i2c_ll_disable_intr_mask Core 0 panic'ed (LoadProhibited) when calling esp_camera_init multiple times

[petercipov]

Problem

I (24) boot: ESP-IDF v5.1-dev-2066-g7869f4e151 2nd stage bootloader
I (24) boot: compile time Dec  7 2022 20:47:47
I (25) boot: chip revision: v0.1
I (29) qio_mode: Enabling default flash chip QIO
I (34) boot.esp32s3: Boot SPI Speed : 80MHz
I (39) boot.esp32s3: SPI Mode       : QIO
I (43) boot.esp32s3: SPI Flash Size : 8MB
I (48) boot: Enabling RNG early entropy source...
I (54) boot: Partition Table:
I (57) boot: ## Label            Usage          Type ST Offset   Length
I (64) boot:  0 nvs              WiFi data        01 02 00009000 00006000
I (72) boot:  1 phy_init         RF data          01 01 0000f000 00001000
I (79) boot:  2 factory          factory app      00 00 00010000 00100000
I (87) boot: End of partition table
I (91) esp_image: segment 0: paddr=00010020 vaddr=3c040020 size=0f9b0h ( 63920) map
I (109) esp_image: segment 1: paddr=0001f9d8 vaddr=3fc94500 size=00640h (  1600) load
I (110) esp_image: segment 2: paddr=00020020 vaddr=42000020 size=30fd0h (200656) map
I (147) esp_image: segment 3: paddr=00050ff8 vaddr=3fc94b40 size=037d4h ( 14292) load
I (150) esp_image: segment 4: paddr=000547d4 vaddr=40374000 size=1040ch ( 66572) load
I (172) boot: Loaded app from partition at offset 0x10000
I (172) boot: Disabling RNG early entropy source...
I (173) octal_psram: vendor id    : 0x0d (AP)
I (178) octal_psram: dev id       : 0x02 (generation 3)
I (183) octal_psram: density      : 0x03 (64 Mbit)
I (189) octal_psram: good-die     : 0x01 (Pass)
I (194) octal_psram: Latency      : 0x01 (Fixed)
I (199) octal_psram: VCC          : 0x01 (3V)
I (204) octal_psram: SRF          : 0x01 (Fast Refresh)
I (210) octal_psram: BurstType    : 0x01 (Hybrid Wrap)
I (216) octal_psram: BurstLen     : 0x01 (32 Byte)
I (222) octal_psram: Readlatency  : 0x02 (10 cycles@Fixed)
I (228) octal_psram: DriveStrength: 0x00 (1/1)
W (233) PSRAM: DO NOT USE FOR MASS PRODUCTION! Timing parameters will be updated in future IDF version.
I (244) esp_psram: Found 8MB PSRAM device
I (248) esp_psram: Speed: 80MHz
I (252) cpu_start: Pro cpu up.
I (255) cpu_start: Starting app cpu, entry point is 0x40375548
0x40375548: call_start_cpu1 at /Users/petercipov/esp/esp-idf/components/esp_system/port/cpu_start.c:145

I (0) cpu_start: App cpu up.
I (583) esp_psram: SPI SRAM memory test OK
I (592) cpu_start: Pro cpu start user code
I (592) cpu_start: cpu freq: 240000000 Hz
I (592) cpu_start: Application information:
I (592) cpu_start: Project name:     main_test
I (592) cpu_start: App version:      38f24e5-dirty
I (592) cpu_start: Compile time:     Dec  7 2022 21:09:08
I (593) cpu_start: ELF file SHA256:  801fd3d13956245e...
I (593) cpu_start: ESP-IDF:          v5.1-dev-2066-g7869f4e151
I (593) cpu_start: Min chip rev:     v0.0
I (593) cpu_start: Max chip rev:     v0.99
I (593) cpu_start: Chip rev:         v0.1
I (594) heap_init: Initializing. RAM available for dynamic allocation:
I (594) heap_init: At 3FC98F40 len 000507D0 (321 KiB): D/IRAM
I (594) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (594) heap_init: At 600FE010 len 00001FF0 (7 KiB): RTCRAM
I (595) esp_psram: Adding pool of 8192K of PSRAM memory to heap allocator
I (596) spi_flash: detected chip: generic
I (596) spi_flash: flash io: qio
I (596) cpu_start: Starting scheduler on PRO CPU.
I (0) cpu_start: Starting scheduler on APP CPU.
Running Camera driver init, deinit test...
I (597) s3 ll_cam: DMA Channel=4
I (597) cam_hal: cam init ok
I (597) sccb: pin_sda 4 pin_scl 5
I (597) sccb: sccb_i2c_port=1

