Exchange data between a Task and an ISR via Queue
Keywords: Embedded systems, ARM, FreeRTOS, STM32F4, Tasks, Queues, ISR,
Code Link: Tutorial Source Code Github – Keil
In the previous tutorial we demonstrated how to establish inter-task communication via queue. The link to the tutorial is given bellow.
This tutorial is not much different from the previous one except in this tutorial we will demostrate how to create link between a Hardware interrupt ISR and a freeRTOS Task.
When inter Task-ISR comm is needed:
Most of the embedded systems uses interrupts to handle various on chip and off-chip events. As an example, interrupt generated by a serial buffer indicating data is ready to be received and processed. The data processing may be time consuming and if done inside ISR, it MAY starve normal application flow.
In embedded systems it is highly recommended to keep the ISR as short as possible to avoid blocking/starving of normal application flow especially in time critical systems. The problem becomes more sever if interrupts are arriving at high rate like in case of Serial communication at 115200kbps. The case bacomes even more severe if Interrupt Nesting and Interrupt Re-entrant are allowed.
In order to tackle this problem, queues and binary semaphores (discussed in separate tutorial) best fit. A Task/process responsible for data processing is sent to block state via an empty queue and when interrupt occurs, the Task is unblocked by simply sending a signal via queue and exiting ISR immediately. This achieve two thing, i.e. the ISR remains short and extensive processing is done outside ISR.
Tutorial Scenario:
In this tutorial a freeRTOS task is created that waits for the data to be available on queue. The task remains in block state until an external event (button press in this case) fills the queue. Once the ISR places data on queue, the task is automatically unblocked by freeRTOS kernel. The Task runs and print a message to the debugger serial console.
Button-Press –> ISR –> Queue –> Task
–> Inter Task-Interrupt Communication
Following are the tutorial steps.
Steps:
1. First of all let’s define what messages will be passed to queue. For the purpose of simplicity we will define a global string literal.
/* string literals */ const char *t1_Msg = "Message received From Button ISR...";
2. Next we will create freeRTOS Queue of length `2` and accepting item size of Pointer to char (char *).
/*
freeRTOS Queue
*/
qHandle = xQueueCreate(2, sizeof(char *));
qHandle is globally defined variable of type QueueHandle_t.
/* freeRTOS Queue Handler */ QueueHandle_t qHandle;
3. If queue is created successfully (memory is allocated), a freeRTOS Tasks i.e. “RxTask” is created and Scheduler is started. Otherwise a failed message is sent to serial window and processor is trapped via while(1).
Note: If you don’t know how to create freeRTOS Tasks, refer to the following Tutorial.
if (qHandle != NULL) {
xTaskCreate (vRxTask, "RxTask", 200, NULL, 2, NULL);
vTaskStartScheduler();
}else {
printf ("Failed to create Queue! :-(\n");
while (1);
}
4. “Inside “RxTask” Task Function”: The following is the definition of “RxTask” Task Function.
void vRxTask(void * pvParams) {
volatile unsigned int i = 0;
char * msgPtr;
int rxStatus = 0;
for (;;) {
rxStatus = xQueueReceive(qHandle, &msgPtr, 500);
if (0 == rxStatus) {
printf ("Awaiting Message...\n");
}else {
printf ("Rx Msg: %s\n", msgPtr);
}
}
}
What happens is:
rxStatus = xQueueReceive(qHandle, &msgPtr, 500); /* 500 is enough to compensate dummy delay in transmitter tasks.*/
xQueueReceive is called to check if data in qHandle Queue is available. If data is available (pointer to string in this case), the data (pointer) is copied into msgPtr pointer variable otherwise the Receiver Task “vRxTask” is sent to Block State waiting for the data to be available in next 500 Ticks. If data is not sent to queue within next 500 Ticks, the message “Awaiting Message…” is displayed and the Receiver Task (vRxTask) goes back to Block State. As soon as the data (pointer to string) becomes available on qHandle Queue, the Receiver task (Rx1) receives the pointer and displays string pointed by the received pointer and wait for the next message (pointer) reception.
5. The next step is to configure User button GPIO on STM32F4-Discovery as input and its interrupt configuration on button press. We already have a dedicated tutorial for STM32F4 interrupts and demo tutorial. Therefor the code will not be repeated here. The link to the tutorial is given bellow. Kindly go through the link bellow and relate it to the source code link given at the start of this tutorial.
6. The next step is to define an ISR for button interrupt. On STM32F4-Discovery User button is connected to PA.0 which produces interrupt on EXTI0 and subsequently calls ISR defined by void EXTI0_IRQHandler (void) functions definition.
Note: See the STM32F4 Interrupt tutorial for more detail. Link given above.
void EXTI0_IRQHandler (void) {
int txStatus = 0;
BaseType_t xHigherPriorityTaskWoken;
/*
Clear the pending interrupt
*/
__setbit (EXTI->PR, 0);
printf("Button Pressed, Sending message to Queue!\n");
txStatus = xQueueSendToBackFromISR(qHandle, &t1_Msg, &xHigherPriorityTaskWoken);
if (0 == txStatus) {
printf("Sending failed Task-1!\n");
} else {
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
}
What happens is:
The __setbit (EXTI->PR, 0); clears the interrupt so that next interrupt/button press can be detected.printf("Button Pressed, Sending message to Queue!\n"); prints to the user that the button interrupt received and now ISR is about to write to Queue.txStatus = xQueueSendToBackFromISR(qHandle, &t1_Msg, &xHigherPriorityTaskWoken); statement (API explained in the introductory tutorial) fills the queue with the pointer of string created in step-1 and send it. If queue operation is successful and it caused a higher priority Task to unblock i.e. A low priority Task was running and a Task with higher priority was waiting (blocked) for the qHandle data to be available and mean while the interrupt occurs than the xHigherPriorityTaskWoken flag will be set to indicate to the user to Yield from ISR immediately.
If queue operation is successful, an immediate return from ISR is required DIRECTLY to the high priority Task being unblocked by queue. In freeRTOS in order to switch directly to the that higher priority task being unblocked, portEND_SWITCHING_ISR and portYIELD_FROM_ISR are used and depends upon the freeRTOS Port used. In case of STM32F4 (ARM Cortex-M) the first one is used. portEND_SWITCHING_ISR will cause the kernel to directly jump to the high priority task instead of returning from ISR to the low priority task and then waiting for the context switch upon which the high priority will be selected. This minimize the delay between unblocking a Task from an ISR and subsequently achieving perfect synchronization.
Now as soon as the button is pressed, EXTI0_IRQHandler will be called. The EXTI0_IRQHandler will fill the queue with string pointer and return immediately. Once the data is available in queue, the “vRxTask” will be unblocked to receive the string pointer from queue and print the string pointer by the sent pointer thus achieving inter Task-ISR Communication.
7. Finally Compile source code, connect STM32F4-Discovery board to PC and enter debug mode. Open printf serial window via View -> Serial Windows -> Debug (printf) Viewer. Run the Program, Press the Blue User button, You will see printf messages as shown in bellow Video.
Note: We have routed printf messages to ST-Link debugger via ARM-ITM. There is a dedicated tutorial on how to redirect printf messages to debugger. Link to the tutorial is given bellow.
For complete source code refer to Github link given at the start of this tutorial.
Click the full screen button for more clear view.
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