RTOS/AM5728: Periodic task not working

Ahmed Ghumman

Part Number: AM5728
Other Parts Discussed in Thread: BEAGLEBOARD-X15, , SYSBIOS

Tool/software: TI-RTOS

Hi,

I'm using Beagleboard-X15 (AM5728). I'm trying to send dummy values on default UART (UART3) to bluetooth module. I've created a task which I want to repeat every 250 ms. The attached code just send the information on UART just once and doesn't send it again.

Please help.

Thanks.

Fullscreen am5728_dsp_periodic_uart_not_working.c Download

/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Diags.h>
#include <xdc/runtime/Log.h>
#include <xdc/runtime/Assert.h>
#include <xdc/runtime/Registry.h>

/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/ipc/Ipc.h>
#include <ti/ipc/MessageQ.h>
#include <ti/ipc/MultiProc.h>

/*In case I need to print something and miscellaneous files*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

/* CSL Header files */
#ifdef _TMS320C6X
#include <ti/csl/csl_chip.h>
#endif

/* TI-RTOS Header files */
#include <ti/drv/gpio/GPIO.h>
#include <ti/drv/gpio/soc/GPIO_soc.h>
#include <ti/drv/gpio/test/led_blink/src/GPIO_log.h>
#include <ti/drv/gpio/test/led_blink/src/GPIO_board.h>
#include <ti/board/board.h>

/* UART Header files */
#include <ti/drv/uart/UART.h>
#include <ti/drv/uart/src/UART_osal.h>
#include <ti/csl/hw_types.h>
#include <ti/csl/soc.h>
#include <ti/drv/uart/UART_stdio.h>
#include <ti/drv/uart/test/src/UART_board.h>


/*Following has function calls used to communicate with ARM processor*/
#include "Server.h"


/**********************************************************************
 ************************** Internal functions ************************
 **********************************************************************/

/* uart clock callback function */
void clock_fxn_uart(UArg arg);

/* Create a uart task*/
void uart_task_creation();

void UART_CrossbarConfigure(void);
void Board_initUART(void);
Void uart_test(UArg arg0, UArg arg1);


/**********************************************************************
 ************************** Global Variables **************************
 **********************************************************************/

Clock_Handle hClockUart = NULL;     // used for system clock for Uart


/*Function definitions*/

void Board_initUART(void)
{
    Board_initCfg boardCfg;


    boardCfg = BOARD_INIT_PINMUX_CONFIG |
               BOARD_INIT_MODULE_CLOCK  |
               BOARD_INIT_UART_STDIO;


    Board_init(boardCfg);
}

Void uart_test(UArg arg0, UArg arg1)
{

    Board_initUART();   //Configure GPIO pins and UART
    UART_CrossbarConfigure();
    static int i=0;
    char input = '\n';
    char *buffPointer;

    buffPointer = (char*)malloc(INPUT_LENGTH);
    memset(buffPointer,0,INPUT_LENGTH);

    //UART_puts("\nuart driver and utils example test cases :\nEnter 16 characters or press Esc \n",sizeof("uart driver and utils example test cases : please enter 16 characters or press Esc or carriage return\n"));
    int w, y;
        UART_puts("Value to TC1:",sizeof("Value to TC1:"));
        UART_putc(i);

        for (w=0; w<10000000; w++ )
        {
            for (y=0; y<10; y++ )
            {

            }
        }
        i++;
} /* uart_test */


/*
 *  Uart task created to output data to bluetooth
 */
void uart_task_creation()
{
    /* Call board init functions */
    Task_Handle taskUart;
    Clock_Params clockParamsUart;           // clock parameters created
    Error_Block ebUart;

    Board_initUART();   //Configure GPIO pins and UART

    UART_CrossbarConfigure();

    Error_init(&ebUart);
    taskUart = Task_create(uart_test, NULL, &ebUart);
    if (taskUart == NULL) {
        System_printf("Task_create() failed!\n");
        BIOS_exit(0);
    }

