ESP8266 servo causes crash after updating from core 2.0.0 to 2.2.0

[p4yl04d3r]

Basic Infos

Hardware

Hardware: ESP-12F
Core Version: 2.2.0

Description

Servo movement to specific positions causes esp8266 to crash. I am using Arduino IDE 1.6.9.
I am using the same function to call the servo and only passing in a different value. But only when I pass in a lower/mid value does the controller crash. I have confirmed the following values (5,30,40,45) trigger a crash.
Other values (0 90,100,175,180) are OK.
Having a servo connected is optional to trigger the crash.

Settings in IDE

Module: Generic ESP8266 Module
Flash Size: 4MB
CPU Frequency: 80Mhz
Flash Mode: dio
Flash Frequency: 40Mhz
Upload Using: SERIAL
Reset Method: ck

#include <Servo.h>  
#include <ESP8266WiFi.h>
#include <PubSubClient.h>

/* Setup number of servos */
#define SERVO1
//#define SERVO2
//#define SERVO3
/* ENABLE DEBUG */
int debug = 1;            //Set this to 1 for serial debug output
/* Configure GPIO servo pins*/
const int servoPin1=13;     //Pin for servo1
//const int servoPin2=12;     //Pin for servo2
//const int servoPin3=14;     //Pin for servo3
const int button_pin=4 ;  //Button or relay driven by x10 switch for manual control
/* Blind tilt settings */
const int OPEN=90;      //Global settings for open
const int HALF=30;       //Global settings for half way opened
const int CLOSE=0;       //Global settings for close in down position
const int CLOSEUP=180;   //Global setting to close in the up position
Servo myservo;     // create servo object to control a servo 
int button_value;  //high or low button values
int next=1;

void moveblinds(int value) {
#ifdef SERVO1
        delay(60);
        debug and Serial.print("Moving blind1 to: ");
        debug and Serial.println(value);
        myservo.attach(servoPin1);
        myservo.write(value);
        delay(600); 
        myservo.detach();
#endif
#ifdef SERVO2
        delay(60);
        debug and Serial.print("Moving blind2 to: ");
        debug and Serial.println(value);
        myservo.attach(servoPin2);
        myservo.write(value);
        delay(600); 
        myservo.detach();
#endif
#ifdef SERVO3
        delay(60);
        debug and Serial.print("Moving blind3 to: ");
        debug and Serial.println(value);
        myservo.attach(servoPin3);
        myservo.write(value);
        delay(600); 
        myservo.detach();
#endif     
}

void loop(void) { 
    if (!client.connected()) {
       delay(10);
       reconnect();
    }
    client.loop();
    button_value = digitalRead(button_pin); 
    if(button_value==LOW){  // button press
      debug and Serial.println("button pressed: "); 
      if (next > 4) {
        next=1;
      }
      if (next == 1) { //First pull is OPEN
        moveblinds(OPEN);     //Move to next position
      } 
      if (next == 2) {                //Second pull is HALF
        moveblinds(HALF);
      } 
      if (next == 3) {                //Third pull is CLOSE 
        moveblinds(CLOSE);                    
      } 
      if (next == 4) {                 //Forth pull is CLOSEUP 
        moveblinds(CLOSEUP);                  
      }
      next++;
   }
   delay(60);
}

Debug Messages

Connecting to <ssid>
......
WiFi connected
IP address: xx.xx.xx.xx
Moving blind1 to: 180 <-- never on this move
button pressed: 
Moving blind1 to: 90  <-- never on this move
button pressed: 
Moving blind1 to: 30  <-- I crash here almost every time.

Exception (0):
epc1=0x40201134 epc2=0x00000000 epc3=0x00000000 excvaddr=0x00000000 depc=0x00000000

