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