Just an additional hint: I’d recommend to enable stack overflow checking. See FreeRTOS - stacks and stack overflow checking and define configASSERT.
As seen you create the tasks with minimal stack size. This might be too small…
Why do you need to do this? Are you not able to use xFLASHWRITINGTASK_Tasks? Something like the following -
/* Simulation - Kick off the FlashWritingTask every 100 ms. */
void SimulationTask( void * params )
{
extern TaskHandle_t xFLASHWRITINGTASK_Tasks;
TickType_t xLastWakeTime;
const TickType_t xFrequency = pdMS_TO_TICKS( 100 );
( void ) params;
/* Initialise the xLastWakeTime variable with the current time. */
xLastWakeTime = xTaskGetTickCount();
for( ;; )
{
/* Wait for the next cycle. */
vTaskDelayUntil( &xLastWakeTime, xFrequency );
/* Kick off the FlashWritingTask. */
xTaskNotifyGive( xFLASHWRITINGTASK_Tasks );
}
}
I am not sure what’s wrong, but the LED is not flashing in the flashwritingtask.c
main.c
/* Bosch IMU BMI160 IRQ - Kick off the FlashWritingTask every 100 ms. */
static void TC3_TimerCallback(TC_TIMER_STATUS status, uintptr_t context) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(FlashWritingTaskHandle, &(xHigherPriorityTaskWoken));
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
int main ( void )
{
/* Initialize all modules */
SYS_Initialize ( NULL );
TC3_TimerCallbackRegister(TC3_TimerCallback, (uintptr_t) NULL);
TC3_TimerStart();
while ( true )
{
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks ( );
}
/* Execution should not come here during normal operation */
return ( EXIT_FAILURE );
}
simulationtask.c
void SIMULATIONTASK_Initialize(void) {
/* Place the App state machine in its initial state. */
simulationtaskData.state = SIMULATIONTASK_STATE_INIT;
/* TODO: Initialize your application's state machine and other
* parameters.
*/
}
/******************************************************************************
Function:
void SIMULATIONTASK_Tasks ( void )
Remarks:
See prototype in simulationtask.h.
*/
void SIMULATIONTASK_Tasks(void) {
TickType_t xLastWakeTime;
const TickType_t xFrequency = pdMS_TO_TICKS( 100 );
/* Check the application's current state. */
switch (simulationtaskData.state) {
/* Application's initial state. */
case SIMULATIONTASK_STATE_INIT:
{
bool appInitialized = true;
if (appInitialized) {
/* Initialise the xLastWakeTime variable with the current time. */
xLastWakeTime = xTaskGetTickCount();
simulationtaskData.state = SIMULATIONTASK_STATE_SERVICE_TASKS;
}
break;
}
case SIMULATIONTASK_STATE_SERVICE_TASKS:
{
/* Wait for the next cycle. */
vTaskDelayUntil(&xLastWakeTime, xFrequency);
/* Kick off the FlashWritingTask. */
xTaskNotifyGive(FlashWritingTaskHandle);
break;
}
/* TODO: implement your application state machine.*/
/* The default state should never be executed. */
default:
{
/* TODO: Handle error in application's state machine. */
break;
}
}
}
flashwritingtask.c
TaskHandle_t FlashWritingTaskHandle;
void FLASHWRITINGTASK_Initialize ( void )
{
/* Place the App state machine in its initial state. */
flashwritingtaskData.state = FLASHWRITINGTASK_STATE_INIT;
}
void FLASHWRITINGTASK_Tasks ( void )
{
/* Check the application's current state. */
switch ( flashwritingtaskData.state )
{
/* Application's initial state. */
case FLASHWRITINGTASK_STATE_INIT:
{
bool appInitialized = true;
if (appInitialized)
{
flashwritingtaskData.state = FLASHWRITINGTASK_STATE_SERVICE_TASKS;
}
break;
}
case FLASHWRITINGTASK_STATE_SERVICE_TASKS:
{
/* Wait for a notification to write to flash. */
ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
/* Write to flash. */
LED_Toggle();
break;
}
/* TODO: implement your application state machine.*/
/* The default state should never be executed. */
default:
{
/* TODO: Handle error in application's state machine. */
break;
}
}
}
flashwritingtask.h
extern TaskHandle_t FlashWritingTaskHandle;
John, you really should follow @aggarg ‘s task code template to make your tasks work properly. A task is not just a function, it’s a forever loop doing something over and over again. See Writing RTOS tasks in FreeRTOS - implementing tasks as forever loops.
And where is FlashWritingTaskHandle initialized ? Why not using (global) xFLASHWRITINGTASK_Tasks directly initialized in your SYS_Tasks function ?
I modified the simulationtask.c
xTaskNotifyGive(xFLASHWRITINGTASK_Tasks);
and main.c
* Bosch IMU BMI160 IRQ - Kick off the FlashWritingTask every 100 ms. */
static void TC3_TimerCallback(TC_TIMER_STATUS status, uintptr_t context) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(xFLASHWRITINGTASK_Tasks, &(xHigherPriorityTaskWoken));
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
int main ( void )
{
/* Initialize all modules */
SYS_Initialize ( NULL );
TC3_TimerCallbackRegister(TC3_TimerCallback, (uintptr_t) NULL);
TC3_TimerStart();
while ( true )
{
/* Maintain state machines of all polled MPLAB Harmony modules. */
SYS_Tasks ( );
but I got an error:
./src/main.c:41:28: error: ‘xFLASHWRITINGTASK_Tasks’ undeclared (first use in this function); did you mean ‘FLASHWRITINGTASK_Tasks’?
although I added:
#include "FreeRTOS.h"
#include "task.h"
even thought the xFLASHWRITINGTASK_Tasks is correctly linked to:
/* Handle for the FLASHWRITINGTASK_Tasks. */
TaskHandle_t xFLASHWRITINGTASK_Tasks;
static void lFLASHWRITINGTASK_Tasks( void *pvParameters )
{
while(true)
{
FLASHWRITINGTASK_Tasks();
}
}
in task.c
I had the problem falling to HardFault_Handler which was cased by forgetting
TaskHandle_t FlashWritingTaskHandle;
in flashwritingtask.c
Now program is working. IRQ period is 100 ms. The only problem is the test GPIO Pin Toggle in FlashWritingTask has the +width 36 µs instead of IRQ +width 100 ms.
The problem is for sure in the:
void SIMULATIONTASK_Tasks(void) {
TickType_t xLastWakeTime;
const TickType_t xFrequency = pdMS_TO_TICKS( 100 );
as I don’t know yet how to add parameters
( void * params )
to the task in the MPLAB X IDE, Harmony.
I didn’t understand that I can’t use aggarg’s program template as he provided it here. There was no mention of it anywhere.
I have to either use the FlashWritingTask run using IRQ (from Bosch IMU or testbench from TC3) or use the Simulationtask not both options at the same time.
When using vTaskDelay(pdMS_TO_TICKS( 100 )) in Simulationtask, all variants work fine and the FlashWritingTask runs every 100 ms.
At the end I found that the variables
TickType_t xLastWakeTime;
const TickType_t xFrequency = pdMS_TO_TICKS( 100 );
for the vTaskDelayUntil(&xLastWakeTime, xFrequency) function has to be defined in Global Data Definitions section of the Simulationtask i.e. at the beginning of the task (MPLAB X IDE, Harmony).
Now the program is working as expected. Thanks to all who helped me, richard and aggarg especially.
That is right - I should have been explicit that only one of simulation or real hardware IRQ should be used.
Glad that you made it work!