Each exception/interrupt has associated an 8-bit priority level register. But not all bits are used to set priorities. STM32F103C8 MCU has only 16 priority levels which means that 4 MSB bits are used to set priorities. If needed these bits can be split into two groups where you can create sub-priority levels for each preemptive priority. Sub-priority is used only if the group priority is the same The interrupt system of STM32 is not too much complex and only a few registers need to be taken care of after setting GPIO pins. The first thing to do is to setup which EXTI lines to use and which port pins to use. AFIO_EXTICRx registers determine this Pushing the button triggers the interrupt so you sort of defeat the purpose by checking IDR register anyways.In the EXTI interrupt handler you check that it is the correct interrupt via the Pending Register/PR. Other EXTI interrupts looks like they share the same handler so you would want to use the EXTR->PR register to check the right pending bit
Interrupts on STM32 MCUs come in two flavors: internal and external. Both types of interrupts use the same core peripheral in the Cortex-M core: the Nested Vectored Interrupt Controller, or NVIC. STM32F100RB interrupt controller consists of 18 edge detector lines. Each line can be configured to trigger a different event like rising edge, falling edge, or both as ports are 16-bit than 16 lines are dedicated to mapping port pins. For instance, the EXTI0 line can be mapped to pins 0 of all ports or any other combination 4.3.2 Interrupt set-enable register x (NVIC_ISERx) . . . . . . . . . . . . . . . . . . . 210 4.3.3 Interrupt clear-enable register x (NVIC_ICERx) . . . . . . . . . . . . . . . . . 211 4.3.4 Interrupt set-pending register x (NVIC_ISPRx) . . . . . . . . . . . . . . . . . . 21 STM32 Tutorial NUCLEO F103RB GPIO Pins V1.0.1 - created on 20.05.2016 simon burkhardt page 1 /5 GPIO Interrupts (EXTI) on STM32 Microcontrollers using HAL with FreeRTOS enabled The STM32 microcontroller family offers multiple GPIO interrupt pins. The STM32CubeMX Software comes in handy when configuring the parameters of these pins. However, the actual usage of This tutorial uses the. STM32 Timer Mode LAB Preface. In this LAB, we'll set up a general-purpose timer module to operate in timer mode. We'll set the overflow time interval to the desired value using the equation down below. And toggle an LED in the interrupt service routine (ISR) for the timer overflow event
The simplest way to produce regular interrupts from a timer like TIM3 on the STM32 family of processors is to set up the Auto Reload Register (ARR) to generate an update event. This article shows you how to correctly set up the clock source, prescaler and ARR to get regular events over a wide range of frequencies STM32 USART Pt. 2 : Interrupts. Eddie February 23, 2019. In the previous post I showed you guys how to setup the USART in its most basic mode which is UART with no interrupts. In this second part I will explain the register bits and relevant code to configure the UART in interrupt mode. Interrupt allows for non-blocking reception and transmission. Achtung: In der startup_stm32.h von der System Workbench sind die Handler vom HR-Timer anderen (falschen) Adressen zugewiesen! Über das SCB->VTOR Register kann man den Ort der Liste verändern um sie z.B. ins RAM zu verschieben. Interrupt Controller Der Interrupt-Controller NVIC steuert die Verarbeitung von Unterbrechungs-Signalen. Er ist Bestandteil des ARM Kerns NVIC refers to nested vector interrupt controller, is a controller built in cortex arm M3 M4 processors, therefore this feature can also be found at some other brand's arm M3 M4 processors other than stm32. There are 2 different kinds of priorities: preemption priorities and sub priorities Als erstes müssen wir die beiden Interrupts konfigurieren. Im Register MCUCR wird eingestellt, ob die Interrupts bei einer steigenden Flanke (low nach high) oder bei einer fallenden Flanke (high nach low) ausgelöst werden. Dafür gibt es in diesem Register die Bits ISC00, ISC01 (betreffen INT0) und ISC10 und ISC11 (betreffen INT1)
Each STM32F4 device has 23 external interrupt or event sources. They are split into 2 sections. First interrupt section is for external pins (P0 to P15) on each port, and other section is for other events, like RTC interrupt, Ethernet interrupt, USB interrupt and so on. October 1, 2014: Added external interrupts library. GPIO as Interrupt Interrupt lines I will show now how to configure GPIO. Die Register haben anderen Namen, andere Adressen, andere Bitbedeutungen,... Aber es steht doch alles im Datenblatt. Und ob ich jetzt einen AVR oder einen ARM das erste Mal vor mir liegen hab. Ich brauch in allen Fällen die oben beschriebenen Schritte. Das Interruptsystem ist bei einem STM32 zusätzlich priorisiert. Damit kann man festlegen, welcher Interrupt vorrangig bearbeitet wird. Die. For example, a value of 3 specifies interrupt IRQ3. In the STM32, there are 21 priority registers. Each priority register is divided into four eight bit priority fields, each field being assigned to an individual interrupt vector. The STM32 only uses half of this field to implement 16 levels of priority
