Hello,
I am trying to make a code running the Ble stack adn the FreeRtos one, i started from the project ble_app_hrs_freertos_pca10040_s132, i've just removed some things and added a task :
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// Board/nrf6310/ble/ble_app_hrs_rtx/main.c
/**
*
* @brief Heart Rate Service Sample Application with RTX main file.
*
* This file contains the source code for a sample application using RTX and the
* Heart Rate service (and also Battery and Device Information services).
* This application uses the @ref srvlib_conn_params module.
*/
#include <stdint.h>
#include <string.h>
#include "nordic_common.h"
#include "nrf.h"
#include "app_error.h"
#include "ble.h"
#include "ble_hci.h"
#include "ble_srv_common.h"
#include "ble_advdata.h"
#include "ble_advertising.h"
#include "ble_bas.h"
#include "ble_hrs.h"
#include "ble_dis.h"
#include "ble_conn_params.h"
#include "sensorsim.h"
#include "nrf_sdh.h"
#include "nrf_sdh_soc.h"
#include "nrf_sdh_ble.h"
#include "nrf_sdh_freertos.h"
#include "app_timer.h"
#include "bsp_btn_ble.h"
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"
#include "fds.h"
#include "ble_conn_state.h"
#include "nrf_drv_clock.h"
#include "nrf_ble_gatt.h"
#include "nrf_ble_qwr.h"
#include "nrf_log.h"
#include "nrf_log_ctrl.h"
#include "nrf_log_default_backends.h"
#define DEVICE_NAME "Nordic_HRM" /**< Name of device. Will be included in the advertising data. */
#define MANUFACTURER_NAME "NordicSemiconductor" /**< Manufacturer. Will be passed to Device Information Service. */
#define APP_BLE_OBSERVER_PRIO 3 /**< Application's BLE observer priority. You shouldn't need to modify this value. */
#define APP_BLE_CONN_CFG_TAG 1 /**< A tag identifying the SoftDevice BLE configuration. */
#define APP_ADV_INTERVAL 300 /**< The advertising interval (in units of 0.625 ms. This value corresponds to 187.5 ms). */
#define APP_ADV_DURATION 18000 /**< The advertising duration (180 seconds) in units of 10 milliseconds. */
#define MIN_CONN_INTERVAL MSEC_TO_UNITS(400, UNIT_1_25_MS) /**< Minimum acceptable connection interval (0.4 seconds). */
#define MAX_CONN_INTERVAL MSEC_TO_UNITS(650, UNIT_1_25_MS) /**< Maximum acceptable connection interval (0.65 second). */
#define SLAVE_LATENCY 0 /**< Slave latency. */
#define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS) /**< Connection supervisory time-out (4 seconds). */
#define FIRST_CONN_PARAMS_UPDATE_DELAY 5000 /**< Time from initiating event (connect or start of notification) to first time sd_ble_gap_conn_param_update is called (5 seconds). */
#define NEXT_CONN_PARAMS_UPDATE_DELAY 30000 /**< Time between each call to sd_ble_gap_conn_param_update after the first call (30 seconds). */
#define MAX_CONN_PARAMS_UPDATE_COUNT 3 /**< Number of attempts before giving up the connection parameter negotiation. */
#define SEC_PARAM_BOND 1 /**< Perform bonding. */
#define SEC_PARAM_MITM 0 /**< Man In The Middle protection not required. */
#define SEC_PARAM_LESC 0 /**< LE Secure Connections not enabled. */
#define SEC_PARAM_KEYPRESS 0 /**< Keypress notifications not enabled. */
#define SEC_PARAM_IO_CAPABILITIES BLE_GAP_IO_CAPS_NONE /**< No I/O capabilities. */
#define SEC_PARAM_OOB 0 /**< Out Of Band data not available. */
#define SEC_PARAM_MIN_KEY_SIZE 7 /**< Minimum encryption key size. */
#define SEC_PARAM_MAX_KEY_SIZE 16 /**< Maximum encryption key size. */
#define DEAD_BEEF 0xDEADBEEF /**< Value used as error code on stack dump, can be used to identify stack location on stack unwind. */
#define OSTIMER_WAIT_FOR_QUEUE 2 /**< Number of ticks to wait for the timer queue to be ready */
NRF_BLE_GATT_DEF(m_gatt); /**< GATT module instance. */
BLE_ADVERTISING_DEF(m_advertising); /**< Advertising module instance. */
static uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID; /**< Handle of the current connection. */
#if NRF_LOG_ENABLED
static TaskHandle_t m_logger_thread; /**< Definition of Logger thread. */
#endif
static void advertising_start(void * p_erase_bonds);
/**@brief Callback function for asserts in the SoftDevice.
