vTaskDelayUntil not working with mega128

hi I implemented a simple code, with a single task . The program control is lost when it reaches vTaskDelayUntil. If simple delay (using for loop) is used the program works fine . I have changed from mega323 to mega128 in make file settings in FreeRtosConfig.h are #define configUSE_PREEMPTION        1 #define configUSE_IDLE_HOOK            0 #define configUSE_TICK_HOOK            0 #define configCPU_CLOCK_HZ            ( ( unsigned portLONG ) 8000000 ) #define configTICK_RATE_HZ            ( ( portTickType ) 1000 ) #define configMAX_PRIORITIES        ( ( unsigned portBASE_TYPE ) 4 ) #define configMINIMAL_STACK_SIZE    ( ( unsigned portSHORT ) 85 ) #define configTOTAL_HEAP_SIZE        ( (size_t ) ( 2500 ) ) #define configMAX_TASK_NAME_LEN        ( 8 ) #define configUSE_TRACE_FACILITY    0 #define configUSE_16_BIT_TICKS        1 #define configIDLE_SHOULD_YIELD        1

vTaskDelayUntil not working with mega128

I also have the same problem with an ATMEGA162!!! It works fine on my ATMEGA16, I use vTaskDelay and also vTaskDelayUntil, but when I try this on ATMEGA162, it never comes again, after the call to this functions! If anyone has identified the problem, please let us know!

vTaskDelayUntil not working with mega128

I’m not too familiar with the AVR, but having had a quick look at the two devices (16 and 162) there seems to be little difference.  The 162 does have more timers through.  Is it possible that the timer setup used on the 16 is not compatible with the 162 and the tick is not running?  If you have a good debugger then try setting a break point in the tick interrupt.  If you cannot do this then try writing a tick hook function that toggles and LED every 1000 ticks.  If this does not work then maybe the timer interrupt is not running and this is the source of your problem?

