ChibiOS Free Embedded RTOS

Posted: **Mon Jul 11, 2016 3:37 pm**

Hello.

I'm trying to run ChibiOS on custom board based on STM32L052K8 chip.

For start, i'm trying to run this code, based on RT-STM32L053R8-NUCLEO demo:

Code: Select all

#include "ch.h"
#include "hal.h"

static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {

  (void)arg;
  chRegSetThreadName("blinker");
  while (true) {
    palClearPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
    palSetPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
  }
}

int main(void) {
  halInit();
  chSysInit();

  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  while (true) {
    chThdSleepMilliseconds(500);
  }
}

And I've faced problem even with this example. MCU "crashes" on chThdSleepMilliseconds either in main thread or blinker thread. Moreover, crash looks quite weird. MCU is falling into system memory, and starting code from address 0x1FF0xxxx o_O.

To get trace, I've used gdb script:

Code: Select all

set $i=0
target remote localhost:4242
monitor reset halt
load
break Reset_Handler
continue
while ($i<100000)
si
set $i = $i + 1
end
quit

And here's most interesting part of crash (whole trace - http://pastebin.com/fvhX5cBw):

Code: Select all

Thread1 (arg=0x0) at main.c:5
5   static THD_FUNCTION(Thread1, arg) {
0x080001f2   5   static THD_FUNCTION(Thread1, arg) {
0x080001f4   5   static THD_FUNCTION(Thread1, arg) {
8     chRegSetThreadName("blinker");
0x080001f8   8     chRegSetThreadName("blinker");
0x080001fa   8     chRegSetThreadName("blinker");
chRegSetThreadName (name=0x80001f1 <Thread1> "\265\203\260\001\220\vK\030") at ../../../os/rt/include/chregistry.h:132
132   static inline void chRegSetThreadName(const char *name) {
0x080001d2   132   static inline void chRegSetThreadName(const char *name) {
135     ch.rlist.r_current->p_name = name;
0x080001d6   135     ch.rlist.r_current->p_name = name;
0x080001d8   135     ch.rlist.r_current->p_name = name;
0x080001da   135     ch.rlist.r_current->p_name = name;
139   }
0x080001de in chRegSetThreadName (name=0x0) at ../../../os/rt/include/chregistry.h:139
139   }
Thread1 (arg=0x0) at main.c:10
10       palClearPad(GPIOA, GPIOA_LED_GREEN);
0x08000200   10       palClearPad(GPIOA, GPIOA_LED_GREEN);
0x08000202   10       palClearPad(GPIOA, GPIOA_LED_GREEN);
0x08000204   10       palClearPad(GPIOA, GPIOA_LED_GREEN);
11       chThdSleepMilliseconds(500);
0x08000208   11       chThdSleepMilliseconds(500);
0x0800020a   11       chThdSleepMilliseconds(500);
0x0800020c   11       chThdSleepMilliseconds(500);
chThdSleep (time=0) at ../../../os/rt/src/chthreads.c:311
311   void chThdSleep(systime_t time) {
0x080016f2   311   void chThdSleep(systime_t time) {
0x080016f4   311   void chThdSleep(systime_t time) {
0x080016f6   311   void chThdSleep(systime_t time) {
0x080016f8   311   void chThdSleep(systime_t time) {
0x080016fa   311   void chThdSleep(systime_t time) {
313     chSysLock();
chSysLock () at ../../../os/rt/include/chsys.h:346
346   static inline void chSysLock(void) {
348     port_lock();
__disable_irq () at ../../../os/ext/CMSIS/include/core_cmFunc.h:344
344     __ASM volatile ("cpsid i" : : : "memory");
port_lock () at ../../../os/rt/ports/ARMCMx/chcore_v6m.h:333
333   }
chSysLock () at ../../../os/rt/include/chsys.h:351
351   }
chThdSleep (time=500) at ../../../os/rt/src/chthreads.c:314
314     chThdSleepS(time);
0x08001702   314     chThdSleepS(time);
0x08001704   314     chThdSleepS(time);
0x08001706   314     chThdSleepS(time);
0x08001708   314     chThdSleepS(time);
chThdSleepS (time=0) at ../../../os/rt/include/chthreads.h:264
264   static inline void chThdSleepS(systime_t time) {
0x080015c2   264   static inline void chThdSleepS(systime_t time) {
0x080015c4   264   static inline void chThdSleepS(systime_t time) {
0x080015c6   264   static inline void chThdSleepS(systime_t time) {
0x080015c8   264   static inline void chThdSleepS(systime_t time) {
0x080015ca   264   static inline void chThdSleepS(systime_t time) {
268     (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
0x080015ce   268     (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
