STM32用SYSTICK实现的系统时钟和微秒级延时函数

代码耗时法延时难以准确
比较过定时器法在10微秒内误差比较大
下面的代码片段使用SysTick实现系统时钟, 以及不影响时钟的高精度微秒级延时
想法是SysTick实现每毫秒递增的系统时钟, 而在不影响SysTick连续运行前提下, 使用当前计数值进行延时 (目前大多数其他解决方法是每次需要延时都重新设置SysTick 这样会影响系统时钟的运行)
为了延时数微秒内尽量精确, 使用汇编代码完成

SysTick初始化:

systick_per_us = SystemCoreClock/8/1000000;
systick_period = SystemCoreClock/8/1000;
SysTick->CTRL = 0;
SysTick->LOAD = systick_period-1;
app_systime_ms = 0;  // 这是系统时钟 将在SysTick的中断中递增
SysTick->CTRL = SysTick_CTRL_ENABLE_Msk | SysTick_CTRL_TICKINT_Msk;

SysTick中断:

void SysTick_Handler(void)
{
	app_systime_ms++;
}

延时函数:

/**
 * delay <us> microsecond using SYSTICK
 * adjusted for 48MHz MCU
 * <us> is less than (2^31-1)/48
 */
void app_delay_us(int us)
{
	asm volatile (
		".thumb \n"
		"	sub %[us], #1 \n"
		"	ble L%=done \n"  // adjustment for 1us
		"	ldr r1, =%[systick_per_us] \n"
		"	ldr r1, [r1] \n"
		"	mul %[us], r1 \n"
		"	sub %[us], #3 \n" // adjustment for 2us and above
		"	ldr r2, %[SysTick_VAL] \n"
		"L%=loop: \n"
		"	mov r1, r2 \n"
		"	ldr r2, %[SysTick_VAL] \n"   // r2=SysTick->VAL
		"	sub r1, r2 \n"               // r1=r1-r2
		"	bpl L%=positive \n"
		"	add r1, %[systick_period] \n"
		"L%=positive: \n"
		"	sub %[us], r1 \n " // us=us-r1
		"	bgt L%=loop \n"
		"L%=done: \n"
		:[us]"+r"(us)
		:[systick_per_us]"i"(&systick_per_us), [systick_period]"r"(systick_period), [SysTick_VAL]"m"(SysTick->VAL)
		:"cc","r1","r2"
	);
}