Crash using modbus

[JoachimF]

Hello Terjeio

I bought a TinyBee v1.0 and I test it before mounting in my CNC, Wifi, Webui, SDcard, 5 axis, 3 limits + probes are OK. Firmware downloaded yersterday, last IoSender

I enabled VFD, HUANYANG , the status message is ok on the TX2, I sniffed it, but when I send a command, M3S0 for example, the TX2 send the right message command to the VFD including the CRC, then the ESP32 crash "Core 0 panic'ed (InstrFetchProhibited)"

I haven't the logs files, because I'm not at home, i'll send you later.

have you a clue?

Also I need on this board the dual spindle, do you plan to add it?

Thanks for your work and your help

Joachim

[JoachimF]

Here is the console :

m3s0 ALARM:14 Guru Meditation Error: Core 1 panic'ed (InstrFetchProhibited). Exception was unhandled. Core 1 register dump: PC : 0x00000000 PS : 0x00060e30 A0 : 0x800dd73b A1 : 0x3ffb6560
A2 : 0x3ffc2e30 A3 : 0x00000000 A4 : 0x3ffbf228 A5 : 0x00000011
A6 : 0x00000030 A7 : 0x3ffc41a6 A8 : 0x800d860c A9 : 0x00000000
A10 : 0x3ffc2a3c A11 : 0x00000000 A12 : 0x0001947d A13 : 0x3ffc79c0
A14 : 0x3ffc79cd A15 : 0x3ffc7b14 SAR : 0x00000004 EXCCAUSE: 0x00000014
EXCVADDR: 0x00000000 LBEG : 0x4000c2e0 LEND : 0x4000c2f6 LCOUNT : 0xffffffff
Backtrace:0xfffffffd:0x3ffb6560 0x400dd738:0x3ffb6580 0x400dd9f2:0x3ffb65b0 0x400ddcd7:0x3ffb65d0 0x400d7d68:0x3ffb6610 0x400d7a67:0x3ffb6640 ELF file SHA256: 6921ac44f4be452f CPU halted.

Here is my map : `#define BOARD_NAME "MKS Tinybee V1.0"

define USE_I2S_OUT

define I2S_OUT_PIN_BASE 64

define I2S_SPINDLE

define I2S_COOLANT

// timer definitions

define STEP_TIMER_GROUP TIMER_GROUP_0

define STEP_TIMER_INDEX TIMER_0

define I2S_OUT_BCK GPIO_NUM_25

define I2S_OUT_WS GPIO_NUM_26

define I2S_OUT_DATA GPIO_NUM_27

define X_STEP_PIN I2SO(1)

define X_DIRECTION_PIN I2SO(2)

define X_ENABLE_PIN I2SO(0)

define X_LIMIT_PIN GPIO_NUM_33

define Y_STEP_PIN I2SO(4)

define Y_DIRECTION_PIN I2SO(5)

define Y_ENABLE_PIN I2SO(3)

define Y_LIMIT_PIN GPIO_NUM_32

define Z_STEP_PIN I2SO(7)

define Z_DIRECTION_PIN I2SO(8)

define Z_ENABLE_PIN I2SO(6)

define Z_LIMIT_PIN GPIO_NUM_22

if N_ABC_MOTORS >= 1

define M3_AVAILABLE

define M3_STEP_PIN I2SO(10)

define M3_DIRECTION_PIN I2SO(11)

define M3_ENABLE_PIN I2SO(9)

//#define M3_LIMIT_PIN GPIO_NUM_19

endif

if N_ABC_MOTORS >= 2

define M4_AVAILABLE

define M4_STEP_PIN I2SO(13)

define M4_DIRECTION_PIN I2SO(14)

define M4_ENABLE_PIN I2SO(12)

//#define M4_LIMIT_PIN GPIO_NUM_18

endif

// Define spindle enable and spindle direction output pins.

if !VFD_SPINDLE

define SPINDLEPWMPIN GPIO_NUM_2

define SPINDLE_ENABLE_PIN I2SO(16)

define SPINDLE_DIRECTION_PIN I2SO(19)

endif

if MODBUS_ENABLE

define UART2_RX_PIN GPIO_NUM_16

define UART2_TX_PIN GPIO_NUM_17

define MODBUS_BAUD 19200

define SERIAL2_ENABLE 1

define MODBUS_SERIAL_PORT 1

endif

// Define flood and mist coolant enable output pins.

define COOLANT_FLOOD_PIN I2SO(17)

define COOLANT_MIST_PIN I2SO(18)

// Define user-control CONTROLs (cycle start, reset, feed hold) input pins.

