[Bug] ESP32 WDT timeout

[vortex314]

Describe the bug

ESP32 seems to get into a deadlock

I 00:01:45.160 |        main.cpp:  76 |  148620 Event 'hb' => '' : UartRxd
I 00:01:45.166 | hoverboard_acto: 220 | Processing UART RX data (37 bytes)
I 00:01:45.171 |        main.cpp:  76 |  148768 Event 'hb' => '' : HoverboardEvent
Guru Meditation Error: Core  1 panic'ed (Interrupt wdt timeout on CPU1). 

Core  1 register dump:
PC      : 0x40089e31  PS      : 0x00060735  A0      : 0x8018ef60  A1      : 0x3ffd5820  
A2      : 0x3ffd2b9c  A3      : 0xffffffff  A4      : 0x90563a00  A5      : 0x00060723  
A6      : 0xb33fffff  A7      : 0x0000abab  A8      : 0x80089e34  A9      : 0x3ffd5800  
A10     : 0x3ffd2b9c  A11     : 0xb33fffff  A12     : 0x0000abab  A13     : 0x3ffd56f0  
A14     : 0x00000000  A15     : 0x00000000  SAR     : 0x00000014  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x4000c2e0  LEND    : 0x4000c2f6  LCOUNT  : 0xffffffff  


Backtrace: 0x40089e2e:0x3ffd5820 0x4018ef5d:0x3ffd5850 0x400e4499:0x3ffd5870 0x40089d5a:0x3ffd5890
  #0  0x40089e2e in spinlock_acquire at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/include/spinlock.h:130
      (inlined by) xPortEnterCriticalTimeout at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:474
  #1  0x4018ef5d in vPortEnterCritical at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:567
      (inlined by) xEventGroupSetBits at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/event_groups.c:566
  #2  0x400e4499 in z_task_wrapper at .pio/libdeps/hoverboard/zenoh-pico/src/system/espidf/system.c:64
  #3  0x40089d5a in vPortTaskWrapper at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134



Core  0 register dump:
PC      : 0x40088962  PS      : 0x00060035  A0      : 0x80100201  A1      : 0x3ffc1d70  
A2      : 0x00000000  A3      : 0x00000001  A4      : 0x80089f82  A5      : 0x3ffc1ca0  
A6      : 0x00000003  A7      : 0x00060023  A8      : 0x800ff30e  A9      : 0x3ffc1d30  
A10     : 0x00000000  A11     : 0x00000001  A12     : 0x80089f82  A13     : 0x3ffc7d20  
A14     : 0x00000003  A15     : 0x3ffc1e68  SAR     : 0x00000015  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x4000c46c  LEND    : 0x4000c477  LCOUNT  : 0x00000000  


Backtrace: 0x4008895f:0x3ffc1d70 0x401001fe:0x3ffc1d90 0x40190201:0x3ffc1db0 0x40089d5a:0x3ffc1dd0
  #0  0x4008895f in xt_utils_wait_for_intr at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/xtensa/include/xt_utils.h:82
      (inlined by) esp_cpu_wait_for_intr at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/cpu.c:55
  #1  0x401001fe in esp_vApplicationIdleHook at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/freertos_hooks.c:58
  #2  0x40190201 in prvIdleTask at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/tasks.c:4344 (discriminator 1)
  #3  0x40089d5a in vPortTaskWrapper at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134





ELF file SHA256: d89c0c16c

I (15549) esp_core_dump_flash: Save core dump to flash...
I (15556) esp_core_dump_flash: Erase flash 28672 bytes @ 0x3f0000
I (15862) esp_core_dump_flash: Write end offset 0x61e4, check sum length 4
I (15862) esp_core_dump_flash: Core dump has been saved to flash.
