Associate III

Question

HardFault once calling MotionFX_propagate()

23 replies
6270 views

my mcu is STM32F730R8Tx

sensor: LSM9DS1

use CubeMx gen code, with Makefile(under linux env)

I use lsm9ds1_reg.c as sensor driver fetch raw data, and it worked fine.

then, do the following as MotionFX lib documents:

MotionFX_initialize()
MotionFX_getKnobs(&knobs);
MotionFX_setKnobs(&knobs);
MotionFX_enable_6X(MFX_ENGINE_DISABLE);
MotionFX_enable_9X(MFX_ENGINE_ENABLE);

I can run the code, and i can get ther version code by MotionFX_GetLibVersion(): ST MotionFX v2.4.1

But, if i enable MotionFX_propagate() in the following routie, MCU will enter Hard Falut ISR...

if (is_imu_xl_gy_drdy())
 {
 MFX_input_t raw;
 MFX_output_t out;
 imu_getdata(&raw);
 
 // curr_tick = HAL_GetTick();
 // deltatime = (curr_tick - last_tick)/1000.0;
 // last_tick = curr_tick;
 deltatime = 0.01;
 
 if (0)
 {
 len = snprintf(buf, 256, "%4.2f %4.2f %4.2f | %4.2f %4.2f %4.2f | %4.1f %4.1f %4.1f\n", raw.acc[0], raw.acc[1], raw.acc[2], raw.gyro[0], raw.gyro[1], raw.gyro[2], raw.mag[0], raw.mag[1], raw.mag[2]);
 CDC_Transmit_FS(buf, len);
 }
 
 MotionFX_propagate(&out, &raw, &deltatime);
 }

I have enable CRC in cubemx.

in Makefile, i did some change:

FLOAT-ABI change to -mfloat-abi=softfp
in LDFLAGS add -u _printf_float
in LIBS change to LIBS = -lc -lnosys -l:MotionFX_CM7F_wc32_ot.a -l:MotionFX_CM7F_wc16_ot.a -lm

in STM32F730R8Tx_FLASH.ld

change _Min_Heap_Size to 0x1000
change _Min_Stack_Size to 0x8000, i think it should large enough..

=============

But why HardFalut once calling MotionFX_propagate ?

Thank thee very much!!

This topic has been closed for replies.

Eleon BORLINI

ST Employee

Hi @MMa.1893 ,

It seems so far that everything is fine in your configuration code. Could you please share which version of X-CUBE-MEMS1 or MotionFX library are you using?

Although the MotionFX library is device independent, it is typically used in combination with STM32F4 motherboards.

For this reason, I reported your question internally and we have to double-check the functionality of this function on Cortex-M7.

-Eleon

MMa.1893Author

Associate III

Hi, Eleon

i can get ther version code by MotionFX_GetLibVersion(): ST MotionFX v2.4.1

in STM32CubeMX X-CUBE-MEM1, "Drivers and sample application for MEMs components" version is 8.1.1

Eleon BORLINI

ST Employee

Thanks for the feedback @MMa.1893 .

I actually have to correct myself regarding the above sentence "it is typically used in combination with STM32F4 motherboards", since these libraries are provided compiled for Cortex-M0, M3, M4 and M7, so they should work with all the MCU families.

-Eleon

M

Miroslav BATEK

ST Employee

Please add following functions. They can be used to save and load magnetometer calibration coefficients.

/**
 * @brief Load calibration parameter from memory
 * @param dataSize length ot the data
 * @param data pointer to the data
 * @retval (1) fail, (0) success
 */
char MotionFX_LoadMagCalFromNVM(unsigned short int dataSize, unsigned int *data)
{
 return (char)1;
}
 
/**
 * @brief Save calibration parameter to memory
 * @param dataSize length ot the data
 * @param data pointer to the data
 * @retval (1) fail, (0) success
 */
char MotionFX_SaveMagCalInNVM(unsigned short int dataSize, unsigned int *data)
{
 return (char)1;
}

MMa.1893Author

Associate III

Hi, Miroslav

Thank you for reply.

add those two function, compile ok.

But when i use such test routie, cal_quality always return Zero(0)

 if (1)
 {
 MotionFX_initialize();
 
 MFX_knobs_t knobs;
 MotionFX_getKnobs(&knobs);
 // tunning parameters
 knobs.LMode = 1;
 knobs.modx = 1;
 knobs.output_type = MFX_ENGINE_OUTPUT_ENU;
 // tunning parameters
 MotionFX_setKnobs(&knobs);
 
 // MotionFX_enable_6X(MFX_ENGINE_DISABLE);
 MotionFX_enable_9X(MFX_ENGINE_ENABLE);
 }
 
 if (1)
 {
 MFX_MagCal_output_t magcal_out;
 MFX_MagCal_input_t magcal_in;
 MotionFX_MagCal_init(25, 1);
 uint8_t buf[64];
 int len;
 CDC_Transmit_FS("mag cal..\n", 10);
 for (;;)
 {
 lsm9ds1_status_t status;
 axis3bit16_t data_raw_mag;
 // lsm9ds1_dev_status_get(&dev_mag, &dev_imu, &status);
 // if (status.status_mag.zyxda)
 while (!is_imu_xl_gy_drdy())
 {
 }
 
 lsm9ds1_acceleration_raw_get(&dev_imu, data_raw_mag.u8bit);
 lsm9ds1_angular_rate_raw_get(&dev_imu, data_raw_mag.u8bit);
 lsm9ds1_magnetic_raw_get(&dev_imu, data_raw_mag.u8bit);
 
 lsm9ds1_dev_status_get(&dev_mag, &dev_imu, &status);
 if (status.status_mag.zyxda)
 {
 // lsm9ds1_magnetic_raw_get(&dev_imu, data_raw_mag.u8bit);
 len = snprintf(buf, 64, "%d, %d, %d\n", data_raw_mag.i16bit[0], data_raw_mag.i16bit[1], data_raw_mag.i16bit[2]);
 CDC_Transmit_FS(buf, len);
 }
 else
 {
 continue;
 }
 
 magcal_in.mag[0] = lsm9ds1_from_fs16gauss_to_mG(data_raw_mag.i16bit[0]);
 magcal_in.mag[1] = lsm9ds1_from_fs16gauss_to_mG(data_raw_mag.i16bit[1]);
 magcal_in.mag[2] = lsm9ds1_from_fs16gauss_to_mG(data_raw_mag.i16bit[2]);
 magcal_in.time_stamp = 25;
 
 MotionFX_MagCal_run(&magcal_in);
 
 MotionFX_MagCal_getParams(&magcal_out);
 
 len = snprintf(buf, 64, "cal_q -> %d\n", magcal_out.cal_quality);
 CDC_Transmit_FS(buf, len);
 }
 }

==================================

And if i comment those MagCal routie, use raw sensor data as input of MotionFX_propagate

Code will enter HardFault loop...how to debug this?