S32K144 Can Callback Issue With Freertos TaskNotify 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 Solved. Yes, that's right fucn. Thank you. Re: S32K144 Can Callback Issue With Freertos TaskNotify 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
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