Rebooting...
ets Jun  8 2016 00:22:57

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0030,len:7176
load:0x40078000,len:15648
load:0x40080400,len:4
ho 8 tail 4 room 4
load:0x40080404,len:3904
entry 0x40080638
I (30) boot: ESP-IDF 5.3.1 2nd stage bootloader
I (31) boot: compile time Dec 15 2025 16:22:07
I (31) boot: Multicore bootloader
I (35) boot: chip revision: v1.0
I (39) boot.esp32: SPI Speed      : 40MHz
I (43) boot.esp32: SPI Mode       : DIO
I (48) boot.esp32: SPI Flash Size : 4MB
I (53) boot: Enabling RNG early entropy source...
I (58) boot: Partition Table:
I (62) boot: ## Label            Usage          Type ST Offset   Length
I (69) boot:  0 nvs              WiFi data        01 02 00009000 00005000
I (76) boot:  1 otadata          OTA data         01 00 0000e000 00002000
I (84) boot:  2 ota_0            OTA app          00 10 00010000 001e0000
I (91) boot:  3 ota_1            OTA app          00 11 001f0000 001e0000
I (99) boot:  4 fctry            WiFi data        01 02 003d0000 00006000
I (106) boot:  5 coredump         Unknown data     01 03 003f0000 00010000
I (114) boot: End of partition table
```

### To reproduce

Not reproducible yet. The context is that the ESP32 connects to an STM32 Hoverboard driver  via UART .
The ESP32 acts as a proxy for Zenoh commands and events

Code : https://github.com/vortex314/zenoh-projects/tree/main/zenoh-esp32-eventbus


### System info

I (30) boot: ESP-IDF 5.3.1 2nd stage bootloader
I (31) boot: compile time Dec 15 2025 16:22:07
I (31) boot: Multicore bootloader
I (35) boot: chip revision: v1.0
I (39) boot.esp32: SPI Speed      : 40MHz
I (43) boot.esp32: SPI Mode       : DIO
I (48) boot.esp32: SPI Flash Size : 4MB

[vortex314]

Core dump

Hard resetting via RTS pin...

===============================================================
==================== ESP32 CORE DUMP START ====================
The ROM ELF file won't load automatically since it was not found for the provided chip type.

Crashed task handle: 0x3ffd2bd0, name: '', GDB name: 'process 1073556432'
Crashed task is not in the interrupt context

================== CURRENT THREAD REGISTERS ===================
exccause       0x46 (InterruptWDTTimoutCPU1)
excvaddr       0x0
epc1           0x40088967
epc2           0x0
epc3           0x0
epc4           0x0
epc5           0x40089e2b
epc6           0x0
eps2           0x0
eps3           0x0
eps4           0x0
eps5           0x60f23
eps6           0x0
pc             0x40089e2b          0x40089e2b <xPortEnterCriticalTimeout+131>
lbeg           0x4000c2e0          1073791712
lend           0x4000c2f6          1073791734
lcount         0xffffffff          4294967295
sar            0x1d                29
ps             0x60f25             397093
threadptr      <unavailable>
br             <unavailable>
scompare1      <unavailable>
acclo          <unavailable>
acchi          <unavailable>
m0             <unavailable>
m1             <unavailable>
m2             <unavailable>
m3             <unavailable>
expstate       <unavailable>
f64r_lo        <unavailable>
f64r_hi        <unavailable>
f64s           <unavailable>
fcr            <unavailable>
fsr            <unavailable>
a0             0x8018ef60          -2145849504
a1             0x3ffd5820          1073567776
a2             0x3ffd2bb4          1073556404
a3             0xffffffff          -1
a4             0x9a68d0c           161910028
a5             0x60f23             397091
a6             0xb33fffff          -1287651329
a7             0xabab              43947
a8             0x80089e34          -2146918860
a9             0x3ffd5800          1073567744
a10            0x0                 0
a11            0x734463c3          1933861827
a12            0xabab              43947
a13            0x3ffd56f0          1073567472
a14            0x1                 1
a15            0x0                 0

==================== CURRENT THREAD STACK =====================
