I (122) esp_image: segment 1: paddr=00032398 vaddr=3fc96cESP-ROM:esp32s3-20210327 Build:Mar 27 2021 rst:0x15 (USB_UART_CHIP_RESET),boot:0x2a (SPI_FAST_FLASH_BOOT) Saved PC:0x42013a7a SPIWP:0xee mode:DIO, clock div:1 load:0x3fce3810,len:0x168c load:0x403c9700,len:0xbe0 load:0x403cc700,len:0x2cd0 entry 0x403c9908 I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader I (25) boot: compile time 09:09:09 I (25) boot: Multicore bootloader I (27) boot: chip revision: v0.1 I (31) boot.esp32s3: Boot SPI Speed : 80MHz I (36) boot.esp32s3: SPI Mode : DIO I (41) boot.esp32s3: SPI Flash Size : 2MB I (45) boot: Enabling RNG early entropy source... I (51) boot: Partition Table: I (54) boot: ## Label Usage Type ST Offset Length I (62) boot: 0 nvs WiFi data 01 02 00009000 00006000 I (69) boot: 1 phy_init RF data 01 01 0000f000 00001000 I (76) boot: 2 factory factory app 00 00 00010000 00100000 I (84) boot: End of partition table I (88) esp_image: segment 0: paddr=00010020 vaddr=3c080020 size=22370h (140144) map I (122) esp_image: segment 1: paddr=00032398 vaddr=3fc96c00 size=03e60h ( 15968) load I (125) esp_image: segment 2: paddr=00036200 vaddr=40374000 size=09e18h ( 40472) load I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7f034h (520244) map I (230) esp_image: segment 4: paddr=000bf05c vaddr=4037de18 size=08d14h ( 36116) load I (246) boot: Loaded app from partition at offset 0x10000 I (247) boot: Disabling RNG early entropy source... I (247) cpu_start: Multicore app I (251) cpu_start: Pro cpu up. I (254) cpu_start: Starting app cpu, entry point is 0x4037538c I (0) cpu_start: App cpu up. I (270) cpu_start: Pro cpu start user code I (270) cpu_start: cpu freq: 160000000 Hz I (270) cpu_start: Application information: I (271) cpu_start: Project name: wheel I (271) cpu_start: App version: ccee524-dirty I (271) cpu_start: Compile time: Jan 25 2024 14:25:12 I (271) cpu_start: ELF file SHA256: 6babcc1e59a11edc... I (272) cpu_start: ESP-IDF: v5.0.4-dirty I (272) cpu_start: Min chip rev: v0.0 I (272) cpu_start: Max chip rev: v0.99  I (272) cpu_start: Chip rev: v0.1 I (273) heap_init: Initializing. RAM available for dynamic allocation: I (273) heap_init: At 3FCA4588 len 00045188 (276 KiB): DRAM I (273) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM I (273) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM I (274) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM I (275) spi_flash: detected chip: gd I (275) spi_flash: flash io: dio W (275) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header. I (277) sleep: Configure to isolate all GPIO pins in sleep state I (277) sleep: Enable automatic switching of GPIO sleep configuration I (278) app_start: Starting scheduler on CPU0 I (278) app_start: Starting scheduler on CPU1 I (278) main_task: Started on CPU0 I (288) main_task: Calling app_main() I (308) wifi station: ESP_WIFI_INIT_STA I (308) pp: pp rom version: e7ae62f I (308) net80211: net80211 rom version: e7ae62f I (318) wifi:wifi driver task: 3fcae598, prio:23, stack:6656, core=0 I (318) system_api: Base MAC address is not set I (318) system_api: read default base MAC address from EFUSE I (328) wifi:wifi firmware version: e2d0ad8 I (328) wifi:wifi certification version: v7.0 I (328) wifi:config NVS flash: enabled I (328) wifi:config nano formating: disabled I (328) wifi:Init data frame dynamic rx buffer num: 32 I (328) wifi:Init management frame dynamic rx buffer num: 32 I (328) wifi:Init management short buffer num: 32 I (328) wifi:Init dynamic tx buffer num: 32 I (328) wifi:Init static tx FG buffer num: 2 I (328) wifi:Init static rx buffer size: 1600 I (328) wifi:Init static rx buffer num: 10 I (328) wifi:Init dynamic rx buffer num: 32 I (328) wifi_init: rx ba win: 6 I (328) wifi_init: tcpip mbox: 32 I (328) wifi_init: udp mbox: 6 I (328) wifi_init: tcp mbox: 6 I (328) wifi_init: tcp tx win: 5744 I (328) wifi_init: tcp rx win: 5744 I (328) wifi_init: tcp mss: 1440 I (328) wifi_init: WiFi IRAM OP enabled I (328) wifi_init: WiFi RX IRAM OP enabled I (338) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14 I (368) wifi:mode : sta (f4:12:fa:57:c4:a4) I (368) wifi:enable tsf I (368) modbus tcp: ModBusTCPSlave_init I (378) twal: twai init I (378) twal: twai_receive_task I (378) twal: twai_send_task I (378) bdc_control: DC motor dir gpio init I (378) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (378) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (378) bdc_control: DC motor speed pwm init I (378) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (378) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1 I (378) wifi:state: init -> auth (b0) I (378) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (388) bdc_control: Init pcnt driver to decode rotary signal I (388) wifi:state: auth -> assoc (0) I (388) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (388) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (388) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (388) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (388) bdc_control: Create PID control block I (388) bdc_control: Create a timer to do PID calculation periodically I (388) bdc_control: DC motor dir gpio init I (388) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (388) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (388) bdc_control: DC motor speed pwm init I (388) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (388) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (388) bdc_control: Init pcnt driver to decode rotary signal I (398) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (398) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (398) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (398) wifi:state: assoc -> run (10) I (398) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (398) bdc_control: Create PID control block I (398) bdc_control: Create a timer to do PID calculation periodically I (398) bdc_control: Enable motor I (398) bdc_control: Start motor loop I (428) wifi:connected with CMCC-xRSZ, aid = 132, channel 11, BW20, bssid = 74:6f:88:5a:5f:88 I (428) wifi:security: WPA2-PSK, phy: bgn, rssi: -57 I (438) wifi:pm start, type: 1 I (438) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000 I (438) wifi:idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64 I (438) wifi:idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64 I (438) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm I (468) wifi:AP's beacon interval = 102400 us, DTIM period = 1 I (1438) esp_netif_handlers: sta ip: 192.168.1.156, mask: 255.255.255.0, gw: 192.168.1.1 I (1438) wifi station: got ip:192.168.1.156 I (1978) twal: Failed to queue message for transmission I (2688) modbus tcp: accept assess I (3078) twal: Failed to queue message for transmission I (4178) twal: Failed to queue message for transmission I (5278) twal: Failed to queue message for transmission I (6378) twal: Failed to queue message for transmission I (7478) twal: Failed to queue message for transmission I (8578) twal: Failed to queue message for transmission I (9678) twal: Failed to queue message for transmission I (10778) twal: Failed to queue message for transmission I (11878) twal: Failed to queue message for transmission I (12978) twal: Failed to queue message for transmission I (14078) twal: Failed to queue message for transmission I (15178) twal: Failed to queue message for transmission I (16278) twal: Failed to queue message for transmission I (17378) twal: Failed to queue message for transmission I (18478) twal: Failed to queue message for transmission I (19578) twal: Failed to queue message for transmission I (20678) twal: Failed to queue message for transmission I (21778) twal: Failed to queue message for transmission I (22878) twal: Failed to queue message for transmission I (23978) twal: Failed to queue message for transmission I (25078) twal: Failed to queue message for transmission I (26178) twal: Failed to queue message for transmission I (26478) modbus: pid is change I (26498) bdc_control: id0 pid set successfully:0.300000 0.000000 0.000000 I (26498) bdc_control: id1 pid set successfully:0.300000 0.000000 0.000000 I (27278) twal: Failed to queue message for transmission I (28378) twal: Failed to queue message for transmission I (29478) twal: Failed to queue message for transmission I (30578) twal: Failed to queue message for transmission I (31678) twal: Failed to queue message for transmission I (32778) twal: Failed to queue message for transmission I (33878) twal: Failed to queue message for transmission I (34978) twal: Failed to queue message for transmission I (36078) twal: Failed to queue message for transmission I (37178) twal: Failed to queue message for transmission I (38278) twal: Failed to queue message for transmission I (39378) twal: Failed to queue message for transmission I (40198) modbus: pid is change I (40248) bdc_control: id0 pid set successfully:0.300000 0.010000 0.000000 I (40248) bdc_control: id1 pid set successfully:0.300000 0.010000 0.000000 I (40478) twal: Failed to queue message for