EFBFBD>º<EFBFBD><C2BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD>ʱ<EFBFBD>Ƿ񳬹<C7B7><F1B3ACB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֳɶ<D6B3><C9B6><EFBFBD>1000ms<6D><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  * @param  None
+  * @retval None
+  */
+void vDelayMs(uint16_t usNms)
+{
+    uint32_t ulTemp;
+    while (usNms)
+    {
+        uint16_t current = (usNms > 1000) ? 1000 : usNms;
+        usNms -= current;
+
+        SysTick->LOAD = (uint32_t)current * xUcFacInit.usFacMs;
+        SysTick->VAL = 0x00;
+        SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
+        do
+        {
+            ulTemp = SysTick->CTRL;
+        } while ((ulTemp & 0x01) && !(ulTemp & (1 << 16)));
+        SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
+        SysTick->VAL = 0X00;
+    }   
+}
+#endif