vTaskDelay

Zhouzhou_Aries
Posts: 1
Joined: Wed Oct 31, 2018 6:33 am

vTaskDelay

Postby Zhouzhou_Aries » Wed Oct 31, 2018 6:42 am

While runnning a long time my code return err like this:
I (59000931) DSP: Wakeup Waiting...
/home/xhtan/XFAI211/task/esp-idf/components/freertos/tasks.c:1443 (vTaskDelay)- assert failed!
abort() was called at PC 0x4008e3af on core 1

Backtrace: 0x40090ed7:0x3ffdcc30 0x4009102f:0x3ffdcc50 0x4008e3af:0x3ffdcc70 0x400d6cb5:0x3ffdcc90

Entering gdb stub now.


But ,I do not know why ?

ESP_Dazz
Posts: 77
Joined: Fri Jun 02, 2017 6:50 am

Re: vTaskDelay

Postby ESP_Dazz » Wed Oct 31, 2018 11:16 am

vTaskDelay() cannot be called whilst the scheduler is disabled (i.e. in between calls of vTaskSuspendAll() and vTaskResumeAll()). The assertion failure you see is vTaskDelay() checking if it was called whilst the scheduler is disabled.

davdav
Posts: 151
Joined: Thu Nov 17, 2016 2:33 pm

Re: vTaskDelay

Postby davdav » Thu Nov 22, 2018 10:59 pm

Hi @Esp_dazz,

I'm facing same assertion issue. I don't use vtasksuspendall but it happens time to time (no deterministic reason).

I have raised issue also on github but I didn't get any result.

In your opinion is there other reason which trigger that assertion?
For example: too many task waiting the scheduler?

How can i debug it?specific log level to be activated?

Thanks

ESP_Dazz
Posts: 77
Joined: Fri Jun 02, 2017 6:50 am

Re: vTaskDelay

Postby ESP_Dazz » Fri Nov 23, 2018 8:24 am

Generally, scheduler suspension is supposed to guarantee that a task on a particular core runs without being preempted. And because preemption is not disabled, FreeRTOS prohibits any blocking function from being called within that whilst the scheduler is suspended (i.e. Task delays or Queue send/receives with a tick timeout > 0).

There are a few places in ESP-IDF that use scheduler suspension (e.g. SPI Flash, FreeRTOS Event Groups etc), so if your application isn't calling vTaskSuspendAll(), it might be possible that some of the libraries that you're using are doing so internally.

Please provide a back trace and the link to the github issue. Thanks!

davdav
Posts: 151
Joined: Thu Nov 17, 2016 2:33 pm

Re: vTaskDelay

Postby davdav » Fri Nov 23, 2018 11:04 am

Hello @ESP_Dazz

This is link to github issue:

https://github.com/espressif/esp-idf/issues/391

It's quite "old" (1st october 2018) but I still see time to time using also v3.1.1. There you can find some backtrace

As written on github I have a task with only "20ms" of vTaskDelay.
Could it be the cause?


Thanks

ESP_Dazz
Posts: 77
Joined: Fri Jun 02, 2017 6:50 am

Re: vTaskDelay

Postby ESP_Dazz » Mon Nov 26, 2018 1:03 pm

Hi @davdav

I don't source of the problem is due to the delay duration or the number of tasks. If your application doesn't call vTaskSuspendAll(), I see two possibilities that can cause this issue.

1) Bug with IDF functions that internally call vTaskSuspendAll()
The assert in vTaskDelay() checks to see if the uxSchedulerSuspended of the current core is set. The only functions that change uxSchedulerSuspended are vTaskSuspendAll() and xTaskResumeAll(). If your application code does not call vTaskSuspendAll() directly, the only other possibility is that some other IDF function that internally calls vTaskSuspendAll() is being called in some way by your application.

