From 022128330e2f8ec39265a7c348dae51dba1bc498 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 4 Sep 2026 14:50:23 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E4=B8=BB=E7=BA=BF=E5=BE=85=E5=90=88?=
 =?UTF-8?q?=E3=80=91=E5=BE=AE=E7=A7=92=E7=BA=A7=E5=BB=B6=E6=97=B6=E5=9C=A8?=
 =?UTF-8?q?freeRTOS=E4=B8=8B=E6=94=B9=E4=B8=BA=E4=BD=BF=E7=94=A8DWT?=
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 bspMCU/My_freeRTOS.c     |  2 ++
 bspMCU/bsp_pin.c         | 13 +++++++++++++
 bspMCU/include/bsp_pin.h |  5 +++--
 3 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/bspMCU/My_freeRTOS.c b/bspMCU/My_freeRTOS.c
index 10b3b3a..1c0f12f 100644
--- a/bspMCU/My_freeRTOS.c
+++ b/bspMCU/My_freeRTOS.c
@@ -26,6 +26,7 @@
 #include "string.h"
 #include "stdio.h"
 #include "lua_base.h"
+#include "bsp_pin.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -206,6 +207,7 @@ void Rd_Delay(uint32_t Delay)
 
 void MyTask_Init(void)
 {
+	bsp_dwt_init();
 #ifndef USE_TALNET
     const osThreadAttr_t Lua_attributes = {
         .name = "LuaREPL",
diff --git a/bspMCU/bsp_pin.c b/bspMCU/bsp_pin.c
index 29d970d..95ca770 100644
--- a/bspMCU/bsp_pin.c
+++ b/bspMCU/bsp_pin.c
@@ -15,8 +15,20 @@ void bsp_pin_init(GPIO_TypeDef *port, uint16_t pin, uint8_t mode)
     HAL_GPIO_Init(port, &GPIO_InitStruct);
 }
 
+void bsp_dwt_init(void)
+{
+    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; // 使能 DWT
+    DWT->CYCCNT = 0;                                // 清零周期计数器
+    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;            // 使能周期计数器
+}
+
 void delay_us(int nus)
 {		
+#ifdef USE_FREERTOS
+	uint32_t start = DWT->CYCCNT;                          // 记录起始计数值
+    uint32_t ticks = nus * (SystemCoreClock / 1000000);    // 计算需要的时钟周期数
+    while ((DWT->CYCCNT - start) < ticks);                 // 等待达到目标周期数
+#else
 	uint32_t ticks;
 	uint32_t told,tnow,tcnt=0;
 	uint32_t reload=SysTick->LOAD;				//LOAD的值	    	 
@@ -33,4 +45,5 @@ void delay_us(int nus)
 			if(tcnt>=ticks)break;			//时间超过/等于要延迟的时间,则退出.
 		}  
 	};
+#endif
 }
diff --git a/bspMCU/include/bsp_pin.h b/bspMCU/include/bsp_pin.h
index c20510c..9829105 100644
--- a/bspMCU/include/bsp_pin.h
+++ b/bspMCU/include/bsp_pin.h
@@ -59,8 +59,8 @@ extern "C"{
 /*==============================================*
  *      include header files                    *
  *----------------------------------------------*/
-
-
+#include "common.h"
+#include "main.h"
 
 
 /*==============================================*
@@ -80,6 +80,7 @@ extern "C"{
 
 void bsp_pin_init(GPIO_TypeDef *port, uint16_t pin, uint8_t mode);
 void delay_us(int nus);
+void bsp_dwt_init(void);
 
 #ifdef __cplusplus
 #if __cplusplus