[crash][AP_HAL_ESP32] when ICM20948 is defined

[akhodeir]

Issue details
I modified esp32s3devkit board to use ICM20948 instead of MPU9250.
The system starts to crash.

here is how I defined my definition for ICM20948 :

  In libraries/AP_HAL_ESP32/boards/esp32s3devkit.h:

  // ICM20948 via SPI configuration
  #define HAL_INS_DEFAULT HAL_INS_ICM20XXX_SPI
  #define HAL_INS_ICM20948_NAME "icm20948"

  // Enable ICM20948 compass support
  #define AP_COMPASS_ICM20948_ENABLED 1
  #define AP_COMPASS_AK09916_ENABLED 1

  // Compass: AK09916 integrated in ICM20948
  #define HAL_COMPASS_MAX_SENSORS 3

  // IMU probing: ICM20948 via SPI
  #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensensev2, HAL_INS_ICM20948_NAME, ROTATION_NONE)

  // MAG/COMPASS probing: AK09916 inside ICM20948 via SPI
  // Use direct ADD_BACKEND instead of PROBE_MAG_IMU macro
  #define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_NONE))

  // SPI device configuration
  #define HAL_ESP32_SPI_DEVICES \
      {.name="icm20948", .bus=0, .device=0, .cs=GPIO_NUM_13, .mode=0, .lspeed=8*MHZ, .hspeed=8*MHZ}

  // Disable external I2C compass probing to avoid conflicts
  #define HAL_PROBE_EXTERNAL_I2C_COMPASSES 0

this is the assert :
assert failed: rmt_ll_rx_set_carrier_high_low_ticks /IDF/components/hal/esp32s3/include/hal/rmt_ll.h:661 (high_ticks >= 1 && high_ticks <= 65536 && low_ticks >= 1 && low_ticks <= 65536 && "out of ran

after figuring out the issue :

xtensa-esp32s3-elf-addr2line -pfC -e build/esp32s3devkit/esp-idf_build/ardupilot.elf 0x4037cae6:0x3fccc070 0x40384afd:0x3fccc090 0x4038d4a1:0x3fccc0b0 0x420f091b:0x3fccc1d0 0x420dd309:0x3fccc250 0x420dcafa:0x3fccc2a0 0x4037a971:0x3fccc2c0
panic_abort at /opt/esp/idf/components/esp_system/panic.c:478
esp_system_abort at /opt/esp/idf/components/esp_system/port/esp_system_chip.c:87
__assert_func at /opt/esp/idf/components/newlib/assert.c:80
rmt_ll_rx_set_carrier_high_low_ticks at /opt/esp/idf/components/hal/esp32s3/include/hal/rmt_ll.h:661 (discriminator 3)
ESP32::RmtSigReader::init() at /ardupilot/build/esp32s3devkit/../../libraries/AP_HAL_ESP32/RmtSigReader.cpp:21
ESP32::RCInput::init() at /ardupilot/build/esp32s3devkit/../../libraries/AP_HAL_ESP32/RCInput.cpp:39

Version
What version was the issue encountered with

Platform
[ ] All
[ ] AntennaTracker
[ x ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
Quad

Hardware type

I only have ICM20948 via SPI to ESP32S3

Logs

here is my board :

#pragma once

#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT
// make sensor selection clearer
#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))

#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))

#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))

//- these are missing from esp-idf......will not be needed later
#define RTC_WDT_STG_SEL_OFF             0
#define RTC_WDT_STG_SEL_INT             1
#define RTC_WDT_STG_SEL_RESET_CPU       2
#define RTC_WDT_STG_SEL_RESET_SYSTEM    3
#define RTC_WDT_STG_SEL_RESET_RTC       4

#define HAL_ESP32_BOARD_NAME "esp32s3devkit"

#define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_14

//#define CONFIG_HAL_BOARD 12
//#define HAL_BOARD_ESP32 12
#define AP_INERTIALSENSOR_ENABLED 1

// ICM20948 via SPI configuration
#define HAL_INS_DEFAULT HAL_INS_ICM20XXX_SPI
#define HAL_INS_ICM20948_NAME "icm20948"

// Enable ICM20948 compass support
#define AP_COMPASS_ICM20948_ENABLED 1
#define AP_COMPASS_AK09916_ENABLED 1

// Compass: AK09916 integrated in ICM20948
#define HAL_COMPASS_MAX_SENSORS 3

// IMU probing: ICM20948 via SPI
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensensev2, HAL_INS_ICM20948_NAME, ROTATION_NONE)

// MAG/COMPASS probing: AK09916 inside ICM20948 via SPI
#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_NONE))
// BARO probing:
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x77)

// allow boot without a baro
#define HAL_BARO_ALLOW_INIT_NO_BARO 1


// ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on :
//#define HAL_DISABLE_ADC_DRIVER 1
#define TRUE 1
#define HAL_USE_ADC TRUE

