void SPI1Task(void *pvParameters) {
//Read Data
adxl_read (0x32, data_rec, 6);
x = ((data_rec[1]<<8)|data_rec[0]);
y = ((data_rec[3]<<8)|data_rec[2]);
z = ((data_rec[5]<<8)|data_rec[4]);
//convert into 'g'
xg = x*.0078;
yg = y*.0078;
zg = z*.0078;
vTaskDelay(100);
}
void CAN1Task(void *pvParameters) {
send_Two32bit_data_over_can(std_id1, data_rec[8]);
vTaskDelay(100);
}
xTaskCreate(SPI1Task, "SPI_READ", 512, NULL, 2, NULL);
xTaskCreate(CAN1Task, "CAN_TX", 512, NULL, 1, NULL);
vTaskStartScheduler();
your tasks do not implement infinite loops.
A task cannot exit - either add infinite loop or call vTaskDelete(NULL) at the end.
void SPI1Task(void *pvParameters)
{
for( ;; )
{
//Read Data
adxl_read (0x32, data_rec, 6);
x = ((data_rec[1]<<8)|data_rec[0]);
y = ((data_rec[3]<<8)|data_rec[2]);
z = ((data_rec[5]<<8)|data_rec[4]);
//convert into 'g'
xg = x*.0078;
yg = y*.0078;
zg = z*.0078;
vTaskDelay(100);
}
}
void CAN1Task(void *pvParameters)
{
for( ;; )
{
send_Two32bit_data_over_can(std_id1, data_rec[8]);
vTaskDelay(100);
}
}
Thanks for your response, even after including infinite loop, My code getting into hardfault at
static void prvPortStartFirstTask( void )
{
/* Start the first task. This also clears the bit that indicates the FPU is
* in use in case the FPU was used before the scheduler was started - which
* would otherwise result in the unnecessary leaving of space in the SVC stack
* for lazy saving of FPU registers. */
__asm volatile (
" ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */
" ldr r0, [r0] \n"
" ldr r0, [r0] \n"
" msr msp, r0 \n"/* Set the msp back to the start of the stack. */
" mov r0, #0 \n"/* Clear the bit that indicates the FPU is in use, see comment above. */
" msr control, r0 \n"
" cpsie i \n"/* Globally enable interrupts. */
" cpsie f \n"
" dsb \n"
" isb \n"
" svc 0 \n"/* System call to start first task. */
" nop \n"
" .ltorg \n"
);
}
Thanks for the response, but still I am getting into hardfault at
static void prvPortStartFirstTask( void )
{
/* Start the first task. This also clears the bit that indicates the FPU is
-
in use in case the FPU was used before the scheduler was started - which
-
would otherwise result in the unnecessary leaving of space in the SVC stack
-
for lazy saving of FPU registers. */
__asm volatile (
" ldr r0, =0xE000ED08 \n"/* Use the NVIC offset register to locate the stack. */
" ldr r0, [r0] \n"
" ldr r0, [r0] \n"
" msr msp, r0 \n"/* Set the msp back to the start of the stack. */
" mov r0, #0 \n"/* Clear the bit that indicates the FPU is in use, see comment above. */
" msr control, r0 \n"
" cpsie i \n"/* Globally enable interrupts. */
" cpsie f \n"
" dsb \n"
" isb \n"
" svc 0 \n"/* System call to start first task. */
" nop \n"
" .ltorg \n"
);
}
Which FreeRTOS version are you using? Can you use latest version from main and enable configASSERT? The reason I ask that is because I suspect you have not installed interrupt handler for SVC and PendSV correctly and the latest FreeRTOS version has asserts to catch those. Where did you get this project from?
I have used FreeRTOSv202212.01 and created this project in stm32 cube IDE for stm32F407 board with SPI ADXL345 interface.
freeRTOSconfig.h file
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined( __ICCARM__ ) || defined( __GNUC__) || defined(__CC__ARM)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )//256 //( ( unsigned short ) 130 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 75 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 10 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 0 //2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
//#define configMAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4 /* 15 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
*/
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */
I have used FreeRTOSv202212.01 and created this project in stm32 cube IDE for stm32F407 board with SPI ADXL345 interface.
freeRTOSconfig.h
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined( __ICCARM__ ) || defined( __GNUC__) || defined(__CC__ARM)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )//256 //( ( unsigned short ) 130 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 75 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 10 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 0 //2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
//#define configMAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4 /* 15 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
*/
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */
Are you changing SVC priority in your application? Can you share the complete project?
Hi, I could not attach and send big size file, I have pasted main.c please check it
/* USER CODE BEGIN Header */
/**
did you check the return values of your calls to xTaskCreate()?
Sorry I could not attach the file due to new user, I will include my main.c please check it.
