Hard Fault Error when jumping from Custom Bootloader to FreeRTOS Appcode for the 2nd time

Posted on October 27, 2016 at 09:45

Hi, 

I've read a ton of forum posts here regarding hard fault error encountered when jumping from custom BL to App. But, in my case, it's working fine the first time I did the jump to App. But, when I jump back to BL and then jump back to App, the code will encounter a hard fault error in the Appcode before it enters main() function.

The sequence is like this: Reset - Bootloader - Jump to App - Jump to Bootloader  - Jump to App (but the app main() never execute this time due to hard fault error).

I tried removing the freertos in the appcode and the above sequence worked fine. But I need to make it work with freertos.

Any idea what could be the problem here? I suppose the vector table, jump addresses are correct since they worked fine the first time. I'm also disabling the interrupt, setting the stack pointer, before I do the jump.

Here's the code snippet:

void jumpToUserCode(void)

{

  /* Create pointer to usrmain address*/

  typedef void (*funcEntryPtr)(void);

  uint32_t jumpAddr = *(volatile uint32_t*)(APP_ADDRESS + 0x04); /*First word is the SP value, next word is the reset vectore*/

  funcEntryPtr usrMain = (funcEntryPtr) jumpAddr; /*jumpAddr typecasted*/

  

  /*Shut down any tasks running*/

  //HAL_RCC_DeInit();

  //HAL_SPI_DeInit(&hspi1);

  //HAL_DeInit();

  

  /*reset the SysTick Timer*/

  SysTick->CTRL=0;

  SysTick->LOAD=0;

  SysTick->VAL=0;

  SysTick->CTRL &= ~(SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk);

  SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk; /*disable systick interrupt*/

  

  HAL_FLASH_Lock();

  __disable_irq();

  __set_PRIMASK(1); 

  

  /*Setting vector table to APP VTOR*/

  //SCB->VTOR = APP_ADDRESS;

  

  /*Setting main stack pointer to APP_ADDRESS*/

  __set_MSP(*(uint32_t*) APP_ADDRESS);/*Stack pointer (RAM value) default*/

  

  /*Call firmware at jumpaddr (from pointer above)*/

  usrMain();  

}

void jumpToBootCode(void)

{

  

   /* Create pointer to usrmain address*/

  typedef void (*funcEntryPtr)(void);

  uint32_t jumpAddr = *(volatile uint32_t*)(BOOT_ADDRESS + 0x04); /*First word is the SP value, next word is the reset vector*/

  funcEntryPtr usrBoot = (funcEntryPtr) jumpAddr; /*jumpAddr typecasted*/

  

  /*Shut down any tasks running*/

  osThreadSuspendAll();

  //HAL_RCC_DeInit();

  //HAL_SPI_DeInit(&hspi1);

  //HAL_DeInit();

  

  /*reset the SysTick Timer*/

  SysTick->CTRL=0; 

  SysTick->LOAD=0;

  SysTick->VAL=0;

  SysTick->CTRL &= ~(SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk);

  SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk; /*disable systick interrupt*/

  HAL_FLASH_Lock();

  __disable_irq();

  __set_PRIMASK(1);

  

  /*Setting vector table to BOOT VTOR*/

  //SCB->VTOR = BOOT_ADDRESS;

  

  /*Setting main stack pointer to BOOT SP*/

  __set_MSP(*(uint32_t*) BOOT_ADDRESS);/*Stack pointer (RAM value) default*/

  

  /*Call firmware at jumpaddr (from pointer above)*/

  usrBoot();  

}

#!stm32-!bootloader