I (597) gpio: GPIO[43]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (617) gpio: GPIO[44]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (647) camera: Detected camera at address=0x30
I (647) camera: Detected OV2640 camera
I (647) camera: Camera PID=0x26 VER=0x42 MIDL=0x7f MIDH=0xa2
I (717) s3 ll_cam: node_size: 3840, nodes_per_line: 1, lines_per_node: 6
I (717) s3 ll_cam: dma_half_buffer_min:  3840, dma_half_buffer: 15360, lines_per_half_buffer: 24, dma_buffer_size: 30720
I (717) cam_hal: buffer_size: 30720, half_buffer_size: 15360, node_buffer_size: 3840, node_cnt: 8, total_cnt: 10
I (717) cam_hal: Allocating 153600 Byte frame buffer in PSRAM
I (717) cam_hal: Allocating 153600 Byte frame buffer in PSRAM
I (717) cam_hal: cam config ok
I (717) ov2640: Set PLL: clk_2x: 1, clk_div: 3, pclk_auto: 1, pclk_div: 8
/Users/petercipov/projects/aoe-firmware/components/aoe_camera/test/test_camera.c:155:Camera driver init, deinit test:PASS
Running Camera driver init 2, deinit test...
I (777) s3 ll_cam: DMA Channel=4
I (777) cam_hal: cam init ok
I (777) sccb: pin_sda 4 pin_scl 5
I (777) sccb: sccb_i2c_port=1

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

Core  0 register dump:
PC      : 0x42019f19  PS      : 0x00060c33  A0      : 0x8200c623  A1      : 0x3fc9c800
0x42019f19: i2c_ll_disable_intr_mask at /Users/petercipov/esp/esp-idf/components/hal/esp32s3/include/hal/i2c_ll.h:229
 (inlined by) i2c_param_config at /Users/petercipov/esp/esp-idf/components/driver/i2c.c:760

A2      : 0x00000001  A3      : 0x3fc9c840  A4      : 0x00000000  A5      : 0x0000000b
A6      : 0x3fc94d0c  A7      : 0x00000000  A8      : 0x82019f14  A9      : 0x3fc9c7d0
A10     : 0x00000001  A11     : 0x3fc987b0  A12     : 0x00060c20  A13     : 0x00060c23
A14     : 0x00000001  A15     : 0x0000cdcd  SAR     : 0x00000005  EXCCAUSE: 0x0000001c
EXCVADDR: 0x00000028  LBEG    : 0x400556d5  LEND    : 0x400556e5  LCOUNT  : 0xfffffffe


Backtrace: 0x42019f16:0x3fc9c800 0x4200c620:0x3fc9c830 0x4200b666:0x3fc9c880 0x4200b8b8:0x3fc9c8d0 0x42002272:0x3fc9c910 0x420022dc:0x3fc9c9b0 0x420085de:0x3fc9c9d0 0x4200871d:0x3fc9ca00 0x4200878e:0x3fc9ca20 0x42014929:0x3fc9ca40 0x420308c8:0x3fc9ca60 0x4037e739:0x3fc9ca80
0x42019f16: i2c_ll_disable_intr_mask at /Users/petercipov/esp/esp-idf/components/hal/esp32s3/include/hal/i2c_ll.h:229
 (inlined by) i2c_param_config at /Users/petercipov/esp/esp-idf/components/driver/i2c.c:760
0x4200c620: SCCB_Init at /Users/petercipov/projects/aoe-firmware/components/esp32-camera/driver/sccb.c:68
0x4200b666: camera_probe at /Users/petercipov/projects/aoe-firmware/components/esp32-camera/driver/esp_camera.c:168 (discriminator 15)
0x4200b8b8: esp_camera_init at /Users/petercipov/projects/aoe-firmware/components/esp32-camera/driver/esp_camera.c:282
0x42002272: init_camera at /Users/petercipov/projects/aoe-firmware/components/aoe_camera/test/test_camera.c:145
0x420022dc: test_func_162 at /Users/petercipov/projects/aoe-firmware/components/aoe_camera/test/test_camera.c:164
0x420085de: unity_default_test_run at /Users/petercipov/esp/esp-idf/components/unity/unity_runner.c:70
0x4200871d: unity_run_single_test at /Users/petercipov/esp/esp-idf/components/unity/unity_runner.c:117
0x4200878e: unity_run_all_tests at /Users/petercipov/esp/esp-idf/components/unity/unity_runner.c:176 (discriminator 3)
0x42014929: app_main at /Users/petercipov/projects/aoe-firmware/test/main/main_test.cc:6
0x420308c8: main_task at /Users/petercipov/esp/esp-idf/components/freertos/FreeRTOS-Kernel/portable/port_common.c:131
0x4037e739: vPortTaskWrapper at /Users/petercipov/esp/esp-idf/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:154