#0  0x40089e2b in spinlock_acquire (timeout=-1, lock=0x3ffd2bb4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/include/spinlock.h:130
#1  xPortEnterCriticalTimeout (mux=0x3ffd2bb4, timeout=-1) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:474
#2  0x4018ef60 in vPortEnterCritical (mux=0x3ffd2bb4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:567
#3  xEventGroupSetBits (xEventGroup=0x3ffd2b98, uxBitsToSet=1) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/event_groups.c:566
#4  0x400e449c in z_task_wrapper (arg=0x3ffd2b78) at .pio/libdeps/hoverboard/zenoh-pico/src/system/espidf/system.c:64
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x400e4488 <z_task_wrapper>, pvParameters=0x3ffd2b78) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

======================== THREADS INFO =========================
  Id   Target Id          Frame 
* 1    process 1073556432 0x40089e2b in spinlock_acquire (timeout=-1, lock=0x3ffd2bb4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/include/spinlock.h:130
  2    process 1073537380 0x4000bff0 in ?? ()
  3    process 1073496740 0x4000bff0 in ?? ()
  4    process 1073573184 0x4000bff0 in ?? ()
  5    process 1073489636 0x4000bff0 in ?? ()
  6    process 1073487464 0x40088962 in esp_cpu_wait_for_intr () at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/cpu.c:64
  7    process 1073485292 0x4000bff0 in ?? ()
  8    process 1073412036 0x4000bff0 in ?? ()
  9    process 1073455076 0x4000bff0 in ?? ()
  10   process 1073501620 0x4000bff0 in ?? ()
  11   process 1073540712 0x4000bff0 in ?? ()
  12   process 1073465824 0x4000bff0 in ?? ()
  13   process 1073473716 0x4000bff0 in ?? ()
  14   process 1073432708 0x4000bff0 in ?? ()


       TCB             NAME PRIO C/B  STACK USED/FREE
---------- ---------------- -------- ----------------
0x3ffd2bd0                     12/12         640/4472
0x3ffce164             wifi    23/23         624/6016
0x3ffc42a4              tiT    18/18        1216/2352
0x3ffd6d40                     12/12        2000/3108
0x3ffc26e4            IDLE1      0/0         528/1248
0x3ffc1e68            IDLE0      0/0         416/1372
0x3ffc15ec             main      1/1         640/9864
0x3ffaf7c4             ipc0    24/24         432/1052
0x3ffb9fe4             ipc1    24/24         432/1060
0x3ffc55b4          sys_evt    20/20         544/3072
0x3ffcee68  tftp_ota_server      5/5        1312/6864
0x3ffbc9e0  uart_event_task    12/12        1520/3588
0x3ffbe8b4        esp_timer    22/22         432/7064
0x3ffb4884             mdns      1/1         480/3608

==================== THREAD 1 (TCB: 0x3ffd2bd0, name: '') =====================
#0  0x40089e2b in spinlock_acquire (timeout=-1, lock=0x3ffd2bb4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/include/spinlock.h:130
#1  xPortEnterCriticalTimeout (mux=0x3ffd2bb4, timeout=-1) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:474
#2  0x4018ef60 in vPortEnterCritical (mux=0x3ffd2bb4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:567
#3  xEventGroupSetBits (xEventGroup=0x3ffd2b98, uxBitsToSet=1) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/event_groups.c:566
#4  0x400e449c in z_task_wrapper (arg=0x3ffd2b78) at .pio/libdeps/hoverboard/zenoh-pico/src/system/espidf/system.c:64
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x400e4488 <z_task_wrapper>, pvParameters=0x3ffd2b78) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 2 (TCB: 0x3ffce164, name: 'wifi') =====================
#0  0x4000bff0 in ?? ()
Backtrace stopped: Cannot access memory at address 0x3ffcda74

==================== THREAD 3 (TCB: 0x3ffc42a4, name: 'tiT') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffc5d98) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fa4a in xQueueGenericSend (xQueue=0x3ffc5d4c, pvItemToQueue=0x0, xTicksToWait=<optimized out>, xCopyPosition=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1056
