esp_bluedroid_disable() crashes after esp_bt_mem_release(ESP_BT_MODE_BLE) (IDFGH-1277)

[kvbulusu]

Environment

Development Kit: ESP32-LyraT Module or chip used: ESP32-WROOM-32 IDF version (run git describe --tags to find it): v4.0-dev-621-g81ca1c013 Build System: Make Compiler version (run xtensa-esp32-elf-gcc --version to find it): 5.20 Operating System: Linux Power Supply: USB

Problem Description

We use BLE based wifi provisioning process (https://github.com/espressif/esp-va-sdk/blob/master/examples/amazon_alexa/main/app_main.c) and after it's done, we call the below code but after mem release, esp_bluedroid_disable crashes.

Steps to repropduce

esp_bt_mem_release(ESP_BT_MODE_BLE); esp_bluedroid_disable(); esp_bluedroid_deinit(); esp_bt_controller_disable(); esp_bt_controller_deinit(); esp_bt_controller_mem_release(ESP_BT_MODE_BLE);

Debug Logs

Guru Meditation Error: Core 0 panic'ed (LoadProhibited). Exception was unhandled. Core 0 register dump: PC : 0x400984e9 PS : 0x00060d30 A0 : 0x80139729 A1 : 0x3ffbbec0
0x400984e9: xQueueGenericSend at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-idf/components/freertos/queue.c:2526

A2 : 0x00000008 A3 : 0x3ffbbf00 A4 : 0xffffffff A5 : 0x00000000
A6 : 0x03000000 A7 : 0x00000000 A8 : 0x800984dc A9 : 0x3ffbbea0
A10 : 0x00000002 A11 : 0x00000000 A12 : 0x000002cf A13 : 0x3f40ae2f
A14 : 0x0000000a A15 : 0xff000000 SAR : 0x00000004 EXCCAUSE: 0x0000001c
EXCVADDR: 0x00000008 LBEG : 0x400970e0 LEND : 0x4009710e LCOUNT : 0xffffffff
0x400970e0: memcpy at /home/jeroen/esp8266/esp32/newlib_xtensa-2.2.0-bin/newlib_xtensa-2.2.0/xtensa-esp32-elf/newlib/libc/machine/xtensa/../../../../.././newlib/libc/machine/xtensa/memcpy.S:168

0x4009710e: memcpy at /home/jeroen/esp8266/esp32/newlib_xtensa-2.2.0-bin/newlib_xtensa-2.2.0/xtensa-esp32-elf/newlib/libc/machine/xtensa/../../../../.././newlib/libc/machine/xtensa/memcpy.S:201

ELF file SHA256: 0b41a0de6ba884feeee63ef30d611b271df0b6f9c66889de6c8daf70b059d6b2

Backtrace: 0x400984e9:0x3ffbbec0 0x40139726:0x3ffbbf00 0x4013917d:0x3ffbbf30 0x40108adf:0x3ffbbf60 0x400d0d83:0x3ffbc090 0x400984e9: xQueueGenericSend at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-idf/components/freertos/queue.c:2526

0x40139726: btc_task_post at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-idf/components/bt/bluedroid/btc/core/btc_task.c:129 (inlined by) btc_transfer_context at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-idf/components/bt/bluedroid/btc/core/btc_task.c:162

0x4013917d: esp_bluedroid_disable at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-idf/components/bt/bluedroid/api/esp_bt_main.c:101

0x40108adf: app_main at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-va-sdk/examples/demo1/main/app_main.c:338

0x400d0d83: main_task at /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-idf/components/esp32/cpu_start.c:529

Entering gdb stub now. $T0b#e6GNU gdb (crosstool-NG crosstool-ng-1.22.0-80-g6c4433a) 7.10 Copyright (C) 2015 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "--host=x86_64-build_pc-linux-gnu --target=xtensa-esp32-elf". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from /home/kvbulusu/SHS/mydev/palmnest/Firmware/19May09/esp-va-sdk/examples/demo1/build/alexa.elf...done. Remote debugging using /dev/ttyUSB0 0x7ffb52b0 in ?? () (gdb)

[chegewara]

Hi, you dont have to call both functions to release memory. One is internal function.

esp_bt_mem_release(ESP_BT_MODE_BLE);
esp_bt_controller_mem_release(ESP_BT_MODE_BLE);

Please remove esp_bt_mem_release from your code.

