px4 bug NFO [mavlink] Sarm_hardfault: Hard Fault:

[lingbuweibu]

When I add a new application, it is only compiled without starting the application. The USB is connected to the ground station. When I open the shell window for debugging, the shell window does not respond, and then the communication is interrupted. Then I add a few lines of code to the new application and compile it. Maybe the shell instruction will work. The probability of this is very high. This phenomenon does not exist in the old version of code, but in the latest version of code.
The debug usart report
NFO [mavlink] Sarm_hardfault: Hard Fault:
arm_hardfault: IRQ: 3 regs: 0x300093d4
arm_hardfault: BASEPRI: 00000080 PRIMASK: 00000000 IPSR: 00000003 CONTROL: 00000000
arm_hardfault: CFAULTS: 00008200 HFAULTS: 40000000 DFAULTS: 00000000 BFAULTADDR: 0000000b AFAULTS: 00000000
arm_hardfault: PANIC!!! Hard fault: 40000000
up_assert: Assertion failed at file:armv7-m/arm_hardfault.c line: 134 task: mavlink_rcv_if0
up_registerdump: R0: ffffffff 24000f00 30001b70 240047b8 ffffffff 24000f04 30001b70 30009520
up_registerdump: R8: 00000000 00000000 0000001b 00000046 0000000a 300094a8 080231ef 080241e0
up_registerdump: xPSR: 01000000 BASEPRI: 00000080 CONTROL: 00000000
up_registerdump: EXC_RETURN: ffffffe9
up_dumpstate: sp: 240010b0
up_dumpstate: IRQ stack:
up_dumpstate: base: 24001140
up_dumpstate: size: 00000200
up_dumpstate: used: 00000188
up_stackdump: 240010a0: 240010b0 2400427c 30009838 08029ee9 00000080 00000000 00000046 0000000a
up_stackdump: 240010c0: 300094a8 080231ef 080241e0 e000ed2c 0000000b e000ed2c 0000000b 00000000
up_stackdump: 240010e0: 00000000 00000000 00000000 0000001b 00000046 08021837 0802241d 0802153f
up_stackdump: 24001100: 40000000 00000000 0000000b 00000000 2400427c 00000003 00000003 08022d17
up_stackdump: 24001120: 00000080 08020f49 00000080 300093d4 24000f04 30001b70 30009520 080202d7
up_dumpstate: sp: 300094a8
up_dumpstate: User stack:
up_dumpstate: base: 30009838
up_dumpstate: size: 00001134
up_dumpstate: used: 000005ec
up_stackdump: 300094a0: 20000010 ffffffe9 24000f00 080231e1 30001b70 080231cb 24000f00 30001b70
up_stackdump: 300094c0: 000000f0 08023001 300015e0 300015e0 00000000 0815a713 00000000 00000000
up_stackdump: 300094e0: 00000000 00000000 00000000 300015e0 300015e0 00000000 00000000 000000d8
up_stackdump: 30009500: 00000000 0000001b 00000000 08159797 300015e0 080c8b67 300015e0 00000020
up_stackdump: 30009520: 2400429c 08023153 300015e0 080229b7 00000016 300015e0 2000f2e0 00000000
up_stackdump: 30009540: 00000000 080c8cb3 2000f2f8 300096c4 0000004f 080c8d31 00000000 160a0000
up_stackdump: 30009560: 0a6c6c03 00000000 12d21600 04ef208f 00000080 00000400 00000001 00000000
up_stackdump: 30009580: 00000000 76000000 16d21a3d 04f06c8f 00000080 00000400 00000001 00000000
up_stackdump: 300095a0: 00000000 08df6800 300096c4 2000f2f8 2000f975 080d31c7 00000000 2000f2e0
up_stackdump: 300095c0: 2000f2f8 080d3b1d 0000001a 00000000 deadbeef deadbeef 00000579 00000000
up_stackdump: 300095e0: 09c145b8 00000000 deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef
up_stackdump: 30009600: deadbeef 00000003 00000101 00000000 00000000 00000000 008004f0 04000000
up_stackdump: 30009620: 00010000 00000000 00000000 68000000 16d8f9df 208f12d2 008004ef 04000000
up_stackdump: 30009640: 00010000 00000000 00000000 00000000 1a3d7600 6c8f16d2 09c14b31 00000000
up_stackdump: 30009660: 00000006 00000000 00000007 00000007 00000000 00070000 00000000 00000000
up_stackdump: 30009680: deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef
up_stackdump: 300096a0: deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef deadbeef
up_stackdump: 300096c0: deadbeef 4ffdd8f9 ffe80000 00007e00 00000000 160a0000 0a6c6c03 00000000
up_stackdump: 300096e0: 12d21600 04ef208f 00000080 00000400 00000001 00000000 00000000 76000000
up_stackdump: 30009700: 16d21a3d 04f06c8f 00000080 00000400 00000001 00000000 00000000 00df6800
up_stackdump: 30009720: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
up_stackdump: 30009740: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
up_stackdump: 30009760: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
