TM4C129DNCPDT: TM4C129DNCPDT: NMI Handler with TI RTOS

Surya S said:

IntRegister(FAULT_NMI, nmiHandler);

You cannot use IntRegister as this will destroy the vector table that has been created and managed by TI-RTOS. Refer to this post for explanation.  https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/849627/faq-can-i-update-the-vector-table-with-intregister-when-using-ti-rtos?tisearch=e2e-sitesearch&keymatch=ti-rtos%20vector%20table#

  If you look at the interrupt vector table, NMI is mapped to Vector number 2. 

You need to use the Hwi module to let TI-RTOS manage the NMI interrupt. 

myHwi = Hwi_create(2, (Hwi_FuncPtr)nmiHandler, &hwiParams, &eb);

Thanks for the communication.

Please find the following code, modified the code as suggested but NMI interrupt is not triggered.

volatile _Bool nmiFlag = false;

static void NMIMonitor(void)
{

while (1)
{

if (nmiFlag)
{
nmiFlag = 0;
GPIOPinWrite(GPIO_PORTM_BASE, GPIO_PIN_3, GPIO_PIN_3);
}

}

}

static void nmiHandler(UArg arg)
{
if (arg == 1)
{
MAP_GPIOIntClear(GPIO_PORTD_BASE, GPIO_PIN_7);
nmiFlag = true;
GPIOPinWrite(GPIO_PORTM_BASE, GPIO_PIN_3, GPIO_PIN_3);
}
}

void NMIMonitorTaskInit(void)
{
Task_Params NMI_monitor_taskParams;
Task_Params NMI_monitor_task;

//error block
Error_Block eb5;
Error_init(&eb5);

/* Initialize monitor task */
Task_Params_init(&NMI_monitor_taskParams);
NMI_monitor_taskParams.appTaskStackSize = 512; /* task size */
NMI_monitor_taskParams.appTaskPriority =
2; /* task priority */

NMI_monitor_task = Task_create((taskFunctionPtr) NMIMonitor,
&NMI_monitor_taskParams,
&eb5); /* task create */

// Register the NMI handler
Hwi_Params hwiParams;
Hwi_Params_init(&hwiParams);
hwiParams.arg = 0;
Hwi_create(FAULT_NMI, (Hwi_FuncPtr) nmiHandler, &hwiParams, NULL);

// Enable the NMI interrupt
Hwi_enableInterrupt(FAULT_NMI);

}

Bool initPortD(void)
{
uint8_t InitTry = 0;
do
{
MAP_SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOD);
if (InitTry++ >= PERIPHERAL_INIT_TRY_TIMES)
{
return __FAIL;
}
appSystemDelay(SYS_DELAY);
}
while (!MAP_SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOD));
MAP_GPIOPinTypeDIVSCLK(GPIO_PORTD_BASE,GPIO_PIN_7);

MAP_GPIOUnlockPin(GPIO_PORTD_BASE, GPIO_PIN_7);
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_7);
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= GPIO_PIN_7;
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0;
MAP_GPIOIntTypeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);

GPIOPinConfigure(GPIO_PD7_NMI);
// IntRegister(FAULT_NMI, nmiHandler);
IntEnable(FAULT_NMI);

return __PASS;
}

Please suggest anything I'm missing here. Kindly provide any sample code for the same.

What value is FAULT_NMI defined to?

Can you first try the below code or even your own initPortD() on a bare-metal (No RTOS) project? I want to know if the issue on the TI-RTOS side or not.

//
// Unlock the Port-Pin and Set the CR bit for PD7
//
HWREG(GPIO_PORTD_BASE+GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE+GPIO_O_CR) |= GPIO_PIN_7;
GPIOPinConfigure(GPIO_PD7_NMI);
GPIOPadConfigSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD_WPD);
GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_DIR_MODE_HW);

Hi Charles, 

Thanks for the communication.

Regarding the NMI without RTOS code, the following is the code. But NMI is not triggered anything missing in the below code. So I checked with debugging after MAP_GPIOUnlockPin(GPIO_PORTD_BASE, GPIO_PIN_7); function going to the FAULT_ISR. Please assist to do further.

