Compatibility issues among esp-who, esp-idf 5.5, and Opencv 4.10.0~3

[lingfliu]

We recently establish an image analysis based project based on the ESP32-S3-EYE board, which tries to integrate the espressif/opencv 4.10.0~3 with the WHO framework and BLE component as well. After several days of test, we found that the IDF 5.4.1 or 5.4.2 will get stuck when compiling the opencv library at the file of callib and five-point.c. So we upgrade the IDF to 5.5, where the Opencv gets compiled successfully. However, another bug raises for the camera initialization, reporting that the DMA malloc failed for the cam. This only happens at IDF 5.5. For IDF 5.4.2 the cams are initialized sucessfully. The issue happens also for the example projects e.g. the human-face-detect in esp-WHO.

So any one has encountered the issue and any suggestion?

The log:
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0xc (RTC_SW_CPU_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)
Saved PC:0x40375b78
--- 0x40375b78: esp_restart_noos at /Users/lingfengliu/esp/v5.5/esp-idf/components/esp_system/port/soc/esp32s3/system_internal.c:162
SPIWP:0xee
mode:DIO, clock div:1
load:0x3fce2820,len:0x159c
load:0x403c8700,len:0xd24
load:0x403cb700,len:0x2f48
entry 0x403c8924
I (24) boot: ESP-IDF v5.5-dirty 2nd stage bootloader
I (24) boot: compile time Aug 13 2025 14:00:52
I (24) boot: Multicore bootloader
I (25) boot: chip revision: v0.2
I (27) boot: efuse block revision: v1.3
I (31) boot.esp32s3: Boot SPI Speed : 80MHz
I (35) boot.esp32s3: SPI Mode : DIO
I (39) boot.esp32s3: SPI Flash Size : 8MB
I (42) boot: Enabling RNG early entropy source...
I (47) boot: Partition Table:
I (49) boot: ## Label Usage Type ST Offset Length
I (56) boot: 0 nvs WiFi data 01 02 00009000 00006000
I (62) boot: 1 phy_init RF data 01 01 0000f000 00001000
I (69) boot: 2 factory factory app 00 00 00010000 007d0000
I (75) boot: End of partition table
I (79) esp_image: segment 0: paddr=00010020 vaddr=3c170020 size=945b8h (607672) map
I (193) esp_image: segment 1: paddr=000a45e0 vaddr=3fc99f00 size=06974h ( 26996) load
I (199) esp_image: segment 2: paddr=000aaf5c vaddr=40374000 size=050bch ( 20668) load
I (204) esp_image: segment 3: paddr=000b0020 vaddr=42000020 size=16e804h (1501188) map
I (469) esp_image: segment 4: paddr=0021e82c vaddr=403790bc size=10dach ( 69036) load
I (485) esp_image: segment 5: paddr=0022f5e0 vaddr=600fe000 size=00020h ( 32) load
I (494) boot: Loaded app from partition at offset 0x10000
I (494) boot: Disabling RNG early entropy source...
I (505) cpu_start: Multicore app
I (514) cpu_start: Pro cpu start user code
I (514) cpu_start: cpu freq: 160000000 Hz
I (514) app_init: Application information:
I (514) app_init: Project name: crack_gauge
I (518) app_init: App version: 61c15e1-dirty
I (523) app_init: Compile time: Aug 13 2025 14:00:48
I (528) app_init: ELF file SHA256: 3e51f6604...
I (532) app_init: ESP-IDF: v5.5-dirty
I (536) efuse_init: Min chip rev: v0.0
I (540) efuse_init: Max chip rev: v0.99
I (544) efuse_init: Chip rev: v0.2
I (548) heap_init: Initializing. RAM available for dynamic allocation:
I (554) heap_init: At 3FCBF560 len 0002A1B0 (168 KiB): RAM
I (559) heap_init: At 3FCE9710 len 00005724 (21 KiB): RAM
I (565) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (570) heap_init: At 600FE020 len 00001FC8 (7 KiB): RTCRAM
I (576) spi_flash: detected chip: generic
I (579) spi_flash: flash io: dio
I (587) sleep_gpio: Configure to isolate all GPIO pins in sleep state
I (588) sleep_gpio: Enable automatic switching of GPIO sleep configuration
I (595) coexist: coex firmware version: 831ec70
I (599) coexist: coexist rom version e7ae62f
I (603) main_task: Started on CPU0
I (613) main_task: Calling app_main()
I (623) BLE_INIT: BT controller compile version [4713a69]
I (623) BLE_INIT: Feature Config, ADV:1, BLE_50:0, DTM:1, SCAN:1, CCA:0, SMP:1, CONNECT:1
I (623) BLE_INIT: Bluetooth MAC: 30:ed:a0:22:ef:02
I (633) phy_init: phy_version 701,f4f1da3a,Mar 3 2025,15:50:10
I (673) GATTS_SPP_DEMO: ble_spp_server_init init bluetooth
I (693) GATTS_SPP_DEMO: GATT server register, status 0, app_id 87, gatts_if 3
I (693) GATTS_SPP_DEMO: The number handle b
I (703) GATTS_SPP_DEMO: Service start, status 0, service_handle 40
I (703) GATTS_SPP_DEMO: Advertising start successfully
I (703) Pipeline: MODEL_TIME = 2, buffer count = 4
I (703) s3 ll_cam: DMA Channel=0
I (713) cam_hal: cam init ok
I (723) ov3660: Mismatch PID=0x5640
I (723) camera: Camera PID=0x5640 VER=0x00 MIDL=0x00 MIDH=0x00
I (723) camera: Detected OV5640 camera
I (723) camera: Detected camera at address=0x3c
I (1413) cam_hal: PSRAM DMA mode enabled
I (1413) cam_hal: buffer_size: 184320, half_buffer_size: 1024, node_buffer_size: 1024, node_cnt: 180, total_cnt: 181
I (1413) cam_hal: Allocating 185360 Byte frame buffer in PSRAM
E (1413) cam_hal: cam_dma_config(504): frame buffer malloc failed
E (1423) cam_hal: cam_config(594): cam_dma_config failed
E (1423) gdma: gdma_disconnect(309): no peripheral is connected to the channel
E (1433) camera: Camera config failed with error 0xffffffff
ESP_ERROR_CHECK failed: esp_err_t 0xffffffff (ESP_FAIL) at 0x420564b1
--- 0x420564b1: who::cam::WhoS3Cam::WhoS3Cam(pixformat_t, framesize_t, unsigned char, bool, bool) at /Users/lingfengliu/esp/esp-who/components/who_peripherals/who_cam/who_s3_cam/who_s3_cam.cpp:26
file: "/Users/lingfengliu/esp/esp-who/components/who_peripherals/who_cam/who_s3_cam/who_s3_cam.cpp" line 26
func: who::cam::WhoS3Cam::WhoS3Cam(pixformat_t, framesize_t, uint8_t, bool, bool)
expression: esp_camera_init(&camera_config)

