Hello,
I am currently setting up FreeRTOS on the MC9S12XEQ384CAG microcontroller. The program compiles without any issues, but during programming and execution, the program stops at vTaskStartScheduler();.
Hi @pezhman
Welcome to the FreeRTOS Community Forums!
Could you please check the following in your application:
- Which port and compiler are you using for this MCU application?
- How many tasks are you creating before calling the vTaskStartScheduler() ?
- Is
configASSERTdefined in your FreeRTOSConfig.h file ? - Can you put a breakpoint at vTaskStartScheduler(), step through it and see where exactly the program stops or might be stuck in a loop?
-
I’m using the Port.c provided by HCS12 with the CodeWarrior compiler.
-
I’m currently using two tasks.
-
configASSERTis not configured, and I’m not sure how to set it up.#ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H #include <hidef.h> /* common defines and macros */ #include "TickTimer.h" /* This port requires the compiler to generate code for the BANKED memory model. */ #define BANKED_MODEL /*----------------------------------------------------------- * Application specific definitions. * * These definitions should be adjusted for your particular hardware and * application requirements. * * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. * * See http://www.freertos.org/a00110.html *----------------------------------------------------------*/ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 1 #define configUSE_TICK_HOOK 0 #define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) #define configMAX_PRIORITIES ( 4 ) #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 80 ) #define configTOTAL_HEAP_SIZE ( ( size_t ) ( 10240 ) ) #define configMAX_TASK_NAME_LEN ( 1 ) #define configUSE_TRACE_FACILITY 0 #define configUSE_16_BIT_TICKS 1 #define configIDLE_SHOULD_YIELD 1 /* Co-routine definitions. */ #define configUSE_CO_ROUTINES 0 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) /* This parameter is normally required in order to set the RTOS tick timer. This port is a bit different in that hardware setup uses the code generated by the Processor Expert, making this definition obsolete. #define configCPU_CLOCK_HZ ( ( unsigned long ) 25000000 ) */ /* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */ #define INCLUDE_vTaskPrioritySet 1 #define INCLUDE_uxTaskPriorityGet 1 #define INCLUDE_vTaskDelete 1 #define INCLUDE_vTaskCleanUpResources 0 #define INCLUDE_vTaskSuspend 1 #define INCLUDE_vTaskDelayUntil 1 #define INCLUDE_vTaskDelay 1 #endif /* FREERTOS_CONFIG_H */ -
When I reach this part:
static BaseType_t xBankedStartScheduler( void )
{
/* Configure the timer that will generate the RTOS tick. Interrupts are
disabled when this function is called. */
prvSetupTimerInterrupt();/* Restore the context of the first task. */
portRESTORE_CONTEXT();/* Simulate the end of an interrupt to start the scheduler off. */
__asm( “rti” );/* Should not get here! */
return pdFALSE;
}
What happens when you reach this part? Can you break the code in debugger and see what it is doing when it appears hang? Are you able to step through the assembly and see which instruction is causing it to hang?
The HC12 port needs interrupt handlers in the Timer1 and SWI vectors. The processor expert overrides those handlers with calls to the event system provided by the processor expert. The FreeRTOS HC12 port does not use that system so the vectors must be replaced every time you use processor expert.
In the demo project https://github.com/FreeRTOS/FreeRTOS/tree/main/FreeRTOS/Demo/HCS12_CodeWarrior_banked/CODE you will find a file Copy of Vectors.c This file is in each of the codewarrior HC12 projects.
You need to install vPortTickInterrupt and vPortYield in the correct locations.
How can I send a test project to you for review?
