CCS/CC1352R: Code ending up in the Error_policySpin

Hi Robert, 

To help you solve your issue I need some more information. Which version of the SDK are you using? Which project are you using and what kind of modifications have you made? Are you using a LaunchPad or a custom board?

Thanks, 
Elin

Hey Elin,

Thanks for your reply. I am using a CC1352R on a LaunchPad with SDK version 3.40.0 and XDCTools 3.60.1.27. Actually, the code now fails where it has not before and I found out that it is System_printf that crashes. The code below crashes:

main.c:

#define TASKSTACKSIZE 512

Task_Handle testHandle;
static uint8_t testStack[TASKSTACKSIZE];

static Void testFxn(UArg arg0, UArg arg1) {
int x = 10;
int y = x+4;
System_printf("Test test....\n"); // This line fails.
}

int main() {
Board_init();
Task_Params taskParams;
Task_Params_init(&taskParams);

Error_Block eb;
Error_init(&eb);

Task_Params_init(&taskParams);
Error_init(&eb);
taskParams.stackSize = TASKSTACKSIZE;
taskParams.stack = &testStack;
taskParams.priority = 2;
Task_construct(&testStruct, testFxn, &taskParams, &eb);

BIOS_start(); /* Does not return */
return(0);
}

hello.cfg:

/*
* Copyright (c) 2015-2017, Texas Instruments Incorporated
* All rights reserved.
*
* 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.
*/

/* ================ Boot configuration ================ */
var Boot = xdc.useModule('ti.sysbios.family.arm.cc26xx.Boot');
/*
* This module contains family specific Boot APIs and configuration settings.
* See the SYS/BIOS API guide for more information.
*/

/* ================ Clock configuration ================ */
var Clock = xdc.useModule('ti.sysbios.knl.Clock');
var Timer = xdc.useModule('ti.sysbios.hal.Timer');
var Event = xdc.useModule('ti.sysbios.knl.Event');
var Mailbox = xdc.useModule('ti.sysbios.knl.Mailbox');
/*
* When using Power and calibrateRCOSC is set to true, this should be set to 10.
* The timer used by the Clock module supports TickMode_DYNAMIC. This enables us
* to set the tick period to 10 us without generating the overhead of additional
* interrupts.
*
* Note: The calibrateRCOSC parameter is set within the Power configuration
* structure in the "Board.c" file.
*/
Clock.tickPeriod = 10;

/* ================ Defaults (module) configuration ================ */
var Defaults = xdc.useModule('xdc.runtime.Defaults');
/*
* A flag to allow module names to be loaded on the target. Module name
* strings are placed in the .const section for debugging purposes.
*
* Pick one:
* - true (default)
* Setting this parameter to true will include name strings in the .const
* section so that Errors and Asserts are easier to debug.
* - false
* Setting this parameter to false will reduce footprint in the .const
* section. As a result, Error and Assert messages will contain an
* "unknown module" prefix instead of the actual module name.
*
* When using BIOS in ROM:
* This option must be set to false.
*/
//Defaults.common$.namedModule = true;
Defaults.common$.namedModule = false;

/* ================ Error configuration ================ */
var Error = xdc.useModule('xdc.runtime.Error');
/*
* This function is called to handle all raised errors, but unlike
* Error.raiseHook, this function is responsible for completely handling the
* error with an appropriately initialized Error_Block.
*
* Pick one:
* - Error.policyDefault (default)
* Calls Error.raiseHook with an initialized Error_Block structure and logs
* the error using the module's logger.
* - Error.policySpin
* Simple alternative that traps on a while(1) loop for minimized target
* footprint.
* Using Error.policySpin, the Error.raiseHook will NOT called.
*/
//Error.policyFxn = Error.policyDefault;
Error.policyFxn = Error.policySpin;

/*
* If Error.policyFxn is set to Error.policyDefault, this function is called
* whenever an error is raised by the Error module.
*
* Pick one:
* - Error.print (default)
* Errors are formatted and output via System_printf() for easier
* debugging.
* - null
* Errors are not formatted or logged. This option reduces code footprint.
* - non-null function
* Errors invoke custom user function. See the Error module documentation
* for more details.
*/
//Error.raiseHook = Error.print;
Error.raiseHook = null;
//Error.raiseHook = "&myErrorFxn";

/*
* If Error.policyFxn is set to Error.policyDefault, this option applies to the
* maximum number of times the Error.raiseHook function can be recursively
* invoked. This option limits the possibility of an infinite recursion that
* could lead to a stack overflow.
* The default value is 16.
*/
Error.maxDepth = 2;

