The collision between osdelay and HAL_SPI_TransmitReceive

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1

I use STM32CUBEMX to create code,and when the code is running,I find a problem.My code is stuck at prvCheckTasksWaitingTermination.
Simple Description with my system:
1,freertos use systick, and HAL use TIM7
2,two simple task,one is flashing led,other is RFID test function,as below

******************************************************
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
		HAL_GPIO_TogglePin(SYS_LED_GPIO_Port,SYS_LED_Pin);
                osDelay(500);
  }
  /* USER CODE END StartDefaultTask */
}
*******************************
void StartTask02(void *argument)
{
  /* USER CODE BEGIN StartTask02 */
  /* Infinite loop */
  for(;;)
  {
	inventoryGen2_fast();	
        osDelay(500);
  }
  /* USER CODE END StartTask02 */
}
******************************************************

simple test result:
1,when run code without modifing nothing,the first time,the code execute over inventoryGen2_fast(),and try run into osDelay(500),the code may stack at function of “prvCheckTasksWaitingTermination”,and never resume;
2,when i annotate the code “inventoryGen2_fast()”,the system can run ok;
3,when i annotate the code “HAL_SPI_TransmitReceive” which in the function of inventoryGen2_fast(),the system can run ok;

so i get a primary result that the “HAL_SPI_TransmitReceive” may cause some problem,when goon running “osDelay”,but i can’t solve the problem, pls give some help thanks.

some code as below:

****************************************************
osStatus_t osDelay (uint32_t ticks) {
  osStatus_t stat;

  if (IS_IRQ()) {
    stat = osErrorISR;
  }
  else {
    stat = osOK;

    if (ticks != 0U) {
      vTaskDelay(ticks);
    }
  }

  return (stat);
}

*****************************************************
HAL_StatusTypeDef HAL_SPI_TransmitReceive(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size,
                                          uint32_t Timeout)
{
  uint16_t             initial_TxXferCount;
  uint32_t             tmp_mode;
  HAL_SPI_StateTypeDef tmp_state;
  uint32_t             tickstart;

  /* Variable used to alternate Rx and Tx during transfer */
  uint32_t             txallowed = 1U;
  HAL_StatusTypeDef    errorcode = HAL_OK;

  /* Check Direction parameter */
  assert_param(IS_SPI_DIRECTION_2LINES(hspi->Init.Direction));

  /* Process Locked */
  __HAL_LOCK(hspi);

  /* Init tickstart for timeout management*/
  tickstart = HAL_GetTick();

  /* Init temporary variables */
  tmp_state           = hspi->State;
  tmp_mode            = hspi->Init.Mode;
  initial_TxXferCount = Size;

  if (!((tmp_state == HAL_SPI_STATE_READY) || \
        ((tmp_mode == SPI_MODE_MASTER) && (hspi->Init.Direction == SPI_DIRECTION_2LINES) && (tmp_state == HAL_SPI_STATE_BUSY_RX))))
  {
    errorcode = HAL_BUSY;
    goto error;
  }

  if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U))
  {
    errorcode = HAL_ERROR;
    goto error;
  }

  /* Don't overwrite in case of HAL_SPI_STATE_BUSY_RX */
  if (hspi->State != HAL_SPI_STATE_BUSY_RX)
  {
    hspi->State = HAL_SPI_STATE_BUSY_TX_RX;
  }

  /* Set the transaction information */
  hspi->ErrorCode   = HAL_SPI_ERROR_NONE;
  hspi->pRxBuffPtr  = (uint8_t *)pRxData;
  hspi->RxXferCount = Size;
  hspi->RxXferSize  = Size;
  hspi->pTxBuffPtr  = (uint8_t *)pTxData;
  hspi->TxXferCount = Size;
  hspi->TxXferSize  = Size;

  /*Init field not used in handle to zero */
  hspi->RxISR       = NULL;
  hspi->TxISR       = NULL;

#if (USE_SPI_CRC != 0U)
  /* Reset CRC Calculation */
  if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE)
  {
    SPI_RESET_CRC(hspi);
  }
#endif /* USE_SPI_CRC */

  /* Check if the SPI is already enabled */
  if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE)
  {
    /* Enable SPI peripheral */
    __HAL_SPI_ENABLE(hspi);
  }

  /* Transmit and Receive data in 16 Bit mode */
  if (hspi->Init.DataSize == SPI_DATASIZE_16BIT)
  {
    if ((hspi->Init.Mode == SPI_MODE_SLAVE) || (initial_TxXferCount == 0x01U))
    {
      hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr);
      hspi->pTxBuffPtr += sizeof(uint16_t);
      hspi->TxXferCount--;
    }
    while ((hspi->TxXferCount > 0U) || (hspi->RxXferCount > 0U))
    {
      /* Check TXE flag */
      if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_TXE)) && (hspi->TxXferCount > 0U) && (txallowed == 1U))
      {
        hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr);
        hspi->pTxBuffPtr += sizeof(uint16_t);
        hspi->TxXferCount--;
        /* Next Data is a reception (Rx). Tx not allowed */
        txallowed = 0U;

