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Description
Describe the bug
Driving motors on beaglebone blue generates a "segmentation fault" after one or more iterations. After the fault, the beaglebone does not accept new commands. A sample size of 10 beaglebones have been used and about 3 or 4 of them repeatedly exhibit this problem. Rebooting the board always fixes the problem for at least one run of the command, then the problem returns.
To Reproduce
Steps to reproduce the behavior:
- run rc_test_motors -d 1 -m 1 or make any command for operating motors.
- ctrl-c to stop running. (at this time, the fault may be generated)
- attempt to run another motor command
Expected behavior
rc_test_motors command should result in the same output every time it is run, and shut down cleanly. ctrl-c and running the command again should run the motors again.
Screenshots
[email protected]'s password:
Last login: Fri Mar 1 22:52:19 2019 from 192.168.8.50
➜ ~ rc_test_motors
-d {duty} define a duty cycle from -1.0 to 1.0
-b enable motor brake function
-F {freq} set a custom pwm frequency in HZ, otherwise default 25000 is used
-f enable free spin function
-s {duty} sweep motors back and forward at duty cycle
-m {motor} specify a single motor from 1-4, otherwise all will be driven
motors will be driven equally.
-h print this help message
➜ ~ rc_test_motors -d 1 -m 1
sending duty cycle 1.0000
^C
calling rc_motor_cleanup()
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.337703] Internal error: : 1028 [#1] PREEMPT SMP ARM
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.455580] Process rc_test_motors (pid: 1228, stack limit = 0xdafa82 18)
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.462311] Stack: (0xdafa9e28 to 0xdafaa000)
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.466691] 9e20: dafa9e7c db49be80 00009c40 db49be a0 00000000 00000000
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.474909] 9e40: dafa9e74 dafa9e50 c081b770 c081e234 c1504dc8 000000 00 daaa1794 db49be80
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.483126] 9e60: 00000002 daf48700 dafa9eb4 dafa9e78 c081c008 c081b6 18 00000000 00009c40
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.491343] 9e80: 00000000 00000000 00000000 322c3fc2 00000002 c081bf 60 dc4df780 00000000
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.499560] 9ea0: 00000000 dafa9f68 dafa9ecc dafa9eb8 c092f108 c081bf 6c c092f0e0 dc4df780
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.507777] 9ec0: dafa9ee4 dafa9ed0 c03855c4 c092f0ec 00000002 dc4df7 80 dafa9f1c dafa9ee8
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.515995] 9ee0: c0384c10 c0385580 00000000 00000000 db701d88 c0384b 18 db7c0a80 b6e5caec
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.524211] 9f00: dafa9f68 00000000 b6e5caec 00000002 dafa9f34 dafa9f 20 c02f9258 c0384b24
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.532428] 9f20: 00000002 db7c0a80 dafa9f64 dafa9f38 c02f943c c02f92 3c 00000000 c031bba0
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.540645] 9f40: c1504dc8 db7c0a80 00000000 00000000 db7c0a80 b6e5ca ec dafa9fa4 dafa9f68
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.548862] 9f60: c02f96a4 c02f9394 00000000 00000000 00000002 322c3f c2 00000005 00000003
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.557079] 9f80: 00000002 00000004 00000004 c01090e4 dafa8000 000000 00 00000000 dafa9fa8
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.565296] 9fa0: c0108f00 c02f9654 00000003 00000002 00000003 b6e5ca ec 00000002 b6e7d624
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.573512] 9fc0: 00000003 00000002 00000004 00000004 00000000 000000 00 004b1000 00000000
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.581730] 9fe0: 00000000 bea7a4cc b6e3f14d b6e1e3b6 00010030 000000 03 00000000 00000000
Message from syslogd@scuttle at Mar 1 22:42:44 ...
kernel:[ 408.660303] Code: 03e06003 13e0600c 03a07001 13a07004 (e1d340b0)
[1] 1228 segmentation fault rc_test_motors -d 1 -m 1
Platform information
Linux version 4.14.71-ti-r80 (root@b2-am57xx-beagle-x15-2gb) (gcc version 6.3.0 20170516 (Debian 6.3.0-18+deb9u1)) #1 SMP PREEMPT Fri Oct 5 23:50 :11 UTC 2018
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