/* ================ Hwi configuration ================ */
var halHwi = xdc.useModule('ti.sysbios.hal.Hwi');
var m3Hwi = xdc.useModule('ti.sysbios.family.arm.m3.Hwi');
/*
* Checks for Hwi (system) stack overruns while in the Idle loop.
*
* Pick one:
* - true (default)
* Checks the top word for system stack overflows during the idle loop and
* raises an Error if one is detected.
* - false
* Disabling the runtime check improves runtime performance and yields a
* reduced flash footprint.
*/
//halHwi.checkStackFlag = true;
halHwi.checkStackFlag = true;

/*
* The following options alter the system's behavior when a hardware exception
* is detected.
*
* Pick one:
* - Hwi.enableException = true
* This option causes the default m3Hwi.excHandlerFunc function to fully
* decode an exception and dump the registers to the system console.
* This option raises errors in the Error module and displays the
* exception in ROV.
* - Hwi.enableException = false
* This option reduces code footprint by not decoding or printing the
* exception to the system console.
* It however still raises errors in the Error module and displays the
* exception in ROV.
* - Hwi.excHandlerFunc = null
* This is the most aggressive option for code footprint savings; but it
* can difficult to debug exceptions. It reduces flash footprint by
* plugging in a default while(1) trap when exception occur. This option
* does not raise an error with the Error module.
*/
m3Hwi.enableException = true;
//m3Hwi.enableException = false;
//m3Hwi.excHandlerFunc = exceptionHandle;

/*
* Enable hardware exception generation when dividing by zero.
*
* Pick one:
* - 0 (default)
* Disables hardware exceptions when dividing by zero
* - 1
* Enables hardware exceptions when dividing by zero
*/
m3Hwi.nvicCCR.DIV_0_TRP = 0;
//m3Hwi.nvicCCR.DIV_0_TRP = 1;

/*
* Enable hardware exception generation for invalid data alignment.
*
* Pick one:
* - 0 (default)
* Disables hardware exceptions for data alignment
* - 1
* Enables hardware exceptions for data alignment
*/
m3Hwi.nvicCCR.UNALIGN_TRP = 1;
//m3Hwi.nvicCCR.UNALIGN_TRP = 1;

/*
* Assign an address for the reset vector.
*
* Default is 0x0, which is the start of Flash. Ordinarily this setting should
* not be changed.
*/
m3Hwi.resetVectorAddress = 0x0;

/*
* Assign an address for the vector table in RAM.
*
* The default is the start of RAM. This table is placed in RAM so interrupts
* can be added at runtime.
*
* Note: To change, verify address in the device specific datasheets'
* memory map.
*/
m3Hwi.vectorTableAddress = 0x20000000;

/* ================ Idle configuration ================ */
var Idle = xdc.useModule('ti.sysbios.knl.Idle');
/*
* The Idle module is used to specify a list of functions to be called when no
* other tasks are running in the system.
*
* Functions added here will be run continuously within the idle task.
*
* Function signature:
* Void func(Void);
*/
//Idle.addFunc("&myIdleFunc");

Idle.addFunc('&Power_idleFunc'); /* add the Power module's idle function */

/* ================ Kernel (SYS/BIOS) configuration ================ */
var BIOS = xdc.useModule('ti.sysbios.BIOS');
/*
* Enable asserts in the BIOS library.
*
* Pick one:
* - true (default)
* Enables asserts for debugging purposes.
* - false
* Disables asserts for a reduced code footprint and better performance.
*
* When using BIOS in ROM:
* This option must be set to false.
*/
//BIOS.assertsEnabled = true;
BIOS.assertsEnabled = false;

/*
* Specify default CPU Frequency.
*/
BIOS.cpuFreq.lo = 48000000;

/*
* A flag to determine if xdc.runtime sources are to be included in a custom
* built BIOS library.
*
* Pick one:
* - false (default)
* The pre-built xdc.runtime library is provided by the respective target
* used to build the application.
* - true
* xdc.runtime library sources are to be included in the custom BIOS
* library. This option yields the most efficient library in both code
* footprint and runtime performance.
*/
//BIOS.includeXdcRuntime = false;
BIOS.includeXdcRuntime = true;

/*
* The SYS/BIOS runtime is provided in the form of a library that is linked
* with the application. Several forms of this library are provided with the
* SYS/BIOS product.
*
* Pick one:
* - BIOS.LibType_Custom
* Custom built library that is highly optimized for code footprint and
* runtime performance.
* - BIOS.LibType_Debug
* Custom built library that is non-optimized that can be used to
* single-step through APIs with a debugger.
*
*/
BIOS.libType = BIOS.LibType_Debug;
//BIOS.libType = BIOS.LibType_Debug;