#4  0x4018fb31 in xQueueGiveMutexRecursive (xMutex=0x3ffc5d4c) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:789
#5  0x40082df0 in mutex_unlock_wrapper (mutex=0x3ffc5d4c) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_wifi/esp32/esp_adapter.c:258
#6  0x4018a2ac in ieee80211_output_do ()
#7  0x4018a2c5 in esp_wifi_internal_tx ()
#8  0x400899a0 in wifi_transmit_wrap (h=0x3ffc593c, buffer=0x3ffd3322, len=109, netstack_buf=0x3ffd32fc) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_wifi/src/wifi_netif.c:75
#9  0x40186eb8 in esp_netif_transmit_wrap (esp_netif=0x3ffc571c, data=0x3ffd3322, len=109, pbuf=0x3ffd32fc) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_netif/lwip/esp_netif_lwip.c:1251
#10 0x40172af8 in low_level_output (netif=0x3ffc57d4, p=0x3ffd32fc) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_netif/lwip/netif/wlanif.c:90
#11 0x40119e58 in ethernet_output (netif=0x3ffc57d4, p=0x3ffd32fc, src=0x3ffc58ac, dst=0x3ffb64d8 <arp_table+36>, eth_type=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/netif/ethernet.c:312
#12 0x40113795 in etharp_output_to_arp_index (netif=0x3ffc57d4, q=0x3ffd32fc, arp_idx=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/ipv4/etharp.c:769
#13 0x40113a80 in etharp_output (netif=0x3ffc57d4, q=0x3ffd32fc, ipaddr=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/ipv4/etharp.c:868
#14 0x40114a3c in ip4_output_if_opt_src (p=0x3ffd32fc, src=0x3ffd2de0, dest=0x3ffd2df8, ttl=<optimized out>, tos=0 '\000', proto=6 '\006', netif=netif@entry=0x3ffc57d4, ip_options=ip_options@entry=0x0, optlen=optlen@entry=0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/ipv4/ip4.c:1057
#15 0x40114aa8 in ip4_output_if_opt (p=0x3ffd32fc, src=0x3ffd2de0, dest=0x3ffd2df8, ttl=64 '@', tos=0 '\000', proto=<optimized out>, netif=netif@entry=0x3ffc57d4, ip_options=ip_options@entry=0x0, optlen=optlen@entry=0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/ipv4/ip4.c:858
#16 0x40114ad0 in ip4_output_if (p=0x3ffd32fc, src=0x3ffd2de0, dest=0x3ffd2df8, ttl=64 '@', tos=0 '\000', proto=6 '\006', netif=netif@entry=0x3ffc57d4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/ipv4/ip4.c:835
#17 0x4010e7bd in tcp_output_segment (seg=0x3ffd2ec4, pcb=0x3ffd2de0, netif=0x3ffc57d4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/tcp_out.c:1608
#18 0x40110470 in tcp_output (pcb=0x3ffd2de0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/core/tcp_out.c:1361
#19 0x4011c533 in lwip_netconn_do_writemore (conn=0x3ffd7248) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_msg.c:1831
#20 0x4011d24f in lwip_netconn_do_write (m=0x3ffd6714) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_msg.c:1921
#21 0x40106f34 in tcpip_thread_handle_msg (msg=0x3ffd66bc) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/tcpip.c:162
#22 0x40106feb in tcpip_thread (arg=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/tcpip.c:148
#23 0x40089d5d in vPortTaskWrapper (pxCode=0x40106fa4 <tcpip_thread>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 4 (TCB: 0x3ffd6d40, name: '') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffc33f4) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fa4a in xQueueGenericSend (xQueue=0x3ffc33a8, pvItemToQueue=0x3ffd668c, xTicksToWait=<optimized out>, xCopyPosition=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1056
#4  0x4011a2c1 in sys_mbox_post (mbox=0x3ffb5d78 <tcpip_mbox>, msg=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/port/freertos/sys_arch.c:239
#5  0x40107159 in tcpip_send_msg_wait_sem (fn=<optimized out>, apimsg=0x3ffd6714, sem=0x3ffc80cc) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/tcpip.c:455
#6  0x4011b30c in netconn_apimsg (fn=0x4011d1f4 <lwip_netconn_do_write>, apimsg=0x3ffd6714) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_lib.c:131