There are two ways of generating a software interrupt on STM32F4. the generic Cortex-M4 method or writing to the Software Trigger Interrupt Register (STIR), or the STM32 EXTI specific method of writing to the EXTI Software interrupt event register (EXTI_SWIER) STM32 MICROCONTROLLER: GENERAL-PURPOSE TIMERS (TIM2-TIM5) STM32 MICROCONTROLLER: GENERAL-PURPOSE TIMERS (TIM2-TIM5) Lecture 5 Prof. Yasser Mostafa Kadah. TIM2-TIM5 Introduction. The general-purpose timers consist of a 16-bit auto-reload counter driven by a programmable prescaler. Measuring the pulse lengths of input signals (input capture For example, the USART_ClearITPendingBit () function only works for four (of the ten) possible flags. Here is a summary of the interrupt flags and how to use them. These are specific for the STM32F105, but are representative: USART_IT_TXE - Transmit Data register empty Interrupt Priority Registers (NVIC_IPR) NVIC_IPR0-NVIC_IPR123: 0xE000E400-0xE000E5EC; The final NVIC configuration register is used to configure the priority of the interrupt. 8 bits are used to configure the priority of each interrupt. The number of supported priority levels is implementation defined and is in the range of 4-256. When less than 256 priority levels are implemented, the lower.
Interruptions aren't just a staple of our daily lives. They're also crucial for making computer systems work as well a Der NVIC (Nested Vectored Interrupt Controller) zeichnet sich durch seine enge Kopplung an den Kern des Prozessors aus. Ergebnis sind extrem kurze Latenzzeiten der Interrupts. Ein weiterer Schritt zu einem erwachsenen Interruptcontroller ist die echte Vektorisierung im Vergleich z.B. zu älterer ARM oder dem AVR. Das bedeutet, dass in der. Timers are very powerful features in microcontrollers, as they allow you to perform a variety of tasks, including running non-blocking code. Interrupts can be used in conjunction with timers to perform functions outside of your main code. See the following documents if you would like to dig into STM32 timers and interrupts. STM32 Timer Cookboo
To review, these chips have core NVIC interrupts which need to be enabled in addition to the actual STM32 peripheral interrupts that we want to use. Our code will configure the STM32's EXTI line to listen on a specific GPIO pin, and then we will enable the NVIC interrupt. I'll also go over writing a C method for the appropriate vector table entry. And while I primarily discuss. The HAL libraries will manage the main interrupt service routine (ISR) when the timer interrupt occurs (feel free to examine it in stm32l4xx_it.c). At some point in that ISR, the code will call HAL_TIM_PeriodElapsedCallback(), which we need to provide a definition for. In that definition, we check to make sure that the timer handle (htim) is indeed our Timer 16 and then toggle the LED pin. Note that this is a generic timer interrupt callback. If you set up multiple timer interrupts, this one. All interrupts are located in a file called stm32f4xx_it.c). What should also be done is starting the timer counting (HAL_TIM_Base_Start_IT() function) and adding some extra code into the interrupt handler in order to change the output state of PD12 (LED toggling) Interrupt-Driven Input/Output on the STM32F407 Microcontroller Textbook: Chapter 11 (Interrupts) ARM Cortex-M4 User Guide (Interrupts, exceptions, NVIC) Sections 2.1.4, 2.3 - Exceptions and interrupts. Section 4.2 - Nested Vectored Interrupt Controlelr. STM32F4xx Tech. Re .fManua :l. Chapter 8: External interrupt/wakeup line
There are 32 EXTI lines on the STM32F0 line. The first 16 of them can be used to trigger hardware interrupts when changes are detected on any of the 16 GPIO pins associated with each GPIO bank. EXTI0 refers to pin #0, EXTI1 refers to pin #1, and so on STM32 Basic Timer in Interrupt & PWM mode. Now there is a new tutorial that explain how to use TIMER in PWM mode with spreadsheet for calculate the values of PRESCALER, PERIOD and PULSE that is here. In the same tutorial we explain also the redirect of printf via USART2 and getchar via USART2 in interrupt mode. Introduction; TIM in Interrupt mode; The PERIOD formul The interrupt request function is responsible for handling every type of UART peripheral interrupt, but they all start in a disabled state. So if you want to use one, you need to enable it in the UART peripheral first. We'll want to use the RXNEIE interrupt flag, which triggers an interrupt whenever the RXNE bit is set Point of this post is not how to use NVIC (Nested Vectored Interrupt Controller) in Cortex-M processors but how to disable/enable interrupts properly for your system to avoid strange behaviours in your code. Let's assume you have 2 functions, which do some important stuff and they have to make sure that noone interrupts these 2 functions [crayon-605e7d7c8783a688286184/] By calling these 2.