/*
* Runtime instance creation enable flag.
*
* Pick one:
* - true (default)
* Allows Mod_create() and Mod_delete() to be called at runtime which
* requires a default heap for dynamic memory allocation.
* - false
* Reduces code footprint by disallowing Mod_create() and Mod_delete() to
* be called at runtime. Object instances are constructed via
* Mod_construct() and destructed via Mod_destruct().
*
* When using BIOS in ROM:
* This option must be set to true.
*/
BIOS.runtimeCreatesEnabled = true;
//BIOS.runtimeCreatesEnabled = false;

/*
* Enable logs in the BIOS library.
*
* Pick one:
* - true (default)
* Enables logs for debugging purposes.
* - false
* Disables logging for reduced code footprint and improved runtime
* performance.
*
* When using BIOS in ROM:
* This option must be set to false.
*/
//BIOS.logsEnabled = true;
BIOS.logsEnabled = false;

/* ================ Memory configuration ================ */
var Memory = xdc.useModule('xdc.runtime.Memory');
/*
* The Memory module itself simply provides a common interface for any
* variety of system and application specific memory management policies
* implemented by the IHeap modules(Ex. HeapMem, HeapBuf).
*/

/*
* Use HeapMem primary heap instance to use linker-defined memory region
*/
var HeapMem = xdc.useModule('ti.sysbios.heaps.HeapMem');
HeapMem.primaryHeapBaseAddr = "&__primary_heap_start__";
HeapMem.primaryHeapEndAddr = "&__primary_heap_end__";

var heapMemParams = new HeapMem.Params();
heapMemParams.usePrimaryHeap = true;
Program.global.heap0 = HeapMem.create(heapMemParams);

Memory.defaultHeapInstance = Program.global.heap0;

/* ================ Program configuration ================ */
/*
* Program.stack must be set to 0 to allow the setting
* of the system stack size to be determined in the example's
* linker command file.
*/
Program.stack = 512;

/*
* Uncomment to enable Semihosting for GNU targets to print to the CCS console.
* Please read the following TIRTOS Wiki page for more information on Semihosting:
* processors.wiki.ti.com/.../TI-RTOS_Examples_SemiHosting
*/

if (Program.build.target.$name.match(/gnu/)) {
//var SemiHost = xdc.useModule('ti.sysbios.rts.gnu.SemiHostSupport');
}

/* ================ ROM configuration ================ */
/*
* To use BIOS in flash, comment out the code block below.
*/
/*var ROM = xdc.useModule('ti.sysbios.rom.ROM');
if (Program.cpu.deviceName.match(/CC2640R2F/)) {
ROM.romName = ROM.CC2640R2F;
}
else if (Program.cpu.deviceName.match(/CC26.2/)) {
ROM.romName = ROM.CC26X2V2;
}
else if (Program.cpu.deviceName.match(/CC13.2/)) {
ROM.romName = ROM.CC13X2V2;
}
else if (Program.cpu.deviceName.match(/CC26/)) {
ROM.romName = ROM.CC2650;
}
else if (Program.cpu.deviceName.match(/CC13/)) {
ROM.romName = ROM.NO_ROM;
}
*/

/* ================ Semaphore configuration ================ */
var Semaphore = xdc.useModule('ti.sysbios.knl.Semaphore');
/*
* Enables global support for Task priority pend queuing.
*
* Pick one:
* - true (default)
* This allows pending tasks to be serviced based on their task priority.
* - false
* Pending tasks are services based on first in, first out basis.
*
* When using BIOS in ROM:
* This option must be set to false.
*/
//Semaphore.supportsPriority = true;
Semaphore.supportsPriority = false;

/*
* Allows for the implicit posting of events through the semaphore,
* disable for additional code saving.
*
* Pick one:
* - true
* This allows the Semaphore module to post semaphores and events
* simultaneously.
* - false (default)
* Events must be explicitly posted to unblock tasks.
*
* When using BIOS in ROM:
* This option must be set to false.
*/
//Semaphore.supportsEvents = true;
Semaphore.supportsEvents = false;

/* ================ Swi configuration ================ */
var Swi = xdc.useModule('ti.sysbios.knl.Swi');
/*
* A software interrupt is an object that encapsulates a function to be
* executed and a priority. Software interrupts are prioritized, preempt tasks
* and are preempted by hardware interrupt service routines.
*
* This module is included to allow Swi's in a users' application.
*/

/*
* Reduce the number of swi priorities from the default of 16.
* Decreasing the number of swi priorities yields memory savings.
*/
Swi.numPriorities = 6;

/* ================ System configuration ================ */
var System = xdc.useModule('xdc.runtime.System');
/*
* The Abort handler is called when the system exits abnormally.
*
* Pick one:
* - System.abortStd (default)
* Call the ANSI C Standard 'abort()' to terminate the application.
* - System.abortSpin
* A lightweight abort function that loops indefinitely in a while(1) trap
* function.
* - A custom abort handler
* A user-defined function. See the System module documentation for
* details.
*/
//System.abortFxn = System.abortStd;
System.abortFxn = System.abortSpin;
//System.abortFxn = "&myAbortSystem";