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
SPI_HandleTypeDef hspi1;
/* USER CODE BEGIN PV */
uint8_t data_rec[8];
int16_t x,y,z;
float xg, yg, zg;
#define POWER_CTL_REG 0x2D
#define DATA_FORMAT_REG 0x31
#define BW_RATE_REG 0x2C
CAN_TxHeaderTypeDef TxHeader;
uint8_t TxData[8];
uint32_t TxMailbox;
uint32_t std_id1=0x321;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_SPI1_Init(void);
/* USER CODE BEGIN PFP */
void adxl_write (uint8_t Reg, uint8_t data)
{
uint8_t writeBuf[2];
writeBuf[0] = Reg;
// writeBuf[0] = Reg|0x40; // multibyte write enabled
writeBuf[1] = data;
HAL_GPIO_WritePin (GPIOB, GPIO_PIN_6, GPIO_PIN_RESET); // pull the cs pin low to enable the slave
HAL_SPI_Transmit (&hspi1, writeBuf, 2, 100); // transmit the address and data
HAL_GPIO_WritePin (GPIOB, GPIO_PIN_6, GPIO_PIN_SET); // pull the cs pin high to disable the slave
}
void adxl_read (uint8_t Reg, uint8_t *Buffer, size_t len)
{
Reg |= 0x80; // read operation
//Reg |= 0x40; // multibyte read
HAL_GPIO_WritePin (GPIOB, GPIO_PIN_6, GPIO_PIN_RESET); // pull the cs pin low to enable the slave
HAL_SPI_Transmit (&hspi1, &Reg, 1, 100); // send the address from where you want to read data
HAL_SPI_Receive (&hspi1, Buffer, len, 100); // read 6 BYTES of data
HAL_GPIO_WritePin (GPIOB, GPIO_PIN_6, GPIO_PIN_SET); // pull the cs pin high to disable the slave
}
void adxl_init (void)
{
uint8_t chipID=0;
uint8_t Reg = 0x00;
adxl_read(Reg, &chipID, 1);
if (chipID != 0xE5)
{
}
else
{
// Set POWER_CTL to Measurement Mode
adxl_write(POWER_CTL_REG, 0x08);
// Set DATA_FORMAT to Full Resolution, ±2g Range, 4-wire SPI
adxl_write(DATA_FORMAT_REG, 0x08);
// Set BW_RATE to 100Hz
adxl_write(BW_RATE_REG, 0x0A);
}
}
void send_Two32bit_data_over_can(uint32_t std_id, uint8_t data_8bit[8]) {
CAN_TxHeaderTypeDef TxHeader;
// uint8_t TxData[8]; // CAN allows up to 8 bytes of data
uint32_t TxMailbox;
// Configure the CAN header
TxHeader.DLC = 8; // Data length (8 bytes for two 32-bit data)
TxHeader.StdId = std_id; // Standard identifier (adjust based on requirements)
TxHeader.IDE = CAN_ID_STD; // Use standard ID (11-bit)
TxHeader.RTR = CAN_RTR_DATA; // Data frame (not a remote frame)
// Break the 32-bit data into 4 bytes and load into TxData
TxData[3] = data_rec[0] & 0xFF; // Most significant byte //each bytes in 8 bit order // >> 24)
TxData[2] = data_rec[1] & 0xFF; // >> 16)
TxData[1] = data_rec[2] & 0xFF; // >> 8)
TxData[0] = data_rec[3] & 0xFF; // Least significant byte
TxData[7] = data_rec[4] & 0xFF; // MSB of second 32-bit value //>> 24)
TxData[6] = data_rec[5] & 0xFF; //>> 16)
TxData[5] = data_rec[6] & 0xFF; //>> 8)
TxData[4] = data_rec[7] & 0xFF;
// Send the CAN message
if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) {
// Transmission Error Handling
Error_Handler();
}else {
// Wait for transmission to complete
while (HAL_CAN_IsTxMessagePending(&hcan1, TxMailbox));
}
}
//void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
//{
// /* This function is called if a stack overflow is detected */
// printf("Stack overflow detected in task: %s\n", pcTaskName);
//
// // Take appropriate action here (e.g., reset the system, log error, etc.)