ctx: sys 
sp: 3ffffc70 end: 3fffffb0 offset: 01a0

>>>stack>>>
3ffffe10:  4021250c 3ffed750 3ffffed0 00000016  
3ffffe20:  3fffc200 40106c24 00000020 40106c40  
3ffffe30:  402102b5 3ffffed0 3fffc248 4000050c  
3ffffe40:  4000437d 00000030 00000016 ffffffff  
3ffffe50:  60000200 00000008 00000000 80000000  
3ffffe60:  20000000 3fff0da8 80000000 203fc060  
3ffffe70:  80000000 3fffc6fc 3ffeed1c 3fff0dac  
3ffffe80:  00000294 003fc060 3ffecf40 00000030  
3ffffe90:  3ffedd78 40201154 00000000 bfffffff  
3ffffea0:  ffffffff 3fffc6fc 3ffedd78 3ffeed1c  
3ffffeb0:  3ffedda0 03d3a63d 60000600 00000030  
3ffffec0:  40000f58 00000000 00000020 00000000  
3ffffed0:  00000013 40201154 3ffedd78 00000000  
3ffffee0:  ffffffff 3ffecef4 3ffedd78 3fffdab0  
3ffffef0:  00000000 3fffdcb0 3ffeddb0 00000030  
3fffff00:  3fff04a4 3ffee9d8 00002238 40105cb0  
3fffff10:  401051fc 004f9272 3ffe89d4 00000000  
3fffff20:  3ffedda0 3ffe89d4 0000000f 4010707c  
3fffff30:  00000000 400042db 402053c7 3ffecf40  
3fffff40:  40004b31 3fff0d4c 000002f4 003fc000  
3fffff50:  401054a2 00000000 3ffece40 401070c0  
3fffff60:  40208621 3ffece40 00000000 3fffdc00  
3fffff70:  3fff0d4c 00001000 40208ab6 00000002  
3fffff80:  4021a282 3fffdab0 40209cb7 3fffdab0  
3fffff90:  00000000 3fffdab0 3ffeee08 40203ceb  
3fffffa0:  40000f49 40000f49 3fffdab0 40000f49  
<<<stack<<<


Decoding 25 results
0x4021250c: cnx_update_bss_more at ?? line ?
0x40106c24: timer0_isr_handler at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_timer.c line 71
0x40106c40: timer0_isr_handler at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_timer.c line 71
0x402102b5: scan_parse_beacon at ?? line ?
0x40201154: delay_end at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_wiring.c line 38
0x40201154: delay_end at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_wiring.c line 38
0x40105cb0: _UserExceptionVector_1 at ?? line ?
0x401051fc: ets_timer_arm_new at ?? line ?
0x4010707c: pvPortMalloc at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/heap.c line 13
0x402053c7: pp_enable_noise_timer at ?? line ?
0x401054a2: spi_flash_read at ?? line ?
0x401070c0: pvPortZalloc at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/heap.c line 33
0x40208621: pm_set_sleep_time at ?? line ?
0x40208ab6: pm_get_sleep_type at ?? line ?
0x4021a282: ets_timer_handler_isr at ?? line ?
0x40209cb7: pm_post at ?? line ?
0x40203ceb: loop_task at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_main.cpp line 43

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[igrr]

The sketch doesn't compile for me,

B2083_ServoException:56: error: 'client' was not declared in this scope
     if (!client.connected()) {
          ^
B2083_ServoException:58: error: 'reconnect' was not declared in this scope
        reconnect();
                  ^
B2083_ServoException:60: error: 'client' was not declared in this scope
     client.loop();
     ^

[igrr]

After commenting out some stuff and adding a setup method to your sketch, i got it to run. Works fine with the latest git version.

[p4yl04d3r]

Sorry, I should have included the full or at least functioning sketch. If you cycle through the if statements a few times (button on gpio 4) the servo.write (HALF) causes a crash. I'll post the complete sketch in a bit. I am also publishing data to an mqtt broker.

[igrr]

[p4yl04d3r]

I wrote a quick sketch (bare bones) but close to the original sketch in regards to the code path that controls the servo. Took a bit more time but it did trigger a crash.

---

#include <Servo.h>  

/* Setup number of servos */
#define SERVO1
//#define SERVO2
//#define SERVO3
/* ENABLE DEBUG */
int debug = 1;            //Set this to 1 for serial debug output
/* Configure GPIO servo pins*/
const int servoPin1=13;     //Pin for servo1
//const int servoPin2=12;     //Pin for servo2
//const int servoPin3=14;     //Pin for servo3
/* Blind tilt settings */
const int OPEN=90;      //Global settings for open
const int HALF=30;       //Global settings for half way opened
const int CLOSE=0;       //Global settings for close in down position
const int CLOSEUP=180;   //Global setting to close in the up position
/***********************************************************************************/

Servo myservo;     // create servo object to control a servo 

void setup(void) {
  Serial.begin(9600); //Comment out this line if you don't want debugging enabled
  moveblinds(CLOSEUP);         // call function to close all blinds
  delay(2000);
}


void moveblinds(int value) {
#ifdef SERVO1
        delay(60);
        debug and Serial.print("Moving blind1 to: ");
        debug and Serial.println(value);
        myservo.attach(servoPin1);
        myservo.write(value);
        delay(600); 
        myservo.detach();
#endif
#ifdef SERVO2
        delay(60);
        debug and Serial.print("Moving blind2 to: ");
        debug and Serial.println(value);
        myservo.attach(servoPin2);
        myservo.write(value);
        delay(600); 
        myservo.detach();
#endif
#ifdef SERVO3
        delay(60);
        debug and Serial.print("Moving blind3 to: ");
        debug and Serial.println(value);
        myservo.attach(servoPin3);
        myservo.write(value);
        delay(600); 
        myservo.detach();
#endif     
}

void loop(void) { 
        moveblinds(HALF);  //Move to next position
delay(500);
        moveblinds(HALF);
delay(500); 
        moveblinds(HALF);          
delay(500);
}

