[嵌入式] NXP RT1052移植FreeRTOS报Error:.. |.. |FreeRTOS |port |RVDS |ARM

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[嵌入式]NXP RT1052移植FreeRTOS报Error:.. |.. |FreeRTOS |port |RVDS |ARM_CM7 |r0p1 |port.c776问题

调试RT1052时，报Error:…\FreeRTOS\port\RVDS\ARM_CM7\r0p1\port.c,776问题：
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
分析：该问题为我们分配中断优先级组时不满足FreeRTOS的中断优先级分组规则
在这里插入图片描述
解决办法：
1、设置中断优先级组为4bit抢占优先级，0bit子优先级

2、在FreeRTOSConfig.h文件中修改configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY的值(我们设置为1)
//configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY的值为系统可管理的最高中断优先级
//用于配置 basepri 寄存器当 basepri 设置为某个值的时候，会让系统不响应比该优先级低的中断，而优先级比之更高的中断则不受影响
/*
比如当这个宏定义配置为 5 的时候，中断优先级数值在 0、 1、 2、 3、
4 的这些中断是不受 FreeRTOS 管理的，不可被屏蔽，也不能调用 FreeRTOS 中的 API 函数
接口，而中断优先级在 5 到 15 的这些中断是受到系统管理，可以被屏蔽的
*/
在这里插入图片描述
3、设置对应中断的抢占优先级和子优先级(抢占优先级的设置不能小于configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY的值，也就是中断的优先级不能比系统可管理的最高优先级高，如果该值比configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY的值小，这个中断是不受 FreeRTOS 管理的)
在这里插入图片描述
bsp_nvic.c文件：

/**
  ******************************************************************
  * @file    bsp_nvic.c
  * @author  fire
  * @version V1.0
  * @date    2021-xx-xx
  * @brief   nvic应用函数接口
  ******************************************************************
  * @attention
  *
  *
  *
  * 
  *
  ******************************************************************
  */

#include "./bsp/nvic/bsp_nvic.h"
    
/**
  * @brief  设置中断优先级分组  
  * @param  PriorityGroup:中断优先级分组
  * @retval 无
*/   
void Set_NVIC_PriorityGroup(PriorityGroup_Type PriorityGroup) 
{
  NVIC_SetPriorityGrouping((uint32_t)PriorityGroup); //设置中断优先级分组
}
    
/**
  * @brief  设置中断编号的中断优先级  
  * @param  IRQn:中断编号
  * @param  PreemptPriority:抢占优先级
  * @param  SubPriorit:子优先级
  * @retval 无
*/
void set_IRQn_Priority(IRQn_Type IRQn,PreemptPriority_Type PreemptPriority, SubPriority_Type SubPriorit)
{
  uint32_t PriorityGroup = 0;   //保存中断优先级分组
  uint32_t Priority_Encode = 0; //保存中断优先级编码
  PriorityGroup = NVIC_GetPriorityGrouping();//获得当前中断优先级分组
  Priority_Encode = NVIC_EncodePriority(PriorityGroup,(uint32_t)PreemptPriority,(uint32_t)SubPriorit);//得到中断优先级编码
  
  NVIC_SetPriority(IRQn, Priority_Encode);//设置中断编号的中断优先级
}

bsp_nvic.h文件：

#ifndef __NVIC_H
#define __NVIC_H

#include "fsl_common.h"

/*定义中断优先级分组 */
typedef enum PriorityGroup{

  Group_0 = 0,
	Group_1,
	Group_2,
	Group_3,
  Group_4,
  Group_5,
  Group_6,
  Group_7,
}PriorityGroup_Type;

/*定义抢占优先级*/
typedef enum PreemptPriority {
  Group0_PreemptPriority_0 = 0,
  Group0_PreemptPriority_1,
  Group0_PreemptPriority_2,
  Group0_PreemptPriority_3,
  Group0_PreemptPriority_4,
  Group0_PreemptPriority_5,
  Group0_PreemptPriority_6,
  Group0_PreemptPriority_7,
  Group0_PreemptPriority_8,
  Group0_PreemptPriority_9,
  Group0_PreemptPriority_10,
  Group0_PreemptPriority_11,
  Group0_PreemptPriority_12,
  Group0_PreemptPriority_13,
  Group0_PreemptPriority_14,
  Group0_PreemptPriority_15, 
	
	
	
	Group1_PreemptPriority_0 = 0,
  Group1_PreemptPriority_1,
  Group1_PreemptPriority_2,
  Group1_PreemptPriority_3,
  Group1_PreemptPriority_4,
  Group1_PreemptPriority_5,
  Group1_PreemptPriority_6,
  Group1_PreemptPriority_7,
  Group1_PreemptPriority_8,
  Group1_PreemptPriority_9,
  Group1_PreemptPriority_10,
  Group1_PreemptPriority_11,
  Group1_PreemptPriority_12,
  Group1_PreemptPriority_13,
  Group1_PreemptPriority_14,
  Group1_PreemptPriority_15,

