HardFault once calling MotionFX_propagate()

[MMa.1893]

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!!

[MMa.1893]

Hi Eleon

Thank you!

I just try other lib: MotionEC.

Almost same problem, compile ok, MotionEC_Initialize ok, get MotionEC_GetLibVersion get expected return value.

But once call MotionEC_Run, mcu enter HardFault routine....

====

[Miroslav BATEK]

The units used for magnetometer data are uT/50.

Please check the user manual for MotionFX library.

https://www.st.com/resource/en/user_manual/dm00394369-getting-started-with-motionfx-sensor-fusion-library-in-xcubemems1-expansion-for-stm32cube-stmicroelectronics.pdf

So you need to use magentometer valeus in uT/50 units for all functions.

Also timestamp for MotionFX_MagCal_run funtion is not delta time but growing timestamp.

You can also check DatalogFusion application in X-CUBE-MEMS1 package which can be your reference how to use MotionFX library,

[MMa.1893]

so, error data input can cause mcu enter HardFault routine?

[Miroslav BATEK]

In our test setup is doesn't cause HardFault, but I'm trying to recommend you changes to eliminate as much issues as possible.