External Interrupt using Registers March 17, 2021; STM32F103 Clock Setup using Registers March 3, 2021; STM32 I2C Configuration using Registers February 26, 2021; EEPROM and STM32 February 24, 2021; FreeRTOS Tutorials #8 -> Software Timers February 14, 202 The STM32 LTDC has a peripheral called LTDC LCD TFT Display Controller which The Line and Register Reload interrupts are useful to synchronize the code with the controller. Using double buffering. Double buffer is used when we want the code to write on a frame buffer while another buffer is being read by the LTDC. This avoids corrupting the data being displayed on the screen. The buffers. Interrupt Service Routine or an Interrupt handler is an event that has small set of instructions in it and when an interrupt is occurred the processor first executes these code that is present in ISR and then continue with the task which it was doing before the interrupt. Syntax for Interrupt in STM32 There are several ADC architectures, in MCU normaly there are SAR (successive approximation register) and sometime SIGMA-DELTA (also known as a delta-sigma ADC). SAR is very fast SIGMA-DELTA is slow but is very precise. The stadard ADC in STM32 is SAR at 12bit but there ara also some STM32 that iclude also a SIGMA-DELTA ADC at 16bit
1. Register GPPUB pollen und damit zyklisch abfragen und vergleichen ob sich was geändert hat. 2. Interrupt Ausgang des MCP23017 so programmieren, dass dieses Ausgangssignal gesetzt wird wenn sich einer der Porteingänge geändert hat. Dieser Interruptausgang kann man dann mit einem Interrupteingang des STM32 verbinden und darauf reagieren Timer related portions should run directly on other STM32 family members since they all have a TIM3. In this part, I will explain the basic configuration of the capture compare registers, describe how they can be used to generate regular interrupts and give you sample code to demonstrate the facility. Capture Compare Registers I have a problem with STM32 register in Arduino IDE. Mar 09, 2020, 02:13 pm. I have to work with STM32f103C8T6 (Black pills) and I want to setting a time period using interrupt. I searching setting method on the internet and found some code below.So,he access the register by write like this TIMER2_BASE->CR1 = 0x01 but i have a question why they. first you need to enable the interrupt (I don't know if the stm32 wrapper for arduino does it or not): NVIC_EnableIRQ(ADC1_IRQn); then you have to write ISR as gerben said: extern C void ADC1_IRQHandler() { //clear ADC flag } extern C because [as far as I know] the arduino projects are C++ TIFR1 (Timer/Counter Interrupt Flag Register): Hier lassen sich noch unverarbeitete Interrupts feststellen. Die Bits korrespondieren mit denen von TIMSK1. Alternative Methode CTC. Statt einen.
