인프런 커뮤니티 질문&답변

문제의 원인은 idle task의 stack overflow로 추정됩니다.

혹시 exception 상황에서 stack 분석하는 방법이 정리된 내용이 있으면 공유 부탁 드립니다.

내공이 부족하여....:<

stack size 조절 전

idle task의 stack 마지막 위치는 0x200000e4. 정상동작 시에는 stack에 문제 없음

문제 발생 시, idle task의 stack이 변수 영역을 침범하여 exception이 발생하는 것으로 보임

stack 조절

freertosconfig_base.h에서 idle stack size를 늘려서 test 해본 결과 정상 동작 확인하였습니다.

#define configUSE_TICK_HOOK                      0
#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
#define configTICK_RATE_HZ                       ((TickType_t)1000)
#define configMAX_PRIORITIES                     ( 20 )
//#define configMINIMAL_STACK_SIZE                 ((uint16_t)128) //cms: org stack sz
#define configMINIMAL_STACK_SIZE                 ((uint16_t)256) //cms: test
#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
#define configMAX_TASK_NAME_LEN                  ( 16 )
#define configUSE_16_BIT_TICKS                   0
#define configUSE_MUTEXES                        1
#define configQUEUE_REGISTRY_SIZE                8

uart 출력 상황

감사합니다.

안녕하세요. chucky2님!

제가 해보았을 때는 잘 동작하는군요. ㅎ (테스트 환경 f103rb)

T1 194, T2 194, T3 38, Idle 58991
T1 194, T2 194, T3 38, Idle 58992
T1 194, T2 194, T3 38, Idle 58993
T1 194, T2 194, T3 38, Idle 58994
T1 194, T2 194, T3 38, Idle 58995
T1 194, T2 194, T3 38, Idle 58996
T1 194, T2 194, T3 38, Idle 58997
T1 194, T2 194, T3 38, Idle 58998
T1 194, T2 194, T3 38, Idle 58999
...

참고하시라고 소스를 올려드립니다.

/*
 * task.c
 *
 *  Created on: Dec 22, 2020
 *      Author: admin
 */

/* FreeRTOS.org includes. */
#include "main.h"
#include "cmsis_os.h"
#include <stdio.h>

//#define CMSIS_OS

/* task's priority */
#define TASK_MAIN_PRIO	20
#define TASK_1_PRIO		10
#define TASK_2_PRIO		 9
#define TASK_3_PRIO		 8

struct Param_types {	/* struct for parameter passing to task */
       char *msg;
       int  P1,P2;
} Param_Tbl;

/* The task functions. */
static void TaskMain( void const *pvParameters );
static void Task1( void const *pvParameters );
static void Task2( const struct Param_types *Param );
static void Task3( const struct Param_types *Param );

#ifdef CMSIS_OS
osThreadId defaultTaskHandle;
osThreadId xHandleMain, xHandle1, xHandle2, xHandle3;
#else
TaskHandle_t xHandleMain, xHandle1, xHandle2, xHandle3;
#endif

int	task1timer, task2timer, task3timer, idletimer;

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

void USER_THREADS( void )
{

	/* Setup the hardware for use with the Beagleboard. */
	//prvSetupHardware();
#ifdef CMSIS_OS
	osThreadDef(defaultTask, TaskMain, osPriorityHigh, 0, 256);
	defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
#else
	/* Create one of the two tasks. */
	xTaskCreate(	(TaskFunction_t)TaskMain,		/* Pointer to the function that implements the task. */
					"TaskMain",	/* Text name for the task.  This is to facilitate debugging only. */
					256,		/* Stack depth - most small microcontrollers will use much less stack than this. */
					NULL,		/* We are not using the task parameter. */
					TASK_MAIN_PRIO,	/* This task will run at this priority */
					&xHandleMain );		/* We are not using the task handle. */
#endif
}

static void TaskMain( void const *pvParameters )
{
	const char *pcTaskName = "TaskMain";
	struct Param_types *Param;

	pvParameters = pvParameters; // for compiler warning

	/* Print out the name of this task. */
	printf( "%s is running\r\n", pcTaskName );