Steps to reproduce

ESP-IDF v5.1-dev-2066-g7869f4e151
ESP32_S3_EYE v2.2
esp32-camera git hash 9e8d7cd
run simple init deinit test scenario twice (example taken from this repo unit test and stripped to minimum)

#include "unity.h"
#include "esp_log.h"
#include "esp_camera.h"


#define BOARD_CAMERA_MODEL_ESP32_S3_EYE 1

// WROVER-KIT PIN Map
#if BOARD_WROVER_KIT

#define PWDN_GPIO_NUM -1  //power down is not used
#define RESET_GPIO_NUM -1 //software reset will be performed
#define XCLK_GPIO_NUM 21
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27

#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 19
#define Y4_GPIO_NUM 18
#define Y3_GPIO_NUM 5
#define Y2_GPIO_NUM 4
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22

// ESP32Cam (AiThinker) PIN Map
#elif BOARD_ESP32CAM_AITHINKER

#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1 //software reset will be performed
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27

#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22

#elif BOARD_CAMERA_MODEL_ESP32S2

#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    -1

#define VSYNC_GPIO_NUM    21
#define HREF_GPIO_NUM     38
#define PCLK_GPIO_NUM     11
#define XCLK_GPIO_NUM     40

#define SIOD_GPIO_NUM     17
#define SIOC_GPIO_NUM     18

#define Y9_GPIO_NUM       39
#define Y8_GPIO_NUM       41
#define Y7_GPIO_NUM       42
#define Y6_GPIO_NUM       12
#define Y5_GPIO_NUM       3
#define Y4_GPIO_NUM       14
#define Y3_GPIO_NUM       37
#define Y2_GPIO_NUM       13

#elif BOARD_CAMERA_MODEL_ESP32_S3_EYE

#define PWDN_GPIO_NUM     43
#define RESET_GPIO_NUM    44

#define VSYNC_GPIO_NUM    6
#define HREF_GPIO_NUM     7
#define PCLK_GPIO_NUM     13
#define XCLK_GPIO_NUM     15

#define SIOD_GPIO_NUM     4
#define SIOC_GPIO_NUM     5

#define Y9_GPIO_NUM       16
#define Y8_GPIO_NUM       17
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       12
#define Y5_GPIO_NUM       11
#define Y4_GPIO_NUM       10
#define Y3_GPIO_NUM       9
#define Y2_GPIO_NUM       8

#endif

#define I2C_MASTER_SCL_IO           4      /*!< GPIO number used for I2C master clock */
#define I2C_MASTER_SDA_IO           5      /*!< GPIO number used for I2C master data  */
#define I2C_MASTER_NUM              0      /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
#define I2C_MASTER_FREQ_HZ          100000 /*!< I2C master clock frequency */



static esp_err_t init_camera(uint32_t xclk_freq_hz, pixformat_t pixel_format, framesize_t frame_size, uint8_t fb_count, int sccb_sda_gpio_num, int sccb_port)
{
    framesize_t size_bak = frame_size;
    if (PIXFORMAT_JPEG == pixel_format && FRAMESIZE_SVGA > frame_size) {
        frame_size = FRAMESIZE_HD;
    }
    camera_config_t camera_config = {
        .pin_pwdn = PWDN_GPIO_NUM,
        .pin_reset = RESET_GPIO_NUM,
        .pin_xclk = XCLK_GPIO_NUM,
        .pin_sccb_sda = sccb_sda_gpio_num, // If pin_sccb_sda is -1, sccb will use the already initialized i2c port specified by `sccb_i2c_port`.
        .pin_sccb_scl = SIOC_GPIO_NUM,
        .sccb_i2c_port = sccb_port,