*
* @details This function will be called in case of an assert in the SoftDevice.
*
* @warning This handler is an example only and does not fit a final product. You need to analyze
* how your product is supposed to react in case of Assert.
* @warning On assert from the SoftDevice, the system can only recover on reset.
*
* @param[in] line_num Line number of the failing ASSERT call.
* @param[in] file_name File name of the failing ASSERT call.
*/
void assert_nrf_callback(uint16_t line_num, const uint8_t * p_file_name)
{
app_error_handler(DEAD_BEEF, line_num, p_file_name);
}
/**@brief Function for the Timer initialization.
*
* @details Initializes the timer module. This creates and starts application timers.
*/
static void timers_init(void)
{
// Initialize timer module.
ret_code_t err_code = app_timer_init();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for the GAP initialization.
*
* @details This function sets up all the necessary GAP (Generic Access Profile) parameters of the
* device including the device name, appearance, and the preferred connection parameters.
*/
static void gap_params_init(void)
{
ret_code_t err_code;
ble_gap_conn_params_t gap_conn_params;
ble_gap_conn_sec_mode_t sec_mode;
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode);
err_code = sd_ble_gap_device_name_set(&sec_mode,
(const uint8_t *)DEVICE_NAME,
strlen(DEVICE_NAME));
APP_ERROR_CHECK(err_code);
memset(&gap_conn_params, 0, sizeof(gap_conn_params));
gap_conn_params.min_conn_interval = MIN_CONN_INTERVAL;
gap_conn_params.max_conn_interval = MAX_CONN_INTERVAL;
gap_conn_params.slave_latency = SLAVE_LATENCY;
gap_conn_params.conn_sup_timeout = CONN_SUP_TIMEOUT;
err_code = sd_ble_gap_ppcp_set(&gap_conn_params);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for initializing the GATT module. */
static void gatt_init(void)
{
ret_code_t err_code = nrf_ble_gatt_init(&m_gatt, NULL);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling the Connection Parameters Module.
*
* @details This function will be called for all events in the Connection Parameters Module which
* are passed to the application.
* @note All this function does is to disconnect. This could have been done by simply
* setting the disconnect_on_fail config parameter, but instead we use the event
* handler mechanism to demonstrate its use.
*
* @param[in] p_evt Event received from the Connection Parameters Module.
*/
static void on_conn_params_evt(ble_conn_params_evt_t * p_evt)
{
ret_code_t err_code;
if (p_evt->evt_type == BLE_CONN_PARAMS_EVT_FAILED)
{
err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_CONN_INTERVAL_UNACCEPTABLE);
APP_ERROR_CHECK(err_code);
}
}
/**@brief Function for handling a Connection Parameters error.
*
* @param[in] nrf_error Error code containing information about what went wrong.
*/
static void conn_params_error_handler(uint32_t nrf_error)
{
APP_ERROR_HANDLER(nrf_error);
}
/**@brief Function for initializing the Connection Parameters module. */
static void conn_params_init(void)
{
ret_code_t err_code;
ble_conn_params_init_t cp_init;
memset(&cp_init, 0, sizeof(cp_init));
cp_init.p_conn_params = NULL;
cp_init.first_conn_params_update_delay = FIRST_CONN_PARAMS_UPDATE_DELAY;
cp_init.next_conn_params_update_delay = NEXT_CONN_PARAMS_UPDATE_DELAY;
cp_init.max_conn_params_update_count = MAX_CONN_PARAMS_UPDATE_COUNT;
//cp_init.start_on_notify_cccd_handle = m_qwr.hrm_handles.cccd_handle;
cp_init.disconnect_on_fail = false;
cp_init.evt_handler = on_conn_params_evt;
cp_init.error_handler = conn_params_error_handler;
err_code = ble_conn_params_init(&cp_init);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for putting the chip into sleep mode.
