Please put code in a code block:
Stack overflow doesn't cause a hardfault error unless you set up your linker file in such a way a stack overflow causes access in an illegal memory region. Or if you set up the MPU to define an illegal region past the stack.
Check in STM32CubeMX in NVIC if MemManage_Handler and BusFault_Handler interrupts are enabled.
Here is InterruptHandler in 4kHz and Registers in HardFault
{
static const int clkTbl[8 + 1][8] = {
{ 0, 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0, 1 },
{ 0, 0, 0, 1, 0, 0, 0, 1 },
{ 0, 0, 1, 0, 0, 1, 0, 1 },
{ 0, 1, 0, 1, 0, 1, 0, 1 },
{ 0, 1, 0, 1, 1, 0, 1, 1 },
{ 0, 1, 1, 1, 0, 1, 1, 1 },
{ 0, 1, 1, 1, 1, 1, 1, 1 },
{ 1, 1, 1, 1, 1, 1, 1, 1 },
};
int step;
int clk[4];
int dir[4];
BYTE val;
int side = c_count & 1;
if(HAL_SPI_Transmit_DMA(&hspi4, (uint8_t*)(&c_dirclk[(c_count +1 )& 1][0]), 32) != HAL_OK){
Error_Handler();
}
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
id_type id = i * 4 + j;
if (id < MOTOR_COUNT) {
step = (int)m_motors[id].proceed();
clk[j]= abs(step);
dir[j] = (m_motors[id].direction() ? 1 : 0);
} else {
clk[j] = 0;
dir[j] = 1;
}
}
for (int seq = 0; seq < 8; seq++) {
val = 0;
for (int k = 0; k < 4; k++) {
val |= ((dir[k] << (k + 4))) | (clkTbl[clk[k]][seq] << k);
}
c_dirclk[side][(seq * 4 + i)] = val;
}
}
c_count++;
}