The current places where vTaskSuspendAll() is used are as follows
- FreeRTOS Event Groups
- FreeRTOS Timer Service Task (Daemon Task)
- Multiple SPI Flash functions that internally call spi_flash_disable_interrupts_caches_and_other_cpu()
- esp_restart()

When a function calls vTaskSuspendAll(), the calling function is not supposed to yield or be preempted until it calls xTaskResumeAll(). Therefore, I don't see how a function could have called vTaskSuspendAll() and then some how manage to switch context to your application task which callsvTaskDelay(), unless there's a bug in scheduling.

It'll be helpful if you could check if any of your application tasks use the features listed above. A description of what your tasks are doing, their priorities and core affinities, and your application's SDK config would also be helpful.

2) Memory corruption that overwrites uxSchedulerSuspended[portNUM_PROCESSORS]
It could be possible that uxSchedulerSuspended is overwritten due to memory corruption. But finding the source of memory corruption could be difficult. I suggest you either use JTAG or software to set a watchpoint on uxSchedulerSuspended (see Heap Memory Debugging)

davdav
Posts: 151
Joined: Thu Nov 17, 2016 2:33 pm

Re: vTaskDelay

Postby davdav » Tue Nov 27, 2018 4:06 pm

Hello ESP_Dazz,

Thank you for reply. I have just got a crash related to vTaskDelay
and I have save coredump file. The crash is at same assert fail in tasks.c file

Code: Select all

C:/msys32/home/Davide/esp/esp-idf/components/freertos/tasks.c:1443 (vTaskDelay)- assert failed!
abort() was called at PC 0x40092007 on core 1

Backtrace: 0x4009580b:0x3ffd80e0 0x40095963:0x3ffd8100 0x40092007:0x3ffd8120 0x400ebcb5:0x3ffd8140

I (7041) esp_core_dump: Press Enter to print core dump to UART...
I (8047) esp_core_dump: Print core dump to uart...
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===================== ESP32 CORE DUMP END =====================
If I run the espcoredump python I get

Code: Select all

python esp-idf/components/espcoredump/espcoredump.py info_corefile -t b64 -c coredump_vTaskDelay.dat Avior_ESP32_WiFi/build/Avior_ESP32_WiFi_v2.elf
espcoredump.py v0.1-dev
===============================================================
==================== ESP32 CORE DUMP START ====================

================== CURRENT THREAD REGISTERS ===================
pc             0x400838bc       0x400838bc <spi_flash_op_block_func+36>
lbeg           0x0      0
lend           0x0      0
lcount         0x0      0
sar            0x0      0
ps             0x60920  395552
threadptr      <unavailable>
br             <unavailable>
scompare1      <unavailable>
acclo          <unavailable>
acchi          <unavailable>
m0             <unavailable>
m1             <unavailable>
m2             <unavailable>
m3             <unavailable>
expstate       <unavailable>
f64r_lo        <unavailable>
f64r_hi        <unavailable>
f64s           <unavailable>
fcr            <unavailable>
fsr            <unavailable>
a0             0x40081cb0       1074273456
a1             0x3ffcf8d0       1073543376
a2             0x0      0
a3             0x1      1
a4             0x3ffcf4f0       1073542384
a5             0x0      0
a6             0x1      1
a7             0x0      0
a8             0x3ffc508c       1073500300
a9             0x0      0
a10            0x1      1
a11            0x13000248       318767688
a12            0x3ffc1100       1073484032
a13            0x18     24
a14            0x3ffc1100       1073484032
a15            0x2      2

==================== CURRENT THREAD STACK =====================
#0  0x400838bc in spi_flash_op_block_func (arg=0x0) at C:/msys32/home/Davide/esp/esp-idf/components/spi_flash/cache_utils.c:82
#1  0x40081cb0 in ipc_task (arg=<optimized out>) at C:/msys32/home/Davide/esp/esp-idf/components/esp32/ipc.c:63

