176 KiB
176 KiB
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96bI (306) wifi station: ESP_WIFI_INIT_STA
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x15 (USB_UART_CHIP_RESET),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x40382053
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (125) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (229) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (245) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (249) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (269) cpu_start: Application information:
I (269) cpu_start: Project name: wheel
I (269) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (270) cpu_start: ESP-IDF: v5.0.4-dirty
I (270) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (271) heap_init: Initializing. RAM available for dynamic allocation:
I (271) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (272) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (274) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (275) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (276) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) wifi:state: auth -> assoc (0)
I (396) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: Init pcnt driver to decode rotary signal
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) wifi:state: assoc -> run (10)
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (416) wifi:pm start, type: 1
I (416) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (416) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) bdc_control: Create a timer to do PID calculation periodically
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: Enable motor
I (386) bdc_control: Start motor loop
I (396) wifi:state: auth -> assoc (0)
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (125) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) wifi:state: assoc -> run (10)
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (275) app_start: Starting scheduler on CPU1
I (275) main_task: Started on CPU0
I (285) main_task: Calling app_main()
I (305) wifi station: ESP_WIFI_INIT_STA
I (305) pp: pp rom version: e7ae62f
I (305) net80211: net80211 rom version: e7ae62f
I (315) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (315) system_api: Base MAC address is not set
I (315) system_api: read default base MAC address from EFUSE
I (325) wifi:wifi firmware version: e2d0ad8
I (325) wifi:wifi certification version: v7.0
I (325) wifi:config NVS flash: enabled
I (325) wifi:config nano formating: disabled
I (325) wifi:Init data frame dynamic rx buffer num: 32
I (325) wifi:Init management frame dynamic rx buffer num: 32
I (325) wifi:Init management short buffer num: 32
I (325) wifi:Init dynamic tx buffer num: 32
I (325) wifi:Init static tx FG buffer num: 2
I (325) wifi:Init static rx buffer size: 1600
I (325) wifi:Init static rx buffer num: 10
I (325) wifi:Init dynamic rx buffer num: 32
I (325) wifi_init: rx ba win: 6
I (325) wifi_init: tcpip mbox: 32
I (325) wifi_init: udp mbox: 6
I (325) wifi_init: tcp mbox: 6
I (325) wifi_init: tcp tx win: 5744
I (325) wifi_init: tcp rx win: 5744
I (325) wifi_init: tcp mss: 1440
I (325) wifi_init: WiFi IRAM OP enabled
I (325) wifi_init: WiFi RX IRAM OP enabled
I (335) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (365) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (365) wifi:enable tsf
I (365) modbus tcp: ModBusTCPSlave_init
I (375) bdc_control: DC motor dir gpio init
I (375) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: DC motor speed pwm init
I (375) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: Init pcnt driver to decode rotary signal
I (375) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (375) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (375) wifi:state: init -> auth (b0)
I (375) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) bdc_control: Create PID control block
I (385) bdc_control: Create a timer to do PID calculation periodically
I (385) bdc_control: DC motor dir gpio init
I (385) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: DC motor speed pwm init
I (385) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) wifi:state: auth -> assoc (0)
I (385) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: Init pcnt driver to decode rotary signal
I (385) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) wifi:state: assoc -> run (10)
I (395) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) bdc_control: Create PID control block
I (395) bdc_control: Create a timer to do PID calculation periodically
I (395) bdc_control: Enable motor
I (395) bdc_control: Start motor loop
I (425) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (425) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (425) wifi:pm start, type: 1
I (425) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (435) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (435) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (435) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (445) PWM: angle: 90.000000, duty: 614.400000
E (445) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) wifi:state: assoc -> run (10)
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) bdc_control: Create a timer to do PID calculation periodically
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (406) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: assoc -> run (10)
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (416) wifi:pm start, type: 1
I (416) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (416) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (416) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: Enable motor
I (386) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: DC motor speed pwm init
I (396) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: Init pcnt driver to decode rotary signal
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) wifi:state: assoc -> run (10)