  Group2_PreemptPriority_0 = 0,
  Group2_PreemptPriority_1,
  Group2_PreemptPriority_2,
  Group2_PreemptPriority_3,
  Group2_PreemptPriority_4,
  Group2_PreemptPriority_5,
  Group2_PreemptPriority_6,
  Group2_PreemptPriority_7,
  Group2_PreemptPriority_8,
  Group2_PreemptPriority_9,
  Group2_PreemptPriority_10,
  Group2_PreemptPriority_11,
  Group2_PreemptPriority_12,
  Group2_PreemptPriority_13,
  Group2_PreemptPriority_14,
  Group2_PreemptPriority_15,

  Group3_PreemptPriority_0 = 0,
  Group3_PreemptPriority_1,
  Group3_PreemptPriority_2,
  Group3_PreemptPriority_3,
  Group3_PreemptPriority_4,
  Group3_PreemptPriority_5,
  Group3_PreemptPriority_6,
  Group3_PreemptPriority_7,
  Group3_PreemptPriority_8,
  Group3_PreemptPriority_9,
  Group3_PreemptPriority_10,
  Group3_PreemptPriority_11,
  Group3_PreemptPriority_12,
  Group3_PreemptPriority_13,
  Group3_PreemptPriority_14,
  Group3_PreemptPriority_15,



  Group4_PreemptPriority_0 = 0,
  Group4_PreemptPriority_2,
  Group4_PreemptPriority_3,
  Group4_PreemptPriority_4,
  Group4_PreemptPriority_5,
  Group4_PreemptPriority_6,
  Group4_PreemptPriority_7,
	
  
  Group5_PreemptPriority_0 = 0,
  Group5_PreemptPriority_1,
  Group5_PreemptPriority_2,
  Group5_PreemptPriority_3,
  
  Group6_PreemptPriority_0 = 0,
  Group6_PreemptPriority_1,
  
  Group7_PreemptPriority_0 = 0
}PreemptPriority_Type;

/*定义子优先级*/
typedef enum SubPriority {

  Group0_SubPriority_0 = 0,
	Group1_SubPriority_0 = 0,
	Group2_SubPriority_0 = 0,
	Group3_SubPriority_0 = 0,
			
  Group4_SubPriority_0 = 0,
  Group4_SubPriority_1,
  
  Group5_SubPriority_0 = 0,
  Group5_SubPriority_1,
  Group5_SubPriority_2,
  Group5_SubPriority_3,
  
  
  Group6_SubPriority_0 = 0,
  Group6_SubPriority_2,
  Group6_SubPriority_3,
  Group6_SubPriority_4,
  Group6_SubPriority_5,
  Group6_SubPriority_6,
  Group6_SubPriority_7,
  
  Group7_SubPriority_0 = 0,
  Group7_SubPriority_1,
  Group7_SubPriority_2,
  Group7_SubPriority_3,
  Group7_SubPriority_4,
  Group7_SubPriority_5,
  Group7_SubPriority_6,
  Group7_SubPriority_7,
  Group7_SubPriority_8,
  Group7_SubPriority_9,
  Group7_SubPriority_10,
  Group7_SubPriority_11,
  Group7_SubPriority_12,
  Group7_SubPriority_13,
  Group7_SubPriority_14,
  Group7_SubPriority_15
  
}SubPriority_Type;


void Set_NVIC_PriorityGroup(PriorityGroup_Type PriorityGroup) ;
void set_IRQn_Priority(IRQn_Type IRQn,PreemptPriority_Type PreemptPriority, SubPriority_Type SubPriorit);


#endif /* __NVIC_H */

以下内容为RT1052中断优先级分组的设置依据
1、其实RT1052的中断优先级的配置方式和其他M系列的单片机配置方式基本一样，需要注意的是，RT1052只支持16位优先级，[7:4]
在这里插入图片描述
我们主要使用如下两个函数进行中断优先级分组和中断优先级设置(NVIC_SetPriorityGrouping;NVIC_SetPriority)

在这里插入图片描述
2、设置优先级分组函数(NVIC_SetPriorityGrouping)
从代码可以看出设置中断优先级分组是对寄存器AIRCR的8-10位进行配置的

AIRCR寄存器如下所示(详细请参考《armv7m_arm》参考手册第 B3.2.6 章节)

优先级分组的值设定如下：各个值代表的含义如下
0-- bit 1-7为抢占优先级，bit 0子优先级
1-- bit 2-7为抢占优先级，bit 0-1子优先级
…
6-- bit 7为抢占优先级，bit 0-6位子优先级
在这里插入图片描述
从上图中可以看出AIRCR[PRIGROUP]虽然可以设置为从0-7，但是我们在文件MIMXRT1052.h中指定了__NVIC_PRIO_BITS的值，也就是用4bit来设定中断优先级分组方法，在函数__NVIC_SetPriority中分析该设置优先级过程可以得到：优先级的设置只有高4bit可用，也就意味着AIRCR[PRIGROUP]的值如果设置为0/1/2/3起始都是代表设置4bit抢占优先级，0bit子优先级的
在这里插入图片描述