FreeRtos Harmony V3 Linker Error

baldhead · October 13, 2021, 7:15pm

Hi,

I am trying to migrate a harmony v3 project from pic32mk1024mcf064 to pic32mk1024mcm064.

Project with pic32mk1024mcf064 worked ok, before update mplabx, xc32 compiler and harmony.

After some changes i got stuck in this linker error:

c:\microchip\xc32\v3.01\bin\bin\gcc\pic32mx\8.3.1\..\..\..\..\bin/pic32m-ld.exe: build/default/production/_ext/951553261/port_asm.o: in function `vPortTickInterruptHandler':
C:\Users\02373893983\Desktop\MPLAB Programas\freeRTOS-LVGL-12-10-2021\firmware\PIC32MK.X/../src/third_party/rtos/FreeRTOS/Source/portable/MPLAB/PIC32MK/port_asm.S:108: multiple definition of `__vector_dispatch_4'; build/default/production/_ext/1171490990/interrupts.o:c:/users/02373893983/desktop/mplab programas/freertos-lvgl-12-10-2021/firmware/src/config/default/interrupts.c:(.vector_4+0x0): first defined here
c:\microchip\xc32\v3.01\bin\bin\gcc\pic32mx\8.3.1\..\..\..\..\bin/pic32m-ld.exe: build/default/production/_ext/951553261/port_asm.o: in function `vPortYieldISR':
C:\Users\02373893983\Desktop\MPLAB Programas\freeRTOS-LVGL-12-10-2021\firmware\PIC32MK.X/../src/third_party/rtos/FreeRTOS/Source/portable/MPLAB/PIC32MK/port_asm.S:159: multiple definition of `__vector_dispatch_1'; build/default/production/_ext/1171490990/interrupts.o:c:/users/02373893983/desktop/mplab programas/freertos-lvgl-12-10-2021/firmware/src/config/default/interrupts.c:(.vector_1+0x0): first defined here
c:\microchip\xc32\v3.01\bin\bin\gcc\pic32mx\8.3.1\..\..\..\..\bin/pic32m-ld.exe: Link terminated due to previous error(s).

Info: Loading file: ./..\src\config\default\p32MK1024MCM064.ld
collect2.exe: error: ld returned 255 exit status
make[2]: *** [dist/default/production/PIC32MK.X.production.hex] Error 255
make[1]: *** [.build-conf] Error 2
make: *** [.build-impl] Error 2

BUILD FAILED (exit value 2, total time: 31s)

Thank’s for the help.

rtel · October 13, 2021, 7:42pm

It is hard to say more than the linker error is already telling you - the FreeRTOS kernel code is defining an interrupt that is already defined in default/interrupts.c. You need to keep the kernel’s implementation - so have a look at your old project to see how that removed the default implementation from interrupts.c - how that is done is going to be tools specific, rather than FreeRTOS specific - maybe there is a build time option, or interrupts.c needs to be edited, or whatever.

baldhead · October 13, 2021, 8:00pm

I don’t know if harmony generated the code wrongly or what.
After i commented the “New code” below, the code compiled.
I just need to test in the hardware now.

File: interrupts.c

Old code:

// *****************************************************************************

#include "definitions.h"

// *****************************************************************************
// *****************************************************************************
// Section: System Interrupt Vector Functions
// *****************************************************************************
// *****************************************************************************

void CORE_TIMER_InterruptHandler( void );  // Prototype function.


/* All the handlers are defined here.  Each will call its PLIB-specific function. */
void __ISR(_CORE_TIMER_VECTOR, ipl1SOFT) CORE_TIMER_Handler (void)
{
    CORE_TIMER_InterruptHandler();
}

/*******************************************************************************
 End of File
*/

New code:

// *****************************************************************************

#include "interrupts.h"
#include "definitions.h"


// *****************************************************************************
// *****************************************************************************
// Section: System Interrupt Vector Functions
// *****************************************************************************
// *****************************************************************************


void CORE_TIMER_InterruptHandler( void );



/* All the handlers are defined here.  Each will call its PLIB-specific function. */
void __ISR(_CORE_TIMER_VECTOR, ipl1SRS) CORE_TIMER_Handler (void)
{
    CORE_TIMER_InterruptHandler();
}

/*
void __ISR(_CORE_SOFTWARE_0_VECTOR, ipl1SRS) CORE_SOFTWARE_0_Handler (void)
{
}

void __ISR(_TIMER_1_VECTOR, ipl1SRS) TIMER_1_Handler (void)
{
}
*/

/*******************************************************************************
 End of File
*/

baldhead · October 13, 2021, 10:11pm

The hardware without FreeRtos are working.

