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Code works fine with static allocation of my class, crashes when dynamically allocating it

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Code works fine with static allocation of my class, crashes when dynamically allocating it

Posted: Tue Dec 24, 2024 9:12 pm
by AnselmeC
Hello,

I have a class called QualityCheck_Audio, which uses a class called AudioDAC(), which again uses the Audio.h library of Arduino to play MP3 files from SD card through I2S.

Everything is working fine when I statically allocate QualityCheck_Audio. After racking my brain several hours trying to figure out why suddenly my code was broken and was giving me "Guru Meditation Error: Core 1 panic'ed (InstrFetchProhibited). Exception was unhandled." errors, I realized that this error appeared when I changed to dynamic allocation of my class.

Below is the version of the code that uses static allocation, and that is not giving errors :

Code: QualityCheckProcess_WORKS.h Select all




#ifndef QUALITYCHECK_PROCESS_H

#define QUALITYCHECK_PROCESS_H

#include "QualityCheck.h"

#include "QualityCheck/QualityCheck_LedBuzzerButton.h"

#include "QualityCheck/QualityCheck_SD.h"

#include "QualityCheck/QualityCheck_RTC.h"

#include "QualityCheck/QualityCheck_GPS.h"

#include "QualityCheck/QualityCheck_Power.h"

#include "QualityCheck/QualityCheck_Audio.h"

#include "QualityCheck/QualityCheck_BLE.h"

#include <vector>



    class QualityCheckProcess {

    public :

        QualityCheckProcess();

        

        void start();

        void update();



    private :

        void goToNextCheck();

        void onCurrentTestFinished(QualityCheck *sender, bool success);



        std::vector<QualityCheck*> m_qualityChecks;

        QualityCheck_Audio m_audioTest;

        std::vector<String> m_failedChecks;

        unsigned short m_qualityCheckIndex;

        bool m_checksFinished;

};





#endif

Code: QualityCheckProcess_WORKS.cpp Select all


#include "QualityCheck/QualityCheckProcess.h"





    QualityCheckProcess::QualityCheckProcess() : m_checksFinished(false) {

        m_qualityChecks.push_back(&m_audioTest);

    }



    void QualityCheckProcess::start() {



        

        Serial.printf("Free heap before allocation: %d\n", ESP.getFreeHeap());

        Serial.printf("Free heap after allocation: %d\n", ESP.getFreeHeap());



        m_qualityCheckIndex = -1;

        goToNextCheck();

    }



    void QualityCheckProcess::update() {

        if(!m_checksFinished)

            m_qualityChecks[m_qualityCheckIndex]->update();

    }



    void QualityCheckProcess::onCurrentTestFinished(QualityCheck *sender, bool success) {

        if(!success)

            m_failedChecks.push_back(sender->getName());



        goToNextCheck();

    }

    

    void QualityCheckProcess::goToNextCheck() {

        m_qualityCheckIndex++;



        if(m_qualityCheckIndex >= m_qualityChecks.size()) {

            m_checksFinished = true;

            Serial.println("------------QUALITY CHECKS FINISHED !-------------");

            Serial.flush();

            if(m_failedChecks.size() == 0)

                Serial.println("------------ALL PASSED------------");

            else

                Serial.println("------------FAILED TESTS :------------");

            for(int i = 0; i < m_failedChecks.size(); i++) {

                Serial.println("    ->      " + m_failedChecks[i]);

            }

        }

        else {

            m_qualityChecks[m_qualityCheckIndex]->setOnFinished([this](QualityCheck *sender, bool success) {

                if(this)

                    this->onCurrentTestFinished(sender, success);

            });

            m_qualityChecks[m_qualityCheckIndex]->startTest();

        }

    }


But when I switch to the below version :


Code: QualityCheckProcess_FAILS.h Select all




#ifndef QUALITYCHECK_PROCESS_H

#define QUALITYCHECK_PROCESS_H

#include "QualityCheck.h"

#include "QualityCheck/QualityCheck_LedBuzzerButton.h"

#include "QualityCheck/QualityCheck_SD.h"

#include "QualityCheck/QualityCheck_RTC.h"

