问题：
Esp32：双核任务崩溃，即使同一命令在其他地方也能工作
通安宁
在这件事上，我已经超出了我的能力。
这个项目是为一些学生提供物联网演示。使用电报，他们可以控制一些照明以及接收一些事件通知。
确认以下各项工作正常：
所有照明和照明电报信息
温度传感器和电报信息
门铃，但不是电报信息
如果bot.sendMessage（聊天id，“有人在门口。”，“”）
被添加到soundDoorbell（）函数中，然后发生以下崩溃
CORRUPT HEAP: Bad head at 0x3fff479c. Expected 0xabba1234 got
0x3ffffff8 abort() was called at PC 0x40086cd1 on core 0
ELF file SHA256: 0000000000000000
Backtrace: 0x40088904:0x3ffdc5d0 0x40088b81:0x3ffdc5f0
0x40086cd1:0x3ffdc610 0x40086dfd:0x3ffdc640 0x400f6bcf:0x3ffdc660
0x400f2ebd:0x3ffdc920 0x400f2e4c:0x3ffdc970 0x4008d25d:0x3ffdc9a0
0x40081f1e:0x3ffdc9c0 0x4008208d:0x3ffdc9e0 0x40123ca6:0x3ffdca00
0x4011706a:0x3ffdca20 0x400d3a28:0x3ffdca40 0x400d3629:0x3ffdca60
0x400d37fb:0x3ffdca80 0x400d38f1:0x3ffdcab0 0x400d464d:0x3ffdcad0
0x400d707d:0x3ffdcb00 0x400d15cd:0x3ffdcba0 0x400d16a3:0x3ffdcbc0
0x40089b92:0x3ffdcc00
Rebooting... ets Jun 8 2016 00:22:57
rst:0xc (SW_CPU_RESET),boot:0x17 (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:1 load:0x3fff0018,len:4 load:0x3fff001c,len:1044
load:0x40078000,len:10124 load:0x40080400,len:5856 entry 0x400806a8
解码堆栈显示：
0x40088904: invoke_abort at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/esp32/panic.c
line 156 0x40088b81: abort at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/esp32/panic.c
line 171 0x40086cd1: lock_acquire_generic at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/newlib/locks.c
line 143 0x40086dfd: _lock_acquire_recursive at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/newlib/locks.c
line 171 0x400f6bcf: _vfiprintf_r at
../../../.././newlib/libc/stdio/vfprintf.c line 860 0x400f2ebd:
fiprintf at ../../../.././newlib/libc/stdio/fiprintf.c line 50
0x400f2e4c: __assert_func at ../../../.././newlib/libc/stdlib/assert.c
line 59 0x4008d25d: multi_heap_free at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/heap/multi_heap_poisoning.c
line 218 0x40081f1e: heap_caps_free at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/heap/heap_caps.c line 268 0x4008208d: esp_mbedtls_mem_free at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/mbedtls/port/esp_mem.c
line 35 0x40123ca6: mbedtls_free at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/mbedtls/mbedtls/library/platform.c
line 98 0x4011706a: mbedtls_ssl_free at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/mbedtls/mbedtls/library/ssl_tls.c
line 8992 0x400d3a28: stop_ssl_socket(sslclient_context*, char const*,
char const*, char const*) at
C:\Users\abas034\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.6\libraries\WiFiClientSecure\src\ssl_client.cpp
line 272 0x400d3629: WiFiClientSecure::stop() at
C:\Users\abas034\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.6\libraries\WiFiClientSecure\src\WiFiClientSecure.cpp
line 93 0x400d37fb: WiFiClientSecure::connect(char const*, unsigned
short, char const*, char const*, char const*) at
C:\Users\abas034\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.6\libraries\WiFiClientSecure\src\WiFiClientSecure.cpp
line 154 0x400d38f1: WiFiClientSecure::connect(char const*, unsigned
short) at
C:\Users\abas034\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.6\libraries\WiFiClientSecure\src\WiFiClientSecure.cpp
line 112 0x400d464d: UniversalTelegramBot::sendGetToTelegram(String
const&) at C:\Users\abas034\UOA\OneDrive - The University of
Auckland\Documents\Arduino\libraries\UniversalTelegramBot\src\UniversalTelegramBot.cpp
line 73 0x400d707d: UniversalTelegramBot::getUpdates(long) at
C:\Users\ab\UOA\OneDrive - The University of
Auckland\Documents\Arduino\libraries\UniversalTelegramBot\src\UniversalTelegramBot.cpp
line 369 0x400d15cd: checkTelegramBot() at
C:\Users\ab\OneDrive\Documents\Projects\WorkingOn\IoT-Demo\HomeAutomationV3/HomeAutomationV3.ino
line 315 0x400d16a3: nonloopingCode(void*) at
C:\Users\ab\OneDrive\Documents\Projects\WorkingOn\IoT-Demo\HomeAutomationV3/HomeAutomationV3.ino
line 343 0x40089b92: vPortTaskWrapper at
/home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/freertos/port.c
line 143
考虑到“bot.sendMessage”功能在其他任何地方都可以工作，我无法理解为什么它会在这种情况下失败。
代码
#include
#include
#include
#ifdef ESP32
#include
#else
#include
#endif
#include
#include
#include
#include "DHTesp.h"
//Wifi & Telgram credentials
#include "config.h"
// Sensors & Control
#define pin_DHT11 4 //
#define pin_alarmsensor 2 //RCWL-0516
#define pin_siren 19
#define pin_led_veranda 26
#define pin_led_bedroom 25
#define pin_doorbell 27
DHTesp dht;
#define DATA_PIN 18
#define LED_TYPE WS2812
