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ATmega168

Posted by casainho on December 11, 2007
Hello!

I adapted demo for ATmega168, changing in "static void prvSetupTimerInterrupt( void )" at file "port.c", the "TIMSK" for "TIMSK1".

It build and work, however I want to start a new program and I can't leave file "serial/serial.c" to build, because if I don't build it, I get following the error:

Linking: main.elf
avr-gcc -mmcu=atmega168 -I. -D GCC_MEGA_AVR -I. -I../../Source/include -I../Comm
on/include -g -Os -fsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-Wall -Wextra -Wshadow -Wpointer-arith -Wbad-function-cast -Wcast-align -Wsign-
compare -Waggregate-return -Wstrict-prototypes -Wmissing-prototypes -Wmissing-de
clarations -Wunused -Wa,-adhlns=main.o -std=gnu99 main.o ParTest/ParTest.o --
output main.elf -Wl,-Map=main.map,--cref -lm
main.o: In function `main':
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:40: undefined reference to `xTaskCreate'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:42: undefined reference to `vTaskStartScheduler'
main.o: In function `vFlashLED':
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:76: undefined reference to `xTaskGetTickCount'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:77: undefined reference to `vTaskDelayUntil'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:84: undefined reference to `xTaskGetTickCount'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:85: undefined reference to `vTaskDelayUntil'
ParTest/ParTest.o: In function `vParTestToggleLED':
ParTest/ParTest.c:110: undefined reference to `vTaskSuspendAll'
ParTest/ParTest.c:123: undefined reference to `xTaskResumeAll'
ParTest/ParTest.o: In function `vParTestSetLED':
ParTest/ParTest.c:84: undefined reference to `vTaskSuspendAll'
ParTest/ParTest.c:98: undefined reference to `xTaskResumeAll'
make: *** [main.elf] Error 1

I want to convince my chief that FreeRTOS is good for our projects, first I must show him a LED toggle and the size of program code and data code.

Thank you.

JP Casainho from Portugal - www.Casainho.net

RE: ATmega168

Posted by casainho on December 11, 2007
My "main.c" file:

#include <stdlib.h>
#include <avr/wdt.h>

#ifdef GCC_MEGA_AVR
/* EEPROM routines used only with the WinAVR compiler. */
#include <avr/eeprom.h>
#endif

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"
#include "queue.h"


/* Priority definitions for the tasks. */
#define mainFlashLED_TASK_PRIORITY( tskIDLE_PRIORITY + 1 )


/*
* The tasks functions.
*/

static void vFlashLED( void *pvParameters );

/*
* The idle hook is used to scheduler co-routines.
*/
void vApplicationIdleHook( void );

/*-----------------------------------------------------------*/

portSHORT main( void )
{

DDRB = 0b00000001;
DDRC = 0b00000001;

/* Create the tasks. */
xTaskCreate(vFlashLED, "LED", configMINIMAL_STACK_SIZE, NULL, mainFlashLED_TASK_PRIORITY, NULL);

vTaskStartScheduler();

return 0;
}
/*-----------------------------------------------------------*/




void vApplicationIdleHook( void )
{
wdt_reset();
}


static void vFlashLED( void *pvParameters )
{

/* The parameters are not used. */
( void ) pvParameters;

portTickType xLastWakeTime;
const portTickType xFreq_ligado = 100;
const portTickType xFreq_desligado = 400;

/* Cycle for ever. */
for( ;; )
{
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFreq_desligado );

PORTB |= (1<<0);
PORTC |= (1<<0);


// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFreq_ligado );

PORTB &= ~(1<<0);
PORTC &= ~(1<<0);
}
}


RE: ATmega168

Posted by Richard on December 11, 2007
The errors listed here make it look like you have removed task.c from your makefile. task.c is one of the core components and must be included.

I would suggest the following approach to converting the existing demo to your hardware.

1) Modify partest.c so that it accesses the correct port pins to flash LED's on whichever hardware you are using.

2) Modify the prvSetupTimerInterrupt to install a timer that does nothing but flash an LED so you can guarantee that your timer configuration is working. You don't want any enter/exit critical calls in partest if you call the partest functions from the timer interrupt. This stage is done before making any use of FreeRTOS.org, so is to be done in a simple 'hello world' type project.

3) Once you have the LEDs and timer interrupt working you can start with FreeRTOS.org. In the standard demo, main.c, comment out the creation of all tasks so that only the hardware setup and starting of the scheduler remain within main().

void main( void )
{
____vParTestInitialise();
____vTaskStartScheduler();
}

4) Create a task as follows:

void vFlashTest( void *pvParameters )
{
____for(;;)
____{
________vTaskDelay( 500 );
________vParTestToggleLED( 0 );
____}
}

This will toggle LED 0 every 500 ticks.

