Timer Functions not IRAM_ATTR in Version 2.0.0

[ericlangel]

Hardware:

Board: ESP32 Dev Module
Core Installation version: 2.0.0
IDE name: Arduino IDE

Description:

in my Code i'am reading a Servosignal with RMT Module. The RMT ISR is initialized with IDF functions as IRAM ISR.
In the IRAM ISR i'am working with the Timer:
timerWrite(timer, 0);
if (!timerAlarmEnabled(timer)) {
timerAlarmEnable(timer);

This ISR must run in IRAM, because it have to work when writing to internal Flash in Loop.
In Loop() i write some Logs to internal FFAT and write to the EEPROM Emulation.

But with Core Version 2.0.0 i get a Crash or TimerGroupWadtchdog when loop() writes to Flash and ISR is executed.
With Core Version 1.6.0 everything was fine.

My Solution:
i set all my used timer functions to IRAM_ATTR in esp32-hal-timer.c

How is the Solution for Future Releases? Everytime a rewrite of the Core?
Or using IDF Timer functions or directly working on the Timer Registers?
Maybe 2 functions? For Example timerWrite() and IRAMtimerWrite() for saving IRAM space when not used/wanted

Sketch:

// the related ISR and init's

void IRAM_ATTR rmt_isr_handler(void* arg) {
  uint32_t intr_st = RMT.int_st.val;                  // get RMT Status -> Interrupt source (kann nur RMT CH1 receive sein)
  RMT.int_clr.val = intr_st;                          // Clear the Int-Flag which is set
  RMT.conf_ch[1].conf1.rx_en = 0;                     // disable receiver
  RMT.conf_ch[1].conf1.mem_owner = RMT_MEM_OWNER_TX;  // sonst wird Servo länge nie geändert

  servo_tmp = RMTMEM.chan[1].data32[0].duration0;     // lese die Input Dauer -> 1 = 1µs
  if(servo_tmp > throttle){
    RMTMEM.chan[2].data32[0].duration0 = throttle;    // throttle ist der aktuelle Limit wert
    throttle_output = throttle;                       // der neue Output wert
  }
  else{
    RMTMEM.chan[2].data32[0].duration0 = servo_tmp;    // servo_tmp ist der Input wert (kein Limit)
    throttle_output = servo_tmp;                       // der neue Output wert
  }
  
  RMT.conf_ch[2].conf1.mem_rd_rst = 1;                // resette Output
  RMT.conf_ch[2].conf1.mem_rd_rst = 0;                // resette Output
  //RMT.int_clr.ch2_tx_end = 1;                       // Clear Interrupt Flag -> bereits oben erledigt (sollte auch garnicht aktiv sein)
  RMT.conf_ch[2].conf1.tx_start = 1;                  // Starte Output
  //rmt_tx_start(rmt_tx_channel.channel, 1);          // IDF funktion zum resetten und starten

  if (servo_tmp != 0) {
    timerWrite(timer, 0);
    raw_analog_input = true;
    if (!timerAlarmEnabled(timer)) {
      timerAlarmEnable(timer);
    }
  }

  RMT.conf_ch[1].conf1.mem_wr_rst = 1;                // resette Input
  RMT.conf_ch[1].conf1.mem_owner = RMT_MEM_OWNER_RX;  // sonst wird Servo länge nie geändert
  RMT.conf_ch[1].conf1.rx_en = 1;                     // Enable Input
}

void IRAM_ATTR Failsafe() {
  raw_analog_input = false;
  throttle = min_analog;
  throttle_input = min_analog;
  throttle_output = min_analog;
  timerAlarmDisable(timer);
}

