附件： 这些代码由我根据TI uart.c驱动程序库编写。
while(1){
//check if message on Queue -> read or check UART input
if(uxQueueMessagesWaiting( UART_TASKQ ) != 0){ //may have bugs
// deQueue
xQueueReceive( UART_TASKQ, &UARTTaskHandle, 0x0A );
//do the task's mission using the data in the stucture(put by control
task)
//Print out the input data.
//**********debugging data
/*
testPointer = UARTTaskHandle->dataBuffer;
testAmount = UARTTaskHandle->dataSize;
while(testAmount){
if(*testPointer != 1){
error = error + 1;
}
if(*(testPointer + 1) != 2){
error = error + 1;
}
if(*(testPointer + 2) != 3){
error = error + 1;
}
if(*(testPointer + 3) != 4){
error = error + 1;
}
if(*(testPointer + 4) != 5){
error = error + 1;
}
if(*(testPointer + 5) != 6){
error = error + 1;
}
if(*(testPointer + 6) != 7){
error = error + 1;
}
if(*(testPointer + 7) != 8){
error = error + 1;
}
testPointer = testPointer + 8;
testAmount = testAmount - 8;
}
*/
if(UART_write(UART_Handle, UARTTaskHandle->dataBuffer, UARTTaskHandle->dataSize, 0xff ) >= 0){
UARTwriteCount = UARTwriteCount + 1;
}
//let control task take new command
//free allocated memory
free(UARTTaskHandle->dataBuffer);
free(UARTTaskHandle); // free memory space
//(above is code using UART)
//here are UART driver code:
unsigned long UARTStatus(unsigned long ulBase){
ASSERT(UARTBaseValid(ulBase));
return(HWREG(ulBase + UART_O_FR));
}
//*****************************************
//UART_ISR
//Interrupt service routine for
//the UART read and write process
//*****************************************
void UART_ISR(){
//read FIFO full or read time out
if(UARTIntStatus(UART_Handle->UART_PORT,false) & (UART_INT_RX | UART_INT_RT)){
UARTIntClear(UART_Handle->UART_PORT, UART_INT_RX | UART_INT_RT); //clear INT flag
while (!(UARTStatus(UART_Handle->UART_PORT) & UART_FR_RXFE)){
//data reading
*UART_Handle->pCurrentRead = UARTCharGet(UART_Handle->UART_PORT); //read autoly clear INT
UART_Handle->pCurrentRead++;
UART_Handle->ReadLength--;
//adjust code here:
if(UART_Handle->ReadLength == 0){
break;
}
}
//check if read certain bytes finished
if(UART_Handle->ReadLength == 0){
memcpy(UART_Handle->dataput, UART_Handle->pReadBuf,UART_Handle->ReadLengthcpy); // copy data back
xSemaphoreGiveFromISR( UART_Handle->UARTRead_Semaphore, &xHigherPriorityTaskWoken );// release semaphore
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );//forcing context exchange
}
}
//send FIFO empty
if(UARTIntStatus(UART_Handle->UART_PORT,false) & UART_INT_TX){
UARTIntClear(UART_Handle->UART_PORT, UART_INT_TX); //clear INT flag
if(UART_Handle->WriteLength == BUFFEMPTY){
UART_Handle->UART_SendComplete = true;
xSemaphoreGiveFromISR( UART_Handle->UARTWrite_Semaphore, &xHigherPriorityTaskWoken );// release semaphore
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );//forcing context exchange
}
//putting data into send FIFO
if(UART_Handle->WriteLength > FIFOMAX){
for( Cindex = 0 ; Cindex < FIFOMAX ;){
if(UARTCharPutNonBlocking(UART_Handle->UART_PORT, *(UART_Handle->pCurrentWrite))){//write autoly clear INT
(UART_Handle->pCurrentWrite) = (UART_Handle->pCurrentWrite) + 1;
(UART_Handle->WriteLength) = (UART_Handle->WriteLength) - 1;
Cindex = Cindex + 1;
UART_Handle->sentCount = UART_Handle->sentCount + 1;
}
}
}else{
templength = UART_Handle->WriteLength;
for( Cindex = 0; Cindex < templength ;){
if(UARTCharPutNonBlocking(UART_Handle->UART_PORT, *(UART_Handle->pCurrentWrite))){//write autoly clear INT
