How to achieve Interrupt nesting for S32K144

[asd046012]

Now I use MCU S32K144, SDK version is 2.9.0.

I have used a DMA interrupt, lpit interrupt and CAN send/receive interrupt. 

Now the priority of all interrupt is the default value(0x00);

I wanted to DMA interrupt and lpit interrupt can interrupt CNA CAN send/receive interrupt, So how to configure it? just configure the priority of  DMA interrupt and lpit interrupt is less than the priority of CNA CAN send/receive interrupt?  

[asd046012]

Hello 

     There is also an system tick timer interrupt, I also hope that the DMA interrupt and the LPIT interrupt can interrupt the system tick interrupt.

      could this requirement  be achieved?

[danielmartynek · Accepted solution]

Hi @asd046012,

The DMA interrupt and the LPIT interrupt must have higher interrupt priorities than the SysTick and the FlexCAN.

For example,

DMA, LPIT: priority number 0 (default)

FlexCAN, SysTick: priority number 1

The Systick priority is configurable in System Handler Priority Register 3, SHPR3.

ARM®v7-M Architecture
Reference Manual

danielmartynek_0-1639494675535.png

S32_SCB->SHPR3 |= S32_SCB_SHPR3_PRI_15(0x10); // SysTick Priority 1

Regards,

Daniel