HardFault_Handler when rclc_timer_init_default is use

[hishambaharom]

I have a problem when debugger reach rclc_timer_init_default function. this cause the debugger go to HardFault_Handler function. Please help.
Board: openCR(stm32f746)
IDE: stm32cubeide
OS: Freertos

[pablogs9]

We need more details to be able to evaluate this issue.

[hishambaharom]

This the configuration for rtos

This what I capture in disassembly.

the problem is when it execute rcl_get_zero_initializes_timer at address 0x8017de4 ( bx lr), it trigger hardfault_handler

[pablogs9]

Do you have any heap initialized?

[hishambaharom]

No I did not, what I know In microros, the heap is typically initialized automatically by the main() function or by the underlying operating system. How I can initialized microros heap any ref..,

This is all in my main for ref

/* 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_USART2_UART_Init();
MX_CAN2_Init();
MX_UART8_Init();
MX_TIM6_Init();
MX_TIM7_Init();
/ USER CODE BEGIN 2 */

HAL_CAN_Start(&hcan2);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);

HAL_UART_Receive_IT(&huart2, &uart2_it_data, 1);
HAL_UART_Receive_IT(&huart8, &uart8_it_data, 1);

HAL_TIM_Base_Start(&htim6); // Start timer
HAL_TIM_Base_Start_IT(&htim7);//

//FirstOrderIIR_Init(&iirBuffer, IIR_FILTER_ALPHA);
Moving_Average_Init(&filterStruct);

if(HAL_GPIO_ReadPin(GPIOB, em_button_Pin) == 0x01){ //init emergency var
emergency_trigger = 0x01;
}else{
emergency_trigger = 0x02;
}

/* USER CODE END 2 */

/* Init scheduler */
osKernelInitialize();

/* USER CODE BEGIN RTOS_MUTEX /
/ add mutexes, ... /
/ USER CODE END RTOS_MUTEX */

/* USER CODE BEGIN RTOS_SEMAPHORES /
/ add semaphores, ... /
/ USER CODE END RTOS_SEMAPHORES */

/* USER CODE BEGIN RTOS_TIMERS /
/ start timers, add new ones, ... /
/ USER CODE END RTOS_TIMERS */

/* Create the queue(s) /
/ creation of myQueue01 */
myQueue01Handle = osMessageQueueNew (16, sizeof(cmdVelData), &myQueue01_attributes);

/* creation of myQueue02 */
myQueue02Handle = osMessageQueueNew (16, sizeof(cmdVelData), &myQueue02_attributes);

/* USER CODE BEGIN RTOS_QUEUES /
/ add queues, ... /
/ USER CODE END RTOS_QUEUES */

/* Create the thread(s) /
/ creation of ros2Task */
ros2TaskHandle = osThreadNew(StartRos2Task, NULL, &ros2Task_attributes);

/* creation of motorDriver01Ta */
motorDriver01TaHandle = osThreadNew(StartMotorDriver01Task, NULL, &motorDriver01Ta_attributes);

/* creation of motorDriver02Ta */
motorDriver02TaHandle = osThreadNew(StartMotorDriver02Task, NULL, &motorDriver02Ta_attributes);

/* creation of uartDataProcess */
uartDataProcessHandle = osThreadNew(StartUartDataProcessTask, NULL, &uartDataProcess_attributes);

/* USER CODE BEGIN RTOS_THREADS /
/ add threads, ... /
/ USER CODE END RTOS_THREADS */

/* USER CODE BEGIN RTOS_EVENTS /
/ add events, ... /
/ USER CODE END RTOS_EVENTS */

/* Start scheduler /
osKernelStart();
/ We should never get here as control is now taken by the scheduler /
/ Infinite loop /
/ USER CODE BEGIN WHILE /
while (1)
{
/ USER CODE END WHILE */

/* USER CODE BEGIN 3 */

}
/* USER CODE END 3 */

[pablogs9]

In Cube IDE you need to have some heap configured for your platform. This is not related to micro-ROS but to your platform usage.

[hishambaharom]

I Have configure the heap to 10k but the problem still have

[hishambaharom]

What other data require for evaluate this issue..