crash on jogging esp32, THC

[rombor73]

Hello, having always same issue, esp-idf v4.3.0(2), 4.4.0, 4.4.8, PIO or pure espidf, tried to activate float in ISR, nothing helps, backtrace always pointing to the same:
0x4008316d: stepper_driver_interrupt_handler at ~grbl/stepper.c:523
0x400819e5: stepper_driver_isr at ~ESP32/main/driver.c:3869
0x40084fdd: _xt_medint3 at ~.platformio\packages\framework-espidf@3.40302.0\components\freertos\port\xtensa/xtensa_vectors.S:1274
0x4000bfed: ?? ??:0
0x4008cdda: vPortExitCritical at ~.platformio\packages\framework-espidf@3.40302.0\components\freertos\port\xtensa/port.c:473
0x400fca42: esp_intr_alloc_intrstatus at ~.platformio\packages\framework-espidf@3.40302.0\components\esp_system/intr_alloc.c:600
0x400fb12b: timer_isr_register at ~.platformio\packages\framework-espidf@3.40302.0\components\driver/timer.c:276 (discriminator 2)
0x400d2e92: driver_setup at ~\ESP32/main/driver.c:3171
0x400d5316: grbl_enter at ~\ESP32/main/grbl/grbllib.c:344
0x400d249f: vGrblTask at ~\ESP32/main/main.c:52
0x4008cb6d: vPortTaskWrapper at ~.platformio\packages\framework-espidf@3.40302.0\components\freertos\port\xtensa/port.c:168
issue is coming from thc.c, without it all ok, see voltage without problems, strange thing-behavior is not always same, if jog slowly sometimes no crash, what could be an issue? Thanks

[terjeio]

The ESP32 crashes when encountering floats in ISRs - code has to be changed to integer (or fixed point) math to avoid that.
The offending code is in stepperPulseStart() only?

[rombor73]

yes, it is in stepperPulseStart(), it seems like something is overflowing, will try later to change code to fixed point, will update, Thanks

[rombor73]

tried to rewrite with integer and fixed point, tried to isolate steperPulseStart as critical task, no luck so far, it resets randomly, most time without backtrace, wdt reseting, what can I try else? Thanks

[terjeio]

Try with commenting out this line - still crashing?

[rombor73]

you are great, thank you very much, it is not crashing anymore, seems like all ok, spent tremendous amount of time on this cruppy ide and chip actually, will public soon THC with ina219 as adc, after field test