Zephyr crashing when I connect to a device

[DiBosco]

 Vidar Berg has been helping me connect to a device and I am finally able to do that, but as soon as I do, Zephyr crashes.

This is with a lightly modified central_uart project

[00:00:00.024,810] <0x1b>[0m<inf> central_uart: Scan module initialized<0x1b>[0m␍␊

[00:00:00.024,810] <0x1b>[0m<inf> central_uart: NUS Client module initialized<0x1b>[0m␍␊

[00:00:00.029,846] <0x1b>[0m<inf> central_uart: Scanning successfully started<0x1b>[0m␍␊

[00:00:00.093,719] <0x1b>[0m<inf> central_uart: Filters matched. Address: E8:A0:DB:24:21:62 (random) connectable: 1<0x1b>[0m␍␊

[00:00:00.289,886] <0x1b>[0m<inf> central_uart: Connected: E8:A0:DB:24:21:62 (random)<0x1b>[0m␍␊

[00:00:00.290,039] <0x1b>[1;33m<wrn> central_uart: Failed to set security: -12<0x1b>[0m␍␊

[00:00:00.290,100] <0x1b>[1;31m<err> central_uart: Stop LE scan failed (err 0)<0x1b>[0m␍␊

[00:00:00.441,497] <0x1b>[0m<inf> central_uart: MTU exchange done<0x1b>[0m␍␊

ASSERTION FAIL [conn] @ WEST_TOPDIR/zephyr/subsys/bluetooth/host/gatt.c:5433␍␊

⇥ invalid parameters␍␊

␍␊

[00:00:01.791,351] <0x1b>[0m<inf> central_uart: Service discovery completed<0x1b>[0m␍␊

[00:00:01.800,994] <0x1b>[1;31m<err> os: r0/a1: 0x00000004 r1/a2: 0x00001539 r2/a3: 0x20000b60<0x1b>[0m␍␊

[00:00:01.800,994] <0x1b>[1;31m<err> os: r3/a4: 0x00000004 r12/ip: 0x00000000 r14/lr: 0x000217df<0x1b>[0m␍␊

[00:00:01.801,025] <0x1b>[1;31m<err> os: xpsr: 0x21000000<0x1b>[0m␍␊

[00:00:01.801,025] <0x1b>[1;31m<err> os: Faulting instruction address (r15/pc): 0x00031072<0x1b>[0m␍␊

[00:00:01.801,086] <0x1b>[1;31m<err> os: >>> ZEPHYR FATAL ERROR 4: Kernel panic on CPU 0<0x1b>[0m␍␊

[00:00:01.801,116] <0x1b>[1;31m<err> os: Current thread: 0x20002568 (BT RX WQ)<0x1b>[0m␍␊

[00:00:01.869,415] <0x1b>[1;31m<err> os: Halting system<0x1b>[0m␍␊

The program crashes here:

 

return snprintk(str, len, "%02X:%02X:%02X:%02X:%02X:%02X (%s)",

addr->a.val[5], addr->a.val[4], addr->a.val[3],

addr->a.val[2], addr->a.val[1], addr->a.val[0], type);

Which is in

addr.h (sic) Quite what code is doing in a header file is beyond me.

The prototype for the function is this:

int bt_addr_le_to_str(const bt_addr_le_t *addr, char *str, size_t len);

The values passed look reasonable to me.

addr->a.val[0]-[5] have the correct MAC address in it

str has (in decimal) 23 0 ... in it so that looks like it's just got a single character and anyway,

it shouldn't make a difference because, surely, that's being written into.

len = 30

type ends up with "random" in it.

I am assuming

snprintk is based on

snprint and so shouldn't copy more than len bytes anyway.

The string being used is that is passed into bt_addr_le_to_str is:

char addr[BT_ADDR_LE_STR_LEN];

and BT_ADDR_LE_STR_LEN is set to 30 so that all stacks up nicely.

Can anyone give me some pointers as to what might be wrong here?