It is just my way of using STM32 timers - use things that have been designed for their purposes. For making time base generators we need to follow a few steps and the overall thing is very easy. We will use interrupt-based method. First we need to determine which timer we will be using and what should be the frequency of the timer interrupt. We, then, need to calculate the values for the prescaler (PSC), the auto-reload register (ARR) and the repetition counter (RCR) (if any). Repetition. In case of GPIO configuration registers of STM32, we can perform atomic write operations using the dedicated BSRR and BRR registers. BSRR is a 32-bit register where the lower 16-bits are used to set any of the 16 pins and the higher 16-bits to clear/reset any of the 16 pins of a particular IO port. The BRR register's higher 16-bits are reserved and the lower 16-bits reset or clear the 16 pins
All these events have the capacity to interrupt the processor. Whenever these events (events in Figure 1) happen, the corresponding flag in the status register will be set. Setting up those flags can interrupt the processor only if the control bit corresponding to that flag is enabled. Otherwise, it will not cause any interruption to the processor. Therefore, the control bits in Figure 1 are given to achieve the interruption STM32 occasionally misses interrupts Posted by rtel on September 7, 2015 The CPSR register in the Cortex-M core itself (not the NVIC) has an 'i' bit that is used for globally enabling and disabling interrupts. This is not a 'mask', in that it doesn't just disable some priorities, it just bluntly disables all priorities This tutorial shows how to use the STM32 UART interface in different modes using the HAL libraries. We will show how to use direct mode, interrupt-based mode and DMA-controlled mode and will use a logic analyzer to compare the precise timings of various events. Before you begin, install VisualGDB 5.2 or later. Start Visual Studio and open VisualGDB Embedded Project Wizard: Select Create a. However , the STM32's timers will give you way more functions that will be very useful for many of your applications that you may not think about it before. For STM32F051, it has totally 9 main timers including 7 16-bit timers, 1 24-bit systick timer and 1 32-bit timer. Some of them have 6 channels advanced-control PWM output, deadtime generation It also has independent and watchdog timer. STM32 can support 68 interrupt channels, which have been fixed to the corresponding external devices. Each interrupt channel has its own interrupt priority control byte PRI_n(8 bits, but STM32 only USES 4 bits, high 4 bits is effective). The 8-bit interrupt priority control word of each 4 channels constitutes a 32-bit priority register
After we had a quick overview of the STM32 ADC peripheral, we can dig deeper into specifics. To understand simple things, let's go with the simplest case - single conversion mode. In this mode, ADC does one conversion and then stops. After the ADC conversion result is stored into the 16-bit ADC_DR data register (remember that the conversion result is 12-bit), then the End of Conversion (EOC) flag is set. An interrupt is generated if the EOCIE flag is set. The same situation is if the. STM32에서는 EXTI 라는 Peripheral을 이용하여 GPIO를 통해 들어온 신호를 Interrupt 로 처리하도록 한다. 1. Configuration. Step1] AFIO Enable . EXTI를 이요하려면 AFIO 블럭이 Enable 되어야 한다. 즉 RCC Register에서 AFIO 부분을 Enable시켜 주어야 한다. RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO); Step2] AFIO_EXTICRx 설정. STM32F103RB 기준으로. Central to sending and receiving data with a UART is the USART_SR (Status Register): STM32F0 USART_SR register layout. (RM0091 27.6.1) The bits to look out for here are: TXE (Transmit data. This programs the user peripheral NVIC interrupt priority registers to set the ADC priority level and the System Handler Priority registers to set the SysTick priority level. These are both byte arrays which cover the 8-bit priority field for each exception source. However, on this microcontroller the manufacturer has implemented four priority bits out of the possible eight. The priority. The STM32 Getting Started - Registers Level programming is concerned with direct programming of STM32 registers without HAL library, using CMSIS and C-programming base project. This particular level of programming is an excellent way to get started with STM32 MCUs, it allows you understand and appreciate the low-level MCU Architecture and direct hardware level interactions. Register level.
