CONFIG_ASSERT Cause Code to Crash

[Yuliang Hao]

As a test of nrf9160 DK board, I am trying to read a voltage signal and report it to the nRF cloud.  My original plan is to change a bit of the Asset Tracking sample code and the add the reading of one ADC channel.   

The ADC reading code is basically copied from the Simon tutorial sample here:

https://devzone.nordicsemi.com/nordic/nrf-connect-sdk-guides/b/getting-started/posts/nrf-connect-sdk-tutorial---part-2-ncs-v1-4-0

Both the Asset Tracking code and tutorial code works fine by itself.  But combing the two code causes the system to crash.  

After a long frustration trial, I finally find the "CONFIG_ASSET=y" in the prj.conf cause the tutorial code to output this error message in the LTE Link Monitor and crash:

ASSERTION FAIL [((arch_is_in_isr() == 0) || ((timeout).ticks == (((k_timeout_t) {})).ticks))] @ WEST_TOPDIR/zephyr/kernel/sem.c:140

Any clues of how to fix this problem? Simon Ferres  

Thanks

[Simon]

I tried to set CONFIG_ASSERT=y in the prj.conf of the ADC sample, and encountered the same issue as you.

It seems like I made a mistake in the ADC code, by calling adc_sample inside the timer callback. Could you try the following main.c:

#include <zephyr.h>
#include <sys/printk.h>
#include <drivers/pwm.h>

#if defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP) ||  defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPPNS) || defined(CONFIG_BOARD_NRF9160DK_NRF9160NS) || defined(CONFIG_BOARD_NRF9160DK_NRF9160)

/*ADC definitions and includes*/
#include <hal/nrf_saadc.h>
#define ADC_DEVICE_NAME DT_LABEL(DT_INST(0, nordic_nrf_saadc))
#define ADC_RESOLUTION 10
#define ADC_GAIN ADC_GAIN_1_6
#define ADC_REFERENCE ADC_REF_INTERNAL
#define ADC_ACQUISITION_TIME ADC_ACQ_TIME(ADC_ACQ_TIME_MICROSECONDS, 10)
#define ADC_1ST_CHANNEL_ID 0  
#define ADC_1ST_CHANNEL_INPUT NRF_SAADC_INPUT_AIN0

#define PWM_DEVICE_NAME DT_PROP(DT_NODELABEL(pwm0), label)
#define PWM_CH0_PIN DT_PROP(DT_NODELABEL(pwm0), ch0_pin)

#else
#error "Choose supported board or add new board for the application"
#endif

#include <zephyr.h>
#include <device.h>
#include <drivers/gpio.h>
#include <drivers/adc.h>
#include <string.h>
#include <drivers/pwm.h>

#define PWM_MAX 253
#define TIMER_INTERVAL_MSEC 200
#define BUFFER_SIZE 1

struct k_timer my_timer;
const struct device *adc_dev;
const struct device *pwm_dev;

K_SEM_DEFINE(adc_sem, 0, 1);

static const struct adc_channel_cfg m_1st_channel_cfg = {
	.gain = ADC_GAIN,
	.reference = ADC_REFERENCE,
	.acquisition_time = ADC_ACQUISITION_TIME,
	.channel_id = ADC_1ST_CHANNEL_ID,
#if defined(CONFIG_ADC_CONFIGURABLE_INPUTS)
	.input_positive = ADC_1ST_CHANNEL_INPUT,
#endif
};

static s16_t m_sample_buffer[BUFFER_SIZE];

static int adc_sample(void)
{
	int ret;
	const struct adc_sequence sequence = {
		.channels = BIT(ADC_1ST_CHANNEL_ID),
		.buffer = m_sample_buffer,
		.buffer_size = sizeof(m_sample_buffer),
		.resolution = ADC_RESOLUTION,
	};

	if (!adc_dev) {
		return -1;
	}

	ret = adc_read(adc_dev, &sequence);
	if (ret) {
        printk("adc_read() failed with code %d\n", ret);
	}
	for (int i = 0; i < BUFFER_SIZE; i++) {
                printk("ADC raw value: %d\n", m_sample_buffer[i]);
                float val = ((float)PWM_MAX/(float)568)*(float)m_sample_buffer[i];
                printk("Setting pulse to: %f\n", val);
                pwm_pin_set_usec(pwm_dev, PWM_CH0_PIN , PWM_MAX, val, 0);
	}

	return ret;
}

void adc_sample_event(struct k_timer *timer_id){
    k_sem_give(&adc_sem);
    /*int err = adc_sample();
    if (err) {
        printk("Error in adc sampling: %d\n", err);
    }*/
}

void main(void)
{
    int err;
    //PWM0 setup
    pwm_dev = device_get_binding(PWM_DEVICE_NAME);
    if (!pwm_dev) {
	    printk("device_get_binding() PWM0 failed\n");
	}
    //Timer setup
    k_timer_init(&my_timer, adc_sample_event, NULL);
    k_timer_start(&my_timer, K_MSEC(TIMER_INTERVAL_MSEC), K_MSEC(TIMER_INTERVAL_MSEC));

