Using libraries in task and interrupt routine

Device type

[x] ESP32

Framework version

[x] ESP-IDF latest master

Describe the bug Is it possible to use the libraries in two different tasks (1 Task und 1 Interrupt routine)? I'm using a TC95xx to mux 4 different I2C devices in a periodic task(freertos - task_read_TCA_Channels()). Additional if some gpio sets an interrupt I want to go to an Interrupt routine(taskAlertSignal):

Change the I2C-Mux channel
- read one specific I2C for 600 times,
change I2c Mux , 1 time read a preasure Sensor
and go back to the periodic task(task_read_TCA_Channels()).

Sometimes I got some errors which lead to kernel panic and restart: C:/esp-idf/components/freertos/queue.c:728 (xQueueGenericSend)- assert failed!

abort() was called at PC 0x400894ef on core 1 0x400894ef: xQueueGenericSend at C:/esp-idf/components/freertos/queue.c:728 (discriminator 5)

uint8_t channel = 0;
void task_read_TCA_Channels(void *arg)
{
    const char *TAG = "task_read_TCA_Channels";
    float insideTemp =42;
    float insideHumidity =2;
    uint8_t i2c_channel=44;

    struct timeval tv_now;
    gettimeofday(&tv_now, NULL);
    int64_t time_us = (int64_t)tv_now.tv_sec * 1000000L + (int64_t)tv_now.tv_usec;

    TickType_t last_wakeup = xTaskGetTickCount();
    int32_t pressure_S0=43;
    int32_t pressure_S1=43;
    float temperature_S0=3;
    float temperature_S1=4;

    float bus_voltage=0, shunt_voltage=0, current=0, power =0; //INA values
    float atmos_pressure =950;
    float current_arr[20];
    float current_sum=0;

    while (1)
    {
      set_LED_color(OFF);
      for(channel=0; channel< 4;channel++)
      {
        tca9546_free_desc(&tca9546);
        ESP_ERROR_CHECK(tca9546_init_desc(&tca9546, I2C_NUM_0, Closedcube_Address, SCA_TCA9546A, SCL_TCA9546A));
        ESP_ERROR_CHECK(tca9546_set_channels(&tca9546,1<<channel));

        if(channel==0) 
        {
            esp_err_t err= ms5837_get_sensor_data(&ms5837_dev[channel], &pressure_S0, &temperature_S0);
            if(err != ESP_OK)
            {
              ESP_LOGI(TAG, "ERROR READ:  MSE preasure Sensor 0. Maybe not connected");
            }

        }
        if(channel==1)
        {
            esp_err_t err= ms5837_get_sensor_data(&ms5837_dev[channel], &pressure_S1, &temperature_S1);
            if(err != ESP_OK)
            {
              ESP_LOGI(TAG, "ERROR READ:  MSE preasure Sensor 1. Maybe not connected");
            }
          //ESP_ERROR_CHECK(ms5837_get_sensor_data(&ms5837_dev[i], &pressure_S1, &temperature_S1));
          //printf("S[%u]: pr %5.2f , temp %4.6f\n",i, (float)(pressure_S1/10),temperature_S1 );
        }
        if(channel==2)
        {
            continue;

        }
        if(channel==3) //HDC1080
        {
          insideTemp=hdc1080_get_temperature(&hdc1080_dev);
          insideHumidity= hdc1080_get_humidity(&hdc1080_dev);

        }

      }
      gettimeofday(&tv_now, NULL);
       time_us = (int64_t)tv_now.tv_sec * 1000L + (int64_t)tv_now.tv_usec/ 1000L;
      int32_t time_s = (int64_t)tv_now.tv_sec;     printf("%5.2f,%4.2f,%5.2f,%4.2f\n",(float)(pressure_S0/10- atmos_pressure),temperature_S0 ,(float)(pressure_S1/10- atmos_pressure),temperature_S1 );

    vTaskDelayUntil(&last_wakeup, 1000 / portTICK_PERIOD_MS);
    }
}

void taskAlertSignal()
{
    const char *TAG = "ALERT_Signal";
    //Read for 600 MS
    float current_arr[600];
    float current_sum=0;
    //Set Current sensor channel
    int cur_channel= 2;
    int p2_channel = 1;

    struct timeval tv_now;
    gettimeofday(&tv_now, NULL);
    int64_t time_us = (int64_t)tv_now.tv_sec * 1000000L + (int64_t)tv_now.tv_usec;
    struct timeval tv_now_array[600];

    TickType_t last_wakeup = xTaskGetTickCount();
    int32_t pressure_S1=43;
    float temperature_S1=4;

        // infinite loop
      for(;;) {
      current_sum=0;
      // wait for the notification from the ISR
      if(xSemaphoreTake(xSemaphore,portMAX_DELAY) == pdTRUE) {
       // tca9546_free_desc(&tca9546);
       // ESP_ERROR_CHECK(tca9546_init_desc(&tca9546, I2C_NUM_0, Closedcube_Address, SCA_TCA9546A, SCL_TCA9546A));

        set_LED_color(WHITE);
        ESP_ERROR_CHECK(tca9546_set_channels(&tca9546,1<<CURRENT_SENS));

        for(int j=0; j<600 ; j++)
        {
          ESP_ERROR_CHECK(ina219_get_current(&ina219_dev, &current_arr[j]));
          gettimeofday(&tv_now_array[j], NULL);
          current_sum+=current_arr[j];
        }
        //ESP_LOGW(TAG,"current_sum %f", current_sum);
        // READ OUT PR2

        gettimeofday(&tv_now, NULL);

        time_us = (int64_t)tv_now.tv_sec * 1000L + (int64_t)tv_now.tv_usec/ 1000L;
        int32_t time_s = (int64_t)tv_now.tv_sec;
        //printf("%ld:%ld, ", (long) time_s, (long ) time_us);

       // tca9546_free_desc(&tca9546);
       // ESP_ERROR_CHECK(tca9546_init_desc(&tca9546, I2C_NUM_0, Closedcube_Address, SCA_TCA9546A, SCL_TCA9546A));
        ESP_ERROR_CHECK(tca9546_set_channels(&tca9546,1<<PR1));

        //vTaskDelay(1);
        esp_err_t err= ms5837_get_sensor_data(&ms5837_dev[PR1], &pressure_S1, &temperature_S1);
        if(err != ESP_OK)
        {
          ESP_LOGW(TAG, "ERROR READ:  MSE preasure Sensor 1. Maybe not connected");
        }
        else
        {
          ESP_LOGI(TAG, "p1 %i",pressure_S1 );
        }

      printf("current_sum: %4.0f\n", current_sum);

        printf("Reset Channel back %i",channel);
        //Reset Channel of TCA 
       // tca9546_free_desc(&tca9546);
       // ESP_ERROR_CHECK(tca9546_init_desc(&tca9546, I2C_NUM_0, Closedcube_Address, SCA_TCA9546A, SCL_TCA9546A));
        ESP_ERROR_CHECK(tca9546_set_channels(&tca9546,1<<channel));
      }
    }

}

UncleRus / esp-idf-lib

Using libraries in task and interrupt routine #111