RTOS/MSP432P4111: SysTick_Handler and FreeRTOS

user5841294

Expert 1120 points

Part Number: MSP432P4111

Tool/software: TI-RTOS

Hi,

I have a question about the using of SysTick and SysTick_Hanldler ISR with FreeRTOS.

In a NORTOS project I use the SysTick and the ISR:

void SysTick_Handler(void){
    Tick += 1;
}

int main(void)
{
...   
    SysTick_enableModule();
    SysTick_setPeriod(0x01000000);
    SysTick_enableInterrupt();

    MAP_Interrupt_enableMaster();

...
}

But now with FreeRTOS it ends in this fault handler:

/* This is the code that gets called when the processor receives a fault        */
/* interrupt.  This simply enters an infinite loop, preserving the system state */
/* for examination by a debugger.                                               */
static void faultISR(void)
{
    /* Enter an infinite loop. */
    while(1)
    {
    }
}

After reading I think that it should be the xPortSysTickHandler() instead of Systick_Handler().

But if I use xPortSysTickHandler() then I get this error message which says that it is redefined:
symbol "xPortSysTickHandler" redefined: first defined in "./main_freertos.obj"; redefined in "C:.../freertos_builds_MSP_EXP432P4111_release_ccs_2_30_00_14/Debug/freertos_builds_MSP_EXP432P4111_release_ccs_2_30_00_14.lib<port.obj>" null: symbol "xPortSysTickHandler" redefined: first defined in "./main_freertos.obj"; redefined in "C:/...freertos_builds_MSP_EXP432P4111_release_ccs_2_30_00_14/Debug/freertos_builds_MSP_EXP432P4111_release_ccs_2_30_00_14.lib<port.obj>"

How can I fix this error?

Thanks

over 4 years ago

0 Chris Sterzik over 4 years ago

TI__Guru 53555 points

How are you using the xPortSysTickHandler() API?

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

I replaced Systick_Handler() with xPortSysTickHandler().
I saw that this function already exist:

freertos_builds_MSP_EXP432P4111_release_ccs_2_30_00_14\freertos\portable\CCS\ARM_CM4F\port.c
line 350: void xPortSysTickHandler( void )

But how can I recognize the SysTick Timer overflow in my project?

0 David Schultz over 4 years ago in reply to user5841294

Guru 18885 points

Is there some reason why you can't use a different timer?

0 user5841294 over 4 years ago in reply to David Schultz

Expert 1120 points

I think not. But with the SysTick Timer I have proved it with the NORTOS project.
With another timer I first have a look how it works. As far as I read there is
- one SysTick 24bit
- 4xTimer A 16bit
- 2xTimer32 32bit
But in which points do they differ (besides the bits)?
And did the TimerA and Timer32 Interrupt work with FreeRTOS?

0 Chris Sterzik over 4 years ago in reply to user5841294

TI__Guru 53555 points

Have you tried the FreeRTOS forum?

www.freertos.org/a00016.html

Regards,
Chris

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

Hi Chris,

I read something about the FreeRTOS RTOS tick hook (or callback) function. But I need a timer that counts every cycle of the system clock (48MHz).

0 Chris Sterzik over 4 years ago in reply to user5841294

TI__Guru 53555 points

There are several timers available on the device. Here is an example of the timer driver:
dev.ti.com/.../node

In the board file (MSP_EXP432P4111.c) you can see that the clock is defined as SMCLK for these timers. This however, is not correct for the TIMER32 which is sourced from MCLK, which would be your 48Mhz clock. Can you use this timer?

Regards,
Chris

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

Hi Chris,

the timerled project - that looks good. As far as I understand it calls the ISR every second with this two changes at the configuration:

    params.period = 4 294 967 296;
    params.periodUnits = Timer_PERIOD_COUNTS;

But how can I get the current timer32 value from a (Free)RTOS project?

With MAP_Timer32_getValue(TIMER32_BASE) it should work from noRTOS.

0 Chris Sterzik over 4 years ago in reply to user5841294

TI__Guru 53555 points

Yes. I would recommend using the driverLib API you mention. Be sure to include the driverLib in your source file.

/* Driverlib Header files */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>

Here is a FreeRTOS example with driverLib calls.

http://dev.ti.com/tirex/explore/node?node=AIMCSoB7KvEzM30jUTP9.g__z-lQYNj__LATEST

Regards,
Chris

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

With the

/* Driverlib Header files */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>

and

uint32_t curTimerVal = MAP_Timer32_getValue(TIMER32_BASE);

I get this error message:

MSP432P4111 is ok. What is the reason for this error message?

Thanks

0 Chris Sterzik over 4 years ago in reply to user5841294

TI__Guru 53555 points

I am not entirely sure. Looking at the MSP_EXP432P4111.c file I find the following:

#ifndef DeviceFamily_MSP432P4x1xI
#define DeviceFamily_MSP432P4x1xI
#endif

#include <ti/devices/DeviceFamily.h>

#include "MSP_EXP432P4111.h"

Looking at one of the freeRTOS examples I do not find the necessary includes in the projectSpec so it looks like the definition is expected in the context of the source code. Do you have a specific example that you are working from that i can confirm?

Thanks,
Chris

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

I work with this example until it works:

and there it is:

#ifndef DeviceFamily_MSP432P4x1xI
#define DeviceFamily_MSP432P4x1xI
#endif

#include <ti/devices/DeviceFamily.h>

#include "MSP_EXP432P4111.h"

in the file MSP_EXP432P4111.c.

0 Chris Sterzik over 4 years ago in reply to user5841294

TI__Guru 53555 points

Can you export the complete project, so I can look at the settings?

Regards,

Chris

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

Hi,

attached you can find the exported project.

Thanks

99_timer.zip

0 Chris Sterzik over 4 years ago in reply to user5841294

TI__Guru 53555 points

It looks like you have included the driverLib in the application file, timerled.c.

/* Driver Header files */
#include <ti/drivers/GPIO.h>
#include <ti/drivers/Timer.h>
#include <ti/devices/msp432p4xx/driverlib/driverlib.h> //gt

For simplicity I would recommend simply adding the symbol, __MSP432P4111__ .

Regards,

Chris

0 user5841294 over 4 years ago in reply to Chris Sterzik

Expert 1120 points

Hi Chris,

the missing symbol was the reason.

Thank you for support !

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RTOS/MSP432P4111: SysTick_Handler and FreeRTOS