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (275) app_start: Starting scheduler on CPU1
I (275) main_task: Started on CPU0
I (285) main_task: Calling app_main()
I (305) wifi station: ESP_WIFI_INIT_STA
I (305) pp: pp rom version: e7ae62f
I (305) net80211: net80211 rom version: e7ae62f
I (315) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (315) system_api: Base MAC address is not set
I (315) system_api: read default base MAC address from EFUSE
I (325) wifi:wifi firmware version: e2d0ad8
I (325) wifi:wifi certification version: v7.0
I (325) wifi:config NVS flash: enabled
I (325) wifi:config nano formating: disabled
I (325) wifi:Init data frame dynamic rx buffer num: 32
I (325) wifi:Init management frame dynamic rx buffer num: 32
I (325) wifi:Init management short buffer num: 32
I (325) wifi:Init dynamic tx buffer num: 32
I (325) wifi:Init static tx FG buffer num: 2
I (325) wifi:Init static rx buffer size: 1600
I (325) wifi:Init static rx buffer num: 10
I (325) wifi:Init dynamic rx buffer num: 32
I (325) wifi_init: rx ba win: 6
I (325) wifi_init: tcpip mbox: 32
I (325) wifi_init: udp mbox: 6
I (325) wifi_init: tcp mbox: 6
I (325) wifi_init: tcp tx win: 5744
I (325) wifi_init: tcp rx win: 5744
I (325) wifi_init: tcp mss: 1440
I (325) wifi_init: WiFi IRAM OP enabled
I (325) wifi_init: WiFi RX IRAM OP enabled
I (335) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (365) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (365) wifi:enable tsf
I (365) modbus tcp: ModBusTCPSlave_init
I (375) bdc_control: DC motor dir gpio init
I (375) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: DC motor speed pwm init
I (375) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: Init pcnt driver to decode rotary signal
I (375) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (375) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (375) wifi:state: init -> auth (b0)
I (375) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) wifi:state: auth -> assoc (0)
I (385) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) bdc_control: Create PID control block
I (385) bdc_control: Create a timer to do PID calculation periodically
I (385) bdc_control: DC motor dir gpio init
I (385) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) wifi:state: assoc -> run (10)
I (385) bdc_control: DC motor speed pwm init
I (385) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: Init pcnt driver to decode rotary signal
I (385) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) bdc_control: Create PID control block
I (395) bdc_control: Create a timer to do PID calculation periodically
I (395) bdc_control: Enable motor
I (395) bdc_control: Start motor loop
I (415) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (415) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (415) wifi:pm start, type: 1
I (415) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (425) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (425) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (425) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (445) PWM: angle: 90.000000, duty: 614.400000
E (445) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (269) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (270) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (275) app_start: Starting scheduler on CPU1
I (275) main_task: Started on CPU0
I (285) main_task: Calling app_main()
I (305) wifi station: ESP_WIFI_INIT_STA
I (305) pp: pp rom version: e7ae62f
I (305) net80211: net80211 rom version: e7ae62f
I (315) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (315) system_api: Base MAC address is not set
I (315) system_api: read default base MAC address from EFUSE
I (325) wifi:wifi firmware version: e2d0ad8
I (325) wifi:wifi certification version: v7.0
I (325) wifi:config NVS flash: enabled
I (325) wifi:config nano formating: disabled
I (325) wifi:Init data frame dynamic rx buffer num: 32
I (325) wifi:Init management frame dynamic rx buffer num: 32
I (325) wifi:Init management short buffer num: 32
I (325) wifi:Init dynamic tx buffer num: 32
I (325) wifi:Init static tx FG buffer num: 2
I (325) wifi:Init static rx buffer size: 1600
I (325) wifi:Init static rx buffer num: 10
I (325) wifi:Init dynamic rx buffer num: 32
I (325) wifi_init: rx ba win: 6
I (325) wifi_init: tcpip mbox: 32
I (325) wifi_init: udp mbox: 6
I (325) wifi_init: tcp mbox: 6
I (325) wifi_init: tcp tx win: 5744
I (325) wifi_init: tcp rx win: 5744
I (325) wifi_init: tcp mss: 1440
I (325) wifi_init: WiFi IRAM OP enabled
I (325) wifi_init: WiFi RX IRAM OP enabled
I (335) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (375) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (375) wifi:enable tsf
I (375) modbus tcp: ModBusTCPSlave_init
I (375) bdc_control: DC motor dir gpio init
I (375) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: DC motor speed pwm init
I (375) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: Init pcnt driver to decode rotary signal
I (375) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (375) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) bdc_control: Create PID control block
I (385) bdc_control: Create a timer to do PID calculation periodically
I (385) bdc_control: DC motor dir gpio init
I (385) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: DC motor speed pwm init
I (385) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: Init pcnt driver to decode rotary signal
I (385) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (385) wifi:state: init -> auth (b0)
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) bdc_control: Create PID control block
I (395) bdc_control: Create a timer to do PID calculation periodically
I (395) bdc_control: Enable motor
I (395) bdc_control: Start motor loop
I (405) wifi:state: auth -> assoc (0)
I (405) wifi:state: assoc -> run (10)
