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bdring / FluidNC

The next generation of motion control firmware
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Problem: fluidnc v3.8.3 crashing while executing gcode file from local storage #1356

Closed AndreasEpp closed 1 month ago

AndreasEpp commented 1 month ago

Wiki Search Terms

Crash, LocalFS, Local Storage, Flash

Controller Board

ESPDUINO-32 ESP32 NodeMCU ESP32 D1 Mini NodeMCU

Machine Description

The machine is a 4 axis camera motion control rig with slide, pan, tilt and focus axes. (Not the most traditional machine one here, I know.) Slide, pan, and tilt have endstops and homing. User pin outputs can trigger the focus and trigger of the camera. You can see it working here https://youtube.com/shorts/NohEinu3J5U?feature=share

To recreate the error I have reduced the setup to just the board plugged into the USB of my laptop. I have changed the config file to just the four axes, without homing, but with the user output pins. It behaves exactly the same as the full setup.

Input Circuits

Just the board plugged into the USB of my laptop.

Configuration file

board: ESPDUINO-32
name: PANTS

user_outputs:
  digital0_pin: gpio.2
  digital1_pin: gpio.4

axes:
  shared_stepper_disable_pin: gpio.12:high
  x:
    steps_per_mm: 160
    max_rate_mm_per_min: 10000
    acceleration_mm_per_sec2: 500
    max_travel_mm: 1000
    motor0:
      stepstick:
        direction_pin: gpio.16:low
        step_pin: gpio.26

  y:
    steps_per_mm: 257.777
    max_rate_mm_per_min: 10000
    acceleration_mm_per_sec2: 500
    max_travel_mm: 1000
    motor0:
      stepstick:
        direction_pin: gpio.27
        step_pin: gpio.25

  z:
    steps_per_mm: 257.777
    max_rate_mm_per_min: 10000
    acceleration_mm_per_sec2: 500
    max_travel_mm: 1000
    motor0:
      stepstick:
        direction_pin: gpio.14:low
        step_pin: gpio.17

  a:
    steps_per_mm: 44.444
    max_rate_mm_per_min: 40000
    acceleration_mm_per_sec2: 3000
    motor0:
      stepstick:
        direction_pin: gpio.18
        step_pin: gpio.19

Startup Messages

ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
[MSG:INFO: uart_channel0 created]
[MSG:RST]
[MSG:INFO: FluidNC v3.8.3 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:INFO: Machine PANTS]
[MSG:INFO: Board ESPDUINO-32]
[MSG:INFO: Stepping:RMT Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: User Digital Output:0 on Pin:gpio.2]
[MSG:INFO: User Digital Output:1 on Pin:gpio.4]
[MSG:INFO: Axis count 4]
[MSG:INFO: Shared stepper disable gpio.12]
[MSG:INFO: Axis X (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.26 Dir:gpio.16:low Disable:NO_PIN]
[MSG:INFO: Axis Y (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.25 Dir:gpio.27 Disable:NO_PIN]
[MSG:INFO: Axis Z (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.17 Dir:gpio.14:low Disable:NO_PIN]
[MSG:INFO: Axis A (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.19 Dir:gpio.18 Disable:NO_PIN]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: STA SSID is not set]
[MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1]
[MSG:INFO: AP started]
[MSG:INFO: WiFi on]
[MSG:INFO: Captive Portal Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

Grbl 3.8 [FluidNC v3.8.3 (wifi) '$' for help]

User Interface Software

FluidTerm

What happened?

I execute a gcode file from local storage via $LocalFS/Run=moco.nc . After about one third of the file fluidnc crashes and reboots with the following output:

ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
[MSG:INFO: uart_channel0 created]
[MSG:RST]
[MSG:INFO: FluidNC v3.8.3 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:INFO: Machine PANTS]
[MSG:INFO: Board ESPDUINO-32]
[MSG:INFO: Stepping:RMT Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: User Digital Output:0 on Pin:gpio.2]
[MSG:INFO: User Digital Output:1 on Pin:gpio.4]
[MSG:INFO: Axis count 4]
[MSG:INFO: Shared stepper disable gpio.12]
[MSG:INFO: Axis X (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.26 Dir:gpio.16:low Disable:NO_PIN]
[MSG:INFO: Axis Y (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.25 Dir:gpio.27 Disable:NO_PIN]
[MSG:INFO: Axis Z (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.17 Dir:gpio.14:low Disable:NO_PIN]
[MSG:INFO: Axis A (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     stepstick Step:gpio.19 Dir:gpio.18 Disable:NO_PIN]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: STA SSID is not set]
[MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1]
[MSG:INFO: AP started]
[MSG:INFO: WiFi on]
[MSG:INFO: Captive Portal Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

