node.start() is freezes (closed)

[SergeyF1987]

Another trouble appeared. I build my project for STM32 without any mistakes. So I initialized my single node like in manual: https://uavcan.org/Implementations/Libuavcan/Tutorials/2._Node_initialization_and_startup/ It's right and has not any troubles.

    node_id = 1;
        auto& node = getNode();
    node.setNodeID(node_id);
    node.setName("AirSensor");
    node.start();
    uavcan::Publisher <uavcan::protocol::NodeStatus> pub(node);
    pub.init();
        pub.setPriority(uavcan::TransferPriority::MiddleLower);
    node.setModeOperational();

But programm stops on node.start(). I spied this hell in debugger and found that program freezes at SentToIface function in uc_can_io.cpp (string 231):

    ICanIface* const iface = driver_.getIface(iface_index);
    if (iface == UAVCAN_NULLPTR)
    {
        UAVCAN_ASSERT(0);   // Nonexistent interface  ----> This macros freeze the programm
        return -ErrLogic;
    }

Actually UAVCANASSERT(0); freeze all platform. And no any error returns. So, driver.getIface(iface_index); always returns 0 at first, because iface_index variable we get from --> res = sendToIface(i, frame, txdeadline, flags); where i get from cycle (for (i=0.. bla-bla-bla)) And.. driver.getIface(iface_index) goes to:

CanIface* CanDriver::getIface(uavcan::uint8_t iface_index)
{
    if (iface_index < UAVCAN_STM32_NUM_IFACES)
    {
        return ifaces[iface_index];  //--->this returns to me
    }
    return UAVCAN_NULLPTR;
}

I have UAVCAN_STM32_NUM_IFACES=1 and as I said I always get 0 value at first, and it returns ifaces[0]=0. Then it goes to UAVCAN_ASSERT(0); that completely freezes all programm (like in eternal while-cycle)

I cannot understand what happens?? How init nodes on STM32 properly??

[antoinealb]

The STM32 implementation of the drivers can use several "backends" depending on your RTOS. Did you define one of UAVCAN_STM32_CHIBIOS, UAVCAN_STM32_NUTTX, UAVCAN_STM32_BAREMETAL or UAVCAN_STM32_FREERTOS?

You should also define UAVCAN_STM32_TIMER_NUMBER to a timer that can be freely used by UAVCAN.

[SergeyF1987]

Of course, I defined it in build_config.hpp: 1st # define UAVCAN_STM32_BAREMETAL 1 .. then # define UAVCAN_STM32_TIMER_NUMBER 7 .. and #define UAVCAN_STM32_NUM_IFACES 1 .. But problem still exist. Actually I only commented UAVCAN_ASSERT(0); ( this freezes, so i think that it's compilator's feauture) and program works further, but returns ErrLogic at string below. Maybe I forgot something else, or this driver works not properly with STM32F407..?! (try to launch it on Discovery-board)

[antoinealb]

Hmm thats weird. I am using UAVCAN in an F407 without any issue. I just noticed that TIM7 is a "basic timer", I am currently using TIM2. Could you try with that one to see if that works please?

[SyrianSpock]

@SergeyF1987 did you have a look at this https://github.com/UAVCAN/libuavcan_stm32?

[SergeyF1987]

Yes. I use this driver. So I compiled DSDL-directory and included it in project. So I directly defined UAVCAN_STM32_TIMER_NUMBER , UAVCAN_STM32_NUM_IFACES and ets. in build_config.hpp at stm32 driver. I dont used 'make' command. So now I think, maybe it's causes the trouble?!

[SergeyF1987]

I see, that this func returns ifaces[0]=0, that calls ErrLogic issue after: //-------------------------------------------- CanIface CanDriver::getIface(uavcan::uint8_t iface_index) { if (iface_index < UAVCAN_STM32_NUM_IFACES) { return ifaces[iface_index]; //returns 0, that calls error after } return UAVCAN_NULLPTR; } //-------------------------------------------- In debugger I also found that: //-------------------------------------------- Failed to execute MI command: -var-create - &(((ifaces[0])->pendingtx)) Error message from debugger back end: -var-create: unable to create variable object //-------------------------------------------- It seems that program cannot set unzero-value to ifaces[x]. I still cannot understans, why. I use Atollic TRUEstudio project, generated with CubeMX

[SergeyF1987]

What IDE your use?

[SergeyF1987]

This topic is closed, I fixed troubles. The reason was simple. I initialized CAN bus twice (in HAL first, and in libuavcan second), that caused conflict. And node init-process ended with error. But I cannot understand why assert(x) macro go to frost. But now it's not so matter for me.