#7  0x4011b7cd in netconn_write_vectors_partly (conn=0x3ffd7248, vectors=0x3ffd6764, vectorcnt=1, apiflags=<optimized out>, bytes_written=0x3ffd6798) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_lib.c:1064
#8  0x4011b852 in netconn_write_partly (conn=0x3ffd7248, dataptr=0x3ffd77e8, size=55, apiflags=1 '\001', bytes_written=0x3ffd6798) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_lib.c:980
#9  0x4010676a in lwip_send (s=55, data=0x3ffd77e8, size=55, flags=0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/sockets.c:1418
#10 0x400ec3fd in send (flags=0, size=55, dataptr=0x3ffd77e8, s=55) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/include/lwip/sockets.h:42
#11 _z_send_tcp (sock=..., ptr=0x3ffd77e8 <error: Cannot access memory at address 0x3ffd77e8>, len=55) at .pio/libdeps/hoverboard/zenoh-pico/src/system/espidf/network.c:295
#12 0x400e80b6 in _z_f_link_write_tcp (zl=0x3ffd749c, ptr=0x3ffd77e8 <error: Cannot access memory at address 0x3ffd77e8>, len=55, socket=0x0) at .pio/libdeps/hoverboard/zenoh-pico/src/link/unicast/tcp.c:88
#13 0x400e7ced in _z_link_send_wbuf (link=0x3ffd749c, wbf=0x3ffd6840, socket=0x0) at .pio/libdeps/hoverboard/zenoh-pico/src/link/link.c:213
#14 0x400e4919 in _z_link_send_t_msg (zl=0x3ffd749c, t_msg=0x3ffd697c, socket=0x0) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/common/tx.c:449
#15 0x400e6d4b in _z_unicast_handshake_open (param=0x3ffd6a94, zl=0x3ffd749c, local_zid=<optimized out>, mode=<optimized out>, socket=0x0) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/unicast/transport.c:185
#16 0x400e70f0 in _z_unicast_open_client (param=0x3ffd6a94, zl=0x3ffd749c, local_zid=0x3ffd2a34) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/unicast/transport.c:295
#17 0x400e4d3b in _z_new_transport_client (session_cfg=0x3ffd2a58, local_zid=0x3ffd2a34, locator=0x3ffd7318, zt=0x3ffd29b4) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/manager.c:46
#18 _z_new_transport (zt=0x3ffd29b4, bs=0x3ffd2a34, locator=0x3ffd7318, mode=<optimized out>, peer_op=0, session_cfg=0x3ffd2a58) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/manager.c:150
#19 0x400e00e8 in _z_open_inner (zs=0x3ffd6bb4, locator=0x3ffd7318, zid=0x3ffd2a34, peer_op=0, config=<optimized out>) at .pio/libdeps/hoverboard/zenoh-pico/src/net/session.c:141
#20 0x400e0387 in _z_open (zn=0x3ffd6bb4, config=0x3ffd2a58, zid=0x3ffd2a34) at .pio/libdeps/hoverboard/zenoh-pico/src/net/session.c:199
#21 0x400e0574 in _z_reopen (zn=0x3ffd6bb4) at .pio/libdeps/hoverboard/zenoh-pico/src/net/session.c:219
#22 0x400e607f in _zp_unicast_failed (ztu=0x3ffd29b4) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/unicast/lease.c:57
#23 0x400e6171 in _zp_unicast_lease_task (ztu_arg=0x3ffd29b4) at .pio/libdeps/hoverboard/zenoh-pico/src/transport/unicast/lease.c:91
#24 0x400e4492 in z_task_wrapper (arg=0x3ffd2d54) at .pio/libdeps/hoverboard/zenoh-pico/src/system/espidf/system.c:63
#25 0x40089d5d in vPortTaskWrapper (pxCode=0x400e4488 <z_task_wrapper>, pvParameters=0x3ffd2d54) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 5 (TCB: 0x3ffc26e4, name: 'IDLE1') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffb02d0 <spinlock>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x400ff2f0 in esp_task_wdt_reset () at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/task_wdt/task_wdt.c:713
#4  0x400ff30e in idle_hook_cb () at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/task_wdt/task_wdt.c:460
#5  0x401001f0 in esp_vApplicationIdleHook () at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/freertos_hooks.c:46
#6  0x40190204 in prvIdleTask (pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/tasks.c:4344
#7  0x40089d5d in vPortTaskWrapper (pxCode=0x401901f8 <prvIdleTask>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 6 (TCB: 0x3ffc1e68, name: 'IDLE0') =====================
#0  0x40088962 in esp_cpu_wait_for_intr () at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_hw_support/cpu.c:64
