KL25Z UART updating tpm period

[nicas16]

Hello everyone 
I have 8 servos in PWM channels of KL25Z that i want to control via serial from my Visual Studio solution.

I'm using UART1 to receive data and update the tpm period that control the servos.

My problem is that i get a HardFault when i call the UpdateServo function from the UART1 IRQHandler.

I thinking it's happening because i'm calling it from the interrupt handler.

Any idea how i can fix this problem?

MCUXpresso project are attached.

Thanks for your help

Original Attachment has been moved to: BipedRobot.zip

[nicas16 · Accepted solution]

I solved the error \o/

It was in my servo struct. I have 8 servos but only 7 address in my array ... My bad 

Thanks for your help

[Robin_Shen]

Hi

Please refer the method description in 'Tracking down Hard Faults' first.
And you can also tell me how to appear the Hard Fault. For example: What message need I send to the UART1?

Best Regards,

Robin

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[nicas16]

I tracked the hard fault. It happens when I call any fls_tpm.h function (TPM_StartTimer(), TPM_UpdateChnlEdgeLevelSelect()...)

You can send the message
85 1 30 40 50 60 70 80 90 100 68

85 -> Header
1 -> Command

30, 40, 50, 60, 70, 80, 90, 100 -> Servo Data

68 -> Xor for byte 0 to byte 9

thanks for your help