FreeRTOS-Community-Supported-Demos problem with reg tests in Renesas RISC V MCU R9A02G021

Pole · December 15, 2024, 11:43am

Hello,
I am dealing with the tests provided in the repository FreeRTOS-Community-Supported-Demos so that when they pass I can then make a pull request to this repo.
The target board is the R9A02G021.

The problem I am facing with the RegTests is that the prvRegisterTestnTask do not get scheduled after a short time. I get “No errors” for two times (the first time it actually gets 5 seconds), but then it immediately prints the error message. It looks like only the prvCheckTask thread gets scheduled after the second print of “No errors”. I thought that the problem was vTaskDelayUntil( &xNextWakeTime, xCycleFrequency ); but it actually gets the values
xNextWakeTime=0 and xCycleFrequency=5000,
then xNextWakeTime=5000 and xCycleFrequency=5000
(up to this point it prints two time “No errors”) but then with
xNextWakeTime=10000 and xCycleFrequency=5000
it starts printing the error message for regtests

But I am not 100% sure it is the problem. Can someone help me understand what is going on?

My code is:

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"

/* Interface include files. */
#include "RegTests.h"

/* Tasks that implement register tests. */
static void prvRegisterTest1Task( void *pvParameters );
static void prvRegisterTest2Task( void *pvParameters );
static void prvRegisterTest3Task( void *pvParameters );
static void prvRegisterTest4Task( void *pvParameters );

/* Flag that will be latched to pdTRUE should any unexpected behavior be
detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;

/* Counters that are incremented on each cycle of a test.  This is used to
detect a stalled task - a test that is no longer running. */
static volatile uint32_t ulRegisterTest1Counter = 0;
static volatile uint32_t ulRegisterTest2Counter = 0;
static volatile uint32_t ulRegisterTest3Counter = 0;
static volatile uint32_t ulRegisterTest4Counter = 0;
/*-----------------------------------------------------------*/

static void prvRegisterTest1Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest1Counter.
		*/

		// note that a0 is used for the return value

		// 1.
		asm volatile (
				"li a1, 431\n"
				"li a2, 432\n"
				"li a3, 433\n"
				"li a4, 434\n"
				"li a5, 435\n"
				"li a6, 436\n"
				"li a7, 437\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 431\n"
				"bne a1, t0, reg1_err\n"
				"li t0, 432\n"
				"bne a2, t0, reg1_err\n"
				"li t0, 433\n"
				"bne a3, t0, reg1_err\n"
				"li t0, 434\n"
				"bne a4, t0, reg1_err\n"
				"li t0, 435\n"
				"bne a5, t0, reg1_err\n"
				"li t0, 436\n"
				"bne a6, t0, reg1_err\n"
				"li t0, 437\n"
				"bne a7, t0, reg1_err\n"
				"j reg1_passed\n"
		);

		asm volatile (
				"reg1_err:\n"
				"j reg1_err\n"
		);

		// 4.
		asm volatile (
				"reg1_passed:\n"
				"la t0, ulRegisterTest1Counter  # Load address of ulRegisterTest1Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest1Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest1Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

static void prvRegisterTest2Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest2Counter.
		*/

		// 1.
		asm volatile (
				"li a1, 681\n"
				"li a2, 682\n"
				"li a3, 683\n"
				"li a4, 684\n"
				"li a5, 685\n"
				"li a6, 686\n"
				"li a7, 687\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 681\n"
				"bne a1, t0, reg2_err\n"
				"li t0, 682\n"
				"bne a2, t0, reg2_err\n"
				"li t0, 683\n"
				"bne a3, t0, reg2_err\n"
				"li t0, 684\n"
				"bne a4, t0, reg2_err\n"
				"li t0, 685\n"
				"bne a5, t0, reg2_err\n"
				"li t0, 686\n"
				"bne a6, t0, reg2_err\n"
				"li t0, 687\n"
				"bne a7, t0, reg2_err\n"
				"j reg2_passed\n"
		);

		asm volatile (
				"reg2_err:\n"
				"j reg2_err\n"
		);

		// 4.
		asm volatile (
				"reg2_passed:\n"
				"la t0, ulRegisterTest2Counter  # Load address of ulRegisterTest2Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest2Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest2Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

static void prvRegisterTest3Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest3Counter.
		*/

