知恵袋での質問: https://detail.chiebukuro.yahoo.co.jp/qa/question_detail/q14219999289

Mbedからのエラー

++ MbedOS Fault Handler ++

FaultType: HardFault

Context:
R0   : 20000474
R1   : 00000002
R2   : 08005900
R3   : 200007E8
R4   : 200005B8
R5   : 0000000F
R6   : 20000B80
R7   : 20000E8C
R8   : FFFFFFFF
R9   : 20000E8C
R10  : FFFFFFFE
R11  : 0800AD8C
R12  : 40013C08
SP   : 2001FE90
LR   : FFFFFFE9
PC   : 08005900
xPSR : 20000027
PSP  : 00000000
MSP  : 2001FE70
CPUID: 410FC241
HFSR : 40000000
MMFSR: 00000000
BFSR : 00000000
UFSR : 00000002
DFSR : 00000008
AFSR : 00000000
Mode : Handler
Priv : Privileged
Stack: MSP

-- MbedOS Fault Handler --



++ MbedOS Error Info ++
Error Status: 0x80FF013D Code: 317 Module: 255
Error Message: Fault exception
Location: 0x80079FB
Error Value: 0x8005900
For more info, visit: https://armmbed.github.io/mbedos-error/?error=0x80FF013D
-- MbedOS Error Info --

ソースコード

#include "mbed.h"
//pwm信号
PwmOut out1(D5);
PwmOut out2(D9);
//立下り割り込み
InterruptIn HLin1(D7);
InterruptIn HLin2(D4);
InterruptIn SSBT(USER_BUTTON);//ボタン割り込み
Timer downT;
Ticker timer;
Serial xbee(A0,A1);

//ISコマンド
const char IS[19]= {0x7E,0x00,0x0F,0x17,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFE,0x02,0x49,0x53,0x4E};
//グローバル変数
int c=0,d=0,BT=0,cnt=0;
double pw = 1.0;
float oldT = 0,newT = 0,sum = 0,vtimer[10],avg = 0;

bool onoff = false;
char val300[300]="";
int size = 0;
char val[3]="";char val1g[5]="";char val2g[5]="";char val3g[5]="";
//変数Re0
void Re0(){
    downT.reset();
    sum = 0;
    oldT = 0;
    newT = 0;
    cnt = 0;
    c = 0;
    d = 0;
    downT.start();
}
//デューティー比UP
void UpDuty(){
    BT += 10;
    if(BT <= 100){
        pw = pw - 0.1;
        printf("\rDuty: %d[%%]\n\r",BT);
    }else if(BT > 100){
        BT = 0;
        pw = 1.0;
        printf("\rDuty: %d[%%]\n\r",BT);
    }
}
//立下り割り込み
void low() {
    //回数カウント用
    c++;
    if(c == 64){
        d++;
        c = 0;
        if(d == 19){
            newT = downT.read();
            vtimer[cnt] = newT - oldT;
            oldT = newT;
            cnt++;
            d = 0;
        }
    }
}
//ボタン割り込み
void BTH(){
    onoff = true;
    wait_ms(5);
    UpDuty();
    Re0();
}
double vconv(double val){
   double ans;
   ans=1.17*val/1024;
   return ans;
}

//通信兼main
int main(){
    xbee.baud(9600);
    HLin1.fall(&low);
    HLin2.fall(&low);
    SSBT.rise(&BTH);
    downT.start();
    //timer.attach(&submit, 1);
    bool flag=false;
    int a=0,b=0,k=0,timeout = 0;
    SSBT.rise(&BTH);
    while(1){
        //printf("%1.1f,",pw);
        //通信
        if(xbee.readable() == 0 && flag == false){
            for(int i=0;i<19;i++){
                xbee.putc(IS[i]);
            }timeout=0;
            flag = true;
        }else if (xbee.readable() == 1 && flag == true){
            timeout=0;
            size += sprintf(val,"%02x",xbee.getc());
            strcat(val300,val);
        }else if(xbee.readable() == 0 && flag == true){
            timeout++;
            if(timeout > 300000 && size < 58){
                timeout = 0;
                flag = false;
            }else if(timeout < 300000 && size == 58){
                for(a=44;a < (size - 2);){
                    for(b=0;b<4;b++){
                        if(b==0)
                            sprintf(val,"0x%c",val300[a]);
                        else
                            sprintf(val,"%c",val300[a]);
                        if(k==0){strcat(val1g,val);}
                        else if(k==1){strcat(val2g,val);}
                        else if(k==2){strcat(val3g,val);}
                        a++;
                    }k++;
                }k=0;
                size = 0;
                flag=false;
            }
        }
       //モーター
        if(cnt == 100){
            for(cnt=0;cnt<100;cnt++){
                sum += vtimer[cnt];
            }
            avg = sum / 100;
            printf("100avg = %f[s] | 100sum = %f[s] | speed = %f[rps]\n\r,x=%lf[mv], y=%lf[mv], z=%lf[mv]\r\n"
            ,avg,sum,1/avg,vconv(atof(val1g)),vconv(atof(val2g)),vconv(atof(val3g)));
            UpDuty();
            Re0();
        }else if(cnt < 100){
            out1.write(pw);
            out2.write(1.0);
        }
    }
}