Fork fix: the SDIO wedge is FIXED (esp-hosted-mcu #167)
Root cause (verified against our exact IDF tree, not the community guess): the "258" in "sdio_write_task: Failed to send data: 258" is NOT a timeout (that is 263). 258 = 0x102 = ESP_ERR_INVALID_ARG. On the ESP32-P4, block- mode CMD53 writes require the SOURCE buffer to be 64-byte (cache-line) aligned; the IDF sdmmc driver rejects a misaligned source with INVALID_ARG BEFORE any bus activity. esp_hosts write loop then declares "Unrecoverable host sdio state" and reboots the whole P4. The audio TX payload is not 64-aligned, so streaming mic audio wedged on the very FIRST frame (which is exactly what we saw: listening -> instant Failed to send -> reboot). This also explains why buffer/queue/clock/retry tuning all did nothing: the write never reached the bus. And why our symptom was instant, not after ~100 writes (the community block-mode-desync theory) — it is the first misaligned buffer, every time. Fix: vendored esp_hosted 2.12.11 as an editable local component (overrides the registry copy) and bounce a misaligned TX payload through one aligned DMA scratch buffer in hosted_sdio_write_block (port_esp_hosted_host_sdio.c). TX is serialized by the bus lock so a single static bounce buffer is safe; freed in hosted_sdio_deinit. Host-only change — no C6 reflash. VERIFIED ON HARDWARE (autonomous self-test): 40s of continuous mic-audio upstream streaming — the traffic that previously wedged on the first frame — ran clean, zero timeouts, zero reboots. A guarded SDIO_TX_SELFTEST harness is kept (compiled out) for future SDIO stress testing. Credit: root cause + patch designed via multi-agent investigation; the precise 258=INVALID_ARG decode (correcting the upstream community timeout assumption) came from checking our actual esp_err.h. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Claude Fable 5
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| Supported Hosts | ESP32 | ESP32-P Series | ESP32-H Series | ESP32-C Series | ESP32-S Series | Any other MCU hosts |
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| --------------- | ----- | -------------- | -------------- | -------------- | -------------- | ------------------- |
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| Supported Co-Processors | ESP32 | ESP32-C Series | ESP32-S Series |
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| ----------------------- | ----- | -------------- | -------------- |
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# ESP-Hosted Events Example
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This host example uses ESP-Hosted events to detect that the co-processor has reset or hanged. It then takes action to reinitialised ESP-Hosted to restore connectivity with the co-processor.
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This has been tested with the ESP32-C6 co-processor, flashed with the standard [ESP-Hosted slave example](https://components.espressif.com/components/espressif/esp_hosted/examples/slave) from the ESP Component Registry, or built from the `slave` directory from ESP-Hosted Github.
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It makes use of ESP-Hosted events, with event base of `ESP_HOSTED_EVENT`:
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- `ESP_HOSTED_EVENT_CP_INIT`: this event is sent by the co-processor after it has started and ESP-Hosted transport has been setup. Receiving this event for a second time indicates that the co-process has restarted. An `esp_reset_reason_t` value is provided so the host can discover why the co-processor sent the event
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- `ESP_HOSTED_EVENT_CP_HEARTBEAT`: when configured by the host, the co-processor will periodically send a heartbeat event at the required interval (in seconds). If this event is not received after the interval, it indicates the the co-processor may have hanged and is unable to send the event.
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- `ESP_HOSTED_EVENT_TRANSPORT_FAILURE`: indicates a ESP-Hosted transport failure
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This example sets up the detection of ESP-Hosted events, then connects to a station. After connecting, if the co-processor reboots (INIT event received) or hangs (timeout getting HEARTBEAT), it will tell NETIF that the connection is lost, then proceed to reinitialise the ESP-Hosted transport.
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## How to Use This Example on ESP Hosts
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Before project configuration and build, be sure to set the correct
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chip target using:
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```bash
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idf.py set-target <ESP Host chip_name>
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```
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### Configure the project
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Open the project configuration menu:
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```bash
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idf.py menuconfig
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```
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In the `Example Configuration` menu:
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* set `Heartbeat Interval in Seconds`. Default is 5 seconds
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* toggle `Enable heartbeat timeout detection` to enable heartbeat timeout detection
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* if heartbeat timeout detection is enabled, you can set `Heartbeat Timeout in Seconds`. This value should be larger than `Heartbeat Interval in Seconds`. A value should be set based on app requirements (how long to wait after a timeout before triggering a timeout alert).
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Configure the Station parameters at needed:
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- Set WiFi SSID.
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- Set WiFi Password.
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Optional: If you need, change the other Station options according to your requirements.
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### Build and Flash
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Run `idf.py -p HOST_PORT flash monitor` to build, flash and monitor the
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project.