        .pin_d7 = Y9_GPIO_NUM,
        .pin_d6 = Y8_GPIO_NUM,
        .pin_d5 = Y7_GPIO_NUM,
        .pin_d4 = Y6_GPIO_NUM,
        .pin_d3 = Y5_GPIO_NUM,
        .pin_d2 = Y4_GPIO_NUM,
        .pin_d1 = Y3_GPIO_NUM,
        .pin_d0 = Y2_GPIO_NUM,
        .pin_vsync = VSYNC_GPIO_NUM,
        .pin_href = HREF_GPIO_NUM,
        .pin_pclk = PCLK_GPIO_NUM,

        //EXPERIMENTAL: Set to 16MHz on ESP32-S2 or ESP32-S3 to enable EDMA mode
        .xclk_freq_hz = xclk_freq_hz,
        .ledc_timer = LEDC_TIMER_0,
        .ledc_channel = LEDC_CHANNEL_0,

        .pixel_format = pixel_format, //YUV422,GRAYSCALE,RGB565,JPEG
        .frame_size = frame_size,    //QQVGA-UXGAQQVGA-UXGA, For ESP32, do not use sizes above QVGA when not JPEG. The performance of the ESP32-S series has improved a lot, but JPEG mode always gives better frame rates.

        .jpeg_quality = 12, //0-63, for OV series camera sensors, lower number means higher quality
        .fb_count = fb_count,       //When jpeg mode is used, if fb_count more than one, the driver will work in continuous mode.
        .grab_mode = CAMERA_GRAB_WHEN_EMPTY
    };

    //initialize the camera
    esp_err_t ret = esp_camera_init(&camera_config);

    if (ESP_OK == ret && PIXFORMAT_JPEG == pixel_format && FRAMESIZE_SVGA > size_bak) {
        sensor_t *s = esp_camera_sensor_get();
        s->set_framesize(s, size_bak);
    }

    return ret;
}

TEST_CASE("Camera driver init, deinit test", "[camera]")
{
    TEST_ESP_OK(init_camera(20000000, PIXFORMAT_RGB565, FRAMESIZE_QVGA, 2, SIOD_GPIO_NUM, -1));

    TEST_ESP_OK(esp_camera_deinit());
}

TEST_CASE("Camera driver init 2, deinit test", "[camera]")
{
    TEST_ESP_OK(init_camera(20000000, PIXFORMAT_RGB565, FRAMESIZE_QVGA, 2, SIOD_GPIO_NUM, -1));

    TEST_ESP_OK(esp_camera_deinit());
}

Expected behaviour

core does not crash
camara is initialized/deinitialized multiple times if needed

[v44r]

Same here... and I suppose this is the only way to change pixformat, because sensor->set_pixformat causes problems with the frame buffer size; either "cam_hal: FB-SIZE: 7680 != 153600" when going from RGB565 to JPEG or "cam_hal: NO-SOI." when going from JPEG to RGB565.

[filipbudisa]

Hey there! Had the same problem and after some debugging, I think I found the source of the crash.

It seems esp_camera_deinit ends up with a call to i2c_driver_delete, which deletes the I2C driver's p_i2c_obj[i2c_num] object. As far as I can tell, the object isn't created again anywhere by the time esp_camera_init ends up at the i2c_param_config call, which tries to read from the now deleted p_i2c_obj[i2c_num]. This is on IDF v5.1.0 (commit 4c98bee ).

A workaround is to manually initialize the i2c driver once, and pass the i2c port by camera_config.sccb_i2c_port. Something like this:

	ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0));

	i2c_config_t conf = {};
	conf.mode = I2C_MODE_MASTER;
	conf.sda_io_num = cam_pin_sda;
	conf.scl_io_num = cam_pin_scl;
	conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
	conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
	conf.master.clk_speed = CONFIG_SCCB_CLK_FREQ;
	ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));

Replace cam_pin_sda and cam_pin_scl with your i2c pins.
Camera config then needs to be changed like this:

	camera_config.pin_sccb_sda = -1;
	camera_config.pin_sccb_scl = -1;
	config.sccb_i2c_port = I2C_NUM_0;

pin_sccb_sda is set to -1 so the camera driver uses the already initialized port. Change I2C_NUM_0 to I2C_NUM_1 in both the camera config and i2c config if you wish to use the other i2c port.

[petercipov]

@filipbudisa I have checked whether this is bug in esp-idf i2c library. Indeed it was. In latest master (5.1.x) branch it was already fixed.

espressif/esp-idf#10163