esp32s3 : float calc error or stack error

[w2016561536]

Hi, I was running PX4 based on NuttX on esp32s3 and found an error.
a float data will be nan after a simple multiplication.

And the console output:

This problem will appear after booting for several minutes. Moreover, some function calling will make the same thing, making the float varible Nan.

defconfig:

CONFIG_ALLOW_BSD_COMPONENTS=y
CONFIG_ALLOW_GPL_COMPONENTS=y
CONFIG_ALLOW_MIT_COMPONENTS=y
CONFIG_ALLOW_ECLIPSE_COMPONENTS=y
CONFIG_ALLOW_ICS_COMPONENTS=y
CONFIG_BASE_DEFCONFIG="-dirty"
CONFIG_INTELHEX_BINARY=y
CONFIG_ARCH_SETJMP_H=y
# CONFIG_NDEBUG is not set
CONFIG_STACK_COLORATION=y
CONFIG_CCACHE=y
CONFIG_ARCH_XTENSA=y
CONFIG_PWM_MULTICHAN=y
CONFIG_PWM_NCHANNELS=8
CONFIG_ARCH_CHIP_ESP32S3=y
CONFIG_ESP32S3_INSTRUCTION_CACHE_32KB=y
CONFIG_ESP32S3_DATA_CACHE_64KB=y
CONFIG_ESP32S3_DATA_CACHE_LINE_64B=y
CONFIG_ESP32S3_SPI2=y
CONFIG_ESP32S3_SPI3=y
CONFIG_ESP32S3_UART0=y
CONFIG_ESP32S3_UART1=y
CONFIG_ESP32S3_UART2=y
CONFIG_ESP32S3_WIFI=y
CONFIG_ESP32S3_I2C0=y
CONFIG_ESP32S3_I2C1=y
CONFIG_ESP32S3_LEDC=y
CONFIG_ESP32S3_USBSERIAL=y
CONFIG_ESP32S3_GPIO_IRQ=y
CONFIG_ESP32S3_SPI_SWCS=y
CONFIG_ESP32S3_SPI_UDCS=y
CONFIG_ESP32S3_SPI_DMA=y
CONFIG_ESP32S3_SPI_DMA_BUFSIZE=4092
CONFIG_ESP32S3_SPI_DMATHRESHOLD=4
CONFIG_ESP32S3_SPI2_CSPIN=1
CONFIG_ESP32S3_SPI2_CLKPIN=2
CONFIG_ESP32S3_SPI2_MOSIPIN=42
CONFIG_ESP32S3_SPI2_MISOPIN=41
CONFIG_ESP32S3_SPI3_CSPIN=35
CONFIG_ESP32S3_SPI3_CLKPIN=39
CONFIG_ESP32S3_SPI3_MOSIPIN=38
CONFIG_ESP32S3_SPI3_MISOPIN=36
CONFIG_ESP32S3_UART2_TXPIN=8
CONFIG_ESP32S3_UART2_RXPIN=3
CONFIG_ESP32S3_I2C0_SCLPIN=45
CONFIG_ESP32S3_I2C0_SDAPIN=48
CONFIG_ESP32S3_I2C1_SCLPIN=15
CONFIG_ESP32S3_I2C1_SDAPIN=16
CONFIG_ESP32S3_I2CTIMEOMS=10
CONFIG_WPA_WAPI_PSK=y
CONFIG_ESP32S3_WIFI_STATION_SOFTAP=y
CONFIG_ESP32S3_WIFI_STATIC_RXBUF_NUM=16
CONFIG_ESP32S3_WIFI_DYNAMIC_RXBUF_NUM=64
CONFIG_ESP32S3_WIFI_DYNAMIC_TXBUF_NUM=64
CONFIG_ESP32S3_WIFI_RXBA_AMPDU_WZ=16
CONFIG_ESP32S3_FLASH_MODE_QIO=y
CONFIG_ESP32S3_FLASH_FREQ_120M=y
CONFIG_ESP32S3_LEDC_TIM0=y
CONFIG_ESP32S3_LEDC_TIM0_CHANNELS=4
CONFIG_ESP32S3_LEDC_CHANNEL0_PIN=10
CONFIG_ESP32S3_LEDC_CHANNEL1_PIN=9
CONFIG_ESP32S3_LEDC_CHANNEL3_PIN=37
CONFIG_ESP32S3_LEDC_CHANNEL4_PIN=13
CONFIG_ESP32S3_LEDC_CHANNEL5_PIN=14
CONFIG_ESP32S3_LEDC_CHANNEL6_PIN=21
CONFIG_ESP32S3_LEDC_CHANNEL7_PIN=47
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_RAM_START=0x20000000
CONFIG_RAM_SIZE=114688
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/esp32s3/nuttx-config"
CONFIG_ARCH_BOARD_COMMON=y
CONFIG_ESP32S3_SPEED_UP_ISR=y
CONFIG_BOARDCTL_RESET=y
CONFIG_USEC_PER_TICK=1000
CONFIG_START_YEAR=2011
CONFIG_START_MONTH=12
CONFIG_START_DAY=6
CONFIG_PREALLOC_TIMERS=4
CONFIG_SPINLOCK=y
CONFIG_INIT_STACKSIZE=8192
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_TASK_NAME_SIZE=48
CONFIG_SCHED_WAITPID=y
CONFIG_PTHREAD_MUTEX_TYPES=y
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
CONFIG_NAME_MAX=48
CONFIG_SIG_DEFAULT=y
CONFIG_PREALLOC_MQ_MSGS=64
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKSTACKSIZE=2048
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKSTACKSIZE=2048
CONFIG_DEFAULT_TASK_STACKSIZE=4096
CONFIG_IDLETHREAD_STACKSIZE=3072
CONFIG_PTHREAD_STACK_MIN=2048
CONFIG_I2C_RESET=y
CONFIG_I2C_DRIVER=y
CONFIG_SPI_DRIVER=y
CONFIG_TIMER=y
CONFIG_DEV_GPIO=y
CONFIG_DEV_ZERO=y
CONFIG_DEV_ASCII=y
CONFIG_MTD=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_PARTITION_NAMES=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_CONFIG=y
CONFIG_MTD_RAMTRON=y
CONFIG_RAMTRON_SETSPEED=y
CONFIG_PIPES=y
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_SERIAL_NPOLLWAITERS=6
CONFIG_SERIAL_TERMIOS=y
CONFIG_UART0_RXBUFSIZE=128
CONFIG_UART0_TXBUFSIZE=128
CONFIG_UART1_RXBUFSIZE=128
CONFIG_UART1_TXBUFSIZE=128
CONFIG_UART2_RXBUFSIZE=128
CONFIG_UART2_TXBUFSIZE=128
CONFIG_DRIVERS_WIRELESS=y
CONFIG_DRIVERS_IEEE80211=y
CONFIG_SYSLOG_BUFFER=y
CONFIG_SYSLOG_BUFSIZE=256
CONFIG_SYSLOG_DEVPATH=""
CONFIG_DMA=y
CONFIG_NET_ETH_PKTSIZE=1514
CONFIG_NETDEV_LATEINIT=y
CONFIG_NETDEV_PHY_IOCTL=y
CONFIG_NETDEV_WIRELESS_IOCTL=y
CONFIG_NET_BINDTODEVICE=y
CONFIG_NET_TCP=y
CONFIG_NET_TCP_DELAYED_ACK=y
CONFIG_NET_TCP_WRITE_BUFFERS=y
CONFIG_NET_UDP=y
CONFIG_NET_BROADCAST=y
CONFIG_NET_UDP_WRITE_BUFFERS=y
CONFIG_NET_ICMP=y
CONFIG_NET_ICMP_SOCKET=y
CONFIG_FS_LARGEFILE=y
CONFIG_FS_FAT=y
CONFIG_FAT_COMPUTE_FSINFO=y
CONFIG_FS_FATTIME=y
CONFIG_FS_ROMFS=y
CONFIG_FS_CROMFS=y
CONFIG_FS_SMARTFS=y
CONFIG_FS_BINFS=y
CONFIG_FS_PROCFS=y
CONFIG_FS_PROCFS_REGISTER=y
CONFIG_MM_REGIONS=2
CONFIG_IOB_NBUFFERS=124
CONFIG_IOB_THROTTLE=24
CONFIG_WIRELESS=y
CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=2048
CONFIG_TLS_NELEM=4
CONFIG_TLS_TASK_NELEM=4
CONFIG_NETDB_DNSCLIENT=y
CONFIG_BUILTIN=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_BENCHMARK_COREMARK=y
CONFIG_EXAMPLES_DHCPD=y
CONFIG_NETUTILS_DHCPD=y
CONFIG_NETUTILS_DHCPD_STACKSIZE=2048
CONFIG_NETINIT_WAPI_SSID="MY_PX4"
CONFIG_NETINIT_WAPI_PASSPHRASE="12345678"
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=15
CONFIG_NSH_NESTDEPTH=8
CONFIG_NSH_BUILTIN_APPS=y
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_ROMFSETC=y
CONFIG_NSH_CROMFSETC=y
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_ARCHINIT=y
CONFIG_SYSTEM_ARGTABLE3=y
CONFIG_SYSTEM_NSH=y
CONFIG_WIRELESS_WAPI=y
CONFIG_WIRELESS_WAPI_CMDTOOL=y
CONFIG_WIRELESS_WAPI_STACKSIZE=8192

