HardFault Handler when using CANOpenNodeSTM32 with freeRTOS

[Mihnea29]

Hello. I have tried using CANOpen with freertos. I have created a task for the app process and I am calling the app interrupt with a semaphore. The app goes inside the initialisation function but the hard fault handler is called. I think the issue is that the heap memory used parameter is 0 and I can't figure out why.

void canopen_task(void argument)
{
/ USER CODE BEGIN canopen_task /
CANopenNodeSTM32 canOpenNodeSTM32;
canOpenNodeSTM32.timerHandle = &htim14;
canOpenNodeSTM32.CANHandle = &hcan1;
canOpenNodeSTM32.HWInitFunction = MX_CAN1_Init;
canOpenNodeSTM32.desiredNodeID = 1;
canOpenNodeSTM32.baudrate = 100;
canopen_app_init(&canOpenNodeSTM32);
/ Infinite loop */
for(;;)
{
if (osSemaphoreAcquire(canSemHandle, 10) == osOK) {
canopen_app_interrupt();
}
HAL_GPIO_WritePin(GPIOJ, GPIO_PIN_5, !canOpenNodeSTM32.outStatusLEDGreen);
HAL_GPIO_WritePin(GPIOJ, GPIO_PIN_13, !canOpenNodeSTM32.outStatusLEDRed);
canopen_app_process();

osDelay(1);

}
/* USER CODE END canopen_task */
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef htim)
{
/ USER CODE BEGIN Callback 0 */

/* USER CODE END Callback 0 /
if (htim->Instance == TIM6)
{
HAL_IncTick();
}
/ USER CODE BEGIN Callback 1 /
if (htim == canopenNodeSTM32->timerHandle) {
//canopen_app_interrupt();
osSemaphoreRelease(canSemHandle);
}
/ USER CODE END Callback 1 */
}

osThreadId_t CanopenTaskHandle;
const osThreadAttr_t CanopenTask_attributes = {
.name = "CanopenTask",
.stack_size = 2048 * 4,
.priority = (osPriority_t) osPriorityHigh,
};

[MaJerle]

You can effectively look at the call stack and figure out where was the hard fault triggered - can you give us these details?

[Mihnea29]

Yes, the issue happends because no heap memory is allocated to the CO. I do not use multiple ODs. I am sure what is happening, on bare metal it works fine, so I think its related to free rtos

[MaJerle]

You have to look at malloc implementation. Because this is what is used by default for memory allocation.
Step by step in the CO_new function.

[Mihnea29]

By moving the canopen_app_init to main before the task initialisation seems to make it allocate heap memory to CO, but now it goes into fault manager. With the app init in main it allocates 4944 to heapMemoryUsed

[MaJerle]

I can't say now anymore - you'll have to give us more interactive data to work on. What is the CANptr value at the time of calling the HWInitFunction?

Please make a through debug to avoid unnecessary pingponging.

[Mihnea29]

Hello, I found a fix but I don't know if its the best approach: when I declare the structure inside USER CODE 2 it works fine. When I put the instance declaration inside the task, I get the memory allocation error because no space from heap is allocated. Maybe because the canopen_task_interrupt is called before the task, but I don't know.