[Weijian-Espressif]

@kvbulusu,

1. call esp_bt_controller_mem_release(ESP_BT_MODE_BLE) instead of esp_bt_mem_release(ESP_BT_MODE_BLE)

2. This is my test code, it works well.

void app_main()
{
    // Initialize NVS.
    esp_err_t ret = nvs_flash_init();
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
        ESP_ERROR_CHECK(nvs_flash_erase());
        ret = nvs_flash_init();
    }
    ESP_ERROR_CHECK( ret );

    ESP_ERROR_CHECK(esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT));

    esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
    ret = esp_bt_controller_init(&bt_cfg);
    if (ret) {
        ESP_LOGE(GATTC_TAG, "%s initialize controller failed: %s\n", __func__, esp_err_to_name(ret));
        return;
    }

    ret = esp_bt_controller_enable(ESP_BT_MODE_BLE);
    if (ret) {
        ESP_LOGE(GATTC_TAG, "%s enable controller failed: %s\n", __func__, esp_err_to_name(ret));
        return;
    }

    ret = esp_bluedroid_init();
    if (ret) {
        ESP_LOGE(GATTC_TAG, "%s init bluetooth failed: %s\n", __func__, esp_err_to_name(ret));
        return;
    }

    ret = esp_bluedroid_enable();
    if (ret) {
        ESP_LOGE(GATTC_TAG, "%s enable bluetooth failed: %s\n", __func__, esp_err_to_name(ret));
        return;
    }

    esp_bluedroid_disable();
    esp_bluedroid_deinit();
    esp_bt_controller_disable();
    esp_bt_controller_deinit();
    esp_bt_controller_mem_release(ESP_BT_MODE_BLE);

}

[kvbulusu]

As I mentioned , the crash only happens if we enable BT with the alexa code ...below is the code snippet. I opened a ticket with that repo as well, but thought this was independent , but looks like some dependency. Below is the code snippet which crashes.

include <freertos/FreeRTOS.h>

include <freertos/event_groups.h>

include

include

include

include

include

include

include

include

include

include

include

include

include

include "app_auth.h"

include

include

include

include "va_dsp.h"

include "va_board.h"

define SOFTAP_SSID_PREFIX "ESP-Alexa-"

static const char *TAG = "[app_main]";

static EventGroupHandle_t cm_event_group; const int CONNECTED_BIT = BIT0; const int PROV_DONE_BIT = BIT1;

static esp_err_t event_handler(void ctx, system_event_t event) { conn_mgr_prov_event_handler(ctx, event);

switch(event->event_id) {
case SYSTEM_EVENT_STA_START:
    esp_wifi_connect();
    break;
case SYSTEM_EVENT_STA_GOT_IP:
    printf("%s: Connected with IP Address: %s\n", TAG, ip4addr_ntoa(&event->event_info.got_ip.ip_info.ip));
    xEventGroupSetBits(cm_event_group, CONNECTED_BIT);
    break;
case SYSTEM_EVENT_STA_DISCONNECTED:
    printf("%s: Disconnected. Connecting to the AP again\n", TAG);
    esp_wifi_connect();
    break;
default:
    break;
}
return ESP_OK;

}

static void wifi_init_sta() { wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); ESP_ERROR_CHECK(esp_wifi_init(&cfg)); ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) ); ESP_ERROR_CHECK(esp_wifi_start() ); ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE)); }

define MEDIA_HAL_DEFAULT() \

{   \
    .op_mode    = MEDIA_HAL_MODE_SLAVE,              \
    .adc_input  = MEDIA_HAL_ADC_INPUT_LINE1,         \
    .dac_output = MEDIA_HAL_DAC_OUTPUT_ALL,          \
    .codec_mode = MEDIA_HAL_CODEC_MODE_BOTH,         \
    .bit_length = MEDIA_HAL_BIT_LENGTH_16BITS,       \
    .format     = MEDIA_HAL_I2S_NORMAL,              \
    .port_num = 0,                          \
};

void app_prov_done_cb() { xEventGroupSetBits(cm_event_group, PROV_DONE_BIT); }

void app_main() { ESP_LOGI(TAG, "==== Voice Assistant SDK version: %s ====", va_get_sdk_version());

alexa_config_t *va_cfg = va_mem_alloc(sizeof(alexa_config_t), VA_MEM_EXTERNAL);

if (!va_cfg) {
    ESP_LOGE(TAG, "Failed to alloc voice assistant config");
    abort();
}
va_cfg->auth_delegate.type = auth_type_subsequent;

esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES) {
    ESP_ERROR_CHECK(nvs_flash_erase());
    ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );

static media_hal_config_t media_hal_conf = MEDIA_HAL_DEFAULT();
media_hal_init(&media_hal_conf);

va_board_button_init();
va_board_led_init();

scli_init();
va_diag_register_cli();
wifi_register_cli();
app_auth_register_cli();
cm_event_group = xEventGroupCreate();

tcpip_adapter_init();
ESP_ERROR_CHECK(esp_event_loop_init(event_handler, NULL) );

printf("\r");       // To remove a garbage print ">>"
bool provisioned = false;
if (conn_mgr_prov_is_provisioned(&provisioned) != ESP_OK) {
    ESP_LOGE(TAG, "Error getting device provisioning state");
    abort();
}
if (!provisioned) {
    printf("%s: Starting provisioning\n", TAG);
    char service_name[20];
    uint8_t mac[6];
    esp_wifi_get_mac(WIFI_IF_STA, mac);
    snprintf(service_name, sizeof(service_name), "%s%02X%02X", SOFTAP_SSID_PREFIX, mac[4], mac[5]);
    conn_mgr_prov_t prov_type = conn_mgr_prov_mode_ble;
    prov_type.event_cb = alexa_conn_mgr_prov_cb;
    prov_type.cb_user_data = (void *)va_cfg;
    int security = 1;
    const char *pop = "abcd1234";
    const char *service_key = "";
    conn_mgr_prov_start_provisioning(prov_type, security, pop, service_name, service_key);
    printf("\tproof of possession (pop): %s\n", pop);
} else {
    ESP_LOGI(TAG, "Already provisioned, starting station");
    //conn_mgr_prov_mem_release();        // This is useful in case of BLE provisioning
    //esp_bt_controller_mem_release(ESP_BT_MODE_BTDM);
    app_prov_done_cb();
    wifi_init_sta();
}

xEventGroupWaitBits(cm_event_group, CONNECTED_BIT | PROV_DONE_BIT, false, true, portMAX_DELAY);
va_led_set(VA_CAN_START);
va_board_init();

#if 1
    ESP_LOGW(TAG, "Init Alexa");
    ret = alexa_init(va_cfg);
    #ifdef ALEXA_BT
        alexa_bluetooth_init();
    #endif

    if (ret != ESP_OK) {
        while(1) vTaskDelay(2);
    }
    /* This is a blocking call */
    va_dsp_init();
    /* This is only supported with minimum flash size of 8MB. */
    alexa_tone_enable_larger_tones();
#endif
//Enable BT for beacon scan
#if 1

    if(esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_ENABLED){
        ESP_LOGW(TAG,"\nBT Controller is enabled\n");
    } else {
        ESP_LOGE(TAG,"\nBT Controller is NOT enabled.Attempting to initialize ...\n");
        esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
        ESP_LOGW(TAG, "esp_bt_controller_init with cfg \n");
       ret  =   esp_bt_controller_init(&bt_cfg);
        if  (ret)   {
            ESP_LOGE(TAG, "%s initialize controller failed: %s\n", __func__, esp_err_to_name(ret));
            return;
        }

        ret =   esp_bt_controller_enable(ESP_BT_MODE_BTDM);
        if  (ret)   {
            ESP_LOGE(TAG,  "%s enable controller failed: %s\n", __func__, esp_err_to_name(ret));
            return;
        }

    }

        ret =   esp_bluedroid_init();
        if  (ret)   {
            ESP_LOGE(TAG,  "%s init bluetooth failed: %s\n", __func__, esp_err_to_name(ret));
            return;
        }

        ret =   esp_bluedroid_enable();
        if  (ret)   {
            ESP_LOGE(TAG,  "%s enable bluetooth failed: %s\n", __func__, esp_err_to_name(ret));
            return;
        }

        //register the scan callback function to the gap module
        if ((ret = esp_ble_gap_register_callback(esp_gap_cb)) != ESP_OK) {
            ESP_LOGE(TAG, "gap register error: %s", esp_err_to_name(ret));
        } else {
            ESP_LOGW(TAG, "%s gap register done: %d",__func__, ret );
        }

        esp_ble_gap_set_scan_params(&ble_scan_params);
        //esp_bt_controller_mem_release(ESP_BT_MODE_BLE);
#endif
va_mem_free(va_cfg);
return;

}

[Weijian-Espressif]

@kvbulusu , Sorry , we can not reproduce the issue. Please Please provide all your test code and Tell me the detailed method of reproduction

[kvbulusu]

@Weijian-Espressif . This has bit of dependency on the esp-va-sdk git repo and it uses BLE based provisioning. The crashes can only be reproduced after provisioning process is completed.