(UART_Handle->pCurrentWrite) = (UART_Handle->pCurrentWrite) + 1;
(UART_Handle->WriteLength) = (UART_Handle->WriteLength) - 1;
Cindex = Cindex + 1;
UART_Handle->sentCount = UART_Handle->sentCount + 1;
}
}
}
}
}
//*****************************************
//UART_write
//write certain length of data to UART port
//*****************************************
int32_t UART_write( UART_STATE *UART_Handle, uint8_t *pData, uint32_t length, uint32_t time_out ){
while(!UART_Handle->UART_SendComplete); //debugging purpose
UART_Handle->UART_SendComplete = false;//debugging purpose
UART_Handle->WriteLength = length;
if(UART_Handle->WriteLength <= UART_Handle->WriteBufSize){
UARTIntClear(UART_Handle->UART_PORT, UART_INT_TX); //clear INT flag
memcpy(UART_Handle->pWriteBuf,pData,UART_Handle->WriteLength); //copy data into writebuff
UART_Handle->pCurrentWrite = UART_Handle->pWriteBuf;
//putting data into send FIFO
if(UART_Handle->WriteLength > FIFOMAX){
// if
for( Cindex = 0 ; Cindex < FIFOMAX ;){
if(UARTCharPutNonBlocking(UART_Handle->UART_PORT, *(UART_Handle->pCurrentWrite))){//write autoly clear INT
(UART_Handle->pCurrentWrite) = (UART_Handle->pCurrentWrite) + 1;
(UART_Handle->WriteLength) = (UART_Handle->WriteLength) - 1;
Cindex = Cindex + 1;
UART_Handle->sentCount = UART_Handle->sentCount + 1;
}
}
}else{
for( Cindex = 0 ; Cindex < FIFOMAX ;){
if(UARTCharPutNonBlocking(UART_Handle->UART_PORT, *(UART_Handle->pCurrentWrite))){//write autoly clear INT
(UART_Handle->pCurrentWrite) = (UART_Handle->pCurrentWrite) + 1;
(UART_Handle->WriteLength) = (UART_Handle->WriteLength) - 1;
Cindex = Cindex + 1;
UART_Handle->sentCount = UART_Handle->sentCount + 1;
}
}
}
//start sending
UARTEnable(UART_Handle->UART_PORT);
if(UART_Handle->UARTWrite_Semaphore != NULL ) {
if(xSemaphoreTake(UART_Handle->UARTWrite_Semaphore, time_out/(portTICK_PERIOD_MS) ) == pdTRUE){
reValue = WRITESUCCESS; //wait return till write complete
}else{
reValue = WRITETIMEOUT; // timeout (ms)
}
}else{
while(1); //no Semaphore
}
return reValue;
}else{
return FAILURE; //wrong length
}
}
//*****************************************
//UART_read
//read certain length of data from UART port
//*****************************************
int32_t UART_read(UART_STATE *UART_Handle, uint8_t *pData, uint32_t length, uint32_t time_out){
//later added part
UARTDisable(UART_Handle->UART_PORT); //clearUART
UARTFIFOEnable(UART_Handle->UART_PORT);
//
UART_Handle->ReadLength = length; // set readlength
UART_Handle->ReadLengthcpy = length;
if(UART_Handle->ReadLength <= UART_Handle->ReadBufSize){
UARTIntClear(UART_Handle->UART_PORT, UART_INT_RX | UART_INT_RT); //clear INT flag
UART_Handle->dataput = pData; //store the destination buffer address
UART_Handle->pCurrentRead = UART_Handle->pReadBuf; //set current read
UARTEnable(UART_Handle->UART_PORT); //start receiving
//suspend before read ISR finish whole process
if(UART_Handle->UARTRead_Semaphore != NULL ) {
if(xSemaphoreTake(UART_Handle->UARTRead_Semaphore, time_out/(portTICK_PERIOD_MS) ) == pdTRUE){
reValue = READSUCCESS; //wait return till write complete
}else{
reValue = READTIMEOUT; // timeout (ms)
}
}else{
while(1); //no Semaphore
}
return reValue;
}else{
return FAILURE; //wrong length
}
}
//*****************************************
//UART_open
//open UART for certain port and bandrate
//*****************************************
UART_HANDLE UART_open(uint32_t UART_port, uint32_t UART_portperiph, uint32_t UART_baudrate){
//initialize structure