		// 1.
		asm volatile (
				"li a1, 991\n"
				"li a2, 992\n"
				"li a3, 993\n"
				"li a4, 994\n"
				"li a5, 995\n"
				"li a6, 996\n"
				"li a7, 997\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 991\n"
				"bne a1, t0, reg3_err\n"
				"li t0, 992\n"
				"bne a2, t0, reg3_err\n"
				"li t0, 993\n"
				"bne a3, t0, reg3_err\n"
				"li t0, 994\n"
				"bne a4, t0, reg3_err\n"
				"li t0, 995\n"
				"bne a5, t0, reg3_err\n"
				"li t0, 996\n"
				"bne a6, t0, reg3_err\n"
				"li t0, 997\n"
				"bne a7, t0, reg3_err\n"
				"j reg3_passed\n"

				"reg3_err:\n"
				"j reg3_err\n"
		// 4.
				"reg3_passed:\n"
				"la t0, ulRegisterTest3Counter  # Load address of ulRegisterTest3Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest3Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest3Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

static void prvRegisterTest4Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest3Counter.
		*/

		// 1.
		asm volatile (
				"li a1, 111\n"
				"li a2, 112\n"
				"li a3, 113\n"
				"li a4, 114\n"
				"li a5, 115\n"
				"li a6, 116\n"
				"li a7, 117\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 111\n"
				"bne a1, t0, reg4_err\n"
				"li t0, 112\n"
				"bne a2, t0, reg4_err\n"
				"li t0, 113\n"
				"bne a3, t0, reg4_err\n"
				"li t0, 114\n"
				"bne a4, t0, reg4_err\n"
				"li t0, 115\n"
				"bne a5, t0, reg4_err\n"
				"li t0, 116\n"
				"bne a6, t0, reg4_err\n"
				"li t0, 117\n"
				"bne a7, t0, reg4_err\n"
				"j reg4_passed\n"

				"reg4_err:\n"
				"j reg4_err\n"
		// 4.
				"reg4_passed:\n"
				"la t0, ulRegisterTest4Counter  # Load address of ulRegisterTest4Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest4Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest4Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

void vStartRegisterTasks( UBaseType_t uxPriority )
{
	BaseType_t ret;

	ret = xTaskCreate( prvRegisterTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
	configASSERT( ret == pdPASS );

	ret = xTaskCreate( prvRegisterTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
	configASSERT( ret == pdPASS );

//	ret = xTaskCreate( prvRegisterTest3Task, "RegTest3", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
//	configASSERT( ret == pdPASS );
//
//	ret = xTaskCreate( prvRegisterTest4Task, "RegTest4", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
//	configASSERT( ret == pdPASS );
}
/*-----------------------------------------------------------*/

BaseType_t xAreRegisterTasksStillRunning( void )
{
static uint32_t ulLastRegisterTest1Counter = 0, ulLastRegisterTest2Counter = 0;
static uint32_t ulLastRegisterTest3Counter = 0, ulLastRegisterTest4Counter = 0;

	xErrorDetected = pdFALSE;

	/* If the register test task is still running then we expect the loop
	 * counters to have incremented since this function was last called. */
	if( ulLastRegisterTest1Counter == ulRegisterTest1Counter )
	{
		xErrorDetected = pdTRUE;
	}

	if( ulLastRegisterTest2Counter == ulRegisterTest2Counter )
	{
		xErrorDetected = pdTRUE;
	}

//	if( ulLastRegisterTest3Counter == ulRegisterTest3Counter )
//	{
//		xErrorDetected = pdTRUE;
//	}
//
//	if( ulLastRegisterTest4Counter == ulRegisterTest4Counter )
//	{
//		xErrorDetected = pdTRUE;
//	}

	ulLastRegisterTest1Counter = ulRegisterTest1Counter;
	ulLastRegisterTest2Counter = ulRegisterTest2Counter;
	ulLastRegisterTest3Counter = ulRegisterTest3Counter;
	ulLastRegisterTest4Counter = ulRegisterTest4Counter;

	/* Errors detected in the task itself will have latched xErrorDetected
	 * to true. */
	return ( BaseType_t ) !xErrorDetected;
}
/*-----------------------------------------------------------*/

I know that using a registers is not the best/complete way of testing, but I doubt it the source of the problem.

EDIT: Commenting the lines inside xAreRegisterTasksStillRunning it magically works:
ulLastRegisterTest3Counter = ulRegisterTest3Counter;
ulLastRegisterTest4Counter = ulRegisterTest4Counter;

Can someone help me understand what is going on here?

aggarg · December 16, 2024, 6:31am

Looking at the code you shared, you are creating only 2 tasks which increment ulRegisterTest1Counter and ulRegisterTest2Counter. So you do not need to check ulRegisterTest3Counter and ulRegisterTest4Counter in the check task.

Pole · December 17, 2024, 8:29am

Hello,
I completely agree with that. But the lines I commented were not the ones that compare the values of ulRegisterTest3Counter and ulRegisterTest4Counter with ulLastRegisterTest3Counterand ulLastRegisterTest4Counter but only the ones that assign the values.

