add spi6

User_Code/bsp/delayticks/delayticks.c

@@ -0,0 +1,39 @@
+#include "delayticks.h"
+
+/*延时函数，不会将任务挂起*/
+void delay_ticks(uint32_t delay)
+{
+    /*开始计数器值*/
+    uint32_t tickstart = xTaskGetTickCount();
+    /*指定延时时间*/
+    uint32_t wait = delay;
+    /*计算当前计数器值和开始计数器值的差*/
+    uint32_t ticks_diff = xTaskGetTickCount() - tickstart;
+
+    if ( ticks_diff < wait )
+    {
+        /*计算剩余等待的时间*/
+        uint32_t remaining_ticks = wait - ticks_diff;
+
+        /*循环等待，直到剩余时间结束*/
+        while ( ( xTaskGetTickCount() - tickstart) < wait )
+        {
+            /*如果发生溢出，则重新计算时间差*/
+            if ( xTaskGetTickCount() < tickstart )
+            {
+                /*重新计算时间差*/
+                ticks_diff = UINT32_MAX - tickstart + xTaskGetTickCount();
+
+                if ( ticks_diff < wait )
+                {
+                    remaining_ticks = wait - ticks_diff;
+                }
+                else
+                {
+                    /*如果时间差已经大于等于等待时间，则退出*/
+                    break;
+                }
+            }
+        }
+    }
+}

User_Code/bsp/delayticks/delayticks.h

@@ -0,0 +1,10 @@
+#ifndef DELAYTICKS_H
+#define DELAYTICKS_H
+
+#include "main.h"
+#include "cmsis_os.h"
+#include "tim.h"
+
+extern void delay_ticks(uint32_t delay);
+
+#endif