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the [Getting Started Guide](https://idf.espressif.com/) for full
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steps to configure and use ESP-IDF to build projects.
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## Example Output
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> [!NOTE]
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> To simulate a co-processor reset or hang, a ESP-Prog is connected to the ESP32-C6 on the ESP32-P4 Dev Board. The `RST` and `BOOT` buttons on the ESP-Prog is then used to reset or put the C6 into boot mode (to simulate a hang).
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### Example Output using SDIO interface
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```
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I (6327) esp_netif_handlers: sta ip: 192.168.50.217, mask: 255.255.255.0, gw: 192.168.50.1
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I (6327) wifi station: got ip:192.168.50.217
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I (6327) wifi station: connected to ap SSID:xxx password:yyy
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I (7377) hosted_events: *** Heartbeat 0***
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W (13377) hosted_events: *** HEARTBEAT timeout ***
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I (14327) hosted_events: heartbeat timeout, transport failure or got INIT event: reinit Hosted
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E (14327) sdmmc_io: sdmmc_io_rw_extended: sdmmc_send_cmd returned 0x107
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E (14327) H_SDIO_DRV: sdio_write_task: 0: Failed to send data: 263 54 54
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E (14327) sdmmc_io: sdmmc_io_rw_extended: sdmmc_send_cmd returned 0x107
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E (14337) H_SDIO_DRV: sdio_write_task: 1: Failed to send data: 263 54 54
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E (14347) H_SDIO_DRV: Unrecoverable host sdio state
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I (14347) wifi station: do not reconnect
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I (14347) hosted_events: *** Transport Failure ***
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I (14527) H_API: ESP-Hosted deinit
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I (14527) serial_ll: Clean-up serial queue
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W (14527) H_SDIO_DRV: free buffer[0] 0x4ff3d8c0
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W (14527) H_SDIO_DRV: free buffer[1] 0x4ff3e1c0
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I (14527) transport: TRANSPORT_INACTIVE
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I (14527) hosted_events: restarting ESP-Hosted
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I (14537) hosted_events: init ESP-Hosted
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I (14537) H_API: ESP-Hosted starting. Hosted_Tasks: prio:23, stack: 5120 RPC_task_stack: 5120
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W (14547) H_API: Transport already initialized, skipping initialization
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I (14557) H_API: ** add_esp_wifi_remote_channels **
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I (14557) H_SDIO_DRV: sdio_data_to_rx_buf_task started
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I (14567) H_API: ESP-Hosted Try to communicate with ESP-Hosted slave
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I (14567) transport: Attempt connection with slave: retry[0]
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W (14577) H_SDIO_DRV: Reset slave using GPIO[54]
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I (14577) os_wrapper_esp: GPIO [54] configured
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I (16107) sdio_wrapper: SDIO master: Slot 1, Data-Lines: 4-bit Freq(KHz)[40000 KHz]
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I (16107) sdio_wrapper: GPIOs: CLK[18] CMD[19] D0[14] D1[15] D2[16] D3[17] Slave_Reset[54]
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I (16107) sdio_wrapper: Queues: Tx[20] Rx[20] SDIO-Rx-Mode[1]
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I (16147) sdio_wrapper: Function 0 Blocksize: 512
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I (16147) sdio_wrapper: Function 1 Blocksize: 512
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I (16247) H_SDIO_DRV: Card init success, TRANSPORT_RX_ACTIVE
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I (16247) transport: set_transport_state: 1
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I (16247) transport: Waiting for esp_hosted slave to be ready
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I (16267) H_SDIO_DRV: SDIO Host operating in STREAMING MODE
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I (16267) H_SDIO_DRV: Open data path at slave
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I (16267) H_SDIO_DRV: Starting SDIO process rx task
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I (16287) H_SDIO_DRV: Received ESP_PRIV_IF type message
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I (16287) transport: Received INIT event from ESP32 peripheral
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I (16287) transport: EVENT: 12
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I (16287) transport: Identified slave [esp32c6]
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I (16297) transport: EVENT: 11
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I (16297) transport: capabilities: 0xd
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I (16307) transport: Features supported are:
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I (16307) transport: * WLAN
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I (16307) transport: - HCI over SDIO
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I (16317) transport: - BLE only
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I (16317) transport: EVENT: 13
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I (16317) transport: ESP board type is : 13
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I (16327) transport: Base transport is set-up, TRANSPORT_TX_ACTIVE
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I (16327) H_API: Transport active
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I (16327) transport: Slave chip Id[12]
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I (16337) transport: raw_tp_dir[-], flow_ctrl: low[60] high[80]
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I (16337) transport: transport_delayed_init
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I (16347) esp_cli: Remove any existing deep_sleep cmd in cli
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I (16347) esp_cli: Registering command: crash
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I (16357) esp_cli: Registering command: reboot
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I (16357) esp_cli: Registering command: mem-dump
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I (16367) esp_cli: Registering command: task-dump
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I (16367) esp_cli: Registering command: cpu-dump
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I (16367) esp_cli: Registering command: heap-trace
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I (16377) esp_cli: Registering command: sock-dump
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I (16377) esp_cli: Registering command: host-power-save
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I (16387) hci_stub_drv: Host BT Support: Disabled
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I (16387) H_SDIO_DRV: Received INIT event
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I (16397) H_SDIO_DRV: Event type: 0x22
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I (16397) H_SDIO_DRV: Write thread started
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I (16447) hosted_events: getting fw version
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I (16567) hosted_events: *** got INIT event from co-processor ***
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I (16567) hosted_events: *** Co-processor Reset Reason 1***
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I (16567) hosted_events: Expected INIT event
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I (16567) hosted_events: FW Version: 2.8.1
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I (16577) hosted_events: heartbeat timer started
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I (16577) transport: Attempt connection with slave: retry[0]
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I (16577) transport: Transport is already up
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I (16877) wifi station: wifi_init_sta finished.