     
    //ADC0 setup
    adc_dev = device_get_binding(ADC_DEVICE_NAME);
	if (!adc_dev) {
        printk("device_get_binding ADC_0 (=%s) failed\n", ADC_DEVICE_NAME);
    } 
    err = adc_channel_setup(adc_dev, &m_1st_channel_cfg);
    if (err) {
	    printk("Error in adc setup: %d\n", err);
	}

    #if defined(CONFIG_BOARD_NRF9160DK_NRF9160NS) ||  defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPPNS)
    NRF_SAADC_NS->TASKS_CALIBRATEOFFSET = 1;
    #elif defined(CONFIG_BOARD_NRF9160DK_NRF9160) || defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP)
    NRF_SAADC->TASKS_CALIBRATEOFFSET = 1;
    #else
    #error "Choose supported board or add new board for the application"
    #endif
    while(true){
        k_sem_take(&adc_sem, K_FOREVER);
        adc_sample();
    }
}

Maybe a better approach than using a semaphore is to offload the adc reading to a work queue. The Asset Tracker uses work queues a lot, so take a look at that to get an understanding how to implement it.

I will do some more testing and update the tutorial soon.

Best regards,

Simon

[ChrtistophAT]

Hi Simon,

first of all great tutorial!! Tried the original way of the tutorial with my nrf5340-dk and newest sdk1.9.1 and the only thing I had to change for the PWM blink (without ADC) was the typedef from

s16_t to int16_t  and everything worked. Befor I got support from Marte in 

https://devzone.nordicsemi.com/f/nordic-q-a/86370/nrf-connect-sdk-tutorial---part-2-3-2-set-it-up---light_controller-not-working-vs-code

The original ADC sample I mad changes same like before s16_t to int16_t  and 

defined(CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP_NS) // the _ line was missing from the board definition.

Afterwards I got the build error

> Executing task: nRF Connect: Generate config nrf5340dk_nrf5340_cpuapp for c:\my_projects\light_controller_copy <

Building light_controller_copy
west build --build-dir c:\my_projects\light_controller_copy\build c:\my_projects\light_controller_copy --pristine --board nrf5340dk_nrf5340_cpuapp -- -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=On -DNCS_TOOLCHAIN_VERSION:STRING="NONE" -DCONFIG_DEBUG_OPTIMIZATIONS=y -DCONFIG_DEBUG_THREAD_INFO=y