vTaskDelayUntil not working with mega128

Hi, thanks for your respond. You´re right, I thought I had configured the timer, but there are some changes in the TIMSK register between the ATMEGA16 and the ATMEGA162 I didnt noticed! The other timer registers seem to be the same. Well, it works now for me. Here´s the code, modified for use of timer2 instead of timer1 (I need two counters for my application, and timer3 is already busy!), it´s working good. /*     FreeRTOS.org V4.1.3 – Copyright (C) 2003-2006 Richard Barry.     This file is part of the FreeRTOS.org distribution.     FreeRTOS.org is free software; you can redistribute it and/or modify     it under the terms of the GNU General Public License as published by     the Free Software Foundation; either version 2 of the License, or     (at your option) any later version.     FreeRTOS.org is distributed in the hope that it will be useful,     but WITHOUT ANY WARRANTY; without even the implied warranty of     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the     GNU General Public License for more details.     You should have received a copy of the GNU General Public License     along with FreeRTOS.org; if not, write to the Free Software     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA     A special exception to the GPL can be applied should you wish to distribute     a combined work that includes FreeRTOS.org, without being obliged to provide     the source code for any proprietary components.  See the licensing section     of http://www.FreeRTOS.org for full details of how and when the exception     can be applied.     ***************************************************************************     See http://www.FreeRTOS.org for documentation, latest information, license     and contact details.  Please ensure to read the configuration and relevant     port sections of the online documentation.     *************************************************************************** */ /* Changes from V2.6.0     + AVR port – Replaced the inb() and outb() functions with direct memory       access.  This allows the port to be built with the 20050414 build of       WinAVR. */ /* PUSTOWKA Changes     this port is using timer2 instead of timer1, and it is modified,  for     the use with ATMEGA162. see below for further indications! */ #include <stdlib.h> #include <avr/interrupt.h> #include "FreeRTOS.h" #include "task.h" /*———————————————————– * Implementation of functions defined in portable.h for the AVR port. *———————————————————-*/ /* Start tasks with interrupts enables. */ #define portFLAGS_INT_ENABLED                    ( ( portSTACK_TYPE ) 0x80 ) /* Hardware constants for timer 1. */ #define portCLEAR_COUNTER_ON_MATCH                ( ( unsigned portCHAR ) 0x08 ) #define portPRESCALE_64                            ( ( unsigned portCHAR ) 0x04 ) #define portCLOCK_PRESCALER                        ( ( unsigned portLONG ) 64 ) #define portCOMPARE_MATCH_A_INTERRUPT_ENABLE    ( ( unsigned portCHAR ) 0x10 ) /*———————————————————–*/ /* We require the address of the pxCurrentTCB variable, but don’t want to know any details of its type. */ typedef void tskTCB; extern volatile tskTCB * volatile pxCurrentTCB; /*———————————————————–*/ /* * Macro to save all the general purpose registers, the save the stack pointer * into the TCB.  * * The first thing we do is save the flags then disable interrupts.  This is to * guard our stack against having a context switch interrupt after we have already * pushed the registers onto the stack – causing the 32 registers to be on the * stack twice. * * r1 is set to zero as the compiler expects it to be thus, however some * of the math routines make use of R1. * * The interrupts will have been disabled during the call to portSAVE_CONTEXT() * so we need not worry about reading/writing to the stack pointer. */ #define portSAVE_CONTEXT()                                        asm volatile (    "push    r0                        nt"                        "in        r0, __SREG__            nt"                        "cli                            nt"                        "push    r0                        nt"                        "push    r1                        nt"                        "clr    r1                        nt"                        "push    r2                        nt"                        "push    r3                        nt"                        "push    r4                        nt"                        "push    r5                        nt"                        "push    r6                        nt"                        "push    r7                        nt"                        "push    r8                        nt"                        "push    r9                        nt"                        "push    r10                        nt"                        "push    r11                        nt"                        "push    r12                        nt"                        "push    r13                        nt"                        "push    r14                        nt"                        "push    r15                        nt"                        "push    r16                        nt"                        "push    r17                        nt"                        "push    r18                        nt"                        "push    r19                        nt"                        "push    r20                        nt"                        "push    r21                        nt"                        "push    r22                        nt"                        "push    r23                        nt"                        "push    r24                        nt"                        "push    r25                        nt"                        "push    r26                        nt"                        "push    r27                        nt"                        "push    r28                        nt"                        "push    r29                        nt"                        "push    r30                        nt"                        "push    r31                        nt"                        "lds    r26, pxCurrentTCB        nt"                        "lds    r27, pxCurrentTCB + 1    nt"                        "in        r0, 0x3d                nt"                        "st        x+, r0                    nt"                        "in        r0, 0x3e                nt"                        "st        x+, r0                    nt"                    ); /* * Opposite to portSAVE_CONTEXT().  