osPriorityRealtime tasks cannot be terminated

shipeng

osPriorityRealtime tasks cannot be terminated [Copy link]

 

When I was configuring FreeRTOS with STM32CubeIDE recently, I found that after the osPriorityRealtime level task is created, it cannot be terminated before the kernel is started (calling the function osKernelStart()), otherwise it will cause a HardFault exception interrupt. As for whether the task can be terminated after the kernel is started, I did not try. My operation is to create the task REMOTE_CMDHandle in the function void MX_FREERTOS_Init(void), and call osThreadTerminate(REMOTE_CMDHandle) before the MX_FREERTOS_Init function returns; and clear the task handle REMOTE_CMDHandle = NULL; my original intention was to prevent the REMOTE_CMDHandle task from running after powering on, and wait for user operation before creating and running it. Since the task will be powered on and run by default after using STM32CubeIDE graphical creation, I added a sentence of task termination after creation to achieve my ulterior purpose.

Debug tracking found that the specific reason was that when the stack initialization function pxPortInitialiseStack returned, it entered the prvIdleTask function->prvCheckTasksWaitingTermination()->( void ) uxListRemove( &( pxTCB->xStateListItem ) ) and ran to "if( pxList->pxIndex == pxItemToRemove )", an illegal address 0xfffffffd appeared, triggering the HardFault_Handler() abnormal interrupt. The final solution was to set the priority to osPriorityHigh and successfully solve the problem. To delve into the specific reasons, we need the guidance of the masters.

wangerxian

Does it mean that when you want to boot up, you should first stop the thread created by the GUI task?

shipeng

wangerxian posted on 2024-3-25 15:17 Does it mean that when you want to start the computer, you should stop the thread created by the GUI task first?

Yes, it's mainly because the task is not allowed to run when powered on, or I originally didn't want to create a task when powered on, but STM32CubeIDE doesn't seem to have this option. As long as you add a task in the .ioc file, the task is created in the FRERTOS_Init() function by default and you have no choice. Of course, you can also choose to create the task manually without this problem, but I didn't do this and encountered a problem. I hope it can help someone who is destined to do so.

freebsder

shipeng posted on 2024-3-25 20:08 Yes, it is mainly because the task is not allowed to run when powered on, or my original intention is not to create a task when powered on, but STM32CubeIDE does not seem to have...

Manual processing. Extract this part of the code.