#define COLOR_ORDER GRB
#define NUM_LEDS 12
CRGB leds[NUM_LEDS];
#define BRIGHTNESS 50
#define FRAMES_PER_SECOND 120
bool alarmArmed = false;
bool alarmTriggered = false;
bool partyledson = false;
bool livingroomledson = false;
int buttonState;
int lastButtonState = LOW;
unsigned long lastDebounceTime = 0;
unsigned long debounceDelay = 50;
WiFiClientSecure client;
UniversalTelegramBot bot(BOTtoken, client);
int botRequestDelay = 50;
unsigned long lastTimeBotRan;
char textoption;
String chat_id;
TaskHandle_t loopingTasks;
TaskHandle_t nonloopingTasks;
void GetTemperature() { //implemented
String message = "Temperature: ";
TempAndHumidity newValues = dht.getTempAndHumidity();
message.concat(String(newValues.temperature)); message.concat(".");
bot.sendMessage(chat_id, message, "");
}
void ToggleAlarm() {
alarmArmed = !alarmArmed;
if (alarmArmed) {
bot.sendMessage(chat_id, "Alarm armed.", "");
}
else bot.sendMessage(chat_id, "Alarm disarmed.", "");
}
void TogglePartylights() {
partyledson = !partyledson;
if (partyledson) {
livingroomledson = false;
bot.sendMessage(chat_id, "Party lights switched on.", "");
}
else bot.sendMessage(chat_id, "Party lights switched off.", "");
}
void ToggleVerandaLights() {
bool LightStatus = digitalRead(pin_led_veranda);
LightStatus = !LightStatus;
digitalWrite(pin_led_veranda, LightStatus);
LightStatus = digitalRead(pin_led_veranda);
if (LightStatus) {
bot.sendMessage(chat_id, "Veranda light switched on.", "");
}
else bot.sendMessage(chat_id, "Veranda light switched off.", "");
}
void ToggleLivingRoomLights() {
partyledson = false;
bool LightStatus = livingroomledson;
livingroomledson = !livingroomledson;
if (livingroomledson) {
for ( int i = 0; i (leds, NUM_LEDS).setCorrection(TypicalLEDStrip);
FastLED.setBrightness(BRIGHTNESS);
FastLED.clear();
FastLED.show();
Serial.println("Started");
pinMode(pin_siren, OUTPUT);
pinMode(pin_led_veranda, OUTPUT);
pinMode(pin_led_bedroom, OUTPUT);
pinMode(pin_alarmsensor, INPUT);
pinMode(pin_doorbell, INPUT_PULLUP);
// Connect to Wi-Fi
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
client.setCACert(TELEGRAM_CERTIFICATE_ROOT);
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.println("Connecting to WiFi..");
}
// Print ESP32 Local IP Address
Serial.println(WiFi.localIP());
Serial.println("Bot started?");
bot.sendMessage(CHAT_ID, "System restarted", "");
//create a task that will be executed in the Task1code() function, with priority 1 and executed on core 0
xTaskCreatePinnedToCore(
nonloopingCode, /* Task function. */
"nonloopingTasks", /* name of task. */
16384, /* Stack size of task */
NULL, /* parameter of the task */
1, /* priority of the task */
&nonloopingTasks, /* Task handle to keep track of created task */
0); /* pin task to core 0 */
delay(500);
xTaskCreatePinnedToCore(
juggle, /* Task function. */
"loopingTasks", /* name of task. */
16384, /* Stack size of task */
NULL, /* parameter of the task */
1, /* priority of the task */
&loopingTasks, /* Task handle to keep track of created task */
1); /* pin task to core 1 */
delay(500);
}
void checkTelegramBot() {
if (millis() > lastTimeBotRan + botRequestDelay) {
int numNewMessages = bot.getUpdates(bot.last_message_received + 1);
while (numNewMessages) {
Serial.println("Got response");
handleNewMessages(numNewMessages);
numNewMessages = bot.getUpdates(bot.last_message_received + 1);
}
lastTimeBotRan = millis();
}
}
void nonloopingCode(void * pvParamters) {
Serial.print("nonloopingCode running on core ");
Serial.println(xPortGetCoreID());
for (;;) {
if ((!partyledson) && (!livingroomledson)) {
FastLED.clear();
FastLED.show();
}
if (alarmArmed) {
if (digitalRead(pin_alarmsensor)) {
bot.sendMessage(chat_id, "Alarm triggered", "");
partyledson = false;
alarmTriggered = true;
}
}
checkTelegramBot();
}
}
void juggle(void * pvParamters) {
Serial.print("Juggle running on core ");
Serial.println(xPortGetCoreID());
for (;;) {
checkDoorbell();
if (alarmTriggered)soundAlarm();
if (partyledson) {
fadeToBlackBy( leds, NUM_LEDS, 20);
byte dothue = 0;
int i = 0;
while ((i debounceDelay) {
if (reading != buttonState) {
buttonState = reading;
if (buttonState == LOW) {
soundDoorbell();
}
}
}
lastButtonState = reading;
}
void loop() {
}
共有1个答案
嵇丰
我不认为电报程序是线程安全的。
使用FreeRTOS互斥体(https://microcontrollerslab.com/arduino-freertos-mutex-tutorial-priority-inversion-priority-inheritance/)，我设法让它工作起来，虽然有很多滞后，但这是一个更容易解决的问题：）
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