/** ###################################################################
** THIS COMPONENT MODULE IS GENERATED BY THE TOOL. DO NOT MODIFY IT.
** Filename : Vectors.c
** Project : OS_Test_Last
** Processor : MC9S12XEQ384CAG
** Version : Component 01.003, Driver 02.06, CPU db: 3.00.038
** Compiler : CodeWarrior HCS12X C Compiler
** Date/Time : 9/5/2023, 9:15 AM
** Abstract :
** This component "MC9S12XEQ512_144" implements properties, methods,
** and events of the CPU.
** Settings :
**
**
** Copyright : 1997 - 2011 Freescale Semiconductor, Inc. All Rights Reserved.
**
** http : www.freescale.com
** mail : support@freescale.com
** ###################################################################*/
#include "Cpu.h"
#include "TickTimer.h"
#include "Byte1.h"
/* ISR prototype */
typedef void (*near tIsrFunc)(void);
/*lint -save -e950 Disable MISRA rule (1.1) checking. */
static const tIsrFunc _InterruptVectorTable[] @0xFF10U = { /* Interrupt vector table */
/*lint -restore Enable MISRA rule (1.1) checking. */
/* ISR name No. Address Pri XGATE Name Description */
&Cpu_Interrupt, /* 0x08 0xFF10 - - ivVsi unused by PE */
&Cpu_Interrupt, /* 0x09 0xFF12 - - ivVsyscall unused by PE */
&Cpu_Interrupt, /* 0x0A 0xFF14 - - ivVmpuaccesserr unused by PE */
&Cpu_Interrupt, /* 0x0B 0xFF16 - no ivVxsei unused by PE */
&Cpu_Interrupt, /* 0x0C 0xFF18 1 no ivVReserved115 unused by PE */
&Cpu_Interrupt, /* 0x0D 0xFF1A 1 no ivVReserved114 unused by PE */
&Cpu_Interrupt, /* 0x0E 0xFF1C 1 no ivVReserved113 unused by PE */
&Cpu_Interrupt, /* 0x0F 0xFF1E 1 no ivVReserved112 unused by PE */
&Cpu_Interrupt, /* 0x10 0xFF20 1 no ivVReserved111 unused by PE */
&Cpu_Interrupt, /* 0x11 0xFF22 1 no ivVReserved110 unused by PE */
&Cpu_Interrupt, /* 0x12 0xFF24 1 no ivVReserved109 unused by PE */
&Cpu_Interrupt, /* 0x13 0xFF26 1 no ivVReserved108 unused by PE */
&Cpu_Interrupt, /* 0x14 0xFF28 1 no ivVReserved107 unused by PE */
&Cpu_Interrupt, /* 0x15 0xFF2A 1 no ivVReserved106 unused by PE */
&Cpu_Interrupt, /* 0x16 0xFF2C 1 no ivVReserved105 unused by PE */
&Cpu_Interrupt, /* 0x17 0xFF2E 1 no ivVReserved104 unused by PE */
&Cpu_Interrupt, /* 0x18 0xFF30 1 no ivVReserved103 unused by PE */
&Cpu_Interrupt, /* 0x19 0xFF32 1 no ivVReserved102 unused by PE */
&Cpu_Interrupt, /* 0x1A 0xFF34 1 no ivVReserved101 unused by PE */
&Cpu_Interrupt, /* 0x1B 0xFF36 1 no ivVReserved100 unused by PE */
&Cpu_Interrupt, /* 0x1C 0xFF38 1 no ivVReserved99 unused by PE */
&Cpu_Interrupt, /* 0x1D 0xFF3A 1 no ivVReserved98 unused by PE */
&Cpu_Interrupt, /* 0x1E 0xFF3C 1 no ivVatd1compare unused by PE */
&Cpu_Interrupt, /* 0x1F 0xFF3E 1 no ivVatd0compare unused by PE */
&Cpu_Interrupt, /* 0x20 0xFF40 1 no ivVReserved95 unused by PE */
&Cpu_Interrupt, /* 0x21 0xFF42 1 no ivVReserved94 unused by PE */
&Cpu_Interrupt, /* 0x22 0xFF44 1 no ivVReserved93 unused by PE */
&Cpu_Interrupt, /* 0x23 0xFF46 1 no ivVReserved92 unused by PE */
&Cpu_Interrupt, /* 0x24 0xFF48 1 no ivVReserved91 unused by PE */