    /* setting up clock */
    Clock_Params_init(&clockParamsUart);
    clockParamsUart.period = 250;                                   // set period
    clockParamsUart.startFlag = FALSE;                              // don't know why it's false
    hClockUart = Clock_create(clock_fxn_uart, TIMER_DELAY_UART, &clockParamsUart, &ebUart);      // After every 5 ms call the function clockFxn
    if (hClockUart == NULL) {                                       // If clock  creation is failed, throw an error and
        System_printf("Clock_create() failed!\n");              // shutdown the processor
        BIOS_exit(0);
    }

}

/*
 * clock_fxn_uart function: This is time triggered function. This is called every TIMER_DELAY_UART ms.
 */
void clock_fxn_uart(UArg arg) {
    uart_test(NULL, NULL);           // Start UART communication with bluetooth

}

/*
 *  ======== main ========
 */
int main(void)
{
    uart_task_creation();

    /* Start BIOS */

    BIOS_start();
    return (0);
}

Fullscreen am5728_dsp_periodic_uart_not_working.c Download

/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Diags.h>
#include <xdc/runtime/Log.h>
#include <xdc/runtime/Assert.h>
#include <xdc/runtime/Registry.h>

/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/ipc/Ipc.h>
#include <ti/ipc/MessageQ.h>
#include <ti/ipc/MultiProc.h>

/*In case I need to print something and miscellaneous files*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

/* CSL Header files */
#ifdef _TMS320C6X
#include <ti/csl/csl_chip.h>
#endif

/* TI-RTOS Header files */
#include <ti/drv/gpio/GPIO.h>
#include <ti/drv/gpio/soc/GPIO_soc.h>
#include <ti/drv/gpio/test/led_blink/src/GPIO_log.h>
#include <ti/drv/gpio/test/led_blink/src/GPIO_board.h>
#include <ti/board/board.h>

/* UART Header files */
#include <ti/drv/uart/UART.h>
#include <ti/drv/uart/src/UART_osal.h>
#include <ti/csl/hw_types.h>
#include <ti/csl/soc.h>
#include <ti/drv/uart/UART_stdio.h>
#include <ti/drv/uart/test/src/UART_board.h>


/*Following has function calls used to communicate with ARM processor*/
#include "Server.h"


/**********************************************************************
 ************************** Internal functions ************************
 **********************************************************************/

/* uart clock callback function */
void clock_fxn_uart(UArg arg);

/* Create a uart task*/
void uart_task_creation();

void UART_CrossbarConfigure(void);
void Board_initUART(void);
Void uart_test(UArg arg0, UArg arg1);


/**********************************************************************
 ************************** Global Variables **************************
 **********************************************************************/

Clock_Handle hClockUart = NULL;     // used for system clock for Uart


/*Function definitions*/

void Board_initUART(void)
{
    Board_initCfg boardCfg;


    boardCfg = BOARD_INIT_PINMUX_CONFIG |
               BOARD_INIT_MODULE_CLOCK  |
               BOARD_INIT_UART_STDIO;


    Board_init(boardCfg);
}

Void uart_test(UArg arg0, UArg arg1)
{

    Board_initUART();   //Configure GPIO pins and UART
    UART_CrossbarConfigure();
    static int i=0;
    char input = '\n';
    char *buffPointer;

    buffPointer = (char*)malloc(INPUT_LENGTH);
    memset(buffPointer,0,INPUT_LENGTH);

    //UART_puts("\nuart driver and utils example test cases :\nEnter 16 characters or press Esc \n",sizeof("uart driver and utils example test cases : please enter 16 characters or press Esc or carriage return\n"));
    int w, y;
        UART_puts("Value to TC1:",sizeof("Value to TC1:"));
        UART_putc(i);

        for (w=0; w<10000000; w++ )
        {
            for (y=0; y<10; y++ )
            {