5) Add the following line to main(), just before the scheduler starts.

xTaskCreate( vFlashTest, "f", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );

You should then have the simplest program that creates a single task, with the single task simply flashing an LED. Take a look at FreeRTOS/Demo/Common/Minimal/Flash.c for an example of how to pass the LED number into the task using the task function parameter, then you can create more than one task from the same code.

Regards.

RE: ATmega168

Posted by casainho on December 11, 2007
Thanks for your suggestions. I can build with success if I uncomment "serial.c" on "makefile" however the final code is this:

Size after:
main.elf :
section size addr
.data 74 8388864
.text 9410 0
.bss 1667 8388938
.stab 888 0
.stabstr 113 0
.debug_aranges 448 0
.debug_pubnames 1838 0
.debug_info 10299 0
.debug_abbrev 3552 0
.debug_line 13334 0
.debug_frame 1536 0
.debug_str 4743 0
.debug_loc 5406 0
.debug_ranges 24 0
Total 53332

Errors: none
-------- end --------

9410 bytes of program memory? is to much? I think so and that is because I am build unnecessary files, right? - and it flashes the LED ok, at the right times, I saw on oscilloscope :-)

If I "make clean" and after "make", the result is this one - without "serial.c":


C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR>make
set -e; avr-gcc -MM -mmcu=atmega168 -I. -D GCC_MEGA_AVR -I. -I../../Source/inclu
de -I../Common/include -g -Os -fsigned-char -funsigned-bitfields -fpack-struct -
fshort-enums -Wall -Wextra -Wshadow -Wpointer-arith -Wbad-function-cast -Wcast-a
lign -Wsign-compare -Waggregate-return -Wstrict-prototypes -Wmissing-prototypes
-Wmissing-declarations -Wunused -Wa,-adhlns=ParTest/ParTest.lst -std=gnu99 ParT
est/ParTest.c \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > ParTest/ParTest.d; \
[ -s ParTest/ParTest.d ] || rm -f ParTest/ParTest.d
set -e; avr-gcc -MM -mmcu=atmega168 -I. -D GCC_MEGA_AVR -I. -I../../Source/inclu
de -I../Common/include -g -Os -fsigned-char -funsigned-bitfields -fpack-struct -
fshort-enums -Wall -Wextra -Wshadow -Wpointer-arith -Wbad-function-cast -Wcast-a
lign -Wsign-compare -Waggregate-return -Wstrict-prototypes -Wmissing-prototypes
-Wmissing-declarations -Wunused -Wa,-adhlns=main.lst -std=gnu99 main.c \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > main.d; \
[ -s main.d ] || rm -f main.d

-------- begin --------
avr-gcc (GCC) 4.1.2 (WinAVR 20070525)
Copyright (C) 2006 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


Compiling: main.c
avr-gcc -c -mmcu=atmega168 -I. -D GCC_MEGA_AVR -I. -I../../Source/include -I../C
ommon/include -g -Os -fsigned-char -funsigned-bitfields -fpack-struct -fshort-en
ums -Wall -Wextra -Wshadow -Wpointer-arith -Wbad-function-cast -Wcast-align -Wsi
gn-compare -Waggregate-return -Wstrict-prototypes -Wmissing-prototypes -Wmissing
-declarations -Wunused -Wa,-adhlns=main.lst -std=gnu99 main.c -o main.o
main.c: In function 'main':
main.c:40: warning: pointer targets in passing argument 2 of 'xTaskCreate' diffe
r in signedness

Compiling: ParTest/ParTest.c
avr-gcc -c -mmcu=atmega168 -I. -D GCC_MEGA_AVR -I. -I../../Source/include -I../C
ommon/include -g -Os -fsigned-char -funsigned-bitfields -fpack-struct -fshort-en
ums -Wall -Wextra -Wshadow -Wpointer-arith -Wbad-function-cast -Wcast-align -Wsi
gn-compare -Waggregate-return -Wstrict-prototypes -Wmissing-prototypes -Wmissing
-declarations -Wunused -Wa,-adhlns=ParTest/ParTest.lst -std=gnu99 ParTest/ParTe
st.c -o ParTest/ParTest.o

