Hello,
I am using lwip 2.0.2 RAW API + freertos 8.2.3.
I have to send a lot of data received by CAN to
Ethernet.
I receive CAN data in a CAN Interrupt and enque them here.
In a 3ms task I periodically check the queue for new data
and send them via tcp_write() and tcp_output().
It seems to work fine but after a few seconds I stuck into
"tcp_write: pbufs on queue => at least one queue non-empty".
if (pcb->snd_queuelen != 0)
{
LWIP_ASSERT("tcp_write: pbufs on queue => at least one queue non-empty",
pcb->unacked != NULL || pcb->unsent != NULL);
} else {
LWIP_ASSERT("tcp_write: no pbufs on queue => both queues empty",
pcb->unacked == NULL && pcb->unsent == NULL);
}
I googled a lot and I read that this could be a thread problem.
I don't know what I am doing wrong. I have been researching for month now,
but cannot find the solution.
In main() I am calling:
void vStartEthernetTaskLauncher( unsigned portBASE_TYPE uxPriority )
{
/* Spawn the Sentinel task. */
if(xTaskCreate(vStartEthernetTask, "ETHLAUNCH", configMINIMAL_STACK_SIZE, NULL, uxPriority, (xTaskHandle *)NULL) != pdPASS){
printf("Failed to create Monitor task\r\n");
}
}
which starts a init task:
portTASK_FUNCTION(vStartEthernetTask, pvParameters)
{
/* Setup lwIP. */
prvlwIPInit();
#if (HTTP_USED == 1)
/* Create the WEB server task. This uses the lwIP RTOS abstraction layer. */
/*sys_thread_new("WEB", vBasicWEBServer, (void *)NULL,
lwipBASIC_WEB_SERVER_STACK_SIZE,
lwipBASIC_WEB_SERVER_PRIORITY);*/
/* Initialize HTTP Server*/
//httpd_init(); //RAW-API
#endif
init_SET_TCP_server();
#if (TFTP_USED == 1)
/* Create the TFTP server task. This uses the lwIP RTOS abstraction layer. */
sys_thread_new("TFTP", vBasicTFTPServer, (void *)NULL,
lwipBASIC_TFTP_SERVER_STACK_SIZE,
lwipBASIC_TFTP_SERVER_PRIORITY);
#endif
#if (SMTP_USED == 1)
/* Create the SMTP Client task. This uses the lwIP RTOS abstraction layer. */
sys_thread_new("SMTP", vBasicSMTPClient, (void *)NULL,
lwipBASIC_SMTP_CLIENT_STACK_SIZE,
lwipBASIC_SMTP_CLIENT_PRIORITY);
#endif
/* Kill this task. */
vTaskDelete(NULL);
}
My task which checks for new queue entries and sends them is seen here:
void CAN_TO_ETH_TASK(void *pvParameters)
{
( void ) pvParameters;
CANMSGOBJ can_tx_msgobj;
uint32_t supersize = 0;
uint32_t pdu_bytes = 0;
char ucrecBuff[1460] = {0};
uint8_t number_of_pdus = 0;
uint8_t returnvalue;
uint8_t can_msg_size = 32;
uint8_t headersize = 12;
uint8_t queuecounter = 0;
uint8_t fillup = 0;
SET_PDU_t *pdu;
portTickType xLastWakeTime;
const portTickType xFrequency = CAN_TO_ETH_CYCLE_TIME_MS;
xLastWakeTime = xTaskGetTickCount();
// struct pbuf* p_buf;
err_t err, write_error, output_error;
//------------------TASK-----------------------
for(;;)
{
for(queuecounter = 0; queuecounter < NUM_ACTIVE_CAN_CHANNELS; queuecounter++)
{
output_error = ERR_OK;
write_error = ERR_OK;
number_of_pdus = 0;
if(xQueueReceive(can_to_ether_q[queuecounter], &can_tx_msgobj, 0) == pdTRUE)// && tcp_active_pcbs != NULL)
{
if(tcp_active_pcbs != NULL)
{
returnvalue = pdTRUE;
//As long there is sth. in the queue...