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I (16877) RPC_WRAP: ESP Event: wifi station started
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I (16887) RPC_WRAP: ESP Event: wifi station started
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I (19327) RPC_WRAP: ESP Event: Station mode: Disconnected
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I (19327) H_API: esp_wifi_remote_connect
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I (19347) wifi station: retry to connect to the AP
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I (21567) hosted_events: *** Heartbeat 0***
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I (21757) RPC_WRAP: ESP Event: Station mode: Disconnected
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I (21757) H_API: esp_wifi_remote_connect
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I (21767) wifi station: retry to connect to the AP
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I (24377) RPC_WRAP: ESP Event: Station mode: Connected
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I (24377) esp_wifi_remote: esp_wifi_internal_reg_rxcb: sta: 0x400477f6
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--- 0x400477f6: wifi_sta_receive at /home/kysoh/esp/gitlab_esp-idf/components/esp_wifi/src/wifi_netif.c:38
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I (25387) esp_netif_handlers: sta ip: 192.168.50.217, mask: 255.255.255.0, gw: 192.168.50.1
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I (25387) wifi station: got ip:192.168.50.217
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I (25387) wifi station: connected to ap SSID:xxx password:yyy
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I (26577) hosted_events: *** Heartbeat 1***
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```
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### Example Output using SPI-FD interface
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```
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I (5323) esp_netif_handlers: sta ip: 192.168.50.82, mask: 255.255.255.0, gw: 192.168.50.1
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I (5323) wifi station: got ip:192.168.50.82
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I (5323) wifi station: connected to ap SSID:xxx password:yyy
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I (6383) hosted_events: *** Heartbeat 0***
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I (11383) hosted_events: *** Heartbeat 1***
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I (16383) hosted_events: *** Heartbeat 2***
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I (18523) spi: rx packet ignored: len [65535], rcvd_offset[65535], exp_offset[12]
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I (19173) transport: Received INIT event from ESP32 peripheral
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I (19173) transport: EVENT: 12
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I (19173) transport: Identified slave [esp32c6]
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I (19173) transport: EVENT: 11
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I (19183) transport: capabilities: 0xe8
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I (19183) transport: Features supported are:
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I (19183) transport: - HCI over SPI
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I (19193) transport: - BLE only
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I (19193) transport: EVENT: 13
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I (19193) transport: ESP board type is : 13
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I (19203) transport: Base transport is set-up, TRANSPORT_TX_ACTIVE
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I (19203) H_API: Transport active
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I (19213) transport: Slave chip Id[12]
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I (19213) transport: raw_tp_dir[-], flow_ctrl: low[60] high[90]
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I (19223) transport: transport_delayed_init
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I (19223) esp_cli: Remove any existing deep_sleep cmd in cli
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I (19233) esp_cli: Registering command: crash
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I (19233) esp_cli: Registering command: reboot
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I (19233) esp_cli: Registering command: mem-dump
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I (19243) esp_cli: Registering command: task-dump
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I (19243) esp_cli: Registering command: cpu-dump
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I (19253) esp_cli: Registering command: heap-trace
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I (19253) esp_cli: Registering command: sock-dump
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I (19263) esp_cli: Registering command: host-power-save
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I (19263) hci_stub_drv: Host BT Support: Disabled
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I (19263) spi: Received INIT event
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I (19273) hosted_events: *** got INIT event from co-processor ***
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I (19273) hosted_events: *** Co-processor Reset Reason 1***
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W (19283) hosted_events: *** Unexpected INIT event
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I (19323) hosted_events: heartbeat timeout, transport failure or got INIT event: reinit Hosted
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I (19323) wifi station: do not reconnect
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I (19523) H_API: ESP-Hosted deinit
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I (19523) serial_ll: Clean-up serial queue
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I (19523) spi: Deinitializing SPI bus
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I (19523) spi_wrapper: SPI deinitialized
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I (19523) spi: SPI bus deinitialized
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I (19523) transport: TRANSPORT_INACTIVE
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I (19523) hosted_events: restarting ESP-Hosted
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I (19533) hosted_events: init ESP-Hosted
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I (19533) H_API: ESP-Hosted starting. Hosted_Tasks: prio:23, stack: 5120 RPC_task_stack: 5120
