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Posted: **Sun Jan 04, 2015 8:40 pm**

Hello. I write my own firmware for quadrocopter. And I have a problem with the implementation of the interrupt handlers. This is my code:

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#include <gpio.h>
#include <clk.h>
#include <led.h>
#include <crazyflie_board.h>


void SysTick_Handler(void)
{
	led_toggle(LED_GREEN);
}

int main (void)
{
	clk_HSE_enable();
// 	sysTick_init(50);

	led_init(LED_GREEN);
	led_on(LED_GREEN);
	led_init(LED_RED);
	led_on(LED_RED);

	uint32_t cnt = 0;
	while(1)
	{
		led_toggle(LED_RED);
		for(cnt=0;cnt<1000000;cnt++);
	}
	return 1;
}

In this form, the code works. The red LED blinks. But if I uncomment line

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// 	sysTick_init(50);

In which I enable systick interrupt, both LEDs stop blinking. It seems like processor go to hardFault.

I specify using thoose memory area in my linker script:

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/* Specify the memory areas */
/*  FLASH (rx)      : ORIGIN = 0x08002800, LENGTH = 118K */
MEMORY
{
  FLASH (rx)      : ORIGIN = 0x08002800, LENGTH = 118K
  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 20K
  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
}

Interrupt vector table defined in startup file in standart manner:

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g_pfnVectors:
	.word	_estack
	.word	Reset_Handler
	.word	NMI_Handler
	.word	HardFault_Handler
	.word	MemManage_Handler
	.word	BusFault_Handler
	.word	UsageFault_Handler
	.word	0
	.word	0
	.word	0
	.word	0
	.word	SVC_Handler
	.word	DebugMon_Handler
	.word	0
	.word	PendSV_Handler
	.word	SysTick_Handler
	.word	WWDG_IRQHandler

   .weak	PendSV_Handler
	.thumb_set PendSV_Handler,Default_Handler

	.weak	SysTick_Handler
	.thumb_set SysTick_Handler,Default_Handler

	.weak	WWDG_IRQHandler
	.thumb_set WWDG_IRQHandler,Default_Handler

Used bootloader - is standart, given to crazyflie.
What is proper way of handle interrupts in case of using bootloader?

Posted: **Wed Jan 07, 2015 11:12 am**

Hi,

Are you using the ST startup files? By default they reset the interrupt vector table address: https://github.com/mikeferguson/stm32/b ... 4xx.c#L249
you need to comment these line, the interrupt vector table address is already setup by the bootloader so there is no need to touch it (I have no idea why ST is doing that, even without bootloader there is no need to touch it unless you run from RAM).

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