while(returnvalue == pdTRUE && number_of_pdus < 46)
{
//create sending pdu
pdu = &ucrecBuff[headersize+number_of_pdus*can_msg_size];
pdu->direction = can_tx_msgobj.Channel;
pdu->errorCode = 0x00;
pdu->sequenceCounter = 0x00;
pdu->flags.all = 0x00;
pdu->paramID = 0x26;
pdu->data.can_payload.timestamp = xTaskGetTickCount();
pdu->data.can_payload.identifier = can_tx_msgobj.CANMSG.id;
if(can_tx_msgobj.CANMSG.extended)
pdu->data.can_payload.identifier |= 0x20000000;
pdu->data.can_payload.typ1 = 0x00;
pdu->data.can_payload.infoA = 0x00;
pdu->data.can_payload.infoB = 0x00;
pdu->data.can_payload.dlc = can_tx_msgobj.CANMSG.dlc;
memcpy(pdu->data.can_payload.char_data, can_tx_msgobj.CANMSG.data, can_tx_msgobj.CANMSG.dlc);
//fill up with 0.
if(can_tx_msgobj.CANMSG.dlc < 8)
{
for(fillup = can_tx_msgobj.CANMSG.dlc; fillup < 8; fillup++)
{
pdu->data.can_payload.char_data[fillup] = 0x00;
}
}
if(number_of_pdus <46-1)
returnvalue = xQueueReceive(can_to_ether_q[queuecounter], &can_tx_msgobj, 0);
number_of_pdus++;
}
//---------------------Writing part-----------------------------------
pdu_bytes = number_of_pdus*can_msg_size;
memcpy(&ucrecBuff[8], &pdu_bytes, sizeof(pdu_bytes));
supersize = headersize+number_of_pdus*can_msg_size;
struct tcp_pcb *pcb = tcp_active_pcbs;
bool foundflag = false;
while(pcb != NULL)
{ //Only certain combinations of ports and CAN channels are valid
if((pcb->local_port == PortCAN1 && can_tx_msgobj.Channel == CAN0)|| //5459 and CAN0
(pcb->local_port == PortCAN2 && can_tx_msgobj.Channel == CAN1)|| //5460 and CAN1
(pcb->local_port == PortCAN3 && can_tx_msgobj.Channel == CAN2)) //5461 and CAN2
{
foundflag = true;
//Check for sufficant sending buffer
if(tcp_sndbuf(pcb) >= (supersize))
{
pcb->flags |= (TF_NODELAY);
write_error = tcp_write(pcb, ucrecBuff, supersize, TCP_WRITE_FLAG_COPY);
System.led.cBlinkData += 1;
output_error = tcp_output(pcb);
}
else if(tcp_sndbuf(pcb) < (supersize))
{
set_SystemStatus(SYSTEM_WARNING, 17);
System.led.cBlinkError += 2;
}
}
//Pointer to next protocol control block
pcb = pcb->next;
}
if(foundflag == false || write_error != ERR_OK || output_error != ERR_OK)
{
set_SystemStatus(SYSTEM_ERROR, 7);
System.led.cBlinkError += 2;
}
//----------------------------------------------------------------------
} //end if
//No tcp connection found
else if (tcp_active_pcbs == NULL)
{
set_SystemStatus(SYSTEM_WARNING, 24);
System.led.cBlinkError += 2; //Element im Queue jedoch keine aktive Verbindung
}
} //end if
} //end user for
vTaskDelayUntil(&xLastWakeTime, xFrequency); //Pause
//----------------------------------------------------------------------------------------------------------------------
} //end for
}
My lwipopts are the following:
/*
* lwipopts.h
*
* Created: 30.03.2017 11:11:16
* Author: motz.werner
*/
#ifndef LWIPOPTS_H_
#define LWIPOPTS_H_
//#include "conf_lwip_threads.h"
#include "lwip/debug.h"
#include "conf_tasks.h"
/**
* NO_SYS==1: Provides VERY minimal functionality. Otherwise,
* use lwIP facilities.
* Uses Raw API only.