	// TASK CREATE
	/* TODO #1:
		Task1을 생성
		use 'xTaskCreate' */
#ifdef CMSIS_OS
	osThreadDef(Task1, Task1, osPriorityNormal, 0, 256);
	xHandle1 = osThreadCreate(osThread(Task1), NULL);
#else
	/* Create the other task in exactly the same way. */
	xTaskCreate(	(TaskFunction_t)Task1,		/* Pointer to the function that implements the task. */
					"Task1",	/* Text name for the task.  This is to facilitate debugging only. */
					256,		/* Stack depth - most small microcontrollers will use much less stack than this. */
					NULL,		/* We are not using the task parameter. */
					TASK_1_PRIO,	/* This task will run at this priority */
					&xHandle1 );		/* We are not using the task handle. */
#endif // TODO #1

	/* Create the other task in exactly the same way. */
	Param = &Param_Tbl;		/* get parameter tbl addr */
	Param->P1 = 111111;		/* set parameter */
	Param->P2 = 222222;
#ifdef CMSIS_OS
	osThreadDef(Task2, (void const *)Task2, osPriorityBelowNormal, 0, 256);
	xHandle2 = osThreadCreate (osThread(Task2), (void*)Param);
#else
	xTaskCreate( (TaskFunction_t)Task2, "Task2", 128, (void*)Param, TASK_2_PRIO, &xHandle2 );
#endif

#ifdef CMSIS_OS
	osThreadDef(Task3, (void const *)Task3, osPriorityBelowNormal, 0, 256);
	xHandle3 = osThreadCreate (osThread(Task3), (void*)Param);
#else
	xTaskCreate( (TaskFunction_t)Task3, "Task3", 128, (void*)Param, TASK_3_PRIO, &xHandle3 );
#endif

	/* TODO #2:
		Task1을 중지
		use 'vTaskSuspend' */
#if 0
	vTaskSuspend (xHandle1);
#endif // TODO #2

	/* TODO #4:
		Task1의 우선 순위를 'TASK_3_PRIO' 으로 변경
		use 'vTaskPrioritySet' and 'vTaskResume' */
#if 0
	vTaskPrioritySet (xHandle1, TASK_3_PRIO); // vTaskPrioritySet (NULL, 1);
	vTaskResume (xHandle1);
#endif // TODO #4

	/* delete self task */
	vTaskDelete (xHandleMain);	// vTaskDelete (NULL);
}

static void Task1( void const *pvParameters )
{
	const char *pcTaskName = "Task1";

	pvParameters = pvParameters; // for compiler warning

	/* Print out the name of this task. */
	printf( "%s is running\n", pcTaskName );

	printf("\n-------  Task1 information -------\n");
	printf("task1 name = %s \n",pcTaskGetName( xHandle1 ));
	printf("task1 priority = %d \n",(int)uxTaskPriorityGet( xHandle1 ));
//	printf("task1 status = %d \n",eTaskGetState( xHandle1 ));
	printf("----------------------------------\n");

	while(1) {
	/* TODO #3:
		코드를 실행 하여 보고
		vTaskDelay() 코드를 주석 처리한 후 그 결과를 설명한다 */
#if 1 // No comment
vTaskDelay (pdMS_TO_TICKS (1000));
printf("a"); fflush(stdout);	// 문자 'a' 출력
#endif // TODO #3

		task1timer++;
	}
}

static void Task2( const struct Param_types *Param )
{
	const char *pcTaskName = "Task2";

	/* Print out the name of this task. */
	printf( "%s is running\n", pcTaskName );

	printf("\n-------  Task2 parameter passed from main --------\n");
	printf("task2 first parameter = %d \n",Param->P1);
	printf("task2 second parameter = %d \n",Param->P2);
	printf("--------------------------------------------------\n");

	while(1) {
	/* TODO #3:
		코드를 실행 하여 보고
		vTaskDelay() 코드를 주석 처리한 후 그 결과를 설명한다 */
#if 1 // No comment
vTaskDelay (pdMS_TO_TICKS (1000));
//printf("b"); fflush(stdout);	// 문자 'b' 출력
printf("T1 %d, T2 %d, T3 %d, Idle %d\n", task1timer, task2timer, task3timer, idletimer);
#endif // TODO #3

		task2timer++;
	}
}

static void Task3( const struct Param_types *Param)
{
	while(1)
	{
		vTaskDelay(pdMS_TO_TICKS(5000));
//		printf("T1 %d, T2 %d, T3 %d, Idle %d\n", task1timer, task2timer, task3timer, idletimer);
		fflush(stdout);
		task3timer++;
	}
}

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

void vApplicationIdleHook (void)
{
	idletimer++;
	printf("T1 %d, T2 %d, T3 %d, Idle %d\n", task1timer, task2timer, task3timer, idletimer);

	if(idletimer % 1000 == 0)
	{
		printf("."); fflush(stdout);
	}
}