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[STM32F303][HAL] Hard fault while I2C communication and interrupt.

Question asked by Piotr Partyka on Aug 7, 2017

Hi!

I have a problem with interrupts. I want to generate an interrupt with frequency of 4Hz and for the time being let's say blink a LED. In main program I read the data from MPU6050 6DOF sensor through I2C bus. When I try to debug my program I can see it turns the LED on (first toogle because of the interrupt) and then does nothing. If I pause it in the debugger it shows, that the program is stuck in a Hardfault_Hendler() function. I don't know what is going on, please help me. 

Here is my code:

/**
     ******************************************************************************
     * File Name                         : main.c
     * Description                    : Main program body
     ******************************************************************************
     ** This notice applies to any and all portions of this file
     * that are not between comment pairs USER CODE BEGIN and
     * USER CODE END. Other portions of this file, whether
     * inserted by the user or by software development tools
     * are owned by their respective copyright owners.
     *
     * COPYRIGHT(c) 2017 STMicroelectronics
     *
     * Redistribution and use in source and binary forms, with or without modification,
     * are permitted provided that the following conditions are met:
     *      1. Redistributions of source code must retain the above copyright notice,
     *               this list of conditions and the following disclaimer.
     *      2. Redistributions in binary form must reproduce the above copyright notice,
     *               this list of conditions and the following disclaimer in the documentation
     *               and/or other materials provided with the distribution.
     *      3. Neither the name of STMicroelectronics nor the names of its contributors
     *               may be used to endorse or promote products derived from this software
     *               without specific prior written permission.
     *
     * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
     * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
     * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
     * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
     * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
     * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
     * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
     * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     *
     ******************************************************************************
     */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f3xx_hal.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
int delay = 0;
int16_t acc_x = 0, acc_y = 0, acc_z = 0;
#define MPU6050_ADDR     (0x68 << 1)
#define ACC_XOUT_H          0x3B
#define ACC_XOUT_L          0x3C
#define ACC_YOUT_H          0x3D
#define ACC_YOUT_L          0x3E
#define ACC_ZOUT_H          0x3F
#define ACC_ZOUT_L          0x40
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_I2C1_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
void MPU6050_ReadGyro();
/* USER CODE END 0 */

int main(void)
{

     /* USER CODE BEGIN 1 */
     uint8_t sleep_off      = 0x00,     //0x6B
               fifo_en          = 0x40,     //0x6A
               read_all     = 0x78,     //0x23
               acc_8g          = 0x00,     //0x1C
               gyro_500     = 0x01;     //0x1B
     /* USER CODE END 1 */

     /* MCU Configuration----------------------------------------------------------*/

     /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
     HAL_Init();

     /* USER CODE BEGIN Init */

     /* USER CODE END Init */

     /* Configure the system clock */
     SystemClock_Config();

     /* USER CODE BEGIN SysInit */

     /* USER CODE END SysInit */

     /* Initialize all configured peripherals */
     MX_GPIO_Init();
     MX_TIM3_Init();
     MX_USART1_UART_Init();
     MX_I2C1_Init();

     /* USER CODE BEGIN 2 */
     uint8_t data[50];
     uint8_t data_i2c;
     uint16_t size;
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6B, 1, &sleep_off, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6A, 1, &fifo_en, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x23, 1, &read_all, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1C, 1, &acc_8g, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1B, 1, &gyro_500, 1, 100);
     HAL_TIM_Base_Start_IT(&htim3);
     /* USER CODE END 2 */

     /* Infinite loop */
     /* USER CODE BEGIN WHILE */
     while (1)
     {
     /* USER CODE END WHILE */

     /* USER CODE BEGIN 3 */
          //MPU6050_ReadGyro();
          size = sprintf(data, "acc_x =  %f, acc_y =  %f, acc_z =  %f\r\n", acc_x, acc_y, acc_z);
          HAL_UART_Transmit_IT(&huart1, &data, size);
          HAL_Delay(500);
     }
     /* USER CODE END 3 */

}

/** System Clock Configuration
*/

void SystemClock_Config(void)
{

     RCC_OscInitTypeDef RCC_OscInitStruct;
     RCC_ClkInitTypeDef RCC_ClkInitStruct;
     RCC_PeriphCLKInitTypeDef PeriphClkInit;

