I (122) esp_image: segment 1: paddr=00033154 vaddr=3fc96cESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x15 (USB_UART_CHIP_RESET),boot:0x8 (SPI_FAST_FLASH_BOOT)

Saved PC:0x4037bb36

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbe0

load:0x403cc700,len:0x2cd0

entry 0x403c9908

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

I (25) boot: compile time 08:45:38

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

I (69) boot:  1 phy_init         RF data          01 01 0000f000 00001000

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

I (84) boot: End of partition table

I (88) esp_image: segment 0: paddr=00010020 vaddr=3c080020 size=2312ch (143660) map

I (122) esp_image: segment 1: paddr=00033154 vaddr=3fc96c00 size=03ee0h ( 16096) load

I (126) esp_image: segment 2: paddr=0003703c vaddr=40374000 size=08fdch ( 36828) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7fd20h (523552) map

I (231) esp_image: segment 4: paddr=000bfd48 vaddr=4037cfdc size=09b70h ( 39792) load

I (240) esp_image: segment 5: paddr=000c98c0 vaddr=600fe010 size=00004h (     4) load

I (248) boot: Loaded app from partition at offset 0x10000

I (248) boot: Disabling RNG early entropy source...

I (249) cpu_start: Multicore app

I (253) cpu_start: Pro cpu up.

I (256) cpu_start: Starting app cpu, entry point is 0x40375394

I (0) cpu_start: App cpu up.

I (273) cpu_start: Pro cpu start user code

I (273) cpu_start: cpu freq: 160000000 Hz

I (273) cpu_start: Application information:

I (273) cpu_start: Project name:     wheel

I (273) cpu_start: App version:      a8ab325-dirty

I (274) cpu_start: Compile time:     Jan 23 2024 17:03:58

I (274) cpu_start: ELF file SHA256:  8ec34e63cde0be14...

I (274) cpu_start: ESP-IDF:          v5.0.4-dirty

I (274) cpu_start: Min chip rev:     v0.0

I (274) cpu_start: Max chip rev:     v0.99 

I (275) cpu_start: Chip rev:         v0.1

I (275) heap_init: Initializing. RAM available for dynamic allocation:

I (275) heap_init: At 3FCA4648 len 000450C8 (276 KiB): DRAM

I (276) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (276) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (276) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (277) spi_flash: detected chip: gd

I (278) spi_flash: flash io: dio

W (278) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (279) sleep: Configure to isolate all GPIO pins in sleep state

I (280) sleep: Enable automatic switching of GPIO sleep configuration

I (280) app_start: Starting scheduler on CPU0

I (281) app_start: Starting scheduler on CPU1

I (281) main_task: Started on CPU0

I (291) main_task: Calling app_main()

I (311) wifi station: ESP_WIFI_INIT_STA

I (311) pp: pp rom version: e7ae62f

I (321) net80211: net80211 rom version: e7ae62f

I (331) wifi:wifi driver task: 3fcae658, prio:23, stack:6656, core=0

I (331) system_api: Base MAC address is not set

I (331) system_api: read default base MAC address from EFUSE

I (341) wifi:wifi firmware version: e2d0ad8

I (341) wifi:wifi certification version: v7.0

I (341) wifi:config NVS flash: enabled

I (341) wifi:config nano formating: disabled

I (341) wifi:Init data frame dynamic rx buffer num: 32

I (341) wifi:Init management frame dynamic rx buffer num: 32

I (341) wifi:Init management short buffer num: 32

I (341) wifi:Init dynamic tx buffer num: 32

I (341) wifi:Init static tx FG buffer num: 2

I (341) wifi:Init static rx buffer size: 1600

I (341) wifi:Init static rx buffer num: 10

I (341) wifi:Init dynamic rx buffer num: 32

I (341) wifi_init: rx ba win: 6

I (341) wifi_init: tcpip mbox: 32

I (341) wifi_init: udp mbox: 6

I (341) wifi_init: tcp mbox: 6

I (341) wifi_init: tcp tx win: 5744

I (341) wifi_init: tcp rx win: 5744

I (341) wifi_init: tcp mss: 1440

I (341) wifi_init: WiFi IRAM OP enabled

I (341) wifi_init: WiFi RX IRAM OP enabled

I (341) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (381) wifi:mode : sta (f4:12:fa:58:62:0c)

