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EventQueue使用時にerror: ISR Queue overflowが表示される。

Topic last updated 16 May 2019, by Toyomasa Watarai. 1 reply
taiyou komazawa
13 May 2019

クラス内で通信割り込み用にEventQueueを用いた際に、"Error Message: CMSIS-RTOS error: ISR Queue overflow"が表示され、動作を停止しました。 ソースは次の通りです。コンストラクタが呼び出されたと同時にCANバスの監視を行うクラスです。

using CAN attach

#ifndef CAN_PUBLISHER_H_
#define CAN_PUBLISHER_H_

#include <mbed.h>

#include "CANCallback.h"
#include "CANCallbackTree.h"

#ifndef CAN_BUFFER_SIZE
#define CAN_BUFFER_SIZE 8
#endif

class CANPublisher : public CANCallbackTree
{
public:
    CANPublisher(CAN *can_bus, const uint8_t my_id, const uint8_t host_id = 0x00, osPriority priority=osPriorityNormal)
    :   can_bus_(can_bus), my_id_(my_id), host_id_(host_id), thread_(priority, OS_STACK_SIZE, NULL, "CAN_TASK")
    {
        can_bus_->frequency(1e5);
        can_bus->attach(callback(this, &CANPublisher::rx_isr_), CAN::RxIrq);
        thread_.start(callback(&can_event_, &EventQueue::dispatch_forever));
    }
    ~CANPublisher(){}
private:
    typedef enum{
        TX_IRQ = 0,
        RX_IRQ = 1,
    }DataType;

    CANCallbackTree *tree_;
    EventQueue can_event_;
    Thread thread_;
    CANMessage msg_;
    CAN *can_bus_;

    uint8_t my_id_;
    uint8_t host_id_;
    char buffer_[CAN_BUFFER_SIZE];

    void rx_isr_(){
        can_event_.call(callback(this, &CANPublisher::isr_task_handler));        //ISRタスクの呼び出し(ここでエラーが出力される)
    }

    void isr_task_handler()
    {
        int len = 0;
        if(can_bus_->read(msg_) && msg_.id == my_id_){
            switch(msg_.data[1] >> 7){
                case RX_IRQ: // Rx_irq
                    msg_.data[1] &= 0x7F;
                    CANCallbackTree::rxrq(msg_.len, msg_.data);
                    break;
                case TX_IRQ: // Tx_irq
                    len = CAN_BUFFER_SIZE - CANCallbackTree::txrq(CAN_BUFFER_SIZE, msg_.data, buffer_);
                    can_bus_->write(CANMessage(host_id_, buffer_, len, CANData));
                    break;
                default :
                    break;
            };
        }
    }
};

#endif
Toyomasa Watarai
16 May 2019

原因は分かりませんが、類似の質問がこちらにありました。
https://os.mbed.com/questions/85003/Reading-serial-from-a-new-thread-in-RTOS/