New I2C Master Driver messing with FreeRTOS?

[demayn]

Hello everyone,

I've been using ESP-IDF for a while but facing problems that I cannot solve myself anymore.
I'm woking in ESP IDF V5.3.1 with a custom Board based on ESP32-S3-1 N8.
Connected to my board I have an LCD Screen controlled via I2C over a PCF8574 IO expander. I wrote the lib for that myself, using the latest I2C Master driver.
My issue is, that my code (or the driver itself?) seems to be messing with RTOS queues, when I transmit I2C data and try to read from a queue, the ESP crashes (see error log below).
I have also attached my code as well as my I2C Master config. Interestingly, when I rem,ove all I2C related commands, the queue works falwlessly, on the other hand the Screen (and thus all I2C commands) work flawlessly when no queue is being used.
Unfortunately, I need both.

I have ensured,m that enough stack and heap are available. I have also tried a dynamically allocated queue. I have also tried making the queue more lightweight by passing pointers in the queue.

Could the latest I2C driver at fault? What can I do? Sadly, I'm at the end of my knowledge.
Thanks for reading.

Code: [Select all] [Expand/Collapse]

1. I (398) GP_HW: LCD Task started
2. I (2148) GP_HW: queue receive
3. Guru Meditation Error: Core  0 panic'ed (Interrupt wdt timeout on CPU0).
4.  
5. Core  0 register dump:
6. PC      : 0x4037b2e8  PS      : 0x00060d34  A0      : 0x8037adf6  A1      : 0x3fc9d820
7. 0x4037b2e8: spinlock_acquire at C:/Espressif/frameworks/esp-idf-v5.3/components/esp_hw_support/include/spinlock.h:131
8.  (inlined by) xPortEnterCriticalTimeout at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:473
9.  
10. A2      : 0x3fc9dc20  A3      : 0xffffffff  A4      : 0x147108eb  A5      : 0x00060d23
11. A6      : 0xb33fffff  A7      : 0x0000cdcd  A8      : 0x8037b2e8  A9      : 0x3fc9d800
12. A10     : 0x00000000  A11     : 0x53cb9a98  A12     : 0x5f746567  A13     : 0x0000000c
13. A14     : 0x00060023  A15     : 0x00000003  SAR     : 0x00000004  EXCCAUSE: 0x00000005
14. EXCVADDR: 0x00000000  LBEG    : 0x400556d5  LEND    : 0x400556e5  LCOUNT  : 0xfffffffe
15. 0x400556d5: strlen in ROM
16. 0x400556e5: strlen in ROM
17.  
18.  
19.  
20. Backtrace: 0x4037b2e5:0x3fc9d820 0x4037adf3:0x3fc9d850 0x42009001:0x3fc9d890 0x4037b08d:0x3fc9d910
21. 0x4037b2e5: spinlock_acquire at C:/Espressif/frameworks/esp-idf-v5.3/components/esp_hw_support/include/spinlock.h:130
22.  (inlined by) xPortEnterCriticalTimeout at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:473
23. 0x4037adf3: vPortEnterCritical at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:567
24.  (inlined by) xQueueReceive at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/queue.c:1549
25. 0x42009001: lcd_task at C:/Users/damia/Desktop/SSW/SW/ssw_esp/espidf/ssw2opta/main/main.c:76
26. 0x4037b08d: vPortTaskWrapper at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134
27.  
28.  
29.  
30. Core  1 register dump:
31. PC      : 0x40378cf2  PS      : 0x00060934  A0      : 0x82002c39  A1      : 0x3fc9b550
32. 0x40378cf2: esp_cpu_wait_for_intr at C:/Espressif/frameworks/esp-idf-v5.3/components/esp_hw_support/cpu.c:64
33.  
34. A2      : 0x00000000  A3      : 0x00000000  A4      : 0x3fc995a0  A5      : 0x3fc99580
35. A6      : 0x40375d98  A7      : 0x00000001  A8      : 0x8200ba2a  A9      : 0x3fc9b510
36. 0x40375d98: ipc_task at C:/Espressif/frameworks/esp-idf-v5.3/components/esp_system/esp_ipc.c:53
37.  
38. A10     : 0x00000000  A11     : 0x00000000  A12     : 0x3fc99580  A13     : 0x3fc99560
39. A14     : 0x00000001  A15     : 0x3fc9b724  SAR     : 0x00000000  EXCCAUSE: 0x00000005
40. EXCVADDR: 0x00000000  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000
41.  
42.  
43. Backtrace: 0x40378cef:0x3fc9b550 0x42002c36:0x3fc9b570 0x4037c025:0x3fc9b590 0x4037b08d:0x3fc9b5b0
44. 0x40378cef: xt_utils_wait_for_intr at C:/Espressif/frameworks/esp-idf-v5.3/components/xtensa/include/xt_utils.h:82
45.  (inlined by) esp_cpu_wait_for_intr at C:/Espressif/frameworks/esp-idf-v5.3/components/esp_hw_support/cpu.c:55
46. 0x42002c36: esp_vApplicationIdleHook at C:/Espressif/frameworks/esp-idf-v5.3/components/esp_system/freertos_hooks.c:58
47. 0x4037c025: prvIdleTask at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/tasks.c:4344 (discriminator 1)
48. 0x4037b08d: vPortTaskWrapper at C:/Espressif/frameworks/esp-idf-v5.3/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

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Code: [Select all] [Expand/Collapse]