transmission I (41578) twal: Failed to queue message for transmission I (42678) twal: Failed to queue message for transmission I (43778) twal: Failed to queue message for transmission I (44878) twal: Failed to queue message for transmission I (45978) twal: Failed to queue message for transmission I (47078) twal: Failed to queue message for transmission I (48178) twal: Failed to queue message for transmission I (49278) twal: Failed to queue message for transmission I (50378) twal: Failed to queue message for transmission I (51478) twal: Failed to queue message for transmission I (52578) twal: Failed to queue message for transmission I (53678) twal: Failed to queue message for transmission I (54778) twal: Failed to queue message for transmission I (55878) twal: Failed to queue message for transmission I (56978) twal: Failed to queue message for transmission I (58078) twal: Failed to queue message for transmission I (59178) twal: Failed to queue message for transmission I (60278) twal: Failed to queue message for transmission I (61378) twal: Failed to queue message for transmission I (62478) twal: Failed to queue message for transmission I (63578) twal: Failed to queue message for transmission I (64678) twal: Failed to queue message for transmission I (65778) twal: Failed to queue message for transmission I (66878) twal: Failed to queue message for transmission I (67978) twal: Failed to queue message for transmission I (69078) twal: Failed to queue message for transmission I (70178) twal: Failed to queue message for transmission I (71278) twal: Failed to queue message for transmission I (72378) twal: Failed to queue message for transmission I (73478) twal: Failed to queue message for transmission I (74578) twal: Failed to queue message for transmission I (75678) twal: Failed to queue message for transmission I (76778) twal: Failed to queue message for transmission I (77878) twal: Failed to queue message for transmission I (78978) twal: Failed to queue message for transmission I (80078) twal: Failed to queue message for transmission I (81178) twal: Failed to queue message for transmission I (82278) twal: Failed to queue message for transmission I (83378) twal: Failed to queue message for transmission I (84478) twal: Failed to queue message for transmission I (85578) twal: Failed to queue message for transmission I (86678) twal: Failed to queue message for transmission I (87778) twal: Failed to queue message for transmission I (88878) twal: Failed to queue message for transmission I (89978) twal: Failed to queue message for transmission I (91078) twal: Failed to queue message for transmission I (92178) twal: Failed to queue message for transmission I (93278) twal: Failed to queue message for transmission I (94378) twal: Failed to queue message for transmission I (95478) twal: Failed to queue message for transmission I (96578) twal: Failed to queue message for transmission I (97678) twal: Failed to queue message for transmission I (98778) twal: Failed to queue message for transmission I (99878) twal: Failed to queue message for transmission I (100978) twal: Failed to queue message for transmission I (102078) twal: Failed to queue message for transmission I (103178) twal: Failed to queue message for transmission I (104278) twal: Failed to queue message for transmission I (105378) twal: Failed to queue message for transmission I (106478) twal: Failed to queue message for transmission I (107578) twal: Failed to queue message for transmission I (108678) twal: Failed to queue message for transmission I (109778) twal: Failed to queue message for transmission I (110878) twal: Failed to queue message for transmission I (111978) twal: Failed to queue message for transmission I (113078) twal: Failed to queue message for transmission I (114178) twal: Failed to queue message for transmission I (115278) twal: Failed to queue message for transmission I (116378) twal: Failed to queue message for transmission I (117478) twal: Failed to queue message for transmission I (118578) twal: Failed to queue message for transmission I (119678) twal: Failed to queue message for transmission I (120778) twal: Failed to queue message for transmission I (121878) twal: Failed to queue message for transmission I (122978) twal: Failed to queue message for transmission I (124078) twal: Failed to queue message for transmission I (125178) twal: Failed to queue message for transmission I (126278) twal: Failed to queue message for transmission I (127378) twal: Failed to queue message for