ESP32 Exception when reseting CAN controller

[cmeyer18]

I am running the following code, and getting an exception randomly on line 17 below (line 136 in source).

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1. if (millis() >= nextCheck)
2.     {
3.       nextCheck = millis() + 1215;
4.       CANEnabled = false;
5.  
6.       CAN.end();
7.       if (getChipRevision() <= 1)
8.       {
9.         Serial.println("Starting CAN for REV1 ESP32");
10.         if (!CAN.begin(250E3))
11.         {
12.           Serial.println("Starting CAN failed!");
13.         }
14.       }
15.       else
16.       {
17.       if (!CAN.begin(500E3))
18.         {
19.           Serial.println("Starting CAN failed!");
20.         }
21.         else
22.         {
23.           Serial.println("Restarted CAN!");
24.         }
25.       }
26.       CANEnabled = true;
27.     }

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This is a CAN library code, and the line inside that is causing the exception is gpio_set_direction(_rxPin, GPIO_MODE_INPUT);

Code: [Select all] [Expand/Collapse]

1. Guru Meditation Error: Core  0 panic'ed (LoadProhibited). Exception was unhandled.
2.  
3. Core  0 register dump:
4. PC      : 0x400f8fe0  PS      : 0x00060130  A0      : 0x800f9921  A1      : 0x3ffbd020
5. A2      : 0xc00fffff  A3      : 0x00000000  A4      : 0x00000001  A5      : 0x00060123  
6. A6      : 0x00000000  A7      : 0x00000000  A8      : 0xffffffff  A9      : 0x00000001
7. A10     : 0x00013ffc  A11     : 0x00000000  A12     : 0x00000004  A13     : 0x3ffb21e4  
8. A14     : 0x00000003  A15     : 0x00060023  SAR     : 0x00000008  EXCCAUSE: 0x0000001c
9. EXCVADDR: 0xffffffff  LBEG    : 0x4000c46c  LEND    : 0x4000c477  LCOUNT  : 0xffffffff  
10.  
11. Backtrace: 0x400f8fdd:0x3ffbd020 0x400f991e:0x3ffbd050 0x400e9ee1:0x3ffbd080 0x400d3fda:0x3ffbd0a0 0x4008d50d:0x3ffbd0d0
12.  
13.   #0  0x400f8fdd:0x3ffbd020 in gpio_ll_input_enable at C:\Users\cmeyer\.platformio\packages\framework-espidf\components\hal\esp32\include/hal/gpio_ll.h:319
14.       (inlined by) gpio_input_enable at C:\Users\cmeyer\.platformio\packages\framework-espidf\components\driver/gpio.c:191
15.   #1  0x400f991e:0x3ffbd050 in gpio_set_direction at C:\Users\cmeyer\.platformio\packages\framework-espidf\components\driver/gpio.c:284
16.   #2  0x400e9ee1:0x3ffbd080 in ESP32SJA1000Class::begin(long) at .pio/libdeps/esp32dev/CAN/src/ESP32SJA1000.cpp:59
17.   #3  0x400d3fda:0x3ffbd0a0 in TaskCANloop(void*) at src/ACC_Comm/canbus.cpp:136
18.   #4  0x4008d50d:0x3ffbd0d0 in vPortTaskWrapper at C:\Users\cmeyer\.platformio\packages\framework-espidf\components\freertos\port\xtensa/port.c:142
19.  
20.  
21.  
22.  
23. ELF file SHA256: 7a7d73fa1820f810

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What can I do to prevent these random exceptions?