Parameter server issue with ESP32c6

Parameter server issue with ESP32c6

• Hardware description: ESP32-C6-DevKitM-1
• RTOS: FreeRTOS
• Installation type: micro_ros_espidf_components
• Version or commit hash: 031fac2

Steps to reproduce the issue

After updating the Parameter example to the new API (see this pull request), I tried it on the typical NodeMCU-ESP32. It worked without issues. However, when trying the same code on the RISC-V based ESP32-C6-DevKitM-1, I get the problem that can be seen in the "Actual behavior" output, meaning that the executor spin results in a Guru Meditation Error.

Here is the code used:

#include <stdio.h>
#include <string.h>
#include <unistd.h>

#include "esp_log.h"
#include "esp_system.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

#include <rcl/error_handling.h>
#include <rcl/rcl.h>
#include <rclc/executor.h>
#include <rclc/rclc.h>
#include <rclc_parameter/rclc_parameter.h>
#include <uros_network_interfaces.h>
#include <uxr/client/config.h>

#include <rmw_microros/rmw_microros.h>
#include <uxr/client/config.h>

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}

rclc_parameter_server_t param_server;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
    (void) timer;
    (void) last_call_time;

    int64_t value;
    rclc_parameter_get_int(&param_server, "param2", &value);
    value++;
    rclc_parameter_set_int(&param_server, "param2", value);
}

bool on_parameter_changed(const Parameter *old_param, const Parameter *new_param, void *context)
    {
    printf("Parameter %s modified.", new_param->name.data);
    switch (new_param->value.type)
    {
    case RCLC_PARAMETER_BOOL:
        printf(" New value: %d (bool)", new_param->value.bool_value);
        break;
    case RCLC_PARAMETER_INT:
        printf(" New value: %lld (int)", new_param->value.integer_value);
        break;
    case RCLC_PARAMETER_DOUBLE:
        printf(" New value: %f (double)", new_param->value.double_value);
        break;
    default:
        break;
    }
    printf("\n");
    return true;
}

void micro_ros_task(void * arg)
{

 	rcl_ret_t rc;
	rcl_allocator_t allocator = rcl_get_default_allocator();
	rclc_support_t support;

	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
	RCCHECK(rcl_init_options_init(&init_options, allocator));
	rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);

	// Static Agent IP and port can be used instead of autodisvery.
	RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));

	// create init_options
	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

    // Create node
    rcl_node_t node;
    rclc_node_init_default(&node, "esp32_param_node", "", &support);

    // Create parameter service
    rclc_parameter_server_init_default(&param_server, &node);

    // create timer,
    rcl_timer_t timer;
    rclc_timer_init_default2(
        &timer,
        &support,
        RCL_MS_TO_NS(1000),
        timer_callback,
        true);

    // Create executor
    rclc_executor_t executor;
    rclc_executor_init(&executor, &support.context, RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES + 1, &allocator);
    rclc_executor_add_parameter_server(&executor, &param_server, on_parameter_changed);
    rclc_executor_add_timer(&executor, &timer);

    // Add parameters
    rclc_add_parameter(&param_server, "param1", RCLC_PARAMETER_BOOL);
    rclc_add_parameter(&param_server, "param2", RCLC_PARAMETER_INT);
    rclc_add_parameter(&param_server, "param3", RCLC_PARAMETER_DOUBLE);

    rclc_parameter_set_bool(&param_server, "param1", false);
    rclc_parameter_set_int(&param_server, "param2", 10);
    rclc_parameter_set_double(&param_server, "param3", 0.01);

    bool param1;
    int64_t param2;
    double param3;

    rclc_parameter_get_bool(&param_server, "param1", &param1);
    rclc_parameter_get_int(&param_server, "param2", &param2);
    rclc_parameter_get_double(&param_server, "param3", &param3);

	while(1){
		rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
		usleep(100000);
	}

    // clean up
    rc = rclc_executor_fini(&executor);
    rc += rclc_parameter_server_fini(&param_server, &node);
    rc += rcl_node_fini(&node);

    if (rc != RCL_RET_OK) {
        printf("Error while cleaning up!\n");
    }

  	vTaskDelete(NULL);
}

void app_main(void)
{
#ifdef UCLIENT_PROFILE_UDP
    // Start the networking if required
    ESP_ERROR_CHECK(uros_network_interface_initialize());
#endif  // UCLIENT_PROFILE_UDP

    //pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
    xTaskCreate(micro_ros_task,
            "uros_task",
            CONFIG_MICRO_ROS_APP_STACK,
            NULL,
            CONFIG_MICRO_ROS_APP_TASK_PRIO,
            NULL);
}

with this config:

{
    "names": {
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=1",
                "-DRMW_UXRCE_MAX_SERVICES=10",
                "-DRMW_UXRCE_MAX_CLIENTS=1",
                "-DRMW_UXRCE_MAX_HISTORY=8"
            ]
        }
    }
}

Expected behavior

Working parameter server, like when set up with ESP32 Node MCU.

