STM32WB15CC (B-WB1M-WPAN) cannot initilize MotionFx

[Zefie]

I've been using B-WB1M-WPAN board with a modified example of motion service from BLE_HR_p2p_Sensor. but with IMU readings with a steval-mki217v1 shield connected with SPI.

I already have the CRC checked from CubeMX generation.

So far I have been able to read IMU data (polling) and send it through a BLE notifiacation service. but when I try to setup a MotionFx server it mulfunctions.

void ssfusn_setup(void)
{
    /* Check if statically allocated memory size is sufficient to store MotionFX algorithm state and resize if necessary */
    if (STATE_SIZE < MotionFX_GetStateSize())
    {
        // Error_Handler();
        while (1)
        {
            /* code */
        }

    } /* Sensor Fusion API initialization function */

    MotionFX_GetLibVersion(lib_version);
    MotionFX_initialize((MFXState_t *)mfxstate);
    MotionFX_getKnobs(mfxstate, &iKnobs);
    iKnobs.acc_orientation[0] = 's';
    iKnobs.acc_orientation[1] = 'e';
    iKnobs.acc_orientation[2] = 'u';
    iKnobs.gyro_orientation[0] = 's';
    iKnobs.gyro_orientation[1] = 'e';
    iKnobs.gyro_orientation[2] = 'u';
    iKnobs.mag_orientation[0] = 'n';
    iKnobs.mag_orientation[1] = 'e';
    iKnobs.mag_orientation[2] = 'u';

    iKnobs.gbias_acc_th_sc = GBIAS_ACC_TH_SC;
    iKnobs.gbias_gyro_th_sc = GBIAS_GYRO_TH_SC;
    iKnobs.gbias_mag_th_sc = GBIAS_MAG_TH_SC;

    iKnobs.output_type = MFX_ENGINE_OUTPUT_ENU;
    iKnobs.LMode = 1;
    iKnobs.modx = DECIMATION;
    // ____________________________________________________________________________
    MotionFX_setKnobs(mfxstate, &iKnobs);
    MotionFX_enable_6X(mfxstate, MFX_ENGINE_DISABLE);
    MotionFX_enable_9X(mfxstate, MFX_ENGINE_ENABLE); /* Enable 9-axis sensor fusion */
}

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here are some combinations I've tried. with this line of code above.

1. when initialize after MX_APPE_Init(); in main.c the device will enter a hardfault error in couple of loops. same goes when put on app context init.

2. when initialize before MX_APPE_Init(); it does not process the registered UTIL_SEQ_RegTask. But the device works fine.

When I remove the BLE stack and left with the IMU reading with SPI.

3. when initialize before main loop, The IMU stops returning data.

[Zefie]

Any update on this ? Am I missing any information?

[Zefie · Accepted solution]

Turns out I didn't have enough stack/heap. I bumped those up to 0x1000, it now works.