Currently I'm working on a Demo program to better understand working with FreeRTOS. Therefore I would like to try to initialize a Queue on my second core(core1). After initializing i would like to add something to it in a 1 second interval and whenever nothing happens I would like to check my queue and work its content off. Everything related to that queue should work on the second core. The reason being that I previously worked on a Webserver which operates on the main core. My future Queue is supposed to work in parallel on the second core.
This is my current demoprogram:
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/timers.h"
#include "esp_system.h"
xQueueHandle queue;
void taskqueuecreator()
{
queue = xQueueCreate(15, sizeof(int));
printf("Queue created on core %d!\n", xPortGetCoreID());
vTaskDelete(NULL);
}
void addspitoqueue(){
while(true){
printf("added Item to Queue");
xQueueSend(queue, 1, 1000 / portTICK_PERIOD_MS);
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
void TimerStateMachine(int Methodnum){
switch(Methodnum){
case 1:
printf("SPI communication with arm happens here %d \n",xPortGetCoreID());
break;
case 2:
printf("something else is about to happen here");
break;
return;
}
}
void queueloop(){
int receivedint = 0; //1 = spi communication mit Arm
while(true){
printf("in queueloop");
if(xQueueReceive(queue, &receivedint, 5000)){
TimerStateMachine(receivedint);
}
}
}
void app_main(void)
{
xTaskCreatePinnedToCore(&taskqueuecreator, "create queue", 4*1024, NULL, 2, NULL, 1 );
printf("\n task done\n");
xTaskCreatePinnedToCore(&addspitoqueue, "create spitask", 4*1024, NULL, 2, NULL, 1);
printf("\n task done part 2\n");
xTaskCreatePinnedToCore(&queueloop, "queue loop", 4*1024, NULL, 2, NULL, 1);
printf("\n task done part 3\n");
}
when executing it I get the following errormessage followed by a reset :
ets Jul 29 2019 12:21:46
rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:2 load:0x3fff0030,len:7028 load:0x40078000,len:14308 load:0x40080400,len:3716 0x40080400: _init at ??:?
entry 0x40080680 I (27) boot: ESP-IDF v4.3.1-dirty 2nd stage bootloader I (27) boot: compile time 10:17:24 I (27) boot: chip revision: 3 I (30) boot_comm: chip revision: 3, min. bootloader chip revision: 0 I (38) boot.esp32: SPI Speed : 40MHz I (42) boot.esp32: SPI Mode : DIO I (47) boot.esp32: SPI Flash Size : 8MB I (51) boot: Enabling RNG early entropy source... I (57) boot: Partition Table: I (60) boot: ## Label Usage Type ST Offset Length I (68) boot: 0 nvs WiFi data
01 02 00009000 00006000 I (75) boot: 1 phy_init RF data
01 01 0000f000 00001000 I (82) boot: 2 factory factory app
00 00 00010000 00100000 I (90) boot: End of partition table I (94) boot_comm: chip revision: 3, min. application chip revision: 0 I (101) esp_image: segment 0: paddr=00010020 vaddr=3f400020 size=06964h ( 26980) map I (120) esp_image: segment 1: paddr=0001698c vaddr=3ffb0000 size=028dch ( 10460) load I (124) esp_image: segment 2: paddr=00019270 vaddr=40080000 size=06da8h ( 28072) load I (138) esp_image: segment 3: paddr=00020020 vaddr=400d0020 size=135bch ( 79292) map I (167) esp_image: segment 4: paddr=000335e4 vaddr=40086da8 size=03fb0h ( 16304) load I (174) esp_image: segment 5: paddr=0003759c vaddr=50000000 size=00010h ( 16) load I (180) boot: Loaded app from partition at offset 0x10000 I (180) boot: Disabling RNG early entropy source... I (196) cpu_start: Pro cpu up. I (196) cpu_start: Starting app cpu, entry point is 0x40080ffc 0x40080ffc: call_start_cpu1 at C:/Users/Student/esp/esp-idf/components/esp_system/port/cpu_start.c:141I (183) cpu_start: App cpu up. I (210) cpu_start: Pro cpu start user code I (210) cpu_start: cpu freq: 160000000 I (210) cpu_start: Application information: I (215) cpu_start: Project name: main I (220) cpu_start: App version: 1 I (224) cpu_start: Compile time: Jan 3 2022 15:11:19 I (230) cpu_start: ELF file SHA256: 65b119d32e9f73f6... I (236) cpu_start: ESP-IDF: v4.3.1-dirty I (242) heap_init: Initializing. RAM available for dynamic allocation: I (249) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM I (255) heap_init: At 3FFB31A8 len 0002CE58 (179 KiB): DRAM I (261) heap_init: At 3FFE0440 len 00003AE0 (14 KiB): D/IRAM I (267) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM I (274) heap_init: At 4008AD58 len 000152A8 (84 KiB): IRAM I (281) spi_flash: detected chip: generic I (285) spi_flash: flash io: dio I (290) cpu_start: Starting scheduler on PRO CPU. I (0) cpu_start: Starting scheduler on APP CPU.