======================== THREADS INFO =========================
  Id   Target Id         Frame
  19   process 18        0x40093454 in xQueueGenericReceive (xQueue=0x3ffdef08, pvBuffer=0x3ffe0eb0, xTicksToWait=4294967295, xJustPeeking=0) at C:/msys32/home/Davide/esp/esp-idf/components/freertos/queue.c:1591
  18   process 17        0x40093454 in xQueueGenericReceive (xQueue=0x3ffcfb04, pvBuffer=0x0, xTicksToWait=4294967295, xJustPeeking=0) at C:/msys32/home/Davide/esp/esp-idf/components/freertos/queue.c:1591
  17   process 16        0x40093454 in xQueueGenericReceive (xQueue=0x3ffce08c, pvBuffer=0x0, xTicksToWait=4294967295, xJustPeeking=0) at C:/msys32/home/Davide/esp/esp-idf/components/freertos/queue.c:1591
  16   process 15        0x40093454 in xQueueGenericReceive (xQueue=0x3ffdf870, pvBuffer=0x3ffe1ce0, xTicksToWait=4294967295, xJustPeeking=0) at C:/msys32/home/Davide/esp/esp-idf/components/freertos/queue.c:1591
  15   process 14        /builds/idf/crosstool-NG/.build/src/gdb-7.10/gdb/inline-frame.c:171: internal-error: inline_frame_this_id: Assertion `!frame_id_eq (*this_id, outer_frame_id)' failed.
A problem internal to GDB has been detected,
further debugging may prove unreliable.
Quit this debugging session? (y or n) [answered Y; input not from terminal]
/builds/idf/crosstool-NG/.build/src/gdb-7.10/gdb/inline-frame.c:171: internal-error: inline_frame_this_id: Assertion `!frame_id_eq (*this_id, outer_frame_id)' failed.
A problem internal to GDB has been detected,
further debugging may prove unreliable.
Create a core file of GDB? (y or n) [answered Y; input not from terminal]
GDB exited (None / )!
Problem occured! GDB exited, restart it.
Reading symbols from Avior_ESP32_WiFi/build/Avior_ESP32_WiFi_v2.elf...done.
[New <main task>]
[New process 1]
[New process 2]
[New process 3]
[New process 4]
[New process 5]
[New process 6]
[New process 7]
[New process 8]
[New process 9]
[New process 10]
[New process 11]
[New process 12]
[New process 13]
[New process 14]
[New process 15]
[New process 16]
[New process 17]
[New process 18]
[Current thread is 1 (<main task>)]

======================= ALL MEMORY REGIONS ========================
Name   Address   Size   Attrs
.rtc.text 0x400c0000 0x0 RW
.rtc_noinit 0x50000000 0x0 RW
.iram0.vectors 0x40080000 0x400 R XA
.iram0.text 0x40080400 0x17c8c R XA
.dram0.data 0x3ffc0000 0x3e60 RW A
.flash.rodata 0x3f400020 0x25694 RW A
.flash.text 0x400d0018 0xc418c R XA
.coredump.tasks 0x3ffcf98c 0x164 RW
.coredump.tasks 0x3ffcf810 0x164 RW
.coredump.tasks 0x3ffd81e8 0x164 RW
.coredump.tasks 0x3ffd8020 0x1b0 RW
.coredump.tasks 0x3ffdaef8 0x164 RW
.coredump.tasks 0x3ffda260 0xc80 RW
.coredump.tasks 0x3ffd2394 0x164 RW
.coredump.tasks 0x3ffd2200 0x17c RW
.coredump.tasks 0x3ffd2b20 0x164 RW
.coredump.tasks 0x3ffd2990 0x178 RW
.coredump.tasks 0x3ffdc484 0x164 RW
.coredump.tasks 0x3ffdc2a0 0x1cc RW
.coredump.tasks 0x3ffd1c08 0x164 RW
.coredump.tasks 0x3ffd1900 0x2f0 RW
.coredump.tasks 0x3ffbd430 0x164 RW
.coredump.tasks 0x3ffb3250 0x53c RW
.coredump.tasks 0x3ffddb3c 0x164 RW
.coredump.tasks 0x3ffdd790 0x394 RW
.coredump.tasks 0x3ffdecb8 0x164 RW
.coredump.tasks 0x3ffdea80 0x220 RW
.coredump.tasks 0x3ffd6b90 0x164 RW
.coredump.tasks 0x3ffd68a0 0x2d8 RW
.coredump.tasks 0x3ffd9500 0x164 RW
.coredump.tasks 0x3ffd9330 0x1b8 RW
.coredump.tasks 0x3ffd8b74 0x164 RW
.coredump.tasks 0x3ffd8990 0x1cc RW
.coredump.tasks 0x3ffe27b8 0x164 RW
.coredump.tasks 0x3ffe8b30 0x198 RW
.coredump.tasks 0x3ffd35b8 0x164 RW
.coredump.tasks 0x3ffd3450 0x150 RW
.coredump.tasks 0x3ffe1d90 0x164 RW
.coredump.tasks 0x3ffe1bb0 0x1c8 RW
.coredump.tasks 0x3ffcf10c 0x164 RW
.coredump.tasks 0x3ffcef70 0x184 RW
.coredump.tasks 0x3ffcff84 0x164 RW
.coredump.tasks 0x3ffcfde0 0x18c RW
.coredump.tasks 0x3ffdf574 0x164 RW
.coredump.tasks 0x3ffe0db0 0x1b4 RW