I (381) wifi:enable tsf

I (391) modbus tcp: ModBusTCPSlave_init

I (391) bdc_control: DC motor dir gpio init

I (391) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (391) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (391) bdc_control: DC motor speed pwm init

I (391) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (391) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (391) bdc_control: Init pcnt driver to decode rotary signal

I (391) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (391) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (391) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (391) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (391) bdc_control: Create PID control block

I (391) bdc_control: Create a timer to do PID calculation periodically

I (391) bdc_control: DC motor dir gpio init

I (391) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (391) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (401) bdc_control: DC motor speed pwm init

I (401) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (401) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (401) bdc_control: Init pcnt driver to decode rotary signal

I (401) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (401) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (401) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (401) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (401) bdc_control: Create PID control block

I (401) bdc_control: Create a timer to do PID calculation periodically

I (401) bdc_control: Enable motor

I (401) bdc_control: Start motor loop

I (401) Adc measure: adc_measure_init

I (401) Adc measure: 1

I (401) Adc measure: 2

I (401) Adc measure: 3

I (401) Adc measure: 4

E (401) adc_oneshot: adc_oneshot_config_channel(136): invalid argument: null pointer

ESP_ERROR_CHECK failed: esp_err_t 0x102 (ESP_ERR_INVALID_ARG) at 0x4200939b

file: "/IDF/app/wheel/components/adc_measure/adc_measure.c" line 100

func: adc_measure_init

expression: adc_oneshot_config_channel(ADC_IL_UNIT, ADC_IL_CHAN, &config)



abort() was called at PC 0x4037cc53 on core 0





Backtrace: 0x40375f46:0x3fca80a0 0x4037cc5d:0x3fca80c0 0x4038345e:0x3fca80e0 0x4037cc53:0x3fca8150 0x4200939b:0x3fca8180 0x4200893a:0x3fca81e0 0x4207f467:0x3fca8200 0x4037cc6d:0x3fca8230









ELF file SHA256: 8ec34e63cde0be14



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)

Saved PC:0x403758d5

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbe0

load:0x403cc700,len:0x2cd0

entry 0x403c9908

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

I (24) boot: compile time 08:45:38

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=3c080020 size=2312ch (143660) map

I (122) esp_image: segment 1: paddr=00033154 vaddr=3fc96c00 size=03ee0h ( 16096) load

I (126) esp_image: segment 2: paddr=0003703c vaddr=40374000 size=08fdch ( 36828) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7fd20h (523552) map

I (230) esp_image: segment 4: paddr=000bfd48 vaddr=4037cfdc size=09b70h ( 39792) load

I (239) esp_image: segment 5: paddr=000c98c0 vaddr=600fe010 size=00004h (     4) load

I (247) boot: Loaded app from partition at offset 0x10000

I (248) boot: Disabling RNG early entropy source...

I (248) cpu_start: Multicore app

I (252) cpu_start: Pro cpu up.

I (256) cpu_start: Starting app cpu, entry point is 0x40375394

I (0) cpu_start: App cpu up.

I (272) cpu_start: Pro cpu start user code

I (272) cpu_start: cpu freq: 160000000 Hz

I (272) cpu_start: Application information:

I (273) cpu_start: Project name:     wheel

I (273) cpu_start: App version:      a8ab325-dirty

I (273) cpu_start: Compile time:     Jan 23 2024 17:03:58

I (273) cpu_start: ELF file SHA256:  8ec34e63cde0be14...

I (274) cpu_start: ESP-IDF:          v5.0.4-dirty

I (274) cpu_start: Min chip rev:     v0.0

I (274) cpu_start: Max chip rev:     v0.99 

I (274) cpu_start: Chip rev:         v0.1

I (274) heap_init: Initializing. RAM available for dynamic allocation:

I (275) heap_init: At 3FCA4648 len 000450C8 (276 KiB): DRAM

I (275) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (275) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (276) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (277) spi_flash: detected chip: gd

I (277) spi_flash: flash io: dio

W (277) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (279) sleep: Configure to isolate all GPIO pins in sleep state