The exact implementation of the ADC can change among STM32 chips, as some use the successive-approximation register (SAR) technique while others rely on sigma-delta modulation for more resolution (but lower speeds). Make sure you check your datasheet to find out which ADC is in your particular chip! In this tutorial, we will show how to use the ADC on the STM32L476 with STM32CubeIDE and HAL. STM32 provides a flexible mechanism that allows the mapping of different pins to the same channel. This gives lots of freedom to decide on which pin to generate an interrupt on which channel. So external interrupts are managed through External Interrupt/event Controller (EXTI). EXTI can be set to rise event on rising, falling, or both edges. 19 lines in EXTI are associated with mapped pins and. Abstract: STM32 has powerful timers, including basic timer, comment timer and senior timer. In this chapter, we will introduce the basic application of the timer: How to use timer interrupt to control the LED blinking with interval of 1s
The interrupt priority registers for each interrupt is further divided into two parts. The upper part (most-significant bits) is the preempt priority, and the lower part (least-significant bits) is the subpriority. The number of bits in each part of the priority registers is configurable via the Application Interrupt and Reset Control Register (AIRC, at address 0xE000ED0C) Der STm32 hat ja keine interrupt-Vektoren mehr wie der AVR (wo der Interrupt zu einem Sprungbefehl führt, sondern springt die jeweilige Adresse direkt an. Irgendwo muss doch der Ort der Service Routine bzw. deren Startadresse fix hinterlegt sein oder vom Programm bestimmt werden STM32 UART Continuous Receive with Interrupt. My last post is quite some time ago, due to vacations and high workload. But now I encountered some problem within an embedded project, I want to share the solution with you. Continuously receive data using interrupts on UART is complicated (or even impossible) in HAL Interrupt Active Bit Register : NVIC->IP[] NVIC_IPR0..59 : IPR0..7 : Interrupt Priority Register : NVIC->STIR : STIR - Software Triggered Interrupt Register : System Control Block (SCB) Register Access ; SCB->CPUID : CPUID : CPUID : CPUID Base Register : SCB->ICSR : ICSR : ICSR : Interrupt Control and State Register : SCB->VTOR : VTOR - Vector Table Offset Register : SCB->AIRCR : AIRCR : AIRCR.
I am trying to enable interrupts on the STM32 bluepill with the MBR framework and compiler. I was trying to enable a character received interrupt on the uart1. When I press a key at the terminal I get an interrupt generated but it doesn't hit a breakpoint on the interrupt handler. I get vectored into the file cortexm3_start.inc which generally happens for any hardware fault External Interrupt RTC - Realtime Clock CRC - Cyclic Redundancy Checksum Low Power Modes - Sleep, Stop and Standby FLASH programming SD Card File System FreeRTOS Setup The STM32 Getting Started - Registers Level programming is concerned with direct programming of STM32 registers without HAL library, using CMSIS and C-programming base project. This particular level of programming is an. Two flags are indicating and generating interrupts: USART Data Register Empty(UDRE), which generates interrupt when UDR register is empty, and ready to receive new data; and Transmit Complete (TXC) - generates interrupt when transmit is complete and no new data is in UDR. These interrupts are functional in half-duplex mode, where transmitting operation must enter receive mode
Slave registers. We need to design our device registers or commands which is queried by master to control our custom slave device. SET_NUMBERS_REG 0x01 master writes three bytes after writing slave address on i2c line. [START][Addr << 1 + 0] [SET_NUMBERS_REG][n1][n2][STOP] GET_ADD_REG 0x02 master sets the register first and then read two bytes STM32-P407 Ethernet randomly dropping TX packets. Welcome to Olimex Support Forum. Please or sign up. PHY Interrupt Source Flag register Offset: 1D PHY Link down interrupt: 0x0010 Hoping this will save someone a few hours, Jan cf. Newbie; Posts: 1; Logged; Re: STM32-P407 Ethernet randomly dropping TX packets . March 16, 2018, 02:39:40 pm #3 Thanks Jan, You definitly saved me some.
The simplest way to produce regular interrupts from a timer like TIM3 on the STM32 family of processors is to set up the Auto Reload Register (ARR) to generate an update event. This article shows you how to correctly set up the clock source, prescaler and ARR to get regular events over a wide range of frequencies Interrupt Latency. The NVIC is designed for fast and efficient interrupt handling; on a Cortex-M4 you will reach the first line of C code i PRIMASK register is used to disable interrupts which have configurable priority i.e. External/Peripheral Interrupts when bit[0] in this register is set to 1. When set to 0 this register won't have any effect on interrupts. Rest of the bits[31:1] are reserved. CMSIS provides 2 functions to access this register viz: void __set_PRIMASK(uint32_t priMask This hardware description is a combination of the STM32 microprocessor device tree files (.dtsi extension) and board device tree files (.dts extension). See the Device tree for an explanation of the device tree file split. 3.1 DT configuration (STM32 level) Ethernet peripheral nodes are located in stm32mp151.dtsi file with a disabled status and some required properties such as: Physical base.
