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C:/esp32-idf/esp-idf/components/freertos/ringbuf.c:600 (xRingbufferReceiveUpToFromISR)- assert failed!
abort() was called at PC 0x400879d5 on core 0
Guru Meditation Error: Core  0 panic'ed (abort)

Backtrace: 0x400d1408:0x3ffc0590 0x4008542c:0x3ffc05b0 0x40118908:0x3ffc05d0 0x40081f41:0x3ffc0600

Rebooting...
ets Jun  8 2016 00:22:57

rst:0x10 (RTCWDT_RTC_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)

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#define I2C_MASTER_FREQ_HZ         400000     /*!< I2C master clock frequency */
#define I2C_PIN_SCL 13
#define I2C_PIN_SDA 14

void i2c_master_App_init(void)
{
	esp_err_t err;
	
    int i2c_master_port = I2C_NUM_0;
    i2c_config_t conf;
    conf.mode = I2C_MODE_MASTER;
    conf.sda_io_num = I2C_PIN_SDA;
    conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
    conf.scl_io_num = I2C_PIN_SCL;
    conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
    conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
    err = i2c_param_config(i2c_master_port, &conf);
    err = i2c_driver_install(i2c_master_port, conf.mode,
                       I2C_MASTER_RX_BUF_DISABLE,
                       I2C_MASTER_TX_BUF_DISABLE, 0);
}

esp_err_t i2c_master_read_slave(uint8_t slaveAddr,uint8_t* data_rd, size_t size)
{
    esp_err_t err;
	
    if (size == 0) {
        return ESP_OK;
    }
    i2c_cmd_handle_t cmd = i2c_cmd_link_create();
    err = i2c_master_start(cmd);
    err = i2c_master_write_byte(cmd, ( slaveAddr << 1 ) | READ_BIT, ACK_CHECK_EN);
    if (size > 1) {
        err = i2c_master_read(cmd, data_rd, size - 1, ACK_VAL);
    }
    err = i2c_master_read_byte(cmd, data_rd + size - 1, NACK_VAL);
    err = i2c_master_stop(cmd);
    esp_err_t ret = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_RATE_MS);
    i2c_cmd_link_delete(cmd);
    return ret;
}

esp_err_t i2c_master_write_slave(uint8_t slaveAddr,uint8_t* data_wr, size_t size)
{
   esp_err_t err;
	
    i2c_cmd_handle_t cmd = i2c_cmd_link_create();
    err = i2c_master_start(cmd);
    err = i2c_master_write_byte(cmd, ( slaveAddr << 1 ) | WRITE_BIT, ACK_CHECK_EN);
    err = i2c_master_write(cmd, data_wr, size, ACK_CHECK_EN);
    err = i2c_master_stop(cmd);
    esp_err_t ret = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_RATE_MS);
    i2c_cmd_link_delete(cmd);
    return ret;
}

esp_err_t BMX055_IIC_Write_Bytes(uint8_t Sensor_Slave_Addr,uint8_t addr,uint8_t* data_wr, size_t size)
{

        uint8_t data[16];
	data[0]=addr;
	MEMCPY(data+1,data_wr,size);
	esp_err_t err = i2c_master_write_slave(Sensor_Slave_Addr,data,size+1);//write addr+data
	return err;
}

esp_err_t BMX055_IIC_Read_Bytes(uint8_t Sensor_Slave_Addr,uint8_t addr,uint8_t* data_re, size_t size)
{
        uint8_t data[1];
	data[0]=addr;
	esp_err_t err = i2c_master_write_slave(Sensor_Slave_Addr,data,1);//write addr
	if(err!=ESP_OK)return err;
	err = i2c_master_read_slave(Sensor_Slave_Addr,data_re,size);//read data
	return err;
}

