forced hard fault generated by escalation of a fault with configurable priority that cannot be handled

[topkinschen]

Hi

   my project runinto hardfault, the info below:

Stack:

Thread #1 57005 (Suspended : Signal : SIGTRAP:Trace/breakpoint trap)    
    HardFault_Handler() at semihost_hardfault.c:72 0x1da54    
    <signal handler called>() at 0xfffffff1    
    xTaskIncrementTick() at tasks.c:2,705 0x1a4c4    
    SysTick_Handler() at port.c:447 0x19510    
    <signal handler called>() at 0xffffffed    
    prvPortStartFirstTask() at port.c:217 0x19304    
    xPortStartScheduler() at port.c:329 0x19412    

Faults info:

Active faults @\amazon-freertos\FreeRTOS\tasks.c line 2707

Bus Fault (BFSR)
BFARVALID (7)   BusFault Address Register (BFAR) valid flag
PRECISERR (1)        Precise data bus errorHard Fault (HFSR)   
FORCED (30)     Indicates a forced hard fault, generated by escalation of a fault with configurable priority that cannot be handled, either because of priority or because it is disabled

Fault Status Registers

IPSR            0x00000003      Exception Status Register (Hard Fault)

CFSR            0x00008200      Configurable fault Status Register

MMSR            0x00000000      Memory Manage fault Status Register

BFSR            0x00000082      Bus fault Status Register

UFSR            0x00000000      User fault Status Register

HFSR            0x40000000      Hard fault Status Register

DFSR            0x00000001      Debug fault Status Register

MMAR            0x3805C938      Memory Manage fault Address Register

BFAR            0x3805C938      Bus fault Address Register

AFSR            0x00000000      Auxiliary fault Status Register

Stacked Registers (SP LR/EXC_RETURN=0xfffffff1)

R0              0x00000003                          

R1              0x2001CCAC                          

R2              0x0E003307                          

R3              0x3805C938                          

R12             0x000000AA                          

LR              0x00018E25      SysTick_Handler()  @ \amazon-freertos\FreeRTOS\portable\port.c line 451

PC              0x00019DD8      xTaskIncrementTick()  
PSR             0x2100000F                          

SP              0x20027F90   

my project info:

   MCU:LPC54606

   OS:FreeRTOS

   Middleware:Lwip with SDK

   SDK:2.4.1

   Interrupt used: Enet by LWIP with Priority 6

                            PINT0,PINT1 with no Priority settings, default priority?

   peripherals used: flexcomm0(SPI poll mode), flexcomm3(SPI poll mode),

                                5 GPIOs

the FreeRTOSConfig.h settings as below:

#define configUSE_PREEMPTION                    1
#define configUSE_TICKLESS_IDLE                 0
#define configCPU_CLOCK_HZ                      (SystemCoreClock)
#define configTICK_RATE_HZ                      ((TickType_t)100)
#define configMAX_PRIORITIES                    5
#define configMINIMAL_STACK_SIZE                ((unsigned short)100)
#define configMAX_TASK_NAME_LEN                 10
#define configUSE_16_BIT_TICKS                  0
#define configIDLE_SHOULD_YIELD                 1
#define configUSE_TASK_NOTIFICATIONS            1
#define configUSE_MUTEXES                       1
#define configUSE_RECURSIVE_MUTEXES             1//0 liang 5.23
#define configUSE_COUNTING_SEMAPHORES           1
#define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
#define configQUEUE_REGISTRY_SIZE               8
#define configUSE_QUEUE_SETS                    0
#define configUSE_TIME_SLICING                  1//
#define configUSE_NEWLIB_REENTRANT              0
#define configENABLE_BACKWARD_COMPATIBILITY     1
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
#define configUSE_APPLICATION_TASK_TAG          0

...  ...

#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 3 /* 15 priority levels */
#endif

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 7//((1U << (configPRIO_BITS)) - 1)//7

/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 2//liang 5.23

/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))

[mpazzi]

Hi liang chen,

 I had the same problem, in my case the issue was created have write in two different place this function " vTaskStartScheduler();"

Best Regards

Marco

[topkinschen]

I have seen this post:FreeRTOS bug in xQueueGenericSendFromISR ? 

I thinks they say wrong in the post ,

"Content originally posted in LPCWare by alramlechner on Fri Aug 07 13:28:29 MST 2015
just found it. IRQ priority, which uses FreeRTOS API, must have lower priority than SysTick ... "

actually all other IRQ priority should have higher priority than Systick(configKERNEL_INTERRUPT_PRIORITY), and lower than configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY (http://www.freertos.org/a00110.html#kernel_priority).

my project follow this rule , but hardfault still. i don't know why.

[topkinschen]

could someone help on this.

[xiangjun_rong]

Hi, LiangChen,

As you know that the Cortex-M4 use the follow IPR register format for each external interrupt source:

For example, the interrupt priority of IP_CTIMER0 for LPC546xx are located at bit21~23, it's priority is from 0 to 7(from 3b'000 to 3b'111), the 3b'000 is of highest priority, the 3b'111 is of lowest priority. The configMAX_PRIORITIES is set up as 5 using the line in FreeRtos system:

#define configMAX_PRIORITIES                    5

So for your own peripheral interrupt source, you have to set priority of  your own peripheral interrupt source lower than 5 level. In other words, set the IPR register value greater than 5. For example, you want to use IP_TIMER0 module interrupt, and post an event, so you have to set up the IP_CTIMER0 bits(bit21~23) for example 6, 3b'110, it is okay.

Hope it can help you

BR

XiangJun Rong

[topkinschen]

Hi Rong

   thanks for helping.

    In my project：configMAX_PRIORITIES = 2，configKERNEL_INTERRUPT_PRIORITY  =7.

    PINT0、PINT1 Priority =4 ；Enet  Priority  = 6；CTIMER0、CTIMER1 Priority = 4；

    All other peripherals's interrupt are disabled.