Работа FreeRTOS в системах жесткого реалтайма

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   0xf
 
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
 
/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY   ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY  ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )

/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
   standard names. */
#define vPortSVCHandler    SVC_Handler
#define xPortPendSVHandler PendSV_Handler
 
/* IMPORTANT: FreeRTOS is using the SysTick as internal time base, thus make sure the system and peripherials are
              using a different time base (TIM based for example).
 */
#define xPortSysTickHandler SysTick_Handler

configLIBRARY_LOWEST_INTERRUPT_PRIORITY

#define portNVIC_SYSTICK_PRI                ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

    /* Make PendSV and SysTick the lowest priority interrupts. */
    portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
    portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

#define portNVIC_SYSTICK_CTRL_REG           ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG           ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG  ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_SYSPRI2_REG                ( * ( ( volatile uint32_t * ) 0xe000ed20 ) )

/**
  * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
  */
void TIM1_BRK_TIM9_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
 
  ulTotalRunTime++;
 
  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
  HAL_TIM_IRQHandler(&htim9);
  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
 
  /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
}