Cortex-M3 SysTick双中断

Question

我正在创建一个rtos系统，系统时钟(1ms)用于实时，触发器pendsv-用于切换任务。系统杆和挂件的优先级与0相同(组= 16；)。当当前任务处于休眠状态时，PendSv也由触发。有时，PendSv和SysTick同时发生，首先执行SysTick，然后执行PendSV。但是在执行PendSV之后，SysTick再次发生。我尝试了更改优先级，并在系统节拍句柄中清除了，但没有任何变化。你知道为什么，以及如何解决这个问题吗？logic_analyzer

asm代码：

//#define USING_PUSH_POP

  EXTERN GPIOA_BITBAND

  EXTERN RTOS_GetCurrentCPU                     //CPU_TypeDef* RTOS_GetCurrentCPU();
  EXTERN RTOS_GetNextCPU                        //CPU_TypeDef* RTOS_GetNextCPU();

  PUBLIC PendSV_Handler
  PUBLIC RTOS_ASM_Begin                         //void RTOS_ASM_ASM_Begin(CPU_TypeDef* CPU);
  
  SECTION rtos_function:CODE
  PendSV_Handler:
  //PUSH in SP when interrupt
  //Here - R0 - R1 - R2 - R3 - R12 - BACK_LR - BACK_PC - EAPSR
  PUSH          {LR}
  
  LDR.W         R0, =GPIOA_BITBAND   //(1)
  MOV           R1, #1
  STR           R1, [R0, #0x180]
  
  
  BL            RTOS_GetCurrentCPU
  CMP           R0, #0
  BEQ           BREAK                           //if (NULL): back to current task
  BL            RTOS_ASM_SaveCurrentCPU

  BL            RTOS_GetNextCPU
  CMP           R0, #0
  BEQ           BREAK                           //if (NULL): back to current task
  B             RTOS_ASM_SwitchNextCPU
BREAK:
  POP           {PC}
//===================================
  RTOS_ASM_Begin:                               //R0: CPU_TypeDef* MainCPU
  PUSH          {R1, LR}
  STR           LR , [R0, #28]
  STR           R1 , [R0, #24]
  ADDS          R1 , R0, #24
  MOV           SP , R1
  BL            RTOS_ASM_SaveCurrentCPU  
  POP           {R1, PC}
//===================================
  RTOS_ASM_SaveCurrentCPU:                      //R0: CPU_TypeDef* CurrentCPU
#ifdef USING_PUSH_POP
  MOVS          R1 , SP
  STR           SP , [R0, #(4 * 16)]
  ADDS          R0 , R0, #(4 * 16)
  MOVS          SP , R0
  PUSH          {R4-R11}
  MOVS          SP , R1
#else
  STR           R4 , [R0, #(4 * 8 )]
  STR           R5 , [R0, #(4 * 9 )]
  STR           R6 , [R0, #(4 * 10)]
  STR           R7 , [R0, #(4 * 11)]
  STR           R8 , [R0, #(4 * 12)]
  STR           R9 , [R0, #(4 * 13)]
  STR           R10, [R0, #(4 * 14)]
  STR           R11, [R0, #(4 * 15)]
  STR           SP , [R0, #(4 * 16)]  
#endif
  BX            LR
//===================================
  RTOS_ASM_SwitchNextCPU:                       //R0: CPU_TypeDef* NextCPU
#ifdef USING_PUSH_POP
  ADDS          R1 , R0, #(4 * 8)
  MOVS          SP , R1
  POP           {R4-R11}
  LDR           SP , [R0, #(4 * 16)]
#else
  LDR           R4 , [R0, #(4 * 8 )]
  LDR           R5 , [R0, #(4 * 9 )]
  LDR           R6 , [R0, #(4 * 10)]
  LDR           R7 , [R0, #(4 * 11)]
  LDR           R8 , [R0, #(4 * 12)]
  LDR           R9 , [R0, #(4 * 13)]
  LDR           R10, [R0, #(4 * 14)]
  LDR           R11, [R0, #(4 * 15)]
  LDR           SP , [R0, #(4 * 16)]
#endif

  LDR.W         R0, =GPIOA_BITBAND   //(2)
  MOV           R1, #0
  STR           R1, [R0, #0x180]

  POP           {PC}  
//===================================
  END

系统节拍句柄：

void SysTick_Handler()
{
  GPIOB_BITBAND.ODR._10 ^= 1;   //(3)
  System.MsTick++;
  if (TaskManager.Running)
    RTOS_SWITCH_TRIGGER();
  //SCB.ICSR.REG = BIT25;
  SCB.ICSR.BITS.PENDSTCLR = 1;
}

Answer 1

我现在的解决方案是使用SVC而不是PendSV。