NRF522832 FreeRTOS can't start.

[Lurn_Z]

Hi everyone:

I developed an application based on freertos, but when I download it, I found it can not start, but when I use the RTT to connect my device, It worked.

The commend is

nrfutil settings generate --family NRF52 --application app.hex --application-version 0 --bootloader-version 0 --bl-settings-version 2 settings.hex
nrfjprog --eraseall -f NRF52
nrfjprog --program mbr_nrf52_2.4.1_mbr.hex --verify -f NRF52
nrfjprog --program nrf52832_xxaa_mbr.hex --verify -f NRF52
nrfjprog --program app.hex --verify -f NRF52
nrfjprog --program settings.hex --verify -f NRF52
nrfjprog --reset -f NRF52

SDK is 17.1.0.

Best regards,

Lurn.

[Edvin]

Hello,

I don't know what you have programmed using these commands. Did you program two MBRs? 

What HW are you running on? Is it a DK or a custom board?

Best regards,

Edvin

[Lurn_Z]

Sorry, the command is following, and I also try use keil to download.

nrfjprog --eraseall -f NRF52
nrfjprog --program mbr_nrf52_2.4.1_mbr.hex --verify -f NRF52
nrfjprog --program app.hex --verify -f NRF52
nrfjprog --reset -f NRF52

After building, I downloaded flash_ Mbr first, and then download the application.

The HW is custom board.

BR

Lurn

[Lurn_Z]

Edvin said:

Ok, can you please send me a strip down version, or at least an application that replicates the issue that you are seeing?  You can use one of the examples in the SDK as a starting point. 

Ok, but it might take some time. I can share a part of my code now, but application will take some time.

It looks like a bit of a mess, because I delete some another tasks things.

8823735.sdk_config.h

Fullscreen 1321.main.c Download

/**
 * Copyright (c) 2015 - 2021, Nordic Semiconductor ASA
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into a Nordic
 *    Semiconductor ASA integrated circuit in a product or a software update for
 *    such product, must reproduce the above copyright notice, this list of
 *    conditions and the following disclaimer in the documentation and/or other
 *    materials provided with the distribution.
 *
 * 3. Neither the name of Nordic Semiconductor ASA nor the names of its
 *    contributors may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    Nordic Semiconductor ASA integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be reverse
 *    engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
 * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
 * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */
/** @file
 * @defgroup blinky_example_main main.c
 * @{
 * @ingroup blinky_example_freertos
 *
 * @brief Blinky FreeRTOS Example Application main file.
 *
 * This file contains the source code for a sample application using FreeRTOS to blink LEDs.
 *
 */

#include <stdbool.h>
#include <stdint.h>

#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "bsp.h"
#include "nordic_common.h"
#include "nrf_drv_clock.h"
#include "sdk_errors.h"
#include "app_error.h"
#include "thread.h"
#include "nrf_power.h"
#include "nrf_pwr_mgmt.h"
#include "nrf_delay.h"


#if LEDS_NUMBER <= 2
#error "Board is not equipped with enough amount of LEDs"
#endif

#define TASK_DELAY        200           /**< Task delay. Delays a LED0 task for 200 ms */
#define TIMER_PERIOD      1000          /**< Timer period. LED1 timer will expire after 1000 ms */

#define BOOTLOADER_DFU_GPREGRET_MASK            (0xF8)      /**< Mask for GPGPREGRET bits used for the magic pattern written to GPREGRET register to signal between main app and DFU. */
#define BOOTLOADER_DFU_GPREGRET                 (0xB0)      /**< Magic pattern written to GPREGRET register to signal between main app and DFU. The 3 lower bits are assumed to be used for signalling purposes.*/
#define BOOTLOADER_DFU_START_BIT_MASK           (0x01)      /**< Bit mask to signal from main application to enter DFU mode using a buttonless service. */
#define BOOTLOADER_DFU_START    (BOOTLOADER_DFU_GPREGRET | BOOTLOADER_DFU_START_BIT_MASK)      /**< Magic number to signal that bootloader should enter DFU mode because of signal from Buttonless DFU in main app.*/


static void clocks_start( void )
{
    NRF_CLOCK->EVENTS_HFCLKSTARTED = 0;
    NRF_CLOCK->TASKS_HFCLKSTART = 1;