/*
* The Exit handler is called when the system exits normally.
*
* Pick one:
* - System.exitStd (default)
* Call the ANSI C Standard 'exit()' to terminate the application.
* - System.exitSpin
* A lightweight exit function that loops indefinitely in a while(1) trap
* function.
* - A custom exit function
* A user-defined function. See the System module documentation for
* details.
*/
//System.exitFxn = System.exitStd;
System.exitFxn = System.exitSpin;
//System.exitFxn = "&myExitSystem";

/*
* Minimize exit handler array in the System module. The System module includes
* an array of functions that are registered with System_atexit() which is
* called by System_exit(). The default value is 8.
*/
System.maxAtexitHandlers = 2;

/*
* The System.SupportProxy defines a low-level implementation of System
* functions such as System_printf(), System_flush(), etc.
*
* Pick one pair:
* - SysMin
* This module maintains an internal configurable circular buffer that
* stores the output until System_flush() is called.
* The size of the circular buffer is set via SysMin.bufSize.
* - SysCallback
* SysCallback allows for user-defined implementations for System APIs.
* The SysCallback support proxy has a smaller code footprint and can be
* used to supply custom System_printf services.
* The default SysCallback functions point to stub functions. See the
* SysCallback module's documentation.
*/
var SysMin = xdc.useModule('xdc.runtime.SysMin');
SysMin.bufSize = 512;
System.SupportProxy = SysMin;
//var SysCallback = xdc.useModule('xdc.runtime.SysCallback');
//System.SupportProxy = SysCallback;
//SysCallback.abortFxn = "&myUserAbort";
//SysCallback.exitFxn = "&myUserExit";
//SysCallback.flushFxn = "&myUserFlush";
//SysCallback.putchFxn = "&myUserPutch";
//SysCallback.readyFxn = "&myUserReady";

/* ================ Task configuration ================ */
var Task = xdc.useModule('ti.sysbios.knl.Task');
/*
* Check task stacks for overflow conditions.
*
* Pick one:
* - true (default)
* Enables runtime checks for task stack overflow conditions during
* context switching ("from" and "to")
* - false
* Disables runtime checks for task stack overflow conditions.
*
* When using BIOS in ROM:
* This option must be set to false.
*/
//Task.checkStackFlag = true;
Task.checkStackFlag = true;

/*
* Set the default task stack size when creating tasks.
*
* The default is dependent on the device being used. Reducing the default stack
* size yields greater memory savings.
*/
Task.defaultStackSize = 512;

/*
* Enables the idle task.
*
* Pick one:
* - true (default)
* Creates a task with priority of 0 which calls idle hook functions. This
* option must be set to true to gain power savings provided by the Power
* module.
* - false
* No idle task is created. This option consumes less memory as no
* additional default task stack is needed.
* To gain power savings by the Power module without having the idle task,
* add Idle.run as the Task.allBlockedFunc.
*/
Task.enableIdleTask = true;
//Task.enableIdleTask = false;
//Task.allBlockedFunc = Idle.run;

/*
* If Task.enableIdleTask is set to true, this option sets the idle task's
* stack size.
*
* Reducing the idle stack size yields greater memory savings.
*/
Task.idleTaskStackSize = 512;

/*
* Reduce the number of task priorities.
* The default is 16.
* Decreasing the number of task priorities yield memory savings.
*/
Task.numPriorities = 10;

/* ================ Text configuration ================ */
var Text = xdc.useModule('xdc.runtime.Text');
/*
* These strings are placed in the .const section. Setting this parameter to
* false will save space in the .const section. Error, Assert and Log messages
* will print raw ids and args instead of a formatted message.
*
* Pick one:
* - true (default)
* This option loads test string into the .const for easier debugging.
* - false
* This option reduces the .const footprint.
*/
//Text.isLoaded = true;
Text.isLoaded = false;

/* ================ Types configuration ================ */
var Types = xdc.useModule('xdc.runtime.Types');
/*
* This module defines basic constants and types used throughout the
* xdc.runtime package.
*/

/* ================ Application Specific Instances ================ */
var ti_sysbios_hal_Seconds = xdc.useModule('ti.sysbios.hal.Seconds');
Memory.defaultHeapSize = 8192;
BIOS.heapTrackEnabled = true;

BIOS.customCCOpts = "--endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -q -ms --opt_for_speed=0 --program_level_compile -g";

I found one piece of the puzzle, ending up in the spin-loop depends on which SYS/BIOS library type I select under the BIOS Runtime tab in. Selecting non-instrumented makes the software run, but selecting any of the debug options ends me up in the spin loop.

In addition, the ROV tells me the error is an exception and it happens when calling System_printf(). The function never returns, but raises the exception: