embedded - blackfin bf561 FreeRTOS 实现在加载任务时在运行时失败

Question

我已经从代码中实现了 Blackfin BF561 coreB FreeRTOS:

http://www.freertos.org/index.html?http://interactive.freertos.org/forums/79366-analog-devices

我使用 gcc 转换为裸机作为 elf 可执行文件。

我很接近，但我有一个我无法弄清楚的运行时错误。当调度程序启动并尝试触发第一个任务时，内存指针丢失并且它不会启动第一个堆栈，而是在第一个任务内启动一个函数，并在退出函数时丢失。

这是相应的调试日志:

COREB: end setup LED                                                            
COREB: handler declared                                                         
COREB: Initialise New TCB:NewTCB address: 3d01000                               
COREB: TopofStask: 0, pxTopOfStack = 3d0263c                                    
COREB: pxTaskCode =3c033a0, pvParameters = 0                                    
COREB: returned pxNewTCB->pxTopOfStack = 3d02588                                
COREB: task created:                                                            
COREB: top of stack: 3d02588                                                    
COREB: GenericListItem: 0                                                       
COREB: Event ListItem: 9                                                        
COREB: Priority: 1                                                              
COREB: start of stack: 3d02000                                                  
COREB: Task Name: BootTas                                                       
COREB: TCB number: 0                                                            
COREB: Task Tag: 0                                                              
COREB: Add the idle task at the lowest priority                                 
COREB: Initialise New TCB:NewTCB address: 3d03000                               
COREB: TopofStask: 0, pxTopOfStack = 3d0431c                                    
COREB: pxTaskCode =3c0295c, pvParameters = 0                                    
COREB: returned pxNewTCB->pxTopOfStack = 3d04268                                
COREB: task created:                                                            
COREB: top of stack: 3d04268                                                    
COREB: GenericListItem: 0                                                       
COREB: Event ListItem: a                                                        
COREB: Priority: 0                                                              
COREB: start of stack: 3d04000                                                  
COREB: Task Name: IDLE                                                          
COREB: TCB number: 1                                                            
COREB: Task Tag: 0                                                              
COREB: end Add the idle task at the lowest priority                             
COREB: if xReturn == 1, and xReturn = 1                                         
COREB: before disable interupt                                                  
COREB: after disable interupt                                                   
COREB: before  xPortStartScheduler                                              
COREB: start xPortStartScheduler fn before set core timer                       
COREB: after ContextSwitch interupt flag                                        
COREB: before prvSetupTimerInterrupt                                            
COREB: after prvSetupTimerInterupt                                              
COREB: Task Switch context called                                               
COREB: The scheduler is running                                                 
COREB: trace switched out TCB:ff700bf8                                          
COREB: name of switch out task:efore  xPortStartScheduler                       

COREB: before Task first check for stack overflow                               
COREB: Task first check for stack overflow called                               
COREB: Task second check for stack overflow called                              
COREB: before call get owner of next entry                                      
COREB: get owner of next entry:                                                 
COREB: current TCB 3d01000                                                      
COREB: pxReadyTasksLists[ uxTopReadyPriority ] = 1                              
COREB: TCB content:                                                             
COREB: top of stack: 3d02588                                                    
COREB: GenericListItem: 0                                                       
COREB: Event ListItem: 9                                                        
COREB: Priority: 1                                                              
COREB: start of stack: 3d02000                                                  
COREB: Task Name: BootTas                                                       
COREB: TCB number: 0                                                            
COREB: Task Tag: 0                                                              
COREB: trace switched in:BootTas                                                
COREB: write trace to buffer                                                    
COREB: task increment tick: 1                                                   
COREB: end of app init                                                          
COREB: execption 2b addr ff700be4                                               
COREB: coreb dump stack                                                         
COREB: found fp: ff700b64  

这是我在模拟设备论坛上开始的讨论:

http://ez.analog.com/message/38669#38669

Answer 1

好的，我终于解决了这个问题。问题是汇编代码没有从带有RTI的vContext代码中断函数返回，而是直接进入下一个汇编代码函数，这是具有相同问题的定时器中断，因此堆栈指针正在运行到下一个地址，它恰好是 app_init 函数的起始地址.....

问题可能是由于 RTI 语句是在 vContextSwitch 函数调用的 MACRO 中进行的，我不确定。

我通过将这些汇编函数转换为 C 函数来修复它，现在从中断返回的堆栈正常工作并且问题得到解决。请注意，在调用 vContextSwitch 时忘记了调度程序中的钩子(Hook)任务加载器函数以及从未记录在任务上下文中的钩子(Hook)函数的标记之后，发现了额外的错误。

现在都修好了。

最好的祝福，

威廉