Part Number: CC1310
Tool/software: TI-RTOS
Hello,
I am having some issues switching back and forth between tasks. In my RTOS program I have four tasks, UART receive, RF transmit, RF receive, and Power shutdown. I have set up semaphores to switch between these tasks, but when I run through them once, I can not switch back to a task. Is this an issue with task priority? I have posted my code below, thanks for any help in advance!
Thanks,
William
/***** Includes *****/
/* Standard C Libraries */
#include <stdlib.h>
/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/runtime/Assert.h>
#include <xdc/runtime/Error.h>
#include <xdc/cfg/global.h>
/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Swi.h>
/* TI Drivers */
#include <ti/drivers/rf/RF.h>
#include <ti/drivers/PIN.h>
#include <ti/drivers/pin/PINCC26XX.h>
#include <ti/devices/cc13x0/driverlib/timer.h>
#include <ti/drivers/power/PowerCC26XX.h>
#include <ti/drivers/UART.h>
#include <ti/devices/cc13x0/driverlib/timer.h>
#include <ti/drivers/Power.h>
#include <ti/devices/DeviceFamily.h>
#include DeviceFamily_constructPath(inc/hw_prcm.h)
#include DeviceFamily_constructPath(driverlib/sys_ctrl.h)
/* Driverlib Header files */
#include DeviceFamily_constructPath(driverlib/rf_prop_mailbox.h)
/* Board Header files */
#include "Board.h"
/* Application Header files */
#include "RFQueue.h"
#include "smartrf_settings/smartrf_settings.h"
/***** Defines *****/
#define TX_RF_TASK_STACK_SIZE 1024
#define TX_RF_TASK_PRIORITY 3
#define RX_RF_TASK_STACK_SIZE 1024
#define RX_RF_TASK_PRIORITY 2
#define RX_UART_TASK_STACK_SIZE 1024
#define RX_UART_TASK_PRIORITY 5
#define POWER_SHUTDOWN_TASK_STACK_SIZE 1024
#define POWER_SHUTDOWN_TASK_PRIORITY 4
/* RF_RxPacket TX Configuration */
#define PAYLOAD_LENGTH 41
#define RF_RxPacketSizeVariable 1
#define RF_RxPacket_INTERVAL (uint32_t)(4000000*0.5f) /* Set RF_RxPacket interval to 500ms */
/* RF_RxPacket RX Configuration */
#define DATA_ENTRY_HEADER_SIZE 8 /* Constant header size of a Generic Data Entry */
#define MAX_LENGTH 41 /* Max length byte the radio will accept */
#define NUM_DATA_ENTRIES 2 /* NOTE: Only two data entries supported at the moment */
#define NUM_APPENDED_BYTES 2 /* The Data Entries data field will contain:
* 1 Header byte (RF_cmdPropRx.rxConf.bIncludeHdr = 0x1)
* Max 30 payload bytes
* 1 status byte (RF_cmdPropRx.rxConf.bAppendStatus = 0x1) */
/***** Prototypes *****/
static void txTaskFunction(UArg arg0, UArg arg1);
static void RxUARTTaskFunction(UArg arg0, UArg arg1);
static void rxTaskFunction(UArg arg0, UArg arg1);
static void PowerShutdownTaskFunction(UArg arg0, UArg arg1);
void callback(RF_Handle h, RF_CmdHandle ch, RF_EventMask e);
static void buttonCb(PIN_Handle handle, PIN_Id pinId);
static void buttonClockCb(UArg arg);
void shutDownFunc(void);
/***** Variable declarations *****/
static Task_Params txTaskParams;
Task_Struct txTask; /* not static so you can see in ROV */
static uint8_t txTaskStack[TX_RF_TASK_STACK_SIZE];
static Task_Params rxTaskParams;
Task_Struct rxTask; /* not static so you can see in ROV */
static uint8_t rxTaskStack[RX_RF_TASK_STACK_SIZE];
static Task_Params rxUartTaskParams;
Task_Struct uartTask; /* not static so you can see in ROV */
static uint8_t rxUartTaskStack[RX_UART_TASK_STACK_SIZE];
static Task_Params powerShutdownTaskParams;