1. #define QUEUE_LENGTH 3
2. #define ITEM_SIZE sizeof(lcd_data)
3. StaticQueue_t xQueueBuffer;
4. uint8_t ucQueueStorage[QUEUE_LENGTH * ITEM_SIZE];
5.  
6. QueueHandle_t lcd_queue;
7.  
8. rtc_pcf8563 lcd;
9.  
10. void lcd_task(void *args);
11.  
12. void app_main(void)
13. {
14.     gpio_init();
15.     i2c_init();
16.  
17.     esp_err_t ret;
18.     ret = nvs_flash_init();
19.     if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND)
20.     {
21.         ESP_ERROR_CHECK(nvs_flash_erase());
22.         ret = nvs_flash_init();
23.     }
24.     ESP_ERROR_CHECK(ret);
25.  
26.     // init LCD queue (will be used to send data to LCD print task)
27.     lcd_queue = xQueueCreateStatic(QUEUE_LENGTH,         // The number of items the queue can hold.
28.                                    ITEM_SIZE,            // The size of each item in the queue
29.                                    &(ucQueueStorage[0]), // The buffer that will hold the items in the queue.
30.                                    &xQueueBuffer);       // The buffer that will hold the queue structure.
31.     if (lcd_queue == NULL)
32.         ESP_LOGE(TAG, "queuecreate failed");
33.     TaskHandle_t lcd_tsk_hdl;
34.     xTaskCreate(lcd_task, "LCD_TSK", 5000, NULL, tskIDLE_PRIORITY, &lcd_tsk_hdl);
35.  
36.     lcd_data info = {
37.         .x_pos = 0,
38.         .y_pos = 0,
39.         .msg = "testmsg",
40.     };
41.  
42.     xQueueSend(lcd_queue, &info, portMAX_DELAY);
43.  
44.     vTaskDelay(portMAX_DELAY);
45. }
46.  
47. void lcd_task(void *args)
48. {
49.     ESP_LOGI(TAG, "LCD Task started");
50.     lcd_init(&lcd, LCD_ADDR, bus_handle);
51.     while (lcd_begin(&lcd, LCD_COLS, LCD_ROWS) != ESP_OK)
52.     {
53.         ESP_LOGE(TAG, "LCD init fail");
54.         vTaskDelay(5000 / portTICK_PERIOD_MS);
55.     }
56.  
57.     // Turn on the backlight
58.     lcd_set_backlight(&lcd, true);
59.  
60.     // Print a message
61.     vTaskDelay(1);
62.     lcd_set_cursor(&lcd, 0, 0);
63.     vTaskDelay(1);
64.     lcd_print(&lcd, LCD_START_MSG);
65.     // vTaskDelay(2000 / portTICK_PERIOD_MS);
66.  
67.     lcd_data lcd_buf;
68.  
69.     while (1)
70.     {
71.         ESP_LOGI(TAG, "queue receive");
72.         if (xQueueReceive(lcd_queue, &lcd_buf, portMAX_DELAY))
73.             // ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
74.             ESP_LOGI(TAG, "queue event");
75.  
76.         ESP_LOGI(TAG, "%s", lcd_buf.msg);
77.        
78.                 vTaskDelay(1);
79.                 lcd_clear(&lcd);
80.                 vTaskDelay(1);
81.                 lcd_set_cursor(&lcd, lcd_buf.x_pos, lcd_buf.y_pos);
82.                 vTaskDelay(1);
83.                 lcd_print(&lcd, lcd_buf.msg);
84.                
85.     }
86. }

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this is my I2C config

Code: [Select all] [Expand/Collapse]

1. i2c_master_bus_config_t i2c_mst_config = {
2.     .i2c_port = I2C_NUM_0,
3.     .sda_io_num = GPIO_NUM_6,
4.     .scl_io_num = GPIO_NUM_5,
5.     .clk_source = I2C_CLK_SRC_DEFAULT,
6.     .glitch_ignore_cnt = 7,
7.     .intr_priority = 0,
8.     .trans_queue_depth = 0,
9.     .flags.enable_internal_pullup = true, // enable internal pullups
10. };
11. i2c_master_bus_handle_t bus_handle;
12.  
13. void lcd_init(i2c_lcd_pcf8574_handle_t *lcd, uint8_t i2c_addr, i2c_master_bus_handle_t bus_hdl)
14. {
15.     lcd->i2c_addr = i2c_addr;
16.     lcd->backlight = true;                 // sometimes not supported (PCF5874 P3 is NC on some modules)
17.     lcd->entrymode = ENTRYMODE_LEFT2RIGHT; // Init the LCD with an internal reset
18.     lcd->displaycontrol = DISPLAY_ON & ~CURSOR_ON & ~CURSOR_BLINK;
19.     lcd->bus_hdl = bus_hdl;
20. }

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[ESP_Sprite]

There's nothing in the code that you posted that seems suspect to me. Any chance of you uploading the full project so we can have a look?

[demayn]

There's nothing in the code that you posted that seems suspect to me. Any chance of you uploading the full project so we can have a look?

Sure, I've got nothing to hide (apart from spaghetti code). How would I do so? Github?

[demayn]

Apparently I'm just a moron.
While cleaning up the code and removing libs that are not necessary for simplicity, I removed the library for the i2c Real time clock. Turns out I had declared my lcd as rtc (real time clock, see line 8 in my code snippet), which has some members in common, so it wouldn't throw an error in C as it's being passed via pointer (just a warning, incompataible pointer type).
Yet the differenmce between the two structs is big enough to scramble my stack
That threw a compile error as soon as the other lib was removed.
Thank you very much for making me clean this up, it was just what I needed it seems. I have learned my lesson.

[ESP_Sprite]

Haha you have no idea how often asking people for their (stripped-down) code solves things here.