#1  0x40100201 in esp_vApplicationIdleHook () at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/freertos_hooks.c:58
#2  0x40190204 in prvIdleTask (pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/tasks.c:4344
#3  0x40089d5d in vPortTaskWrapper (pxCode=0x401901f8 <prvIdleTask>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 7 (TCB: 0x3ffc15ec, name: 'main') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffba1cc) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fc5d in xQueueReceive (xQueue=0x3ffba180, pvBuffer=0x3ffc1498, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1632
#4  0x400d32d0 in Queue<Envelope const*>::receive (timeout=100, qt=0x3ffc1498, this=0x3ffb45e8 <eventbus>) at include/actor.h:98
#5  EventBus::loop (this=0x3ffb45e8 <eventbus>) at src/actor.cpp:331
#6  0x400da8bb in app_main () at src/main.cpp:78
#7  0x4018ed31 in main_task (args=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/app_startup.c:208
#8  0x40089d5d in vPortTaskWrapper (pxCode=0x4018ec68 <main_task>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 8 (TCB: 0x3ffaf7c4, name: 'ipc0') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffb0580 <xKernelLock>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4019047c in ulTaskGenericNotifyTake (uxIndexToWait=0, xClearCountOnExit=1, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/tasks.c:5756
#4  0x40081abc in ipc_task (arg=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/esp_ipc.c:62
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x40081a8c <ipc_task>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 9 (TCB: 0x3ffb9fe4, name: 'ipc1') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffb0580 <xKernelLock>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4019047c in ulTaskGenericNotifyTake (uxIndexToWait=0, xClearCountOnExit=1, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/tasks.c:5756
#4  0x40081abc in ipc_task (arg=0x1) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_system/esp_ipc.c:62
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x40081a8c <ipc_task>, pvParameters=0x1) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 10 (TCB: 0x3ffc55b4, name: 'sys_evt') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffc44ec) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fc5d in xQueueReceive (xQueue=0x3ffc44a0, pvBuffer=0x3ffc54bc, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1632
#4  0x4018c470 in esp_event_loop_run (event_loop=0x3ffc4474, ticks_to_run=4294967295) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_event/esp_event.c:560
#5  0x4018c49c in esp_event_loop_run_task (args=0x3ffc4474) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_event/esp_event.c:105
#6  0x40089d5d in vPortTaskWrapper (pxCode=0x4018c490 <esp_event_loop_run_task>, pvParameters=0x3ffc4474) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 11 (TCB: 0x3ffcee68, name: 'tftp_ota_server') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffcf064) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fc5d in xQueueReceive (xQueue=0x3ffcf018, pvBuffer=0x3ffd1078, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1632
#4  0x4011a325 in sys_arch_mbox_fetch (mbox=<optimized out>, msg=0x3ffd1078, timeout=0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/port/freertos/sys_arch.c:313
#5  0x4011ba46 in netconn_recv_data (conn=0x3ffcefd0, new_buf=0x3ffd10d8, apiflags=0 '\000') at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_lib.c:615
#6  0x4011bb24 in netconn_recv_udp_raw_netbuf_flags (conn=0x3ffcefd0, new_buf=0x3ffd10d8, apiflags=0 '\000') at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/api_lib.c:847
#7  0x40105495 in lwip_recvfrom_udp_raw (sock=0x3ffb5b20 <sockets>, flags=0, msg=0x3ffd1120, datagram_len=0x3ffd1116, dbg_s=54) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/sockets.c:1117