#include "QualityCheck/QualityCheck_GPS.h"

#include "QualityCheck/QualityCheck_Power.h"

#include "QualityCheck/QualityCheck_Audio.h"

#include "QualityCheck/QualityCheck_BLE.h"

#include <vector>



    class QualityCheckProcess {

    public :

        QualityCheckProcess();

        

        void start();

        void update();



    private :

        void goToNextCheck();

        void onCurrentTestFinished(QualityCheck *sender, bool success);



        std::vector<QualityCheck*> m_qualityChecks;

        std::vector<String> m_failedChecks;

        unsigned short m_qualityCheckIndex;

        bool m_checksFinished;

};





#endif

Code: QualityCheckProcess_FAILS.cpp Select all


#include "QualityCheck/QualityCheckProcess.h"





    QualityCheckProcess::QualityCheckProcess() : m_checksFinished(false) {

        m_qualityChecks.push_back(new QualityCheck_Audio());

    }



    void QualityCheckProcess::start() {



        

        Serial.printf("Free heap before allocation: %d\n", ESP.getFreeHeap());

        Serial.printf("Free heap after allocation: %d\n", ESP.getFreeHeap());



        m_qualityCheckIndex = -1;

        goToNextCheck();

    }



    void QualityCheckProcess::update() {

        if(!m_checksFinished)

            m_qualityChecks[m_qualityCheckIndex]->update();

    }



    void QualityCheckProcess::onCurrentTestFinished(QualityCheck *sender, bool success) {

        if(!success)

            m_failedChecks.push_back(sender->getName());



        goToNextCheck();

    }

    

    void QualityCheckProcess::goToNextCheck() {

        m_qualityCheckIndex++;



        if(m_qualityCheckIndex >= m_qualityChecks.size()) {

            m_checksFinished = true;

            Serial.println("------------QUALITY CHECKS FINISHED !-------------");

            Serial.flush();

            if(m_failedChecks.size() == 0)

                Serial.println("------------ALL PASSED------------");

            else

                Serial.println("------------FAILED TESTS :------------");

            for(int i = 0; i < m_failedChecks.size(); i++) {

                Serial.println("    ->      " + m_failedChecks[i]);

            }

        }

        else {

            m_qualityChecks[m_qualityCheckIndex]->setOnFinished([this](QualityCheck *sender, bool success) {

                if(this)

                    this->onCurrentTestFinished(sender, success);

            });

            m_qualityChecks[m_qualityCheckIndex]->startTest();

        }

    }

Suddenly the code is crashing and gives me the following error, which likely is coming from an illegal memory access during the I2S functions of ESP32 :

Code: Error_output.txt Select all


Guru Meditation Error: Core  1 panic'ed (LoadProhibited). Exception was unhandled.



Core  1 register dump:

PC      : 0x4202a8e2  PS      : 0x00060030  A0      : 0x8202aaee  A1      : 0x3fcebbb0

A2      : 0xa5a5a5a5  A3      : 0x00000017  A4      : 0xa5a5a5a5  A5      : 0x00000000

A6      : 0x3fcec06c  A7      : 0x00000000  A8      : 0xd2aa0ed4  A9      : 0x96969694

A10     : 0x3fca057c  A11     : 0x00000000  A12     : 0x00000000  A13     : 0x00000001

A14     : 0x00060220  A15     : 0x00000001  SAR     : 0x00000005  EXCCAUSE: 0x0000001c

EXCVADDR: 0xd2aa0ed4  LBEG    : 0x40056f08  LEND    : 0x40056f12  LCOUNT  : 0x00000000





Backtrace: 0x4202a8df:0x3fcebbb0 0x4202aaeb:0x3fcebbd0 0x420140f2:0x3fcebc00 0x420033eb:0x3fcebc50 0x42006572:0x3fcebc80 0x42006371:0x3fcebcc0 0x420063e5:0x3fcebd00 0x42008095:0x3fcebd20 0x420280be:0x3fcebd40

  #0  0x4202a8df in gpio_matrix_out_check_and_set at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/driver/i2s.c:212

      (inlined by) gpio_matrix_out_check_and_set at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/driver/i2s.c:208

