[Grbl_Esp32 Issue#126] Any attempt to move axis after Z-Probing leads to a crash About GRBL HAL

Issue #126 | 状态: 已关闭 | 作者: vogtitec | 创建时间: 2019-04-19

Procedure: Z-Probing by G38.2 Z-10 F10. Works fine. If you then try to move any axis (e.g. with jog), the ESP crashes in stepper.cpp with the following data :

> Guru Meditation Error: Core 1 panic’ed (LoadProhibited). Exception was unhandled.
Core 1 register dump:
PC : 0x40081124 PS : 0x00060031 A0 : 0x40081d7c A1 : 0x3ffbe900
A2 : 0x00000000 A3 : 0x3ff5f000 A4 : 0x3ffc1c78 A5 : 0x00000000
A6 : 0x0477e351 A7 : 0x3ffc1bb4 A8 : 0x80081120 A9 : 0x3ffbe8e0
A10 : 0x00000000 A11 : 0x00000000 A12 : 0x800db6e5 A13 : 0x3ffb1db0
A14 : 0x00000002 A15 : 0x000000fc SAR : 0x00000005 EXCCAUSE: 0x0000001c
EXCVADDR: 0x00000011 LBEG : 0x400014fd LEND : 0x4000150d LCOUNT : 0xffffffff
Core 1 was running in ISR context:
EPC1 : 0x40081124 EPC2 : 0x00000000 EPC3 : 0x00000000 EPC4 : 0x40082edd

> ELF file SHA256: 0000000000000000000000000000000000000000000000000000000000000000

> Backtrace: 0x40081124:0x3ffbe900 0x40081d79:0x3ffbe930 0x400dba95:0x3ffb1df0 0x400d276f:0x3ffb1f90 0x400f4c09:0x3ffb1fb0 0x4008f451:0x3ffb1fd0

> Rebooting…

The exception decoder tells:

> PC: 0x40081124: onStepperDriverTimer(void*) at C:\Users\cvogt\AppData\Local\Temp\arduinobuild125167\sketch\stepper.cpp line 265
EXCVADDR: 0x00000011

> Decoding stack results
0x40081124: onStepperDriverTimer(void*) at C:\Users\cvogt\AppData\Local\Temp\arduinobuild125167\sketch\stepper.cpp line 265
0x400dba95: protocolexecrtsystem() at C:\Users\cvogt\AppData\Local\Temp\arduinobuild_125167\sketch\protocol.cpp line 428
0x400d276f: loop() at Y:\Arduino\ESP32GRBLWebUIneu180419\GrblEsp32-master\GrblEsp32/Grbl_Esp32.ino line 141
0x400f4c09: loopTask(void*) at D:\Benutzerdateien\cvogt\Downloads\arduino-1.8.5\hardware\espressif\esp32\cores\esp32\main.cpp line 25
0x4008f451: vPortTaskWrapper at /Users/ficeto/Desktop/ESP32/ESP32/esp-idf-public/components/freertos/port.c line 143

Any idea how to solve this would greatly be appreciated!!
Chris

#1 – bdring 于 2019-04-19

I am able to recreate that problem. Here is what I see. Some jog types work and some do not. Normal moves appear to work and then all jogs work after that.

Here is a typical probe sequence that works

G38.2 Z-40 F100 ; probe down 40 at speed 100

[PRB:-299.000,-1.000,-8.095:1] ; grbl response of successful probe

G10 L2 P0 Z-28.095 ; set Z offset in current coordinate system to the returned Z value – touch plate thickness (20)

Either of these commands below work and all subsequent jogs are OK

G0 Z20 ; move to the probe thickness
$J=G53 G21 Z-1 F200 ;jog to Z-1mm in machine coordinates at speed 200

This problem might take a while to track down, but I think it might be due to the machine left in a problematic mode. doing a normal move cleans things up.

If you want to discuss short term fixes via Slack, let me know and I’ll send an invite.

#2 – bdring 于 2019-04-20

@vogtitec BTW: What sender are you using?

#3 – vogtitec 于 2019-04-20

@bdring Thanks for the first solution attempts. I first encountered the behaviour with candle 1.1.7, but I was able to reproduce it by entering the probing command manually in the WebUI and then jogging via Web.
Yes, Slack will be welcome, thanks!

#4 – vogtitec 于 2019-04-20

Ok, so there is a simple workaround for the problem! I changed the standard probe command in candle by adding a simple G91G0Z10, and now it works! Thanks a lot!

#5 – bdring 于 2019-04-20

Great.

I added

#6 – 109JB 于 2019-04-22

I’m not near my machine so can’t check myself but is it possible to use a G91G1X0 command, which would not actually move anything, to “reset” things after the probing?

#7 – bdring 于 2019-04-23

That does not work. It appears you need to have some movement

#8 – bdring 于 2019-04-29

I think I found the problem. Thanks to the ESP Exception Decoder, I found the offending line of code.

The stepper interrupt was crashing while trying to compensate the spindle speed vs feed rate. This is a feature used by lasers and does not apply during jogging. I just placed a test for joging around the code.

I’ll release it soon to the devt branch. Then merge to master soon.

原始Issue: https://github.com/bdring/Grbl_Esp32/issues/126

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