*/
#define NO_SYS 0
#define LWIP_RAW 0
/* These are not available when using "NO_SYS" */
#define LWIP_NETCONN 0
#define LWIP_SOCKET 0
/* Define default values for unconfigured parameters. */
#define LWIP_NOASSERT 0 /* To suppress some errors for now (no debug output) */
#define LWIP_DEBUG 0
/* These two control is reclaimer functions should be compiled
* in. Should always be turned on (1). */
#define MEM_RECLAIM 1
#define MEMP_RECLAIM 1
/* Platform specific locking */
/*
* enable SYS_LIGHTWEIGHT_PROT in lwipopts.h if you want inter-task protection
* for certain critical regions during buffer allocation, deallocation and memory
* allocation and deallocation.
*/
#define SYS_LIGHTWEIGHT_PROT 1
/* ---------- Memory options ---------- */
/* MEM_ALIGNMENT: should be set to the alignment of the CPU for which
* lwIP is compiled. 4 byte alignment -> define MEM_ALIGNMENT to 4, 2
* byte alignment -> define MEM_ALIGNMENT to 2. */
#define MEM_ALIGNMENT 4
/* MEM_SIZE: the size of the heap memory. If the application will send
* a lot of data that needs to be copied, this should be set high. */
#define MEM_SIZE 8 * 1024
/* MEMP_NUM_PBUF: the number of memp struct pbufs. If the application
* sends a lot of data out of ROM (or other static memory), this
* should be set high. */
#define MEMP_NUM_PBUF 6
/* Number of raw connection PCBs */
#define MEMP_NUM_RAW_PCB 5//1 <----- Hier geändert
/* ---------- UDP options ---------- */
#define LWIP_UDP 1
#define UDP_TTL 255
/* MEMP_NUM_UDP_PCB: the number of UDP protocol control blocks. One
* per active UDP "connection". */
/* required by DHCP (because DNS is used) */
#define MEMP_NUM_UDP_PCB 1
#if (TFTP_USED == 1)
/* one PCB for DHCP (DNS used), one for TFTP */
#undef MEMP_NUM_UDP_PCB
#define MEMP_NUM_UDP_PCB 2
#endif
/* MEMP_NUM_TCP_PCB: the number of simultaneously active TCP connections. */
#define MEMP_NUM_TCP_PCB 8//2
/* MEMP_NUM_TCP_PCB_LISTEN: the number of listening TCP connections. */
#define MEMP_NUM_TCP_PCB_LISTEN 8//1
/* MEMP_NUM_TCP_SEG: the number of simultaneously queued TCP segments. */
#define MEMP_NUM_TCP_SEG 48 //8 //--------------------
/* MEMP_NUM_SYS_TIMEOUT: the number of simulateously active timeouts. */
#define MEMP_NUM_SYS_TIMEOUT 6
/* The following four are used only with the sequential API and can be
* set to 0 if the application only will use the raw API. */
/* MEMP_NUM_NETBUF: the number of struct netbufs. */
#define MEMP_NUM_NETBUF 8//3
/* MEMP_NUM_NETCONN: the number of struct netconns. */
#define MEMP_NUM_NETCONN 8//4
/* ---------- Pbuf options ---------- */
/* PBUF_POOL_SIZE: the number of buffers in the pbuf pool. */
#define PBUF_POOL_SIZE 8
/* PBUF_POOL_BUFSIZE: the size of each pbuf in the pbuf pool. */
#define PBUF_POOL_BUFSIZE 2048//3000//500 //!!!!!!!!!!!!!!!!!!!!!!!!
/** ETH_PAD_SIZE: number of bytes added before the ethernet header to ensure
* alignment of payload after that header. Since the header is 14 bytes long,
* without this padding e.g. addresses in the IP header will not be aligned
* on a 32-bit boundary, so setting this to 2 can speed up 32-bit-platforms.
