S32K144 Can Callback Issue With Freertos TaskNotify

HarunCSaykal — Fri, 11 Oct 2024 07:12:59 GMT

Hello
I work with S32K144 processor. I'm using Freertos. I'm using an interrupt for Can RX. When the RX interrupt occurs, I send a notify to a task. But when I send notify, I get stuck in the "portFORCE_INLINE static void vPortRaiseBASEPRI( void)" function.

CAN_Init(&can_pal1_instance, &can_pal1_Config0);

CAN_InstallEventCallback(&can_pal1_instance, CAN_TX_RX_Callback, NULL);

can_recvtask_handle = xTaskCreateStatic(CAN_RecvTask,

APP_CAN_RECV_TASK_NAME,

APP_CAN_RECV_TASK_STACK,

NULL,

APP_CAN_RECV_TASK_PRIO,

xRecvStack, /* Array to use as the task's stack. */

&xRecvTaskBuffer);

void CAN_TX_RX_Callback(uint32_t instance, can_event_t eventType, uint32_t objIdx, void *driverState)

{

/*check and handle the RX complete event*/

if (CAN_EVENT_RX_COMPLETE == eventType) {

CAN_Receive(&can_pal1_instance, objIdx, &rx_msg);

BaseType_t xHigherPriorityTaskWoken = pdFALSE;

xTaskNotifyFromISR(can_recvtask_handle, 0, eNoAction, &xHigherPriorityTaskWoken); // The function that encounters the error.

if (xHigherPriorityTaskWoken) {

portYIELD_FROM_ISR(xHigherPriorityTaskWoken);

}

static void CAN_RecvTask(void *Params)

{

(void)Params;

while (pdTRUE) {

xTaskNotifyWait(0, 0, eNoAction, portMAX_DELAY);

J1939_Parser(rx_msg.id, &(rx_msg.data[0]));

}

}

xTaskNotifyFromISR(can_recvtask_handle, 0, eNoAction, &xHigherPriorityTaskWoken) is the function that falls into error.

I found out that this is an interrupt priority error. In another function, I was able to solve this problem by setting the interrupt priority.
http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html

The code block below works without any issues.

#define LZ_PORT_IRQN PORTD_IRQn

#define LZ_PORT_IRQN_PRI (1)

app_status_t GPIO_install_int (void)

{

/* Install LZ Button & INT interrupt handler */

INT_SYS_InstallHandler(LZ_PORT_IRQN, RF_Instance_Int_Handler, (isr_t *)NULL);

/* Enable LZ Button interrupt handler */

INT_SYS_EnableIRQ(LZ_PORT_IRQN);

INT_SYS_SetPriority(LZ_PORT_IRQN, LZ_PORT_IRQN_PRI);

if (INT_SYS_GetPriority(LZ_PORT_IRQN) != LZ_PORT_IRQN_PRI) {

return APP_STATUS_FAIL;

}

return APP_STATUS_OK;

}

void RF_Instance_Int_Handler (void)

{

uint32_t u32Flags;

u32Flags = GPIO_AML_GetInterruptFlags(SW_INT_LZ_INSTANCE);

/* Check if interrupt comes from LZ INT pin */

if (u32Flags & (1 << LZ_INT_PIN_NB)) {

BaseType_t xHigherPriorityTaskWoken = pdFALSE;

xTaskNotifyFromISR(RF_TaskHandle, 0, eNoAction, &xHigherPriorityTaskWoken);

if (xHigherPriorityTaskWoken) {

portYIELD_FROM_ISR(xHigherPriorityTaskWoken);

}

GPIO_AML_ClearInterruptFlags(SW_INT_LZ_INSTANCE, LZ_INT_PIN_NB);

}

But I couldn't set this priority for Can interrupt. How can I set this priority for CAN RX, or what other solutions are there for this problem?

Re: S32K144 Can Callback Issue With Freertos TaskNotify

PetrS — Mon, 14 Oct 2024 10:33:37 GMT

Hi,

you can set interrupt priority for given ISR in similar manner as for Port interrupt, using NT_SYS_SetPriority function. Just use right function parameters, like
INT_SYS_SetPriority(CAN0_ORed_0_15_MB_IRQn, 1);

BR, Petr

Re: S32K144 Can Callback Issue With Freertos TaskNotify

HarunCSaykal — Tue, 15 Oct 2024 06:22:22 GMT

Solved. Yes, that's right fucn. Thank you.

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S32K144 Can Callback Issue With Freertos TaskNotify

Re: S32K144 Can Callback Issue With Freertos TaskNotify

Re: S32K144 Can Callback Issue With Freertos TaskNotify