BTW  Vidar Berg that little project you sent me does not crash like this, but I can't

see where you set up the characteristics for that project, there is no reference to

BT_GATT_SERVICE_DEFINE anywhere in it. I would happily just mod that if I could work out how you've set up

its service and characteristics.

Thanks

[Vidar Berg]

Hello,

ASSERTION FAIL [conn] @ WEST_TOPDIR/zephyr/subsys/bluetooth/host/gatt.c:5433

This error message shows that an assertion is raised in gatt.c at this line: https://github.com/nrfconnect/sdk-zephyr/blob/0bc3393fb112ec80ebeab48cd023d69b1e9db757/subsys/bluetooth/host/gatt.c#L5433 which suggests that the 'conn' pointer passed to your bt_gatt_subscribe() call is set to NULL. 

hat little project you sent me does not crash like this, but I can't

see where you set up the characteristics for that project, there is no reference to

I copied the NUS service and NUS client source files and placed them in the project's source directory (I also renamed every occurrence of 'nus' to 'custom').

Best regards,

Vidar

[DiBosco]

Morning,

I did look with the debugger at that pointer and that's not the issue.

The crash doesn't come until snprintk in bt_addr_le_to_str

and as I say, in the first post, The values in passed to:

return snprintk(str, len, "%02X:%02X:%02X:%02X:%02X:%02X (%s)",

addr->a.val[5], addr->a.val[4], addr->a.val[3],

addr->a.val[2], addr->a.val[1], addr->a.val[0], type);

Look fine:



This smacks more of a stack overflow to me,

but I've massively increased the main stack size in prj.conf

to no or little avail.

The message on crash changes slightly:

[00:00:07.404,510] <0x1b>[1;31m<err> os: Fault during interrupt handling␊

<0x1b>[0m␍␊

[00:00:07.404,571] <0x1b>[1;31m<err> os: Current thread:

0x20002568 (BT RX WQ)<0x1b>[0m␍␊

This looks like it;s some sort bluetooth receive issue? However, all I'm doing is

connecting, no actual data is being sent as yet.

On the subject of your code, it's not the peripheral_uart I'm trying, it's the

central_uart which doesn't have those definitions in it. .

 

[DiBosco]

Vidar Berg said:

Are you still seeing the same assertion in the crash log?

This is what I get after increasing the stack size (if that's what you're asking)


00:00:01.270,050] <0x1b>[0m<inf> central_uart: Filters matched. Address: E8:A0:DB:24:21:62 (random) connectable: 1<0x1b>[0m␍␊

ASSERTION FAIL [0] @ WEST_TOPDIR/nrf/subsys/bluetooth/controller/hci_driver.c:311␍␊

⇥ SoftDevice Controller ASSERT: 53, 238␍␊

␍␊

[00:00:07.404,357] <0x1b>[1;31m<err> os: ***** HARD FAULT *****<0x1b>[0m␍␊

[00:00:07.404,388] <0x1b>[1;31m<err> os: Fault escalation (see below)<0x1b>[0m␍␊

[00:00:07.404,388] <0x1b>[1;31m<err> os: ARCH_EXCEPT with reason 4␊

<0x1b>[0m␍␊

[00:00:07.404,418] <0x1b>[1;31m<err> os: r0/a1: 0x00000004 r1/a2: 0x00000137 r2/a3: 0x20000b60<0x1b>[0m␍␊

[00:00:07.404,449] <0x1b>[1;31m<err> os: r3/a4: 0x00000004 r12/ip: 0x00501bcf r14/lr: 0x000266bf<0x1b>[0m␍␊

[00:00:07.404,449] <0x1b>[1;31m<err> os: xpsr: 0x21000018<0x1b>[0m␍␊

[00:00:07.404,479] <0x1b>[1;31m<err> os: Faulting instruction address (r15/pc): 0x00031072<0x1b>[0m␍␊