Actual behavior

Rebooting...
ESP-ROM:esp32c6-20220919
Build:Sep 19 2022
rst:0xc (SW_CPU),boot:0xc (SPI_FAST_FLASH_BOOT)
Saved PC:0x4001975a
--- 0x4001975a: software_reset_cpu in ROM

SPIWP:0xee
mode:DIO, clock div:2
load:0x40875720,len:0x16b8
load:0x4086c110,len:0xe84
load:0x4086e610,len:0x3058
entry 0x4086c11a
I (26) boot: ESP-IDF v5.4-727-g5cbd2a3877 2nd stage bootloader
I (27) boot: compile time Apr 11 2025 17:26:12
I (28) boot: chip revision: v0.0
I (29) boot: efuse block revision: v0.1
I (32) boot.esp32c6: SPI Speed      : 80MHz
I (35) boot.esp32c6: SPI Mode       : DIO
I (39) boot.esp32c6: SPI Flash Size : 2MB
I (43) boot: Enabling RNG early entropy source...
I (48) boot: Partition Table:
I (50) boot: ## Label            Usage          Type ST Offset   Length
I (56) boot:  0 nvs              WiFi data        01 02 00009000 00006000
I (63) boot:  1 phy_init         RF data          01 01 0000f000 00001000
I (69) boot:  2 factory          factory app      00 00 00010000 00100000
I (76) boot: End of partition table
I (79) esp_image: segment 0: paddr=00010020 vaddr=420c0020 size=1fe08h (130568) map
I (134) esp_image: segment 1: paddr=0002fe30 vaddr=40800000 size=001e8h (   488) load
I (136) esp_image: segment 2: paddr=00030020 vaddr=42000020 size=b8c70h (756848) map
I (413) esp_image: segment 3: paddr=000e8c98 vaddr=408001e8 size=192ach (103084) load
I (457) esp_image: segment 4: paddr=00101f4c vaddr=408194a0 size=0b318h ( 45848) load
I (493) boot: Loaded app from partition at offset 0x10000
I (493) boot: Disabling RNG early entropy source...
I (504) cpu_start: Unicore app
I (512) cpu_start: Pro cpu start user code
I (513) cpu_start: cpu freq: 160000000 Hz
I (513) app_init: Application information:
I (513) app_init: Project name:     int32_pub_sub
I (517) app_init: App version:      5.0.1-8-g031fac2-dirty
I (522) app_init: Compile time:     Apr 11 2025 17:26:09
I (527) app_init: ELF file SHA256:  97634b4f2...
I (532) app_init: ESP-IDF:          v5.4-727-g5cbd2a3877
I (537) efuse_init: Min chip rev:     v0.0
I (540) efuse_init: Max chip rev:     v0.99 
I (544) efuse_init: Chip rev:         v0.0
I (548) heap_init: Initializing. RAM available for dynamic allocation:
I (555) heap_init: At 408324D0 len 0004A140 (296 KiB): RAM
I (560) heap_init: At 4087C610 len 00002F54 (11 KiB): RAM
I (565) heap_init: At 50000000 len 00003FE8 (15 KiB): RTCRAM
I (571) spi_flash: detected chip: generic
I (574) spi_flash: flash io: dio
W (577) spi_flash: Detected size(4096k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (589) sleep_gpio: Configure to isolate all GPIO pins in sleep state
I (595) sleep_gpio: Enable automatic switching of GPIO sleep configuration
I (602) coexist: coex firmware version: e727207
I (620) coexist: coexist rom version 5b8dcfa
I (621) main_task: Started on CPU0
I (621) main_task: Calling app_main()
I (631) wifi_station_netif: ESP_WIFI_MODE_STA
I (631) pp: pp rom version: 5b8dcfa
I (631) net80211: net80211 rom version: 5b8dcfa
I (641) wifi:wifi driver task: 4083af30, prio:23, stack:6656, core=0
I (641) wifi:wifi firmware version: 79fa3f41ba
I (641) wifi:wifi certification version: v7.0
I (641) wifi:config NVS flash: enabled
I (651) wifi:config nano formatting: disabled
I (651) wifi:mac_version:HAL_MAC_ESP32AX_761,ut_version:N, band mode:0x1
I (661) wifi:Init data frame dynamic rx buffer num: 32
I (661) wifi:Init static rx mgmt buffer num: 5
I (671) wifi:Init management short buffer num: 32
I (671) wifi:Init dynamic tx buffer num: 32
I (671) wifi:Init static tx FG buffer num: 2
I (681) wifi:Init static rx buffer size: 1700 (rxctrl:92, csi:512)
I (681) wifi:Init static rx buffer num: 10
I (691) wifi:Init dynamic rx buffer num: 32
I (691) wifi_init: rx ba win: 6
I (691) wifi_init: accept mbox: 6
I (701) wifi_init: tcpip mbox: 32
I (701) wifi_init: udp mbox: 6
I (701) wifi_init: tcp mbox: 6
I (711) wifi_init: tcp tx win: 5760
I (711) wifi_init: tcp rx win: 5760
I (711) wifi_init: tcp mss: 1440
I (721) wifi_init: WiFi IRAM OP enabled
I (721) wifi_init: WiFi RX IRAM OP enabled
I (721) wifi_init: WiFi SLP IRAM OP enabled
W (731) wifi:Password length matches WPA2 standards, authmode threshold changes from OPEN to WPA2
I (741) phy_init: phy_version 330,4af1121,Feb  6 2025,14:39:13
I (781) phy_init: Saving new calibration data due to checksum failure or outdated calibration data, mode(0)
W (811) wifi:ACK_TAB0   :0x   90a0b, QAM16:0x9 (24Mbps), QPSK:0xa (12Mbps), BPSK:0xb (6Mbps)
W (811) wifi:CTS_TAB0   :0x   90a0b, QAM16:0x9 (24Mbps), QPSK:0xa (12Mbps), BPSK:0xb (6Mbps)
W (811) wifi:(agc)0x600a7128:0xd2022800, min.avgNF:0xce->0xd2(dB), RCalCount:0x22, min.RRssi:0x800(-128.00)
W (821) wifi:(TB)WDEV_PWR_TB_MCS0:19
W (821) wifi:(TB)WDEV_PWR_TB_MCS1:19
W (831) wifi:(TB)WDEV_PWR_TB_MCS2:19
W (831) wifi:(TB)WDEV_PWR_TB_MCS3:19
W (831) wifi:(TB)WDEV_PWR_TB_MCS4:19
W (841) wifi:(TB)WDEV_PWR_TB_MCS5:19
W (841) wifi:(TB)WDEV_PWR_TB_MCS6:18
W (841) wifi:(TB)WDEV_PWR_TB_MCS7:18
W (851) wifi:(TB)WDEV_PWR_TB_MCS8:17
W (851) wifi:(TB)WDEV_PWR_TB_MCS9:15
W (851) wifi:(TB)WDEV_PWR_TB_MCS10:15
W (861) wifi:(TB)WDEV_PWR_TB_MCS11:15
I (861) wifi:11ax coex: WDEVAX_PTI0(0x55777555), WDEVAX_PTI1(0x00003377).