Interrupts will have been disabled during * the context save so we can write to the stack pointer. */ #define portRESTORE_CONTEXT()                                    asm volatile (    "lds    r26, pxCurrentTCB        nt"                        "lds    r27, pxCurrentTCB + 1    nt"                        "ld        r28, x+                    nt"                        "out    __SP_L__, r28            nt"                        "ld        r29, x+                    nt"                        "out    __SP_H__, r29            nt"                        "pop    r31                        nt"                        "pop    r30                        nt"                        "pop    r29                        nt"                        "pop    r28                        nt"                        "pop    r27                        nt"                        "pop    r26                        nt"                        "pop    r25                        nt"                        "pop    r24                        nt"                        "pop    r23                        nt"                        "pop    r22                        nt"                        "pop    r21                        nt"                        "pop    r20                        nt"                        "pop    r19                        nt"                        "pop    r18                        nt"                        "pop    r17                        nt"                        "pop    r16                        nt"                        "pop    r15                        nt"                        "pop    r14                        nt"                        "pop    r13                        nt"                        "pop    r12                        nt"                        "pop    r11                        nt"                        "pop    r10                        nt"                        "pop    r9                        nt"                        "pop    r8                        nt"                        "pop    r7                        nt"                        "pop    r6                        nt"                        "pop    r5                        nt"                        "pop    r4                        nt"                        "pop    r3                        nt"                        "pop    r2                        nt"                        "pop    r1                        nt"                        "pop    r0                        nt"                        "out    __SREG__, r0            nt"                        "pop    r0                        nt"                    ); /*———————————————————–*/ /* * Perform hardware setup to enable ticks from timer 1, compare match A. */ static void prvSetupTimerInterrupt( void ); /*———————————————————–*/ /* * See header file for description. */ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) { unsigned portSHORT usAddress;     /* Place a few bytes of known values on the bottom of the stack.     This is just useful for debugging. */     *pxTopOfStack = 0x11;     pxTopOfStack–;     *pxTopOfStack = 0x22;     pxTopOfStack–;     *pxTopOfStack = 0x33;     pxTopOfStack–;     /* Simulate how the stack would look after a call to vPortYield() generated by     the compiler. */     /*lint -e950 -e611 -e923 Lint doesn’t like this much – but nothing I can do about it. */     /* The start of the task code will be popped off the stack last, so place     it on first. */     usAddress = ( unsigned portSHORT ) pxCode;     *pxTopOfStack = ( portSTACK_TYPE ) ( usAddress & ( unsigned portSHORT ) 0x00ff );     pxTopOfStack–;     usAddress >>= 8;     *pxTopOfStack = ( portSTACK_TYPE ) ( usAddress & ( unsigned portSHORT ) 0x00ff );     pxTopOfStack–;     /* Next simulate the stack as if after a call to portSAVE_CONTEXT().      portSAVE_CONTEXT places the flags on the stack immediately after r0     to ensure the interrupts get disabled as soon as possible, and so ensuring     the stack use is minimal should a context switch interrupt occur. */     *pxTopOfStack = ( portSTACK_TYPE ) 0x00;    /* R0 */     pxTopOfStack–;     *pxTopOfStack = portFLAGS_INT_ENABLED;     pxTopOfStack–;     /* Now the remaining registers.   