Task_Struct ShutdownTask; /* not static so you can see in ROV */
static uint8_t ShutdownTaskStack[ POWER_SHUTDOWN_TASK_STACK_SIZE];
static RF_Object rfObject;
static RF_Handle rfHandle;
Semaphore_Struct semRFTxStruct;
Semaphore_Handle semRFTxHandle;
Semaphore_Struct semUARTRxStruct;
Semaphore_Handle semUARTRxHandle;
Semaphore_Struct semRFRxStruct;
Semaphore_Handle semRFRxHandle;
/* Semaphore used to gate for shutdown */
Semaphore_Struct semShutdownStruct;
Semaphore_Handle semShutdownHandle;
/* Clock used for debounce logic */
Clock_Struct buttonClock;
Clock_Handle hButtonClock;
/* Pin driver handles */
PIN_Handle hPins;
PIN_Handle hButtons;
/* Button pin state */
PIN_State buttonState;
/* Flag to store whether we woke up from shutdown or not */
bool isWakingFromShutdown;
/* PIN_Id for active button (in debounce period) */
PIN_Id activeButtonPinId;
/* Wake-up Button pin table */
PIN_Config ButtonTableWakeUp[] = {
CC1310DK_4XD_DIO24_ANALOG | PIN_INPUT_EN | PIN_PULLUP | PINCC26XX_WAKEUP_NEGEDGE,
PIN_TERMINATE /* Terminate list */
};
/* Shutdown Button pin table */
PIN_Config ButtonTableShutdown[] = {
CC1310DK_4XD_DIO24_ANALOG | PIN_INPUT_EN | PIN_PULLUP | PIN_IRQ_NEGEDGE,
PIN_TERMINATE /* Terminate list */
};
/* Buffer which contains all Data Entries for receiving data.
* Pragmas are needed to make sure this buffer is 4 byte aligned (requirement from the RF Core) */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_ALIGN (rxDataEntryBuffer, 4);
static uint8_t rxDataEntryBuffer[RF_QUEUE_DATA_ENTRY_BUFFER_SIZE(NUM_DATA_ENTRIES,
MAX_LENGTH,
NUM_APPENDED_BYTES)];
#elif defined(__IAR_SYSTEMS_ICC__)
#pragma data_alignment = 4
static uint8_t rxDataEntryBuffer[RF_QUEUE_DATA_ENTRY_BUFFER_SIZE(NUM_DATA_ENTRIES,
MAX_LENGTH,
NUM_APPENDED_BYTES)];
#elif defined(__GNUC__)
static uint8_t rxDataEntryBuffer [RF_QUEUE_DATA_ENTRY_BUFFER_SIZE(NUM_DATA_ENTRIES,
MAX_LENGTH, NUM_APPENDED_BYTES)] __attribute__ ((aligned (4)));
#else
#error This compiler is not supported.
#endif
/* Receive dataQueue for RF Core to fill in data */
static dataQueue_t dataQueue;
static rfc_dataEntryGeneral_t* currentDataEntry;
static uint8_t RF_RxPacketLength;
static uint8_t* RF_RxPacketDataPointer;
unsigned char UART_Input[PAYLOAD_LENGTH];
unsigned char RF_TxRF_RxPacket[PAYLOAD_LENGTH];
unsigned char RF_RxPacketSize[RF_RxPacketSizeVariable];
unsigned char RF_RxPacket[PAYLOAD_LENGTH];
/***** Function definitions *****/
void TxRFTask_init()
{
Task_Params_init(&txTaskParams);
txTaskParams.stackSize = TX_RF_TASK_STACK_SIZE;
txTaskParams.priority = TX_RF_TASK_PRIORITY;
txTaskParams.stack = &txTaskStack;
txTaskParams.arg0 = (UInt)1000000;
Task_construct(&txTask, txTaskFunction, &txTaskParams, NULL);
}
void RxUARTTask_init()
{
Task_Params_init(&rxUartTaskParams);
rxUartTaskParams.stackSize = RX_UART_TASK_STACK_SIZE;
rxUartTaskParams.priority = RX_UART_TASK_PRIORITY;
rxUartTaskParams.stack = &rxUartTaskStack;
rxUartTaskParams.arg0 = (UInt)1000000;
Task_construct(&uartTask, RxUARTTaskFunction, &rxUartTaskParams, NULL);
}
void RxRFTask_init()
{
Task_Params_init(&rxTaskParams);
rxTaskParams.stackSize = RX_RF_TASK_STACK_SIZE;
rxTaskParams.priority = RX_RF_TASK_PRIORITY;
rxTaskParams.stack = &rxTaskStack;
rxTaskParams.arg0 = (UInt)1000000;
Task_construct(&rxTask, rxTaskFunction, &rxTaskParams, NULL);
}
void PowerShutdownTask_init()