            }
        }
        i++;
} /* uart_test */


/*
 *  Uart task created to output data to bluetooth
 */
void uart_task_creation()
{
    /* Call board init functions */
    Task_Handle taskUart;
    Clock_Params clockParamsUart;           // clock parameters created
    Error_Block ebUart;

    Board_initUART();   //Configure GPIO pins and UART

    UART_CrossbarConfigure();

    Error_init(&ebUart);
    taskUart = Task_create(uart_test, NULL, &ebUart);
    if (taskUart == NULL) {
        System_printf("Task_create() failed!\n");
        BIOS_exit(0);
    }

    /* setting up clock */
    Clock_Params_init(&clockParamsUart);
    clockParamsUart.period = 250;                                   // set period
    clockParamsUart.startFlag = FALSE;                              // don't know why it's false
    hClockUart = Clock_create(clock_fxn_uart, TIMER_DELAY_UART, &clockParamsUart, &ebUart);      // After every 5 ms call the function clockFxn
    if (hClockUart == NULL) {                                       // If clock  creation is failed, throw an error and
        System_printf("Clock_create() failed!\n");              // shutdown the processor
        BIOS_exit(0);
    }

}

/*
 * clock_fxn_uart function: This is time triggered function. This is called every TIMER_DELAY_UART ms.
 */
void clock_fxn_uart(UArg arg) {
    uart_test(NULL, NULL);           // Start UART communication with bluetooth

}

/*
 *  ======== main ========
 */
int main(void)
{
    uart_task_creation();

    /* Start BIOS */

    BIOS_start();
    return (0);
}

over 8 years ago

0 Biser Gatchev-XID over 8 years ago

TI__Guru**** 393215 points

The RTOS team have been notified. They will respond here.

0 lding over 8 years ago in reply to Biser Gatchev-XID

TI__Guru* 95265 points

Hi,

Your clock function clock_fxn_uart() calls the uart_test(). Can you add a counter inside this clock_fxn_uart() to check if the problem is the clock function is only entered once? If this is the problem, you can refer to how to set up a periodic clock like below:

var timer0Params = new Timer.Params();
timer0Params.instance.name = "mytimer";
timer0Params.period = 1000;
timer0Params.periodType = xdc.module("ti.sysbios.interfaces.ITimer").PeriodType_MICROSECS;
Program.global.mytimer = Timer.create(5, "&timerIsr", timer0Params); // ok

This was tested and timeIsr can be entered multiple times.

Regards, Eric

0 Ahmed Ghumman over 8 years ago in reply to lding

Intellectual 380 points

Hi Eric,

You're right. clock_fxn_uart is called only once. But I can't use your code snippet because I think I've only one timer and as I'm also doing IPC so that timer is not available. I get "timer device unavailable error" when I used your code. Is there a way I can use any other timer or clock and do you have an example code for that.

Thanks.
-Ahmed.

0 lding over 8 years ago in reply to Ahmed Ghumman

TI__Guru* 95265 points

Please check: software-dl.ti.com/.../Timer.html

If the timer is already used or you are not sure which is available: Create could fail if timer peripheral is unavailable. To request any available timer use ANY as the id. TimerId's are logical ids. The family-specific implementations map the ids to physical peripherals.

Regards, Eric

0 Ahmed Ghumman over 8 years ago in reply to lding

Intellectual 380 points

I get error ""ANY" is not defined", when I add following lines in cfg file. (I've included #include <ti/sysbios/hal/Timer.h> line in my Main.c file)

var timer0Params = new Timer.Params();
timer0Params.instance.name = "mytimer";
timer0Params.period = 1000;
timer0Params.periodType = xdc.module("ti.sysbios.interfaces.ITimer").PeriodType_MICROSECS;
Program.global.mytimer = Timer.create(ANY, "&timerIsr", timer0Params); // ok

0 Ahmed Ghumman over 8 years ago in reply to Ahmed Ghumman

Intellectual 380 points

I changed last line to following and able to compile.
Program.global.mytimer = Timer.create(timer)Params.ANY, "&clock_fxn_uart", timer0Params); // ok

Still this is not calling the function clock_fxn_uart repetitively.