[00:00:07.404,510] <0x1b>[1;31m<err> os: >>> ZEPHYR FATAL ERROR 4: Kernel panic on CPU 0<0x1b>[0m␍␊

[00:00:07.404,510] <0x1b>[1;31m<err> os: Fault during interrupt handling␊

<0x1b>[0m␍␊

[00:00:07.404,571] <0x1b>[1;31m<err> os: Current thread: 0x20002568 (BT RX WQ)<0x1b>[0m␍␊

[00:00:07.475,585] <0x1b>[1;31m<err> os: Halting system<0x1b>[0m␍␊

Vidar Berg said:

My central device is only implementing the GATT client for your service. The service itself is implemented on the GATT server with the BT_GATT_SERVICE_DEFINE macro.

I thin I may be misunderstanding or miscommunicating something here.

If I'm in the central_uart project you sent me (central is what I need to get going) there is no reference to BT_GATT_SERVICE_DEFINE anywhere. Yes, it's in the peripheral_uart project, but not in central, so I don't understand how your central_uart you are setting up the characteristics.

[Vidar Berg]

DiBosco said:

This is what I get after increasing the stack size (if that's what you're asking)


00:00:01.270,050] <0x1b>[0m<inf> central_uart: Filters matched. Address: E8:A0:DB:24:21:62 (random) connectable: 1<0x1b>[0m␍␊

ASSERTION FAIL [0] @ WEST_TOPDIR/nrf/subsys/bluetooth/controller/hci_driver.c:311␍␊

⇥ SoftDevice Controller ASSERT: 53, 238␍␊

Yes, this assertion is raised by the softdevice controller because it exceeded the allocated time for a scheduled timeslot event. Did you get this error while debugging the code? This issue typically happens if you single step through the code or resume execution after hitting a breakpoint. When the debugger halts the CPU, the bluetooth controller cannot meet its real time requirements.

DiBosco said:

If I'm in the central_uart project you sent me (central is what I need to get going) there is no reference to BT_GATT_SERVICE_DEFINE anywhere. Yes, it's in the peripheral_uart project, but not in central, so I don't understand how your central_uart you are setting up the characteristics.

In this case, the custom service/GATT server is implemented on the peripheral side, while the central device operates in the GATT client role. Therefore, the central device does not declare the service in its attribute table.

https://academy.nordicsemi.com/courses/bluetooth-low-energy-fundamentals/lessons/lesson-1-bluetooth-low-energy-introduction/topic/att-gatt-data-representation-and-exchange/ 

[DiBosco]

OK, it is apparent I have a big gap (no pun intended) in my client side knowledge. As soon  as you say it though it is obvious that the client can't be expected to know what's going on in all the peripherals. I suspect the best bet here might be to work with your project and see if I can work out how it functions.

[DiBosco]

OK, and FWIW, yes I had a breakpoint and without it, I get this:

Starting Bluetooth Central UART example␍␊

[00:00:03.093,292] <0x1b>[0m<inf> fs_nvs: 2 Sectors of 4096 bytes<0x1b>[0m␍␊

[00:00:03.093,292] <0x1b>[0m<inf> fs_nvs: alloc wra: 0, fb8<0x1b>[0m␍␊

[00:00:03.093,322] <0x1b>[0m<inf> fs_nvs: data wra: 0, 88<0x1b>[0m␍␊

[00:00:03.093,475] <0x1b>[0m<inf> bt_sdc_hci_driver: SoftDevice Controller build revision: ␍␊

fe 2c f9 6a 7f 36 22 2e a0 79 c0 40 be 2c 03 20 |.,.j.6". .y.@.,. ␍␊

40 c2 f3 32 |@..2 <0x1b>[0m␍␊

[00:00:03.097,717] <0x1b>[0m<inf> bt_hci_core: HW Platform: Nordic Semiconductor (0x0002)<0x1b>[0m␍␊

