RoboRIO Teleop Freezeup

[gerthworm]

Howdy all! Working through a infrequently-occurring issue on our roboRIO:

A few times while connected to a field management system, we've had the RIO partially freeze up. We're still trying to gather telemetry to see what's happening exactly, but the symptoms are that the motors lock in at a single value (causing unwanted rotation we have to e-stop to prevent).

What we're observing via the driver station is a bump in processor load from 50% to 70%, and the RIO (but not the driver station) drops out of teleop mode.

There's no loops in this part of our code that would cause it to lock up. When it was happening, we were writing to a text log file on the RIO. Additonally, we read data from our sensors in separate threads from the main robot code. Other than that, it's just simple if statements and math.

We're already in the process of re-flashing the RIO firmware. It's hard to debug anything else since we can't reliably trigger the behavior yet. We're a bit worried there might be some corner-case in the RTOS we're hitting every now and then....

Anyone else observed similar odd behavior in the RIO?

Thanks much!

EDIT: Attached is a picture of our driver station log we captured during the anomaly.