为了呈现 STM32H563ZI 接近MPU的性能，本次测试使用freeRTOS系统进行PWM和GPIO的测试。首先，需要安装STM32Cube的STM32H5的freeRTOS系统模块，新建项目时选择“ACCESS TO EXAMPLE SELECTOR”项目，选择开发板NUCLEO-H563ZI，选择FreeRTOS_Semaphore_LowPower项目。项目默认打开了PWR管理，还有三个LED外设。我们的评测是使用一个低功耗定时器 LPTIM4 作为信号源来控制 GPIO 的输出。

1. /* USER CODE BEGIN Header */
   9 h) U2 e; J3 {  ^
2. /**
   
3.   ******************************************************************************
   
4.   * File Name          : app_freertos.c
   + r; U. }/ l# s" N
5.   * Description        : Code for freertos applications
   ' `4 i. k9 `8 K
6.   ******************************************************************************
   3 w* \: Q$ _: s: D( }9 {
7.   * @attention *
   
8.   * Copyright (c) 2023 STMicroelectronics.
   ' l# P$ C4 L+ L6 P9 x. W
9.   * All rights reserved.
     [6 T5 P5 y" r
10.   *
    
11.   * This software is licensed under terms that can be found in the LICENSE file
    
12.   * in the root directory of this software component.
    
13.   * If no LICENSE file comes with this software, it is provided AS-IS.
    6 s9 k. y7 Q6 y, Z/ ~% q7 g( X/ E1 ?
14.   *
    4 w3 I9 }& e/ i
15.   ******************************************************************************
    % \2 [. Z; r/ b# j0 v
16.   */
    
17. /* USER CODE END Header */
    ( W( o; C* v. Z) j7 G+ E1 o6 G) j
18. /* Includes ------------------------------------------------------------------*/
    3 B6 H& k7 {0 C: b0 t+ v5 r
19. #include "FreeRTOS.h"
    $ C* ~7 v! o3 P$ }3 a# c  ?
20. #include "task.h"
    6 Z. S2 K7 j1 H% M9 k
21. #include "main.h"
    
22. #include "cmsis_os2.h"
    * f' c/ q+ @: X4 {3 I
23. /* Private includes ----------------------------------------------------------*/
    4 ~9 ?" {0 n- h# ^. G% I
24. /* USER CODE BEGIN Includes */
    
25. /* USER CODE END Includes */
    
26. /* Private typedef -----------------------------------------------------------*/
    
27. /* USER CODE BEGIN PTD */
    
28. /* USER CODE END PTD */
    
29. /* Private define ------------------------------------------------------------*/
    
30. /* USER CODE BEGIN PD */
    . p+ W& g% k, g" C% [: B9 z2 I
31. #define DEFAULT_TIMEOUT (1000)
    
32. /* USER CODE END PD */
    & Q2 }4 r% [! [, B8 O; U5 @" [
33. /* Private macro -------------------------------------------------------------*/
    ( z7 ]! J. b" ], |# L" g1 S
34. /* USER CODE BEGIN PM */
    
35. /* USER CODE END PM */
    
36. /* Private variables ---------------------------------------------------------*/
    / n) v, E5 S' j9 a0 r3 s) ~
37. /* USER CODE BEGIN Variables */
    0 `$ S$ _9 }# u4 `4 B- A9 x7 m
38. extern LPTIM_HandleTypeDef hlptim4;
    ( z& c) m3 G- Z* E- o7 ~/ Y& l
39. /* USER CODE END Variables */
    
40. /* Definitions for MainThread */
    
41. osThreadId_t MainThreadHandle;
    
42. const osThreadAttr_t MainThread_attributes = {
    . Q9 ^- R2 f. D& b$ r
43.   .name = "MainThread",
    
44.   .priority = (osPriority_t) osPriorityNormal,
    
45.   .stack_size = 256 * 4
    ' }6 N9 a1 R# O, |
46. };
    
47. /* Definitions for BinarySemaphore */
    
48. osSemaphoreId_t BinarySemaphoreHandle;
    6 J  v6 V- a. s" M; A
49. const osSemaphoreAttr_t BinarySemaphore_attributes = {
    9 T0 A9 ^6 O! B$ O. r6 C  O  N
50.   .name = "BinarySemaphore"
    5 W- ?# m' H% A, G0 B& I
51. };
    
