TMS570LS0914: CAN boot loader problem when using freeRTOS

Keno

Part Number: TMS570LS0914
Other Parts Discussed in Thread: HALCOGEN

Hello,

I've started to work on CAN boot loader for TMS570LS0914. The boot loader is working fine with a single application witch doesn't run on freeRTOS. When I use freeRTOS the application doesn't start at all, so I started to look for a solution. Based on tms570ls20212 custom bootloader and freertos thread, I modified my code, but than there were other problems, my boot loader code stuck here in the startup code:

if ((esmREG->SR1[2]) != 0U)
{
/* USER CODE BEGIN (24) */
/* USER CODE END */
/*SAFETYMCUSW 5 C MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
/*SAFETYMCUSW 26 S MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
/*SAFETYMCUSW 28 D MR:NA <APPROVED> "for(;;) can be removed by adding "# if 0" and "# endif" in the user codes above and below" */
for(;;)

{

}/* Wait */
/* USER CODE BEGIN (25) */
/* USER CODE END */
}

When I removed this for loop, than I could use a simple led blink program with freeRTOS, but when I tried to upload our product code, than only the led blinking task worked, but that was at least ten times slower.

Thank you!

Kind regards,

Keno

over 8 years ago

0 QJ Wang over 8 years ago

TI__Guru**** 196276 points

Hello Keno,

I am not able to see your code. Can you please re-post again?

0 Keno over 8 years ago in reply to QJ Wang

Intellectual 550 points

Hello QJ,

I reposted the previous post. Thank you!

Kind regards,
Keno

0 NeilBerry_at_Parker over 8 years ago

Expert 1995 points

These might sound like unusual suggestions, but they were important to me on RM46 effort.

Make sure that threads you created in FreeRTOS include the "privilege bit" as a part of priority settings, if any of those threads has CANx port interaction.
Make sure that the privilege values you select are suitable for ISR actions.

0 Keno over 8 years ago in reply to NeilBerry_at_Parker

Intellectual 550 points

Helo,

Can you explain me this sentence please: "Make sure that threads you created in FreeRTOS include the "privilege bit" as a part of priority settings"? Can you give much more details or example code, unfortunately I don't understand how you mean it. Thank you!

Kind regards,
Keno

0 NeilBerry_at_Parker over 8 years ago in reply to Keno

Expert 1995 points

These suggestions are based on the idea that if you are using FreeRTOS, then you are creating tasks.

Result = xTaskCreate(pFunction,
pName,
StackDepth,
NULL,
Prio | portPRIVILEGE_BIT,
&TaskHandleVector[Index]);

0 Keno over 8 years ago in reply to NeilBerry_at_Parker

Intellectual 550 points

Ok, I will test it soon and I let you know the result. Thanks.

0 Keno over 8 years ago in reply to Keno

Intellectual 550 points

Unfortunately this solution didn't help me, nothing is changed.

0 NeilBerry_at_Parker over 8 years ago in reply to Keno

Expert 1995 points

I found the HalCoGen samples were very good places to start (ie build fresh). I started with FreeRTOS Blinky, and then followed the ISR CAN example.

0 Keno over 8 years ago in reply to NeilBerry_at_Parker

Intellectual 550 points

Yeah, I started from there, and boot loader is working with that application, but not with my much more complex porject, even if I remove everything except the led blink task.

0 NeilBerry_at_Parker over 8 years ago in reply to Keno

Expert 1995 points

Are you using "ISR" or "manual call" version
I recommend the ISR version (be sure to supply the notifier and clear away the blank notifier created by HalCoGen).

/* can interrupt notification */
/* Note-You need to remove canMessageNotification from notification.c to avoid redefinition */
#pragma WEAK(canMessageNotification)
void canMessageNotification(canBASE_t *node, unsigned int messageBox)

0 QJ Wang over 8 years ago in reply to NeilBerry_at_Parker

TI__Guru**** 196276 points

Hello Keno,

What is the value of esmREG->SR1[2] during the failure? Can you share the code for intvec (sys_intvecs.asm)?

0 Keno over 8 years ago in reply to NeilBerry_at_Parker

Intellectual 550 points

No, I don't use ISR or notification for CAN at all.

0 QJ Wang over 8 years ago in reply to NeilBerry_at_Parker

TI__Guru**** 196276 points

Hello Keno,

What is the value of the register esmREG->SR1[2]? Can you share this file with us (sys_intvecs.asm)?

0 Keno over 8 years ago in reply to QJ Wang

Intellectual 550 points

Hello QJ,

The esmREG:

and the sys_intvecs.asm:

Thank you!

Kind regards,

Norbert

0 NeilBerry_at_Parker over 8 years ago in reply to Keno

Expert 1995 points

What priority values did you use when you call xCreateTask?

0 Keno over 8 years ago in reply to NeilBerry_at_Parker

Intellectual 550 points

priority is 3

0 QJ Wang over 8 years ago in reply to Keno

TI__Guru**** 196276 points

Hello Keno,

The value of SR1[2] is 0, and EPSR=1 (no error has occurred), so the code should not get stuck at this place.

0 Keno over 8 years ago in reply to QJ Wang

Intellectual 550 points

Hello QJ,

I think I was wrong, the code is stuck somewhere in this code:
uint32_t Flash_Erase_Check(uint32_t Start_Address, uint32_t Bytes)
{
uint32_t error=0;
register uint32_t *dst1 = (uint32_t *) Start_Address;
register uint32_t bytes = Bytes;

while(bytes > 0)
{
if(*dst1++ != 0xFFFFFFFF){
error = 2;
}
bytes -= 0x4;
}
#ifdef DEBUG_MSG_L2
UART_putString(UART, "\r Erase Flash Errors: ");
UART_send32BitData(sciREG1, error);
UART_putString(UART, "\r ");
#endif
return(error);
}

Thank you!

Kind regards,
Keno

0 QJ Wang over 8 years ago in reply to Keno

TI__Guru**** 196276 points

Hello Keno,

Please undefined "DEBUG_MSG_L2", and place breakpoint in this function to find at which the code gets stuck . Please use the CCS memory browser to check the flash sector erased by your code. I guess the code might get stuck in your flash erase function.

0 Keno over 8 years ago in reply to QJ Wang

Intellectual 550 points

HL QJ,

Usually I can't debug the code which is running from RAM, I don't know why. I see this in disassembly:

But seems to me the program is working fine, just I can't read the RAM in this case. And I checked the flash from 0x00020000 and it seems to me the erasing is successful, and if I remove the check function it's working fine. Flash memory:

And I also observed that this problem is depending on application code size. When this problem is coming the program size is 0x00019e9e and if you devided with 4 than the reminder will be 2. So in the last checking operation bytes -= 0x4; the bytes value can be some very big address. So I modified the code like this:

uint32_t Flash_Erase_Check(uint32_t Start_Address, uint32_t Bytes)
{
uint32_t error=0;
register uint32_t *dst1 = (uint32_t *) Start_Address;
register uint32_t bytes = Bytes;

while(bytes > 0)
{
if(*dst1++ != 0xFFFFFFFF){
error = 2;
}
bytes -= 0x4;

if(bytes < 4)
{
if(*dst1++ != 0xFFFFFFFF)
{
error = 2;
}

bytes = 0;
}
}
#ifdef DEBUG_MSG_L2
UART_putString(UART, "\r Erase Flash Errors: ");
UART_send32BitData(sciREG1, error);
UART_putString(UART, "\r ");
#endif
return(error);
}

And with this modification the code is working fine every time and with every size of application code.

Kind regards,

Keno

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TMS570LS0914: CAN boot loader problem when using freeRTOS