GD32_BOOT/Robot_V2/sys/systick.cpp

/*!
	\file    systick.c
	\brief   the systick configuration file

	\version 2025-06-20, V1.5.1, firmware for GD32C10x
*/

/*
	Copyright (c) 2024, GigaDevice Semiconductor Inc.

	Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

	1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
	2. Redistributions in binary form must reproduce the above copyright notice,
	   this list of conditions and the following disclaimer in the documentation
	   and/or other materials provided with the distribution.
	3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "systick.h"
#include "Can.h"
#include "gd32c10x.h"

volatile static uint32_t delay;
extern CAN_transmiter CAN0_transmiter;

/*!
	\brief      configure systick
	\param[in]  none
	\param[out] none
	\retval     none
*/
void systick_config(void) {
	/* setup systick timer for 1000Hz interrupts */
	if (SysTick_Config(SystemCoreClock / 1000U)) {
		/* capture error */
		while (1) {
		}
	}
	/* configure the systick handler priority */
	NVIC_SetPriority(SysTick_IRQn, 0x00U);
}

/*!
	\brief      delay a time in microseconds
	\param[in]  count: count in microseconds
	\param[out] none
	\retval     none
*/
void delay_1us(uint32_t count) {
	/* 计算循环次数以实现微秒延时
	   假设CPU每执行一条nop指令需要1个时钟周期
	   根据系统时钟频率计算需要的循环次数 */
	uint32_t cycles = (SystemCoreClock / 4000000UL) * count;  // 每微秒的时钟周期数
	
	/* 循环减去执行指令所需的周期数 */
	for(uint32_t i = 0; i < cycles; i++) {
		__NOP();  // 空操作指令
	}
}

/*!
	\brief      delay a time in milliseconds
	\param[in]  count: count in milliseconds
	\param[out] none
	\retval     none
*/
void delay_1ms(uint32_t count) {
	delay = count;
	while (0U != delay) {
	}
}

/*!
	\brief      delay decrement
	\param[in]  none
	\param[out] none
	\retval     none
*/
void delay_decrement(void) {
	if (0U != delay) {
		delay--;
	}
}

/*!
	\brief      system soft reset
	\param[in]  none
	\param[out] none
	\retval     none
*/
void system_soft_reset(void) {
	/* Set the software reset bit */
	SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));

	/* Data Synchronization Barrier */
	__DSB();

	/* Wait for reset */
	while (1) {
		__NOP();
	}
}