Depending on the case, you may need either of the following: 1) DMA end of transfer interrupt (OKish for fixed length transmissions, although unreliable without extra watchdogs around it), or 2) EXTI interrupt for the rising nCS pin (specifically needed for variable length messages) Be aware that at least on some STM32 SPI implementations, the only way to flush TXFIFO and restart the SPI for a fresh transfer after a variable length message is to reset the SPI through RCC reset registers. You may think you're doing that, but what's happening is that a single pin is triggering the interrupt, and you may think the others are triggering the interrupt as well, but you're mistaken. I'll explain why, but don't take my word for it -- you can try it on your own board and you'll see that only, e.g. PA0 will trigger the interrupt and not PB0, PC0, etc 5 RXNEIE: RXNE interrupt enable 0: Interrupt is inhibited 1: An USART interrupt is generated whenever ORE=1 or RXNE=1 in the USART SR register 12 M: Word length 0: 1 Start bit, 8 Data bits, n Stop bit 1: 1 Start bit, 9 Data bits, n Stop bit 13 UE: USART enable 0: USART outputs disabled 1: USART enabled. Introduction to USART STM32 USART USART registers STM32 DMA USART value registers USART. Now, the ADC is triggered by timer 4 CCR4 event. After ADC conversion and DMA transfer the interrupt handler DmaIRQ() is called in which timer 4 is paused. Then, Serial is started in loop() and the captured ADC values are written to the console. After this Serial is terminated and timer 4 is resumed. This is essential. In tests I found it is not possible to use Serial while timer 4 is active Our embedded Rust experiments on STM32 platform continues. This week, we explore ADC's injected conversion mode. The application note AN3116 explains what injected conversion mode is. This mode is intended for use when conversion is triggered by an external event or by software. The injected group has priority over the regular channel group. It interrupts the conversion of the current channel in the regular channel group
Instead of defining the interrupt handlers manually the irq crate provides a scoped_interrupts macro to define the interrupts which are turned into regular cortex-m-rt interrupt handler functions. The real handlers are defined as closures within the main program flow and parsed to a special scope function while will register the real handler. NVIC is an on-chip controller that provides fast and low latency response to interrupt-driven events in ARM Cortex-M MCUs. In this tutorial, We will explain the role of the nested vectored interrupt controller (NVIC) in interrupt handling requests of ARM Cortex-M microcontrollers. At the start, we will explain the exception and interrupt concepts that are related to Cortex-M architecture STM32; Gigadevice GD32V; SiFive FE310 and FU540; If you are able to piggy back on an RTOS, things look a bit better. For example, you can create a Zephyr project with PlatformIO for Atmel SAM, Freescale Kinetis, Nordic nRF5, NXP iMX RT, NXP LPC, Silabs EFM32, and STM32. You can use the PlatformIO client to list supported frameworks, platforms, and boards. The list changes regularly, as the project is very active. Here's the command you want to run * 07/16/96 * ## ISA: Instruction Set Architecture VFP: Vector Floating Point Jazelle: Extension to run Java Byte Code on ARM machines ARM ISA: 32-bit instructions Thumb ISA: 16-bit instructions Thumb-2 ISA: ARM + Thumb TrustZone: Security Extensions SIMD: Single Instruction Multiple Data NEON: Advanced SIMD Virtualization: Hardware Virtualization NVIC: Nested Vector Interrupt Controller WIC.
The STM32 naming convention for pin 13 of port B is PB13. As stated in the STM32F4 reference manual (RM0090, p.65), the port B hardware registers are mapped to the address range 0x40020400..0x400207FF. Each port has several registers, to set its pin modes and to get / set the current pin state the interrupt simply reads the register and posts the byte into a stream buffer. what im seeing is that with the suspend and resume calls in play in the code i quoted, interrupts get missed. Tickless/stm32/Interrupt issue . Posted by fizzyaid on November 19, 2018. Richard, any thoughts on this behaviour? Tickless/stm32/Interrupt issue. Posted by richarddamon on November 19, 2018. 115200 should. 作者:iARM 转自:http://blog.chinaunix.net/uid-22670933-id-3443085.html STM32有43个channel的settable的中断源;AIRC(Application Interrupt and Reset Register)寄存器中有用于指定优先级的4 bits。这4个bits用于分配preemption优先级和