-- west build: generating a build system
Including boilerplate (Zephyr base): C:/nordicsemi/v1.9.1/zephyr/cmake/app/boilerplate.cmake
-- Application: C:/my_projects/light_controller_copy
-- Zephyr version: 2.7.99 (C:/nordicsemi/v1.9.1/zephyr), build: v2.7.99-ncs1-1
-- Found Python3: C:/nordicsemi/v1.9.1/toolchain/opt/bin/python.exe (found suitable exact version "3.8.2") found components: Interpreter 
-- Found west (found suitable version "0.12.0", minimum required is "0.7.1")
-- Board: nrf5340dk_nrf5340_cpuapp
-- Cache files will be written to: C:/nordicsemi/v1.9.1/zephyr/.cache
-- Found dtc: C:/nordicsemi/v1.9.1/toolchain/opt/bin/dtc.exe (found suitable version "1.4.7", minimum required is "1.4.6")
-- Found toolchain: gnuarmemb (c:/nordicsemi/v1.9.1/toolchain/opt)
-- Found BOARD.dts: C:/nordicsemi/v1.9.1/zephyr/boards/arm/nrf5340dk_nrf5340/nrf5340dk_nrf5340_cpuapp.dts
-- Generated zephyr.dts: C:/my_projects/light_controller_copy/build/zephyr/zephyr.dts
-- Generated devicetree_unfixed.h: C:/my_projects/light_controller_copy/build/zephyr/include/generated/devicetree_unfixed.h
-- Generated device_extern.h: C:/my_projects/light_controller_copy/build/zephyr/include/generated/device_extern.h
-- Including generated dts.cmake file: C:/my_projects/light_controller_copy/build/zephyr/dts.cmake
Parsing C:/nordicsemi/v1.9.1/zephyr/Kconfig
Loaded configuration 'C:/nordicsemi/v1.9.1/zephyr/boards/arm/nrf5340dk_nrf5340/nrf5340dk_nrf5340_cpuapp_defconfig'
Merged configuration 'C:/my_projects/light_controller_copy/prj.conf'
Merged configuration 'C:/my_projects/light_controller_copy/build/zephyr/misc/generated/extra_kconfig_options.conf'
Configuration saved to 'C:/my_projects/light_controller_copy/build/zephyr/.config'
Kconfig header saved to 'C:/my_projects/light_controller_copy/build/zephyr/include/generated/autoconf.h'
-- The C compiler identification is GNU 9.2.1
-- The CXX compiler identification is GNU 9.2.1
-- The ASM compiler identification is GNU
-- Found assembler: C:/nordicsemi/v1.9.1/toolchain/opt/bin/arm-none-eabi-gcc.exe
-- Configuring done
-- Generating done
-- Build files have been written to: C:/my_projects/light_controller_copy/build
-- west build: building application
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[118/163] Building C object zephyr/CMakeFiles/zephyr.dir/C_/nordicsemi/v1.9.1/nrfxlib/crypto/nrf_cc312_platform/src/nrf_cc3xx_platform_abort_zephyr.c.obj
[119/163] Building C object zephyr/CMakeFiles/zephyr_pre0.dir/misc/empty_file.c.obj
[120/163] Generating linker_zephyr_pre1.cmd
[121/163] Building C object zephyr/arch/common/CMakeFiles/isr_tables.dir/isr_tables.c.obj
[122/163] Building C object zephyr/CMakeFiles/zephyr.dir/C_/nordicsemi/v1.9.1/nrfxlib/crypto/nrf_cc312_platform/src/nrf_cc3xx_platform_mutex_zephyr.c.obj
[123/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/system_work_q.c.obj
[124/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/condvar.c.obj
[125/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/xip.c.obj
[126/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/sched.c.obj
[127/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/main_weak.c.obj
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[131/163] Linking C static library zephyr\libzephyr.a
FAILED: zephyr/libzephyr.a 
cmd.exe /C "cd . && C:\nordicsemi\v1.9.1\toolchain\opt\bin\cmake.exe -E rm -f zephyr\libzephyr.a && C:\nordicsemi\v1.9.1\toolchain\opt\bin\arm-none-eabi-ar.exe qc zephyr\libzephyr.a  zephyr/CMakeFiles/zephyr.dir/lib/os/cbprintf.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/cbprintf_packaged.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/crc32c_sw.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/crc32_sw.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/crc16_sw.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/crc8_sw.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/crc7_sw.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/dec.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/fdtable.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/hex.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/notify.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/printk.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/onoff.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/rb.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/sem.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/thread_entry.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/timeutil.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/heap.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/heap-validate.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/bitarray.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/multi_heap.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/cbprintf_complete.c.obj zephyr/CMakeFiles/zephyr.dir/lib/os/reboot.c.obj zephyr/CMakeFiles/zephyr.dir/misc/generated/configs.c.obj zephyr/CMakeFiles/zephyr.dir/soc/arm/nordic_nrf/nrf53/soc.c.obj zephyr/CMakeFiles/zephyr.dir/soc/arm/nordic_nrf/nrf53/power.c.obj zephyr/CMakeFiles/zephyr.dir/soc/arm/nordic_nrf/common/soc_nrf_common.S.obj zephyr/CMakeFiles/zephyr.dir/soc/arm/nordic_nrf/validate_base_addresses.c.obj zephyr/CMakeFiles/zephyr.dir/soc/arm/nordic_nrf/validate_enabled_instances.c.obj zephyr/CMakeFiles/zephyr.dir/subsys/debug/thread_info.c.obj zephyr/CMakeFiles/zephyr.dir/subsys/pm/pm.c.obj zephyr/CMakeFiles/zephyr.dir/subsys/pm/constraint.c.obj zephyr/CMakeFiles/zephyr.dir/subsys/pm/policy/residency.c.obj zephyr/CMakeFiles/zephyr.dir/subsys/tracing/tracing_none.c.obj zephyr/CMakeFiles/zephyr.dir/C_/nordicsemi/v1.9.1/nrfxlib/crypto/nrf_cc312_platform/src/nrf_cc3xx_platform_abort_zephyr.c.obj zephyr/CMakeFiles/zephyr.dir/C_/nordicsemi/v1.9.1/nrfxlib/crypto/nrf_cc312_platform/src/nrf_cc3xx_platform_mutex_zephyr.c.obj && C:\nordicsemi\v1.9.1\toolchain\opt\bin\arm-none-eabi-ranlib.exe zephyr\libzephyr.a && cd ."
C:\nordicsemi\v1.9.1\toolchain\opt\bin\arm-none-eabi-ranlib.exe: zephyr\libzephyr.a: Permission denied
[132/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/fatal.c.obj
[133/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/kheap.c.obj
[134/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/init.c.obj
[135/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/version.c.obj
[136/163] Linking C static library zephyr\arch\common\libarch__common.a
[137/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/errno.c.obj
[138/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/device.c.obj
[139/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/mem_slab.c.obj
[140/163] Building C object zephyr/kernel/CMakeFiles/kernel.dir/mailbox.c.obj
ninja: build stopped: subcommand failed.
FATAL ERROR: command exited with status 1: 'c:\nordicsemi\v1.9.1\toolchain\opt\bin\cmake.EXE' --build 'c:\my_projects\light_controller_copy\build'
The terminal process terminated with exit code: 1.

Terminal will be reused by tasks, press any key to close it.

So I went to the code from you above in this post, upload succesfully done but when I put some wire to ADC pin P0.04 A0 there is no change in Terminal output.

I will continue with your mentioned "work queue " above, anyway would I like to light the LED by some potentiometer.

Many thanks in advance and best regards,

Christoph

[Marte Myrvold]

Hi Christoph,

Please create a new ticket with your issue. This ticket is almost a year old, and Simon is currently out of office.

Best regards,

Marte

[ChrtistophAT]

Hi Marte,

thank you and best regards!

Christoph