void init_PPM(void) {
  rmt_rx_channel.channel = RMT_CHANNEL_1;                    // RMT Channel 1
  rmt_rx_channel.gpio_num = (gpio_num_t) SERVO_IN;           // RMT Mapped GPIO
  rmt_rx_channel.clk_div = RMT_CLK_DIV;                      // RMT_Clock auf 1us?
  rmt_rx_channel.mem_block_num = 1;
  rmt_rx_channel.rmt_mode = RMT_MODE_RX;                     // RMT Mode RX
  rmt_rx_channel.rx_config.filter_en = true;                 // Filter aktiv
  rmt_rx_channel.rx_config.filter_ticks_thresh = 250;        // Pulse unter 250 werden ignoriert (0...255)
  rmt_rx_channel.rx_config.idle_threshold = RMT_RX_MAX_US;   // Pulse über 2500 werden ignoriert -> Gleichzeitig die Verzögerung zw. Puls und ausführung der ISR

  rmt_config(&rmt_rx_channel);
  rmt_set_rx_intr_en(rmt_rx_channel.channel, true);
  rmt_rx_start(rmt_rx_channel.channel, 1);

  rmt_tx_channel.channel = RMT_CHANNEL_2;                             // RMT Channel 2
  rmt_tx_channel.gpio_num = (gpio_num_t) SERVO_OUT;                   // RMT Mapped GPIO
  rmt_tx_channel.clk_div = RMT_CLK_DIV;                               // RMT_Clock auf 1us
  rmt_tx_channel.mem_block_num = 1;
  rmt_tx_channel.rmt_mode = RMT_MODE_TX;                              // RMT Mode TX
  rmt_tx_channel.tx_config.loop_en = 0;                               // disable loop
  rmt_tx_channel.tx_config.carrier_en = 0;                            // disable carrier
  rmt_tx_channel.tx_config.idle_output_en = 0;                        // activate output while idle
  //rmt_tx_channel.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;         // output level to 0 when idle
  //rmt_tx_channel.tx_config.carrier_duty_percent = 50;               // must be set to prevent errors - not used
  //rmt_tx_channel.tx_config.carrier_freq_hz = 5000;                  // must be set to prevent errors - not used
  //rmt_tx_channel.tx_config.carrier_level = RMT_CARRIER_LEVEL_HIGH;  // must be set to prevent errors - not used

  rmt_config(&rmt_tx_channel);                            // set Config
  //rmt_tx_start(rmt_tx_channel.channel, 1);              // Output wird in ISR gestartet
  //rmt_set_tx_intr_en(rmt_tx_channel.channel, true);     // Output Interrupt unnötig

  rmt_isr_register(rmt_isr_handler, NULL, ESP_INTR_FLAG_IRAM, NULL);    // ESP_INTR_FLAG_IRAM
  RMTMEM.chan[2].data32[0].duration0 = 0;                               // Output Idle/Default value
  RMTMEM.chan[2].data32[0].level0 = 1;                                  // Output Idle/Default value
  RMTMEM.chan[2].data32[0].duration1 = 0;                               // Output Idle/Default value
  RMTMEM.chan[2].data32[0].level1 = 0;                                  // Output Idle/Default value
}

void init_Failsafe(void) {
  timer = timerBegin(3, 80, true);
  timerAttachInterrupt(timer, &Failsafe, false /*true*/);
  timerAlarmWrite(timer, 100000, true);         // Timer Interrupt 100ms
  //timerAlarmEnable(timer);                    // Timer wird enabled wenn Servo Signal erkannt (in RMT ISR)
  Serial.println("Init Failsafe");
  systime = (millis() / 1000) + startsystime;
}

Debug Messages:

Guru Meditation Error: Core  1 panic'ed (IllegalInstruction). Exception was unhandled.
Memory dump at 0x40144020: 0000f01d 88004136 c0190c02
Core  1 register dump:
PC      : 0x40144026  PS      : 0x00060031  A0      : 0x40085428  A1      : 0x3ffbf110  
A2      : 0x3ff56000  A3      : 0x00000001  A4      : 0x3ffc2df8  A5      : 0x40093bbc  
A6      : 0x00000000  A7      : 0x00000001  A8      : 0x80081411  A9      : 0x00020f21  
A10     : 0x00008000  A11     : 0x00008000  A12     : 0x00000000  A13     : 0x00000000  
A14     : 0x3ffd9114  A15     : 0x3ffd90ec  SAR     : 0x00000000  EXCCAUSE: 0x00000000  
EXCVADDR: 0x00000000  LBEG    : 0x4009087c  LEND    : 0x40090892  LCOUNT  : 0xffffffff  


