ESP32 崩溃 有时发送 Websocket 时会崩溃

Question

我的 ESP32-S2 在发送大型 Websocket 时有时会（看似随机？）崩溃。

串口输出的崩溃日志：

Guru Meditation Error: Core  0 panic'ed (LoadProhibited). Exception was unhandled.

Core  0 register dump:
PC      : 0x40087297  PS      : 0x00060830  A0      : 0x80087bc9  A1      : 0x3ffd2560  
A2      : 0x3ffc655c  A3      : 0x3ffe3610  A4      : 0x3ffcbd54  A5      : 0x3ffc65d8
A6      : 0x3f4c0058  A7      : 0x00000001  A8      : 0xa941d536  A9      : 0x3ffd2540  
A10     : 0x3ffe3610  A11     : 0x3ffe3610  A12     : 0x3ffe35f0  A13     : 0x00000000
A14     : 0x3ffcd288  A15     : 0x3ffcd23c  SAR     : 0x00000013  EXCCAUSE: 0x0000001c  
EXCVADDR: 0xa941d542  LBEG    : 0x3ffe35f0  LEND    : 0x00000000  LCOUNT  : 0x40028358


Backtrace:0x40087294:0x3ffd25600x40087bc6:0x3ffd2590 0x40087bdf:0x3ffd25b0 0x40087bed:0x3ffd25d0 0x40083d30:0x3ffd25f0 0x40083d4f:0x3ffd2610 0x401015dd:0x3ffd2630 0x4008dc95:0x3ffd2650 0x40083366:0x3ffd2670 0x400918a1:0x3ffd2690 

  #0  0x40087294:0x3ffd2560 in AsyncWebSocket::_cleanBuffers() at .pio/libdeps/esp32-s2-saola-1/ESP Async WebServer/src/AsyncWebSocket.cpp:1224 (discriminator 3)
  #1  0x40087bc6:0x3ffd2590 in AsyncWebSocket::binaryAll(AsyncWebSocketMessageBuffer*) at .pio/libdeps/esp32-s2-saola-1/ESP Async WebServer/src/AsyncWebSocket.cpp:986
  #2  0x40087bdf:0x3ffd25b0 in AsyncWebSocket::binaryAll(char const*, unsigned int) at .pio/libdeps/esp32-s2-saola-1/ESP Async WebServer/src/AsyncWebSocket.cpp:974
  #3  0x40087bed:0x3ffd25d0 in AsyncWebSocket::binaryAll(unsigned char*, unsigned int) at .pio/libdeps/esp32-s2-saola-1/ESP Async WebServer/src/AsyncWebSocket.cpp:1133
  #4  0x40083d30:0x3ffd25f0 in sendMeasurements_Bin() at src/websockets.cpp:71
  #5  0x40083d4f:0x3ffd2610 in captureMeasurements() at src/websockets.cpp:49
  #6  0x401015dd:0x3ffd2630 in std::_Function_handler<void (), void (*)()>::_M_invoke(std::_Any_data const&) at c:\users\vojta\.platformio\packages\toolchain-xtensa-esp32s2\xtensa-esp32s2-elf\include\c++\8.4.0\bits/std_function.h:297
  #7  0x4008dc95:0x3ffd2650 in std::function<void ()>::operator()() const at c:\users\vojta\.platformio\packages\toolchain-xtensa-esp32s2\xtensa-esp32s2-elf\include\c++\8.4.0\bits/std_function.h:687
      (inlined by) Ticker::update() at .pio/libdeps/esp32-s2-saola-1/Ticker/Ticker.cpp:72
  #8  0x40083366:0x3ffd2670 in loop() at src/main.cpp:134
  #9  0x400918a1:0x3ffd2690 in loopTask(void*) at C:/Users/vojta/.platformio/packages/framework-arduinoespressif32/cores/esp32/main.cpp:50




ELF file SHA256: 0000000000000000

定期发送websocket的函数：

void sendMeasurements_Bin(){
  Serial.print("sending----");
  ws.binaryAll((uint8_t*)buffer, sizeof(buffer));
  Serial.println("sent");
  return ;

}

其中

buffer

是结构体数组：

struct __attribute__((packed)) Measurement {
    int16_t current_L;
    int16_t current_R;
    int16_t current_Total;
    int16_t setpoint;
    int16_t error;
    uint32_t encoder_L;
    uint32_t encoder_R;
    uint32_t timestamp; // Store the time when the measurement was taken
};

const int BUFFER_SIZE = 100;

Measurement buffer[BUFFER_SIZE];

您知道是什么原因导致此问题吗？我的猜测是它与内存相关，但这对我来说没有意义，因为没有分配新的内存，缓冲区仅初始化一次，然后重写并发送。

我尝试在每次发送数据时打印出可用堆大小，使用：

Serial.print(esp_get_free_heap_size());

空闲堆大小变化不大，这是预期的。

Answer 1

正如官方文档中给出的，大多数情况下，当应用程序尝试读取或写入无效的内存位置时，会发生LoadProhibited。因为我怀疑

sendMeasurements_Bin

函数会抛出错误。所以只需将缓冲区指针传递给

sendMeasurements_Bin

功能并尝试使用它。