&Cpu_Interrupt, /* 0x25 0xFF4A 1 no ivVReserved90 unused by PE */
&Cpu_Interrupt, /* 0x26 0xFF4C 1 no ivVReserved89 unused by PE */
&Cpu_Interrupt, /* 0x27 0xFF4E 1 no ivVReserved88 unused by PE */
&Cpu_Interrupt, /* 0x28 0xFF50 1 no ivVReserved87 unused by PE */
&Cpu_Interrupt, /* 0x29 0xFF52 1 no ivVReserved86 unused by PE */
&Cpu_Interrupt, /* 0x2A 0xFF54 1 no ivVReserved85 unused by PE */
&Cpu_Interrupt, /* 0x2B 0xFF56 1 no ivVReserved84 unused by PE */
&Cpu_Interrupt, /* 0x2C 0xFF58 1 no ivVReserved83 unused by PE */
&Cpu_Interrupt, /* 0x2D 0xFF5A 1 no ivVReserved82 unused by PE */
&Cpu_Interrupt, /* 0x2E 0xFF5C 1 no ivVReserved81 unused by PE */
&Cpu_Interrupt, /* 0x2F 0xFF5E 1 no ivVReserved80 unused by PE */
&Cpu_Interrupt, /* 0x30 0xFF60 1 no ivVReserved79 unused by PE */
&Cpu_Interrupt, /* 0x31 0xFF62 1 no ivVReserved78 unused by PE */
&Cpu_Interrupt, /* 0x32 0xFF64 1 no ivVxst7 unused by PE */
&Cpu_Interrupt, /* 0x33 0xFF66 1 no ivVxst6 unused by PE */
&Cpu_Interrupt, /* 0x34 0xFF68 1 no ivVxst5 unused by PE */
&Cpu_Interrupt, /* 0x35 0xFF6A 1 no ivVxst4 unused by PE */
&Cpu_Interrupt, /* 0x36 0xFF6C 1 no ivVxst3 unused by PE */
&Cpu_Interrupt, /* 0x37 0xFF6E 1 no ivVxst2 unused by PE */
&Cpu_Interrupt, /* 0x38 0xFF70 1 no ivVxst1 unused by PE */
&Cpu_Interrupt, /* 0x39 0xFF72 1 no ivVxst0 unused by PE */
&Cpu_Interrupt, /* 0x3A 0xFF74 1 no ivVpit3 unused by PE */
&Cpu_Interrupt, /* 0x3B 0xFF76 1 no ivVpit2 unused by PE */
&Cpu_Interrupt, /* 0x3C 0xFF78 1 no ivVpit1 unused by PE */
&Cpu_Interrupt, /* 0x3D 0xFF7A 1 no ivVpit0 unused by PE */
&Cpu_Interrupt, /* 0x3E 0xFF7C 1 - ivVhti unused by PE */
&Cpu_Interrupt, /* 0x3F 0xFF7E 1 no ivVapi unused by PE */
&Cpu_Interrupt, /* 0x40 0xFF80 1 no ivVlvi unused by PE */
&Cpu_Interrupt, /* 0x41 0xFF82 1 no ivViic1 unused by PE */
&Cpu_Interrupt, /* 0x42 0xFF84 1 no ivVsci5 unused by PE */
&Cpu_Interrupt, /* 0x43 0xFF86 1 no ivVsci4 unused by PE */
&Cpu_Interrupt, /* 0x44 0xFF88 1 no ivVsci3 unused by PE */
&Cpu_Interrupt, /* 0x45 0xFF8A 1 no ivVsci2 unused by PE */
&Cpu_Interrupt, /* 0x46 0xFF8C 1 no ivVpwmesdn unused by PE */
&Cpu_Interrupt, /* 0x47 0xFF8E 1 no ivVportp unused by PE */
&Cpu_Interrupt, /* 0x48 0xFF90 1 no ivVcan4tx unused by PE */
&Cpu_Interrupt, /* 0x49 0xFF92 1 no ivVcan4rx unused by PE */
&Cpu_Interrupt, /* 0x4A 0xFF94 1 no ivVcan4err unused by PE */
&Cpu_Interrupt, /* 0x4B 0xFF96 1 no ivVcan4wkup unused by PE */
&Cpu_Interrupt, /* 0x4C 0xFF98 1 no ivVReserved51 unused by PE */
&Cpu_Interrupt, /* 0x4D 0xFF9A 1 no ivVReserved50 unused by PE */
&Cpu_Interrupt, /* 0x4E 0xFF9C 1 no ivVReserved49 unused by PE */
&Cpu_Interrupt, /* 0x4F 0xFF9E 1 no ivVReserved48 unused by PE */
&Cpu_Interrupt, /* 0x50 0xFFA0 1 no ivVcan2tx unused by PE */
&Cpu_Interrupt, /* 0x51 0xFFA2 1 no ivVcan2rx unused by PE */
&Cpu_Interrupt, /* 0x52 0xFFA4 1 no ivVcan2err unused by PE */
&Cpu_Interrupt, /* 0x53 0xFFA6 1 no ivVcan2wkup unused by PE */