[00:00:03.097,747] <0x1b>[0m<inf> bt_hci_core: HW Variant: nRF52x (0x0002)<0x1b>[0m␍␊

[00:00:03.097,778] <0x1b>[0m<inf> bt_hci_core: Firmware: Standard Bluetooth controller (0x00) Version 254.63788 Build 573996906<0x1b>[0m␍␊

[00:00:03.098,480] <0x1b>[0m<inf> bt_hci_core: No ID address. App must call settings_load()<0x1b>[0m␍␊

[00:00:03.098,510] <0x1b>[0m<inf> central_uart: Bluetooth initialized<0x1b>[0m␍␊

[00:00:03.099,487] <0x1b>[0m<inf> bt_hci_core: Identity: D9:AD:8D:A9:1A:A2 (random)<0x1b>[0m␍␊

[00:00:03.099,517] <0x1b>[0m<inf> bt_hci_core: HCI: version 6.0 (0x0e) revision 0x104e, manufacturer 0x0059<0x1b>[0m␍␊

[00:00:03.099,578] <0x1b>[0m<inf> bt_hci_core: LMP: version 6.0 (0x0e) subver 0x104e<0x1b>[0m␍␊

[00:00:03.100,952] <0x1b>[0m<inf> central_uart: Scan module initialized<0x1b>[0m␍␊

[00:00:03.100,952] <0x1b>[0m<inf> central_uart: NUS Client module initialized<0x1b>[0m␍␊

[00:00:03.105,987] <0x1b>[0m<inf> central_uart: Scanning successfully started<0x1b>[0m␍␊

[00:00:03.414,184] <0x1b>[0m<inf> central_uart: Filters matched. Address: E8:A0:DB:24:21:62 (random) connectable: 1<0x1b>[0m␍␊

[00:00:03.604,248] <0x1b>[0m<inf> central_uart: Connected: E8:A0:DB:24:21:62 (random)<0x1b>[0m␍␊

[00:00:03.604,370] <0x1b>[1;33m<wrn> central_uart: Failed to set security: -12<0x1b>[0m␍␊

[00:00:03.604,431] <0x1b>[1;31m<err> central_uart: Stop LE scan failed (err 0)<0x1b>[0m␍␊

[00:00:03.855,590] <0x1b>[1;33m<wrn> bt_conn: conn 0x20002640 failed to establish. RF noise?<0x1b>[0m␍␊

[00:00:03.855,926] <0x1b>[1;33m<wrn> central_uart: MTU exchange failed (err 14)<0x1b>[0m␍␊

[00:00:03.855,957] <0x1b>[0m<inf> central_uart: Service not found<0x1b>[0m␍␊

[00:00:03.856,140] <0x1b>[0m<inf> central_uart: Disconnected: E8:A0:DB:24:21:62 (random), reason 0x3e <0x1b>[0m␍␊

[00:00:03.987,030] <0x1b>[0m<inf> central_uart: Filters matched. Address: E8:A0:DB:24:21:62 (random) connectable: 1<0x1b>[0m␍␊

[00:00:04.183,074] <0x1b>[0m<inf> central_uart: Connected: E8:A0:DB:24:21:62 (random)<0x1b>[0m␍␊

[00:00:04.183,166] <0x1b>[1;33m<wrn> central_uart: Failed to set security: -12<0x1b>[0m␍␊

[00:00:04.183,258] <0x1b>[1;31m<err> central_uart: Stop LE scan failed (err 0)<0x1b>[0m␍␊

[00:00:04.334,655] <0x1b>[0m<inf> central_uart: MTU exchange done<0x1b>[0m␍␊

ASSERTION FAIL [conn] @ WEST_TOPDIR/zephyr/subsys/bluetooth/host/gatt.c:5433␍␊

⇥ invalid parameters␍␊

␍␊

[00:00:05.684,509] <0x1b>[0m<inf> central_uart: Service discovery completed<0x1b>[0m␍␊

