I have defined three tasks, below are the code of these tasks: ~~~ static void vThread1( void pvParameters ) { //vTaskSetApplicationTaskTag( NULL, ( void * ) 1 ); for(;;){ vTaskDelay( 10000 ); LED1LAT=0; while(U1STAbits.TRMT==0); UART1_sent((uchar)"Thread1 Runningrnrrr",18); } }

static void vThread2( void pvParameters ) { //vTaskSetApplicationTaskTag( NULL, ( void * ) 2 ); for(;;){ vTaskDelay( 10000 ); LED1LAT=1; while(U1STAbits.TRMT==0); UART1_sent((uchar)"Thread2 Runningrnrrr",18); } }

static void vIdle( void *pvParameters ) { //vTaskSetApplicationTaskTag( NULL, ( void * ) 1 ); for(;;){ Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop();Nop(); } } ~~~ Then create above three tasks by below code: ~~~ xTaskCreate( vThread1, "Thread1", mainCHECKTAKSSTACKSIZE, NULL, mainCHECKTASKPRIORITY, NULL ); xTaskCreate( vThread2, "Thread2", mainCHECKTAKSSTACKSIZE, NULL, mainCHECKTASKPRIORITY, NULL ); xTaskCreate( vIdle, "IdleThread", mainCHECKTAKSSTACKSIZE, NULL, mainCHECKTASK_PRIORITY, NULL ); ~~~

up to now, the program works well, the serial port keep out put "Thread1 Running" &"Thread2 Running" as I have expected. When I read through the FreeRTOS manual "Mastering the FreeRTOS™Real Time Kernel", I chapter 3.8, it's mentioned the FreeRTOS itself will create a Idle task, so I comment out the Idle task create by me, below is the only part I have modified: //xTaskCreate( vIdle, "IdleThread", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); the program supposed to work well by then, but the truth is after comment out this statement, the board keeps restarting. Really have no ideal why this happen, appreciate anyone can help me on this.

Your vIdle() task should have no real effect here.

How is UART1_sent() implemented? Does it include some mutual exclusion to prevent a context switch to the other task half way through a string being sent?

Thank you for your reply Sir. The UART1sent do use UART interrupt for sending&receiving data, but I don't believe it will affect context switching. because context switch are using Timer1 to trigger switch. Below are my code, BTW my chip is dsPIC33EV256GM106 from Microchip. ~~~ volatile uchar *UART1TXDATA; volatile uint UART1TXLEN; uchar UART1TXBUFF[UART1TXBUFFSIZE];

volatile uchar UART1RXBUFF[UART1RXBUFFSIZE]; volatile uchar UART1RXMEM; volatile bool UART1RETURN; void init_UART1(void)// initalize the UART1 {
U1MODEbits.STSEL = 0; // 1-Stop bit U1MODEbits.PDSEL = 0; // No Parity, 8-Data bits U1MODEbits.ABAUD = 0; // Auto-Baud disabled U1MODEbits.BRGH = 0; // Standard-Speed mode U1BRG = BRGVAL; // Baud Rate setting for 115200

U1STAbits.UTXISEL0 = 0; // bit <15,13>=0b10 Interrupt when the last bit is shifted into TSR, and as a result, the TX FIFO is empty
U1STAbits.UTXISEL1 = 1;
IEC0bits.U1TXIE = 1; // Enable UART TX interrupt
U1MODEbits.UARTEN = 1; // Enable UART
U1STAbits.UTXEN = 1; // Enable UART TX

U1STAbits.URXISEL=0b00; //Interrupt is set when any character is received
IEC0bits.U1RXIE=1;  // Enable UART RX interrupt

UART1_RX_MEM=0;
UART1_RETURN=false;