define CYCLE_START_PIN GPIO_NUM_36

define FEED_HOLD_PIN GPIO_NUM_34

//#define RESET_PIN (use board hardware)

if SAFETY_DOOR_ENABLE

define SAFETY_DOOR_PIN GPIO_NUM_39

endif

// Define probe switch input pin.

if PROBE_ENABLE

define PROBE_PIN GPIO_NUM_35

endif

if SDCARD_ENABLE

// Pin mapping when using SPI mode. // With this mapping, SD card can be used both in SPI and 1-line SD mode. // Note that a pull-up on CS line is required in SD mode.

define PIN_NUM_MISO GPIO_NUM_19

define PIN_NUM_MOSI GPIO_NUM_23

define PIN_NUM_CLK GPIO_NUM_18

define PIN_NUM_CS GPIO_NUM_5

endif // SDCARD_ENABLE`

Here is my machine : `OPTION(BOARD_BDRING_V3P5 "Compile for v3.5 3-axis board" OFF) OPTION(BOARD_BDRING_V4 "Compile for bdring v4 3-axis board" OFF) OPTION(BOARD_BDRING_I2S6A "Compile for bdring 6-axis I2S board - untested!" OFF) OPTION(BOARD_CNC_BOOSTERPACK "Compile for CNC BoosterPack" OFF) OPTION(BOARD_ESPDUINO32 "Compile for ESPDUINO-32 Wemos D1 R32" OFF) OPTION(BOARD_SOURCERABBIT_4AXIS "Compile for SourceRabbit 4-axis board" OFF) OPTION(BOARD_PROTONEER_3XX "Compile for Protoneer v3.xx boards" OFF) OPTION(BOARD_FYSETC_E4 "Compile for Fysetc E4 v1.0 board" OFF) OPTION(BOARD_XPRO_V5 "Compile for xPro v5 board - untested!" OFF) OPTION(BOARD_MKS_DLC32_V2P0 "Compile for MKS DLC2" OFF) OPTION(BOARD_MKS_TINYBEE_V1 "Compile for MKS Tinybee v1" ON) OPTION(BOARD_MY_MACHINE "Compile for my_machine_map.h" OFF)

OPTION(X_AXIS_GANGED "Compile with ganged X axis" OFF) OPTION(X_AXIS_SQUARED "Compile with auto-squared X axis" OFF) OPTION(Y_AXIS_GANGED "Compile with ganged Y axis" OFF) OPTION(Y_AXIS_SQUARED "Compile with auto-squared Y axis" OFF) OPTION(Z_AXIS_GANGED "Compile with ganged Z axis" OFF) OPTION(Z_AXIS_SQUARED "Compile with auto-squared Z axis" OFF)

Driver options OPTION(NOPROBE "Compile without probe support" OFF) OPTION(SafetyDoor "Safety door enable" OFF) OPTION(MPGMode "MPG mode" OFF) OPTION(I2SStepping "Use I2S Stepping" OFF)

The following plugin options are supported:

Networking and WebUI plugin options OPTION(WiFi "Wifi + protocols" ON) OPTION(Ethernet "Ethernet + protocols" OFF) # to be completed OPTION(Bluetooth "Bluetooth" OFF) OPTION(SoftAP "Enable soft AP mode" OFF) # WiFi only OPTION(FtpDaemon "Enable ftp daemon" OFF) # Requires SDcard On OPTION(WebDAV "Enable WebDAV protocol" OFF) # Requires SDcard On OPTION(mDNS "Enable mDNS protocol" OFF) OPTION(SSDP "Enable SSDP protocol" OFF) OPTION(WebUI "WebUI services" ON) OPTION(WebAuth "WebUI authentication" OFF)

SD Card plugin options OPTION(SDcard "SD Card Streaming" ON)

Motor plugin options NOTE: SPI mode Trinamic drivers cannot currently be used with SD Card enabled! OPTION(TMC2130 "Trinamic TMC2130 driver support" OFF) OPTION(TMC2209 "Trinamic TMC2209 driver support" OFF) OPTION(TMC2209_HWADDR "Trinamic TMC2209 drivers uses hardware addressing" OFF) OPTION(TMC5160 "Trinamic TMC5160 driver support" OFF) OPTION(Trinamic "Trinamic driver support via I2C" OFF)

Spindle plugin options OPTION(HUANYANG "Compile with Huanyang RS485 Spindle support" ON) OPTION(RS485_DIR_OUT "Compile with RS485 direction pin enabled" OFF) OPTION(DUAL_SPINDLE "Compile with dual spindle enabled" ON)

EEPROM/FRAM plugin options OPTION(EEPROM "Compile with I2C EEPROM support" OFF) OPTION(FRAM "Compile with I2C FRAM support" OFF)

Laser plugin options OPTION(LBCLUSTER "Compile with LaserBurn cluster support" OFF) OPTION(LASERCOOLANT "Compile with Laser coolant plugin support" OFF)

Keypad plugin options OPTION(Keypad "I2C Keypad" OFF)`

I hope this help

[JoachimF]

Hello Terjeio,

I have a little bit of progress, if I plug the VFD, it works nice, I can drive the VFD. It's strange that the mcu crash when the VFD is not connected (same on a STM32F7Xx target).