But the function “void vApplicationTickHook( void )” is not being called.

I think timer1 are not running, i dont know yet.

#define configUSE_TICK_HOOK 1

baldhead · October 15, 2021, 1:04am

Hi,

I decided to create a very simple project from scratch using harmony v3.
I only add freertos module to test.
The harmony v3 is generating a strange code that generates the bug of the title of this question.

The function “void vApplicationTickHook( void )” are called ok.
When i comment out the code inside “void vApplicationTickHook( void )” and enable the code( my_led_toggle(); ) inside task “loxa” the program crash.

If in debug mode step by step the code dont crash.
If in debug mode full running the code crash, only when i enable the code( my_led_toggle(); ) inside task “loxa” .

freertos_hooks.c file harmony v3 generated.

#define my_led_toggle() ( LATAINV = _LATA_LATA7_MASK )

void vApplicationTickHook( void )
{
    /* This function will be called by each tick interrupt if
    configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
    added here, but the tick hook is called from an interrupt context, so
    code must not attempt to block, and only the interrupt safe FreeRTOS API
    functions can be used (those that end in FromISR()). */
   
    static uint32_t c = 0;

    c++;
    if( c == 1000 )
    {
        c = 0;
        my_led_toggle();
    }    
}

main.c file.

#include <proc/p32mk1024mcm064.h>
#include <stdint.h>
#include "definitions.h"  // SYS function prototypes 

#include "third_party/rtos/FreeRTOS/Source/include/FreeRTOS.h"
#include "task.h"

#define my_led_toggle() ( LATAINV = _LATA_LATA7_MASK )

////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

void loxa( void* pvParameters )
{
    while(1)
    {
        my_led_toggle();
        
        vTaskDelay( 250 );
    }    
}

////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

int main( void )
{   
    SYS_Initialize( NULL );  // Initialize all modules    

//////////////////////////////////////////////////////////////////////////////// 
   
    while(1)
    {         
        TickType_t tempo = 250;        
                
        xTaskCreate(    loxa,
                        "func1Test",
                        512,  // words(4 bytes). 512 words * 4 = 2048 bytes.
                        &tempo,  
                        1,
                        (TaskHandle_t*) NULL       
                    );
        
        vTaskStartScheduler();    
    }   
}

https://www.microchip.com/forums/m1187881.aspx

baldhead · October 15, 2021, 10:08pm

Some suggestion on why in debug mode step by step the freertos dont crash and in debug mode running the freertos crash.

baldhead · October 18, 2021, 4:50pm

Hi,

Any suggestion ?

baldhead · October 20, 2021, 8:47pm

Hi,

I’m sending a link to download the project for anyone interested in testing it.

Thank’s.

rtel · October 20, 2021, 9:12pm

You may find interrupts are disabled when step debugging - so the issue could be in an ISR if it only works when step debugging.

baldhead · October 20, 2021, 9:39pm

Now i’m debugging again.

The task only runs once and FreeRtos doesn’t return anymore.

It feels like it gets stuck in a loop inside FreeRtos.

rtel · October 20, 2021, 10:10pm

What have you done to try and debug this? “If feels like it gets stuck in a loop” - what do you actually see it doing if you break on the debugger. Have you read through https://freertos.org/FAQHelp.html

baldhead · October 20, 2021, 10:25pm

Now i put one i/o output in “vApplicationTickHook”:

void vApplicationTickHook( void )
{
    /* This function will be called by each tick interrupt if
    configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
    added here, but the tick hook is called from an interrupt context, so
    code must not attempt to block, and only the interrupt safe FreeRTOS API
    functions can be used (those that end in FromISR()). */
    
    static int c = 0;
    
    c++;
    if( c == 1000 )
    {
        c = 0;
        my_led_toggle_pin_1();
    } 
}