task done
Queue created on core 1!
task done part 2
Guru Meditation Error: Core 1 panic'ed (LoadProhibited). Exception was unhandled.
Core 1 register dump: PC : 0x4000c344 PS : 0x00060633 A0 : 0x80085685 A1 : 0x3ffb95e0 A2 : 0x3ffaffa8 A3 : 0x00000000 A4 : 0x00000004 A5 : 0x3ffaffa8 A6 : 0x00000001 A7 : 0x00000000 A8 : 0x40000000 A9 : 0x3ffb92a0 A10 : 0x3ffb92c0 A11 : 0x00000001 A12 : 0x3ffb9524 A13 : 0x3ffaef6c A14 : 0x00000000 A15 : 0x00000001 SAR : 0x00000008 EXCCAUSE: 0x0000001c EXCVADDR: 0x00000000 LBEG : 0x400014fd LEND : 0x4000150d LCOUNT : 0xffffffff
Backtrace:0x4000c341:0x3ffb95e0 0x40085682:0x3ffb95f0 0x40085b0e:0x3ffb9610 0x400d40d0:0x3ffb9650 0x40087b39:0x3ffb9670 0x40085682: prvCopyDataToQueue at C:/Users/Student/esp/esp-idf/components/freertos/queue.c:2114
0x40085b0e: xQueueGenericSend at C:/Users/Student/esp/esp-idf/components/freertos/queue.c:804
0x400d40d0: addspitoqueue at C:\Users\Student\Projekte\sample_project\build/../main/main.c:30 (discriminator 1)
0x40087b39: vPortTaskWrapper at C:/Users/Student/esp/esp-idf/components/freertos/port/xtensa/port.c:168
ELF file SHA256: 65b119d32e9f73f6
Rebooting...
I assume(but I'm not 100% sure) this is caused by this line
xQueueHandle queue;
Being executed on core 0 and this part
while(true){ printf("added Item to Queue"); xQueueSend(queue, 1, 1000 / portTICK_PERIOD_MS); vTaskDelay(1000 / portTICK_PERIOD_MS); }
Being executed on core 1.
If so, anyone might have an idea of how to work around that problem? if not, anyone got an idea of what's wrong?
You don't need to assume where the problem is; the answer is in the backtrace that you posted. The exception happened during a particular function call in your code:
0x400d40d0: addspitoqueue at C:\Users\Student\Projekte\sample_project\build/../main/main.c:30
Your function addspitoqueue() is:
void addspitoqueue(){
while(true){
printf("added Item to Queue");
xQueueSend(queue, 1, 1000 / portTICK_PERIOD_MS);
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
Specifically this line is causing the problem:
xQueueSend(queue, 1, 1000 / portTICK_PERIOD_MS);
Take a look at the definition of xQueueSend():
BaseType_t xQueueSend(
QueueHandle_t xQueue,
const void * pvItemToQueue,
TickType_t xTicksToWait
);
It's meant to take a pointer to the object to be placed on the queue - not the value. It will copy the object to the the queue starting at the address you passed - in this case, 1, which is definitely going to cause a crash.
You need to store the value in an int (since you defined the queue to be a queue of sizeof(int) objects) and then pass a pointer to where you stored it.
For instance:
static int value_to_queue;
void addspitoqueue(){
while(true){
printf("added Item to Queue");
value_to_queue = 1;
xQueueSend(queue, &value_to_queue, 1000 / portTICK_PERIOD_MS);
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}