*
* @note This function will not return.
*/
static void sleep_mode_enter(void)
{
ret_code_t err_code;
err_code = bsp_indication_set(BSP_INDICATE_IDLE);
APP_ERROR_CHECK(err_code);
// Prepare wakeup buttons.
err_code = bsp_btn_ble_sleep_mode_prepare();
APP_ERROR_CHECK(err_code);
// Go to system-off mode (this function will not return; wakeup will cause a reset).
err_code = sd_power_system_off();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling advertising events.
*
* @details This function will be called for advertising events which are passed to the application.
*
* @param[in] ble_adv_evt Advertising event.
*/
static void on_adv_evt(ble_adv_evt_t ble_adv_evt)
{
uint32_t err_code;
switch (ble_adv_evt)
{
case BLE_ADV_EVT_FAST:
NRF_LOG_INFO("Fast advertising.");
err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING);
APP_ERROR_CHECK(err_code);
break;
case BLE_ADV_EVT_IDLE:
sleep_mode_enter();
break;
default:
break;
}
}
/**@brief Function for handling BLE events.
*
* @param[in] p_ble_evt Bluetooth stack event.
* @param[in] p_context Unused.
*/
static void ble_evt_handler(ble_evt_t const * p_ble_evt, void * p_context)
{
uint32_t err_code;
switch (p_ble_evt->header.evt_id)
{
case BLE_GAP_EVT_CONNECTED:
NRF_LOG_INFO("Connected");
err_code = bsp_indication_set(BSP_INDICATE_CONNECTED);
APP_ERROR_CHECK(err_code);
m_conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
APP_ERROR_CHECK(err_code);
break;
case BLE_GAP_EVT_DISCONNECTED:
NRF_LOG_INFO("Disconnected");
m_conn_handle = BLE_CONN_HANDLE_INVALID;
break;
case BLE_GAP_EVT_PHY_UPDATE_REQUEST:
{
NRF_LOG_DEBUG("PHY update request.");
ble_gap_phys_t const phys =
{
.rx_phys = BLE_GAP_PHY_AUTO,
.tx_phys = BLE_GAP_PHY_AUTO,
};
err_code = sd_ble_gap_phy_update(p_ble_evt->evt.gap_evt.conn_handle, &phys);
APP_ERROR_CHECK(err_code);
} break;
case BLE_GATTC_EVT_TIMEOUT:
// Disconnect on GATT Client timeout event.
NRF_LOG_DEBUG("GATT Client Timeout.");
err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gattc_evt.conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTS_EVT_TIMEOUT:
// Disconnect on GATT Server timeout event.
NRF_LOG_DEBUG("GATT Server Timeout.");
err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gatts_evt.conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
APP_ERROR_CHECK(err_code);
break;
default:
// No implementation needed.
break;
}
}
/**@brief Function for initializing the BLE stack.
*
* @details Initializes the SoftDevice and the BLE event interrupt.
*/
static void ble_stack_init(void)
{
ret_code_t err_code;
err_code = nrf_sdh_enable_request();
APP_ERROR_CHECK(err_code);
// Configure the BLE stack using the default settings.
// Fetch the start address of the application RAM.
uint32_t ram_start = 0;
err_code = nrf_sdh_ble_default_cfg_set(APP_BLE_CONN_CFG_TAG, &ram_start);
APP_ERROR_CHECK(err_code);
// Enable BLE stack.
err_code = nrf_sdh_ble_enable(&ram_start);
APP_ERROR_CHECK(err_code);
// Register a handler for BLE events.
NRF_SDH_BLE_OBSERVER(m_ble_observer, APP_BLE_OBSERVER_PRIO, ble_evt_handler, NULL);
}
/**@brief Function for handling events from the BSP module.
*
* @param[in] event Event generated by button press.