#include <stdint.h>
#include <stdbool.h>
#include <inc/hw_memmap.h>
#include <inc/hw_types.h>
#include <inc/hw_nvic.h>
#include <driverlib/sysctl.h>
#include <driverlib/interrupt.h>
#include <driverlib/pin_map.h>
#include <driverlib/rom.h>
#include <driverlib/rom_map.h>
#include <driverlib/gpio.h>
#include <driverlib/interrupt.h>
#include <inc/hw_memmap.h>
#include <inc/hw_ints.h>
#include <inc/hw_gpio.h>

#define SYSTEM_CRYSTAL SYSCTL_XTAL_16MHZ
#define SYSTEM_MAIN_OSCILLATOR SYSCTL_OSC_MAIN
#define SYSTEM_PLL SYSCTL_USE_PLL
#define SYSTEM_VCO SYSCTL_CFG_VCO_240

#define SYSTEM_MAIN_CLOCK 120000000
// Define the register address for the System Handler Control and State Register (SHCSR)
#define NVIC_SYS_HND_CTRL_R (*((volatile uint32_t *)0xE000ED24))

// NMI Handler Function
void NMI_Handler(void)
{

uint16_t i;
// Handle the NMI interrupt (e.g., log the event, reset specific systems, etc.)
while (1)
{

GPIOPinWrite(GPIO_PORTM_BASE, GPIO_PIN_1,
GPIOPinRead(GPIO_PORTM_BASE, GPIO_PIN_1) ^ GPIO_PIN_1);

for (i = 0; i < 60000; i++)
;
// Infinite loop to indicate NMI has been triggered and handled
}
}

// Function to Initialize NMI Interrupt
void NMI_Init(void)
{
// Set NMI handler function pointer in the vector table (optional, if not set automatically)
IntRegister(FAULT_NMI, NMI_Handler); // This links the NMI interrupt to your handler.

// Enable NMI Interrupt in the System Handler Control and State Register (SHCSR)
NVIC_SYS_HND_CTRL_R |= 0x00000002; // Set bit 1 to enable NMI interrupt
}

int main(void)
{
// Set system clock (example using 120 MHz from PLL with crystal reference)
// SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), 120000000);
SysCtlClockFreqSet(
(SYSTEM_CRYSTAL | SYSTEM_MAIN_OSCILLATOR | SYSTEM_PLL | SYSTEM_VCO),
SYSTEM_MAIN_CLOCK);
SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOM);

while (!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOM))
;
GPIOPinTypeGPIOOutput( GPIO_PORTM_BASE, GPIO_PIN_1); /* leds */

MAP_GPIOUnlockPin(GPIO_PORTD_BASE, GPIO_PIN_7);
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_7);
// HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
// HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= GPIO_PIN_7;
// HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0;
MAP_GPIOIntTypeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);

GPIOPinConfigure(GPIO_PD7_NMI);
GPIOPadConfigSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_STRENGTH_8MA,
GPIO_PIN_TYPE_STD_WPD);
GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_DIR_MODE_HW);

// Initialize NMI interrupt
NMI_Init();

// Main loop
while (1)
{
// Application code
}
}

Hi,

  Sorry the late reply as I was out of office and just got back. 

Surya S said:

So I checked with debugging after MAP_GPIOUnlockPin(GPIO_PORTD_BASE, GPIO_PIN_7); function going to the FAULT_ISR. Please assist to do further.

With your newest code, I don't see MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD) getting called you configure Port D. I see you call enable Port M but not port D. 

Thanks for the notice. 

Even I noticed and updated the code.

Here my observation is going to the NMI handler. 

With bare metal code NMI is triggering.

What if I wanted to do with TI RTOS. Following is my code. NMI interrupt is not triggering.

_Bool initPortD(void)
{

MAP_SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOD);

while (!MAP_SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOD));
MAP_GPIOPinTypeDIVSCLK(GPIO_PORTD_BASE,GPIO_PIN_7 );

HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= GPIO_PIN_7;
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0;

// Set PD7 as input
MAP_GPIOPinTypeGPIOInput(GPIO_PORTD_BASE, GPIO_PIN_7);

// Configure PD7 to trigger an NMI on a falling edge
MAP_GPIOIntTypeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);

GPIOPinConfigure(GPIO_PD7_NMI);

init_nmi();

return __PASS;
}

void init_nmi(void)

{

// Register the NMI handler
 Hwi_Params hwiParams;
 Hwi_Params_init(&hwiParams);
 hwiParams.arg = 0;
 Hwi_create(FAULT_NMI, (Hwi_FuncPtr) nmiHandler, &hwiParams, NULL);

// Enable the NMI interrupt
Hwi_enableInterrupt(FAULT_NMI);

}

static void nmiHandler(UArg arg)
{

MAP_GPIOIntClear(GPIO_PORTD_BASE, GPIO_PIN_7);

}

Kindly assist to proceed further.

Hi,

  I find this post that will be useful on how to handle NMI for TI-RTOS. 

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/375721/nmi-interrupt-with-ti-rtos