I (435) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (435) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (445) wifi:pm start, type: 1
I (445) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (445) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (445) PWM: angle: 90.000000, duty: 614.400000
I (445) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
E (445) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) bdc_control: Create a timer to do PID calculation periodically
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: Enable motor
I (386) bdc_control: Start motor loop
I (396) wifi:state: auth -> assoc (0)
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (436) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (436) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (436) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (446) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: assoc -> run (10)
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: assoc -> run (10)
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (416) wifi:pm start, type: 1
I (416) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: Init pcnt driver to decode rotary signal
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) wifi:state: assoc -> run (10)
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (436) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (436) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (446) wifi:pm start, type: 1
I (446) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (446) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
I (446) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (446) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) wifi:new:<11,0>, old:<1,0>
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x15 (USB_UART_CHIP_RESET),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x40382053
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (125) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (229) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (245) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (249) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (269) cpu_start: Application information:
I (269) cpu_start: Project name: wheel
I (269) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (270) cpu_start: ESP-IDF: v5.0.4-dirty
I (270) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (271) heap_init: Initializing. RAM available for dynamic allocation:
I (271) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (272) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (274) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (275) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (276) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) wifi:state: auth -> assoc (0)
I (396) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: Init pcnt driver to decode rotary signal
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) wifi:state: assoc -> run (10)
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (416) wifi:pm start, type: 1
I (416) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (416) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) bdc_control: Create a timer to do PID calculation periodically
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: Enable motor
I (386) bdc_control: Start motor loop
I (396) wifi:state: auth -> assoc (0)
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (125) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) wifi:state: assoc -> run (10)
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (275) app_start: Starting scheduler on CPU1
I (275) main_task: Started on CPU0
I (285) main_task: Calling app_main()
I (305) wifi station: ESP_WIFI_INIT_STA
I (305) pp: pp rom version: e7ae62f
I (305) net80211: net80211 rom version: e7ae62f
I (315) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (315) system_api: Base MAC address is not set
I (315) system_api: read default base MAC address from EFUSE
I (325) wifi:wifi firmware version: e2d0ad8
I (325) wifi:wifi certification version: v7.0
I (325) wifi:config NVS flash: enabled
I (325) wifi:config nano formating: disabled
I (325) wifi:Init data frame dynamic rx buffer num: 32
I (325) wifi:Init management frame dynamic rx buffer num: 32
I (325) wifi:Init management short buffer num: 32
I (325) wifi:Init dynamic tx buffer num: 32
I (325) wifi:Init static tx FG buffer num: 2
I (325) wifi:Init static rx buffer size: 1600
I (325) wifi:Init static rx buffer num: 10
I (325) wifi:Init dynamic rx buffer num: 32
I (325) wifi_init: rx ba win: 6
I (325) wifi_init: tcpip mbox: 32
I (325) wifi_init: udp mbox: 6
I (325) wifi_init: tcp mbox: 6
I (325) wifi_init: tcp tx win: 5744
I (325) wifi_init: tcp rx win: 5744
I (325) wifi_init: tcp mss: 1440
I (325) wifi_init: WiFi IRAM OP enabled
I (325) wifi_init: WiFi RX IRAM OP enabled
I (335) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (365) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (365) wifi:enable tsf
I (365) modbus tcp: ModBusTCPSlave_init
I (375) bdc_control: DC motor dir gpio init
I (375) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: DC motor speed pwm init
I (375) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: Init pcnt driver to decode rotary signal
I (375) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (375) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (375) wifi:state: init -> auth (b0)
I (375) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) bdc_control: Create PID control block
I (385) bdc_control: Create a timer to do PID calculation periodically
I (385) bdc_control: DC motor dir gpio init
I (385) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: DC motor speed pwm init
I (385) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) wifi:state: auth -> assoc (0)
I (385) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: Init pcnt driver to decode rotary signal
I (385) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) wifi:state: assoc -> run (10)
