From ec1f22b87dabfad5ce6fb99d6b075ffea868b3f6 Mon Sep 17 00:00:00 2001
From: liuduanfei <939763442@qq.com>
Date: Fri, 28 May 2021 17:32:01 +0800
Subject: [PATCH 1/2] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=20rt=5Fworkqueue=5Fcriti?=
 =?UTF-8?q?cal=5Fwork=20=E5=A3=B0=E6=98=8E?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 components/drivers/include/ipc/workqueue.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/components/drivers/include/ipc/workqueue.h b/components/drivers/include/ipc/workqueue.h
index ccbc42b226..03d38b2f4d 100644
--- a/components/drivers/include/ipc/workqueue.h
+++ b/components/drivers/include/ipc/workqueue.h
@@ -64,6 +64,7 @@ rt_err_t rt_workqueue_submit_work(struct rt_workqueue *queue, struct rt_work *wo
 rt_err_t rt_workqueue_cancel_work(struct rt_workqueue *queue, struct rt_work *work);
 rt_err_t rt_workqueue_cancel_work_sync(struct rt_workqueue *queue, struct rt_work *work);
 rt_err_t rt_workqueue_cancel_all_work(struct rt_workqueue *queue);
+rt_err_t rt_workqueue_critical_work(struct rt_workqueue *queue, struct rt_work *work);
 
 #ifdef RT_USING_SYSTEM_WORKQUEUE
 rt_err_t rt_work_submit(struct rt_work *work, rt_tick_t time);

From 796c8affdd0b16c5286ed8b01a4871736ae719c8 Mon Sep 17 00:00:00 2001
From: cyz <181662417@qq.com>
Date: Wed, 9 Jun 2021 12:35:52 +0800
Subject: [PATCH 2/2] =?UTF-8?q?rt=5Fhw=5Fus=5Fdelay=E7=9A=84=E5=AE=9E?=
 =?UTF-8?q?=E7=8E=B0=E6=9C=89=E9=97=AE=E9=A2=98=EF=BC=8C=E9=92=88=E5=AF=B9?=
 =?UTF-8?q?=E8=BF=99=E4=B8=80=E9=97=AE=E9=A2=98=E8=BF=9B=E8=A1=8C=E4=BA=86?=
 =?UTF-8?q?=E4=BF=AE=E6=94=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 bsp/stm32/libraries/HAL_Drivers/drv_common.c | 32 +++++++++++++++-----
 1 file changed, 24 insertions(+), 8 deletions(-)

diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_common.c b/bsp/stm32/libraries/HAL_Drivers/drv_common.c
index 74007b6e88..61171e7c8d 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_common.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_common.c
@@ -113,16 +113,32 @@ void _Error_Handler(char *s, int num)
  */
 void rt_hw_us_delay(rt_uint32_t us)
 {
-    rt_uint32_t start, now, delta, reload, us_tick;
-    start = SysTick->VAL;
-    reload = SysTick->LOAD;
-    us_tick = SystemCoreClock / 1000000UL;
-    do
+    rt_uint32_t ticks;
+    rt_uint32_t told, tnow, tcnt = 0;
+    rt_uint32_t reload = SysTick->LOAD;
+
+    ticks = us * reload / (1000000 / RT_TICK_PER_SECOND);
+    told = SysTick->VAL;
+    while (1)
     {
-        now = SysTick->VAL;
-        delta = start >= now ? start - now : reload + start - now;
+        tnow = SysTick->VAL;
+        if (tnow != told)
+        {
+            if (tnow < told)
+            {
+                tcnt += told - tnow;
+            }
+            else
+            {
+                tcnt += reload - tnow + told;
+            }
+            told = tnow;
+            if (tcnt >= ticks)
+            {
+                break;
+            }
+        }
     }
-    while (delta < us_tick * us);
 }
 
 /**