52. /* Private function prototypes -----------------------------------------------*/
    " v! O* f; r) U
53. /* USER CODE BEGIN FunctionPrototypes */
    6 j( ?3 R3 n5 m# p3 I. D
54. void SystemClock_Config(void);
    3 x# F" w6 S) L& y8 K$ R
55. /* USER CODE END FunctionPrototypes */
    
56. void MainThread_Entry(void *argument);
    
57. void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
      t3 b- j& ~9 ]5 a
58. /* USER CODE BEGIN PREPOSTSLEEP */
    
59. void PreSleepProcessing(uint32_t ulExpectedIdleTime)
    - ^" q& r* H! g
60. {
    ; |" |% b, R9 T5 Q1 O! \$ Y
61.   /* This is needed to prevent TIM6 from triggering an interrupt,
    * t. [/ X9 t9 Y4 G  O) s% B
62.    * which could prevent the CPU from entering STOP mode */
    ) R0 N  z( t) f9 E- e( s# j" L7 R
63.   HAL_SuspendTick();
    / J1 i% t; V7 k) C# i7 _) z( E
64.   /* Start low power timer */
    
65.   HAL_LPTIM_TimeOut_Start_IT(&hlptim4, DEFAULT_TIMEOUT);
    
66.   /* Enter STOP mode */
    
67.   HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
    
68. }
    ' e) m1 N) E/ s. e
69. void PostSleepProcessing(uint32_t ulExpectedIdleTime)
    
70. {
    
71.   /* Restore Clock settings */
    
72.   SystemClock_Config();
    5 P4 O+ f! ?0 |3 p8 C
73.   /* Resume HAL timebase */
    ) t. P! O/ J$ w2 h5 P
74.   HAL_ResumeTick();
    
75. }
    
76. /* USER CODE END PREPOSTSLEEP */
    
77. /**
    
78.   * @brief FreeRTOS initialization
    
79.   * @param  None
    ! m: V! K' }$ T7 k8 S; Y
80.   * @retval None
    - N0 s! k$ @- [- o5 x2 a
81.   */
    
82. void MX_FREERTOS_Init(void) {
    
83.   /* USER CODE BEGIN Init */
    
84.   /* USER CODE END Init */
    3 B4 }2 F  C* c0 m/ A
85.   /* USER CODE BEGIN RTOS_MUTEX */
    # X- s4 r# e+ M! i0 f" E2 }
86.   /* add mutexes, ... */
    3 E$ U8 \8 i0 Z) q, N
87.   /* USER CODE END RTOS_MUTEX */
    
88.   /* creation of BinarySemaphore */
    
89.   BinarySemaphoreHandle = osSemaphoreNew(1, 1, &BinarySemaphore_attributes);
    
90.   /* USER CODE BEGIN RTOS_SEMAPHORES */
    
91.   /* add semaphores, ... */
    
92.   /* USER CODE END RTOS_SEMAPHORES */
    
93.   /* USER CODE BEGIN RTOS_TIMERS */
    % m3 e' j8 G* \  y6 {' M
94.   /* start timers, add new ones, ... */
    9 a! n6 p( k2 A0 w5 {3 W
95.   /* USER CODE END RTOS_TIMERS */
    & A' t+ _2 C4 n! H0 h
96.   /* USER CODE BEGIN RTOS_QUEUES */
    
97.   /* add queues, ... */
    & v1 i' y3 s( ~! d/ W- u1 E9 G& m
98.   /* USER CODE END RTOS_QUEUES */
    7 l4 k& }% A: E$ b+ @
99.   /* creation of MainThread */
    
100.   MainThreadHandle = osThreadNew(MainThread_Entry, NULL, &MainThread_attributes);
     . Z$ A$ u, F: k: P
101.   /* USER CODE BEGIN RTOS_THREADS */
     ( x9 K' a" s3 b
102.   /* add threads, ... */
     $ v+ t1 `5 U; X5 b7 R- p& P
103.   /* USER CODE END RTOS_THREADS */
     " H" z, ?1 f' T9 L( P3 X  P
104.   /* USER CODE BEGIN RTOS_EVENTS */
     
105.   /* add events, ... */
     3 O# e( a& ~4 L& u3 m
106.   /* USER CODE END RTOS_EVENTS */
     
107. }
     
108. /* USER CODE BEGIN Header_MainThread_Entry */
     2 K. R) r) \' E( m' O# O6 A
109. /**
     + @% V$ ?, `+ |  G: y/ P
110. * @brief Function implementing the MainThread thread.
     