transmission I (128478) twal: Failed to queue message for transmission I (129578) twal: Failed to queue message for transmission I (130678) twal: Failed to queue message for transmission I (131778) twal: Failed to queue message for transmission I (132878) twal: Failed to queue message for transmission I (133978) twal: Failed to queue message for transmission I (135078) twal: Failed to queue message for transmission I (136178) twal: Failed to queue message for transmission I (137278) twal: Failed to queue message for transmission I (138378) twal: Failed to queue message for transmission I (139478) twal: Failed to queue message for transmission I (140578) twal: Failed to queue message for transmission I (141678) twal: Failed to queue message for transmission I (142778) twal: Failed to queue message for transmission I (143878) twal: Failed to queue message for transmission I (144978) twal: Failed to queue message for transmission I (146078) twal: Failed to queue message for transmission I (147178) twal: Failed to queue message for transmission I (148278) twal: Failed to queue message for transmission I (149378) twal: Failed to queue message for transmission I (150478) twal: Failed to queue message for transmission I (151578) twal: Failed to queue message for transmission I (152678) twal: Failed to queue message for transmission I (153778) twal: Failed to queue message for transmission I (154878) twal: Failed to queue message for transmission I (155978) twal: Failed to queue message for transmission I (157078) twal: Failed to queue message for transmission I (158178) twal: Failed to queue message for transmission I (159278) twal: Failed to queue message for transmission I (160378) twal: Failed to queue message for transmission I (161478) twal: Failed to queue message for transmission I (162578) twal: Failed to queue message for transmission I (163678) twal: Failed to queue message for transmission I (164778) twal: Failed to queue message for transmission I (165878) twal: Failed to queue message for transmission I (166978) twal: Failed to queue message for transmission I (168078) twal: Failed to queue message for transmission I (169178) twal: Failed to queue message for transmission I (170278) twal: Failed to queue message for transmission I (171378) twal: Failed to queue message for transmission I (172478) twal: Failed to queue message for transmission I (173578) twal: Failed to queue message for transmission I (174678) twal: Failed to queue message for transmission I (175778) twal: Failed to queue message for transmission I (176878) twal: Failed to queue message for transmission I (177978) twal: Failed to queue message for transmission I (179078) twal: Failed to queue message for transmission I (180178) twal: Failed to queue message for transmission I (181278) twal: Failed to queue message for transmission I (182378) twal: Failed to queue message for transmission I (183478) twal: Failed to queue message for transmission I (184578) twal: Failed to queue message for transmission I (185678) twal: Failed to queue message for transmission I (186778) twal: Failed to queue message for transmission I (187878) twal: Failed to queue message for transmission I (188978) twal: Failed to queue message for transmission I (190078) twal: Failed to queue message for transmission I (191178) twal: Failed to queue message for transmission I (192278) twal: Failed to queue message for transmission I (193378) twal: Failed to queue message for transmission I (194478) twal: Failed to queue message for transmission I (195578) twal: Failed to queue message for transmission I (196678) twal: Failed to queue message for transmission I (197778) twal: Failed to queue message for transmission I (198878) twal: Failed to queue message for transmission I (199978) twal: Failed to queue message for transmission I (201078) twal: Failed to queue message for transmission I (202178) twal: Failed to queue message for transmission I (203278) twal: Failed to queue message for transmission I (204378) twal: Failed to queue message for transmission I (205478) twal: Failed to queue message for transmission I (206578) twal: Failed to queue message for transmission I (207678) twal: Failed to queue message for transmission I (208778) twal: Failed to queue message for transmission I (208958) modbus: pid is change I (208998) bdc_control: id0 pid set successfully:0.300000 0.000000 0.000000 I (208998) bdc_control: id1 pid set successfully:0.300000 0.000000 0.000000 I (209878) twal: Failed to queue message for