To be clear here is the code

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"

/* Interface include files. */
#include "RegTests.h"

/* Tasks that implement register tests. */
static void prvRegisterTest1Task( void *pvParameters );
static void prvRegisterTest2Task( void *pvParameters );
static void prvRegisterTest3Task( void *pvParameters );
static void prvRegisterTest4Task( void *pvParameters );

/* Flag that will be latched to pdTRUE should any unexpected behavior be
detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;

/* Counters that are incremented on each cycle of a test.  This is used to
detect a stalled task - a test that is no longer running. */
static volatile uint32_t ulRegisterTest1Counter = 0;
static volatile uint32_t ulRegisterTest2Counter = 0;
static volatile uint32_t ulRegisterTest3Counter = 0;
static volatile uint32_t ulRegisterTest4Counter = 0;
/*-----------------------------------------------------------*/

static void prvRegisterTest1Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest1Counter.
		*/

		// note that a0 is used for the return value

		// 1.
		asm volatile (
				"li a1, 431\n"
				"li a2, 432\n"
				"li a3, 433\n"
				"li a4, 434\n"
				"li a5, 435\n"
				"li a6, 436\n"
				"li a7, 437\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 431\n"
				"bne a1, t0, reg1_err\n"
				"li t0, 432\n"
				"bne a2, t0, reg1_err\n"
				"li t0, 433\n"
				"bne a3, t0, reg1_err\n"
				"li t0, 434\n"
				"bne a4, t0, reg1_err\n"
				"li t0, 435\n"
				"bne a5, t0, reg1_err\n"
				"li t0, 436\n"
				"bne a6, t0, reg1_err\n"
				"li t0, 437\n"
				"bne a7, t0, reg1_err\n"
				"j reg1_passed\n"
		);

		asm volatile (
				"reg1_err:\n"
				"j reg1_err\n"
		);

		// 4.
		asm volatile (
				"reg1_passed:\n"
				"la t0, ulRegisterTest1Counter  # Load address of ulRegisterTest1Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest1Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest1Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

static void prvRegisterTest2Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest2Counter.
		*/

		// 1.
		asm volatile (
				"li a1, 681\n"
				"li a2, 682\n"
				"li a3, 683\n"
				"li a4, 684\n"
				"li a5, 685\n"
				"li a6, 686\n"
				"li a7, 687\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 681\n"
				"bne a1, t0, reg2_err\n"
				"li t0, 682\n"
				"bne a2, t0, reg2_err\n"
				"li t0, 683\n"
				"bne a3, t0, reg2_err\n"
				"li t0, 684\n"
				"bne a4, t0, reg2_err\n"
				"li t0, 685\n"
				"bne a5, t0, reg2_err\n"
				"li t0, 686\n"
				"bne a6, t0, reg2_err\n"
				"li t0, 687\n"
				"bne a7, t0, reg2_err\n"
				"j reg2_passed\n"
		);

		asm volatile (
				"reg2_err:\n"
				"j reg2_err\n"
		);

		// 4.
		asm volatile (
				"reg2_passed:\n"
				"la t0, ulRegisterTest2Counter  # Load address of ulRegisterTest2Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest2Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest2Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

static void prvRegisterTest3Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest3Counter.
		*/

		// 1.
		asm volatile (
				"li a1, 991\n"
				"li a2, 992\n"
				"li a3, 993\n"
				"li a4, 994\n"
				"li a5, 995\n"
				"li a6, 996\n"
				"li a7, 997\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 991\n"
				"bne a1, t0, reg3_err\n"
				"li t0, 992\n"
				"bne a2, t0, reg3_err\n"
				"li t0, 993\n"
				"bne a3, t0, reg3_err\n"
				"li t0, 994\n"
				"bne a4, t0, reg3_err\n"
				"li t0, 995\n"
				"bne a5, t0, reg3_err\n"
				"li t0, 996\n"
				"bne a6, t0, reg3_err\n"
				"li t0, 997\n"
				"bne a7, t0, reg3_err\n"
				"j reg3_passed\n"

				"reg3_err:\n"
				"j reg3_err\n"
		// 4.
				"reg3_passed:\n"
				"la t0, ulRegisterTest3Counter  # Load address of ulRegisterTest3Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest3Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest3Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

static void prvRegisterTest4Task( void *pvParameters )
{
	( void ) pvParameters;

	for( ; ; )
	{
		/* 1. Fill the registers stored as part of task context with known values.
		* 2. Force a context switch.
		* 3. Verify that all the registers contain expected values.
		* 4. If all the register contain expected values, increment ulRegisterTest3Counter.
		*/