[00:00:05.694,183] <0x1b>[1;31m<err> os: r0/a1: 0x00000004 r1/a2: 0x00001539 r2/a3: 0x20000b60<0x1b>[0m␍␊

[00:00:05.694,213] <0x1b>[1;31m<err> os: r3/a4: 0x00000004 r12/ip: 0x00000000 r14/lr: 0x000217df<0x1b>[0m␍␊

[00:00:05.694,213] <0x1b>[1;31m<err> os: xpsr: 0x21000000<0x1b>[0m␍␊

[00:00:05.694,213] <0x1b>[1;31m<err> os: Faulting instruction address (r15/pc): 0x00031072<0x1b>[0m␍␊

[00:00:05.694,274] <0x1b>[1;31m<err> os: >>> ZEPHYR FATAL ERROR 4: Kernel panic on CPU 0<0x1b>[0m␍␊

[00:00:05.694,305] <0x1b>[1;31m<err> os: Current thread: 0x20002568 (BT RX WQ)<0x1b>[0m␍␊

[00:00:05.747,711] <0x1b>[1;31m<err> os: Halting system<0x1b>[0m␍␊

[Vidar Berg]

It seems you are encountering the same assertion as before:

DiBosco said:

ASSERTION FAIL [conn] @ WEST_TOPDIR/zephyr/subsys/bluetooth/host/gatt.c:5433␍␊

⇥ invalid parameters␍␊

Can you place a breakpoint at this line to confirm that the conn pointer is not set? Also, were you able to reproduce this with the central project I uploaded?

[DiBosco]

OK, in gatt.c the pointer looks like it is NULL.

That function really should have:

if ((NULL != conn) && (NULL != params))

at the start of that function to stop that issue.

I think we should forget about this particular project though, because...

----------------------------------------------------------------------------------

Your program does not do this, but although I can get comms in over the UART, write it to

the characteristic

in the remote node and I get notification it's been read by  the remote node

becauswe the ble_data_sent function is called.

However,  I never get the ble_data_received callback function being called, so

either the data isn't being quite sent to the write characteristic properly in your app

or something's wrong

with the setup fior the read characteristic in your app. We know the remote node works correctly

because it's been working with a Raspberry Pi just fine.

I'm assuming that, somehow, when you set up the syatem to be able to write to

BT_UUID_CUSTOM_TX

That you are setting up some area of memoryt that is

automatically the same size as the characteristic in our custom

remote node?

I did put this:

CONFIG_BT_L2CAP_TX_MTU=247

CONFIG_BT_BUF_ACL_RX_SIZE=251

CONFIG_BT_BUF_ACL_TX_SIZE=251

in prj.conf

and changed:

#define UART_BUF_SIZE 240

from it being just 20 bytes long to allow

for our larger characteristics.

----------------------------------------------------------------------------------

In your program I am guessing via custom_client_init you somehow tell the system

that if it finds the the service you are telling it to call ble_data_received. I'm again

guessing that

bt_custom_handles_assign does the magic of knitting them together

in one of those

memset lines somewhere? Or maybe:

custom_c->handles.rx = gatt_desc->handle;

But I could be wrong, I can't follow that

code I'm afraid. What should be looking for here in

an attempt to ascertain whether that is all set up correctly?

 

[Vidar Berg]

The NUS service only supports notifications on the TX characteristic (Nordic UART service). However, from the screenshot you posted earlier of the nRF Connect app, it seems that both of your characteristics support notifications. This means the GATT client must be modified to subscribe to both characteristics (i.e. custom_client.c if you're using my project).

[DiBosco]

So are you saying the central_uart project needs to be modified (in this case  the one you supplied) so that the Rx characteristic in central subscribes to the Tx characteristic in the remote node?

When I use your peripheral_uart to talk to your central with my UUIDs in, I don't need to do anything else other than send data into the UART on the peripheral and it appears on the central_uart project's UART output.