          /**Initializes the CPU, AHB and APB busses clocks
          */

     RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
     RCC_OscInitStruct.HSIState = RCC_HSI_ON;
     RCC_OscInitStruct.HSICalibrationValue = 16;
     RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
     RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
     RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
     if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

          /**Initializes the CPU, AHB and APB busses clocks
          */

     RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                                                                           |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
     RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
     RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

     PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_I2C1;
     PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
     PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
     if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

          /**Configure the Systick interrupt time
          */

     HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

          /**Configure the Systick
          */

     HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

     /* SysTick_IRQn interrupt configuration */
     HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* I2C1 init function */
static void MX_I2C1_Init(void)
{

     hi2c1.Instance = I2C1;
     hi2c1.Init.Timing = 0x0000020B;
     hi2c1.Init.OwnAddress1 = 0;
     hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
     hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
     hi2c1.Init.OwnAddress2 = 0;
     hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
     hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
     hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
     if (HAL_I2C_Init(&hi2c1) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

          /**Configure Analogue filter
          */

     if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

          /**Configure Digital filter
          */

     if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

}

/* TIM3 init function */
static void MX_TIM3_Init(void)
{

     TIM_ClockConfigTypeDef sClockSourceConfig;
     TIM_MasterConfigTypeDef sMasterConfig;

     htim3.Instance = TIM3;
     htim3.Init.Prescaler = 63999;
     htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
     htim3.Init.Period = 249;
     htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
     htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
     if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

     sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
     if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

     sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
     sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
     if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

}

/* USART1 init function */
static void MX_USART1_UART_Init(void)
{

     huart1.Instance = USART1;
     huart1.Init.BaudRate = 115200;
     huart1.Init.WordLength = UART_WORDLENGTH_8B;
     huart1.Init.StopBits = UART_STOPBITS_1;
     huart1.Init.Parity = UART_PARITY_NONE;
     huart1.Init.Mode = UART_MODE_TX_RX;
     huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
     huart1.Init.OverSampling = UART_OVERSAMPLING_16;
     huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
     huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
     if (HAL_UART_Init(&huart1) != HAL_OK)
     {
          _Error_Handler(__FILE__, __LINE__);
     }

}

/** Configure pins as
                    * Analog
                    * Input
                    * Output
                    * EVENT_OUT
                    * EXTI
*/

static void MX_GPIO_Init(void)
{

     GPIO_InitTypeDef GPIO_InitStruct;

     /* GPIO Ports Clock Enable */
     __HAL_RCC_GPIOC_CLK_ENABLE();
     __HAL_RCC_GPIOE_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();

     /*Configure GPIO pin Output Level */
     HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);

     /*Configure GPIO pin : LED_Pin */
     GPIO_InitStruct.Pin = LED_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
     HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
     delay++;
}

void MPU6050_ReadGyro(){
     int8_t data_x = 0, data_y = 0, data_z = 0;
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_H, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_YOUT_H, 1, &data_y, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_ZOUT_H, 1, &data_z, 1, 100);
     acc_x = data_x << 8;
     acc_y = data_y << 8;
     acc_z = data_z << 8;
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_L, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_L, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_L, 1, &data_x, 1, 100);
     acc_x |= (uint16_t)data_x;
     acc_y |= (uint16_t)data_y;
     acc_z |= (uint16_t)data_z;
}
/* USER CODE END 4 */

/**
     * @brief     This function is executed in case of error occurrence.
     * @param     None
     * @retval None
     */

void _Error_Handler(char * file, int line)
{
     /* USER CODE BEGIN Error_Handler_Debug */
     /* User can add his own implementation to report the HAL error return state */
     while(1)
     {
     }
     /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT

/**
      * @brief Reports the name of the source file and the source line number
      * where the assert_param error has occurred.
      * @param file: pointer to the source file name
      * @param line: assert_param error line source number
      * @retval None
      */

void assert_failed(uint8_t* file, uint32_t line)
{
     /* USER CODE BEGIN 6 */
     /* User can add his own implementation to report the file name and line number,
          ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

     /* USER CODE END 6 */

}

#endif

/**
     * @}
     */


/**
     * @}
*/


/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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