*/
static void bsp_event_handler(bsp_event_t event)
{
ret_code_t err_code;
switch (event)
{
case BSP_EVENT_SLEEP:
sleep_mode_enter();
break;
case BSP_EVENT_DISCONNECT:
err_code = sd_ble_gap_disconnect(m_conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
if (err_code != NRF_ERROR_INVALID_STATE)
{
APP_ERROR_CHECK(err_code);
}
break;
case BSP_EVENT_WHITELIST_OFF:
if (m_conn_handle == BLE_CONN_HANDLE_INVALID)
{
err_code = ble_advertising_restart_without_whitelist(&m_advertising);
if (err_code != NRF_ERROR_INVALID_STATE)
{
APP_ERROR_CHECK(err_code);
}
}
break;
default:
break;
}
}
/**@brief Function for initializing the Advertising functionality. */
static void advertising_init(void)
{
ret_code_t err_code;
ble_advertising_init_t init;
memset(&init, 0, sizeof(init));
init.advdata.name_type = BLE_ADVDATA_FULL_NAME;
init.advdata.include_appearance = true;
init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_GENERAL_DISC_MODE;
//init.advdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]);
//init.advdata.uuids_complete.p_uuids = m_adv_uuids;
init.config.ble_adv_fast_enabled = true;
init.config.ble_adv_fast_interval = APP_ADV_INTERVAL;
init.config.ble_adv_fast_timeout = APP_ADV_DURATION;
init.evt_handler = on_adv_evt;
err_code = ble_advertising_init(&m_advertising, &init);
APP_ERROR_CHECK(err_code);
ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG);
}
/**@brief Function for initializing the nrf log module.
*/
static void log_init(void)
{
ret_code_t err_code = NRF_LOG_INIT(NULL);
APP_ERROR_CHECK(err_code);
NRF_LOG_DEFAULT_BACKENDS_INIT();
}
/**@brief Function for initializing buttons and leds.
*
* @param[out] p_erase_bonds Will be true if the clear bonding button was pressed to wake the application up.
*/
static void buttons_leds_init(bool * p_erase_bonds)
{
ret_code_t err_code;
bsp_event_t startup_event;
err_code = bsp_init(BSP_INIT_LEDS | BSP_INIT_BUTTONS, bsp_event_handler);
APP_ERROR_CHECK(err_code);
err_code = bsp_btn_ble_init(NULL, &startup_event);
APP_ERROR_CHECK(err_code);
*p_erase_bonds = (startup_event == BSP_EVENT_CLEAR_BONDING_DATA);
}
/**@brief Function for starting advertising. */
static void advertising_start(void * p_erase_bonds)
{
ret_code_t err_code = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST);
APP_ERROR_CHECK(err_code);
}
#if NRF_LOG_ENABLED
/**@brief Thread for handling the logger.
*
* @details This thread is responsible for processing log entries if logs are deferred.
* Thread flushes all log entries and suspends. It is resumed by idle task hook.
*
* @param[in] arg Pointer used for passing some arbitrary information (context) from the
* osThreadCreate() call to the thread.
*/
static void logger_thread(void * arg)
{
UNUSED_PARAMETER(arg);
while (1)
{
NRF_LOG_FLUSH();
vTaskSuspend(NULL); // Suspend myself
}
}
#endif //NRF_LOG_ENABLED
/**@brief A function which is hooked to idle task.
* @note Idle hook must be enabled in FreeRTOS configuration (configUSE_IDLE_HOOK).
*/
void vApplicationIdleHook( void )
{
#if NRF_LOG_ENABLED
vTaskResume(m_logger_thread);
#endif
}
/**@brief Function for initializing the clock.
*/
static void clock_init(void)
{
ret_code_t err_code = nrf_drv_clock_init();
APP_ERROR_CHECK(err_code);
}
TaskHandle_t A_function_task_handle;
static void A_function(void * pvParameter)
{
NRF_LOG_INFO("||function||---->>A_function---->>enter!");
UNUSED_PARAMETER(pvParameter);
while (true)
{
NRF_LOG_INFO("=================================================");
NRF_LOG_FLUSH();
//bsp_board_led_invert(BSP_BOARD_LED_2);
vTaskDelay(1000);
}
}
/**@brief Function for application main entry.