0x080015d0   268     (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
0x080015d2   268     (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
0x080015d4   268     (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
0x080015d6   268     (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
chSchGoSleepTimeoutS (newstate=0 '\000', time=0) at ../../../os/rt/src/chschd.c:330
330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x08001382   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x08001384   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x08001386   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x08001388   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x0800138a   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x0800138c   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x0800138e   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
0x08001390   330   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
334     if (TIME_INFINITE != time) {
0x08001394   334     if (TIME_INFINITE != time) {
0x08001396   334     if (TIME_INFINITE != time) {
0x08001398   334     if (TIME_INFINITE != time) {
0x0800139a   334     if (TIME_INFINITE != time) {
337       chVTDoSetI(&vt, time, wakeup, currp);
0x0800139e   337       chVTDoSetI(&vt, time, wakeup, currp);
0x080013a0   337       chVTDoSetI(&vt, time, wakeup, currp);
0x080013a2   337       chVTDoSetI(&vt, time, wakeup, currp);
0x080013a4   337       chVTDoSetI(&vt, time, wakeup, currp);
0x080013a6   337       chVTDoSetI(&vt, time, wakeup, currp);
0x080013a8   337       chVTDoSetI(&vt, time, wakeup, currp);
0x080013aa   337       chVTDoSetI(&vt, time, wakeup, currp);
chVTDoSetI (vtp=0x0, delay=0, vtfunc=0x0, par=0x0) at ../../../os/rt/src/chvt.c:96
96                   vtfunc_t vtfunc, void *par) {
0x08000f02   96                   vtfunc_t vtfunc, void *par) {
0x08000f04   96                   vtfunc_t vtfunc, void *par) {
0x08000f06   96                   vtfunc_t vtfunc, void *par) {
0x08000f08   96                   vtfunc_t vtfunc, void *par) {
0x08000f0a   96                   vtfunc_t vtfunc, void *par) {
0x08000f0c   96                   vtfunc_t vtfunc, void *par) {
0x08000f0e   96                   vtfunc_t vtfunc, void *par) {
0x08000f10   96                   vtfunc_t vtfunc, void *par) {
103     vtp->vt_par = par;
0x08000f14   103     vtp->vt_par = par;
0x08000f16   103     vtp->vt_par = par;
104     vtp->vt_func = vtfunc;
0x08000f1a   104     vtp->vt_func = vtfunc;
0x08000f1c   104     vtp->vt_func = vtfunc;
108       systime_t now = chVTGetSystemTimeX();
0x08000f20   108       systime_t now = chVTGetSystemTimeX();
chVTGetSystemTimeX () at ../../../os/rt/include/chvt.h:228
228   static inline systime_t chVTGetSystemTimeX(void) {
233     return port_timer_get_time();
port_timer_get_time () at ../../../os/rt/ports/ARMCMx/chcore_timer.h:105
105   static inline systime_t port_timer_get_time(void) {
107     return stGetCounter();
st_lld_get_counter () at ../../../os/hal/ports/STM32/LLD/TIMv1/st_lld.h:141
141     return (systime_t)STM32_ST_TIM->CNT;
0x08000e52   141     return (systime_t)STM32_ST_TIM->CNT;
0x08000e54   141     return (systime_t)STM32_ST_TIM->CNT;
142   }
0x08000e58   142   }
0x08000eb6 in port_timer_get_time () at ../../../os/rt/ports/ARMCMx/chcore_timer.h:107
107     return stGetCounter();
108   }
0x08000eba   108   }
0x08000ec6 in chVTGetSystemTimeX () at ../../../os/rt/include/chvt.h:233
233     return port_timer_get_time();
235   }
0x08000eca   235   }
0x08000f24 in chVTDoSetI (vtp=0x2000086c <waThread1+252>, delay=500, vtfunc=0x8001321 <wakeup>, par=0x20000770 <waThread1>) at ../../../os/rt/src/chvt.c:108
108       systime_t now = chVTGetSystemTimeX();
0x08000f26   108       systime_t now = chVTGetSystemTimeX();
112       if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {
0x08000f2a   112       if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {
0x08000f2c   112       if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {
0x08000f2e   112       if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {
0x08000f30   112       if (delay < (systime_t)CH_CFG_ST_TIMEDELTA) {
117       if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
0x08000f3c   117       if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
0x08000f3e   117       if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
0x08000f40   117       if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
0x08000f42   117       if (&ch.vtlist == (virtual_timers_list_t *)ch.vtlist.vt_next) {
136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f86   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f88   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f8a   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f8c   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f8e   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f90   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f92   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f94   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f96   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f98   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f9a   136       delta = now + delay - ch.vtlist.vt_lasttime;
0x08000f9c   136       delta = now + delay - ch.vtlist.vt_lasttime;
137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000fa0   137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000fa2   137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000fa4   137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000fa6   137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000fa8   137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000faa   137       if (delta < ch.vtlist.vt_next->vt_delta) {
0x08000fac   137       if (delta < ch.vtlist.vt_next->vt_delta) {
150     p = ch.vtlist.vt_next;
0x08000fc4   150     p = ch.vtlist.vt_next;
0x08000fc6   150     p = ch.vtlist.vt_next;
0x08000fc8   150     p = ch.vtlist.vt_next;
151     while (p->vt_delta < delta) {
0x08000fe4   151     while (p->vt_delta < delta) {
0x08000fe6   151     while (p->vt_delta < delta) {
0x08000fe8   151     while (p->vt_delta < delta) {
0x08000fea   151     while (p->vt_delta < delta) {
0x08000fec   151     while (p->vt_delta < delta) {
0x08000fee   151     while (p->vt_delta < delta) {
152       delta -= p->vt_delta;
0x08000fcc   152       delta -= p->vt_delta;
0x08000fce   152       delta -= p->vt_delta;
0x08000fd0   152       delta -= p->vt_delta;
0x08000fd2   152       delta -= p->vt_delta;
0x08000fd4   152       delta -= p->vt_delta;
0x08000fd6   152       delta -= p->vt_delta;
0x08000fd8   152       delta -= p->vt_delta;
0x08000fda   152       delta -= p->vt_delta;
153       p = p->vt_next;
0x08000fde   153       p = p->vt_next;
0x08000fe0   153       p = p->vt_next;
151     while (p->vt_delta < delta) {
0x08000fe4   151     while (p->vt_delta < delta) {
0x08000fe6   151     while (p->vt_delta < delta) {
0x08000fe8   151     while (p->vt_delta < delta) {
0x08000fea   151     while (p->vt_delta < delta) {
0x08000fec   151     while (p->vt_delta < delta) {
0x08000fee   151     while (p->vt_delta < delta) {
157     vtp->vt_next = p;
0x08000ff2   157     vtp->vt_next = p;
0x08000ff4   157     vtp->vt_next = p;
158     vtp->vt_prev = vtp->vt_next->vt_prev;
0x08000ff8   158     vtp->vt_prev = vtp->vt_next->vt_prev;
0x08000ffa   158     vtp->vt_prev = vtp->vt_next->vt_prev;
0x08000ffc   158     vtp->vt_prev = vtp->vt_next->vt_prev;
0x08000ffe   158     vtp->vt_prev = vtp->vt_next->vt_prev;
159     vtp->vt_prev->vt_next = vtp;
0x08001002   159     vtp->vt_prev->vt_next = vtp;
0x08001004   159     vtp->vt_prev->vt_next = vtp;
0x08001006   159     vtp->vt_prev->vt_next = vtp;
160     p->vt_prev = vtp;
0x0800100a   160     p->vt_prev = vtp;
0x0800100c   160     p->vt_prev = vtp;
161     vtp->vt_delta = delta
0x08001010   161     vtp->vt_delta = delta
0x08001012   161     vtp->vt_delta = delta
0x08001014   161     vtp->vt_delta = delta
0x08001016   161     vtp->vt_delta = delta
165     p->vt_delta -= delta;
0x0800101a   165     p->vt_delta -= delta;
0x0800101c   165     p->vt_delta -= delta;
0x0800101e   165     p->vt_delta -= delta;