I (395) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) bdc_control: Create PID control block
I (395) bdc_control: Create a timer to do PID calculation periodically
I (395) bdc_control: Enable motor
I (395) bdc_control: Start motor loop
I (425) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (425) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (425) wifi:pm start, type: 1
I (425) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (435) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (435) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (435) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (445) PWM: angle: 90.000000, duty: 614.400000
E (445) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) wifi:state: assoc -> run (10)
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) bdc_control: Create a timer to do PID calculation periodically
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (406) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: assoc -> run (10)
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (416) wifi:pm start, type: 1
I (416) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (416) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (416) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: Enable motor
I (386) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: DC motor speed pwm init
I (396) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: Init pcnt driver to decode rotary signal
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) wifi:state: assoc -> run (10)
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (426) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (275) app_start: Starting scheduler on CPU1
I (275) main_task: Started on CPU0
I (285) main_task: Calling app_main()
I (305) wifi station: ESP_WIFI_INIT_STA
I (305) pp: pp rom version: e7ae62f
I (305) net80211: net80211 rom version: e7ae62f
I (315) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (315) system_api: Base MAC address is not set
I (315) system_api: read default base MAC address from EFUSE
I (325) wifi:wifi firmware version: e2d0ad8
I (325) wifi:wifi certification version: v7.0
I (325) wifi:config NVS flash: enabled
I (325) wifi:config nano formating: disabled
I (325) wifi:Init data frame dynamic rx buffer num: 32
I (325) wifi:Init management frame dynamic rx buffer num: 32
I (325) wifi:Init management short buffer num: 32
I (325) wifi:Init dynamic tx buffer num: 32
I (325) wifi:Init static tx FG buffer num: 2
I (325) wifi:Init static rx buffer size: 1600
I (325) wifi:Init static rx buffer num: 10
I (325) wifi:Init dynamic rx buffer num: 32
I (325) wifi_init: rx ba win: 6
I (325) wifi_init: tcpip mbox: 32
I (325) wifi_init: udp mbox: 6
I (325) wifi_init: tcp mbox: 6
I (325) wifi_init: tcp tx win: 5744
I (325) wifi_init: tcp rx win: 5744
I (325) wifi_init: tcp mss: 1440
I (325) wifi_init: WiFi IRAM OP enabled
I (325) wifi_init: WiFi RX IRAM OP enabled
I (335) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (365) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (365) wifi:enable tsf
I (365) modbus tcp: ModBusTCPSlave_init
I (375) bdc_control: DC motor dir gpio init
I (375) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: DC motor speed pwm init
I (375) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: Init pcnt driver to decode rotary signal
I (375) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (375) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (375) wifi:state: init -> auth (b0)
I (375) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) wifi:state: auth -> assoc (0)
I (385) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) bdc_control: Create PID control block
I (385) bdc_control: Create a timer to do PID calculation periodically
I (385) bdc_control: DC motor dir gpio init
I (385) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) wifi:state: assoc -> run (10)
I (385) bdc_control: DC motor speed pwm init
I (385) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: Init pcnt driver to decode rotary signal
I (385) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) bdc_control: Create PID control block
I (395) bdc_control: Create a timer to do PID calculation periodically
I (395) bdc_control: Enable motor
I (395) bdc_control: Start motor loop
I (415) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (415) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (415) wifi:pm start, type: 1
I (415) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (425) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (425) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (425) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (445) PWM: angle: 90.000000, duty: 614.400000
E (445) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (269) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (270) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (275) app_start: Starting scheduler on CPU1
I (275) main_task: Started on CPU0
I (285) main_task: Calling app_main()
I (305) wifi station: ESP_WIFI_INIT_STA
I (305) pp: pp rom version: e7ae62f
I (305) net80211: net80211 rom version: e7ae62f
I (315) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (315) system_api: Base MAC address is not set
I (315) system_api: read default base MAC address from EFUSE
I (325) wifi:wifi firmware version: e2d0ad8
I (325) wifi:wifi certification version: v7.0
I (325) wifi:config NVS flash: enabled
I (325) wifi:config nano formating: disabled
I (325) wifi:Init data frame dynamic rx buffer num: 32
I (325) wifi:Init management frame dynamic rx buffer num: 32
I (325) wifi:Init management short buffer num: 32
I (325) wifi:Init dynamic tx buffer num: 32
I (325) wifi:Init static tx FG buffer num: 2
I (325) wifi:Init static rx buffer size: 1600
I (325) wifi:Init static rx buffer num: 10
I (325) wifi:Init dynamic rx buffer num: 32
I (325) wifi_init: rx ba win: 6
