Sensor_传感器框架 CmBacktrace Hardfault

应用MPU软件包的sensor框架出现UNALINED问题

发布于 2023-08-23 17:15:16 浏览：391 订阅该版

目前在学习sensor框架，想使用官方的软件包mpu6xxx下的sensor框架来增加device，但是出现了UNALINED问题，只知道是没有对齐，但是找不到是哪里的问题，代码如下：

```c
int rt_hw_mpu6050_init(const char *name, struct rt_sensor_config *cfg)
{
    rt_uint8_t result;
    struct mpu6050_device *mpu_dev_temp;
    rt_sensor_t sensor_acce = RT_NULL, sensor_gyro = RT_NULL, sensor_mag = RT_NULL;

mpu_dev_temp = _mpu6050_init(&cfg->intf);

if (mpu_dev_temp == RT_NULL)
    {
        LOG_E("_mpu6050 init err!");
        goto __exit;
    }
#ifdef PKG_USING_MPU6050_ACCE
    /* accelerometer sensor register */
    
        sensor_acce = rt_calloc(1, sizeof(struct rt_sensor_device));
        if (sensor_acce == RT_NULL)
            goto __exit;

sensor_acce->info.type = RT_SENSOR_CLASS_ACCE;
        sensor_acce->info.vendor = RT_SENSOR_VENDOR_INVENSENSE;
        sensor_acce->info.model = "mpu6050_acc";
        sensor_acce->info.unit = RT_SENSOR_UNIT_MG;
        sensor_acce->info.intf_type = RT_SENSOR_INTF_I2C;
        sensor_acce->info.range_max = 16000;
        sensor_acce->info.range_min = 2000;
        sensor_acce->info.period_min = 5;

rt_memcpy(&sensor_acce->config, cfg, sizeof(struct rt_sensor_config));
        sensor_acce->ops = &sensor_ops;

result = rt_hw_sensor_register(sensor_acce, name, RT_DEVICE_FLAG_RDWR, mpu_dev_temp);
        if (result != RT_EOK)
        {
            LOG_E("device register err code: %d", result);
            goto acce__exit;
        }
    
#endif
#ifdef PKG_USING_MPU6050_GYRO
    /* gyroscope sensor register */
    {
        sensor_gyro = rt_calloc(1, sizeof(struct rt_sensor_device));
        if (sensor_gyro == RT_NULL)
            goto gyro__exit;

sensor_gyro->info.type = RT_SENSOR_CLASS_GYRO;
        sensor_gyro->info.vendor = RT_SENSOR_VENDOR_INVENSENSE;
        sensor_gyro->info.model = "mpu6050_gyro";
        sensor_gyro->info.unit = RT_SENSOR_UNIT_MDPS;
        sensor_gyro->info.intf_type = RT_SENSOR_INTF_I2C;
        sensor_gyro->info.range_max = 2000000;
        sensor_gyro->info.range_min = 250000;
        sensor_gyro->info.period_min = 5;

rt_memcpy(&sensor_gyro->config, cfg, sizeof(struct rt_sensor_config));
        sensor_gyro->ops = &sensor_ops;

result = rt_hw_sensor_register(sensor_gyro, name, RT_DEVICE_FLAG_RDWR, mpu_dev_temp);
        if (result != RT_EOK)
        {
            LOG_E("device register err code: %d", result);
            goto gyro__exit;
        }
    }
#endif

#ifdef PKG_USING_MPU6050_MAG
    /* magnetometer sensor register */
    {
        sensor_mag = rt_calloc(1, sizeof(struct rt_sensor_device));
        if (sensor_mag == RT_NULL)
            goto mag__exit;

sensor_mag->info.type = RT_SENSOR_CLASS_MAG;
        sensor_mag->info.vendor = RT_SENSOR_VENDOR_INVENSENSE;
        sensor_mag->info.model = "mpu6050_mag";
        sensor_mag->info.unit = RT_SENSOR_UNIT_MGAUSS;
        sensor_mag->info.intf_type = RT_SENSOR_INTF_I2C | RT_SENSOR_INTF_SPI;
        sensor_mag->info.range_max = 49120;
        sensor_mag->info.range_min = -49120;
        sensor_mag->info.period_min = 100;

rt_memcpy(&sensor_mag->config, cfg, sizeof(struct rt_sensor_config));
        sensor_mag->ops = &sensor_ops;

result = rt_hw_sensor_register(sensor_mag, name, RT_DEVICE_FLAG_RDWR, mpu_dev_temp);
        if (result != RT_EOK)
        {
            LOG_E("device register err code: %d", result);
            goto mag__exit;
        }
    }
#endif

LOG_I("sensor init success");
    return RT_EOK;

#ifdef PKG_USING_MPU6050_MAG
mag__exit:
    if (sensor_mag)
        rt_free(sensor_mag);
#endif

#ifdef PKG_USING_MPU6050_GYRO
    rt_device_unregister((rt_device_t)sensor_gyro);
gyro__exit:
    if (sensor_gyro)
        rt_free(sensor_gyro);
#endif

#ifdef PKG_USING_MPU6050_ACCE
    rt_device_unregister((rt_device_t)sensor_acce);
acce__exit:
    if (sensor_acce)
        rt_free(sensor_acce);
#endif

__exit:
    if (mpu_dev_temp)
        mpu6050_deinit(mpu_dev_temp);

return -RT_ERROR;
}
```
当我通过宏定义使用ACC或者GYRO后就出现这个问题，然后我大概找到了问题应该是出现在rt_calloc这个函数附近，但是不知道怎么解决，有没有大佬可以帮帮我