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static void pcf_task(void *pVParameter)
{
	/* Init I2C */
	//PCF8574 pcf1 = PCF8574(PCF8574_ADDR);
	
	int i2c_master_port = I2C_EXAMPLE_MASTER_NUM; // 0
	i2c_config_t conf;
	conf.mode = I2C_MODE_MASTER;
	conf.sda_io_num = (gpio_num_t)I2C_EXAMPLE_MASTER_SDA_IO; // IO12
	conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
	conf.scl_io_num = (gpio_num_t)I2C_EXAMPLE_MASTER_SCL_IO; // IO14
	conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
	conf.master.clk_speed = I2C_EXAMPLE_MASTER_FREQ_HZ; // 100KHz
	i2c_param_config((i2c_port_t)i2c_master_port, &conf);
	i2c_driver_install((i2c_port_t)i2c_master_port,
		conf.mode,
		I2C_EXAMPLE_MASTER_RX_BUF_DISABLE,
		I2C_EXAMPLE_MASTER_TX_BUF_DISABLE,
		0);
	
	for (;;)
	{
//		pcf1._write(0x01);
//		vTaskDelay(500 / portTICK_PERIOD_MS);
//		pcf1._write(0x00);	
//		vTaskDelay(500 / portTICK_PERIOD_MS);
		i2c_cmd_handle_t cmd = i2c_cmd_link_create();
		i2c_master_start(cmd);
		i2c_master_write_byte(cmd, 0x20 << 1 | WRITE_BIT, ACK_CHECK_EN);// ADDR pins are low, 0x20 is the base address
		i2c_master_write_byte(cmd, 0x80, ACK_CHECK_EN);						// 0x80 sets P7 to HIGH
		i2c_master_stop(cmd);
		int ret = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_RATE_MS);
		i2c_cmd_link_delete(cmd);
		if (ret == ESP_FAIL) {
			printf("Failed 1!");
		}
		vTaskDelay(100 / portTICK_RATE_MS);
		//printf("Go low\n");		
		cmd = i2c_cmd_link_create();
		i2c_master_start(cmd);
		i2c_master_write_byte(cmd, 0x20 << 1 | WRITE_BIT, ACK_CHECK_EN);// ADDR pins are low, 0x20 is the base address
		i2c_master_write_byte(cmd, 0x00, ACK_CHECK_EN); 					// 0x00 sets P7 to LOW
		i2c_master_stop(cmd);
		ret = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000 / portTICK_RATE_MS);
		i2c_cmd_link_delete(cmd);
		if (ret == ESP_FAIL) {
			printf("Failed 2!");
		}
		vTaskDelay(100 / portTICK_RATE_MS);
		//printf("Go high\n");			
	}
}

...
...

void app_main()
{	
	//test();
	nvs_flash_init();	
	//initialise_wifi();
	//xTaskCreate(&http_get_task, "http_get_task", 1024 * 5, NULL, 3, NULL);
	//xTaskCreate(&hello_task, "hello_task", 2048, NULL, 5, NULL);
	//xTaskCreate(&status_led_task, "status_led_task", 1024, NULL, 5, NULL);
	//xTaskCreate(&adc_task, "adc1task", 1024 * 3, NULL, 10, NULL);
	xTaskCreate(&temperature_task, "temperature_task", 1024 * 2, NULL, 6, NULL);
	xTaskCreate(&fan_task, "fan_task", 1024 * 3, NULL, 10, NULL);	
	xTaskCreate(&pwm_reader, "pwm_reader_task", 1024 * 8, NULL, 6, NULL);
	//xTaskCreate(&uart_task, "uart_task", 1024 * 3, NULL, 6, NULL);
	xTaskCreate(&pcf_task, "pcf_task", 1024 * 8, NULL, 2, NULL);
}

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 res = xSemaphoreTake(p_i2c->cmd_sem, ticks_to_wait);
    if (res == pdFALSE) {
	    ESP_LOGE(I2C_TAG, "Timeout 2!");
        ret = ESP_ERR_TIMEOUT;