主循环SYS_TICK无阻塞延迟

#include "stm32f4xx_hal.h"
#include <stdint.h>typedef enum {EVT_RELAY_ON = 0,EVT_RELAY_OFF
} evt_type_t;typedef struct {uint8_t  active;uint8_t  relay_id;uint8_t  type;uint8_t  token;        // 防止旧事件误执行（可选但强烈推荐）uint32_t deadline_ms;
} event_t;#define MAX_EVENTS 32
#define RELAY_NUM  8static event_t g_events[MAX_EVENTS];
static uint8_t g_relay_token[RELAY_NUM];  // 每路继电器的版本号// 你自己实现：根据 relay_id 控制对应 GPIO
void Relay_On(uint8_t id);
void Relay_Off(uint8_t id);// 添加事件：在 delay_ms 后执行 ON/OFF
static int Scheduler_Add(uint8_t relay_id, evt_type_t type, uint32_t delay_ms, uint8_t token)
{uint32_t now = HAL_GetTick();uint32_t deadline = now + delay_ms;for (int i = 0; i < MAX_EVENTS; i++) {if (!g_events[i].active) {g_events[i].active = 1;g_events[i].relay_id = relay_id;g_events[i].type = (uint8_t)type;g_events[i].deadline_ms = deadline;g_events[i].token = token;return 0; // ok}}return -1; // 队列满了
}// 主循环里一直调用
void Scheduler_Poll(void)
{uint32_t now = HAL_GetTick();for (int i = 0; i < MAX_EVENTS; i++) {if (!g_events[i].active) continue;// 到期判断（防溢出）if ((int32_t)(now - g_events[i].deadline_ms) >= 0) {uint8_t id = g_events[i].relay_id;// token 检查：不一致说明被更新过，丢弃旧事件if (g_events[i].token == g_relay_token[id]) {if (g_events[i].type == EVT_RELAY_ON)  Relay_On(id);else                                   Relay_Off(id);}g_events[i].active = 0; // 释放槽位}}
}// 继电器“脉冲”：立即开，ms 后关
int Relay_Pulse(uint8_t id, uint32_t ms)
{if (id >= RELAY_NUM) return -2;g_relay_token[id]++;       // 更新版本号Relay_On(id);              // 立即执行// 安排 ms 后关return Scheduler_Add(id, EVT_RELAY_OFF, ms, g_relay_token[id]);
}

主循环内运行

int main(void)
{HAL_Init();// ... GPIO/时钟初始化while (1) {Scheduler_Poll();// 比如某条件触发// Relay_Pulse(3, 80);}
}