*/
#define ETH_PAD_SIZE 0
/* PBUF_LINK_HLEN: the number of bytes that should be allocated for a
* link level header. */
#define PBUF_LINK_HLEN (16 + ETH_PAD_SIZE)
/* ---------- TCP options ---------- */
#define LWIP_TCP 1
#define TCP_TTL 255
/* TCP receive window. */
#define TCP_WND 4 * TCP_MSS//3000 <------ Hier geändert
/* Controls if TCP should queue segments that arrive out of
* order. Define to 0 if your device is low on memory. */
#define TCP_QUEUE_OOSEQ 1
/* TCP Maximum segment size. */
#define TCP_MSS 1460
/* TCP sender buffer space (bytes). */
#define TCP_SND_BUF 16*TCP_MSS
/* TCP sender buffer space (pbufs). This must be at least = 2 *
TCP_SND_BUF/TCP_MSS for things to work. */
#define TCP_SND_QUEUELEN 48//(TCP_SND_BUF/TCP_MSS)*2// ((6 * (TCP_SND_BUF) + (TCP_MSS - 1))/(TCP_MSS)) <-----Hier geändert war 16
/* Maximum number of retransmissions of data segments. */
#define TCP_MAXRTX 12
/* Maximum number of retransmissions of SYN segments. */
#define TCP_SYNMAXRTX 4
/**
* DEFAULT_RAW_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
* NETCONN_RAW. The queue size value itself is platform-dependent, but is passed
* to sys_mbox_new() when the recvmbox is created.
*/
#define DEFAULT_RAW_RECVMBOX_SIZE 6
/**
* DEFAULT_UDP_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
* NETCONN_UDP. The queue size value itself is platform-dependent, but is passed
* to sys_mbox_new() when the recvmbox is created.
*/
#define DEFAULT_UDP_RECVMBOX_SIZE 6
/**
* DEFAULT_TCP_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
* NETCONN_TCP. The queue size value itself is platform-dependent, but is passed
* to sys_mbox_new() when the recvmbox is created.
*/
#define DEFAULT_TCP_RECVMBOX_SIZE 6
/**
* DEFAULT_ACCEPTMBOX_SIZE: The mailbox size for the incoming connections.
* The queue size value itself is platform-dependent, but is passed to
* sys_mbox_new() when the acceptmbox is created.
*/
#define DEFAULT_ACCEPTMBOX_SIZE 6
/* ---------- ARP options ---------- */
#define ARP_TABLE_SIZE 10
#define ARP_QUEUEING 0
/* ---------- IP options ---------- */
/* Define IP_FORWARD to 1 if you wish to have the ability to forward
* IP packets across network interfaces. If you are going to run lwIP
* on a device with only one network interface, define this to 0. */
#define IP_FORWARD 0
/* If defined to 1, IP options are allowed (but not parsed). If
* defined to 0, all packets with IP options are dropped. */
#define IP_OPTIONS 1
/* ---------- ICMP options ---------- */
#define ICMP_TTL 255
/* ---------- DHCP options ---------- */
/* Define LWIP_DHCP to 1 if you want DHCP configuration of
* interfaces. DHCP is not implemented in lwIP 0.5.1, however, so
* turning this on does currently not work. */
#define LWIP_DHCP 1
#ifdef LWIP_DHCP
//#define DHCP_USED
#endif
/* 1 if you want to do an ARP check on the offered address
* (recommended). */
/* #define DHCP_DOES_ARP_CHECK 1 */
/*
* ------------------------------------
* ---------- Thread options ----------
* ------------------------------------
*/
/**
* TCPIP_THREAD_NAME: The name assigned to the main tcpip thread.
*/
#define TCPIP_THREAD_NAME "TCP/IP"
/**
* TCPIP_THREAD_STACKSIZE: The stack size used by the main tcpip thread.
* The stack size value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define TCPIP_THREAD_STACKSIZE lwipINTERFACE_STACK_SIZE
/**
* TCPIP_THREAD_PRIO: The priority assigned to the main tcpip thread.
* The priority value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define TCPIP_THREAD_PRIO lwipINTERFACE_TASK_PRIORITY
/**
* TCPIP_MBOX_SIZE: The mailbox size for the tcpip thread messages
* The queue size value itself is platform-dependent, but is passed to
* sys_mbox_new() when tcpip_init is called.
*/
#define TCPIP_MBOX_SIZE 6
/**
* SLIPIF_THREAD_NAME: The name assigned to the slipif_loop thread.
*/
#define SLIPIF_THREAD_NAME "slipif"
/**
* SLIP_THREAD_STACKSIZE: The stack size used by the slipif_loop thread.
* The stack size value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define SLIPIF_THREAD_STACKSIZE configMINIMAL_STACK_SIZE
/**
* SLIPIF_THREAD_PRIO: The priority assigned to the slipif_loop thread.
