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!!
