ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x15 (USB_UART_CHIP_RESET),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x403ce5a5

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (25) boot: compile time 17:59:59

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=3c090020 size=23de4h (146916) map

I (123) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (127) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (234) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (244) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (253) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (265) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (283) cpu_start: Pro cpu start user code

I (283) cpu_start: cpu freq: 160000000 Hz

I (283) cpu_start: Application information:

I (286) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (296) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (308) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (323) cpu_start: Chip rev:         v0.1

I (328) heap_init: Initializing. RAM available for dynamic allocation:

I (335) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (348) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (354) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (365) spi_flash: flash io: dio

W (369) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (396) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (580) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (790) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (620) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (244) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (283) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (296) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (308) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (323) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (335) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (354) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (620) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (810) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (580) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (790) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (620) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (640) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (700) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (790) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (810) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (820) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (620) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (790) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (810) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (820) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (740) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)



abort() was called at PC 0x4037d2d3 on core 0





Backtrace: 0x40375fc6:0x3fca8970 0x4037d2dd:0x3fca8990 0x40383b32:0x3fca89b0 0x4037d2d3:0x3fca8a20 0x4200b019:0x3fca8a50 0x42009ba0:0x3fca8a80 0x42082aef:0x3fca8aa0 0x4037d2ed:0x3fca8ad0









ELF file SHA256: 2fb089c0d7f8c6a4



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x2a (SPI_FAST_FLASH_BOOT)

Saved PC:0x40375955

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbf4

load:0x403cc700,len:0x2da8

entry 0x403c9904

I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader

I (24) boot: compile time 17:59:59

I (24) boot: Multicore bootloader

I (27) boot: chip revision: v0.1

I (30) boot.esp32s3: Boot SPI Speed : 80MHz

I (35) boot.esp32s3: SPI Mode       : DIO

I (40) boot.esp32s3: SPI Flash Size : 2MB

I (45) boot: Enabling RNG early entropy source...

I (50) boot: Partition Table:

I (54) boot: ## Label            Usage          Type ST Offset   Length

I (61) boot:  0 nvs              WiFi data        01 02 00009000 00006000

I (68) boot:  1 phy_init         RF data          01 01 0000f000 00001000

I (76) boot:  2 factory          factory app      00 00 00010000 00100000

I (83) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c090020 size=23de4h (146916) map

I (122) esp_image: segment 1: paddr=00033e0c vaddr=3fc97300 size=03fa0h ( 16288) load

I (126) esp_image: segment 2: paddr=00037db4 vaddr=40374000 size=08264h ( 33380) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=833a8h (537512) map

I (233) esp_image: segment 4: paddr=000c33d0 vaddr=4037c264 size=0afb8h ( 44984) load

I (243) esp_image: segment 5: paddr=000ce390 vaddr=600fe010 size=00004h (     4) load

I (252) boot: Loaded app from partition at offset 0x10000

I (252) boot: Disabling RNG early entropy source...

I (264) cpu_start: Multicore app

I (264) cpu_start: Pro cpu up.

I (264) cpu_start: Starting app cpu, entry point is 0x403753f4

I (0) cpu_start: App cpu up.

I (282) cpu_start: Pro cpu start user code

I (282) cpu_start: cpu freq: 160000000 Hz

I (282) cpu_start: Application information:

I (285) cpu_start: Project name:     wheel

I (290) cpu_start: App version:      4a964ca-dirty

I (295) cpu_start: Compile time:     Jan 24 2024 17:59:26

I (302) cpu_start: ELF file SHA256:  2fb089c0d7f8c6a4...

I (307) cpu_start: ESP-IDF:          v5.0.4-dirty

I (313) cpu_start: Min chip rev:     v0.0

I (318) cpu_start: Max chip rev:     v0.99 

I (322) cpu_start: Chip rev:         v0.1

I (327) heap_init: Initializing. RAM available for dynamic allocation:

I (334) heap_init: At 3FCA4E30 len 000448E0 (274 KiB): DRAM

I (341) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (347) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (353) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (361) spi_flash: detected chip: gd

I (364) spi_flash: flash io: dio

W (368) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (382) sleep: Configure to isolate all GPIO pins in sleep state

I (388) sleep: Enable automatic switching of GPIO sleep configuration

I (395) app_start: Starting scheduler on CPU0

I (400) app_start: Starting scheduler on CPU1

I (400) main_task: Started on CPU0

I (410) main_task: Calling app_main()

I (430) wifi station: ESP_WIFI_INIT_STA

I (440) pp: pp rom version: e7ae62f

I (440) net80211: net80211 rom version: e7ae62f

I (450) wifi:wifi driver task: 3fcaef5c, prio:23, stack:6656, core=0

I (450) system_api: Base MAC address is not set

I (450) system_api: read default base MAC address from EFUSE

I (470) wifi:wifi firmware version: e2d0ad8

I (470) wifi:wifi certification version: v7.0

I (470) wifi:config NVS flash: enabled

I (470) wifi:config nano formating: disabled

I (470) wifi:Init data frame dynamic rx buffer num: 32

I (480) wifi:Init management frame dynamic rx buffer num: 32

I (480) wifi:Init management short buffer num: 32

I (490) wifi:Init dynamic tx buffer num: 32

I (490) wifi:Init static tx FG buffer num: 2

I (490) wifi:Init static rx buffer size: 1600

I (500) wifi:Init static rx buffer num: 10

I (500) wifi:Init dynamic rx buffer num: 32

I (510) wifi_init: rx ba win: 6

I (510) wifi_init: tcpip mbox: 32

I (510) wifi_init: udp mbox: 6

I (520) wifi_init: tcp mbox: 6

I (520) wifi_init: tcp tx win: 5744

I (530) wifi_init: tcp rx win: 5744

I (530) wifi_init: tcp mss: 1440

I (530) wifi_init: WiFi IRAM OP enabled

I (540) wifi_init: WiFi RX IRAM OP enabled

I (540) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (590) wifi:mode : sta (f4:12:fa:57:c4:a4)

I (590) wifi:enable tsf

I (590) modbus tcp: ModBusTCPSlave_init

I (590) bdc_control: DC motor dir gpio init

I (590) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (600) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (610) bdc_control: DC motor speed pwm init

I (610) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (620) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (630) bdc_control: Init pcnt driver to decode rotary signal

I (640) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (650) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (660) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (670) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (680) bdc_control: Create PID control block

I (680) bdc_control: Create a timer to do PID calculation periodically

I (690) bdc_control: DC motor dir gpio init

I (690) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (700) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (710) bdc_control: DC motor speed pwm init

I (720) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (730) bdc_control: Init pcnt driver to decode rotary signal

I (740) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (750) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (760) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (770) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (780) bdc_control: Create PID control block

I (780) bdc_control: Create a timer to do PID calculation periodically

I (790) servo: Create a timer to do Servo set

I (800) bdc_control: Enable motor

I (800) bdc_control: Start motor loop

I (800) Adc measure: adc_measure_init

I (810) Adc measure: ADC1 Calibration Success

I (810) Adc measure: ADC2 Calibration Success

I (820) Adc measure: Create a timer to do ADC measure

ESP_ERROR_CHECK failed: esp_err_t 0x105 (ESP_ERR_NOT_FOUND) at 0x4200b019

file: "/IDF/app/wheel/components/twai_communication/twai_communication.c" line 87

func: twai_init

expression: twai_driver_install(&g_config, &t_config, &f_config)