Assert in FreeRTOS task.c: configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime )

[Ray Ma]

Hello,

I am using configUSE_TICKLESS_IDLE with RTC2 setup for FreeRTOS tick, occasionally I am seeing the asserting in task.c at line configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime ). Looking at the tickless idle code, I am wondering it this is caused by the inaccuracy of RTC2. Have you seen any issue like this before? Is there any suggestion for how to debug this further?

Thanks,

-Ray

 

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/* Correct the system ticks */

{

TickType_t diff;

TickType_t exitTime;

nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_TICK);

nrf_rtc_int_enable (portNRF_RTC_REG, NRF_RTC_INT_TICK_MASK);

exitTime = nrf_rtc_counter_get(portNRF_RTC_REG);

diff = (exitTime - enterTime) & portNRF_RTC_MAXTICKS;

/* It is important that we clear pending here so that our corrections are latest and in sync with tick_interrupt handler */

NVIC_ClearPendingIRQ(portNRF_RTC_IRQn);

if ((configUSE_TICKLESS_IDLE_SIMPLE_DEBUG) && (diff > xExpectedIdleTime))

{

diff = xExpectedIdleTime;

}

if (diff > 0)

{

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

        /* Correct the system ticks */
        {
            TickType_t diff;
            TickType_t exitTime;

            nrf_rtc_event_clear(portNRF_RTC_REG, NRF_RTC_EVENT_TICK);
            nrf_rtc_int_enable (portNRF_RTC_REG, NRF_RTC_INT_TICK_MASK);

            exitTime = nrf_rtc_counter_get(portNRF_RTC_REG);
            diff =  (exitTime - enterTime) & portNRF_RTC_MAXTICKS;

            /* It is important that we clear pending here so that our corrections are latest and in sync with tick_interrupt handler */
            NVIC_ClearPendingIRQ(portNRF_RTC_IRQn);

            if ((configUSE_TICKLESS_IDLE_SIMPLE_DEBUG) && (diff > xExpectedIdleTime))
            {
                diff = xExpectedIdleTime;
            }

            if (diff > 0)
            {
                vTaskStepTick(diff);
            }
        }