The compiler expects R1 to be 0. */     *pxTopOfStack = ( portSTACK_TYPE ) 0x00;    /* R1 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x02;    /* R2 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x03;    /* R3 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x04;    /* R4 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x05;    /* R5 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x06;    /* R6 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x07;    /* R7 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x08;    /* R8 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x09;    /* R9 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x10;    /* R10 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x11;    /* R11 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x12;    /* R12 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x13;    /* R13 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x14;    /* R14 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x15;    /* R15 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x16;    /* R16 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x17;    /* R17 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x18;    /* R18 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x19;    /* R19 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x20;    /* R20 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x21;    /* R21 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x22;    /* R22 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x23;    /* R23 */     pxTopOfStack–;     /* Place the parameter on the stack in the expected location. */     usAddress = ( unsigned portSHORT ) pvParameters;     *pxTopOfStack = ( portSTACK_TYPE ) ( usAddress & ( unsigned portSHORT ) 0x00ff );     pxTopOfStack–;     usAddress >>= 8;     *pxTopOfStack = ( portSTACK_TYPE ) ( usAddress & ( unsigned portSHORT ) 0x00ff );     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x26;    /* R26 X */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x27;    /* R27 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x28;    /* R28 Y */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x29;    /* R29 */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x30;    /* R30 Z */     pxTopOfStack–;     *pxTopOfStack = ( portSTACK_TYPE ) 0x031;    /* R31 */     pxTopOfStack–;     /*lint +e950 +e611 +e923 */     return pxTopOfStack; } /*———————————————————–*/ portBASE_TYPE xPortStartScheduler( void ) {     /* In this port we ignore the parameter and use the configUSE_PREEMPTION     definition instead. */     /* Setup the hardware to generate the tick. */     prvSetupTimerInterrupt();     /* Restore the context of the first task that is going to run. */     portRESTORE_CONTEXT();     /* Simulate a function call end as generated by the compiler.  We will now     jump to the start of the task the context of which we have just restored. */     asm volatile ( "ret" );     /* Should not get here. */     return pdTRUE; } /*———————————————————–*/ void vPortEndScheduler( void ) {     /* It is unlikely that the AVR port will get stopped.  If required simply     disable the tick interrupt here. */ } /*———————————————————–*/ /* * Manual context switch.  The first thing we do is save the registers so we * can use a naked attribute. */ void vPortYield( void ) __attribute__ ( ( naked ) ); void vPortYield( void ) {     portSAVE_CONTEXT();     vTaskSwitchContext();     portRESTORE_CONTEXT();     asm volatile ( "ret" ); } /*———————————————————–*/ /* * Context switch function used by the tick.  This must be identical to * vPortYield() from the call to vTaskSwitchContext() onwards.  The only * difference from vPortYield() is the tick count is incremented as the * call comes from the tick ISR. */ void vPortYieldFromTick( void ) __attribute__ ( ( naked ) ); void vPortYieldFromTick( void ) {     portSAVE_CONTEXT();     vTaskIncrementTick();     vTaskSwitchContext();     portRESTORE_CONTEXT();     asm volatile ( "ret" ); } /*———————————————————–*/ /* * Setup timer 1 compare match A to generate a tick interrupt. */ static void prvSetupTimerInterrupt( void ) { unsigned portLONG ulCompareMatch; unsigned portCHAR ucLowByte;     /*This is a personal modification. The timer normally used is Timer 1, having 16 bits.      Timer1 is used for counting of external events on my app.      One of the consequences of changing the timer to one of 8 bits, is that the configTICK_RATE_HZ      cannot be too small compared to the configCPU_CLOCK_HZ. The relation between them follows the      ecuation:           configTICK_RATE_HZ >= configCPU_CLOCK_HZ / 16384          */         /* Using 8bit timer 2 to generate the tick.  Correct fuses must be     selected for the configCPU_CLOCK_HZ clock. */     ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;     /* We only have 8 bits so have to scale to get our required tick rate. */     ulCompareMatch /= portCLOCK_PRESCALER; //    value/64     /* Adjust for correct value. */     ulCompareMatch -= ( unsigned portLONG ) 1;     /* Setup compare match value for compare match A.  Interrupts are disabled     before this is called so we need not worry here. */     ucLowByte = ( unsigned portCHAR ) ( ulCompareMatch & ( unsigned portLONG ) 0xff );     OCR2 = ucLowByte;     /* Setup clock source and compare match behaviour. */     ucLowByte = portCLEAR_COUNTER_ON_MATCH | portPRESCALE_64;     TCCR2 = ucLowByte;//CTC, CLK/64         /* Enable the interrupt – this is okay as interrupt are currently globally     disabled. */     ucLowByte = TIMSK;     ucLowByte |= portCOMPARE_MATCH_A_INTERRUPT_ENABLE;     TIMSK = ucLowByte; } /*———————————————————–*/ #if configUSE_PREEMPTION == 1     /*      * Tick ISR for preemptive scheduler.  We can use a naked attribute as      * the context is saved at the start of vPortYieldFromTick().  The tick      * count is incremented after the context is saved.      */     void SIG_OUTPUT_COMPARE2(void) __attribute__ ((signal, naked));     void SIG_OUTPUT_COMPARE2(void)     {         vPortYieldFromTick();         asm volatile ( "reti" );     } #else     /*      * Tick ISR for the cooperative scheduler.  All this does is increment the      * tick count.  We don’t need to switch context, this can only be done by      * manual calls to taskYIELD();      */     void SIG_OUTPUT_COMPARE2(void) __attribute__ ((signal));     void SIG_OUTPUT_COMPARE2(void)     {         vTaskIncrementTick();     } #endif