【FreeRTOS】调用vTaskStartScheduler立即进入HardFault_Handler问题解决

环境：STM32F103VCT6

问题：

先初始化了外设，然后到调用  vTaskStartScheduler  启动调度器时就直接跳转到 HardFault_Handler

启动调试，然后找到HardFault_Handler，Show Caller Code 跳转到 post.c 该函数：

__asm void prvStartFirstTask( void )
{
	PRESERVE8

	/* Use the NVIC offset register to locate the stack. */
	ldr r0, =0xE000ED08
	ldr r0, [r0]
	ldr r0, [r0]

	/* Set the msp back to the start of the stack. */
	msr msp, r0
	/* Globally enable interrupts. */
	cpsie i
	cpsie f
	dsb
	isb
	/* Call SVC to start the first task. */
	svc 0
	nop
	nop
}

 

解决：

经过逐一排查，发现是 FreeRTOS 系统可管理的最高中断优先级问题，把可管理优先级调高就不会出错了。

修改前：

#ifdef __NVIC_PRIO_BITS
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		4                  
#endif
//中断最低优先级
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			15     

#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )	/* 240 */

//系统可管理的最高中断优先级
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5 
//设置可以在中断服务程序中安全调用FreeRTOS API函数的最高中断优先级
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )

修改后：

#ifdef __NVIC_PRIO_BITS
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		4                  
#endif
//中断最低优先级
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			15     

#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )	/* 240 */
//设置可以在中断服务程序中安全调用FreeRTOS API函数的最高中断优先级
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	9

关于 configKERNEL_INTERRUPT_PRIORITY 定义可参考基于STM32应用的FreeRTOS中断设置

 

 

解决记录：修改启动文件无效

参考 FreeRTOS简单移植到STM32F103ZET6 修改启动文件 startup_stm32f10x_hd.s 无效，并且会报错

修改前：

修改后：

__heap_limit
				IMPORT xPortPendSVHandler
				IMPORT xPortSysTickHandler
				IMPORT xPortSVCHandler	

                PRESERVE8
                THUMB


; Vector Table Mapped to Address 0 at Reset
                AREA    RESET, DATA, READONLY
                EXPORT  __Vectors
                EXPORT  __Vectors_End
                EXPORT  __Vectors_Size

__Vectors       DCD     __initial_sp               ; Top of Stack
                DCD     Reset_Handler              ; Reset Handler
                DCD     NMI_Handler                ; NMI Handler
                DCD     HardFault_Handler          ; Hard Fault Handler
                DCD     MemManage_Handler          ; MPU Fault Handler
                DCD     BusFault_Handler           ; Bus Fault Handler
                DCD     UsageFault_Handler         ; Usage Fault Handler
                DCD     0                          ; Reserved
                DCD     0                          ; Reserved
                DCD     0                          ; Reserved
                DCD     0                          ; Reserved
                ;DCD     SVC_Handler                ; SVCall Handler
                DCD     DebugMon_Handler           ; Debug Monitor Handler
                DCD     0                          ; Reserved
                ;DCD     PendSV_Handler             ; PendSV Handler
                ;DCD     SysTick_Handler            ; SysTick Handler

 后来发现已经在 FreeRTOSConfig.h 文件里面做了以下定义，所以无需以上处理：

#define xPortPendSVHandler 	PendSV_Handler
#define vPortSVCHandler 	SVC_Handler