I have succeded to use dual spindle, on PWM for hotwire and the VFD, but if I swap to VFD, the mcu crash. I setup using VFD on startup, but now it crash when a want to go back on PWM, also when I do $395=0

I am waiting for a JTAG debugger, so I can't do more.

If you have and idea?

Regards,

Joachim

[JoachimF]

Hello Terjeio,

I have received the JTAG debugger and I think that I found why it crashed, here is the code correction :

in huanyang.c

#ifdef GRBL_ESP32
static void v1_spindleOff(void)
{
    v1_spindleUpdateRPM(0.0f);
}
#endif

#ifdef GRBL_ESP32
static void v2_spindleOff(void)
{
    v2_spindleUpdateRPM(0.0f);
}
#endif

#if VFD_ENABLE == SPINDLE_HUANYANG1 || VFD_ENABLE == SPINDLE_ALL
    static const vfd_spindle_ptrs_t v1_spindle = {
        .spindle.type = SpindleType_VFD,
        .spindle.cap.variable = On,
        .spindle.cap.at_speed = On,
        .spindle.cap.direction = On,
        .spindle.config = v1_spindle_config,
        .spindle.set_state = v1_spindleSetState,
        .spindle.get_state = v1_spindleGetState,
        .spindle.update_rpm = v1_spindleUpdateRPM,
#ifdef GRBL_ESP32
        .spindle.esp32_off = v1_spindleOff,            //!< Workaround handler for snowflake ESP32 Guru awaken by floating point data in ISR context.
#endif        
        .vfd.get_load = spindleGetLoad
    };

#if VFD_ENABLE == SPINDLE_HUANYANG2 || VFD_ENABLE == SPINDLE_ALL
    static const vfd_spindle_ptrs_t v2_spindle = {
        .spindle.type = SpindleType_VFD,
        .spindle.cap.variable = On,
        .spindle.cap.at_speed = On,
        .spindle.cap.direction = On,
        .spindle.config = v2_spindle_config,
        .spindle.set_state = v2_spindleSetState,
        .spindle.get_state = v2_spindleGetState,
#ifdef GRBL_ESP32
        .spindle.esp32_off = v2_spindleOff,            //!< Workaround handler for snowflake ESP32 Guru awaken by floating point data in ISR context.
#endif           
        .spindle.update_rpm = v2_spindleUpdateRPM
    };

Or you can adapt this code in gcode.c because esp32_off() doesn't exist in VFD spindle :

void gc_spindle_off (void)
{
    gc_state.spindle.rpm = sys.spindle_rpm = 0.0f;
    gc_state.modal.spindle.value = 0;
#ifndef GRBL_ESP32
    hal.spindle.set_state(gc_state.modal.spindle, 0.0f);
#else
    hal.spindle.esp32_off();
#endif
    sys.report.spindle = On;
}

Regards,

Joachim

[terjeio]

Try replacing vfd_spindle_select() with this code (should work with all VDF spindles):

#ifdef GRBL_ESP32
static void esp32_spindle_off (void)
{
    hal.spindle.set_state((spindle_state_t){0}, 0.0f);
}
#endif

static bool vfd_spindle_select (spindle_id_t spindle_id)
{
    uint_fast8_t idx = n_spindle;

    spindle_changed = true;
    memset(&vfd_spindle, 0, sizeof(vfd_ptrs_t));
    if(n_spindle) do {
        if(vfd_spindles[--idx].id == spindle_id) {
            memcpy(&vfd_spindle, &vfd_spindles[idx].vfd->vfd, sizeof(vfd_ptrs_t));
#ifdef GRBL_ESP32
            hal.spindle.esp32_off = esp32_spindle_off;
#endif
            break;
        }
    } while(idx);

    if(on_spindle_select)
        on_spindle_select(spindle_id);

    return true;
}

I am currently not able to test this code so I leave it to you.'

Also I need on this board the dual spindle, do you plan to add it?

I do want to add multiple spindle support, LinuxCNC style. I have done some preliminary work, however a final version may take some time.

[terjeio]

Fix above committed.