// while (1)
// {
// // Halt the system to debug stack overflow
// }
//}
///* TASK FUNCTIONS*/
//void SPI1Task(void *pvParameters);
//void CAN1Task(void *pvParameters);
void SPI1Task(void *pvParameters) {
for( ;; )
{
//Read Data
adxl_read (0x32, data_rec, 6);
x = ((data_rec[1]<<8)|data_rec[0]);
y = ((data_rec[3]<<8)|data_rec[2]);
z = ((data_rec[5]<<8)|data_rec[4]);
//convert into 'g'
xg = x*.0078;
yg = y*.0078;
zg = z*.0078;
vTaskDelay(100);
}
}
void CAN1Task(void *pvParameters) {
for( ;; )
{
send_Two32bit_data_over_can(std_id1, data_rec[8]);
vTaskDelay(100);
}
}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
int main(void)
{
/* USER CODE BEGIN 1 */
/* 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_CAN1_Init();
MX_SPI1_Init();
/* USER CODE BEGIN 2 */
adxl_init();
// Create spi1task and can1TXtask
xTaskCreate(SPI1Task, "SPI_READ", 512, NULL, 2, NULL);
xTaskCreate(CAN1Task, "CAN_TX", 512, NULL, 1, NULL);
vTaskStartScheduler();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses 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_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV16;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
static void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 16;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
/* USER CODE END CAN1_Init 2 */
}
static void MX_SPI1_Init(void)
{
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS_I2C_SPI_GPIO_Port, CS_I2C_SPI_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(OTG_FS_PowerSwitchOn_GPIO_Port, OTG_FS_PowerSwitchOn_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, LD4_Pin|LD3_Pin|LD5_Pin|LD6_Pin
|Audio_RST_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
/*Configure GPIO pin : CS_I2C_SPI_Pin */
GPIO_InitStruct.Pin = CS_I2C_SPI_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(CS_I2C_SPI_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : OTG_FS_PowerSwitchOn_Pin */
GPIO_InitStruct.Pin = OTG_FS_PowerSwitchOn_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(OTG_FS_PowerSwitchOn_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PDM_OUT_Pin */
GPIO_InitStruct.Pin = PDM_OUT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(PDM_OUT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : I2S3_WS_Pin */
GPIO_InitStruct.Pin = I2S3_WS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
HAL_GPIO_Init(I2S3_WS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : BOOT1_Pin */
GPIO_InitStruct.Pin = BOOT1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BOOT1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : CLK_IN_Pin */
GPIO_InitStruct.Pin = CLK_IN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(CLK_IN_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : LD4_Pin LD3_Pin LD5_Pin LD6_Pin
Audio_RST_Pin */
GPIO_InitStruct.Pin = LD4_Pin|LD3_Pin|LD5_Pin|LD6_Pin
|Audio_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/*Configure GPIO pins : I2S3_MCK_Pin I2S3_SCK_Pin I2S3_SD_Pin */
GPIO_InitStruct.Pin = I2S3_MCK_Pin|I2S3_SCK_Pin|I2S3_SD_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : VBUS_FS_Pin */
GPIO_InitStruct.Pin = VBUS_FS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(VBUS_FS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : OTG_FS_ID_Pin OTG_FS_DM_Pin OTG_FS_DP_Pin */
GPIO_InitStruct.Pin = OTG_FS_ID_Pin|OTG_FS_DM_Pin|OTG_FS_DP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : OTG_FS_OverCurrent_Pin */
GPIO_InitStruct.Pin = OTG_FS_OverCurrent_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(OTG_FS_OverCurrent_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PB6 */
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PB8 */
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : Audio_SDA_Pin */
GPIO_InitStruct.Pin = Audio_SDA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(Audio_SDA_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : MEMS_INT2_Pin */
GPIO_InitStruct.Pin = MEMS_INT2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(MEMS_INT2_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
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 /* USE_FULL_ASSERT */
Not even my first task is getting executed properly, suddenly it is entering to hardfault at the ldr r0 line in below code
static void prvPortStartFirstTask( void )
{
/* Start the first task. This also clears the bit that indicates the FPU is
* in use in case the FPU was used before the scheduler was started - which
* would otherwise result in the unnecessary leaving of space in the SVC stack
* for lazy saving of FPU registers. /
__asm volatile (
" ldr r0, =0xE000ED08 \n"/ Use the NVIC offset register to locate the stack. */
You should be able to upload files now. You can either attach a zip with your project or you can put your code in GitHub and share a link.
Still I could not upload my project file,
please check this link to get my project zip file Unique Download Link | WeTransfer
Please check this link for project zip file
https://we.tl/t-npTb5xhP0A
that was NOT the question. Again, what do your xCreateTask invocations return???
Remove the following line from HAL_MspInit function in stm32f4xx_hal_msp.c file:
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
You are using SysTick to drive ST HAL tick also. Please change the HAL Tick to use some other timer:
Thank you, after making the NVIC priority group to 4, it is not entering Hardfault handler() and also I changes sysTick to TIM6
You do not need to do it in HAL_MspInit as it is already done in HAL_Init. Glad that you are able to solve it!
Also, make sure to check the return values of xTaskCreate and other API calls as @RAc suggested. Something like the following:
if( xTaskCreate(SPI1Task, "SPI_READ", 512, NULL, 2, NULL) != pdPASS )
{
/* Error handling code. */
}