Backtrace:0x40144023:0x3ffbf1100x40085425:0x3ffbf130 0x4000bfed:0x3ffd9190 0x400820e9:0x3ffd91a0 0x40082524:0x3ffd91d0 0x40099cea:0x3ffd9200 0x40082601:0x3ffd9220 0x40082d27:0x3ffd9240 0x400ffbd5:0x3ffd92a0 0x40101aea:0x3ffd92c0 0x401022a2:0x3ffd92e0 0x40102911:0x3ffd9300 0x401035b7:0x3ffd9350 0x40100cf0:0x3ffd9370 0x40101263:0x3ffd9400 0x4010140d:0x3ffd9480 0x40101939:0x3ffd94a0 0x40100562:0x3ffd94c0 0x400df826:0x3ffd94e0 0x400d9b2b:0x3ffd9500 0x400d4c35:0x3ffd9520 0x400d9fda:0x3ffd9540 0x400f8d57:0x3ffd9570 




ELF file SHA256: 0000000000000000

PC: 0x40144026: timerWrite at C:\Users\eric\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.0\cores\esp32\esp32-hal-timer.c line 136
EXCVADDR: 0x00000000

Decoding stack results
0x400820e9: is_page_mapped_in_cache at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/spi_flash/flash_mmap.c line 497
0x40082524: spi_flash_check_and_flush_cache at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/spi_flash/flash_mmap.c line 516
0x40099cea: memspi_host_flush_cache at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/spi_flash/memspi_host_driver.c line 134
0x40082601: flash_end_flush_cache at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/spi_flash/esp_flash_api.c line 161
0x40082d27: esp_flash_write at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/spi_flash/esp_flash_api.c line 808
0x400ffbd5: esp_partition_write at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/spi_flash/partition.c line 457
0x40101aea: nvs::NVSPartition::write(unsigned int, void const*, unsigned int) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_partition.cpp line 59
0x401022a2: nvs::Page::writeEntry(nvs::Item const&) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_page.hpp line 209
0x40102911: nvs::Page::copyItems(nvs::Page&) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_page.cpp line 499
0x401035b7: nvs::PageManager::requestNewPage() at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_pagemanager.cpp line 183
0x40100cf0: nvs::Storage::writeMultiPageBlob(unsigned char, char const*, void const*, unsigned int, nvs::VerOffset) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_storage.cpp line 240
0x40101263: nvs::Storage::writeItem(unsigned char, nvs::ItemType, char const*, void const*, unsigned int) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_storage.cpp line 316
0x4010140d: nvs::Storage::writeItem(unsigned char, nvs::ItemType, char const*, void const*, unsigned int) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_storage.cpp line 274
0x40101939: nvs::NVSHandleSimple::set_blob(char const*, void const*, unsigned int) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_handle_simple.cpp line 52
0x40100562: nvs_set_blob(nvs_handle_t, char const*, void const*, size_t) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_api.cpp line 438
0x400df826: EEPROMClass::commit() at C:\Users\eric\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.0\libraries\EEPROM\src\EEPROM.cpp line 198
0x400d9b2b: write_calibration() at C:\Users\eric\AppData\Local\Temp\arduino_build_297970\sketch\Settings.cpp line 299
0x400d4c35: calibration() at C:\Users\eric\AppData\Local\Temp\arduino_build_297970\sketch\Hardware.cpp line 175
0x400d9fda: setup() at C:\Users\eric\Desktop\MCTRL-Firmware\V0_9_1/V0_9_1.ino line 33
0x400f8d57: loopTask(void*) at C:\Users\eric\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.0\cores\esp32\main.cpp line 38

[ericlangel]

related to #4684

[VojtechBartoska]

Hello @ericlangel , I'm closing this issue as Timer was refactored and this was supposed to be solved by both mentioned PRs above. If you will still face issue on latest version 2.0.3-RC1, please reopen it. Thanks for your contribution.