How to create two task with different task priority?

RE: How to create two task with different task priority?

donald@l2finc.com — Fri, 24 Aug 2018 21:35:00 GMT

Hello Aryan & Cooper,

I am new to Embedded Studio & Nordic; I have tried different way to create two another thread with this project. But system crashed every time.

If I can comment out:

// nrf_sdh_freertos_init(advertising_start, &erase_bonds);,

and keep task1_thread, but comment out task2_thread; then task1_thread is running correct.

I changed configMAX_PRIORITIES 6; did not see difference.

I changed configTOTAL_HEAP_SIZE to 8192; did not see difference

I am using:

SEGGER Embedded Studio for ARM
Release 3.40 Build 2018052200.36079
Windows x64

nRF52840 DK

C:\Nordic_Semi\nRF5_SDK_15.0.0_a53641a\examples\ble_peripheral\ble_app_hrs_freertos\pca10056\s140\ses as base project.

The test that I created:

if (pdPASS != xTaskCreate(task1_thread, "TASK1", 128, NULL, 3, &m_task1_thread))
{
APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
}
else
NRF_LOG_INFO("SPT FreeRTOS created.");

Again, I must comment out:

// nrf_sdh_freertos_init(advertising_start, &erase_bonds);,

to make it work.

Please help if you can, I am really appreciated.

Donald

RE: How to create two task with different task priority?

Susheel Nuguru — Thu, 15 Mar 2018 07:21:29 GMT

my bad, I should have seen this.

Look at this link. You cannot use priorities for task which is more than (configMAX_PRIORITIES - 1). Since you were trying to use the numbers more than that scheduler was working in a unpredictable way. Next SDK we have updated the FreeRTOS kernel to 10.0.0 where i think you get an assert if you use illegal priority numbers to task, helping us to catch the error faster.

RE: How to create two task with different task priority?

Cooper — Wed, 14 Mar 2018 02:49:42 GMT

Hi Aryan

I modify the configTOTAL_HEAP_SIZE from 4096 to 8192, but still not working.
But when I modify configMAX_PRIORITIES from 3 to 4 it works!! And I can change any uxPriority value what I want.

Did you know why?

RE: How to create two task with different task priority?

Susheel Nuguru — Tue, 13 Mar 2018 14:22:52 GMT

I disabled the logs and it worked just fine. for logs , i think you need to increase the heap size. configTOTAL_HEAP_SIZE

RE: How to create two task with different task priority?

Cooper — Tue, 13 Mar 2018 03:48:22 GMT

Hi Aryan

Have you tested my code?
Got the same result or work normally?

I try to found the issue, but still not working.

RE: How to create two task with different task priority?

Luke Wright — Fri, 09 Mar 2018 07:36:40 GMT

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RE: How to create two task with different task priority?

Cooper — Fri, 09 Mar 2018 02:03:17 GMT

My test code is really simple like below.

task1.c

#include "task1.h"

#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"

#include "nrf_drv_gpiote.h"

static TaskHandle_t m_task1_thread;
SemaphoreHandle_t task1_sem;

static void task1_thread(void * arg)
{
	task1_sem = xSemaphoreCreateBinary();
	if (NULL == task1_sem)
	{
			APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
	}
	
	uint32_t err_code;
	nrf_drv_gpiote_out_config_t pin_config = GPIOTE_CONFIG_OUT_SIMPLE(false);
	err_code = nrf_drv_gpiote_out_init(LED_4, &pin_config);
	APP_ERROR_CHECK(err_code);
	
	while(1)
	{
		xSemaphoreTake(task1_sem, 1024);
		
		nrf_drv_gpiote_out_toggle(LED_4);
	}
}

void task1_thread_init(void * p_context)
{
	if (pdPASS != xTaskCreate(task1_thread, "TASK1", 128, p_context, 1, &m_task1_thread))
    {
        APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
    }
}

task2.c

#include "task2.h"

#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"

#include "nrf_drv_gpiote.h"

static TaskHandle_t m_task2_thread;
SemaphoreHandle_t task2_sem;

static void task2_thread(void * arg)
{
	task2_sem = xSemaphoreCreateBinary();
	if (NULL == task2_sem)
	{
		APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
	}
	
	uint32_t err_code;
	nrf_drv_gpiote_out_config_t pin_config = GPIOTE_CONFIG_OUT_SIMPLE(false);
	err_code = nrf_drv_gpiote_out_init(LED_3, &pin_config);
	APP_ERROR_CHECK(err_code);
	
	while(1)
	{
		xSemaphoreTake(task2_sem, 512));
		
		nrf_drv_gpiote_out_toggle(LED_3);
	}
}

void task2_thread_init(void * p_context)
{
		if (pdPASS != xTaskCreate(task2_thread, "TASK2", 128, p_context, 2, &m_task2_thread))
    {
        APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
    }
}

RE: How to create two task with different task priority?

Susheel Nuguru — Thu, 08 Mar 2018 08:19:44 GMT

can you add the code for m_task1_thread and m_task2_thread? so that i can run them on my desk .