---

Serial output:

Moving blind1 to: 180
Moving blind1 to: 30
<omitted 84 lines>
Moving blind1 to: 30
Moving blind1 to: 30
Moving blind1 to: 30
Moving blind1 to: 30
Moving blind1 to: 30

Exception (0):
epc1=0x40201110 epc2=0x00000000 epc3=0x00000000 excvaddr=0x00000000 depc=0x00000000

ctx: sys 
sp: 3ffffc40 end: 3fffffb0 offset: 01a0

>>>stack>>>
3ffffde0:  3ffe95c0 40103d82 00000001 00000000  
3ffffdf0:  3fffc200 40106c24 00000020 40106c40  
3ffffe00:  00000001 00000000 3fffc248 4000050c  
3ffffe10:  400043a3 00000030 00000016 ffffffff  
3ffffe20:  60000200 00000006 0001cf00 80000000  
3ffffe30:  20000000 3fff05a0 80000000 203fc220  
3ffffe40:  00000000 3fffc6fc 3ffee994 3fff05a4  
3ffffe50:  000000d4 003fc220 60000600 00000030  
3ffffe60:  00000120 401029b9 00040000 00000001  
3ffffe70:  4010553b 00080000 3ffe93d8 3ffe93d8  
3ffffe80:  00000000 02194e7c 00000000 4000050c  
3ffffe90:  00000000 00000000 0000001f 4010103d  
3ffffea0:  4000050c 01fcb244 3fffc248 4000050c  
3ffffeb0:  40000f68 00000030 0000000e ffffffff  
3ffffec0:  40000f58 00000000 00000020 00000000  
3ffffed0:  feefeffe 3ffee994 3ffee994 fffffffe  
3ffffee0:  ffffffff 3ffefbf4 3ffee994 3fffdab0  
3ffffef0:  00000000 3fffdad0 3ffeea6c 00000030  
3fffff00:  00000000 400042db 3ffe9b51 60000600  
3fffff10:  40004b31 3fff036c 000002f4 003fc000  
3fffff20:  40101da6 3ffe8720 3ffe96e0 401070c0  
3fffff30:  4021a111 3ffe96e0 3ffe8720 07a101ba  
3fffff40:  3fff036c 00001000 4021a5a6 00000008  
3fffff50:  00000000 00000000 4021a653 3ffe9794  
3fffff60:  3ffe8720 01fd5fed 3ffe8b8c 40201138  
3fffff70:  40203299 3ffe9794 3ffe8720 07a0fee3  
3fffff80:  402032de 3fffdab0 00000000 3fffdcb0  
3fffff90:  3ffe8730 3fffdad0 3ffeea6c 402023d7  
3fffffa0:  40000f49 00022b3c 3fffdab0 40000f49  
<<<stack<<<

Decoding 26 results
0x40103d82: ppEnqueueRxq at ?? line ?
0x40106c24: timer0_isr_handler at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_timer.c line 71
0x40106c40: timer0_isr_handler at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_timer.c line 71
0x401029b9: lmacProcessTXStartData at ?? line ?
0x4010553b: wDev_ProcessFiq at ?? line ?
0x4010103d: ets_timer_disarm at ?? line ?
0x40101da6: spi_flash_read at ?? line ?
0x401070c0: pvPortZalloc at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/heap.c line 33
0x4021a111: pm_set_sleep_time at ?? line ?
0x4021a5a6: pm_get_sleep_type at ?? line ?
0x4021a653: pm_get_sleep_type at ?? line ?
0x40201138: delay_end at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_wiring.c line 40
0x40203299: ets_timer_handler_isr at ?? line ?
0x402032de: ets_timer_handler_isr at ?? line ?
0x402023d7: loop_task at C:\Users\chris\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.2.0\cores\esp8266/core_esp8266_main.cpp line 43

[igrr]

@Makuna actually it crashes at timer0_detachInterrupt, which is in flash.
Maybe given this change (2425ee3) we need to move detacInterrupt functions into IRAM. Anything else which needs to go there?

[igrr]

@p4yl04d3r Could you please try the following: change line 53 of core_esp8266_timer.c from

void timer1_detachInterrupt() {

to

void ICACHE_RAM_ATTR timer1_detachInterrupt() {