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fix: resolve boot loop — increase stack sizes, silence RPM spam logging

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drive_task stack 2048→4096 (ESP_LOGI with 7 args overflowed 2048 frame).
vesc_can_send_rpm: ESP_LOGI→ESP_LOGD (was logging 100x/sec at 50Hz×2).
sdkconfig.defaults: add CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192 (SPI init
call chain overflowed default 3584-byte main task stack).

Firmware confirmed stable on bd-66hx: 1 boot cycle in 12 seconds.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-firmware 2026-04-20 14:29:47 -04:00
parent a05de8d49a
commit 8d411e2603
3 changed files with 3 additions and 2 deletions
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2
esp32s3/balance/main/main.c
View File

@ -166,7 +166,7 @@ void app_main(void)
xTaskCreate(orin_serial_tx_task, "orin_tx", 2048, s_orin_tx_q, 9, NULL);
if (!g_twai_bus_off) {
xTaskCreate(vesc_can_rx_task, "vesc_rx", 4096, s_orin_tx_q, 10, NULL);
xTaskCreate(drive_task, "drive", 2048, NULL, 8, NULL);
xTaskCreate(drive_task, "drive", 4096, NULL, 8, NULL);
} else {
ESP_LOGW(TAG, "CAN disabled — vesc_rx and drive tasks not started");
}

2
esp32s3/balance/main/vesc_can.c
View File

@ -72,7 +72,7 @@ void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm)
msg.data[1] = (uint8_t)(u >> 16u);
msg.data[2] = (uint8_t)(u >> 8u);
msg.data[3] = (uint8_t)(u);
ESP_LOGI(TAG, "send_rpm vesc_id=%u erpm=%" PRId32 " ext_id=0x%08" PRIx32, vesc_id, erpm, ext_id);
ESP_LOGD(TAG, "send_rpm vesc_id=%u erpm=%" PRId32 " ext_id=0x%08" PRIx32, vesc_id, erpm, ext_id);
esp_err_t err = twai_transmit(&msg, pdMS_TO_TICKS(5));
if (err != ESP_OK) {
ESP_LOGW(TAG, "twai_transmit failed vesc_id=%u err=0x%x", vesc_id, err);

1
esp32s3/balance/sdkconfig.defaults
View File

@ -7,3 +7,4 @@ CONFIG_TWAI_ISR_IN_IRAM=y
CONFIG_UART_ISR_IN_IRAM=y
CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
CONFIG_LOG_DEFAULT_LEVEL_INFO=y
CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192