up_stackdump: 30009780: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
up_stackdump: 300097a0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
up_stackdump: 300097c0: 00000000 00000000 00000000 00000000 00000000 00000000 0000d8f9 00000000
up_stackdump: 300097e0: 00000000 30000000 000000f0 00000000 00000000 30001b70 2001fdb0 2000e250
up_stackdump: 30009800: 2000e274 00000000 00000000 00000000 00000000 080d3ccb 080d3cc5 08035783
up_stackdump: 30009820: 00000000 00000000 00000000 00000000 00000000 00000000 0003e7c0 00001150
up_taskdump: Idle Task: PID=0 Stack Used=340 of 728
up_taskdump: hpwork: PID=1 Stack Used=332 of 1268
up_taskdump: lpwork: PID=2 Stack Used=332 of 1620
up_taskdump: init: PID=3 Stack Used=2300 of 2932
up_taskdump: wq:manager: PID=4 Stack Used=396 of 1260
up_taskdump: commander: PID=261 Stack Used=1364 of 3220
up_taskdump: mavlink_if0: PID=266 Stack Used=1764 of 2828
up_taskdump: navigator: PID=342 Stack Used=1108 of 1772
up_taskdump: gps: PID=284 Stack Used=948 of 1684
up_taskdump: dataman: PID=31 Stack Used=796 of 1204
up_taskdump: wq:lp_default: PID=33 Stack Used=1100 of 1924
up_taskdump: wq:uavcan: PID=166 Stack Used=1876 of 3628
up_taskdump: uavcan_fw_srv: PID=169 Stack Used=1564 of 6004
up_taskdump: wq:hp_default: PID=174 Stack Used=1192 of 1900
up_taskdump: mavlink_if1: PID=303 Stack Used=1576 of 2740
up_taskdump: mavlink_rcv_if1: PID=304 Stack Used=1308 of 4404
up_taskdump: logger: PID=369 Stack Used=2476 of 3644
up_taskdump: wq:SPI4: PID=178 Stack Used=880 of 2340
up_taskdump: log_writer_file: PID=374 Stack Used=388 of 1172
up_taskdump: wq:UART0: PID=311 Stack Used=632 of 1540
up_taskdump: mavlink_rcv_if0: PID=376 Stack Used=1516 of 4404
up_taskdump: wq:nav_and_controllers: PID=249 Stack Used=1188 of 2244
up_taskdump: wq:rate_ctrl: PID=250 Stack Used=1404 of 1956
up_taskdump: wq:INS0: PID=251 Stack Used=1372 of 6004
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:0
[boot] Fault Logged on 2022-06-11-05:35:57 - Valid
[boot] There is a hard fault logged. Hold down the SPACE BAR, while booting to review!
ERROR [PX4_MTD] failed to initialize mtd driv[hardfault_log] Fault Log info File No 4 Length 3177 flags:0x01 state:0
[hardfault_log] Fault Logged on 2022-06-11-05:35:57 - Valid
er
ERROR [PX4_MTD] mtd failure: -5 bus 2 address 0 class 1
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: HELI_MY_TARGET_V3
FW git-hash: 72389c2
FW version: 1.13.0 0 (17629184)
OS: NuttX
OS vers[hardfault_log] Saving Fault Log file /fs/microsd/fault_2022_06_11_05_35_57.log
ion: Release 8.2.0 (134349055)
OS git-hash: 76bb42f3ebd902102e844084b564274bf215ec9f
Build datetime: Jun 11 2022 13:32:24
Build uri: localhost
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 00060000000035393336313951160028001f
MCU: STM32H7[4|5]x[hardfault_log] Fault Log is Armed
[hardfault_log] Done saving Fault Log file
xx, rev[hardfault_log] No ULog to append to
. V
INFO [param] selected parameter default file /fs/microsd/params
INFO [parameters] BSON document size 130 bytes, decoded 130 bytes
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
nsh: rgbled_pwm: command not found
nsh: tone_alarm: command not found
INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes
INFO [uavcan] Node ID 1, bitrate 1000000
Board sensors: /etc/init.d/rc.board_sensors
smc200 #0 on SPI bus 4 rotation 8
nsh: heater: command not found
WARN [SPI_I2C] Already running on bus 4
WARN [SPI_I2C] smc200: no instance started (no device on bus?)
INFO [commander] Mission #2 loaded, 24 WPs, curr: 0
Board extras: /etc/init.d/rc.board_mavlink
INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS2
Starting MAVLink on /dev/ttyS3
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS3 @ 57600B
INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50
INFO [pwm_out] instance: 1, max rate: 100, default: 50, alt: 50
INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50
INFO [pwm_out] instance: 1, max rate: 100, default: 50, alt: 50
INFO [init] Mixer: /etc/mixers/hexa_x.main.mix on /dev/pwm_output0
[init] PWM_OUT loading mixer pwm
ekf2 [335:100]
INFO [ekf2] starting instance 0, IMU:0 (6881314), MAG:0 (0)
INFO [pwm_out] instance: 0, max rate: 800, default: 50, alt: 400
INFO [logger] logger started (mode=all)