abort() was called at PC 0x4037fcaf on core 0
--- 0x4037fcaf: _esp_error_check_failed at /Users/lingfengliu/esp/v5.5/esp-idf/components/esp_system/esp_err.c:49


Backtrace: 0x40375c39:0x3fcc4010 0x4037fcb9:0x3fcc4030 0x403870ed:0x3fcc4050 0x4037fcaf:0x3fcc40c0 0x420564b1:0x3fcc40f0 0x4200db69:0x3fcc4180 0x4200c0be:0x3fcc41c0 0x4200c1e8:0x3fcc4220 0x4216d958:0x3fcc4240 0x4038072d:0x3fcc4270
--- 0x40375c39: panic_abort at /Users/lingfengliu/esp/v5.5/esp-idf/components/esp_system/panic.c:469
--- 0x4037fcb9: esp_system_abort at /Users/lingfengliu/esp/v5.5/esp-idf/components/esp_system/port/esp_system_chip.c:87
--- 0x403870ed: abort at /Users/lingfengliu/esp/v5.5/esp-idf/components/newlib/src/abort.c:38
--- 0x4037fcaf: _esp_error_check_failed at /Users/lingfengliu/esp/v5.5/esp-idf/components/esp_system/esp_err.c:49
--- 0x420564b1: who::cam::WhoS3Cam::WhoS3Cam(pixformat_t, framesize_t, unsigned char, bool, bool) at /Users/lingfengliu/esp/esp-who/components/who_peripherals/who_cam/who_s3_cam/who_s3_cam.cpp:26
--- 0x4200db69: get_term_dvp_frame_cap_pipeline() at /Users/lingfengliu/git/esp32_crack_gauge_dev/v5_5_v2/main/frame_cap_pipeline.cpp:58
--- 0x4200c0be: run_detect_term() at /Users/lingfengliu/git/esp32_crack_gauge_dev/v5_5_v2/main/app_main.cpp:20
--- 0x4200c1e8: app_main at /Users/lingfengliu/git/esp32_crack_gauge_dev/v5_5_v2/main/app_main.cpp:57
--- 0x4216d958: main_task at /Users/lingfengliu/esp/v5.5/esp-idf/components/freertos/app_startup.c:208
--- 0x4038072d: vPortTaskWrapper at /Users/lingfengliu/esp/v5.5/esp-idf/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:139