And another i/o output in task “loxa”:
main file too.

void loxa( void* pvParameters )
{
    TickType_t* time = (TickType_t*) pvParameters;    

    static TickType_t xDelay;    
    xDelay = pdMS_TO_TICKS( *time );
    
    while(1)
    {
        my_led_toggle_pin_2();
        
        vTaskDelay( xDelay );
    }    
}

main file:

int main( void )
{   
    SYS_Initialize( NULL );
    
//////////////////////////////////////////////////////////////////////////////// 
   
    TickType_t tempo = 500;        
                
    xTaskCreate( loxa,
                 "func1Test",
                 512,    // words(4 bytes). 512 words * 4 = 2048 bytes.
                 &tempo,  
                 1,
                 (TaskHandle_t*) NULL       
               );
                
    vTaskStartScheduler();
}

As the tick of FreeRtos is set at 1000Hz, the “vApplicationTickHook” is toggling the i/o every 1 second and are OK.

The task “loxa” is toggling the i/o at 75 kHz and are not ok.
The correct one would be to toggle the i/o every 500 ms.

I’m measuring with an oscilloscope.

baldhead · October 20, 2021, 10:47pm

I think that the problem is a microchip FreeRtos port bug for PIC32MK1024MCM064
Or
I think that the problem is a microchip Mplab harmony 3 generating a bad configured code for PIC32MK1024MCM064.

The PIC32MK1024MCM064 has a MIPS32 core.

rtel · October 22, 2021, 6:27pm

It looks like you are calling vTaskDelay(1), and expecting that to delay for exactly 1 tick interrupt each time - but when you only have a granularity of 1 the actual time you delay will depend on how far through the tick interrupt you are when the delay period starts - it will delay up to the next tick as there are no fractions of a tick. So if you ask for a delay of 1 immediately after the last tick you will get nearly a whole tick period, if you ask for a delay of 1 immediately before a tick you will get a small fraction of a tick period.

RAc · October 22, 2021, 7:35pm

Actually, this is the usual main() stack fallacy: You pass a pointer into the startup stack as the parameter to your stack function. It’s been discussed here many many times that this won’t work because FreeRTOS will reuse the startup stack when the scheduler starts. Change the declaration of tempo in main() to static and see if that changes anything in the behavior you see.

baldhead · October 22, 2021, 11:17pm

Hi @RAc,

xDelay inside task “loxa” is static.

With another chip(pic32mk1024mcf064) and other tools versions, the project worked in the same way.

baldhead · October 22, 2021, 11:47pm

Now i turned on my hardware and the led that indicate tick time dont blink.

I went to debug and now it’s generating an exception.

If i comment the “my_led_toggle_pin_2();” inside task “loxa” the tick time led blink( ie: program run).

I am lost.

baldhead · October 23, 2021, 12:13am

_excep_addr

_excep_code

baldhead · October 23, 2021, 12:30am

Now the problem is here: “vTaskStartScheduler();”

Specifically here: file port.c

/* Kick off the highest priority task that has been created so far.
Its stack location is loaded into uxSavedTaskStackPointer. */

uxSavedTaskStackPointer = *( UBaseType_t * ) pxCurrentTCB;
vPortStartFirstTask();

baldhead · October 23, 2021, 12:42am

Hi @RAc,

I tested like this.
Same problem.
The task “loxa” is toggling the i/o at 75 kHz and are not ok.

"
As the tick of FreeRtos is set at 1000Hz, the “vApplicationTickHook” is toggling the i/o every 1 second and are OK.

The task “loxa” is toggling the i/o at 75 kHz and are not ok.
The correct one would be to toggle the i/o every 500 ms.

I’m measuring with an oscilloscope.
"

void loxa( void* pvParameters )
{
    /*
    TickType_t* time = (TickType_t*) pvParameters;    

    static TickType_t xDelay;    
    xDelay = pdMS_TO_TICKS( *time );
    */
    
    while(1)
    {
        my_led_toggle_pin_2();
        
        vTaskDelay( 500 );
    }    
}