Hi,

when trying to write in a message queue from two tasks I get stuck in the undefined handler.
I'm using ARM STR7 with gcc. I redirected the _write() function of newlib to my putchar function. I writes in a queue from where the tx-empty isr reads.
When only one tasks uses iprintf it works.
Nonpreemption doesn't work also.
I did work in my Atmega128 port!

In main.c I wrote:

void LEDTask1( void *pvParameters )
{
while(1)
{
iprintf( "Task1\r\n" );
vTaskDelay( 500/portTICK_RATE_MS );
}
}

void LEDTask2( void *pvParameters )
{
while(1)
{
iprintf( "Task2\r\n" );
vTaskDelay( 1000/portTICK_RATE_MS );
}
}

In uart0.c I wrote:

void uart0_isr( void ) __attribute__((interrupt("IRQ")));
void uart0_isr( void )
{
// portENTER_SWITCHING_ISR();
char chr;
portBASE_TYPE TaskWokenByRec = pdFALSE;

if( UART0_SR & UART_TXHALFEMPTY )
{
if( xQueueReceiveFromISR( QueSer0Tx, &chr, &TaskWokenByRec ) == pdTRUE )
{
UART0_TxBUFR = chr;
}
else
{
UART0_IER &= ~UART_TXHALFEMPTY;
}
}
EIC_IPR0 = CHANNEL(9);

//portEXIT_SWITCHING_ISR( TaskWokenByRec );
//portEXIT_SWITCHING_ISR( 0 );
}

Any hints?

Am I right in thinking from your description that the queue send is in the iprintf - and writes to QueSer0Tx.

How much stack does your iprintf function use. Traditionally printf functions can be very stack hungry. Have you checked that you are not running off the end of the task stack? Try making the stack a bit larger or checking it once you enter the undefined handler.

Which interrupt fires to end up in the undefined handler - any or are you just jumping to a random place in the code.

Hi,
the problem lies in the too small configTOTAL_HEAP_SIZE.
If I do:
xTaskCreate( LEDTask2, "LED2", configMINIMAL_STACK_SIZE + 300, NULL, tskIDLE_PRIORITY+1, NULL );
for two tasks and heap size of 1000 it chrashes.
I had to set it to about 5000, without printf!
I wonder how 2 * 300 + 2 * 110 (minimal stack size)
needs more than 5000 bytes?
The createTask and malloc functions returned without error.

Regards,

Sounds suspicious. I think you should analyse the memory usage of your system. Do you have a decent debugger?

Hi,
yes I have a decent debugger.
It showed me that the size of the task stack is in words = 4 bytes!

pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );

portSTACK_TYPE is defined as long in the ARM7 ports. Whereas in heap1.c :

unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ];

the heap is defined in bytes (portCHAR).

Ok, one has to know.
Maybe you could equal this Richard?
Regards,

I'm can't quite follow this thread. What is the issue? The stack depth is given by the usStackDepth parameter. As per the documentation this is the number of items that can be on the stack - not the number of bytes - hence it is multiplied by sizeof( portSTACK_TYPE ).

Regards.