I (871) wifi:mode : sta (54:32:04:07:28:3c)
I (871) wifi:enable tsf
I (881) wifi_station_netif: wifi_init_sta finished.
I (881) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1, snd_ch_cfg:0x0
I (891) wifi:(connect)dot11_authmode:0x3, pairwise_cipher:0x3, group_cipher:0x3
I (891) wifi:state: init -> auth (0xb0)
I (921) wifi:state: auth -> assoc (0x0)
I (941) wifi:(assoc)RESP, Extended Capabilities length:1, operating_mode_notification:0
I (941) wifi:(assoc)RESP, Extended Capabilities, MBSSID:0, TWT Responder:0, OBSS Narrow Bandwidth RU In OFDMA Tolerance:0
I (951) wifi:state: assoc -> run (0x10)
I (951) wifi:(trc)phytype:CBW20-SGI, snr:75, maxRate:144, highestRateIdx:0
W (961) wifi:(trc)band:2G, phymode:3, highestRateIdx:0, lowestRateIdx:11, dataSchedTableSize:14
I (971) wifi:(trc)band:2G, rate(S-MCS7, rateIdx:0), ampdu(rate:S-MCS7, schedIdx(0, stop:8)), snr:75, ampduState:wait operational
I (981) wifi:ifidx:0, rssi:-21, nf:-96, phytype(0x3, CBW20-SGI), phymode(0x3, 11bgn), max_rate:144, he:0, vht:0, ht:1
I (991) wifi:(ht)max.RxAMPDULenExponent:3(65535 bytes), MMSS:4(2 us)
I (1021) wifi:connected with It Burns When IP, aid = 6, channel 1, BW20, bssid = ee:6d:56:02:6f:3b
I (1021) wifi:security: WPA2-PSK, phy:11bgn, rssi:-21, cipher(pairwise:0x3, group:0x3), pmf:0, 
I (1031) wifi:pm start, type: 1, twt_start:0

