Question
MCSDK 6.3.0 + FreeRTOS Motor Pilot doen't connect (MCP: ASPEP BEACON TIMEOUT)
Hello everyone,
I have a motor control project that I'm testing out using Motor Pilot. If I generate it with FreeRTOS support, Motor Pilot can't connect to the board (the board sends a probably malformed ASPEP_RESP and then it's always a timeout).
I have verified that motor control code is working correctly with test code (the motor spins as expected):
void test_task(const void *arg)
{
vTaskDelay(5000);
(void)arg;
MC_AcknowledgeFaultMotor1();
MC_ProgramSpeedRampMotor1_F(250, 1000);
MC_StartMotor1();
vTaskSuspend(NULL);
}
Noticed that void ASPEP_HWReset(ASPEP_Handle_t *pHandle) from aspep.c is always getting called.
If I untick the FreeRTOS button in the workbench and regenerate the code (keeping all other settings), then MCP works as expected.
General params:
- MCSDK 6.3.0
- FOC
- EVSPIN32G4
Maybe this is known issue and there's a fix/workaround?