&Cpu_Interrupt, /* 0x54 0xFFA8 1 no ivVcan1tx unused by PE */
&Cpu_Interrupt, /* 0x55 0xFFAA 1 no ivVcan1rx unused by PE */
&Cpu_Interrupt, /* 0x56 0xFFAC 1 no ivVcan1err unused by PE */
&Cpu_Interrupt, /* 0x57 0xFFAE 1 no ivVcan1wkup unused by PE */
&Cpu_Interrupt, /* 0x58 0xFFB0 1 no ivVcan0tx unused by PE */
&Cpu_Interrupt, /* 0x59 0xFFB2 1 no ivVcan0rx unused by PE */
&Cpu_Interrupt, /* 0x5A 0xFFB4 1 no ivVcan0err unused by PE */
&Cpu_Interrupt, /* 0x5B 0xFFB6 1 no ivVcan0wkup unused by PE */
&Cpu_Interrupt, /* 0x5C 0xFFB8 1 no ivVflash unused by PE */
&Cpu_Interrupt, /* 0x5D 0xFFBA 1 no ivVflashfd unused by PE */
&Cpu_Interrupt, /* 0x5E 0xFFBC 1 no ivVspi2 unused by PE */
&Cpu_Interrupt, /* 0x5F 0xFFBE 1 no ivVspi1 unused by PE */
&Cpu_Interrupt, /* 0x60 0xFFC0 1 no ivViic0 unused by PE */
&Cpu_Interrupt, /* 0x61 0xFFC2 1 no ivVReserved30 unused by PE */
&Cpu_Interrupt, /* 0x62 0xFFC4 1 no ivVcrgscm unused by PE */
&Cpu_Interrupt, /* 0x63 0xFFC6 1 no ivVcrgplllck unused by PE */
&Cpu_Interrupt, /* 0x64 0xFFC8 1 no ivVectpabovf unused by PE */
&Cpu_Interrupt, /* 0x65 0xFFCA 1 no ivVectmdcu unused by PE */
&Cpu_Interrupt, /* 0x66 0xFFCC 1 no ivVporth unused by PE */
&Cpu_Interrupt, /* 0x67 0xFFCE 1 no ivVportj unused by PE */
&Cpu_Interrupt, /* 0x68 0xFFD0 1 no ivVatd1 unused by PE */
&Cpu_Interrupt, /* 0x69 0xFFD2 1 no ivVatd0 unused by PE */
&Cpu_Interrupt, /* 0x6A 0xFFD4 1 no ivVsci1 unused by PE */
&Cpu_Interrupt, /* 0x6B 0xFFD6 1 no ivVsci0 unused by PE */
&Cpu_Interrupt, /* 0x6C 0xFFD8 1 no ivVspi0 unused by PE */
&Cpu_Interrupt, /* 0x6D 0xFFDA 1 no ivVectpaie unused by PE */
&Cpu_Interrupt, /* 0x6E 0xFFDC 1 no ivVectpaaovf unused by PE */
&Cpu_Interrupt, /* 0x6F 0xFFDE 1 no ivVectovf unused by PE */
&Cpu_Interrupt, /* 0x70 0xFFE0 1 no ivVectch7 unused by PE */
&Cpu_Interrupt, /* 0x71 0xFFE2 1 no ivVectch6 unused by PE */
&Cpu_Interrupt, /* 0x72 0xFFE4 1 no ivVectch5 unused by PE */
&Cpu_Interrupt, /* 0x73 0xFFE6 1 no ivVectch4 unused by PE */
&Cpu_Interrupt, /* 0x74 0xFFE8 1 no ivVectch3 unused by PE */
&Cpu_Interrupt, /* 0x75 0xFFEA 1 no ivVectch2 unused by PE */
&Cpu_Interrupt, /* 0x76 0xFFEC 1 no ivVectch1 unused by PE */
&TickTimer_Interrupt, /* 0x77 0xFFEE 4 no ivVectch0 used by PE */
&Cpu_Interrupt, /* 0x78 0xFFF0 1 no ivVrti unused by PE */
&Cpu_Interrupt, /* 0x79 0xFFF2 1 no ivVirq unused by PE */
&Cpu_Interrupt, /* 0x7A 0xFFF4 - - ivVxirq unused by PE */
&Cpu_Interrupt, /* 0x7B 0xFFF6 - - ivVswi unused by PE */
&Cpu_Interrupt /* 0x7C 0xFFF8 - - ivVtrap unused by PE */
};
/*lint -save -e950 Disable MISRA rule (1.1) checking. */
static const tIsrFunc _ResetVectorTable[] @0xFFFAU = { /* Reset vector table */
/*lint -restore Enable MISRA rule (1.1) checking. */
/* Reset handler name Address Name Description */
&_EntryPoint, /* 0xFFFA ivVcop unused by PE */
&_EntryPoint, /* 0xFFFC ivVclkmon unused by PE */
&_EntryPoint /* 0xFFFE ivVreset used by PE */
};
/*
