S32K144 Can Callback Issue With Freertos TaskNotify

[HarunCSaykal]

   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?

[PetrS · Accepted solution]

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

[HarunCSaykal]

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