111. * @param argument: Not used
     , ?1 {1 L& @, ^' l! p
112. * @retval None
     ! g' p- w; u, D5 r+ t
113. */
     
114. /* USER CODE END Header_MainThread_Entry */
     
115. void MainThread_Entry(void *argument)
     * O; U4 j7 K; }9 f/ D1 C$ R
116. {
     + C0 }( j) b# T
117.   /* USER CODE BEGIN MainThread */
     0 d  c$ w9 f! d
118.   /* Infinite loop */
     
119.   for(;;osSemaphoreAcquire(BinarySemaphoreHandle, osWaitForever))
     
120.   {
     ) M5 w( j( A- Z! r: o* p
121.     HAL_GPIO_TogglePin(LED1_GREEN_GPIO_Port, LED1_GREEN_Pin);
     ! _5 i7 v% v' D  y, @
122.   }
     
123.   /* USER CODE END MainThread */
     / h2 P: I; J: j. a; k5 p- v4 r% _
124. }
     
125. /* Private application code --------------------------------------------------*/
     4 ~5 p3 i6 D1 o# B
126. /* USER CODE BEGIN Application */
     
127. void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
     " U8 \0 Z9 w7 L; c7 n2 z
128. {
     
129.   if(hlptim->Instance == LPTIM4)
     
130.   {
     ) t1 Z/ _8 Y* i' ?! [1 h
131.     osSemaphoreRelease(BinarySemaphoreHandle);
     2 ]+ J: _" }) ?7 e! @2 l
132.     HAL_LPTIM_TimeOut_Stop_IT(&hlptim4);
     
133.   }
     1 M3 L, F! V" x& j* j0 n
134. }
     
135. /* USER CODE END Application */

复制代码

程序中首先声明了一个信号量 BinarySemaphoreHandle，作为 GPIO 的控制开关，然后在中断回调 HAL_LPTIM_CompareMatchCallback 中生成这个信号量。

1. 
   ; V/ p( @) Q. v0 U7 \
2. //信号量
   
3. osSemaphoreId_t BinarySemaphoreHandle;
   * J  b# x  ]* }1 u/ s. a$ k* U
4. //回调函数/* Private application code --------------------------------------------------*//* USER CODE BEGIN Application */void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
   ! X0 ^7 f+ q' V
5. {
   
6.   if(hlptim->Instance == LPTIM4)
   
7.   {
   
8.     osSemaphoreRelease(BinarySemaphoreHandle);
   6 W7 i" d6 V- m5 J' z8 u
9.     HAL_LPTIM_TimeOut_Stop_IT(&hlptim4);
   
10.   }
    
11. }

复制代码

信号生成后，等待系统自己调度，这时需要将LPTIM4中断关掉。HAL_LPTIM_TimeOut_Stop_IT(&hlptim4);

1. 
   " F+ a/ @+ b; Y
2. /* USER CODE END Header_MainThread_Entry */void MainThread_Entry(void *argument)
   
3. {
   ' G5 v, l5 _) m+ D  \/ T7 U
4.   /* USER CODE BEGIN MainThread */
   
5.   /* Infinite loop */
   
6.   for(;;osSemaphoreAcquire(BinarySemaphoreHandle, osWaitForever))
   ! U# }! b5 r. l! m7 J/ V
7.   {
   
8.     HAL_GPIO_TogglePin(LED2_YELLOW_GPIO_Port, LED2_YELLOW_Pin);
   3 l7 I. N$ a& Y& k) S9 d( B0 G4 r" y
9.   }
     t8 }" ^5 g2 S
10.   /* USER CODE END MainThread */
    
11. }
      h! V5 k0 ~: E  c9 i7 ^% f

复制代码

信号到达后翻转GPIO输出，系统运行后LED2，进入不停的闪烁。

, O  j3 ]1 @2 K/ I$ c来源：EEWORLD论坛网友bigbat  版权归原作者所有

) ?5 |" R- I! w6 h9 }3 V# ^0 C
$ @1 t* e: t3 ]/ ~
6 G% m. F; x0 Q7 q