Grbl 3.8 [FluidNC v3.8.3 (wifi) '$' for help]
$LocalFS/Run=moco.nc
ok
Guru Meditation Error: Core  1 panic'ed (Cache disabled but cached memory region accessed).

Core  1 register dump:
PC      : 0x4008abee  PS      : 0x00060035  A0      : 0x80081bb1  A1      : 0x3ffbf82c
A2      : 0x3ffb4a0c  A3      : 0x00000000  A4      : 0x00060023  A5      : 0x80000000
A6      : 0x00000000  A7      : 0x003fffff  A8      : 0xbad00bad  A9      : 0x3ffb78e0
A10     : 0x3ffb4a54  A11     : 0x3ffb7720  A12     : 0x00000020  A13     : 0x80000000
A14     : 0x00000003  A15     : 0x00060f23  SAR     : 0x00000000  EXCCAUSE: 0x00000007
EXCVADDR: 0x00000000  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000

Backtrace: 0x4008abeb:0x3ffbf82c |<-CORRUPTED

ELF file SHA256: d35a91995b7318b6

Rebooting...
ets Jun  8 2016 00:22:57

rst:0x3 (SW_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
[MSG:INFO: uart_channel0 created]
[MSG:RST]
[MSG:INFO: FluidNC v3.8.3 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:ERR: Skipping configuration file due to panic]
[MSG:INFO: Using default configuration]
[MSG:INFO: Axes: using defaults]
[MSG:INFO: Machine Default (Test Drive)]
[MSG:INFO: Board None]
[MSG:INFO: Stepping:RMT Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Axis X (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO: Axis Y (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO: Axis Z (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: STA SSID is not set]
[MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1]
[MSG:INFO: AP started]
[MSG:INFO: WiFi on]
[MSG:INFO: Captive Portal Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

Grbl 3.8 [FluidNC v3.8.3 (wifi) '$' for help]
[MSG:ERR: Configuration is invalid. Check boot messages for ERR's.]

Other, shorter files run fine from local storage.