** ###################################################################
**
** This file was created by Processor Expert 3.05 [04.46]
** for the Freescale HCS12X series of microcontrollers.
**
** ###################################################################
*/
When it reaches this part.
#define portRESTORE_CONTEXT() \
{ \
extern volatile void * pxCurrentTCB; \
extern volatile UBaseType_t uxCriticalNesting; \
\
__asm( "ldx pxCurrentTCB" ); \
__asm( "lds 0, x" ); \
__asm( "pula" ); \
__asm( "staa uxCriticalNesting" ); \
__asm( "pula" ); \
__asm( "staa 0x30" ); /* 0x30 = PPAGE */ \
}
Hi @pezhman
You can put your code in github and share it, so we can download and check the problem.
Else , you can zip all the source and project files, and upload it here , please let us know if you have any problem regarding uploading due to permission.
I have gone over your code and I think the root to the problem is your project is for the S12X variant of the HCS12 CPU. The X version has 1 additional byte in the stack frame for the extended condition code register. The HC12 port for FreeRTOS does not support the X version. The stack initialization code does not create the correct interrupt stack frame before starting the scheduler. This makes the first RTI of the scheduler break to invalid memory.
I added the extended CCR to the stack initialization code (line 129 of port.c) and the scheduler started and ran until another unhandled interrupt occurred.
/* CCR: Note that when the task starts interrupts will be enabled since
"I" bit of CCR is cleared */
*pxTopOfStack = ( StackType_t ) 0x00;
pxTopOfStack--;
/* Extended CCR: */
*pxTopOfStack = ( StackType_t ) 0x00;
pxTopOfStack--;
If you have the hardware and can do additional testing, we would welcome a complete PR for the S12X version.
I neglected to revisit the Vectors.c file. Processor Expert had expertly removed the 2 interrupt vectors needed by FreeRTOS. I added those two vectors and FreeRTOS runs in the simulator.
I have updated your project with these changes and the new version is below.
OS_Test_Last 2.zip (1.8 MB)
In addition to the changes to the port, I also changed the project to static allocation. This is probably not critical to your application but it did allow me to watch the stack frames for each task without locating the frames on the heap.
Good Luck
1 Like
Thank you very much for your guidance.
When I execute the following function
vTaskDelayUntil( &xLastFlashTime, xFlashRate );
an issue arises in this part.
/* Force a reschedule if xTaskResumeAll has not already done so, we may
* have put ourselves to sleep. */
if( xAlreadyYielded == pdFALSE )
{
#if ( configNUMBER_OF_CORES == 1 )
portYIELD_WITHIN_API();
#else
vTaskYieldWithinAPI();
#endif
}
else
{
mtCOVERAGE_TEST_MARKER();
}
Would you please describe what issue?
I have been studying the vTaskDelayUntil() functionality and it appears that the tick timer is not happening. I will continue to look at it but you should verify that the vPortTickInterrupt() function is actually being called at the correct rate.