0x08001020   165     p->vt_delta -= delta;
0x08001022   165     p->vt_delta -= delta;
0x08001024   165     p->vt_delta -= delta;
0x08001026   165     p->vt_delta -= delta;
0x08001028   165     p->vt_delta -= delta;
166     ch.vtlist.vt_delta = (systime_t)-1;
0x0800102c   166     ch.vtlist.vt_delta = (systime_t)-1;
0x0800102e   166     ch.vtlist.vt_delta = (systime_t)-1;
0x08001030   166     ch.vtlist.vt_delta = (systime_t)-1;
167   }
0x08001034 in chVTDoSetI (vtp=0x80001f4 <Thread1+4>, delay=0, vtfunc=0x80013af <chSchGoSleepTimeoutS+46>, par=0x20000770 <waThread1>) at ../../../os/rt/src/chvt.c:167
167   }
chSchGoSleepTimeoutS (newstate=8 '\b', time=500) at ../../../os/rt/src/chschd.c:338
338       chSchGoSleepS(newstate);
0x080013b0   338       chSchGoSleepS(newstate);
0x080013b2   338       chSchGoSleepS(newstate);
0x080013b4   338       chSchGoSleepS(newstate);
0x080013b6   338       chSchGoSleepS(newstate);
chSchGoSleepS (newstate=32 ' ') at ../../../os/rt/src/chschd.c:250
250   void chSchGoSleepS(tstate_t newstate) {
0x080012d2   250   void chSchGoSleepS(tstate_t newstate) {
0x080012d4   250   void chSchGoSleepS(tstate_t newstate) {
0x080012d6   250   void chSchGoSleepS(tstate_t newstate) {
0x080012d8   250   void chSchGoSleepS(tstate_t newstate) {
0x080012da   250   void chSchGoSleepS(tstate_t newstate) {
255     otp = currp;
0x080012de   255     otp = currp;
0x080012e0   255     otp = currp;
256     otp->p_state = newstate;
0x080012e4   256     otp->p_state = newstate;
0x080012e6   256     otp->p_state = newstate;
0x080012e8   256     otp->p_state = newstate;
0x080012ea   256     otp->p_state = newstate;
262     setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
0x080012ee   262     setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
0x080012f0   262     setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
queue_fifo_remove (tqp=0x8000f25 <chVTDoSetI+36>) at ../../../os/rt/include/chschd.h:671
671   static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
0x080011a2   671   static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
672     thread_t *tp = tqp->p_next;
0x080011a6   672     thread_t *tp = tqp->p_next;
0x080011a8   672     thread_t *tp = tqp->p_next;
674     tqp->p_next = tp->p_next;
0x080011ac   674     tqp->p_next = tp->p_next;
0x080011ae   674     tqp->p_next = tp->p_next;
0x080011b0   674     tqp->p_next = tp->p_next;
675     tqp->p_next->p_prev = (thread_t *)tqp;
0x080011b4   675     tqp->p_next->p_prev = (thread_t *)tqp;
0x080011b6   675     tqp->p_next->p_prev = (thread_t *)tqp;
0x080011b8   675     tqp->p_next->p_prev = (thread_t *)tqp;
677     return tp;
678   }
0x080011be   678   }
0x080011c0 in queue_fifo_remove (tqp=0x800086c) at ../../../os/rt/include/chschd.h:678
678   }
0x080012f4 in chSchGoSleepS (newstate=8 '\b') at ../../../os/rt/src/chschd.c:262
262     setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
0x080012f6   262     setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
0x080012f8   262     setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
268     currp->p_state = CH_STATE_CURRENT;
0x080012fc   268     currp->p_state = CH_STATE_CURRENT;
0x080012fe   268     currp->p_state = CH_STATE_CURRENT;
0x08001300   268     currp->p_state = CH_STATE_CURRENT;
269     chSysSwitch(currp, otp);
0x08001304   269     chSysSwitch(currp, otp);
0x08001306   269     chSysSwitch(currp, otp);
0x08001308   269     chSysSwitch(currp, otp);
0x0800130a   269     chSysSwitch(currp, otp);
0x0800130c   269     chSysSwitch(currp, otp);
0x08000190 in _port_switch ()
0x08000192 in _port_switch ()
0x08000194 in _port_switch ()
0x08000196 in _port_switch ()
0x08000198 in _port_switch ()
0x0800019a in _port_switch ()
0x0800019c in _port_switch ()
0x0800019e in _port_switch ()
0x080001a0 in _port_switch ()
0x080001a2 in _port_switch ()
0x080001a4 in _port_switch ()
0x080001a6 in _port_switch ()
0x080001a8 in _port_switch ()
0x080001aa in _port_switch ()
0x080001ac in _port_switch ()
0x080001ae in _port_switch ()
0x080001b0 in _port_thread_start ()
0x60412106 in ?? ()
0x1ff00230 in ?? ()

