ChibiOS Free Embedded RTOS

Posted: **Tue Sep 29, 2015 4:33 pm**

Hi Giovanni and ChibiOS users,
I'm trying to integrating ChibiOS in STM32CubeMX on NucleF411RE board. STM32Cube software enable us to integrate RTOS via CMSIS interface, and they included FreeRTOS on that.
I think it will be nice if I can have ChibiOS instead FreeRTOS on my STM32Cube, so I try to use simple SysTick to generate timer event, I configure CH_CFG_ST_TIMEDELTA 0 in chconf.h, and call chibios scheduler from SysTickCallback, but I got chSysHalt with reason "SV#6".
I suppose the error is on my wrong SysTick implementation, and the other is the linker script, cube linker script quite different from chibios script.

This is my SysTick ISR: (cube style ISR callback funtion)
void HAL_SYSTICK_Callback(void)
{
// CH_IRQ_PROLOGUE();
chSysLockFromISR();
chSysTimerHandlerI();
chSysUnlockFromISR();
// CH_IRQ_EPILOGUE();
}

I also attach my debugger screen, I'm using openstm32 ide and I put chibios project code on https://github.com/swiedjaja/Cube-F411RE-ChibiOS

thanks for let me participate on this very interesting rtos software!

Posted: **Tue Sep 29, 2015 5:04 pm**

Hi,

You need those prologue/epilogue macros or reschedule will not happen.

SV#6 means that you are calling ISR code without those macros.

Code: Select all

 *            - SV#1, misplaced @p chSysDisable().
 *              - Called from an ISR.
 *              - Called from a critical zone.
 *              .
 *            - SV#2, misplaced @p chSysSuspend()
 *              - Called from an ISR.
 *              - Called from a critical zone.
 *              .
 *            - SV#3, misplaced @p chSysEnable().
 *              - Called from an ISR.
 *              - Called from a critical zone.
 *              .
 *            - SV#4, misplaced @p chSysLock().
 *              - Called from an ISR.
 *              - Called from a critical zone.
 *              .
 *            - SV#5, misplaced @p chSysUnlock().
 *              - Called from an ISR.
 *              - Not called from a critical zone.
 *              .
 *            - SV#6, misplaced @p chSysLockFromISR().
 *              - Not called from an ISR.
 *              - Called from a critical zone.
 *              .
 *            - SV#7, misplaced @p chSysUnlockFromISR().
 *              - Not called from an ISR.
 *              - Not called from a critical zone.
 *              .
 *            - SV#8, misplaced @p CH_IRQ_PROLOGUE().
 *              - Not called at ISR begin.
 *              - Called from a critical zone.
 *              .
 *            - SV#9, misplaced @p CH_IRQ_EPILOGUE().
 *              - @p CH_IRQ_PROLOGUE() missing.
 *              - Not called at ISR end.
 *              - Called from a critical zone.
 *              .
 *            - SV#10, misplaced I-class function.
 *              - I-class function not called from within a critical zone.
 *              .
 *            - SV#11, misplaced S-class function.
 *              - S-class function not called from within a critical zone.
 *              - Called from an ISR.
 *            .

In the distribution there are some demos without HAL, you may start from those then add the ST library code. See \demos\various\RT-ARMCM4-GENERIC

I suggest to not use the tickless mode initially, make it work first then go for the complex stuff.

Also, please use the latest code from the subversion repository, a couple of problems have been fixed in the CMSIS RTOS layer that will be released in 3.0.3.

Giovanni

Posted: **Wed Sep 30, 2015 6:14 am**

Thanks for your reply Giovanni, I already try using CH_IRQ_PROLOGUE() and CH_IRQ_EPILOGUE(), but the system halt, it's seem the stm32cube startup code not compatible, and If I used chibios gcc startup code, the cube library complaining.
Hope some day I will see this stuff working together in harmony

Posted: **Wed Sep 30, 2015 8:14 am**

Hi,

ChibiOS requires a dual stack setup and several other requirements (FPU, caches, various initializations). As soon they start providing code usable in real world we would gladly stop doing extra work.

Giovanni

Posted: **Sat Sep 17, 2016 5:55 am**

swiedjaja
Did you get any further than your first code on github?

ChibiOS Free Embedded RTOS

Integrating ChibiOS to STM32Cube via CMSIS-OS on Nucle F411

Integrating ChibiOS to STM32Cube via CMSIS-OS on Nucle F411

Re: Integrating ChibiOS to STM32Cube via CMSIS-OS on Nucle F

Re: Integrating ChibiOS to STM32Cube via CMSIS-OS on Nucle F

Re: Integrating ChibiOS to STM32Cube via CMSIS-OS on Nucle F

Re: Integrating ChibiOS to STM32Cube via CMSIS-OS on Nucle F411