  #1  0x4202aaeb in i2s_check_set_mclk at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/driver/i2s.c:267

      (inlined by) i2s_set_pin at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/driver/i2s.c:314     

  #2  0x420140f2 in Audio::setPinout(unsigned char, unsigned char, unsigned char, signed char) at .pio/libdeps/esp32-s3-devkitc-1/ESP32-audioI2S/src/Audio.cpp:3990 (discriminator 6)

  #3  0x420033eb in AudioDAC::setup() at src/AudioDAC.cpp:17

  #4  0x42006572 in QualityCheck_Audio::startTest() at src/QualityCheck/QualityCheck_Audio.cpp:16

  #5  0x42006371 in QualityCheckProcess::goToNextCheck() at src/QualityCheck/QualityCheckProcess.cpp:57

  #6  0x420063e5 in QualityCheckProcess::start() at src/QualityCheck/QualityCheckProcess.cpp:22

  #7  0x42008095 in setup() at src/main.cpp:11

  #8  0x420280be in loopTask(void*) at D:/.platformio/packages/framework-arduinoespressif32/cores/esp32/main.cpp:42
Please see bellow the QualityCheck_Audio class :

Code: QualityCheck_Audio.h Select all


#ifndef QUALITYCHECK_AUDIO_H

#define QUALITYCHECK_AUDIO_H



#include "QualityCheck.h"

#include "AudioDAC.h"



#define QUALITY_CHECK_AUDIO_DURATION_S 6



class QualityCheck_Audio : public QualityCheck {

    public :

        QualityCheck_Audio();

        void startTest() override;

        void update() override;

    

    private :

        AudioDAC m_audioDAC;





};



#endif

Code: QualityCheck_Audio.cpp Select all


#include "QualityCheck/QualityCheck_Audio.h"

#include "driver/i2s.h"                     // Library of I2S routines, comes with ESP32 standard install

#include "driver/ledc.h"



QualityCheck_Audio::QualityCheck_Audio() : QualityCheck("AUDIO DAC") {



}



void QualityCheck_Audio::startTest() {

    QualityCheck::startTest();



    Serial.println("QualityCheck_Audio::startTest()");



    Serial.println("Please plug headphones and check if you hear the sound.");



    m_audioDAC.setup();



    m_audioDAC.playSound("/sound/test.mp3", true);

    m_audioDAC.setVolume(120);

}



void QualityCheck_Audio::update() {

    m_audioDAC.update();

    

    if((millis() - m_startTimestamp)/(float)1000 > QUALITY_CHECK_AUDIO_DURATION_S) {

        finishTest(true);

    }

}
Class AudioDac :

Code: Untitled.cpp Select all


#include "AudioDAC.h"

#include <Arduino.h>

#include <Wire.h>

#include "driver/i2s.h"

#include "HardwareConfig.h"

#include "I2CReadWriteRegister.h"

#include <Audio.h>



AudioDAC::AudioDAC() {



}



void AudioDAC::setup() {

    Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN);

    SPI.begin(SD_CLK_PIN, SD_MISO_PIN, SD_MOSI_PIN, SD_CS_PIN);



    m_audio.setPinout(I2S_BCLK_PIN, I2S_WCLK_PIN, I2S_DOUT_PIN);



    if (!SD.begin(SD_CS_PIN)) {

        Serial.println("SD Card Initialization Failed!");

    } else {

        Serial.println("SD Card Initialized successfully.");

    }





    reset();

    configureClock();

    configureAnalogBlocks();

    powerUpDAC();



    delay(2000);



}



void AudioDAC::setVolume(uint8_t volume) {

    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_LEFT_DIGITAL_VOLUME, volume);

    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_RIGHT_DIGITAL_VOLUME, volume);

}



void AudioDAC::playSound(String mp3FilePath, bool loop) {

  if(m_audio.connecttoFS(SD, mp3FilePath.c_str())) {

    Serial.println("Audio file connected !");

    m_audio.setFileLoop(loop);

  }

  else

    Serial.println("Audio file error.");

}



void AudioDAC::changeConfigPage(uint8_t page) {

    writeRegister(AUDIO_DAC_I2C_ADDRESS, PAGE_SELECT_ADDRESS, page);

