- data provided by the GPS throught UART3
- data provided by the Inertial Measurement Unit through UART4
- data provided by wind sensor through analog inputs Then, the system stores these data on Sd card and sends them throught UART1 on a computer. My work is divided is several main tasks (Acquisition Task, Compute Task, Store Task and Send Task) and two others task to recept the GPS and IMU data. But I think, I have an error in my interrupt initialization because there is crash which often occurs when receiving data throught UART after few minutes or hours running. In the UART ISR, I give a semaphore to unblock an other task (_when the frame is completed _). I think I have similary problem describ on the other post (http://sourceforge.net/projects/freertos/forums/forum/382005/topic/4059693) but I don’t find my error. Here is my NVIC configuration :
/*------------------------------------------------------------------------
* Peripheral NVIC - Nested Vectored Interrupt Controller
* -----------------------------------------------------------------------
* function Enable Interrupt and Configure the Priority
* -----------------------------------------------------------------------*/
void NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Selectionne la priorite du group */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
/* Enable the DMA2 Stream0 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = DMA2_Stream0_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the TIM1 global Interrupt - FreqMHU*/
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the TIM1 Interrupt - Overflow TIM1*/
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the TIM2 Interrupt - Overflow TIM2 */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the UART4 Interrupt IMU */
NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 4;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the USART3 Interrupt GPS */
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 5;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
* INT.GLO UART3
* ———————————————–
* Int. USART3 – USART_IT_RXNE
* When Each byte come from GPS is received
* ———————————————–*/ Here is the ISR code for USART3 :
/* Public variables ------------------------------------------------------*/
extern xSemaphoreHandle xBinarySemaphoreGPS;
extern char GPSPacket[MAX_GPS_PACKET_SIZE]; // Used in USART3 Interrup (Receipt Frame)
extern unsigned char StateBufGps;; // Used in USART3 Interrup (Receipt State)
extern uint16_t RxCounterGps; // Used in USART3 Interrup (byte counter)
/* Function ------------------------------------------------------------------*/
void USART3_IRQHandler(void)
{
unsigned char RxBufGps;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* Reception GPS - USART3 */
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
{
/* Lecture de l'octet transmit */
RxBufGps = (USART_ReceiveData(USART3) & 0xFF);
/* Test si il n'y a pas de depassement du compteur du buffer -------------*/
if(RxCounterGps<=(MAX_GPS_PACKET_SIZE-2))
{
/* Lecture de l'octet transmit */
GPSPacket[RxCounterGps++] = RxBufGps;
/* Si il y a plus de 2 caracteres lu */
if(RxCounterGps>2)
{
/* Verifie que l'on a pas le caractere de fin de trame Cr Lf */
if((GPSPacket[RxCounterGps-2]==0x0D) & (GPSPacket[RxCounterGps-1]==0x0A))
{
/* Donne le semaphore */
xSemaphoreGiveFromISR(xBinarySemaphoreGPS,&xHigherPriorityTaskWoken);
/* Force à changer de tache */
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
/* Reset du compteur */
RxCounterGps = 0;
}
}
}
/* Si il y a depassement du buffer, reinitialise la compteur Buffer GPS --*/
else
{
#ifdef USE_DEBUG_INT_USART
printf("Overflow RxCounterGPS : %d n",RxCounterGps);
#endif
RxCounterGps = 0;
}
}
}
[code]
Here is the code at the task associated to this interrupt:
[code]
/*------------------------------------------------------------------------
* Task GPS
* -----------------------------------------------------------------------
* Descr Parse GPS Frame
* Priority tskIDLE_PRIORITY + 5
* Size configMINIMAL_STACK_SIZE*2
* -----------------------------------------------------------------------*/
void TaskGps(void * pvParameters)
{
/* The parameters are not used. */
( void ) pvParameters;
/* If Use Log Tick Counter, enable TIM2 counter */
#ifdef USE_CNT_TASKGPS
TIM_Cmd(TIM2,ENABLE);
#endif
/* Prend le semaphoreGPS 1 fois au depart */
xSemaphoreTake(xBinarySemaphoreGPS, portMAX_DELAY);
for(;;)
{
/* Prend le semaphoreGPS */
xSemaphoreTake(xBinarySemaphoreGPS, portMAX_DELAY);
/* Disable Interrupts */
#ifdef USE_NOPREMP
DisableInterrupts();
taskDISABLE_INTERRUPTS();
#endif
/* Debug Task GPS*/
#ifdef USE_DEBUG_TASK
//printf("nTASK GPSt");
strcpy(SecondLastDebugTask,LastDebugTask);
sprintf(LastDebugTask,"TASK GPS");
#endif
/* Get Cnt Tm2 */
#ifdef USE_CNT_TASKGPS
CntStart = TIM_GetCounter(TIM2);
#endif
/* Analyse la trame GPS */
parseGPSPacket(GPSPacket,&GPSData);
/* Mise à jour de l'horloge temps reel avec l'heure GPS (une fois au depart) */
if((GPSData.UTC_time != 0)&&(FirstUpdateTime == 1))
{
/* Mise à jour de l'heure */
UpdateTime(GPSData.UTC_time);
/* Reset FirstUpdateTime*/
FirstUpdateTime=0;
}
if((GPSData.date != 0)&&(FirstUpdateDate == 1))
{
/* Mise à jour de la date */
UpdateDate(GPSData.date);
/* Reset FirstUpdateTime*/
FirstUpdateDate=0;
}
/* Get Cnt Tm2 and computime task tick execute */
#ifdef USE_CNT_TASKGPS
CntStop = TIM_GetCounter(TIM2);
if(CntStop>CntStart) TickTask = CntStop - CntStart;
else TickTask = (65535-CntStart) + CntStop ;
#endif
/* Enable Interrupts */
#ifdef USE_NOPREMP
EnableInterrupts();
taskENABLE_INTERRUPTS(); // Reactive les interruptions
#endif
/* Enable the USART3 Receive interrupt */
//USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
}
}
[code]
Many thanks in advance for your assistance.