}

void attribute((interrupt, autopsv)) _U1TXInterrupt(void) { IFS0bits.U1TXIF = 0; // Clear TX Interrupt flag while(U1STAbits.UTXBF==0 && UART1TXLEN>0) { U1TXREG = *UART1TXDATA++; UART1TX_LEN--; } }

void attribute((interrupt, autopsv)) _U1RXInterrupt(void) { IFS0bits.U1RXIF = 0; // Clear TX Interrupt flag UART1RXBUFF[UART1RXMEM]=U1RXREG; U1TXREG=UART1RXBUFF[UART1RXMEM]; if(UART1RXBUFF[UART1RXMEM]=='r') { UART1RETURN=true; U1TXREG='n'; } UART1RXMEM++; if(UART1RXMEM>=UART1RXBUFFSIZE) UART1RXMEM-=UART1RXBUFFSIZE;

}

bool UART1sent(uchar data[], uint length) { if(U1STAbits.TRMT) { UART1TXDATA=data; U1TXREG = *UART1TXDATA++; UART1TX_LEN=length-1; return true; } return false;
} ~~~

Sir The U1TXREG is a transmit register, once the data placed to this register, the UART moule will automatic shift the data out. and after the last bit of data shifted out, the UART module will trigger a interrupt to call the void attribute((interrupt, autopsv)) _U1TXInterrupt(void); So, basically, the UART1sent(uchar data[], uint length), just triggle the first byte of data to sent, and the remaining data will be send out by the interrupt.

Consider what will happen one task starts to send a string, half the string has been transmitted, then a context switch occurs to the other task, and that task starts to send a string before the original string has been transmitted completely. Take a look through the mutual exclusion chapters in the book. http://www.freertos.org/Documentation/RTOS_book.html

Actually the statement :while(U1STAbits.TRMT==0); is to prevent this from happen. if the "TRMT" bit is clear, that means the UART is occupied, task will wait it to set then start the string sending. Anyway, I will read the book through to see whether I can find some clue. Thanks again Sir!

Actually the statement :while(U1STAbits.TRMT==0); is to prevent this from happen. if the "TRMT" bit is clear, that means the UART is

Maybe that will work, but I suspect you have a race condition there.

Hello Sir, This problem still un-resolved, but I have dig in the source code, and one thing I noticed is the vPortYield function in portasm_dsPIC.s file did not switching the value in Program Counter (PC) register while switch tasks. Below is the code: ~~~ _vPortYield:

	PUSH	SR						/* Save the SR used by the task.... */
	PUSH	W0						/* ....then disable interrupts. */
	MOV		#32, W0
	MOV		W0, SR
	PUSH	W1						/* Save registers to the stack. */
	PUSH.D	W2
	PUSH.D	W4
	PUSH.D	W6
	PUSH.D 	W8
	PUSH.D 	W10
	PUSH.D	W12
	PUSH	W14
	PUSH	RCOUNT
	PUSH	TBLPAG
	PUSH	ACCAL
	PUSH	ACCAH
	PUSH	ACCAU
	PUSH	ACCBL
	PUSH	ACCBH
	PUSH	ACCBU
	PUSH	DCOUNT
	PUSH	DOSTARTL
	PUSH	DOSTARTH
	PUSH	DOENDL
	PUSH	DOENDH


	PUSH	CORCON
	#ifdef  __HAS_EDS__
		PUSH	DSRPAG
		PUSH	DSWPAG
	#else
		PUSH	PSVPAG
	#endif /* __HAS_EDS__ */
	MOV		_uxCriticalNesting, W0		/* Save the critical nesting counter for the task. */
	PUSH	W0
	MOV		_pxCurrentTCB, W0			/* Save the new top of stack into the TCB. */
	MOV		W15, [W0]

