STM32 HAL 制微秒级和毫秒级延时 TIM/SysTick

最新推荐文章于 2026-01-05 20:59:39 发布

原创最新推荐文章于 2026-01-05 20:59:39 发布 · 595 阅读

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#stm32 #嵌入式硬件 #单片机

STM32 HAL 专栏收录该内容

8 篇文章

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1.TIM定时器

主要是配置TIM的时基单元中的PSC ARR值实现延时

周期 T = (PSC + 1) * (ARR + 1) / 时钟频率

这里使用stm32f103c8t6 时钟频率为72Mhz

通常一个程序中需要的定时时间不是唯一的，这时可以采用分频的方法，分出多个周期

这里我们以1MS为周期配置时基单元的参数，按照公式，配置PSC=72-1,ARR=1000-1,

并使用PC13指示灯来检验函数的实现

Cubemx配置选择内部时钟，模式选向上计数即可，记得打开中断

//tim_delay.h

#ifndef __TIM_DELAY_H
#define __TIM_DELAY_H
#include "stm32f1xx_hal.h"

void TIM_Init(void);
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);

#endif

//tim_delay.c

#include "tim_delay.h"

extern TIM_HandleTypeDef htim2;
static volatile uint64_t tim_cnt;  //使用volatile保护

//初始化，开启时基，计数写0
void TIM_Init(void)
{
	HAL_TIM_Base_Start_IT(&htim2);
	tim_cnt = 0;
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	if(htim == &htim2)
	{
		//每1ms进入中断一次，计数值加一
		tim_cnt ++;
		
		//分出50ms周期
		if(tim_cnt % 50 == 0)
		{
			
		}
		
		//分出100ms周期，其他类推
		if(tim_cnt % 100 == 0)
		{
			HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);
		}
		
		
	}
}

2.SysTick定时器

使用这个需要了解一点寄存器的知识

(摘抄来自Cortex M3)

（1）SysTick是从设置的LOAD值向下计数至0，然后在下一个时钟沿重新从LOAD向下计数

(2)在CTRL寄存器中，第0位负责使能SysTick

写1使能，写0禁止

（3）在CTRL寄存器中，第2位负责选择时钟源

写0选择外部时钟源，写1选择内核时钟

（4）在CTRL寄存器中，第16位负责计数标记

如果计数值从LOAD减至0，COUNTFLAG置1

而置0的方法是读取COUNTFLAG的标志

（5）在CTRL寄存器中，第1位负责异常请求，这里没有使用到，不展开描述

Pos-->寄存器的位置

MSK-->寄存器的掩码

这里直接使用寄存器的写法，还有一种移位写法

SysTick->CTRL |= (SysTick_CTRL_CLKSOURCE_Msk);

可改为SysTick->CTRL |= （1<<2）;

SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;

可改为SysTick->CTRL |= （1<<0）;

(temp&(SysTick_CTRL_ENABLE_Msk) && !(temp&SysTick_CTRL_COUNTFLAG_Msk)

可改为(temp&(1<<0)&& !(temp&(1<<16))

SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;

可改为SysTick->CTRL &= ~(1<<0);

//systick_delay.h

#ifndef __SYSTICK_DELAY_H
#define __SYSTICK_DELAY_H
#include "stm32f1xx_hal.h"

void SysTick_Init(void);
void udelay(uint32_t us);
void mdelay(uint32_t ms);

#endif

//systick_delay.c

#include "systick_delay.h"

#define SYS_CIK_MHZ 72  //时钟频率

static volatile uint32_t fac_us;
static volatile uint32_t fac_ms;

//初始化
void SysTick_Init(void)
{
	//选择内部时钟
	SysTick->CTRL |= (SysTick_CTRL_CLKSOURCE_Msk);
	//1us需要SYS_CIK_MHZ个节拍
	fac_us = SYS_CIK_MHZ;
	//1ms就是1us计数1000次
	fac_ms = fac_us * 1000;
}

//us级延时
void udelay(uint32_t us)
{
	uint32_t temp;
	//设置重装载值
	SysTick->LOAD = fac_us * us;
	SysTick->VAL = 0;
	//使能systick计数
	SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
	//计数减到0，COUNTFLAG置1，跳出
	do{
		temp = SysTick->CTRL;
	}while((temp&(SysTick_CTRL_ENABLE_Msk ))&& 
	       !(temp&(SysTick_CTRL_COUNTFLAG_Msk)));
	//禁止systick计数
	SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
	//重置当前值为0
	SysTick->VAL = 0;
}

//ms级延时
void mdelay(uint32_t ms)
{
	uint32_t temp;
	SysTick->LOAD = fac_ms * ms;
	SysTick->VAL = 0;
	SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
	do{
		temp = SysTick->CTRL;
	}while((temp&SysTick_CTRL_ENABLE_Msk ) &&
	        !(temp&SysTick_CTRL_COUNTFLAG_Msk));
	SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
	SysTick->VAL = 0;
}

最后的使用方法只需要在int main中添加初始化函数即可

//main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "tim_delay.h"
#include "systick_delay.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  TIM_Init();
  SysTick_Init();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

烧录后就可以发现PC13闪烁啦，愉快