Hardware:
ESP32S3-WROOM-1 M0N16R8

NuttX version:
12.4 , commit : 0f169f5

Full source code:
https://1drv.ms/u/c/008ed313fdaa343c/EaXGLgJs_3VLpahnyyVtaL4BgF3pUIa_6f1XHX_ZxOb-Ow?e=1iSk8w

[w2016561536]

GCC toolchain: https://github.com/espressif/crosstool-NG/releases/tag/esp-13.2.0_20240530

[acassis]

Hi @w2016561536 thank you for reporting the issue. Is there some way to reproduce this issue just creating a simple test on NuttX mainline, without using all these IMU files from PX4? If you can isolate the issue it will help us to find the root cause. Just for awareness ping @tmedicci

[w2016561536]

Well, it seems to be difficult to reproduce. But I perhaps find the problem. File https://github.com/apache/nuttx/blob/b09b429308b991ba455cad57b53e0abaa423bf53/arch/xtensa/src/common/xtensa_user_handler.S#L363C1-L363C23, we can find that this function does not correctly implemented. In FreeRTOS, implemention is https://github.com/espressif/esp-idf/blob/cadf80e8751caffaf25207a12bb65e5b188683ae/components/freertos/FreeRTOS-Kernel/portable/xtensa/xtensa_vectors.S#L990. And this funtion has a related issue: espressif/esp-idf#11690 , very similar to this issue

[w2016561536]

@tmedicci Do you think this problem is caused by fpu ?

[tmedicci]

@tmedicci Do you think this problem is caused by fpu ?

Hi @w2016561536, I am not aware of it. Maybe, you could try to implement the workaround and I can evaluate using our internal CI.

[acassis]

@w2016561536 did you try to save the FP registers?

If it fixes the issue we should include it into mainline. Maybe wrapped by #ifdef CONFIG_ARCH_FPU