	call 	_vTaskSwitchContext

	MOV		_pxCurrentTCB, W0			/* Restore the stack pointer for the task. */
	MOV		[W0], W15
	POP		W0							/* Restore the critical nesting counter for the task. */
	MOV		W0, _uxCriticalNesting
	#ifdef __HAS_EDS__
		POP		DSWPAG
		POP		DSRPAG
	#else
		POP		PSVPAG
	#endif /* __HAS_EDS__ */
	POP		CORCON
	POP		DOENDH
	POP		DOENDL
	POP		DOSTARTH
	POP		DOSTARTL
	POP		DCOUNT
	POP		ACCBU
	POP		ACCBH
	POP		ACCBL
	POP		ACCAU
	POP		ACCAH
	POP		ACCAL
	POP		TBLPAG
	POP		RCOUNT						/* Restore the registers from the stack. */
	POP		W14
	POP.D	W12
	POP.D	W10
	POP.D	W8
	POP.D	W6
	POP.D	W4
	POP.D	W2
	POP.D	W0
	POP		SR

    return

    .end

~~~

even there is a function vTaskSwitchContext(viod) , but this function didn't switching the PC, what it did is to find the highest priority task, and return the point of task's TCB. Do you think this is the reason cause the error? BTW, I have put and error trap in my code, and it proved the board restart is caused by Address Error, That is to say the error is caused by wrong PC. Below is my error trap: ~~~ void attribute((interrupt, noautopsv)) _AddressError(void) { asm volatile("nop"); // use volatile keyword to avoid the instruction being optimized away } ~~~

I'm not sure I understand. The vTaskSwitchContex() function will work the same each time - why do you think its behaviour on just one call would be the problem?

Hello Sir, What I mean is in the overall switching procedure there is no place operated the PC, I'm not focus on the function vTaskSwitchContex() .

I just finished another experiment. I have disable all the user defined interrupt, and comment out the UART1sent function, just left a simple LED control instruction as shown below, the result still the same. ~~~ static void vThread1( void *pvParameters ) { //vTaskSetApplicationTaskTag( NULL, ( void * ) 1 ); for(;;){ vTaskDelay( 5000 ); LED1LAT=0; //while(U1STAbits.TRMT==0); //UART1sent((uchar*)"Thread1 Runningrnrrr",18); } } ~~~ one of my finding is, once the FreeRTOS called the system default idle task prvIdleTask(), this error will happen. If I create the user defined idle task, and use the idle task to occupy all the idle time, the error never appear.

What is configMINIMALSTACKSIZE set to? That sets the size of the stack used by the idle task.

The configMINIMALSTACKSIZE is 105, I believe it's large enough to store all the registers.

My Chip have 16kByte RAM, Below are the configuration: ~~~

/* Co-routine definitions. */

/* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */

~~~

The demo in the FreeRTOS download has this set to 115. Did you try increasing it?

After set it to 205, still the same.

Hello Sir, When I comment out the vCoRoutineSchedule from the code, the program goes well, I believe what cause the error is the the Co-Routine, any comment on that? void vApplicationIdleHook( void ) { /* Schedule the co-routines from within the idle task hook. */ //vCoRoutineSchedule(); }

Hmm. If only you had mentioned you were actually calling something from the idle hook then that would have been found much earlier.

I'm sorry Sir, I have focus on the PC value for long time until reach this point. But this calling is from the example port, I haven't made any change. I'm curious what is the Co-Routine doing? If I remove it from the project, what will happen?

Are you using the CoRoutines in FreeRTOS (I don't as they have a somewhat clunky interface and seam intended for very resource limited processors)? One big requirement of the idle hook is that you can't put anything that might block there, I am not sure that vCoRoutineSchedule meets that requirement, do the coroutines say to put it there?

I suspect the issue was commenting out the code from the demo that was creating the co-routines, but leaving the code in the idle task that was trying to schedule them.

Hi Richard, I'm not trying to use CoRoutines. I just trying to modify a FreeRTOS example port to my own project. The example port already used the CoRoutines. Actually I'm trying remove it from my project, but I don't know what is the inpact if remove it directly.

Sir, while this issue happens, I haven't comment any of the code from sample port yet.

If you don't have co-routines being created you must comment out the vCoRoutineSchedule(), or if that is the only thing the idle task hook is doing, set configUSEIDLEHOOK to 0 in FreeRTOSConfig.h.

Noted with thanks, Finally this problem resolved.