Steps to reproduce: 1.git clone https://github.com/espressif/esp-va-sdk.git 2.cd esp-va-sdk/examples/amazaon_alexa

3. Replace the attached file with main/app_main.c
4. Provision using the espressif android app (https://play.google.com/store/apps/details?id=com.espressif.provbleavs)

You will see the crash.

Guru Meditation Error: Core 0 panic'ed (LoadProhibited). Exception was unhandled. Core 0 register dump: PC : 0x40092bbb PS : 0x00060c30 A0 : 0x80092bf6 A1 : 0x3ffbbe30
0x40092bbb: multi_heap_internal_lock at DBG/esp-idf/components/heap/multi_heap.c:699

A2 : 0x81004136 A3 : 0x3ffb831c A4 : 0x8008fac8 A5 : 0x00000001
A6 : 0x00000003 A7 : 0x00060023 A8 : 0x80090cb9 A9 : 0x3ffbbe20
A10 : 0x00000003 A11 : 0x00060c23 A12 : 0x00060c20 A13 : 0x00000001
A14 : 0x000000fe A15 : 0x00060023 SAR : 0x00000004 EXCCAUSE: 0x0000001c
EXCVADDR: 0x81004136 LBEG : 0x4009c04c LEND : 0x4009c07a LCOUNT : 0x00000000
0x4009c04c: memcpy at /home/jeroen/esp8266/esp32/newlib_xtensa-2.2.0-bin/newlib_xtensa-2.2.0/xtensa-esp32-elf/newlib/libc/machine/xtensa/../../../../.././newlib/libc/machine/xtensa/memcpy.S:168

0x4009c07a: memcpy at /home/jeroen/esp8266/esp32/newlib_xtensa-2.2.0-bin/newlib_xtensa-2.2.0/xtensa-esp32-elf/newlib/libc/machine/xtensa/../../../../.././newlib/libc/machine/xtensa/memcpy.S:201

Backtrace: 0x40092bbb:0x3ffbbe30 0x40092bf3:0x3ffbbe50 0x400870e5:0x3ffbbe80 0x4008711a:0x3ffbbeb0 0x40087725:0x3ffbbed0 0x4000beaf:0x3ffbbef0 0x401620d2:0x3ffbbf10 0x401261c9:0x3ffbbf50 0x40104579:0x3ffbbf70 0x400d0cd7:0x3ffbc090 0x40092bbb: multi_heap_internal_lock at DBG/esp-idf/components/heap/multi_heap.c:699

0x40092bf3: multi_heap_malloc_impl at DBG/esp-idf/components/heap/multi_heap.c:699

0x400870e5: heap_caps_malloc at DBG/esp-idf/components/heap/heap_caps.c:111

0x4008711a: heap_caps_malloc_default at DBG/esp-idf/components/heap/heap_caps.c:146

0x40087725: _malloc_r at DBG/esp-idf/components/newlib/syscalls.c:37

0x401620d2: btdm_controller_init at ??:?

0x401261c9: esp_bt_controller_init at DBG/esp-idf/components/bt/bt.c:1329

0x40104579: app_main at DBG/esp-avs-sdk/examples/amazon_alexa/main/app_main.c:166

0x400d0cd7: main_task at DBG/esp-idf/components/esp32/cpu_start.c:497

3572.zip

[dhruvchikhaliya]

I had the same problem with esp32 alexa. Plese help me with this issue.I think it only run on 8MB PSRAM but i see microwavemont video in which it works without external PSRAM.

