diff options
| -rw-r--r-- | bsp/stm32/libraries/HAL_Drivers/drv_common.c | 32 | ||||
| -rw-r--r-- | components/drivers/include/ipc/workqueue.h | 1 |
2 files changed, 25 insertions, 8 deletions
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_common.c b/bsp/stm32/libraries/HAL_Drivers/drv_common.c index 74007b6e88..61171e7c8d 100644 --- a/bsp/stm32/libraries/HAL_Drivers/drv_common.c +++ b/bsp/stm32/libraries/HAL_Drivers/drv_common.c @@ -113,16 +113,32 @@ void _Error_Handler(char *s, int num) */ void rt_hw_us_delay(rt_uint32_t us) { - rt_uint32_t start, now, delta, reload, us_tick; - start = SysTick->VAL; - reload = SysTick->LOAD; - us_tick = SystemCoreClock / 1000000UL; - do + rt_uint32_t ticks; + rt_uint32_t told, tnow, tcnt = 0; + rt_uint32_t reload = SysTick->LOAD; + + ticks = us * reload / (1000000 / RT_TICK_PER_SECOND); + told = SysTick->VAL; + while (1) { - now = SysTick->VAL; - delta = start >= now ? start - now : reload + start - now; + tnow = SysTick->VAL; + if (tnow != told) + { + if (tnow < told) + { + tcnt += told - tnow; + } + else + { + tcnt += reload - tnow + told; + } + told = tnow; + if (tcnt >= ticks) + { + break; + } + } } - while (delta < us_tick * us); } /** diff --git a/components/drivers/include/ipc/workqueue.h b/components/drivers/include/ipc/workqueue.h index ccbc42b226..03d38b2f4d 100644 --- a/components/drivers/include/ipc/workqueue.h +++ b/components/drivers/include/ipc/workqueue.h @@ -64,6 +64,7 @@ rt_err_t rt_workqueue_submit_work(struct rt_workqueue *queue, struct rt_work *wo rt_err_t rt_workqueue_cancel_work(struct rt_workqueue *queue, struct rt_work *work); rt_err_t rt_workqueue_cancel_work_sync(struct rt_workqueue *queue, struct rt_work *work); rt_err_t rt_workqueue_cancel_all_work(struct rt_workqueue *queue); +rt_err_t rt_workqueue_critical_work(struct rt_workqueue *queue, struct rt_work *work); #ifdef RT_USING_SYSTEM_WORKQUEUE rt_err_t rt_work_submit(struct rt_work *work, rt_tick_t time); |