GCode File

G94 G0X0.00Z45.00Y45.00 G93 G4 P1 G1X0.00Z45.00Y45.00F1440.00 G1X0.00Z45.00Y45.00F1440.00 G1X0.02Z45.00Y45.00F1440.00 G1X0.10Z45.02Y44.98F1440.00 G1X0.22Z45.04Y44.96F1440.00 G1X0.38Z45.07Y44.93F1440.00 G1X0.60Z45.11Y44.89F1440.00 G1X0.86Z45.15Y44.85F1440.00 G1X1.16Z45.21Y44.79F1440.00 G1X1.52Z45.27Y44.73F1440.00 G1X1.91Z45.34Y44.66F1440.00 G1X2.35Z45.42Y44.58F1440.00 G1X2.84Z45.51Y44.49F1440.00 G1X3.37Z45.61Y44.39F1440.00 G1X3.95Z45.71Y44.29F1440.00 G1X4.56Z45.82Y44.18F1440.00 G1X5.22Z45.94Y44.06F1440.00 G1X5.93Z46.07Y43.93F1440.00 G1X6.67Z46.20Y43.80F1440.00 G1X7.46Z46.34Y43.66F1440.00 G1X8.29Z46.49Y43.51F1440.00 G1X9.16Z46.65Y43.35F1440.00 G1X10.07Z46.81Y43.19F1440.00 G1X11.02Z46.98Y43.02F1440.00 G1X12.01Z47.16Y42.84F1440.00 G1X13.04Z47.35Y42.65F1440.00 G1X14.11Z47.54Y42.46F1440.00 G1X15.22Z47.74Y42.26F1440.00 G1X16.36Z47.95Y42.05F1440.00 G1X17.55Z48.16Y41.84F1440.00 G1X18.77Z48.38Y41.62F1440.00 G1X20.02Z48.60Y41.40F1440.00 G1X21.32Z48.84Y41.16F1440.00 G1X22.65Z49.08Y40.92F1440.00 G1X24.02Z49.32Y40.68F1440.00 G1X25.42Z49.58Y40.42F1440.00 G1X26.86Z49.83Y40.17F1440.00 G1X28.33Z50.10Y39.90F1440.00 G1X29.84Z50.37Y39.63F1440.00 G1X31.38Z50.65Y39.35F1440.00 G1X32.96Z50.93Y39.07F1440.00 G1X34.56Z51.22Y38.78F1440.00 G1X36.20Z51.52Y38.48F1440.00 G1X37.88Z51.82Y38.18F1440.00 G1X39.58Z52.12Y37.88F1440.00 G1X41.32Z52.44Y37.56F1440.00 G1X43.09Z52.76Y37.24F1440.00 G1X44.89Z53.08Y36.92F1440.00 G1X46.72Z53.41Y36.59F1440.00 G1X48.58Z53.74Y36.26F1440.00 G1X50.47Z54.08Y35.92F1440.00 G1X52.39Z54.43Y35.57F1440.00 G1X54.33Z54.78Y35.22F1440.00 G1X56.31Z55.14Y34.86F1440.00 G1X58.32Z55.50Y34.50F1440.00 G1X60.35Z55.86Y34.14F1440.00 G1X62.41Z56.23Y33.77F1440.00 G1X64.49Z56.61Y33.39F1440.00 G1X66.61Z56.99Y33.01F1440.00 G1X68.75Z57.37Y32.63F1440.00 G1X70.91Z57.76Y32.24F1440.00 G1X73.10Z58.16Y31.84F1440.00 G1X75.32Z58.56Y31.44F1440.00 G1X77.56Z58.96Y31.04F1440.00 G1X79.83Z59.37Y30.63F1440.00 G1X82.12Z59.78Y30.22F1440.00 G1X84.43Z60.20Y29.80F1440.00 G1X86.76Z60.62Y29.38F1440.00 G1X89.12Z61.04Y28.96F1440.00 G1X91.50Z61.47Y28.53F1440.00 G1X93.90Z61.90Y28.10F1440.00 G1X96.33Z62.34Y27.66F1440.00 G1X98.77Z62.78Y27.22F1440.00 G1X101.24Z63.22Y26.78F1440.00 G1X103.73Z63.67Y26.33F1440.00 G1X106.23Z64.12Y25.88F1440.00 G1X108.76Z64.58Y25.42F1440.00 G1X111.31Z65.03Y24.97F1440.00 G1X113.87Z65.50Y24.50F1440.00 G1X116.45Z65.96Y24.04F1440.00 G1X119.05Z66.43Y23.57F1440.00 G1X121.67Z66.90Y23.10F1440.00 G1X124.31Z67.38Y22.62F1440.00 G1X126.96Z67.85Y22.15F1440.00 G1X129.63Z68.33Y21.67F1440.00 G1X132.31Z68.82Y21.18F1440.00 G1X135.02Z69.30Y20.70F1440.00 G1X137.73Z69.79Y20.21F1440.00 G1X140.46Z70.28Y19.72F1440.00 G1X143.21Z70.78Y19.22F1440.00 G1X145.97Z71.27Y18.73F1440.00 G1X148.74Z71.77Y18.23F1440.00 G1X151.53Z72.28Y17.72F1440.00 G1X154.33Z72.78Y17.22F1440.00 G1X157.15Z73.29Y16.71F1440.00 G1X159.97Z73.79Y16.21F1440.00 