freeRTOS关于 define configASSERT 后问题总结

基于GD32F103 使用 FreeRTOS

FreeRTOS配置如下：

/* Define configASSERT() to disable interrupts and sit in a loop. */
#define configASSERT( x )     if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }

#ifdef __NVIC_PRIO_BITS
    #define configPRIO_BITS               __NVIC_PRIO_BITS
#else
    #define configPRIO_BITS               4                  
#endif

#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY            0x0F                      //中断最低优先级
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY    3                       //系统可管理的最高中断优先级
#define configKERNEL_INTERRUPT_PRIORITY         ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
#define configMAX_SYSCALL_INTERRUPT_PRIORITY     ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )

现象：调试发现程序卡死在：

configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );

#if( configASSERT_DEFINED == 1 )

	void vPortValidateInterruptPriority( void )
	{
	uint32_t ulCurrentInterrupt;
	uint8_t ucCurrentPriority;

		/* Obtain the number of the currently executing interrupt. */
		ulCurrentInterrupt = vPortGetIPSR();

		/* Is the interrupt number a user defined interrupt? */
		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
		{
			/* Look up the interrupt's priority. */
			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

			/* The following assertion will fail if a service routine (ISR) for
			an interrupt that has been assigned a priority above
			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
			function.  ISR safe FreeRTOS API functions must *only* be called
			from interrupts that have been assigned a priority at or below
			configMAX_SYSCALL_INTERRUPT_PRIORITY.

			Numerically low interrupt priority numbers represent logically high
			interrupt priorities, therefore the priority of the interrupt must
			be set to a value equal to or numerically *higher* than
			configMAX_SYSCALL_INTERRUPT_PRIORITY.

			Interrupts that	use the FreeRTOS API must not be left at their
			default priority of	zero as that is the highest possible priority,
			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
			and	therefore also guaranteed to be invalid.

			FreeRTOS maintains separate thread and ISR API functions to ensure
			interrupt entry is as fast and simple as possible.

			The following links provide detailed information:
			http://www.freertos.org/RTOS-Cortex-M3-M4.html
			http://www.freertos.org/FAQHelp.html */
			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
		}

		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
		that define each interrupt's priority to be split between bits that
		define the interrupt's pre-emption priority bits and bits that define
		the interrupt's sub-priority.  For simplicity all bits must be defined
		to be pre-emption priority bits.  The following assertion will fail if
		this is not the case (if some bits represent a sub-priority).

		If the application only uses CMSIS libraries for interrupt
		configuration then the correct setting can be achieved on all Cortex-M
		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
		scheduler.  Note however that some vendor specific peripheral libraries
		assume a non-zero priority group setting, in which cases using a value
		of zero will result in unpredicable behaviour. */
		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
	}

#endif /* configASSERT_DEFINED */

最终确定问题及解决方案：

1：中断配置改为

nvic_priority_group_set( NVIC_PRIGROUP_PRE4_SUB0 );

nvic_irq_enable( USART2_IRQn, 4, 0 );//USART2 中断配置
nvic_irq_enable( DMA0_Channel1_IRQn, 4, 0 );

2：对于FreeRTOS可管理的中断优先级配置不仅仅只有

configMAX_SYSCALL_INTERRUPT_PRIORITY

还需要更改 port.c 文件下的

portMAX_PRIGROUP_BITS

#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 3 )

总结：

经测试，问题解决

参考链接：请教Freertos移植到STM32F1上优先级分组的问题 (amobbs.com 阿莫电子论坛 - 东莞阿莫电子网站)安富莱_STM32-V6开发板_FreeRTOS教程（V1.1）.pdf (anfulai.cn)