// the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s.
//
// two different pin numbering schemes, both are ok, but only one at a time:
#define HAL_ESP32_ADC_PINS_OPTION1 {\
	{ADC_CHANNEL_4, 11, 1},\
	{ADC_CHANNEL_3, 11, 2},\
	{ADC_CHANNEL_1, 11, 3},\
	{ADC_CHANNEL_0, 11, 4}\
}
#define HAL_ESP32_ADC_PINS_OPTION2 {\
	{ADC_GPIO35_CHANNEL, 11, 35},\
	{ADC_GPIO34_CHANNEL, 11, 34},\
	{ADC_GPIO39_CHANNEL, 11, 39},\
	{ADC_GPIO36_CHANNEL, 11, 36}\
}
// pick one:
//#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1

#define HAL_INS_ICM20948_NAME "icm20948"

// uncommenting one or more of these will give more console debug in certain areas..
//#define INSEDEBUG 1
//#define STORAGEDEBUG 1
//#define SCHEDDEBUG 1
//#define FSDEBUG 1
//#define BUSDEBUG 1

// Disable external I2C compass probing to avoid conflicts with ICM20948's internal compass
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES 0

//#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")

// 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
#define HAL_ESP32_WIFI 2

// tip: if u are ok getting mavlink-over-tcp or mavlink-over-udp and want to disable mavlink-over-serial-usb
//then set ardupilot parameter SERIAL0_PROTOCOL = 0 and reboot.
// u also will/may want..
//LOG_BACKEND_TYPE 1
//LOG_DISARMED 1
//SERIAL0_PROTOCOL 0

// Configure as WiFi Station (client) instead of Access Point
#define WIFI_STATION 1
#define WIFI_SSID_STATION "ABC"
#define WIFI_PWD "12345678"
#define WIFI_HOSTNAME "ArduPilot-ESP32S3"
// UDP destination IP for MAVLink forwarding
#define WIFI_UDP_DEST_IP "192.168.178.20"

//RCOUT which pins are used?

#define HAL_ESP32_RCOUT { GPIO_NUM_9,GPIO_NUM_8, GPIO_NUM_6, GPIO_NUM_6, GPIO_NUM_5, GPIO_NUM_4 }

// SPI BUS setup, including gpio, dma, etc
// SPI3 (VSPI) used for ICM20948 IMU
#define HAL_ESP32_SPI_BUSES \
    {.host=SPI3_HOST, .dma_ch=SPI_DMA_CH_AUTO, .mosi=GPIO_NUM_11, .miso=GPIO_NUM_12, .sclk=GPIO_NUM_10}
// tip:  VSPI_HOST  is an alternative name for esp's SPI3
//#define HAL_ESP32_SPI_BUSES {}

// SPI per-device setup, including speeds, etc.
// ICM20948: CS=GPIO13, SCK=GPIO10, MOSI=GPIO11, MISO=GPIO12
#define HAL_ESP32_SPI_DEVICES \
    {.name="icm20948", .bus=0, .device=0, .cs=GPIO_NUM_13,  .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}
//#define HAL_ESP32_SPI_DEVICES {}

//I2C bus list
#define HAL_ESP32_I2C_BUSES \
	{.port=I2C_NUM_0, .sda=GPIO_NUM_16, .scl=GPIO_NUM_15, .speed=400*KHZ, .internal=true}
//#define HAL_ESP32_I2C_BUSES {} // using this embty block appears to cause crashes?


// rcin on what pin?
#define HAL_ESP32_RCIN GPIO_NUM_14


//HARDWARE UARTS
#define HAL_ESP32_UART_DEVICES \
  {.port=UART_NUM_0, .rx=GPIO_NUM_44, .tx=GPIO_NUM_43 },{.port=UART_NUM_1, .rx=GPIO_NUM_17, .tx=GPIO_NUM_18 }

// Filesystem and SD card completely disabled to avoid GPIO conflicts
#define HAVE_FILESYSTEM_SUPPORT 0

// Do u want to use mmc or spi mode for the sd card, this is board specific ,
//  as mmc uses specific pins but is quicker,
#define HAL_ESP32_SDMMC 0
// and spi is more flexible pinouts....  dont forget vspi/hspi should be selected to NOT conflict with SPI_BUSES above
//#define HAL_ESP32_SDSPI {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_14, .cs=GPIO_NUM_21}

#define HAL_ESP32_SDCARD 0
#define LOGGER_MAVLINK_SUPPORT 1
#define HAL_OS_POSIX_IO 1

// this becomes the default value for the ardupilot param LOG_BACKEND_TYPE, which most ppl want to be 1, for log-to-flash
// setting to 2 means log-over-mavlink to a companion computer etc.
#define HAL_LOGGING_BACKENDS_DEFAULT 1