FlexCAN asserts due to FreeRTOS nesting violation

M_SCH — Thu, 11 Jul 2024 09:31:16 GMT

Hello,

I have the following setup:

S32DS v3.5.12
RTD (P03, AR v4.7.0, SW v2.0.0)
FreeRTOS 10.5.1 v2.0.0
S32K148 MCU

I use a project that depends on the following drivers

FlexCAN
FreeRTOS
BaseNXP (selects OsifFreeRtosType)
others (may not be relevant to the potential bug)

When I debug the application I observe that it ends up in an assert statement through the following sequence of function calls:

ISR(CAN0_ORED_0_15_MB_IRQHandler)

RTD/src/FlexCAN_Ip_Irq.c at line 214

FlexCAN_IRQHandler( ... )

RTD/src/FlexCAN_Ip.c at line 2926

FlexCAN_IRQHandlerRxMB

RTD/src/FlexCAN_Ip.c at line 1342

can_RX_TX_callback

custom callback for to handle CAN RX/TX events, located inside the project folder
calls FlexCAN_Ip_Receive

FlexCAN_Ip_Receive

RTD/src/FlexCAN_Ip.c at line 2046

FlexCAN_SetMsgBuffIntCmd

RTD/src/FlexCAN_Ip_HwAccess.c at line 1053

SchM_Enter_Can_43_FLEXCAN_CAN_EXCLUSIVE_AREA_18

RTD/src/SchM_Can_43_FLEXCAN.c at line 1125

OsIf_SuspendAllInterrupts

RTD/include/OsIf_Internal.h at line 274

SuspendAllInterrupts

RTD/include/OsIf_Internal.h at line 247

taskENTER_CRITICAL

FreeRTOS/Source/Include/task.h at line 210

portENTER_CRITICAL

FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h at line 105

vPortEnterCritical

FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c at line 425
configASSERT

See also the debug session call sequence

Now I found a similar ticket where one NXP tech-support employee labels this issue as a bug, which may be resolved in a future RTD package release.

To be sure, can you

confirm that this is a bug in the RTD driver
present a workaround
1. I have tried to replace the portENTER_CRITICAL call by portENTER_CRITICAL_FROM_ISR (same for the EXIT version) in the local RTD folder in the header file Osif_Internal.h and in the RTD installation folder (S32DS.3.5\S32DS\software\PlatformSDK_S32K1_S32M24\RTD\BaseNXP_TS_T40D2M20I0R0\include\Osif_Internal.h)
  But then I get another build error (Description Resource Path Location Type
  too few arguments to function 'vPortSetBASEPRI' portmacro.h /__FreeRTOS_Toggle_Led_Example_S32K148__/FreeRTOS/Source/portable/GCC/ARM_CM4F line 102 C/C++ Problem)
point out if this is resolved by the RTD P04 package or when you plan to release package which fixes this isse

Best regards,

M_SCH

Re: FlexCAN asserts due to FreeRTOS nesting violation

PetrS — Mon, 15 Jul 2024 11:34:25 GMT

Hi,

yes, this is RTD issue and will be fixed with next RTD release. It should be version 3.0.0, not sure of the release plan.
Not able to comment more.

BR, Petr

Re: FlexCAN asserts due to FreeRTOS nesting violation

M_SCH — Mon, 15 Jul 2024 11:30:13 GMT

Hello Petr,

thanks for the information!

Best regards, M_SCH

Re: FlexCAN asserts due to FreeRTOS nesting violation

M_SCH — Mon, 15 Jul 2024 12:58:17 GMT

Hello,

one more thing.

My current implementation relies on the FlexCAN_Ip_Receive function using interrupts. Which of the following options would you recommend for a temporary fix:

1. Modify the Osif_Internal.h file (so that it matches the implementation of the RTD AR 4.4.0, SW 1.0.0):

#define ResumeAllInterrupts() ASM_KEYWORD(" cpsie i") #define SuspendAllInterrupts() ASM_KEYWORD(" cpsid i")

2. Use FlexCAN_Ip_ReceiveBlocking - keep in mind that I have multiple message buffers to query.

Best regards,

M_SCH

S32 SDKのトピックRe: FlexCAN asserts due to FreeRTOS nesting violation

FlexCAN asserts due to FreeRTOS nesting violation

Re: FlexCAN asserts due to FreeRTOS nesting violation

Re: FlexCAN asserts due to FreeRTOS nesting violation

Re: FlexCAN asserts due to FreeRTOS nesting violation