I (1031) wifi:pm start, type:1, aid:0x6, trans-BSSID:ee:6d:56:02:6f:3b, BSSID[5]:0x3b, mbssid(max-indicator:0, index:0), he:0
I (1041) wifi:dp: 1, bi: 102400, li: 3, scale listen interval from 307200 us to 307200 us
I (1051) wifi:set rx beacon pti, rx_bcn_pti: 10, bcn_timeout: 25000, mt_pti: 10, mt_time: 10000
I (1061) wifi:[ADDBA]TX addba request, tid:0, dialogtoken:1, bufsize:64, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x0)
I (1071) wifi:[ADDBA]TX addba request, tid:7, dialogtoken:2, bufsize:64, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x20)
I (1081) wifi:[ADDBA]TX addba request, tid:5, dialogtoken:3, bufsize:64, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x0)
I (1091) wifi:dp: 2, bi: 102400, li: 4, scale listen interval from 307200 us to 409600 us
I (1101) wifi:AP's beacon interval = 102400 us, DTIM period = 2
I (1111) wifi:[ADDBA]RX addba response, status:0, tid:0/tb:1(0xa1), bufsize:64, batimeout:0, txa_wnd:64
I (1111) wifi:[ADDBA]RX addba response, status:0, tid:7/tb:1(0xa1), bufsize:64, batimeout:0, txa_wnd:64
I (1121) wifi:[ADDBA]RX addba response, status:0, tid:5/tb:1(0xa1), bufsize:64, batimeout:0, txa_wnd:64
I (2191) esp_netif_handlers: sta ip: 192.168.249.245, mask: 255.255.255.0, gw: 192.168.249.123
I (2191) wifi_station_netif: got ip:192.168.249.245
I (2191) wifi_station_netif: connected to ap SSID:**** password:****
I (2201) main_task: Returned from app_main()
W (2211) wifi:<ba-add>idx:0, ifx:0, tid:0, TAHI:0x1003b6f, TALO:0x2566dee, (ssn:4, win:64, cur_ssn:4), CONF:0xc0000005
Parameter param1 modified. New value: 0 (bool)
Parameter param2 modified. New value: 10 (int)
Parameter param3 modified. New value: 0.010000 (double)
Guru Meditation Error: Core  0 panic'ed (Illegal instruction). Exception was unhandled.

Core  0 register dump:
--- Stack dump detected
MEPC    : 0x420104ba  RA      : 0x420104aa  SP      : 0x40846dd0  GP      : 0x40819ca4  
--- 0x420104ba: rclc_parameter_get_double at ??:?
0x420104aa: rclc_parameter_get_double at ??:?

TP      : 0x40846f50  T0      : 0x7f7fffff  T1      : 0x7f7f7f7f  T2      : 0xffffffff  
S0/FP   : 0x40846e00  S1      : 0x420c3000  A0      : 0x00000001  A1      : 0x40835108  
A2      : 0x0000336d  A3      : 0x00000003  A4      : 0x00000003  A5      : 0x40834b7c  
A6      : 0xf4240000  A7      : 0xe6f50000  S2      : 0x420c3000  S3      : 0x420c3000  
S4      : 0x00000000  S5      : 0x00000000  S6      : 0x00000000  S7      : 0x00000000  
S8      : 0x00000000  S9      : 0x00000000  S10     : 0x00000000  S11     : 0x00000000  
T3      : 0x00000000  T4      : 0x00000413  T5      : 0x00000001  T6      : 0x3f847ae1  
MSTATUS : 0x00001881  MTVEC   : 0x40800001  MCAUSE  : 0x00000002  MTVAL   : 0x0000339c  
--- 0x40800001: _vector_table at /opt/esp/idf/components/riscv/vectors_intc.S:54

MHARTID : 0x00000000  


--- Backtrace:


0x420104ba in rclc_parameter_get_double ()
#0  0x420104ba in rclc_parameter_get_double ()
Backtrace stopped: previous frame identical to this frame (corrupt stack?)



ELF file SHA256: 97634b4f2

Additional information

I see that the esp32c6 hasn't been supported for long. If you could point me to where the difference lies for esp32 and esp32c6, I might be able to tackle the issue myself. If you have ideas, let me know. I will take a deeper look and post updates here.

Bắt đầu bằng cách tái hiện ví dụ parameter server với ESP32-C6-DevKitM-1, commit được báo cáo và cấu hình micro-ROS được cung cấp, sau đó so sánh với thiết lập NodeMCU đang hoạt động. Xem lại bản cập nhật API trong pull request 287 và đường dẫn spin của executor được minh họa trong ví dụ. Hoàn tất khi parameter server chạy trên ESP32-C6 mà không gặp Guru Meditation Error và khớp với hành vi hoạt động mong đợi.