The firmware has hard fault and hung some times


I'm working on a project that uses RA6M5 MCU. The FSP version is 3.5.0. The FreeRTOS version is 10.4.3.

I found there is a hard fault after the firmware running a few hours. From the memory dump, the R14(LR) shows a function address. I found the function from the generated map file by IAR. Other than this R14, is there any other info that I can use from the hard fault dump print-outs?

Hard Fault

   R0 : 00032595   R1 : fffffff1
   R2 : 00000000   R3 : 2003f804
   R4 : 00000000   R5 : 2003f274
   R6 : 00000000   R7 : 2003f804
   R8 : a5a5a5a5   R9 : a5a5a5a5
   R10: a5a5a5a5   R11: a5a5a5a5
   R12: 00000002   R13: 200003c8
   R14: 00032595   R15: a5a5a5a5

                  0002516a 6100001e 
2003f804 000253c3 00000000 20001878 
2003d804 a5a5a5a5 a5a5a5a5 000221cb

Another problem is, after running a few hours, the firmware can be hung. As the watch dog timer isn't kicked, after about 30 seconds, the firmware will be reset. I tried to run the firmware from IAR. When it is hung, I pause the exection. I found it falls to prvIdleTask in "\Renesas\aws\amazon-freertos\freertos_kernel\task.c". I'm wondering what's the reason that the firmware runs into the Idle task. Is there a way to avoid it?


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  • Good point! I added the size of the stack for some tasks. I'll run testing to see if it'll help.

    I'll also keep an eye on the PC.

    Thanks AL!

  • I increased the stack size for a few tasks. I didn't see the hard fault ever since. But I saw the system hung. I ran the firmware from IAR. When the firmware is stuck, I hit the Pause button in IAR. It falls into the Idle task. Here is the call stack:


    Here is a screen shot:

    I suspect there is a dead lock besides the stack size issue. I have a recursive mutex. Previously, I called "xSemaphoreTakeRecursive(myMutex, 0xFFFFFFFF)". Now I change it to something like: xSemaphoreTakeRecursive(myMutex, pdMS_TO_TICKS(20000))
    I'll try this to see if it'll help.
    Let me know if you have any suggestions.