I (325) wifi_init: tcpip mbox: 32
I (325) wifi_init: udp mbox: 6
I (325) wifi_init: tcp mbox: 6
I (325) wifi_init: tcp tx win: 5744
I (325) wifi_init: tcp rx win: 5744
I (325) wifi_init: tcp mss: 1440
I (325) wifi_init: WiFi IRAM OP enabled
I (325) wifi_init: WiFi RX IRAM OP enabled
I (335) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (375) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (375) wifi:enable tsf
I (375) modbus tcp: ModBusTCPSlave_init
I (375) bdc_control: DC motor dir gpio init
I (375) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: DC motor speed pwm init
I (375) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (375) bdc_control: Init pcnt driver to decode rotary signal
I (375) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (375) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) bdc_control: Create PID control block
I (385) bdc_control: Create a timer to do PID calculation periodically
I (385) bdc_control: DC motor dir gpio init
I (385) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: DC motor speed pwm init
I (385) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (385) bdc_control: Init pcnt driver to decode rotary signal
I (385) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (385) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (385) wifi:state: init -> auth (b0)
I (385) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (395) bdc_control: Create PID control block
I (395) bdc_control: Create a timer to do PID calculation periodically
I (395) bdc_control: Enable motor
I (395) bdc_control: Start motor loop
I (405) wifi:state: auth -> assoc (0)
I (405) wifi:state: assoc -> run (10)
I (435) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (435) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (445) wifi:pm start, type: 1
I (445) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (445) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (445) PWM: angle: 90.000000, duty: 614.400000
I (445) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
E (445) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (376) bdc_control: Create a timer to do PID calculation periodically
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: Enable motor
I (386) bdc_control: Start motor loop
I (396) wifi:state: auth -> assoc (0)
I (396) wifi:state: assoc -> run (10)
I (426) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (436) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (436) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (436) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (396) wifi:state: assoc -> run (10)
I (436) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (436) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (436) wifi:pm start, type: 1
I (436) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (436) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (436) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (446) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: assoc -> run (10)
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (426) wifi:pm start, type: 1
I (426) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (273) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (366) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (366) wifi:enable tsf
I (366) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (376) wifi:state: init -> auth (b0)
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: Init pcnt driver to decode rotary signal
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: assoc -> run (10)
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (416) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (416) wifi:security: WPA2-PSK, phy: bgn, rssi: -46
I (416) wifi:pm start, type: 1
I (416) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (426) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (426) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (426) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (446) PWM: angle: 90.000000, duty: 614.400000
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (386) wifi:state: init -> auth (b0)
I (386) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (386) wifi:state: auth -> assoc (0)
I (386) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) bdc_control: DC motor dir gpio init
I (386) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (386) bdc_control: DC motor speed pwm init
I (386) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (396) bdc_control: Init pcnt driver to decode rotary signal
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) wifi:state: assoc -> run (10)
I (396) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (396) bdc_control: Create PID control block
I (396) bdc_control: Create a timer to do PID calculation periodically
I (396) bdc_control: Enable motor
I (396) bdc_control: Start motor loop
I (436) wifi:connected with CMCC-xRSZ, aid = 129, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (436) wifi:security: WPA2-PSK, phy: bgn, rssi: -47
I (446) wifi:pm start, type: 1
I (446) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
I (446) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
I (446) PWM: angle: 90.000000, duty: 614.400000
I (446) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (446) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
E (446) ledc: ledc_set_duty(774): LEDC is not initialized
ESP_ERROR_CHECK failed: esp_err_t 0x103 (ESP_ERR_INVALID_STATE) at 0x4200a210
file: "/IDF/app/wheel/components/servo/servo.c" line 61
func: servo_set_angle
expression: ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, (int)duty)
abort() was called at PC 0x4037cbe3 on core 0
Backtrace: 0x40375f3a:0x3fca6d00 0x4037cbed:0x3fca6d20 0x403833ee:0x3fca6d40 0x4037cbe3:0x3fca6db0 0x4200a210:0x3fca6de0 0x420091d2:0x3fca6e10 0x420075d2:0x3fca6e50 0x42007625:0x3fca6e80 0x4037cbfd:0x3fca6ea0
ELF file SHA256: d3c80f6b1eb14075
Rebooting...
ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x3 (RTC_SW_SYS_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x403758c9
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=21af8h (137976) map
I (121) esp_image: segment 1: paddr=00031b20 vaddr=3fc96b00 size=03e50h ( 15952) load
I (124) esp_image: segment 2: paddr=00035978 vaddr=40374000 size=0a6a0h ( 42656) load
I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7cf78h (511864) map
I (228) esp_image: segment 4: paddr=000bcfa0 vaddr=4037e6a0 size=0843ch ( 33852) load
I (244) boot: Loaded app from partition at offset 0x10000
I (244) boot: Disabling RNG early entropy source...
I (245) cpu_start: Multicore app
I (248) cpu_start: Pro cpu up.
I (252) cpu_start: Starting app cpu, entry point is 0x40375388
I (0) cpu_start: App cpu up.
I (268) cpu_start: Pro cpu start user code
I (268) cpu_start: cpu freq: 160000000 Hz
I (268) cpu_start: Application information:
I (268) cpu_start: Project name: wheel
I (268) cpu_start: App version: c82f1ee-dirty
I (269) cpu_start: Compile time: Jan 22 2024 16:55:16
I (269) cpu_start: ELF file SHA256: d3c80f6b1eb14075...
I (269) cpu_start: ESP-IDF: v5.0.4-dirty
I (269) cpu_start: Min chip rev: v0.0
I (270) cpu_start: Max chip rev: v0.99
I (270) cpu_start: Chip rev: v0.1
I (270) heap_init: Initializing. RAM available for dynamic allocation:
I (270) heap_init: At 3FCA4460 len 000452B0 (276 KiB): DRAM
I (271) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (271) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (271) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (272) spi_flash: detected chip: gd
I (273) spi_flash: flash io: dio
W (273) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (274) sleep: Configure to isolate all GPIO pins in sleep state
I (275) sleep: Enable automatic switching of GPIO sleep configuration
I (275) app_start: Starting scheduler on CPU0
I (276) app_start: Starting scheduler on CPU1
I (276) main_task: Started on CPU0
I (286) main_task: Calling app_main()
I (306) wifi station: ESP_WIFI_INIT_STA
I (306) pp: pp rom version: e7ae62f
I (306) net80211: net80211 rom version: e7ae62f
I (316) wifi:wifi driver task: 3fcae470, prio:23, stack:6656, core=0
I (316) system_api: Base MAC address is not set
I (316) system_api: read default base MAC address from EFUSE
I (326) wifi:wifi firmware version: e2d0ad8
I (326) wifi:wifi certification version: v7.0
I (326) wifi:config NVS flash: enabled
I (326) wifi:config nano formating: disabled
I (326) wifi:Init data frame dynamic rx buffer num: 32
I (326) wifi:Init management frame dynamic rx buffer num: 32
I (326) wifi:Init management short buffer num: 32
I (326) wifi:Init dynamic tx buffer num: 32
I (326) wifi:Init static tx FG buffer num: 2
I (326) wifi:Init static rx buffer size: 1600
I (326) wifi:Init static rx buffer num: 10
I (326) wifi:Init dynamic rx buffer num: 32
I (326) wifi_init: rx ba win: 6
I (326) wifi_init: tcpip mbox: 32
I (326) wifi_init: udp mbox: 6
I (326) wifi_init: tcp mbox: 6
I (326) wifi_init: tcp tx win: 5744
I (326) wifi_init: tcp rx win: 5744
I (326) wifi_init: tcp mss: 1440
I (326) wifi_init: WiFi IRAM OP enabled
I (326) wifi_init: WiFi RX IRAM OP enabled
I (336) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (376) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (376) wifi:enable tsf
I (376) modbus tcp: ModBusTCPSlave_init
I (376) bdc_control: DC motor dir gpio init
I (376) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: DC motor speed pwm init
I (376) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (376) bdc_control: Init pcnt driver to decode rotary signal
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0
I (376) bdc_control: Create PID control block
I (386) bdc_control: Create a timer to do PID calculation periodically
I (386) wifi:new:<11,0>, old:<1,0>