0 Ahmed Ghumman over 8 years ago in reply to Ahmed Ghumman

Intellectual 380 points

After more debugging I think both timer and clock code snippets run the routine/function repetitively. It's function call UART_puts or UART_putc or UART_write which sends information to bluetooth module only the first time and second time it aborts the thread.

0 Ahmed Ghumman over 8 years ago in reply to Ahmed Ghumman

Intellectual 380 points

Hi Eric,

What I ended up doing is that I put UART_printf command in while (1) loop and TI-RTOS is automatically switching between tasks, which will do what I'm trying to achieve. I've one more question. Right now I'm using UART3. I want to use UART1 instead of 3. Can you please point out how should I do pin muxing/any other changes to achieve that.

Thanks a lot for your help.
-Ahmed.

0 lding over 8 years ago in reply to Ahmed Ghumman

TI__Guru* 95265 points

Please refer to www.ti.com/.../sprac32.pdf. This steps also apply to AM437x.

Regards, Eric

0 Ahmed Ghumman over 8 years ago in reply to lding

Intellectual 380 points

I'm using AM5728, not 335 or 437. I used pinmux tool and enabled few uarts including UART1. The tool generated "boardPadDelay.h", "boardPadDelayDevice.c", "boardPadDelayInit.c" and "boardPadDelayTune.h" and some other text and csv files. I replaced all original four files from following directory with the above downloaded files.

ti-processor-sdk-rtos-am57xx-evm-04.00.00.04/pdk_am57xx_1_0_7/packages/ti/board/src/evmAM572x/

Then I recompile the directory using following commands and everything pass.

source pdksetupenv.sh

make clean

make LIMIT_BOARDS="evmAM572x" LIMIT_SOCS="am572x"

I'm trying to run uart_polling_test example from rtos sdk. The project compiles fine but doesn't send anything on UART 1. Attached is the main.c

Thanks.

-Ahmed.

Fullscreen uart_polling_test.c Download

/*
 * Copyright (C) 2015-2016 Texas Instruments Incorporated - http://www.ti.com/
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 *
 * Redistributions in binary form 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.
 *
 * Neither the name of Texas Instruments Incorporated nor the names of
 * its contributors may be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * OWNER 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  uart_test.c
 *
 *  \brief  Example application main file. This application will demonstrate
 *          UART RTOS driver for polling mode.
 *   This file performs as mentioned below:
 *
 *      1. Configure UART using structure UART_Params where user can configure
 *         readmode writemode etc. different parameters.
 *      2. First call UART_init()
 *      3. Call UART_open with UART_Params structure to get UART instance handle.
 *      4. Then user is expected to input some data(can be upto max 1000 chars)
 *         and it is printed back on console using UART RTOS API's
 *         UART_readPolling() and UART_write() respectively.
 *   Note
 *      1. The sample application is written for TDAXX EVM, DRA75X EVM and AM57XX.
 *      2. The UART instance used is UART1 for TDA2XX,AM57XX,DRA75X and
 *         UART3 for TDA3XX,DRA78X.
 *
**/

/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */
/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>

/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>

#include "stdio.h"
#include "stdint.h"
#include "stdlib.h"
#include "string.h"

/* UART Header files */
#include <ti/drv/uart/UART.h>
#include <ti/drv/uart/src/UART_osal.h>
#include <ti/csl/hw_types.h>
#include <ti/csl/soc.h>

/* ========================================================================== */
/*                           Macros & Typedefs                                */
/* ========================================================================== */
#if defined (SOC_TDA2XX) || defined (SOC_DRA75x) || defined (SOC_AM572x) || defined (SOC_TDA2EX) || defined (SOC_AM571x)
#define UART_INSTANCE 0
#endif
#if defined (SOC_TDA3XX) || defined (SOC_DRA78x)
#define UART_INSTANCE 2
#endif

