Hard Crash with i2c Keypad Plugin

[engigeer]

I’ve been continuing to work on compatibility of the Expatria Jog2K controller with the upstream keypad plugin, so figured it was worth creating an issue to track some of the final bugs I’m seeing.

The most recent tweaks to the i2c handling seem to have resolve the previous loop issues, but I am now experiencing some sporadic hard crashes of the control software. Most repeatably, upon issuing a CMD_RESET, but only if I am also connected to the controller with ioSender. If I reset grblHAL and communicate only via i2c the issue does not appear. I have reproduced the issue connecting with both USB and Ethernet. It also does not seem to appear if I am connected over SWD and debugging, which has made the source of the fault, somewhat hard to track. But I am thinking it must be sometime at or after this line:

Plugin_keypad/keypad.c

Line 300 in 1b6d2df

grbl.enqueue_realtime_command(keycode);

I am not sure if it is related, but I am also encountering hard faults after issue a command H to home all axes. The cycle seems to complete correctly, but the control software becomes non-responsive soon after. I had not previously tested this feature, because I don’t have limits or motors on my bench setup so I’m not sure whether or not it pre-dates the most recent code changes.

I am planning to continue to troubleshoot, but in the meantime I would appreciate any insights or suggestions you might have to share.

[engigeer]

After some further troubleshooting, I have resolved most of the instances of hard crashing (the reset issue above appears to have been unrelated to the keypad plugin but rather modbus). However, I am still able to repeatably reproduce a hard crash when issuing the unlock command, if the networking plugin is also enabled. I tested this using FW compiled from the webbuilder and seems to work fine without the networking plugin. Maybe a conflict with the task scheduler?