micro_ros_stm32cubemx_utils
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micro-ROS
HardFault_Handler when rclc_timer_init_default is use
I have a problem when debugger reach rclc_timer_init_default function. this cause the debugger go to HardFault_Handler function. Please help. Board: openCR(stm32f746) IDE: stm32cubeide OS: Freertos
This the configuration for rtos
This what I capture in disassembly.
the problem is when it execute rcl_get_zero_initializes_timer at address 0x8017de4 ( bx lr), it trigger hardfault_handler
No I did not, what I know In microros, the heap is typically initialized automatically by the main() function or by the underlying operating system. How I can initialized microros heap any ref..,
This is all in my main for ref
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */ SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals / MX_GPIO_Init(); MX_USART2_UART_Init(); MX_CAN2_Init(); MX_UART8_Init(); MX_TIM6_Init(); MX_TIM7_Init(); / USER CODE BEGIN 2 */
HAL_CAN_Start(&hcan2); HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_UART_Receive_IT(&huart2, &uart2_it_data, 1); HAL_UART_Receive_IT(&huart8, &uart8_it_data, 1);
HAL_TIM_Base_Start(&htim6); // Start timer HAL_TIM_Base_Start_IT(&htim7);//
//FirstOrderIIR_Init(&iirBuffer, IIR_FILTER_ALPHA); Moving_Average_Init(&filterStruct);
if(HAL_GPIO_ReadPin(GPIOB, em_button_Pin) == 0x01){ //init emergency var emergency_trigger = 0x01; }else{ emergency_trigger = 0x02; }
/* USER CODE END 2 */
/* Init scheduler */ osKernelInitialize();
/* USER CODE BEGIN RTOS_MUTEX / / add mutexes, ... / / USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES / / add semaphores, ... / / USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS / / start timers, add new ones, ... / / USER CODE END RTOS_TIMERS */
/* Create the queue(s) / / creation of myQueue01 */ myQueue01Handle = osMessageQueueNew (16, sizeof(cmdVelData), &myQueue01_attributes);
/* creation of myQueue02 */ myQueue02Handle = osMessageQueueNew (16, sizeof(cmdVelData), &myQueue02_attributes);
/* USER CODE BEGIN RTOS_QUEUES / / add queues, ... / / USER CODE END RTOS_QUEUES */
/* Create the thread(s) / / creation of ros2Task */ ros2TaskHandle = osThreadNew(StartRos2Task, NULL, &ros2Task_attributes);
/* creation of motorDriver01Ta */ motorDriver01TaHandle = osThreadNew(StartMotorDriver01Task, NULL, &motorDriver01Ta_attributes);
/* creation of motorDriver02Ta */ motorDriver02TaHandle = osThreadNew(StartMotorDriver02Task, NULL, &motorDriver02Ta_attributes);
/* creation of uartDataProcess */ uartDataProcessHandle = osThreadNew(StartUartDataProcessTask, NULL, &uartDataProcess_attributes);
/* USER CODE BEGIN RTOS_THREADS / / add threads, ... / / USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS / / add events, ... / / USER CODE END RTOS_EVENTS */
/* Start scheduler / osKernelStart(); / We should never get here as control is now taken by the scheduler / / Infinite loop / / USER CODE BEGIN WHILE / while (1) { / USER CODE END WHILE */
/* USER CODE BEGIN 3 */
} /* USER CODE END 3 */
In Cube IDE you need to have some heap configured for your platform. This is not related to micro-ROS but to your platform usage.