ets Jun 8 2016 00:22:57

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:1 load:0x3fff0018,len:4 load:0x3fff001c,len:6772 load:0x40078000,len:10016 load:0x40080400,len:7072 entry 0x40080750 I (61) boot: Chip Revision: 1 I (64) boot_comm: mismatch chip revision, expect 1, found 0 I (39) boot: ESP-IDF v3.2.3-33-g90af68bd3 2nd stage bootloader I (39) boot: compile time 13:31:34 I (39) boot: Enabling RNG early entropy source... I (45) qio_mode: Enabling default flash chip QIO I (50) boot: SPI Speed : 80MHz I (54) boot: SPI Mode : QIO I (58) boot: SPI Flash Size : 4MB I (62) boot: Partition Table: I (66) boot: ## Label Usage Type ST Offset Length I (73) boot: 0 nvs WiFi data 01 02 00009000 00006000 I (81) boot: 1 phy_init RF data 01 01 0000f000 00001000 I (88) boot: 2 factory factory app 00 00 00010000 00390000 I (96) boot: End of partition table I (100) boot_comm: mismatch chip revision, expect 1, found 0 I (106) esp_image: segment 0: paddr=0x00010020 vaddr=0x3f400020 size=0x1f2884 (2041988) map I (629) esp_image: segment 1: paddr=0x002028ac vaddr=0x3ffbdb60 size=0x048e8 ( 18664) load I (635) esp_image: segment 2: paddr=0x0020719c vaddr=0x40080000 size=0x00400 ( 1024) load 0x40080000: _WindowOverflow4 at C:/msys32/home/dhruv/esp/esp-idf/components/freertos/xtensa_vectors.S:1779

I (636) esp_image: segment 3: paddr=0x002075a4 vaddr=0x40080400 size=0x08a6c ( 35436) load I (656) esp_image: segment 4: paddr=0x00210018 vaddr=0x400d0018 size=0x1318f0 (1251568) map 0x400d0018: _stext at ??:?

I (971) esp_image: segment 5: paddr=0x00341910 vaddr=0x40088e6c size=0x0eca0 ( 60576) load 0x40088e6c: ld_inq_frm_isr_wrapper at ??:?

I (1004) boot: Loaded app from partition at offset 0x10000 I (1005) boot: Disabling RNG early entropy source... E (123) [app_main]: Failed to alloc voice assistant config abort() was called at PC 0x40102f43 on core 0 0x40102f43: app_main at C:/msys32/home/dhruv/esp/esp-va-sdk/examples/amazon_alexa/main/app_main.c:154 (discriminator 2)

Backtrace: 0x4009155b:0x3ffbc040 0x40091855:0x3ffbc060 0x40102f43:0x3ffbc080 0x400d0ccb:0x3ffbc1a0 0x4009155b: invoke_abort at C:/msys32/home/dhruv/esp/esp-idf/components/esp32/panic.c:707

0x40091855: abort at C:/msys32/home/dhruv/esp/esp-idf/components/esp32/panic.c:707

0x40102f43: app_main at C:/msys32/home/dhruv/esp/esp-va-sdk/examples/amazon_alexa/main/app_main.c:154 (discriminator 2)

0x400d0ccb: main_task at C:/msys32/home/dhruv/esp/esp-idf/components/esp32/cpu_start.c:506

[avsheth]

Hi @dhruvchikhaliya12 The channel you're referring to, uses a separate custom source. Which IMHO, has very limited functionality (WW detection, full-fledged media streaming support (Saavn, Amazon music etc.), BT streaming being a few missing). Also, esp-va-sdk has been certified from Amazon which includes passing some of stress tests such as response within a specified time, device running for > 24 hours when put under stress test (such as constant barge-in with media running in background, resuming audio immediately after query has ended, running smoothly on a slow speed network etc.). These functionalities require more buffers. It could very well be used without PSRAM, but I suspect it may not be able to hold up to all the certification requirements.

P.S. Please raise esp-va-sdk specific issues/concerns on esp-va-sdk repo. :)

[dhruvchikhaliya]

Hi @dhruvchikhaliya12 The channel you're referring to, uses a separate custom source. Which IMHO, has very limited functionality (WW detection, full-fledged media streaming support (Saavn, Amazon music etc.), BT streaming being a few missing). Also, esp-va-sdk has been certified from Amazon which includes passing some of stress tests such as response within a specified time, device running for > 24 hours when put under stress test (such as constant barge-in with media running in background, resuming audio immediately after query has ended, running smoothly on a slow speed network etc.). These functionalities require more buffers. It could very well be used without PSRAM, but I suspect it may not be able to hold up to all the certification requirements.

P.S. Please raise esp-va-sdk specific issues/concerns on esp-va-sdk repo. :)

I know that but none of that code run on my board and give me error and restart automatically so please help me. Thanks in advance.

[avsheth]

Hi @dhruvchikhaliya12 Could you please open a new issue on esp-va-sdk with the failure log, this would help us track the original subject issue and relevant person can look into both the issues.

Thanks

[Alvin1Zhang]

@kvbulusu @dhruvchikhaliya12 Thanks for reporting. As suggested, will close this ticket, and please help open a new issue on esp-va-sdk at https://github.com/espressif/esp-va-sdk/issues. Thanks.