G1X162.81Z74.31Y15.69F1440.00 G1X165.66Z74.82Y15.18F1440.00 G1X168.52Z75.33Y14.67F1440.00 G1X171.39Z75.85Y14.15F1440.00 G1X174.27Z76.37Y13.63F1440.00 G1X177.16Z76.89Y13.11F1440.00 G1X180.06Z77.41Y12.59F1440.00 G1X182.97Z77.93Y12.07F1440.00 G1X185.88Z78.46Y11.54F1440.00 G1X188.81Z78.99Y11.01F1440.00 G1X191.75Z79.51Y10.49F1440.00 G1X194.69Z80.04Y9.96F1440.00 G1X197.64Z80.57Y9.43F1440.00 G1X200.59Z81.11Y8.89F1440.00 G1X203.55Z81.64Y8.36F1440.00 G1X206.52Z82.17Y7.83F1440.00 G1X209.50Z82.71Y7.29F1440.00 G1X212.48Z83.25Y6.75F1440.00 G1X215.46Z83.78Y6.22F1440.00 G1X218.45Z84.32Y5.68F1440.00 G1X221.44Z84.86Y5.14F1440.00 G1X224.44Z85.40Y4.60F1440.00 G1X227.44Z85.94Y4.06F1440.00 G1X230.44Z86.48Y3.52F1440.00 G1X233.44Z87.02Y2.98F1440.00 G1X236.45Z87.56Y2.44F1440.00 G1X239.46Z88.10Y1.90F1440.00 G1X242.47Z88.64Y1.36F1440.00 G1X245.48Z89.19Y0.81F1440.00 G1X248.49Z89.73Y0.27F1440.00 G1X251.51Z90.27Y-0.27F1440.00 G1X254.52Z90.81Y-0.81F1440.00 G1X257.53Z91.36Y-1.36F1440.00 G1X260.54Z91.90Y-1.90F1440.00 G1X263.55Z92.44Y-2.44F1440.00 G1X266.56Z92.98Y-2.98F1440.00 G1X269.56Z93.52Y-3.52F1440.00 G1X272.56Z94.06Y-4.06F1440.00 G1X275.56Z94.60Y-4.60F1440.00 G1X278.56Z95.14Y-5.14F1440.00 G1X281.55Z95.68Y-5.68F1440.00 G1X284.54Z96.22Y-6.22F1440.00 G1X287.52Z96.75Y-6.75F1440.00 G1X290.50Z97.29Y-7.29F1440.00 G1X293.48Z97.83Y-7.83F1440.00 G1X296.45Z98.36Y-8.36F1440.00 G1X299.41Z98.89Y-8.89F1440.00 G1X302.36Z99.43Y-9.43F1440.00 G1X305.31Z99.96Y-9.96F1440.00 G1X308.25Z100.49Y-10.49F1440.00 G1X311.19Z101.01Y-11.01F1440.00 G1X314.12Z101.54Y-11.54F1440.00 G1X317.03Z102.07Y-12.07F1440.00 G1X319.94Z102.59Y-12.59F1440.00 G1X322.84Z103.11Y-13.11F1440.00 G1X325.73Z103.63Y-13.63F1440.00 G1X328.61Z104.15Y-14.15F1440.00 G1X331.48Z104.67Y-14.67F1440.00 G1X334.34Z105.18Y-15.18F1440.00 G1X337.19Z105.69Y-15.69F1440.00 G1X340.03Z106.21Y-16.21F1440.00 G1X342.85Z106.71Y-16.71F1440.00 G1X345.67Z107.22Y-17.22F1440.00 G1X348.47Z107.72Y-17.72F1440.00 G1X351.26Z108.23Y-18.23F1440.00 G1X354.03Z108.73Y-18.73F1440.00 G1X356.79Z109.22Y-19.22F1440.00 G1X359.54Z109.72Y-19.72F1440.00 G1X362.27Z110.21Y-20.21F1440.00 G1X364.98Z110.70Y-20.70F1440.00 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Other Information

I have tried shortening the lines by omitting one axis, but the behavior is the same. From reading other issues here (e.g. #1322, #1308 ) it seems that there is "flash unsafe code" in ISRs left. Just a guess.

I would like to add that your work here is fantastic and much appreciated! FluidNC Rocks!

AndreasEpp commented 1 month ago

I have tested this now with the brand new fluidnc-3.8.4-pre5-win64 and the issue seems to be resolved. The file gets executed without crashing. I even tried a file that is 16 times as long as this one. Still no crashes. I will close this issue. Thank you for the good work!