transmission I (210978) twal: Failed to queue message for transmission I (212078) twal: Failed to queue message for transmission I (213178) twal: Failed to queue message for transmission I (214278) twal: Failed to queue message for transmission I (215378) twal: Failed to queue message for transmission I (216478) twal: Failed to queue message for transmission I (217578) twal: Failed to queue message for transmission I (218678) twal: Failed to queue message for transmission I (219778) twal: Failed to queue message for transmission I (220878) twal: Failed to queue message for transmission I (221978) twal: Failed to queue message for transmission I (223078) twal: Failed to queue message for transmission I (224178) twal: Failed to queue message for transmission I (225278) twal: Failed to queue message for transmission I (226378) twal: Failed to queue message for transmission I (227478) twal: Failed to queue message for transmission I (228578) twal: Failed to queue message for transmission I (229678) twal: Failed to queue message for transmission I (230778) twal: Failed to queue message for transmission I (231878) twal: Failed to queue message for transmission I (232978) twal: Failed to queue message for transmission I (234078) twal: Failed to queue message for transmission I (235178) twal: Failed to queue message for transmission I (236278) twal: Failed to queue message for transmission I (237378) twal: Failed to queue message for transmission I (238478) twal: Failed to queue message for transmission I (239578) twal: Failed to queue message for transmission I (240678) twal: Failed to queue message for transmission I (241778) twal: Failed to queue message for transmission I (242878) twal: Failed to queue message for transmission I (243978) twal: Failed to queue message for transmission I (245078) twal: Failed to queue message for transmission I (246178) twal: Failed to queue message for transmission I (247278) twal: Failed to queue message for transmission I (248378) twal: Failed to queue message for transmission I (249478) twal: Failed to queue message for transmission I (250578) twal: Failed to queue message for transmission I (251678) twal: Failed to queue message for transmission I (252778) twal: Failed to queue message for transmission I (253878) twal: Failed to queue message for transmission I (254978) twal: Failed to queue message for transmission I (256078) twal: Failed to queue message for transmission I (257178) twal: Failed to queue message for transmission I (258278) twal: Failed to queue message for transmission I (259378) twal: Failed to queue message for transmission I (260478) twal: Failed to queue message for transmission I (261578) twal: Failed to queue message for transmission I (262678) twal: Failed to queue message for transmission I (263778) twal: Failed to queue message for transmission I (264878) twal: Failed to queue message for transmission I (265978) twal: Failed to queue message for transmission I (267078) twal: Failed to queue message for transmission I (268178) twal: Failed to queue message for transmission I (269278) twal: Failed to queue message for transmission I (270378) twal: Failed to queue message for transmission I (271478) twal: Failed to queue message for transmission I (272578) twal: Failed to queue message for transmission I (273678) twal: Failed to queue message for transmission I (274778) twal: Failed to queue message for transmission I (275878) twal: Failed to queue message for transmission I (276978) twal: Failed to queue message for transmission I (278078) twal: Failed to queue message for transmission I (279178) twal: Failed to queue message for transmission I (280278) twal: Failed to queue message for transmission I (281378) twal: Failed to queue message for transmission I (282478) twal: Failed to queue message for transmission I (283578) twal: Failed to queue message for transmission I (284678) twal: Failed to queue message for transmission I (285778) twal: Failed to queue message for transmission I (286878) twal: Failed to queue message for transmission I (287978) twal: Failed to queue message for transmission I (289078) twal: Failed to queue message for transmission I (290178) twal: Failed to queue message for transmission I (291278) twal: Failed to queue message for transmission I (292378) twal: Failed to queue message for transmission I (293478) twal: Failed to queue message for transmission I (294578) twal: Failed to queue message for transmission I (295678) twal: Failed to queue message for transmission