QUERY · ISSUE
esp32/mpthreadport: Crashed in `vPortCleanUpTCB `
bug
Hi,
When I create a task with freertos interface xTaskCreatePinnedToCore and pinned the task to core 0 (duel to the cpu loading) which is different with micropython's core 1, crashes may occur when task finished.
- micropython commit: 1dedb65e645f72afbd614431435208d687e16992
- idf commit: cbce221e (this is idf v5.1 and idf 5.0.2 can also reproduce this issue, but most of the time no backtrace, so i pasted the backtrace tested with idf 5.1)
Recording: *********Guru Meditation Error: Core 0 panic'ed (Interrupt wdt timeout on CPU0).
Core 0 register dump:
PC : 0x400992a1 PS : 0x00060335 A0 : 0x8022b6f2 A1 : 0x3ffbab40
0x400992a1: spinlock_acquire at /home/lehe/esp/esp-idf-internal/components/esp_hw_support/include/spinlock.h:112
(inlined by) xPortEnterCriticalTimeout at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:501
A2 : 0x3ffbdc2c A3 : 0xffffffff A4 : 0x0000cdcd A5 : 0xb33fffff
A6 : 0x91886a06 A7 : 0x00060323 A8 : 0x800992ad A9 : 0x3ffbab20
A10 : 0x00000000 A11 : 0xb33f5454 A12 : 0x0000abab A13 : 0xb33fffff
A14 : 0x00001f46 A15 : 0x00060b23 SAR : 0x0000000d EXCCAUSE: 0x00000005
EXCVADDR: 0x00000000 LBEG : 0x4009661c LEND : 0x40096638 LCOUNT : 0x00000000
0x4009661c: memcpy at /builds/idf/crosstool-NG/.build/xtensa-esp32-elf/src/newlib/newlib/libc/machine/xtensa/memcpy.S:175
0x40096638: memcpy at /builds/idf/crosstool-NG/.build/xtensa-esp32-elf/src/newlib/newlib/libc/machine/xtensa/memcpy.S:197
Backtrace: 0x4009929e:0x3ffbab40 0x4022b6ef:0x3ffbab70 0x4022a1aa:0x3ffbab90 0x400d9cf5:0x3ffbabb0 0x400daa58:0x3ffbabd0 0x400d32a2:0x3ffbabf0 0x400d3164:0x3ffbac30 0x400d5f1d:0x3ffbac70
0x4009929e: xPortEnterCriticalTimeout at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:515
0x4022b6ef: vPortEnterCritical at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:575
(inlined by) vTaskTakeKernelLock at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/tasks.c:4073
0x4022a1aa: vEventGroupDelete at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/event_groups.c:663
0x400d9cf5: audio_element_deinit at /home/lehe/esp/esp-adf-internal/components/audio_pipeline/audio_element.c:1049
0x400daa58: audio_pipeline_deinit at /home/lehe/esp/esp-adf-internal/components/audio_pipeline/audio_pipeline.c:270 (discriminator 3)
0x400d32a2: audio_recorder_stop at audio_recorder.c:?
0x400d3164: audio_recorder_maxtime_cb at audio_recorder.c:?
0x400d5f1d: timer_process_alarm at /home/lehe/esp/esp-idf-internal/components/esp_timer/src/esp_timer.c:451
(inlined by) timer_task at /home/lehe/esp/esp-idf-internal/components/esp_timer/src/esp_timer.c:477
Core 1 register dump:
PC : 0x400991e9 PS : 0x00060735 A0 : 0x8022b235 A1 : 0x3ffbc7a0
0x400991e9: vListInsert at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/list.c:171 (discriminator 1)
A2 : 0x3ffc3eb4 A3 : 0x3ffb7dec A4 : 0x00000004 A5 : 0xb33fffff
A6 : 0x00001f48 A7 : 0x00060723 A8 : 0x3ffb7dec A9 : 0x3ffb7dec
A10 : 0x00000019 A11 : 0x00000019 A12 : 0xb33fffff A13 : 0xb33fffff
A14 : 0x00000000 A15 : 0x00060723 SAR : 0x00000020 EXCCAUSE: 0x00000005
EXCVADDR: 0x00000000 LBEG : 0x00000000 LEND : 0x00000000 LCOUNT : 0x00000000
Backtrace: 0x400991e6:0x3ffbc7a0 0x4022b232:0x3ffbc7c0 0x4022a9ee:0x3ffbc7e0 0x400fbbf5:0x3ffbc820 0x400fbd8b:0x3ffbc840 0x4022acbd:0x3ffbc860 0x4022ad9d:0x3ffbc880
0x400991e6: vListInsert at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/list.c:171 (discriminator 1)
0x4022b232: vTaskPlaceOnEventList at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/tasks.c:3842
0x4022a9ee: xQueueSemaphoreTake at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/queue.c:1772
0x400fbbf5: mp_thread_mutex_lock at /home/lehe/esp/micropython/ports/esp32/mpthreadport.c:207
0x400fbd8b: vPortCleanUpTCB at /home/lehe/esp/micropython/ports/esp32/mpthreadport.c:182
0x4022acbd: prvDeleteTCB at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/tasks.c:4948
0x4022ad9d: prvCheckTasksWaitingTermination at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/tasks.c:4664
(inlined by) prvIdleTask at /home/lehe/esp/esp-idf-internal/components/freertos/FreeRTOS-Kernel/tasks.c:4321
ELF file SHA256: df43f11bea27ef89
Rebooting...
ets Jul 29 2019 12:21:46
rst:0xc (SW_CPU_RESET),boot:0x1f (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0030,len:4748
ho 0 tail 12 room 4
load:0x40078000,len:14548
load:0x40080400,len:4
0x40080400: _init at ??:?
load:0x40080404,len:3380
entry 0x400805c4
['', '.frozen', '/lib', '/sdcard', '/sdcard/lib']
MicroPython v1.20.0-396-g1dedb65e6-dirty on 2023-08-28; ESP-Audio Lyart v4.3 with ESP32
Type "help()" for more information.
>>>
CANDIDATE · PULL REQUEST
esp32/mpthreadport: Fix TCB cleanup function don't check thread_mutex BUG.
port-esp32
Hi,
when i modify the esp32 configs:
CONFIG_PM_ENABLE=n
CONFIG_FREERTOS_USE_TICKLESS_IDLE=n
the system crash with error:
I (1520) cpu_start: Starting scheduler on PRO CPU.
I (0) cpu_start: Starting scheduler on APP CPU.
esp-idf/components/freertos/queue.c:1462 (xQueueGenericReceive)- assert failed!abort() was called at PC 0x4008db6c on core 0
It found that it crash by mp_thread_mutex_lock(&thread_mutex, 1) in vPortCleanUpTCB
function in ports/esp32/mpthreadport.c.
Because vPortCleanUpTCB called by FreeRTOS idle task, and it checked thread variable, but forgot check the thread_mutex variable. And if thread is not NULL, but thread_mutex not ready then it will crash with error when call mp_thread_mutex_lock(&thread_mutex, 1):
And i verify this by add this code in vPortCleanUpTCB :
printf("%p %p %s\n", thread, thread_mutex.handle, pcTaskGetTaskName((TaskHandle_t)tcb));
and print this:
0x3ffb3c14 0x0 dport
So maybe i turnoff FreeRTOS tickless idle task option , and idle task call vPortCleanUpTCB when mp_thread_init is running and cause the error.
Signed-off-by: leo chung gewalalb@gmail.com