    while (NRF_CLOCK->EVENTS_HFCLKSTARTED == 0);
}

#if 1
static void enter_dfu(void)
{
    uint8_t old_gpregret = nrf_power_gpregret_get();
    SEGGER_RTT_printf(0, "get the old_gpregret = %d", old_gpregret);
    uint8_t new_gpregret = old_gpregret & BOOTLOADER_DFU_START;
    SEGGER_RTT_printf(0, "new_gpregret = %d", new_gpregret);
    uint8_t temp = 0;

    nrf_power_gpregret_set(BOOTLOADER_DFU_START);
    while((temp & BOOTLOADER_DFU_START) != BOOTLOADER_DFU_START)
    {
        temp = nrf_power_gpregret_get();
        SEGGER_RTT_printf(0, "temp = %d", temp);
    }
    nrf_pwr_mgmt_shutdown(NRF_PWR_MGMT_SHUTDOWN_GOTO_DFU);
    SEGGER_RTT_printf(0, "nrf_pwr_mgmt_shutdown NRF_PWR_MGMT_SHUTDOWN_GOTO_DFU and system reset.");
    NVIC_SystemReset();
}
#endif

int main(void)
{
    ret_code_t err_code;
    SEGGER_RTT_printf(0, "Start application.");
    /* Initialize clock driver for better time accuracy in FREERTOS */
    err_code = nrf_drv_clock_init();
    APP_ERROR_CHECK(err_code);
    clocks_start();
    /* Configure LED-pins as outputs */
    bsp_board_init(BSP_INIT_LEDS);

    // enter_dfu();

    thread_main();

    /* Activate deep sleep mode */
    SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;

    /* Start FreeRTOS scheduler. */
    vTaskStartScheduler();

    while (true)
    {
        /* FreeRTOS should not be here... FreeRTOS goes back to the start of stack
         * in vTaskStartScheduler function. */
    }
}

/**
 *@}
 **/

Fullscreen 1212.thread.c Download

/* FreeRTOS hearder */
#include "thread.h"
#include "uart.h"
#include "nrf_delay.h"

/**************************** task handler ********************************/
/* 
 * create task handler
 * if operate self , value can be NULL。
 * 
 */
// static TaskHandle_t AppTaskCreate_Handle;

TaskHandle_t RunTimeStats_Task_Handle;
TaskHandle_t Uart_Task_Handle;

/********************************** core handler *********************************/
/*
 * sem，queue，event，timer...
 * 
 */


/******************************* Global variable ************************************/
/*
 * Global variable
 */

/******************************* Macro Define ***************************************/
/*
 * Macro Define
 */
/*
****************************************************************************
*                              task name
*****************************************************************************
*/
#define RunTimeStatsTaskName                             "RunTimeStatsTask"
#define Uart_TaskName                                    "Uart_Task"

/*
****************************************************************************
*                               size
*****************************************************************************
*/
#define RunTimeStatsTaskSize                                      ( 128 )
#define Uart_TaskSize                                             ( 1024 )

/*
****************************************************************************
*                               prio
*****************************************************************************
*/
/*
MAX prio in FreeRTOS

#define configMAX_PRIORITIES                                                      ( 7 )
*/

#define RunTimeStatsTaskPrio                                      ( 3 )
#define Uart_TaskPrio                                             ( 5 )

/*
*****************************************************************************
*                              handler
*****************************************************************************
*/

extern TaskHandle_t RunTimeStats_Task_Handle;                        // Run state
extern TaskHandle_t Uart_Task_Handle;                                // Uart

/*
*************************************************************************
*                             Funtion
*************************************************************************

 /**********************************************************************
  * @ Fun  ： RunTimeStatsTask
  * @ param   ：   
  * @ retval  ： null
  ********************************************************************/

void RunTimeStatsTask(void)
{
    while(1)
    {
        int val;
        SEGGER_RTT_printf(0, "TaskName\t\t\t\tPrio\t\t\t\tStackSize");
        val = uxTaskGetStackHighWaterMark(Uart_Task_Handle);
        SEGGER_RTT_printf(0, "%s\t\t\t\t%d\t\t\t\t%d", Uart_TaskName, Uart_TaskPrio, val);
        vTaskDelay(10000);
    }
}

