Reboot on Accelerator test [3.3-rc1]

SIam

When I add the accelerometer with this command (I hope the q parameter is right)

M955 P0 C"spi.cs3+spi.cs4" S4800 Q200 R12 I20
Accelerometer 0 with orientation 20 samples at 1344Hz with 12-bit resolution

and then send this command:

G1 X-50 G4 S2 M956 P0 S1000 A0 G4 P10 G1 X50 F20000

The board resets

The output of M122 says :

Last software reset at 2021-05-01 19:21, reason: HardFault zeroDiv, GCodes spinning, available RAM 12372, slot 0

m122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.3RC1 (2021-05-01 09:57:59) running on Duet WiFi 1.02 or later + DueX5
Board ID: 08DGM-95BNL-MGPSJ-6J9FD-3SJ6N-K1W3Y
Used output buffers: 3 of 24 (11 max)
=== RTOS ===
Static ram: 23876
Dynamic ram: 78168 of which 0 recycled
Never used RAM 12372, free system stack 184 words
Tasks: NETWORK(ready,9.8%,216) ACCEL(notifyWait,0.0%,334) HEAT(delaying,0.0%,314) Move(notifyWait,0.1%,313) DUEX(notifyWait,0.0%,24) MAIN(running,88.3%,441) IDLE(ready,1.8%,29), total 100.0%
Owned mutexes: WiFi(NETWORK)
=== Platform ===
Last reset 00:00:12 ago, cause: software
Last software reset at 2021-05-01 19:21, reason: HardFault zeroDiv, GCodes spinning, available RAM 12372, slot 0
Software reset code 0x4063 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x0041f803 BFAR 0xe000ed38 SP 0x20012998 Task ACCE Freestk 323 ok
Stack: 6deec6c0 00000015 00000000 012c684c ffffffff 0045b03d 00454720 210f0000 20012430 ffffffe8 000000ba 20012a58 20004c7c 0045b137 400a0000 00000001 20012340 0045882f 400a0000 00454653 000000df 20012340 0000001f 20012a50 20012a4f 004546fd 20012340
Error status: 0x00
Aux0 errors 0,0,0
Step timer max interval 0
MCU temperature: min 32.1, current 33.5, max 34.0
Supply voltage: min 24.2, current 24.3, max 24.5, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Driver 0: position 0, standstill, SG min/max not available
Driver 1: position 0, standstill, SG min/max not available
Driver 2: position 0, standstill, SG min/max not available
Driver 3: position 0, standstill, SG min/max not available
Driver 4: position 0, standstill, SG min/max not available
Driver 5: position 0, standstill, SG min/max not available
Driver 6: position 0, standstill, SG min/max not available
Driver 7: position 0, standstill, SG min/max not available
Driver 8: position 0, standstill, SG min/max not available
Driver 9: position 0, standstill, SG min/max not available
Driver 10: position 0
Driver 11: position 0
Date/time: 2021-05-01 19:21:54
Cache data hit count 439855282
Slowest loop: 10.32ms; fastest: 0.18ms
I2C nak errors 0, send timeouts 0, receive timeouts 0, finishTimeouts 0, resets 0
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest read time 2.7ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 83, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = 0 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
Heater 1 is on, I-accum = 0.0
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
Daemon is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Filament sensors ===
Extruder 0 sensor: ok
=== DueX ===
Read count 1, 4.87 reads/min
=== Network ===
Slowest loop: 81.94ms; fastest: 0.00ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions
HTTP sessions: 2 of 8
- WiFi -
Network state is active
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.25
WiFi MAC address 2c:3a:e8:0b:06:33
WiFi Vcc 3.44, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 20400
WiFi IP address 192.168.188.36
WiFi signal strength -51dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0

dc42

I'll look at that M122 report. Q200 is much too low in M955, that means 200Hz. Use at least Q500000. The default is now Q2000000 (it was fixed at 4000000 in RRF 3.3beta3).

SIam

@dc42 ah ok ! on that I wasn't sure

dc42

@siam I've fixed this division by zero in the source code, also I've set limits on the SPI frequency.

SIam

@dc42 Thank you !!

dc42

This is now fixed (I hope) in the new 3.3RC1+1 firmware binary at https://www.dropbox.com/sh/dlb58vkmu1u4fkx/AAAelkXSfRKVwI6_yqRnhGHPa?dl=0.