* The priority value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define SLIPIF_THREAD_PRIO 1
/**
* PPP_THREAD_NAME: The name assigned to the pppMain thread.
*/
#define PPP_THREAD_NAME "pppInputThread"
/**
* PPP_THREAD_STACKSIZE: The stack size used by the pppMain thread.
* The stack size value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define PPP_THREAD_STACKSIZE configMINIMAL_STACK_SIZE
/**
* PPP_THREAD_PRIO: The priority assigned to the pppMain thread.
* The priority value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define PPP_THREAD_PRIO 1
/**
* DEFAULT_THREAD_NAME: The name assigned to any other lwIP thread.
*/
#define DEFAULT_THREAD_NAME "lwIP"
/**
* DEFAULT_THREAD_STACKSIZE: The stack size used by any other lwIP thread.
* The stack size value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define DEFAULT_THREAD_STACKSIZE configMINIMAL_STACK_SIZE
/**
* DEFAULT_THREAD_PRIO: The priority assigned to any other lwIP thread.
* The priority value itself is platform-dependent, but is passed to
* sys_thread_new() when the thread is created.
*/
#define DEFAULT_THREAD_PRIO 1
#define LWIP_NETIF_STATUS_CALLBACK 1
/* ---------- Statistics options ---------- */
#define LWIP_STATS 1
#define LWIP_STATS_DISPLAY 1
#if LWIP_STATS
#define LINK_STATS 1
#define IP_STATS 1
#define ICMP_STATS 1
#define UDP_STATS 1
#define TCP_STATS 1
#define MEM_STATS 1
#define MEMP_STATS 1
#define PBUF_STATS 1
#define SYS_STATS 1
#endif /* STATS */
/* ---------- Lwip Debug options ---------- */
//LWIP_DBG_ON
#define DBG_TYPES_ON 0xff
#define ETHARP_DEBUG LWIP_DBG_OFF
#define NETIF_DEBUG LWIP_DBG_OFF//LWIP_DBG_ON
#define PBUF_DEBUG LWIP_DBG_OFF//LWIP_DBG_ON
#define API_LIB_DEBUG LWIP_DBG_OFF
#define API_MSG_DEBUG LWIP_DBG_OFF//LWIP_DBG_ON
#define SOCKETS_DEBUG LWIP_DBG_OFF
#define ICMP_DEBUG LWIP_DBG_OFF
#define INET_DEBUG LWIP_DBG_OFF
#define IP_DEBUG LWIP_DBG_OFF
#define IP_REASS_DEBUG LWIP_DBG_OFF
#define RAW_DEBUG LWIP_DBG_OFF
#define MEM_DEBUG LWIP_DBG_OFF
#define MEMP_DEBUG LWIP_DBG_OFF
#define SYS_DEBUG LWIP_DBG_OFF
#define TCP_DEBUG LWIP_DBG_OFF//LWIP_DBG_ON
#define TCP_INPUT_DEBUG LWIP_DBG_OFF
#define TCP_FR_DEBUG LWIP_DBG_OFF
#define TCP_RTO_DEBUG LWIP_DBG_OFF
#define TCP_CWND_DEBUG LWIP_DBG_OFF
#define TCP_WND_DEBUG LWIP_DBG_OFF
#define TCP_OUTPUT_DEBUG LWIP_DBG_OFF
#define TCP_RST_DEBUG LWIP_DBG_OFF
#define TCP_QLEN_DEBUG LWIP_DBG_OFF
#define UDP_DEBUG LWIP_DBG_OFF
#define TCPIP_DEBUG LWIP_DBG_OFF
#define DBG_MIN_LEVEL LWIP_DBG_LEVEL_SEVERE
/* \note For a list of all possible lwIP configurations, check
* http://lwip.wikia.com/wiki/Lwipopts.h */
//*****************************************************************************
//
// ---------- httpd options ----------
//
//*****************************************************************************
#define INCLUDE_HTTPD_SSI
#define INCLUDE_HTTPD_CGI
#define LWIP_HTTPD_DYNAMIC_HEADERS
#endif /* LWIPOPTS_H_ */
I hope somebody can help me.
View this message in context: lwip-2.0.2 + freertos 8.2.3 + ARM7
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