}



void AudioDAC::reset() {

    changeConfigPage(0x00);

    writeRegister(AUDIO_DAC_I2C_ADDRESS, REGISTER_RESET_ADDRESS, 0x01);

}



void AudioDAC::configureAnalogBlocks() {

    changeConfigPage(0x01); //Change configuration page

    

    writeRegister(AUDIO_DAC_I2C_ADDRESS, AVDD_WEAK_CONNECTION_ADDRESS, 1, 3, 3); //Disable AVDD weak connection





    

    writeRegister(AUDIO_DAC_I2C_ADDRESS, LDO_CONTROL_REGISTER, 1, 0, 0); //Power up the AVDD



    writeRegister(AUDIO_DAC_I2C_ADDRESS, LDO_CONTROL_REGISTER, 0, 3, 3); //Enable analog blocks



    writeRegister(AUDIO_DAC_I2C_ADDRESS, LDO_CONTROL_REGISTER, 0, 4, 5); //Set LDO AVDD output to nominally 1.72V



    

    writeRegister(AUDIO_DAC_I2C_ADDRESS, COMMON_MODE_CONTROL_REGISTER, 1, 0, 0); //LDOIN between 1.8V and 3.6V



    writeRegister(AUDIO_DAC_I2C_ADDRESS, COMMON_MODE_CONTROL_REGISTER, 1, 1, 1); //HPL & HPR powered through AVDD supply.



    writeRegister(AUDIO_DAC_I2C_ADDRESS, COMMON_MODE_CONTROL_REGISTER, 0, 4, 5); //HPL & HPR use full chip common mode



    writeRegister(AUDIO_DAC_I2C_ADDRESS, COMMON_MODE_CONTROL_REGISTER, 0, 6, 6); //Full chip common mode to 0.9V



    

    writeRegister(AUDIO_DAC_I2C_ADDRESS, ANALOG_INPUT_QUICK_CHARGING_REGISTER, 0x32, 0, 5); //6.4ms analog inputs power up time



    

    writeRegister(AUDIO_DAC_I2C_ADDRESS, HEADPHONE_DRIVER_STARTUP_CONTROL_REGISTER, 1, 6, 7); //Soft routing step time to 50ms

 

    writeRegister(AUDIO_DAC_I2C_ADDRESS, HEADPHONE_DRIVER_STARTUP_CONTROL_REGISTER, 5, 2, 5); //1 time constant



    writeRegister(AUDIO_DAC_I2C_ADDRESS, HEADPHONE_DRIVER_STARTUP_CONTROL_REGISTER, 0, 0, 1); //Power up time with 25K resistance





    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPL_ROUTING_SELECTION_REGISTER, 0, 2, 2); //Route IN1L to HPL



    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPL_ROUTING_SELECTION_REGISTER, 1, 3, 3); //Route Left channel DAC reconstruction's filter positive terminal to HPL





    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPR_ROUTING_SELECTION_REGISTER, 0, 2, 2); //Route IN1L to HPL



    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPR_ROUTING_SELECTION_REGISTER, 1, 3, 3); //Don't route right channel DAC reconstruction's filter positive terminal to HPR



    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPR_ROUTING_SELECTION_REGISTER, 0, 4, 4); //Don't route left channel DAC reconstruction's filter negative terminal to HPR





    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPL_DRIVER_GAIN_REGISTER, 0, 6, 6); //Unmute HPL driver gain



    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPL_DRIVER_GAIN_REGISTER, 58, 0, 5); //Set HPL driver gain to 0dB





    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPR_DRIVER_GAIN_REGISTER, 0, 6, 6); //Unmute HPR driver gain



    writeRegister(AUDIO_DAC_I2C_ADDRESS, HPR_DRIVER_GAIN_REGISTER, 58, 0, 5); //Set HPR driver gain to 0dB





    writeRegister(AUDIO_DAC_I2C_ADDRESS, OUTPUT_DRIVER_POWER_CONTROl_REGISTER, 1, 4, 4); //Power up HPR



    writeRegister(AUDIO_DAC_I2C_ADDRESS, OUTPUT_DRIVER_POWER_CONTROl_REGISTER, 1, 5, 5); //Power up HPL





