RT-Thread-pwm 控制舵机运行一小时后进入hard fault SCB_CFSR_UFSR:0x01 UNDEFINSTRRT-Thread问答社区

pwm 控制舵机运行一小时后进入hard fault SCB_CFSR_UFSR:0x01 UNDEFINSTR

发布于 2024-11-19 12:01:05 浏览：270 订阅该版

![微信图片_20241119133808.png](https://oss-club.rt-thread.org/uploads/20241119/1344eb3bf5ff72b18a7a3114e0e4dbb0.png.webp)

```
[11:18:32.035]收←◆psr: 0x6100000f
r00: 0x00000000
r01: 0x200000f0
r02: 0x00000000
r03: 0x00000000
r04: 0x00000004
r05: 0xdeadbeef
r06: 0xdeadbeef
r07: 0xdeadbeef
r08: 0xdeadbeef
r09: 0xdeadbeef
r10: 0xdeadbeef
r11: 0xdeadbeef
r12: 0x00000000
 lr: 0x08002c5b
 pc: 0x08008200
hard fault on handler

usage fault:
SCB_CFSR_UFSR:0x01 UNDEFINSTR 
```

```c
#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>
#include "opg_model.h"

/* defined the LED0 pin: PB1 */
//#define LED0_PIN    GET_PIN(D, 13)
#define DBG_TAG "main"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>

#define PWM_DEV_NAME9        "pwm9"   /* PWM设备名称 */
#define PWM_DEV9_CHANNEL2     2        /* PWM通道 */
#define PWM_DEV_NAME        "pwm4"   /* PWM设备名称 */
#define PWM_DEV_CHANNEL2     2        /* PWM通道 */
#define PWM_DEV_CHANNEL3     3        /* PWM通道 */
#define PWM_DEV_CHANNEL4     4        /* PWM通道 */
#define PWM_period          10000000 /* 频率50Hz，周期20ms，单位为纳秒ns */

uint32_t timems =0;
float cpg_h = 0.04f;
float PI = 3.1415926f;
float Offset1 = 90.0f;//舵机1初始角度 左前（从航行器的尾部看）
float Amplitude = 90.0f;//
float F_hz = 1.0f;//频率
float Phase = 0.2f;//相位差（相差几个周期）

float actual_Amplitude = 45.0f;
float actual_Offset1 = 45.0f;
int32_t T_servo =0;;//周期
rt_uint32_t angle1 = 0;
rt_uint32_t angle2 = 0;
rt_uint32_t angle3 = 0;
rt_uint32_t angle4 = 0;
float sin_temp1 ;
float sin_temp2 ;
float sin_angle1;
float sin_angle2;
struct rt_device_pwm *pwm_dev;      /* PWM设备句柄 */
struct rt_device_pwm *pwm9_dev;      /* PWM设备句柄 */
rt_uint32_t period, servo1_pulse,servo2_pulse,servo3_pulse,servo4_pulse;

rt_uint32_t angle_pulse(rt_uint32_t servo_angle )//角度转换占空比函数
{
	rt_uint32_t servo_pulse = 0;
	servo_pulse = (servo_angle*2000/180+500)*1000;
	return servo_pulse;
		
}

int main(void)
{
	
	    //int count = 1;

//    while (1)
//    {
//			//LOG_D("pwm sample run failed! can't find %d device!\n", count);

//        rt_thread_mdelay(5000);
//        rt_thread_mdelay(5000);
//    }

//    return RT_EOK;
//   rt_uint32_t period, pulse, dir;

//    period = 20000000;    /* 周期为0.5ms，单位为纳秒ns */
//    dir = 1;            /* PWM脉冲宽度值的增减方向 */
//    pulse = 0;          /* PWM脉冲宽度值，单位为纳秒ns */
    period = PWM_period;    /* 周期为0.5ms，单位为纳秒ns 20ms*/
    servo1_pulse = 1500000;          /* PWM脉冲宽度值，单位为纳秒ns */
		T_servo = (uint32_t)(1000.0f/F_hz);//周期时间ms
    /* 查找设备 */
    pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);
    if (pwm_dev == RT_NULL)
    {
        rt_kprintf("pwm sample run failed! can't find %s device!\n", PWM_DEV_NAME);
        return RT_ERROR;
    }
		/* 查找设备 */
    pwm9_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME9);
    if (pwm9_dev == RT_NULL)
    {
        rt_kprintf("pwm sample run failed! can't find %s device!\n", PWM_DEV_NAME9);
        return RT_ERROR;
    }

/* 设置PWM周期和脉冲宽度默认值 */
    rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL2, period, servo1_pulse);
		rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL3, period, servo1_pulse);
		rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL4, period, servo1_pulse);
		rt_pwm_set(pwm9_dev, PWM_DEV9_CHANNEL2, period, servo1_pulse);
    /* 使能设备 */
    rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL2);
		rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL3);
		rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL4);
		rt_pwm_enable(pwm9_dev, PWM_DEV9_CHANNEL2);

while (1)
    {
			//LOG_D("pwm run");
			Openloop_CPG_Control(cpg_h, Amplitude, Offset1 ,&actual_Amplitude,&actual_Offset1);
			timems = rt_tick_get();
			sin_angle1 = (float)(2.0f*PI*F_hz*timems/1000.0f);
			sin_temp1 = sinf(sin_angle1);
			angle1 =(int32_t)(actual_Offset1 + actual_Amplitude*sin_temp1);
			angle2 =(int32_t)(actual_Offset1 - actual_Amplitude*sin_temp1);
		
			sin_angle2 = (float)(2.0f*PI*F_hz*(timems+Phase*T_servo)/1000.0f);
			sin_temp2 = sinf(sin_angle2);
			angle3 =(int32_t)(actual_Offset1 + actual_Amplitude*sin_temp2);
			angle4 =(int32_t)(actual_Offset1 - actual_Amplitude*sin_temp2);
			servo1_pulse = angle_pulse(angle1);
			servo2_pulse = angle_pulse(angle2);
			servo3_pulse = angle_pulse(angle3);
			servo4_pulse = angle_pulse(angle4);
			/* 设置PWM周期和脉冲宽度 */		
			rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL4, period, servo1_pulse);//红色PD15从后往前看右上
			rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL3, period, servo2_pulse);//绿色PD14从后往前看左上
			rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL2, period, servo3_pulse);//粉黄PD13从后往前看右下
			rt_pwm_set(pwm9_dev, PWM_DEV9_CHANNEL2, period, servo4_pulse);//黄色PE6从后往前看左下
			rt_thread_mdelay(20);

}
    return RT_EOK;
}
```

![screenshot_1731994258540.png](https://oss-club.rt-thread.org/uploads/20241119/e6c6da9a46a4f76525db18227104a0cc.png.webp)
![错误指针定位的函数 是取时间中断的函数.png](https://oss-club.rt-thread.org/uploads/20241119/e6c6da9a46a4f76525db18227104a0cc.png.webp)