UART_Handle = (UART_HANDLE)malloc(sizeof(UART_STATE));
UART_Handle->ReadBufSize = UARTBUFFERSIZE;
UART_Handle->WriteBufSize = UARTBUFFERSIZE;
UART_Handle->UART_PORT = UART_port;
UART_Handle->UART_PORTPERIPH = UART_portperiph;
UART_Handle->UART_BRATE = UART_baudrate;
UART_Handle->pWriteBuf = (uint8_t*)malloc(UART_Handle->WriteBufSize * sizeof(uint8_t));
UART_Handle->pReadBuf = (uint8_t*)malloc(UART_Handle->ReadBufSize * sizeof(uint8_t));
UART_Handle->pCurrentWrite = UART_Handle->pWriteBuf;
UART_Handle->pCurrentRead = UART_Handle->pReadBuf;
UART_Handle->UARTWrite_Semaphore = NULL;
UART_Handle->UARTRead_Semaphore = NULL;
UART_Handle->UARTprotect_Semaphore = NULL;
UART_Handle->UART_SendComplete = true;
UART_Handle->sentCount = 0;//debugging purpose
vSemaphoreCreateBinary( UART_Handle->UARTWrite_Semaphore ); //semaphore create
vSemaphoreCreateBinary( UART_Handle->UARTRead_Semaphore ); //semaphore create
// vSemaphoreCreateBinary( UART_Handle->UARTprotect_Semaphore ); //debugging purpose
xSemaphoreTake( UART_Handle->UARTRead_Semaphore, portMAX_DELAY ); //semaphore take
xSemaphoreTake( UART_Handle->UARTWrite_Semaphore, portMAX_DELAY ); //semaphore take
// Enable Peripheral Clocks
MAP_PRCMPeripheralClkEnable(UART_Handle->UART_PORTPERIPH, PRCM_RUN_MODE_CLK);
// Configure PIN_55 for UART0 UART0_TX
MAP_PinTypeUART(PIN_55, PIN_MODE_3);
// Configure PIN_57 for UART0 UART0_RX
MAP_PinTypeUART(PIN_57, PIN_MODE_3);
// configuration, 8 bits length data width, 1 stop bit, no parity check
UARTConfigSetExpClk(UART_Handle->UART_PORT,PRCMPeripheralClockGet( UART_Handle->UART_PORTPERIPH),
UART_Handle->UART_BRATE, (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
// disable UART since function above contained UARTenable
UARTDisable(UART_Handle->UART_PORT);
UARTIntEnable(UART_Handle->UART_PORT, UART_INT_TX | UART_INT_RX | UART_INT_RT); // enable interrupt for send and receive and receive timeout
UARTIntRegister(UART_Handle->UART_PORT, UART_ISR); //hook ISR
UARTFIFOEnable(UART_Handle->UART_PORT); //enable FIFO for send and receive
UARTFIFOLevelSet(UART_Handle->UART_PORT, UART_FIFO_TX1_8, UART_FIFO_RX4_8); //Interrupt occur when 7 bytes send from FIFO or read in FIFO
return UART_Handle;
}
我正在处理一个多线程的bug很长一段时间。经过多次测试后，我意识到最有可能与UART FIFO传输有关的错误。
以下是我对我的计划的描述： 该程序基于Free-RTOS。它有两个并行运行的线程。 一个线程通过I2C驱动程序从传感器读取。另一种是通过UART驱动程序将数据从读取任务发送到计算机。我有一个多任务框架，用于将数据从读取任务传输到发送任务。我有一个计时器文件来控制实时测量。我的I2C驱动程序和UART驱动程序都是基于中断的。
问题描述： 我的数据读数只有2分钟。之后，我的数据发生了变化。在测试时，我阻止了I2C驱动程序，只将常数数据“1 2 3 4 5 6 7 8”放入I2C读缓冲区，并将它们传送到发送任务进行UART发送。 2分钟后，我读出的数据将变为“8 1 2 3 4 5 6 7”，在第一次更改后，后来的变化很快发生，“7 8 1 2 3 4 5 6”并继续到计时结束。 this is plot of one channel of my data, begin with 8 and changing
我已经为我的程序设置了很多测试，我确信我的多任务框架（从读取任务到发送任务的转换数据）不会改变数据。 重要观察： 1.当我把read和send放到一个线程中时，数据非常好，没有这个bug。 2.我在我的UART驱动程序中设置计数，发现发送量是正确的，这里发送将字节放入TX FIFO。但是，在Excel中，我通过JAVA UART程序读取数据，错过了。并且JAVA UART程序应该没问题，因为当我使用单线程测试时它运行良好。 3.调试时CCS没有内存泄漏错误。
所以我想，在多线程环境下，在我将字节放入之后，某些东西停止了我的UART TX FIFO传输。但我无法找到我的代码中的错误，它们似乎都是正确的。
另一个合理的原因可能是我的指针在中断中被改变了，在链接图片中是“pCurrentWrite”指针。但该指针只能由UART驱动程序访问，并且在中断完成之前，下一次UART写操作无法进入。
我在链接中包含部分代码，我想在其中显示数据被放入TX FIFO，并且发送计数是正确的。
我不能包含所有代码，我认为没有人想检查那些长代码。没有运行它，很难找出错误的地方。
所以，我只是想描述我遇到的情况，看看之前是否有人有类似的错误。也许有人在多线程环境下知道UART FIFO的问题。如果可以帮助的人想要查看代码，我们可以进一步联系。
谢谢（我的新帐户还不能包含图片，图片链接如下）
答案 0 :(得分：0)
虽然你已经包含了信号量的使用，但我会建议进一步reading on mutual exclusion and shared resources.
解决方案过于复杂，更好地抽象代码并简化。
注意：您should not cast the result of malloc。
UART_Handle = (UART_HANDLE)malloc(sizeof(UART_STATE));