As you can see, mcu accidentaly jumps to 0x60412106 (WTF?! according to RM, 0x6xxxxxxx - External RAM / FSMC).

Also I've tried to debug in Eclipse, and noticed, that jump occurs right after "cpsie i" instruction in _port_thread_start (os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s:95), so, maybe some interrupt occurs and IRQ table is broken?

Posted: **Mon Jul 11, 2016 3:43 pm**

Hi,

Most likely there is a stack overflow, enable debug options in chconf.h.

Giovanni

Posted: **Tue Jul 12, 2016 7:00 am**

Ah, I've forgot enabling them, now:

Code: Select all

#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
#define CH_DBG_ENABLE_CHECKS                TRUE
#define CH_DBG_ENABLE_ASSERTS               TRUE
#define CH_DBG_ENABLE_TRACE                 TRUE
#define CH_DBG_ENABLE_STACK_CHECK           TRUE
#define CH_DBG_FILL_THREADS                 TRUE

And I've got same behaviour. No system halts/assertions... trace: http://pastebin.com/dCwkT5PZ (with debug info for assembler sources)

Code: Select all

269   chSysSwitch(currp, otp);
0x080023bc  269   chSysSwitch(currp, otp);
0x080023be  269   chSysSwitch(currp, otp);
0x080023c0  269   chSysSwitch(currp, otp);
0x080023c2  269   chSysSwitch(currp, otp);
0x080023c4  269   chSysSwitch(currp, otp);
0x080023c6  269   chSysSwitch(currp, otp);
0x080023c8  269   chSysSwitch(currp, otp);
0x080023d2  269   chSysSwitch(currp, otp);
0x080023d4  269   chSysSwitch(currp, otp);
0x080023d6  269   chSysSwitch(currp, otp);
0x080023d8  269   chSysSwitch(currp, otp);
0x080023da  269   chSysSwitch(currp, otp);
0x080023dc  269   chSysSwitch(currp, otp);
_port_switch () at ../../../os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s:59
59                  push    {r4, r5, r6, r7, lr}
60                  mov     r4, r8
61                  mov     r5, r9
62                  mov     r6, r10
63                  mov     r7, r11
64                  push    {r4, r5, r6, r7}
66                  mov     r3, sp
67                  str     r3, [r1, #CONTEXT_OFFSET]
68                  ldr     r3, [r0, #CONTEXT_OFFSET]
69                  mov     sp, r3
_port_switch () at ../../../os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s:71
71                  pop     {r4, r5, r6, r7}
_port_switch () at ../../../os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s:72
72                  mov     r8, r4
73                  mov     r9, r5
74                  mov     r10, r6
75                  mov     r11, r7
76                  pop     {r4, r5, r6, r7, pc}
_port_thread_start () at ../../../os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s:90
90                  bl      _dbg_check_unlock
_dbg_check_unlock () at ../../../os/rt/src/chdebug.c:163
163 void _dbg_check_unlock(void) {
165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c84  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c86  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c88  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c8a  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c8c  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c8e  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
0x08001c90  165   if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
168   _dbg_leave_lock();
0x08001c9c  168   _dbg_leave_lock();
0x08001c9e  168   _dbg_leave_lock();
169 }
_port_thread_start () at ../../../os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s:95
95                  cpsie   i
0x60412106 in ?? ()
0x1ff00230 in ?? ()
0x1ff00232 in ?? ()
0x1ff00074 in ?? ()
0x1ff00076 in ?? ()
0x1ff00078 in ?? ()
0x1ff00238 in ?? ()
0x1ff0023a in ?? ()
0x1ff00040 in ?? ()

Posted: **Tue Jul 12, 2016 8:13 am**

It looks like a memory corruption. It can be a stack overflow, not all of them are necessarily detected by the software check done by the OS.

Giovanni

Posted: **Wed Jul 13, 2016 3:37 am**

Two crazy facts, I've found:

Seems VTOR (SCB->VTOR, vector table offset register) is initialized to 0x1FF0000000 after reset... o_O
SYSCFG->CFGR1 is 0x00000000 after reset, BUT, after rccEnableAPB2(RCC_APB2ENR_SYSCFGEN, TRUE) in hal_lld.c it changes to 0x00000001, so system memory is mapped to 0x00000000 instead of flash memory o_O

Looks like some issues with boot mode, but BOOT0 is tied to ground (checked!), and BOOT bits in SYSCFG->CFGR1 are always zero...

So, if I add SCB->VTOR = 0x08000000; before system init, ChibiOS is working as expected.

Posted: **Wed Jul 13, 2016 8:22 am**

Indeed it is acting like BOOT0 is 1. Can you share your schematic?

ChibiOS Free Embedded RTOS

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