		// 1.
		asm volatile (
				"li a1, 111\n"
				"li a2, 112\n"
				"li a3, 113\n"
				"li a4, 114\n"
				"li a5, 115\n"
				"li a6, 116\n"
				"li a7, 117\n"
		);

		// 2.
		vTaskDelay(0);

		// 3.
		asm volatile (
				"li t0, 111\n"
				"bne a1, t0, reg4_err\n"
				"li t0, 112\n"
				"bne a2, t0, reg4_err\n"
				"li t0, 113\n"
				"bne a3, t0, reg4_err\n"
				"li t0, 114\n"
				"bne a4, t0, reg4_err\n"
				"li t0, 115\n"
				"bne a5, t0, reg4_err\n"
				"li t0, 116\n"
				"bne a6, t0, reg4_err\n"
				"li t0, 117\n"
				"bne a7, t0, reg4_err\n"
				"j reg4_passed\n"

				"reg4_err:\n"
				"j reg4_err\n"
		// 4.
				"reg4_passed:\n"
				"la t0, ulRegisterTest4Counter  # Load address of ulRegisterTest4Counter into t0\n"
				"lw t1, 0(t0)                   # Load the value of ulRegisterTest4Counter into t1\n"
				"addi t1, t1, 1                 # Increment t1 by 1\n"
				"sw t1, 0(t0)                   # Store the updated value back to ulRegisterTest4Counter\n"
		);
	}
}
/*-----------------------------------------------------------*/

void vStartRegisterTasks( UBaseType_t uxPriority )
{
	BaseType_t ret;

	ret = xTaskCreate( prvRegisterTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
	configASSERT( ret == pdPASS );

	ret = xTaskCreate( prvRegisterTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
	configASSERT( ret == pdPASS );

//	ret = xTaskCreate( prvRegisterTest3Task, "RegTest3", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
//	configASSERT( ret == pdPASS );
//
//	ret = xTaskCreate( prvRegisterTest4Task, "RegTest4", configMINIMAL_STACK_SIZE, NULL, uxPriority, NULL );
//	configASSERT( ret == pdPASS );
}
/*-----------------------------------------------------------*/

BaseType_t xAreRegisterTasksStillRunning( void )
{
static uint32_t ulLastRegisterTest1Counter = 0, ulLastRegisterTest2Counter = 0;
static uint32_t ulLastRegisterTest3Counter = 0, ulLastRegisterTest4Counter = 0;

	xErrorDetected = pdFALSE;

	/* If the register test task is still running then we expect the loop
	 * counters to have incremented since this function was last called. */
	if( ulLastRegisterTest1Counter == ulRegisterTest1Counter )
	{
		xErrorDetected = pdTRUE;
	}

	if( ulLastRegisterTest2Counter == ulRegisterTest2Counter )
	{
		xErrorDetected = pdTRUE;
	}

//	if( ulLastRegisterTest3Counter == ulRegisterTest3Counter )
//	{
//		xErrorDetected = pdTRUE;
//	}
//
//	if( ulLastRegisterTest4Counter == ulRegisterTest4Counter )
//	{
//		xErrorDetected = pdTRUE;
//	}

	ulLastRegisterTest1Counter = ulRegisterTest1Counter;
	ulLastRegisterTest2Counter = ulRegisterTest2Counter;
	//ulLastRegisterTest3Counter = ulRegisterTest3Counter; // ME
	//ulLastRegisterTest4Counter = ulRegisterTest4Counter; // ME

	/* Errors detected in the task itself will have latched xErrorDetected
	 * to true. */
	return ( BaseType_t ) !xErrorDetected;
}
/*-----------------------------------------------------------*/

This is not a big deal, nor a problem since it now works, but I find it curious and strange that uncommenting those apparently useless lines the scheduling changes and is unable to schedule the prvRegisterTest1Task and prvRegisterTest2Task tasks.

Indeed after two reasonable prints of “No error” (that are correctly delayed 5 seconds one from the other) the error message gets printed continuously without waiting 5 seconds since the only scheduled task is the one named “Check”. I don’t know if it is a desired behavior (like "if a test fails then do not schedule it anymore). Even if it is like it I don’t get why it fails with the lines cited above in the code uncommented and does not fail with the lines commented.

To be even more clear: I get why those lines are not needed because I only have two tasks, but I do not get why they would have so much effect since the code to compare the last and current values and change the xErrorDetected variable related to those two variable is commented.

Later this week I will continue to look into it and I hope I will be able to provide more information. Probably it is just me misunderstanding the situation or messing up the compilation process.

aggarg · December 17, 2024, 10:27am

That certainly is strange and should not happen.

Let us know whatever you find.