*/
int main(void)
{
bool erase_bonds;
// Initialize modules.
log_init();
clock_init();
// Do not start any interrupt that uses system functions before system initialisation.
// The best solution is to start the OS before any other initalisation.
#if NRF_LOG_ENABLED
// Start execution.
if (pdPASS != xTaskCreate(logger_thread, "LOGGER", 256, NULL, 1, &m_logger_thread))
{
APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
}
#endif
NRF_LOG_INFO("||Initialize||---->>xTaskCreate---->>completed!");
// Activate deep sleep mode.
SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
// Configure and initialize the BLE stack.
ble_stack_init();
// Initialize modules.
timers_init();
buttons_leds_init(&erase_bonds);
gap_params_init();
gatt_init();
advertising_init();
conn_params_init();
// Create a FreeRTOS task for the BLE stack.
// The task will run advertising_start() before entering its loop.
nrf_sdh_freertos_init(advertising_start, &erase_bonds);
NRF_LOG_INFO("HRS FreeRTOS example started.");
if (pdPASS != xTaskCreate(A_function, "FunA", 60, NULL, 2, &A_function_task_handle))
{
APP_ERROR_HANDLER(NRF_ERROR_NO_MEM);
}
// Start FreeRTOS scheduler.
vTaskStartScheduler();
NRF_LOG_INFO("||Wrong ||---->>FreeRTOS---->>Quite !!");
for (;;)
{
APP_ERROR_HANDLER(NRF_ERROR_FORBIDDEN);
}
}
When creating the tasks if a put a task depth of 256 the code leave the Task Sheduler like this :
<error> app: Fatal error
<warning> app: System reset
<info> app: ||Initialize||---->>xTaskCreate---->>completed!
<info> app: HRS FreeRTOS example started.
<info> app: ||Wrong ||---->>FreeRTOS---->>Quite !!
<error> app: Fatal error
<warning> app: System reset
<info> app: ||Initialize||---->>xTaskCreate---->>completed!
<info> app: HRS FreeRTOS example started.
<info> app: ||Wrong ||---->>FreeRTOS---->>Quite !!
<error> app: Fatal error
<warning> app: System reset
so i reduced the size to the minimum (60 i belive) and the code can start :
<info> app: HRS FreeRTOS example started.
<info> app: Fast advertising.
<info> app: ||function||---->>A_function---->>enter!
<info> app: =================================================
<info> app: =================================================
<info> app: =================================================
<info> app: =================================================
But i cannont connect to the BLE, the nRf connect app on my phone detects the module (so advertising works) but can't connect.
So i removed the Log from my "FunA" task
static void A_function(void * pvParameter)
{
NRF_LOG_INFO("||function||---->>A_function---->>enter!");
UNUSED_PARAMETER(pvParameter);
while (true)
{
//NRF_LOG_INFO("=================================================");
//NRF_LOG_FLUSH();
bsp_board_led_invert(BSP_BOARD_LED_2);
vTaskDelay(1000);
}
}
But now i have this issue :
<info> app: ||Initialize||---->>xTaskCreate---->>completed!
<info> app: HRS FreeRTOS example started.
<info> app: Fast advertising.
<info> app: ||function||---->>A_function---->>enter!
<error> hardfault: HARD FAULT at 0x0002B12E
<error> hardfault: R0: 0x00000000 R1: 0x00000000 R2: 0x0002B12E R3: 0x200070CC
<error> hardfault: R12: 0xA5A5A5A5 LR: 0x0002B67D PSR: 0x60000000
<error> hardfault: Cause: The processor has attempted to execute an instruction that makes illegal use of the EPSR.
<info> app: ||Initialize||---->>xTaskCreate---->>completed!
<info> app: HRS FreeRTOS example started.
<info> app: Fast advertising.
<info> app: ||function||---->>A_function---->>enter!
How exctly can i use as a parameter for the task depth ? I plan to have 4 or 5 tasks running at the same time.
Thank you for your help.