#if (USE_SPI_CRC != 0U)
        /* Enable CRC Transmission */
        if ((hspi->TxXferCount == 0U) && (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE))
        {
          SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT);
        }
#endif /* USE_SPI_CRC */
      }

      /* Check RXNE flag */
      if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_RXNE)) && (hspi->RxXferCount > 0U))
      {
        *((uint16_t *)hspi->pRxBuffPtr) = (uint16_t)hspi->Instance->DR;
        hspi->pRxBuffPtr += sizeof(uint16_t);
        hspi->RxXferCount--;
        /* Next Data is a Transmission (Tx). Tx is allowed */
        txallowed = 1U;
      }
      if (((HAL_GetTick() - tickstart) >=  Timeout) && (Timeout != HAL_MAX_DELAY))
      {
        errorcode = HAL_TIMEOUT;
        goto error;
      }
    }
  }
  /* Transmit and Receive data in 8 Bit mode */
  else
  {
    if ((hspi->Init.Mode == SPI_MODE_SLAVE) || (initial_TxXferCount == 0x01U))
    {
      *((__IO uint8_t *)&hspi->Instance->DR) = (*hspi->pTxBuffPtr);
      hspi->pTxBuffPtr += sizeof(uint8_t);
      hspi->TxXferCount--;
    }
    while ((hspi->TxXferCount > 0U) || (hspi->RxXferCount > 0U))
    {
      /* Check TXE flag */
      if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_TXE)) && (hspi->TxXferCount > 0U) && (txallowed == 1U))
      {
        *(__IO uint8_t *)&hspi->Instance->DR = (*hspi->pTxBuffPtr);
        hspi->pTxBuffPtr++;
        hspi->TxXferCount--;
        /* Next Data is a reception (Rx). Tx not allowed */
        txallowed = 0U;

#if (USE_SPI_CRC != 0U)
        /* Enable CRC Transmission */
        if ((hspi->TxXferCount == 0U) && (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE))
        {
          SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT);
        }
#endif /* USE_SPI_CRC */
      }

      /* Wait until RXNE flag is reset */
      if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_RXNE)) && (hspi->RxXferCount > 0U))
      {
        (*(uint8_t *)hspi->pRxBuffPtr) = hspi->Instance->DR;
        hspi->pRxBuffPtr++;
        hspi->RxXferCount--;
        /* Next Data is a Transmission (Tx). Tx is allowed */
        txallowed = 1U;
      }
      if ((((HAL_GetTick() - tickstart) >=  Timeout) && ((Timeout != HAL_MAX_DELAY))) || (Timeout == 0U))
      {
        errorcode = HAL_TIMEOUT;
        goto error;
      }
    }
  }

#if (USE_SPI_CRC != 0U)
  /* Read CRC from DR to close CRC calculation process */
  if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE)
  {
    /* Wait until TXE flag */
    if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, SET, Timeout, tickstart) != HAL_OK)
    {
      /* Error on the CRC reception */
      SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC);
      errorcode = HAL_TIMEOUT;
      goto error;
    }
    /* Read CRC */
    READ_REG(hspi->Instance->DR);
  }

  /* Check if CRC error occurred */
  if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR))
  {
    SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC);
    /* Clear CRC Flag */
    __HAL_SPI_CLEAR_CRCERRFLAG(hspi);

    errorcode = HAL_ERROR;
  }
#endif /* USE_SPI_CRC */

  /* Check the end of the transaction */
  if (SPI_EndRxTxTransaction(hspi, Timeout, tickstart) != HAL_OK)
  {
    errorcode = HAL_ERROR;
    hspi->ErrorCode = HAL_SPI_ERROR_FLAG;
    goto error;
  }

  /* Clear overrun flag in 2 Lines communication mode because received is not read */
  if (hspi->Init.Direction == SPI_DIRECTION_2LINES)
  {
    __HAL_SPI_CLEAR_OVRFLAG(hspi);
  }

error :
  hspi->State = HAL_SPI_STATE_READY;
  __HAL_UNLOCK(hspi);
  return errorcode;
}
*****************************************************
2

That just means the Idle task is running as that function is inside the idle task.

I’m not sure what that means. By default FreeRTOS will use the SysTick timer to generate the tick interrupt, but also allows you to override that behavior to use any suitable clock you want. Does this mean in your case TIM7 is used to generate the tick interrupt?

[

That is a big function (and not our code) - which path though that function is executing? Simply polling the tick count as is shown in the code is not going to be a problem, but is it also using an interrupt? If so, I would start by looking at the interrupt code.

3

Hi Richard:
1,freertos use systick, and HAL use TIM7 means that I use stmcubemx to create code,so freertos use default config which using Systick timer, but the HAL lib use TIM7 as a lib tick interruput.
the code of HAL_SPI_TransmitReceive is provided by ST team which named HAL lib.