/**********************************************************************
  * @ Fun  ： Uart_task test
  * @ param   ：   
  * @ retval  ： null
  ********************************************************************/
void Uart_Task(void* parameter)
{
    uart_init();

    while(1)
    {
        uart_main();
        vTaskDelay(2);
    }
}

/*****************************************************************
  * @brief  HardWare_init
  * @param  null
  * @retval null
  * @note   init all hardware
  ****************************************************************/
void HardWare_init(void)
{

}

/*****************************************************************
  * @brief  main
  * @param  null
  * @retval null
  * @note   thread manager main
  ****************************************************************/
int thread_main(void)
{
    BaseType_t xReturn = pdPASS;
    int size = 0;

    HardWare_init();

    taskENTER_CRITICAL();

    xReturn = xTaskCreate((TaskFunction_t )Uart_Task,                 // enter fun
                        (const char*    )Uart_TaskName,               // name
                        (uint16_t       )Uart_TaskSize,               // size
                        (void*          )NULL,                        // enter param
                        (UBaseType_t    )Uart_TaskPrio,               // prio
                        (TaskHandle_t*  )&Uart_Task_Handle);          // task handle 

    SEGGER_RTT_printf(0, " xTaskCreate Uart_Task = %d\r\n", xReturn);
    if(pdPASS == xReturn)
        SEGGER_RTT_printf(0, "Uart_Task Create Done!\r\n");

    size = xPortGetFreeHeapSize();
    SEGGER_RTT_printf(0, "heap size = %d\r\n", size);

    taskEXIT_CRITICAL();
    if(pdPASS != xReturn)
        return -1;
    return pdPASS;
}

Fullscreen 1616.uart.c Download

/**
 * Copyright (c) 2014 - 2021, Nordic Semiconductor ASA
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into a Nordic
 *    Semiconductor ASA integrated circuit in a product or a software update for
 *    such product, must reproduce the above copyright notice, this list of
 *    conditions and the following disclaimer in the documentation and/or other
 *    materials provided with the distribution.
 *
 * 3. Neither the name of Nordic Semiconductor ASA nor the names of its
 *    contributors may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    Nordic Semiconductor ASA integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be reverse
 *    engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
 * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
 * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */
/** @file
 * @defgroup uart_example_main main.c
 * @{
 * @ingroup uart_example
 * @brief UART Example Application main file.
 *
 * This file contains the source code for a sample application using UART.
 *
 */

#include "thread.h"

#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include "app_uart.h"
#include "app_error.h"
#include "nrf_delay.h"
#include "nrf.h"
#include "bsp.h"
#if defined (UART_PRESENT)
#include "nrf_uart.h"
#endif
#if defined (UARTE_PRESENT)
#include "nrf_uarte.h"
#endif
#include "uart.h"
#include "nrf_drv_clock.h"
#include "esb.h"
#include "pairing_cmd.h"


#define UART_PRINTF( ... )  SEGGER_RTT_printf(0, __VA_ARGS__)


uint32_t app_timer_cnt_get(void)
{
    return xTaskGetTickCount();
}

uint32_t app_timer_cnt_diff_compute(uint32_t ticks_to,
                                    uint32_t ticks_from)
{
    return ((ticks_to - ticks_from) & RTC_COUNTER_COUNTER_Msk);
}

uint8_t data_array[UART_RX_BUF_SIZE];
static uint8_t index = 0;
static uint8_t flag = 0;

#include "nrf_libuarte_async.h"
#include <bsp.h>
#include "nrf_queue.h"

NRF_LIBUARTE_ASYNC_DEFINE(libuarte, 0, 0, 0, NRF_LIBUARTE_PERIPHERAL_NOT_USED, 255, 3);

static uint8_t text[] = "UART example started.\r\n Loopback:\r\n";
static uint8_t text_size = sizeof(text);
static volatile bool m_loopback_phase;

typedef struct {
    uint8_t * p_data;
    uint32_t length;
} buffer_t;