===================== ESP32 CORE DUMP END =====================
===============================================================
Done!

If you need to investigate I can PM the .elf file and coredump file.


However I will try to investigate if it could be related to memory leak because I use heap in my application.

Thanks

ESP_Dazz
Posts: 77
Joined: Fri Jun 02, 2017 6:50 am

Re: vTaskDelay

Postby ESP_Dazz » Wed Dec 05, 2018 2:29 pm

Hi @davdav
I'm looking at the core dump output and I see the following.

Code: Select all

#0 0x400838bc in spi_flash_op_block_func (arg=0x0) at C:/msys32/home/Davide/esp/esp-idf/components/spi_flash/cache_utils.c:82
#1 0x40081cb0 in ipc_task (arg=<optimized out>) at C:/msys32/home/Davide/esp/esp-idf/components/esp32/ipc.c:63
It seems like something is accessing the flash cache. spi_flash_op_block_func() will disable the scheduler and according to the core dump, it's being called via the IPC task. Therefore one of the cores is calling spi_flash_disable_interrupts_caches_and_other_cpu() and using the IPC task to invoke a call to spi_flash_op_block_func() on the other core. Both of those functions will disable the scheduler, but for some whilst those two functions are running, the task that calls vTaskDelay() is also able to run.

Could you please track down where the calls to SPI flash functions originate from (e.g. which task, its priority, and core affinity). The same information for the task which calls vTaskDelay() would also be useful. I want to determine if this is a scheduling bug.

davdav
Posts: 151
Joined: Thu Nov 17, 2016 2:33 pm

Re: vTaskDelay

Postby davdav » Wed Dec 05, 2018 4:43 pm

Hello ESP_Dazz,

Thank you for providing attention to my issue.
Could you please track down where the calls to SPI flash functions originate from (e.g. which task, its priority, and core affinity).
Can you please tell me how can I retrieve all the information you mention?
I don't have JTAG but I can enable GDB stub in case of crash.

Is there any tool/command/documentation I have to use in order to give you what you need?
The same information for the task which calls vTaskDelay() would also be useful.
I will send you a list of the tasks in my application. All of them are NOT pinned to a core and have priority from 11 to 7.

Thanks

ESP_Dazz
Posts: 77
Joined: Fri Jun 02, 2017 6:50 am

Re: vTaskDelay

Postby ESP_Dazz » Wed Dec 12, 2018 7:47 am

Hi davdav,

The easiest way to track down which task(s) are calling SPI flash functions would be to add an assert(0); at the first line of spi_flash_op_block_func() and spi_flash_disable_interrupts_caches_and_other_cpu(). This should cause a back trace to be printed when either functions are called.
davdav wrote: I will send you a list of the tasks in my application. All of them are NOT pinned to a core and have priority from 11 to 7.
This will also be helpful. Thanks!

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