The routine downloaded from the ucos official website has been verified to have no priority grouping settings. If AIRCR [10: 8] is 0, it means that the interrupt grouping is not set, and the default is to sort the interrupts according to the interrupt vector number.
The grouping of STM32
#define NVIC_PriorityGroup_0 ((u32)0x700) /* 0 bits for pre-emption priority 4 bits for subpriority */
#define NVIC_PriorityGroup_1 ((u32)0x600) /* 1 bits for pre-emption priority 3 bits for subpriority */
#define NVIC_PriorityGroup_2 ((u32)0x500) /* 2 bits for pre-emption priority 2 bits for subpriority */
#define NVIC_PriorityGroup_3 ((u32)0x400) /* 3 bits for pre-emption priority 1 bits for subpriority */
#define NVIC_PriorityGroup_4 ((u32)0x300)/* 4 bits for pre-emption priority 0 bits for subpriority */
After repeated experiments, the grouping method of NVIC_PriorityGroup_0 and NVIC_PriorityGroup_4 will not cause interrupt nesting!
The default interrupt priority of SYSTICK in STM32 is 6
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