FreeRTOS操作系统如何设置的PendSV和SysTick优先级

首先应该明确PendSV和SysTick的优先级应该设置为最低，具体原因参见这一篇博客

PendSV功能，为什么需要PendSV

设置优先级在函数port.c中的xPortStartScheduler()函数中实现的

BaseType_t xPortStartScheduler( void )
{
    /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
     * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
    configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );

    /* This port can be used on all revisions of the Cortex-M7 core other than
     * the r0p1 parts.  r0p1 parts should use the port from the
     * /source/portable/GCC/ARM_CM7/r0p1 directory. */
    configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
    configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );

    #if ( configASSERT_DEFINED == 1 )
        {
            volatile uint32_t ulOriginalPriority;
            volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
            volatile uint8_t ucMaxPriorityValue;

            /* Determine the maximum priority from which ISR safe FreeRTOS API
             * functions can be called.  ISR safe functions are those that end in
             * "FromISR".  FreeRTOS maintains separate thread and ISR API functions to
             * ensure interrupt entry is as fast and simple as possible.
             *
             * Save the interrupt priority value that is about to be clobbered. */
            ulOriginalPriority = *pucFirstUserPriorityRegister;

            /* Determine the number of priority bits available.  First write to all
             * possible bits. */
            *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;

            /* Read the value back to see how many bits stuck. */
            ucMaxPriorityValue = *pucFirstUserPriorityRegister;

            /* Use the same mask on the maximum system call priority. */
            ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;

            /* Calculate the maximum acceptable priority group value for the number
             * of bits read back. */
            ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;

            while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
            {
                ulMaxPRIGROUPValue--;
                ucMaxPriorityValue <<= ( uint8_t ) 0x01;
            }

            #ifdef __NVIC_PRIO_BITS
                {
                    /* Check the CMSIS configuration that defines the number of
                     * priority bits matches the number of priority bits actually queried
                     * from the hardware. */
                    configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
                }
            #endif

            #ifdef configPRIO_BITS
                {
                    /* Check the FreeRTOS configuration that defines the number of
                     * priority bits matches the number of priority bits actually queried
                     * from the hardware. */
                    configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
                }
            #endif

            /* Shift the priority group value back to its position within the AIRCR
             * register. */
            ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
            ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;

            /* Restore the clobbered interrupt priority register to its original
             * value. */
            *pucFirstUserPriorityRegister = ulOriginalPriority;
        }
    #endif /* configASSERT_DEFINED */

    /* Make PendSV and SysTick the lowest priority interrupts. */
    portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
    portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;

    /* Start the timer that generates the tick ISR.  Interrupts are disabled
     * here already. */
    vPortSetupTimerInterrupt();

    /* Initialise the critical nesting count ready for the first task. */
    uxCriticalNesting = 0;

    /* Ensure the VFP is enabled - it should be anyway. */
    vPortEnableVFP();

    /* Lazy save always. */
    *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;

    /* Start the first task. */
    vPortStartFirstTask();

    /* Should not get here! */
    return 0;
}

在这里设置的两个中断的优先级

portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;

写入寄存器的地址如下图四个字节组成一个32位的

所以一个左移16位，一个左移24位

 在看configKERNEL_INTERRUPT_PRIORITY这个宏定义是什么

这边直接设置的最低优先级configLIBRARY_LOWEST_INTERRUPT_PRIORITY左移这么多位

8 - configPRIO_BITS是根据MCU的中断优先级用多少位来表示的，因为是高位对齐，所以是8减

#define configPRIO_BITS       		__NVIC_PRIO_BITS

__NVIC_PRIO_BITS这个是在gd32f4xx中定义了的（其他mcu则是其他头文件，我这里用的GD32）

根据优先级分组就可以知道多少位的抢占优先级，多少位的响应优先级

我这边设置的优先级分组为4，则4位全是抢占优先级，所以最低优先级为15

所以对于我们使用操作系统无非就是修改一下配置文件

#ifdef __NVIC_PRIO_BITS
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		4    //使用几位表示优先级              
#endif

#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			15       //中断最低优先级
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5        //系统可管理的最高中断优先级
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )        //使用最低优先级，主要是PendSV和Systick中断优先级
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )  //使用的最高优先级，高于该优先级（数字越低越高）不能时钟FromISR相关函数