MCSDK 6.3.0 + FreeRTOS Motor Pilot doen't connect (MCP: ASPEP BEACON TIMEOUT)

[grisharevzin]

Hello everyone,

I have a motor control project that I'm testing out using Motor Pilot. If I generate it with FreeRTOS support, Motor Pilot can't connect to the board (the board sends a probably malformed ASPEP_RESP and then it's always a timeout).

I have verified that motor control code is working correctly with test code (the motor spins as expected):

void test_task(const void *arg)
{
 vTaskDelay(5000);
 (void)arg;
 MC_AcknowledgeFaultMotor1();
 MC_ProgramSpeedRampMotor1_F(250, 1000);
 MC_StartMotor1();
 vTaskSuspend(NULL);
}

Noticed that void ASPEP_HWReset(ASPEP_Handle_t *pHandle) from aspep.c is always getting called.

If I untick the FreeRTOS button in the workbench and regenerate the code (keeping all other settings), then MCP works as expected.

General params:

• MCSDK 6.3.0
• FOC
• EVSPIN32G4 

Maybe this is known issue and there's a fix/workaround?

[LHOUE]

Hello @grisharevzin ,

Could you try with the latest version of MCSDK (6.3.1) which has been released?

It should fix your issue.

BRs

[grisharevzin]

Hi @LHOUE,

I've regenerated and recompiled everything with 6.3.1, same issue (void ASPEP_HWReset(ASPEP_Handle_t *pHandle) is always getting called if I'm trying to connect with Motor Pilot).

[Afam_Nwokolo]

Did you find a resolution to this issue? I am having the same problem

[grisharevzin]

Nope, sorry. It's either FreeRTOS or MCP. My intuition tells me it should be easy enough to debug but I didn't go this way. 

[GMA]

Hello @grisharevzin,

Using MCSDK6.3.1, CubeMx6.12, to generate EVSPIN32G4 project, compiling it on STM32CubeIDE, I am able to connect Motor Pilot with FreeRTOS enabled using TIM6 defalut setting.
Could you please check that Baudrate setting is aligned between Workbench setting and MC Pilot?