ESP32 Core v2.0.1 / 2.0.1 RC1 crashes if using float in ISR #5892
Description
Core ESP32 Core v2.0.1 / 2.0.0 crashes if using float inside ISR. No issue with core v2.0.0-
This creates issue with some ESP32 TimerInterrupt-related libraries, such as mentioned in ESP32_New_TimerInterrupt Important Notes
With the following simple sketch, it's working OK if using
#define USING_FLOAT_IN_ISR false
but crashes if using
#define USING_FLOAT_IN_ISR true
Minimal, Reproducible Example (MRE) sketch
#define USING_FLOAT_IN_ISR true //false
volatile int interruptCounter;
volatile float interruptFloatCounter;
int totalInterruptCounter;
hw_timer_t * timer = NULL;
portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
void IRAM_ATTR onTimer()
{
portENTER_CRITICAL_ISR(&timerMux);
#if USING_FLOAT_IN_ISR
interruptFloatCounter += 1.0f;
#else
interruptCounter++;
#endif
portEXIT_CRITICAL_ISR(&timerMux);
}
void setup()
{
Serial.begin(115200);
while (!Serial);
delay(100);
Serial.print(F("\nStarting ESP32TimerInterrupt_Float_Bug on ")); Serial.println(ARDUINO_BOARD);
timer = timerBegin(0, 80, true);
timerAttachInterrupt(timer, &onTimer, true);
timerAlarmWrite(timer, 1000000, true);
timerAlarmEnable(timer);
}
void loop()
{
if (interruptCounter > 0)
{
portENTER_CRITICAL(&timerMux);
#if USING_FLOAT_IN_ISR
interruptFloatCounter -= 1.0f;
#else
interruptCounter--;
#endif
portEXIT_CRITICAL(&timerMux);
totalInterruptCounter++;
Serial.print("An interrupt as occurred. Total number: ");
Serial.println(totalInterruptCounter);
}
}
Debug Output if not using float
Starting ESP32TimerInterrupt_Float_Bug on ESP32_DEV
An interrupt as occurred. Total number: 1
An interrupt as occurred. Total number: 2
An interrupt as occurred. Total number: 3
An interrupt as occurred. Total number: 4
An interrupt as occurred. Total number: 5
An interrupt as occurred. Total number: 6
An interrupt as occurred. Total number: 7
An interrupt as occurred. Total number: 8
An interrupt as occurred. Total number: 9
An interrupt as occurred. Total number: 10
An interrupt as occurred. Total number: 11
An interrupt as occurred. Total number: 12
An interrupt as occurred. Total number: 13
An interrupt as occurred. Total number: 14
An interrupt as occurred. Total number: 15
An interrupt as occurred. Total number: 16
An interrupt as occurred. Total number: 17
An interrupt as occurred. Total number: 18
An interrupt as occurred. Total number: 19
Debug Output if using float
Starting ESP32TimerInterrupt_Float_Bug on ESP32_DEV
Guru Meditation Error: Core 1 panic'ed (Coprocessor exception).
Core 1 register dump:
PC : 0x4008110d PS : 0x00060033 A0 : 0x800d1168 A1 : 0x3ffbedb0
A2 : 0x3ffbdb68 A3 : 0x00000001 A4 : 0x80089bd1 A5 : 0x00000000
A6 : 0x3ffc15dc A7 : 0x3ffc15dc A8 : 0x3ffc10f8 A9 : 0x3ffbee30
A10 : 0x00060021 A11 : 0x3ffc15dc A12 : 0x3ffc15d4 A13 : 0xb33fffff
A14 : 0x00000001 A15 : 0x00000000 SAR : 0x00000020 EXCCAUSE: 0x00000004
EXCVADDR: 0x00000000 LBEG : 0x40085b68 LEND : 0x40085b73 LCOUNT : 0xffffffff
Backtrace:0x4008110a:0x3ffbedb00x400d1165:0x3ffbee90 0x400840ad:0x3ffbeeb0 0x400899c7:0x3ffb2750 0x40088601:0x3ffb2770 0x400d1f08:0x3ffb27b0 0x400d146d:0x3ffb27e0 0x400d1505:0x3ffb2800 0x400d1baa:0x3ffb2820
ELF file SHA256: 0000000000000000
Rebooting...
ets Jun 8 2016 00:22:57
rst:0xc (SW_CPU_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:1420
ho 0 tail 12 room 4
load:0x40078000,len:13540
load:0x40080400,len:3604
entry 0x400805f0
Exception Decoder
PC: 0x4008110d: onTimer() at /home/kh/Arduino/Testing/ESP32TimerInterrupt/ESP32TimerInterrupt_Float_Bug/ESP32TimerInterrupt_Float_Bug.ino line 17
EXCVADDR: 0x00000000
Decoding stack results
0x4008110a: onTimer() at /home/kh/Arduino/Testing/ESP32TimerInterrupt/ESP32TimerInterrupt_Float_Bug/ESP32TimerInterrupt_Float_Bug.ino line 17
0x400d1165: __timerISR at /home/kh/.arduino15/packages/esp32/hardware/esp32/2.0.1/cores/esp32/esp32-hal-timer.c line 110
0x400899c7: xTaskGetSchedulerState at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/hal/esp32/include/hal/cpu_ll.h line 39
0x40088601: xQueueSemaphoreTake at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/queue.c line 1554
0x400d1f08: uartAvailable at /home/kh/.arduino15/packages/esp32/hardware/esp32/2.0.1/cores/esp32/esp32-hal-uart.c line 192
0x400d146d: HardwareSerial::available() at /home/kh/.arduino15/packages/esp32/hardware/esp32/2.0.1/cores/esp32/HardwareSerial.cpp line 193
0x400d1505: serialEventRun() at /home/kh/.arduino15/packages/esp32/hardware/esp32/2.0.1/cores/esp32/HardwareSerial.cpp line 98
0x400d1baa: loopTask(void*) at /home/kh/.arduino15/packages/esp32/hardware/esp32/2.0.1/cores/esp32/main.cpp line 47