I (279) sleep: Enable automatic switching of GPIO sleep configuration

I (280) app_start: Starting scheduler on CPU0

I (280) app_start: Starting scheduler on CPU1

I (280) main_task: Started on CPU0

I (290) main_task: Calling app_main()

I (310) wifi station: ESP_WIFI_INIT_STA

I (310) pp: pp rom version: e7ae62f

I (320) net80211: net80211 rom version: e7ae62f

I (330) wifi:wifi driver task: 3fcae658, prio:23, stack:6656, core=0

I (330) system_api: Base MAC address is not set

I (330) system_api: read default base MAC address from EFUSE

I (340) wifi:wifi firmware version: e2d0ad8

I (340) wifi:wifi certification version: v7.0

I (340) wifi:config NVS flash: enabled

I (340) wifi:config nano formating: disabled

I (340) wifi:Init data frame dynamic rx buffer num: 32

I (340) wifi:Init management frame dynamic rx buffer num: 32

I (340) wifi:Init management short buffer num: 32

I (340) wifi:Init dynamic tx buffer num: 32

I (340) wifi:Init static tx FG buffer num: 2

I (340) wifi:Init static rx buffer size: 1600

I (340) wifi:Init static rx buffer num: 10

I (340) wifi:Init dynamic rx buffer num: 32

I (340) wifi_init: rx ba win: 6

I (340) wifi_init: tcpip mbox: 32

I (340) wifi_init: udp mbox: 6

I (340) wifi_init: tcp mbox: 6

I (340) wifi_init: tcp tx win: 5744

I (340) wifi_init: tcp rx win: 5744

I (340) wifi_init: tcp mss: 1440

I (340) wifi_init: WiFi IRAM OP enabled

I (340) wifi_init: WiFi RX IRAM OP enabled

I (340) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (380) wifi:mode : sta (f4:12:fa:58:62:0c)

I (380) wifi:enable tsf

I (380) modbus tcp: ModBusTCPSlave_init

I (390) bdc_control: DC motor dir gpio init

I (390) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) bdc_control: DC motor speed pwm init

I (390) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) bdc_control: Init pcnt driver to decode rotary signal

I (390) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) bdc_control: Create PID control block

I (390) bdc_control: Create a timer to do PID calculation periodically

I (390) bdc_control: DC motor dir gpio init

I (390) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) bdc_control: DC motor speed pwm init

I (400) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (400) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (400) bdc_control: Init pcnt driver to decode rotary signal

I (400) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (400) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (400) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (400) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (400) bdc_control: Create PID control block

I (400) bdc_control: Create a timer to do PID calculation periodically

I (400) bdc_control: Enable motor

I (400) bdc_control: Start motor loop

I (400) Adc measure: adc_measure_init

I (400) Adc measure: 1

I (400) Adc measure: 2

I (400) Adc measure: 3

I (400) Adc measure: 4

E (400) adc_oneshot: adc_oneshot_config_channel(136): invalid argument: null pointer

ESP_ERROR_CHECK failed: esp_err_t 0x102 (ESP_ERR_INVALID_ARG) at 0x4200939b

file: "/IDF/app/wheel/components/adc_measure/adc_measure.c" line 100

func: adc_measure_init

expression: adc_oneshot_config_channel(ADC_IL_UNIT, ADC_IL_CHAN, &config)



abort() was called at PC 0x4037cc53 on core 0





Backtrace: 0x40375f46:0x3fca80a0 0x4037cc5d:0x3fca80c0 0x4038345e:0x3fca80e0 0x4037cc53:0x3fca8150 0x4200939b:0x3fca8180 0x4200893a:0x3fca81e0 0x4207f467:0x3fca8200 0x4037cc6d:0x3fca8230









ELF file SHA256: 8ec34e63cde0be14



Rebooting...

ESP-ROM:esp32s3-20210327

Build:Mar 27 2021

rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)

Saved PC:0x403758d5

SPIWP:0xee

mode:DIO, clock div:1

load:0x3fce3810,len:0x168c

load:0x403c9700,len:0xbe0

load:0x403cc700,len:0x2cd0

entry 0x403c9908

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

I (24) boot: compile time 08:45:38

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=3c080020 size=2312ch (143660) map

I (122) esp_image: segment 1: paddr=00033154 vaddr=3fc96c00 size=03ee0h ( 16096) load

I (126) esp_image: segment 2: paddr=0003703c vaddr=40374000 size=08fdch ( 36828) load

I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7fd20h (523552) map

I (230) esp_image: segment 4: paddr=000bfd48 vaddr=4037cfdc size=09b70h ( 39792) load

I (239) esp_image: segment 5: paddr=000c98c0 vaddr=600fe010 size=00004h (     4) load

I (247) boot: Loaded app from partition at offset 0x10000

I (248) boot: Disabling RNG early entropy source...