{
Task_Params_init(&powerShutdownTaskParams);
powerShutdownTaskParams.stackSize = POWER_SHUTDOWN_TASK_STACK_SIZE;
powerShutdownTaskParams.priority = POWER_SHUTDOWN_TASK_PRIORITY;
powerShutdownTaskParams.stack = &ShutdownTaskStack;
powerShutdownTaskParams.arg0 = (UInt)1000000;
Task_construct(&ShutdownTask, PowerShutdownTaskFunction, &powerShutdownTaskParams, NULL);
}
static void RxUARTTaskFunction(UArg arg0, UArg arg1)
{
if (isWakingFromShutdown)
{
Semaphore_pend(semUARTRxHandle, BIOS_WAIT_FOREVER);
/* Call driver init functions */
GPIO_init();
UART_init();
int bufclear;
int readShift;
UART_Handle uart;
UART_Params uartParams;
/* Create a UART with data processing off. */
UART_Params_init(&uartParams);
uartParams.writeDataMode = UART_DATA_BINARY;
uartParams.readDataMode = UART_DATA_BINARY;
uartParams.readReturnMode = UART_RETURN_FULL;
uartParams.readEcho = UART_ECHO_OFF;
uartParams.baudRate = 9600;
uartParams.readMode = UART_MODE_BLOCKING;
uartParams.writeMode = UART_MODE_BLOCKING;
uartParams.readTimeout = 10000000;
uartParams.writeTimeout = UART_WAIT_FOREVER;
uartParams.readCallback = NULL;
uartParams.writeCallback = NULL;
uartParams.dataLength = UART_LEN_8;
uartParams.stopBits = UART_STOP_ONE;
uartParams.parityType = UART_PAR_NONE;
uart = UART_open(Board_UART0, &uartParams);
if (uart == NULL) /* UART_open() failed */
{
while (1);
}
/* memset(RF_RxPacketSize,0,1);
for(bufclear = 0; bufclear < 1; bufclear++)
{
UART_read(uart, RF_RxPacketSize, 1);
memset(RF_RxPacketSize, NULL ,1);
}
unsigned char UART_Input[PAYLOAD_LENGTH];
UART_read(uart, RF_RxPacketSize, 1);
for(readShift = 0; readShift < 1; readShift++)
{
RF_RxPacketSize[readShift] = UART_Input[readShift];
}
memset(RF_RxPacketSize,0,2);
memset(UART_Input, 0, 41);
for(bufclear = 0; bufclear < 41; bufclear++)
{
UART_read(uart, UART_Input, 41);
memset(UART_Input, NULL, 41 );
}
UART_read(uart, UART_Input, 41);
for(readShift = 0; readShift < 41; readShift++)
{
RF_TxRF_RxPacket[readShift] = UART_Input[readShift];
}
memset(UART_Input, 0, 41);
UART_close(uart);*/
Semaphore_post(semRFTxHandle);
}
else
{
//post shutdown semaphore
Semaphore_post(semShutdownHandle);
}
}
static void txTaskFunction(UArg arg0, UArg arg1)
{
/*Ready for transmission*/
Semaphore_pend(semRFTxHandle, BIOS_WAIT_FOREVER);
uint32_t curtime;
RF_Params rfParams;
RF_Params_init(&rfParams);
RF_cmdPropTx.pktLen = PAYLOAD_LENGTH;
RF_cmdPropTx.pPkt = RF_TxRF_RxPacket;
RF_cmdPropTx.startTrigger.triggerType = TRIG_ABSTIME;
RF_cmdPropTx.startTrigger.pastTrig = 1;
RF_cmdPropTx.startTime = 0;
/* Request access to the radio */
rfHandle = RF_open(&rfObject, &RF_prop, (RF_RadioSetup*)&RF_cmdPropRadioDivSetup, &rfParams);
/* Set the frequency */
RF_postCmd(rfHandle, (RF_Op*)&RF_cmdFs, RF_PriorityNormal, NULL, 0);
/* Get current time */
curtime = RF_getCurrentTime();
/* Set absolute TX time to utilize automatic power management */
curtime += RF_RxPacket_INTERVAL;
RF_cmdPropTx.startTime = curtime;
/* Send RF_RxPacket */
RF_EventMask terminationReason = RF_runCmd(rfHandle, (RF_Op*)&RF_cmdPropTx,
RF_PriorityNormal, NULL, 0);
switch(terminationReason)
{
case RF_EventCmdDone:
// A radio operation command in a chain finished
break;
case RF_EventLastCmdDone:
// A stand-alone radio operation command or the last radio
// operation command in a chain finished.