If I look with nrf connect on my Android  phone, the Tx  on the remote node - whether it be the Nordic DK running peripheral_uart, or our custom device, (which is the RX on the central_uart project) it is notify only, so why would it work on peripheral_uart and not our custom device. What am I  not understanding here?

[Vidar Berg]

I thought you were using the Nordic UART service with custom UUIDs. However, after looking at the the nRF Connect screendump you shared again, I notice several differences. For instance, your service includes three or more characteristics, while the UART service only has two. The client code I provided will only subscribe to notifications from the first characteristic with UUID:651135b0-dfe9-45a2-95c1-46552a8a77e2.

I don't know which characteristics the peripheral is supposed to send notifications on in your case.

[DiBosco]

I've tried the 52840DK using your peripheral UART and that works. So I have done

UART         |                                BLE                                                               | UART

PC UART<->CENTRAL_UART on 52840<-><PERIPHERAL_UART on 528040<->PC UART

When I try to connect to the custom unit, which uses the very same UUIDs as your custom program, rather than peripheral_uart, it does not work.

The custom unit has successfully done exactly the same thing I'm trying to achieve here, but with a Raspberry Pi: 

UART         |                                BLE                                  | UART

PC UART <-> Raspberry Pi with BLE <-> Custom Unit<->STM32

I want to replace that with

UART         |                                BLE                                    | UART

PC UART <-> CENTRAL_UART on 52840<-> Custom Unit<->STM32

BTW, I know how crazy this is, but it's what we've been asked to do.

The custom unit's service for which you had the screen shot has the following setup in its firmware where Rx is data going into it and Tx is data going out.

// the service
#define BASE_UUID128   "2a1f963c-143a-4f7d-9107-6315196a02a6"
#define BASE_UUID16    0x963c
// BLE Data into the custom unit (so the central_uart I'm trying to get working will write into this)
#define RX_LENGTH      240
#define RX_UUID128     "651135b0-dfe9-45a2-95c1-46552a8a77e2"
#define RX_UUID16      0x35b0
// Not sued for UART comms
#define RX_ACK_LENGTH  2
#define RX_ACK_UUID128 "946ba79e-3162-46d5-9ba7-8a9d08c11ff0"
#define RX_ACK_UUID16  0xa79e
// Data out from the custom unit into the central_uart over Bluetooth
#define TX_LENGTH      240
#define TX_UUID128     "e7d6274e-b765-11e9-a2a3-2a2ae2dbcce4"
#define TX_UUID16      0x274e
// Unused for this UART function
#define TX_ACK_LENGTH  2
#define TX_ACK_UUID128 "e7d629ba-b765-11e9-a2a3-2a2ae2dbcce4"
#define TX_ACK_UUID16  0x29ba

The custom unit is running an older Nordic device and I have successfully talked to it the custom unit by writing a Qt program on Linux to talk directly to it. So, the point being we know the custom unit works with these UUIDs

I have tried swapping RX and TX round in custom_client.h just in case there was a BLE equivalent of a 2/3 swap needed, but that does not help.

i.e.

/** @brief UUID of the TX Characteristic. **/

#define BT_UUID_CUSTOM_SRV_RX_VAL \

BT_UUID_128_ENCODE(0x651135b0, 0xdfe9, 0x45a2, 0x95c1, 0x46552a8a77e2)

/** @brief UUID of the RX Characteristic. **/

#define BT_UUID_CUSTOM_SRV_TX_VAL \

BT_UUID_128_ENCODE(0xe7d6274e, 0xb765, 0x11e9, 0xa2a3, 0x2a2ae2dbcce4)

One ot her slight annoyance that needs sorting is this that is spat out of the UART at boot:

*** Booting nRF Connect SDK v2.8.0-a2386bfc8401 ***␍␊

*** Using Zephyr OS v3.7.99-0bc3393fb112 ***␍␊

If I search for "Booting nRF Connect" in VSC it does not give me any hits. Do you

know where that is in the source so I can get rid of it please?