NRF_QUEUE_DEF(buffer_t, m_buf_queue, 10, NRF_QUEUE_MODE_NO_OVERFLOW);

void uart_event_handler(void * context, nrf_libuarte_async_evt_t * p_evt)
{
    nrf_libuarte_async_t * p_libuarte = (nrf_libuarte_async_t *)context;
    ret_code_t ret;

    switch (p_evt->type)
    {
        case NRF_LIBUARTE_ASYNC_EVT_ERROR:
            bsp_board_led_invert(0);
            break;
        case NRF_LIBUARTE_ASYNC_EVT_RX_DATA:
            ret = nrf_libuarte_async_tx(p_libuarte,p_evt->data.rxtx.p_data, p_evt->data.rxtx.length);
            buffer_t buf = {
                .p_data = p_evt->data.rxtx.p_data,
                .length = p_evt->data.rxtx.length,
            };
            if (ret == NRF_ERROR_BUSY)
            {

                ret = nrf_queue_push(&m_buf_queue, &buf);
                APP_ERROR_CHECK(ret);
            }
            else
            {
                APP_ERROR_CHECK(ret);
            }
            m_loopback_phase = true;
            uart_cmd_set(buf.p_data, buf.length);
            // memcpy(data_array, buf.p_data, buf.length);
            // flag = 1;
            break;
        case NRF_LIBUARTE_ASYNC_EVT_TX_DONE:
            if (m_loopback_phase)
            {
                nrf_libuarte_async_rx_free(p_libuarte, p_evt->data.rxtx.p_data, p_evt->data.rxtx.length);
                if (!nrf_queue_is_empty(&m_buf_queue))
                {
                    buffer_t buf;
                    ret = nrf_queue_pop(&m_buf_queue, &buf);
                    APP_ERROR_CHECK(ret);
                    UNUSED_RETURN_VALUE(nrf_libuarte_async_tx(p_libuarte, buf.p_data, buf.length));
                }
            }
            break;
        default:
            break;
    }
}

void uart_init()
{
    uint8_t err_code;
    nrf_libuarte_async_config_t nrf_libuarte_async_config = {
            .tx_pin     = TX_PIN_NUMBER,
            .rx_pin     = RX_PIN_NUMBER,
            .baudrate   = NRF_UARTE_BAUDRATE_921600,
            .parity     = NRF_UARTE_PARITY_EXCLUDED,
            .hwfc       = NRF_UARTE_HWFC_DISABLED,
            .timeout_us = 0,
            .int_prio   = APP_IRQ_PRIORITY_HIGH,
            .pullup_rx  = 1
    };

    err_code = nrf_libuarte_async_init(&libuarte, &nrf_libuarte_async_config, uart_event_handler, (void *)&libuarte);
    UART_PRINTF("nrf_libuarte_async_init err_code = %d.", err_code);
    APP_ERROR_CHECK(err_code);

    nrf_libuarte_async_enable(&libuarte);

    // err_code = nrf_libuarte_async_tx(&libuarte, text, text_size);
    // UART_PRINTF("nrf_libuarte_async_tx err_code = %d.", err_code);
    // APP_ERROR_CHECK(err_code);
}

#endif

/**
 * @brief Function for main application entry.
 */
void uart_main(void)
{
	#if 0
    while (flag)
    {
        UART_PRINTF("data_array = %s", data_array);
        memset(&data_array, 0, UART_RX_BUF_SIZE);
        flag = 0;
    }
	#endif
}

/** @} */

Edvin said:

earch your application's sdk_config.h for "LF_SRC".

yes, they all set to 1, after set it to 0, threads aren't started too.

Edvin said:

..RC_CTIV should be set to 16
...RC_TEMP_CTIV should be set to 2
...CLOCK_LF_ACCURACY should be set to 1

Sorry, I didn't have the occurrences like you said...

BR,

Lurn

[Lurn_Z]

you can see the application in examples/peripheral/blinky_freertos/pca10040/blank/arm5_no_packs.

I removed a lot of things that were not related to UART. So, maybe it looks like a bit of a mess.

1768.nRF5_SDK_17.1.0_ddde560.rar

BR,

Lurn

[Edvin]

Please zip a project that I can unzip that will compile where I can recreate the issue.

[Lurn_Z]

ok, try this

nRF5_SDK_17.1.0.zip

[Edvin]

EDIT:

DON'T change the port.c file. Only change the RAM start and RAM size:

BR,

Edvin

[Lurn_Z]

it's worked, so the reason is start process interrupted by kernel?

[Edvin]

Actually, I spoke to a colleague of mine who wrote the FreeRTOS port for nRF52. Don't comment out the lines from my previous reply. Just change the RAM start. 

[Lurn_Z]

Ok, it's worked too, but why?

[Edvin]

The issue was only the RAM start. Interrupts are forwarded by the MBR, but if you don't set the RAM start address correctly, it will not receive it's interrupts correctly.

BR,
Edvin

[Lurn_Z]

OK, thanks I think this problem has been solved.