Interrupt handling in FreeRTOS

Hi, I’m wondering if there is a special mechanism for handling
interrupts in FreeRTOS? I wanted to write a simple interrupt
routine that would toggle a led when I press a button. But sadly,
when I add the interrupt initialization code, the task won’t start.
Here’s the code:
void initInterr()
{
    AT91F_AIC_ConfigureIt(AT91C_BASE_AIC, AT91C_ID_PIOA, 5, AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL,ChangeFlashRate);
    AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_PIOA);
    AT91C_BASE_PIOA->PIO_IER = AT91C_PIO_PA19; // B1
}




void vStartLEDFlashTasks()
{
    initInterr();
    xTaskCreate( vLEDBlink, ( signed char * ) "LEDtaskC", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL );
}





void ChangeFlashRate()
{
    int status;
    status = AT91C_BASE_PIOA->PIO_ISR;
    vParTestToggleLED( 0 );
}
As you can see it’s very simple. I’m using SAM7-P64 dev board. Am i doing it wrong?

Interrupt handling in FreeRTOS

It seems like the line :
AT91C_BASE_PIOA->PIO_IER = AT91C_PIO_PA19;
is the problem. If I comment it, the task is running and everything is ok. How should I handle the interrupt then?

Interrupt handling in FreeRTOS

Try enabling your interrupt only after the freeRTOS scheduler gets started.
In your FreeRTOS port, isn’t there a sample serial driver using interrupts which can help as a reference?

Interrupt handling in FreeRTOS

Hi, I bought the manual and changed my code, but interrupts still don’t work. Everything seems to be ok. Is the ISR written correctly?
void ToggleLedISR()
{
    int status;
    static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
    status = AT91C_BASE_PIOA->PIO_ISR;
    xSemaphoreGiveFromISR(xSemafor, &xHigherPriorityTaskWoken);
    if(xHigherPriorityTaskWoken == pdTRUE) {
        AT91C_BASE_AIC->AIC_EOICR = 0xFA;
        portYIELD_FROM_ISR();
    }
}
Here’s the task that takes the semaphore:
void ToggleLedTask(void *pvParameters) {
    while(1) {
        xSemaphoreTake(xSemafor, portMAX_DELAY);
        vParTestToggleLED( 0 );
    }
}

Interrupt handling in FreeRTOS

Not familiar with this processor, but the line
AT91C_BASE_AIC->AIC_EOICR = 0xFA;
would be my guess at the error. I presume this is an end of interrupt control, and probably doesn’t want to be conditioned on xHigherPriorityTaskWoken. I would suggest placing it before the if statement.

Interrupt handling in FreeRTOS

I got it working. It seems that an interrupt handler that gives a token to a semaphore needs to be called from a wrapper that copies the context. I got it working with:
void vLed_ISR_Wrapper( void )
{
    /* Save the context of the interrupted task. */
    portSAVE_CONTEXT();
    /* Call the handler itself.  This must be a separate function as it uses
    the stack. */
    __asm volatile ("bl vLed_ISR_Handler");
    /* Restore the context of the task that is going to
    execute next. This might not be the same as the originally
    interrupted task.*/
    portRESTORE_CONTEXT();
}
Now, correct me if I’m wrong, but that is the only way I managed to get it done. Without the wrapper the processor “hangs” itself. And of course both the wrapper and the handler must be compiled in ARM mode. Or is there a way without using a wrapper?

Interrupt handling in FreeRTOS

If your interrupt is wanting to cause a context switch, or wanting to call a FreeRTOS API function, then the wrapper is required – as per the documentation and examples. Regards.