#8  0x401064c6 in lwip_recvfrom (s=54, mem=0x3ffd1188, len=516, flags=0, from=0x3ffd1178, fromlen=0x3ffd1160) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/lwip/src/api/sockets.c:1238
#9  0x400dace9 in recvfrom (fromlen=0x3ffd1160, from=0x3ffd1178, flags=0, len=516, mem=0x3ffd1188, s=54) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/lwip/include/lwip/sockets.h:40
#10 OtaActor::tftp_ota_server_task (arg=<optimized out>) at src/ota_actor.cpp:121
#11 0x40089d5d in vPortTaskWrapper (pxCode=0x400dac28 <OtaActor::tftp_ota_server_task(void*)>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 12 (TCB: 0x3ffbc9e0, name: 'uart_event_task') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffba5b0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fc5d in xQueueReceive (xQueue=0x3ffba564, pvBuffer=0x3ffbc504, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1632
#4  0x400d46e8 in uart_event_task (pvParameters=0x3ffb45a8 <hoverboard_actor>) at src/hoverboard_actor.cpp:274
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x400d46b4 <uart_event_task(void*)>, pvParameters=0x3ffb45a8 <hoverboard_actor>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 13 (TCB: 0x3ffbe8b4, name: 'esp_timer') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffb0580 <xKernelLock>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4019047c in ulTaskGenericNotifyTake (uxIndexToWait=0, xClearCountOnExit=1, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/tasks.c:5756
#4  0x40100ac7 in timer_task (arg=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/esp_timer/src/esp_timer.c:480
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x40100ab8 <timer_task>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

==================== THREAD 14 (TCB: 0x3ffb4884, name: 'mdns') =====================
#0  0x4000bff0 in ?? ()
#1  0x40089f82 in vPortClearInterruptMaskFromISR (prev_level=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:560
#2  vPortExitCritical (mux=0x3ffcf298) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:505
#3  0x4018fc5d in xQueueReceive (xQueue=0x3ffcf24c, pvBuffer=0x3ffd2628, xTicksToWait=<optimized out>) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/queue.c:1632
#4  0x400f52d5 in _mdns_service_task (pvParameters=0x0) at managed_components/espressif__mdns/mdns.c:5423
#5  0x40089d5d in vPortTaskWrapper (pxCode=0x400f52a8 <_mdns_service_task>, pvParameters=0x0) at /home/lieven/.platformio/packages/framework-espidf@3.50301.0/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134

[vortex314]

AI recommendation

Thanks for the detailed logs. Here’s the plan to address the Interrupt WDT timeout and stabilize task scheduling:

Lower UART event task priority to reduce contention.
Explicitly set Zenoh lease/read task attributes (stack, priority, core) to avoid long critical sections blocking other tasks.
Rebuild and monitor to validate the fix, then iterate if needed.
What I changed

Lowered uart_event_task priority in HoverboardActor from 12 → 5 to prevent it from starving system/Zenoh tasks. See [hoverboard_actor.cpp:62](vscode-file://vscode-app/usr/share/code/resources/app/out/vs/code/electron-browser/workbench/workbench.html).
Configured Zenoh Pico tasks:
Set stack_depth = 8192, priority = 4, core_id = 0 for both lease and read tasks to keep them light and off CPU1. See [zenoh_actor.cpp:119-131](vscode-file://vscode-app/usr/share/code/resources/app/out/vs/code/electron-browser/workbench/workbench.html).
Why this helps

The backtrace shows xEventGroupSetBits stuck in a critical section inside z_task_wrapper, triggering the Interrupt WDT. This typically happens when a higher-priority task keeps the CPU busy or interrupts disabled too long.
Reducing UART priority and pinning Zenoh tasks to CPU0 with reasonable stack and lower priority limits contention, decreasing the chance of long critical sections and WDT trips.