Linking: main.elf
avr-gcc -mmcu=atmega168 -I. -D GCC_MEGA_AVR -I. -I../../Source/include -I../Comm
on/include -g -Os -fsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-Wall -Wextra -Wshadow -Wpointer-arith -Wbad-function-cast -Wcast-align -Wsign-
compare -Waggregate-return -Wstrict-prototypes -Wmissing-prototypes -Wmissing-de
clarations -Wunused -Wa,-adhlns=main.o -std=gnu99 main.o ParTest/ParTest.o --
output main.elf -Wl,-Map=main.map,--cref -lm
main.o: In function `main':
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:40: undefined reference to `xTaskCreate'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:42: undefined reference to `vTaskStartScheduler'
main.o: In function `vFlashLED':
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:76: undefined reference to `xTaskGetTickCount'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:77: undefined reference to `vTaskDelayUntil'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:84: undefined reference to `xTaskGetTickCount'
C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR/main.c:85: undefined reference to `vTaskDelayUntil'
ParTest/ParTest.o: In function `vParTestToggleLED':
ParTest/ParTest.c:110: undefined reference to `vTaskSuspendAll'
ParTest/ParTest.c:123: undefined reference to `xTaskResumeAll'
ParTest/ParTest.o: In function `vParTestSetLED':
ParTest/ParTest.c:84: undefined reference to `vTaskSuspendAll'
ParTest/ParTest.c:98: undefined reference to `xTaskResumeAll'
make: *** [main.elf] Error 1

C:\Users\jpinto\Documents\01_projectos\90-auto_formacao\FreeRTOSV4.6.1\Demo\AVR_
ATmega168_GCC-AVR>


And here is a portion of "makefile", showing "task.c":

# List C source files here. (C dependencies are automatically generated.)
DEMO_DIR = ../Common/Minimal
SOURCE_DIR = ../../Source
PORT_DIR = ../../Source/portable/GCC/ATMega168

SRC= \
main.c \
ParTest/ParTest.c \
#serial/serial.c \
regtest.c \
$(SOURCE_DIR)/tasks.c \
$(SOURCE_DIR)/queue.c \
$(SOURCE_DIR)/list.c \
$(SOURCE_DIR)/croutine.c \
$(SOURCE_DIR)/portable/MemMang/heap_1.c \
$(PORT_DIR)/port.c \
$(DEMO_DIR)/crflash.c \
$(DEMO_DIR)/integer.c \
$(DEMO_DIR)/PollQ.c \
$(DEMO_DIR)/comtest.c


Can you help?

I would suggest a wiki style system and a forum for FreeRTOS - people could share this adaptations from microcontroler to microcontroler.

Thank you.

RE: ATmega168

Posted by sotd on December 11, 2007
RC = \
main.c \
ParTest/ParTest.c \
#serial/serial.c \ <<<<<<< BAD
regtest.c \
$(SOURCE_DIR)/tasks.c \
$(SOURCE_DIR)/queue.c \
etc.

you can not do it this way. Delete the whole line

RC = \
main.c \
ParTest/ParTest.c \
regtest.c \
$(SOURCE_DIR)/tasks.c \
$(SOURCE_DIR)/queue.c \
etc.

RE: ATmega168

Posted by Richard on December 11, 2007
In your makefile, you have commented out a line in the middle of the list of files to build. The files after the comment line will probably not be included in the build. This can be seen from your compiler output. I think this is the problem.

You can removed all the $(DEMO_DIR) files provided you do not create of check the demos within main.c.

Regards.

RE: ATmega168

Posted by casainho on December 11, 2007
Size after:
main.elf :
section size addr
.data 10 8388864
.text 3360 0
.bss 1585 8388874
.stab 888 0
.stabstr 113 0
.debug_aranges 160 0
.debug_pubnames 776 0
.debug_info 4055 0
.debug_abbrev 1421 0
.debug_line 4359 0
.debug_frame 624 0
.debug_str 2133 0
.debug_loc 1869 0
.debug_ranges 24 0
Total 21377

Errors: none
-------- end --------


# List C source files here. (C dependencies are automatically generated.)
DEMO_DIR = ../Common/Minimal
SOURCE_DIR = ../../Source
PORT_DIR = ../../Source/portable/GCC/ATMega168

SRC= \
main.c \
$(SOURCE_DIR)/tasks.c \
$(SOURCE_DIR)/list.c \
$(SOURCE_DIR)/portable/MemMang/heap_1.c \
$(PORT_DIR)/port.c \


Is the 3360 bytes of program memory ok, for this "main.c" file - optimization OPT = s? - I think is a lot, just for this function of toggle LEDs.. however I don't have experience with RTOS systems... - I would apreciate your opinion about this size of program memorie since I know that will be important for decide to use this RTOS or not.

Thank you.

RE: ATmega168

Posted by Richard on December 11, 2007
The size seems about as expected. You might be able to trim some off by setting some of the values in FreeRTOSConfig.h to 0 to exclude certain API functions.

Regards.

RE: ATmega168

Posted by casainho on December 11, 2007
Thank you. I already managed "FreeRTOSConfig.h" :-)

My chief says that is ok the size and that overhead could be ok for some of ours applications :-)

See you and continue your good work :-) :-)


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