I (248) cpu_start: Multicore app

I (252) cpu_start: Pro cpu up.

I (256) cpu_start: Starting app cpu, entry point is 0x40375394

I (0) cpu_start: App cpu up.

I (272) cpu_start: Pro cpu start user code

I (272) cpu_start: cpu freq: 160000000 Hz

I (272) cpu_start: Application information:

I (273) cpu_start: Project name:     wheel

I (273) cpu_start: App version:      a8ab325-dirty

I (273) cpu_start: Compile time:     Jan 23 2024 17:03:58

I (273) cpu_start: ELF file SHA256:  8ec34e63cde0be14...

I (274) cpu_start: ESP-IDF:          v5.0.4-dirty

I (274) cpu_start: Min chip rev:     v0.0

I (274) cpu_start: Max chip rev:     v0.99 

I (274) cpu_start: Chip rev:         v0.1

I (274) heap_init: Initializing. RAM available for dynamic allocation:

I (275) heap_init: At 3FCA4648 len 000450C8 (276 KiB): DRAM

I (275) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM

I (275) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM

I (276) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM

I (277) spi_flash: detected chip: gd

I (277) spi_flash: flash io: dio

W (277) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.

I (279) sleep: Configure to isolate all GPIO pins in sleep state

I (279) sleep: Enable automatic switching of GPIO sleep configuration

I (280) app_start: Starting scheduler on CPU0

I (280) app_start: Starting scheduler on CPU1

I (280) main_task: Started on CPU0

I (290) main_task: Calling app_main()

I (310) wifi station: ESP_WIFI_INIT_STA

I (310) pp: pp rom version: e7ae62f

I (320) net80211: net80211 rom version: e7ae62f

I (330) wifi:wifi driver task: 3fcae658, prio:23, stack:6656, core=0

I (330) system_api: Base MAC address is not set

I (330) system_api: read default base MAC address from EFUSE

I (340) wifi:wifi firmware version: e2d0ad8

I (340) wifi:wifi certification version: v7.0

I (340) wifi:config NVS flash: enabled

I (340) wifi:config nano formating: disabled

I (340) wifi:Init data frame dynamic rx buffer num: 32

I (340) wifi:Init management frame dynamic rx buffer num: 32

I (340) wifi:Init management short buffer num: 32

I (340) wifi:Init dynamic tx buffer num: 32

I (340) wifi:Init static tx FG buffer num: 2

I (340) wifi:Init static rx buffer size: 1600

I (340) wifi:Init static rx buffer num: 10

I (340) wifi:Init dynamic rx buffer num: 32

I (340) wifi_init: rx ba win: 6

I (340) wifi_init: tcpip mbox: 32

I (340) wifi_init: udp mbox: 6

I (340) wifi_init: tcp mbox: 6

I (340) wifi_init: tcp tx win: 5744

I (340) wifi_init: tcp rx win: 5744

I (340) wifi_init: tcp mss: 1440

I (340) wifi_init: WiFi IRAM OP enabled

I (340) wifi_init: WiFi RX IRAM OP enabled

I (340) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14

I (380) wifi:mode : sta (f4:12:fa:58:62:0c)

I (380) wifi:enable tsf

I (390) modbus tcp: ModBusTCPSlave_init

I (390) bdc_control: DC motor dir gpio init

I (390) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) bdc_control: DC motor speed pwm init

I (390) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) bdc_control: Init pcnt driver to decode rotary signal

I (390) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 

I (390) bdc_control: Create PID control block

I (390) bdc_control: Create a timer to do PID calculation periodically

I (390) bdc_control: DC motor dir gpio init

I (390) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (390) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (400) bdc_control: DC motor speed pwm init

I (400) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (400) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 

I (400) bdc_control: Init pcnt driver to decode rotary signal

I