}



void AudioDAC::powerUpDAC() {

    changeConfigPage(0x00); //Change configuration page



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_1, 0, 0, 1); //Soft stepping is 1 step per 1 DAC world clock



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_1, 1, 2, 3); //Right DAC to right channel audio interface data



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_1, 1, 4, 5); //Left DAC to left channel audio interface data



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_1, 1, 6, 6); //Power up right DAC



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_1, 1, 7, 7); //Power up left DAC





    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_2, 2, 0, 1); //Right channel volume controlled by left channel volume



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_2, 0, 2, 2); //Unmute right DAC



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_2, 0, 3, 3); //Unmute left DAC



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_2, 2, 4, 6); //Automute enabled if input data is SC for more than 200 consecutive inputs



    writeRegister(AUDIO_DAC_I2C_ADDRESS, DAC_CHANNEL_SETUP_REGISTER_2, 0, 7, 7); //When right DAC channel is powered down, the data is zero



}



void AudioDAC::configureClock() {

    

    changeConfigPage(0); //Go to configuration page 1

    

    //Configure PLL

    writeRegister(AUDIO_DAC_I2C_ADDRESS, ENABLE_PLL_REGISTER, 1, 4, 6); //Set P value to 1



    writeRegister(AUDIO_DAC_I2C_ADDRESS, ENABLE_PLL_REGISTER, 1, 0, 3); //Set R to 1



    writeRegister(AUDIO_DAC_I2C_ADDRESS, PLL_J_VALUE_REGISTER, 4, 0, 5); //Set J to 1



    writeRegister(AUDIO_DAC_I2C_ADDRESS, PLL_D_VALUE_REGISTER, 0, 0, 5); //Set D to 0





    writeRegister(AUDIO_DAC_I2C_ADDRESS, AUDIO_CLOCK_SOURCE_REGISTER, 3, 0, 1); //Set source clock as PLL



    writeRegister(AUDIO_DAC_I2C_ADDRESS, AUDIO_CLOCK_SOURCE_REGISTER, 1, 2, 3); //BCLK -> PLL (2,8224MHz for BCLK)



    writeRegister(AUDIO_DAC_I2C_ADDRESS, AUDIO_CLOCK_SOURCE_REGISTER, 1, 6, 6); //Set High Clock Range





    writeRegister(AUDIO_DAC_I2C_ADDRESS, ENABLE_PLL_REGISTER, 1, 7, 7); //Enable PLL





    writeRegister(AUDIO_DAC_I2C_ADDRESS, NDAC_VALUES_REGISTER, 2, 0, 6); //Set NDAC value to 4



    writeRegister(AUDIO_DAC_I2C_ADDRESS, NDAC_VALUES_REGISTER, 1, 7, 7); //Power up NDAC divider



    

    writeRegister(AUDIO_DAC_I2C_ADDRESS, MDAC_VALUES_REGISTER, 1, 0, 6); //Set MDAC value to 5



    writeRegister(AUDIO_DAC_I2C_ADDRESS, MDAC_VALUES_REGISTER, 1, 7, 7); //Power up MDAC divider

    

    //writeRegister(DOSR_MSB_REGISTER, 0, 0, 1); //Write 0 in ODSR MSB

    //writeRegister(DOSR_LSB_REGISTER, 128, 0, 7); //Write 128 in ODSR LSB



    writeRegister(AUDIO_DAC_I2C_ADDRESS, AUDIO_INTERFACE_SETTING_REGISTER_1, 3, 4, 5); //Set word as 32 bits

}





void AudioDAC::update() {

    m_audio.loop();

}
The error call stack starts in AudioDAC::setup() when Audio::setPinout() is called. I can't figure out why is dynamic allocation causing a different behaviour. Could this be bad memory alignmment due to polymorphism ?

Thank you for your help !

Re: Code works fine with static allocation of my class, crashes when dynamically allocating it

Posted: Sun Dec 29, 2024 1:15 pm
by MicroController
You may be corrupting some memory, e.g. through a stack overflow happening as a result of the recursive function calling.
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