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problem using bootloader with RTX application | at91sam7x256

nayso osyan

Hi,
I read a lot across the web but i couldn't solve my problem using my bootloader and my RTX application on at91sam7x256.
So i try to simplify my projects and these was the results:
simple bootloader which just a jump to a none RTX app works Fine
but when i use bootloader witha an simple RTX application it get freeze in os_sys_init() function;

The simple bootloader

#define APPL_START_ADDR 0x00109D00
int main(){
   void (*init_app)(void) = (void(*)(void))APPL_START_ADDR;
//==================================
//   AT91F_WDTRestart(WatchdogCtrl);

   //Disable the Interrupts
   AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;

   //Undo the Remap (Set iFlash to Boot Memory)
   AT91F_MC_Remap();

   //Do a Reset that the Exception Vectors in the Application
   // are correctly written into RAM and the Remap is done correct
   pRSTC->RSTC_RCR = 0xA5000000 | AT91C_RSTC_EXTRST;
   /* Wait for hardware reset */
   while (!(pRSTC->RSTC_RSR & AT91C_RSTC_NRSTL));
   init_app();
}

Simple RTX App

#include <AT91SAM7X256.H>
#include "rtl.h"

__task void init  (void);
__task void task1 (void);

OS_TID task1ID;

int main(){
   int i = 0;
   os_sys_init(init);//Application hang, inside this function
   while(1){
      i++;
   }
}

__task void init  (void){
   task1ID = os_tsk_create(task1,1);
   os_tsk_delete_self();
}

__task void task1 (void){
   int i = 0;
   while (1){//infinite loop
      i++;
   }
}

Bootloader Target Configuration:
_________Start__|___Size_____
IROM1: 0x100000 | 0x9D00
IRAM1: 0x200058 | 0xFFA8




RTX App Target Configuration:
_________Start__|___Size_____
IROM1: 0x109D00 | 0x36300
IRAM1: 0x200040 | 0xFFC0

Any idea? It is really frustrating not getting the expected behavior. Please Help!

Parents Reply Children
  • 0 in reply to Robert McNamara

    I have enabled interrupts but that didn't work.

    After making a step by step inside os_sys_init assembly, I noticed that the PC goes to address 0x00100044 and throgh the bootloader MAP file it was the address of SWI_handler of bootloader!

    RESET            0x00100000   Section      332  sam7.o(RESET)
Undef_Handler    0x00100040   ARM Code       4  sam7.o(RESET)
SWI_Handler      0x00100044   ARM Code       4  sam7.o(RESET)  //<-- program counter stop here
PAbt_Handler     0x00100048   ARM Code       4  sam7.o(RESET)
DAbt_Handler     0x0010004c   ARM Code       4  sam7.o(RESET)
IRQ_Handler      0x00100050   ARM Code       4  sam7.o(RESET)
FIQ_Handler      0x00100054   ARM Code       4  sam7.o(RESET)
!!!main          0x0010014c   Section        8  __main.o(!!!main)
!!!scatter       0x00100154   Section       60

    That was my mistake so i have added AT91F_MC_Remap(); the beginning of RTX application now it goes trough the correct vector from RTX application
    New Problem:
    Now going step by step inside os_sys_init assembly shows that it do lots of initialization process like : os_sys_init0, os_sys_init1, _init_box, os_init_context, swi_handler, os_init_stack, OS_TINIT(), os_init_robin, os_sys_run, os_tsk,create0, __SWI1, os_init_context, os_init_stack, os_dispatch, os_put_rdy_first
    but this return from os_put_rdy_first to os_dispatch and finaly it hang inside os_dispatch: and generates a Dabt exeption and goes to

     0x00109D48  EAFFFFFE  B         DAbt_Handler(0x00109D48)


    and AS i am posting here asking for helpÙˆ i tried to check stack size of tasks and "I have found it!"
    stack size was to low! just 20 bytes!? change it to 200 and it works