Bitcraze Forums

Code: Select all

SYS: The system resumed after watchdog timeout [WARNING]
SYS: Assert failed at src/lib/FreeRTOS/portable/GCC/ARM_CM4F/port.c:736

Code: Select all

void pwmInit(void)		// PWM-Funktion einrichten auf PIN MOSI (PA6, Funktion in neuer Firmware für LPS auf Konflikt checken)
{
#define PWM_TIMER					TIM2
#define PWM_TIMER_RCC				RCC_APB1Periph_TIM2		
#define PWM_TIMER_CH_Init			TIM_OC1Init				
#define PWM_TIMER_CH_PreloadConfig	TIM_OC1PreloadConfig	
#define PWM_TIMER_CH_SetCompare		TIM_SetCompare1			
#define PWM_GPIO_RCC				RCC_AHB1Periph_GPIOA	
#define PWM_GPIO_PORT				GPIOA
#define PWM_GPIO_PIN				GPIO_Pin_5
#define PWM_GPIO_SOURCE				GPIO_PinSource5
#define PWM_GPIO_AF					GPIO_AF_TIM2

#define PWM_TIM_PRESCALER			(84 - 1) 

#define PWM_MIN_PPM_USEC			1150
#define PWM_MAX_PPM_USEC			1900


	// Deklarieren von Init Structures
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;	// Time Base Init structure definition
	TIM_ICInitTypeDef TIM_ICInitStructure;			// Input Capture Init structure definition
	GPIO_InitTypeDef GPIO_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	/*Enable clock for GPIOB*/
	RCC_AHB1PeriphClockCmd(PWM_GPIO_RCC, ENABLE);	// GPIOClock einschalten (1)
	RCC_APB1PeriphClockCmd(PWM_TIMER_RCC, ENABLE);	// TimerClock einschalten

	// Configure the GPIO to be the timer (TIM14) input [MOSI-Pin]
	GPIO_StructInit(&GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_Pin = PWM_GPIO_PIN;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
	GPIO_InitStructure.GPIO_Speed = GPIO_Medium_Speed;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
	GPIO_Init(PWM_GPIO_PORT, &GPIO_InitStructure);

	GPIO_PinAFConfig(PWM_GPIO_PORT, PWM_GPIO_SOURCE, PWM_GPIO_AF);

	// Time base configuration. 1us tick.
	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
	TIM_TimeBaseStructure.TIM_Prescaler = PWM_TIM_PRESCALER*10; //1 µS
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInit(PWM_TIMER, &TIM_TimeBaseStructure);

	// Setup input capture
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
	TIM_ICInit(PWM_TIMER, &TIM_ICInitStructure);

	NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);

	captureQueue = xQueueCreate(64, sizeof(uint32_t));

	// Enables or disables the specified TIM interrupts
	TIM_ITConfig(PWM_TIMER, TIM_IT_Update | TIM_IT_CC1, ENABLE);
	// Enables or disables the specified TIM peripheral
	TIM_Cmd(PWM_TIMER, ENABLE);
}

Code: Select all

static xQueueHandle captureQueue;

Code: Select all

captureQueue = xQueueCreate(64, sizeof(uint16_t));

Code: Select all

			
			/* The following assertion will fail if a service routine (ISR) for
			an interrupt that has been assigned a priority above
			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
			function.  ISR safe FreeRTOS API functions must *only* be called
			from interrupts that have been assigned a priority at or below
			configMAX_SYSCALL_INTERRUPT_PRIORITY.

			Numerically low interrupt priority numbers represent logically high
			interrupt priorities, therefore the priority of the interrupt must
			be set to a value equal to or numerically *higher* than
			configMAX_SYSCALL_INTERRUPT_PRIORITY.

			Interrupts that	use the FreeRTOS API must not be left at their
			default priority of	zero as that is the highest possible priority,
			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
			and	therefore also guaranteed to be invalid.

			FreeRTOS maintains separate thread and ISR API functions to ensure
			interrupt entry is as fast and simple as possible.

			The following links provide detailed information:
			http://www.freertos.org/RTOS-Cortex-M3-M4.html
			http://www.freertos.org/FAQHelp.html */
			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

Code: Select all

//#define configMAX_SYSCALL_INTERRUPT_PRIORITY 1
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0x5F /* equivalent to 0x05, or priority 5. */

Code: Select all

void rangeTask(void)
{
	//uint32_t lastWakeTime;

	vTaskSetApplicationTaskTag(0, (void*)TASK_RANGE_ID_NBR);

	//lastWakeTime = xTaskGetTickCount();

	while(1){
		//vTaskDelayUntil(&lastWakeTime, F2T(2));
		xQueueReceive(captureQueue, &distance, 100);	//Lies aus dem Queue, immer wenn dort ein Wert auftritt, warte x(10) Ticks
	}
}

Code: Select all

xTaskCreate(rangeTask, RANGE_TASK_NAME, RANGE_TASK_STACKSIZE, NULL, RANGE_TASK_PRI, NULL);

Code: Select all

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;