初始化验证编译通过

Modules/delay/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22)
+
+# Create delay library
+add_library(delay STATIC)
+
+# Add delay sources
+target_sources(delay PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/delay.c
+)
+
+# Add delay include directories
+target_include_directories(delay PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/inc
+)
+
+# Link with stm32cubemx library
+target_link_libraries(delay PRIVATE
+    stm32cubemx
+)

Modules/delay/inc/delay.h

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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : delay.h
+  * @brief          : Delay driver module header file
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+#ifndef DELAY_H
+#define DELAY_H
+
+#include "stm32f4xx_hal.h"
+
+/**
+ * @brief Initialize delay module
+ */
+void delay_init(void);
+
+/**
+ * @brief Delay in milliseconds
+ * @param ms: Delay time in milliseconds
+ */
+void delay_ms(uint32_t ms);
+
+/**
+ * @brief Delay in microseconds
+ * @param us: Delay time in microseconds
+ */
+void delay_us(uint32_t us);
+
+#endif /* DELAY_H */

Modules/delay/src/delay.c

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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : delay.c
+  * @brief          : Delay driver module source file
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+#include "delay.h"
+
+/**
+ * @brief DWT cycle counter frequency in MHz
+ */
+static uint32_t delay_tick_freq = 0;
+
+/**
+ * @brief Initialize delay module
+ */
+void delay_init(void) {
+    /* Get the DWT cycle counter frequency */
+    delay_tick_freq = HAL_RCC_GetHCLKFreq() / 1000000U; /* Convert to MHz */
+    
+    /* Enable DWT cycle counter */
+    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+}
+
+/**
+ * @brief Delay in milliseconds
+ * @param ms: Delay time in milliseconds
+ */
+void delay_ms(uint32_t ms) {
+    HAL_Delay(ms);
+}
+
+/**
+ * @brief Delay in microseconds
+ * @param us: Delay time in microseconds
+ */
+void delay_us(uint32_t us) {
+    uint32_t start = DWT->CYCCNT;
+    uint32_t cycles = (uint32_t)(us * delay_tick_freq);
+    
+    /* Wait until the delay is completed */
+    while ((DWT->CYCCNT - start) < cycles) {
+        /* Do nothing */
+    }
+}