break;
case RF_EventCmdCancelled:
// Command cancelled before it was started; it can be caused
// by RF_cancelCmd() or RF_flushCmd().
break;
case RF_EventCmdAborted:
// Abrupt command termination caused by RF_cancelCmd() or
// RF_flushCmd().
break;
case RF_EventCmdStopped:
// Graceful command termination caused by RF_cancelCmd() or
// RF_flushCmd().
break;
default:
// Uncaught error event
Assert_isTrue(false, NULL);
}
uint32_t cmdStatus = ((volatile RF_Op*)&RF_cmdPropTx)->status;
switch(cmdStatus)
{
case PROP_DONE_OK:
// RF_RxPacket transmitted successfully
break;
case PROP_DONE_STOPPED:
// received CMD_STOP while transmitting RF_RxPacket and finished
// transmitting RF_RxPacket
break;
case PROP_DONE_ABORT:
// Received CMD_ABORT while transmitting RF_RxPacket
break;
case PROP_ERROR_PAR:
// Observed illegal parameter
break;
case PROP_ERROR_NO_SETUP:
// Command sent without setting up the radio in a supported
// mode using CMD_PROP_RADIO_SETUP or CMD_RADIO_SETUP
break;
case PROP_ERROR_NO_FS:
// Command sent without the synthesizer being programmed
break;
case PROP_ERROR_TXUNF:
// TX underflow observed during operation
break;
default:
// Uncaught error event - these could come from the
// pool of states defined in rf_mailbox.h
Assert_isTrue(false, NULL);
}
RF_close(rfHandle);
Semaphore_post(semRFRxHandle);
}
static void rxTaskFunction(UArg arg0, UArg arg1)
{
Semaphore_pend(semRFRxHandle, BIOS_WAIT_FOREVER);
RF_Params rfParams;
RF_Params_init(&rfParams);
if( RFQueue_defineQueue(&dataQueue,
rxDataEntryBuffer,
sizeof(rxDataEntryBuffer),
NUM_DATA_ENTRIES,
MAX_LENGTH + NUM_APPENDED_BYTES))
{
/* Failed to allocate space for all data entries */
while(1);
}
/* Modify CMD_PROP_RX command for application needs */
RF_cmdPropRx.pQueue = &dataQueue; /* Set the Data Entity queue for received data */
RF_cmdPropRx.rxConf.bAutoFlushIgnored = 1; /* Discard ignored RF_RxPackets from Rx queue */
RF_cmdPropRx.rxConf.bAutoFlushCrcErr = 1; /* Discard RF_RxPackets with CRC error from Rx queue */
RF_cmdPropRx.maxPktLen = MAX_LENGTH; /* Implement RF_RxPacket length filtering to avoid PROP_ERROR_RXBUF */
RF_cmdPropRx.pktConf.bRepeatOk = 0;
RF_cmdPropRx.pktConf.bRepeatNok = 0;
if (!rfHandle) {
/* Request access to the radio */
rfHandle = RF_open(&rfObject, &RF_prop, (RF_RadioSetup*)&RF_cmdPropRadioDivSetup, &rfParams);
/* Set the frequency */
RF_postCmd(rfHandle, (RF_Op*)&RF_cmdFs, RF_PriorityNormal, NULL, 0);
}
/* Enter RX mode and wait for response*/
// RF_runCmd(rfHandle, (RF_Op*)&RF_cmdPropRx, RF_PriorityNormal, &callback, IRQ_RX_ENTRY_DONE);
RF_CmdHandle rx_cmd = RF_postCmd(rfHandle, (RF_Op*)&RF_cmdPropRx, RF_PriorityNormal, &callback, IRQ_RX_ENTRY_DONE);
CPUdelay(160000); /* Wait for x/3 cycles*/
RF_cancelCmd(rfHandle, rx_cmd, 0); /* Abort the RF rx_cmd */
}
void callback(RF_Handle h, RF_CmdHandle ch, RF_EventMask e)
{
if (e & RF_EventRxEntryDone)
{
/* Get current unhandled data entry */
currentDataEntry = RFQueue_getDataEntry();
/* Handle the RF_RxPacket data, located at ¤tDataEntry->data:
* - Length is the first byte with the current configuration
* - Data starts from the second byte */
RF_RxPacketLength = *(uint8_t*)(¤tDataEntry->data);