/* ========================================================================== */
/*                          Internal Function Declarations                    */
/* ========================================================================== */
/* None */

/* ========================================================================== */
/*                            Global Variables                                */
/* ========================================================================== */
UART_Handle uart_handle;

/* UART parameters structure polled mode*/
const UART_Params user_params = {
    UART_MODE_BLOCKING,     /* readMode */
    UART_MODE_BLOCKING,     /* writeMode */
    0U,                     /* readTimeout */
    0U,                     /* writeTimeout */
    NULL,                  /* readCallback */
    NULL,                 /* writeCallback */
    UART_RETURN_NEWLINE,  /* readReturnMode */
    UART_DATA_TEXT,       /* readDataMode */
    UART_DATA_TEXT,       /* writeDataMode */
    UART_ECHO_ON,         /* readEcho */
    115200,               /* baudRate */
    UART_LEN_8,           /* dataLength */
    UART_STOP_ONE,        /* stopBits */
    UART_PAR_NONE         /* parityType */
};

/* ========================================================================== */
/*                          Function Definitions                              */
/* ========================================================================== */
void padConfig_prcmEnable()
{
#if defined (SOC_AM572x) || defined (SOC_AM571x)
    /*Pad configurations */
    HW_WR_REG32(CSL_MPU_CORE_PAD_IO_REGISTERS_REGS+CSL_CONTROL_CORE_PAD_IO_PAD_UART1_RXD,0x00040000);
    HW_WR_REG32(CSL_MPU_CORE_PAD_IO_REGISTERS_REGS+CSL_CONTROL_CORE_PAD_IO_PAD_UART1_TXD,0x00000000);
#endif
#if defined (SOC_TDA2XX) || defined (SOC_TDA2EX) || defined (SOC_DRA75x)
    /*Pad configurations */
    HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_UART1_RXD,0x00040000);
    HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_UART1_TXD,0x00000000);
#endif
#if defined (SOC_TDA3XX) || defined (SOC_DRA78x)
    /*Pad configurations */
    HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_IO_SPI1_SCLK,0x00040001);
    HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_IO_SPI1_CS0,0x00000001);
#endif
}

void uart_test(UArg arg0, UArg arg1)
{
    UART_Params      params;
    int32_t count;
    char input = '\n';
    char buffPointer[1000];
    char echoPrompt[] = "\nuart driver example test:\nEnter some data or press Esc \n";
    char echoPrompt1[] = "Data received is\n";

    padConfig_prcmEnable();

    UART_init();
    params = user_params;
    uart_handle = UART_open(UART_INSTANCE, &params);

    UART_write(uart_handle,echoPrompt,sizeof(echoPrompt));

    while(1)
       {
        count=UART_readPolling(uart_handle,buffPointer,1000);
        UART_write(uart_handle,&input,1U);
        UART_write(uart_handle,echoPrompt1,sizeof(echoPrompt1));
        UART_write(uart_handle,buffPointer,count);
        UART_write(uart_handle,echoPrompt,sizeof(echoPrompt));
       }
}

int main(void)
{
    Task_Handle task;
    Error_Block eb;

    Error_init(&eb);

    task = Task_create(uart_test, NULL, &eb);
    if (task == NULL) {
        System_printf("Task_create() failed!\n");
        BIOS_exit(0);
    }

    /* Start BIOS */
    BIOS_start();
    return (0);
}
/********************************* End of file ******************************/

0 lding over 8 years ago in reply to Ahmed Ghumman

TI__Guru* 95265 points

Hi,

The thread topic is timer. Can you open a new one for PINMUX as the timer issue was already resolved. Thanks!

Regards, Eric

0 Ahmed Ghumman over 8 years ago in reply to lding

Intellectual 380 points

Thank you.
Will do.

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RTOS/AM5728: Periodic task not working