RF_RxPacketDataPointer = (uint8_t*)(¤tDataEntry->data + 1);
/* Copy the payload + the status byte to the RF_RxPacket variable */
memcpy(RF_RxPacket, RF_RxPacketDataPointer, (RF_RxPacketLength + 1));
RFQueue_nextEntry();
//if data is good
Semaphore_post(semShutdownHandle);
//else post rftx
}
}
static void PowerShutdownTaskFunction(UArg arg0, UArg arg1)
{
shutDownFunc();
}
static void buttonClockCb(UArg arg) {
PIN_Handle buttonHandle = (PIN_State *) arg;
/* Stop the button clock */
Clock_stop(hButtonClock);
/* Check that there is active button for debounce logic*/
if (activeButtonPinId != PIN_TERMINATE) {
/* Debounce logic, only toggle if the button is still pushed (low) */
if (!PIN_getInputValue(activeButtonPinId)) {
/* Toggle LED based on the button pressed */
switch (activeButtonPinId) {
case Board_PIN_BUTTON1:
Semaphore_post(semShutdownHandle);
break;
default:
/* Do nothing */
break;
}
}
}
/* Re-enable interrupts to detect button release. */
PIN_setConfig(buttonHandle, PIN_BM_IRQ, activeButtonPinId | PIN_IRQ_NEGEDGE);
/* Set activeButtonPinId to none... */
activeButtonPinId = PIN_TERMINATE;
}
static void buttonCb(PIN_Handle handle, PIN_Id pinId) {
/* Set current pinId to active */
activeButtonPinId = pinId;
/* Disable interrupts during debounce */
PIN_setConfig(handle, PIN_BM_IRQ, activeButtonPinId | PIN_IRQ_DIS);
/* Set timeout 50 ms from now and re-start clock */
Clock_setTimeout(hButtonClock, (50 * (1000 / Clock_tickPeriod)));
Clock_start(hButtonClock);
}
void shutDownFunc(void)
{
/* Pend on semaphore before going to shutdown */
Semaphore_pend(semShutdownHandle, BIOS_WAIT_FOREVER);
/* Configure DIO for wake up from shutdown */
PINCC26XX_setWakeup(ButtonTableWakeUp);
/* Go to shutdown */
Power_shutdown(0, 0);
/* Should never get here, since shutdown will reset. */
while(1);
}
/*
* ======== main ========
*/
int main(void)
{
/* Get the reason for reset */
uint32_t rSrc = SysCtrlResetSourceGet();
if(rSrc == RSTSRC_WAKEUP_FROM_SHUTDOWN)
{
/* Call driver init functions. */
Board_initGeneral();
isWakingFromShutdown = true;
}
else
{
Board_initGeneral();
isWakingFromShutdown = false;
}
/* Setup button pins with ISR */
hButtons = PIN_open(&buttonState, ButtonTableShutdown);
PIN_registerIntCb(hButtons, buttonCb);
/* Construct clock for debounce */
Clock_Params clockParams;
Clock_Params_init(&clockParams);
clockParams.arg = (UArg)hButtons;
Clock_construct(&buttonClock, buttonClockCb, 0, &clockParams);
hButtonClock = Clock_handle(&buttonClock);
Semaphore_Params semParams;
/* Construct a Semaphore object to be used as a resource lock, inital count 0 */
Semaphore_Params_init(&semParams);
Semaphore_construct(&semRFTxStruct, 0, &semParams);
Semaphore_construct(&semUARTRxStruct, 1, &semParams);
Semaphore_construct(&semRFRxStruct, 0, &semParams);
Semaphore_construct(&semShutdownStruct, 0, &semParams);
/* Obtain instance handle */
semRFTxHandle = Semaphore_handle(&semRFTxStruct);
semUARTRxHandle = Semaphore_handle(&semUARTRxStruct);
semRFRxHandle = Semaphore_handle(&semRFRxStruct);
semShutdownHandle = Semaphore_handle(&semShutdownStruct);
/* Initialize tasks */
RxUARTTask_init();
TxRFTask_init();
RxRFTask_init();
PowerShutdownTask_init();
/* Start BIOS */
BIOS_start();
return (0);
}