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W (19543) H_API: Transport already initialized, skipping initialization
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I (19553) H_API: ** add_esp_wifi_remote_channels **
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I (19553) spi_wrapper: Transport: SPI, Mode:3 Freq:40MHz TxQ:20 RxQ:20
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GPIOs: CLK:18 MOSI:14 MISO:15 CS:19 HS:16 DR:17 SlaveReset:54
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I (19563) spi: Staring SPI task
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I (19573) os_wrapper_esp: GPIO [16] configuring as Interrupt
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I (19573) os_wrapper_esp: GPIO [17] configuring as Interrupt
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I (19583) H_API: ESP-Hosted Try to communicate with ESP-Hosted slave
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I (19583) transport: Attempt connection with slave: retry[0]
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I (19593) spi: Resetting slave
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I (19593) spi: Resetting slave on SPI bus with pin 54
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I (19603) os_wrapper_esp: GPIO [54] configured
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I (20123) transport: Waiting for esp_hosted slave to be ready
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I (20183) transport: Received INIT event from ESP32 peripheral
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I (20183) transport: EVENT: 12
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I (20183) transport: Identified slave [esp32c6]
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I (20183) transport: EVENT: 11
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I (20183) transport: capabilities: 0xe8
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I (20183) transport: Features supported are:
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I (20193) transport: - HCI over SPI
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I (20193) transport: - BLE only
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I (20193) transport: EVENT: 13
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I (20203) transport: ESP board type is : 13
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I (20203) transport: Base transport is set-up, TRANSPORT_TX_ACTIVE
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I (20213) H_API: Transport active
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I (20213) transport: Slave chip Id[12]
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I (20213) transport: raw_tp_dir[-], flow_ctrl: low[60] high[90]
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I (20223) transport: transport_delayed_init
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I (20223) esp_cli: Remove any existing deep_sleep cmd in cli
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I (20233) esp_cli: Registering command: crash
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I (20233) esp_cli: Registering command: reboot
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I (20243) esp_cli: Registering command: mem-dump
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I (20243) esp_cli: Registering command: task-dump
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I (20253) esp_cli: Registering command: cpu-dump
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I (20253) esp_cli: Registering command: heap-trace
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I (20253) esp_cli: Registering command: sock-dump
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I (20263) esp_cli: Registering command: host-power-save
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I (20263) hci_stub_drv: Host BT Support: Disabled
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I (20273) spi: Received INIT event
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I (20323) hosted_events: getting fw version
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I (20583) hosted_events: *** got INIT event from co-processor ***
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I (20583) hosted_events: *** Co-processor Reset Reason 1***
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I (20583) hosted_events: Expected INIT event
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I (20583) hosted_events: FW Version: 2.7.4
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I (20593) transport: Attempt connection with slave: retry[0]
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I (20593) transport: Transport is already up
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I (20893) wifi station: wifi_init_sta finished.
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I (20893) RPC_WRAP: ESP Event: wifi station started
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I (20903) RPC_WRAP: ESP Event: wifi station started
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I (23343) RPC_WRAP: ESP Event: Station mode: Disconnected
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I (23343) H_API: esp_wifi_remote_connect
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I (23373) wifi station: retry to connect to the AP
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I (25593) hosted_events: *** Heartbeat 0***
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I (25783) RPC_WRAP: ESP Event: Station mode: Disconnected
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I (25783) H_API: esp_wifi_remote_connect
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I (25793) wifi station: retry to connect to the AP
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I (28403) RPC_WRAP: ESP Event: Station mode: Connected
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I (28403) esp_wifi_remote: esp_wifi_internal_reg_rxcb: sta: 0x400408f2
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--- 0x400408f2: wifi_sta_receive at /home/kysoh/esp/gitlab_esp-idf/components/esp_wifi/src/wifi_netif.c:38
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I (29423) esp_netif_handlers: sta ip: 192.168.50.82, mask: 255.255.255.0, gw: 192.168.50.1
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I (29423) wifi station: got ip:192.168.50.82
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I (29423) wifi station: connected to ap SSID:xxx password:yyy
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I (30593) hosted_events: *** Heartbeat 1***
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I (32213) spi: rx packet ignored: len [65535], rcvd_offset[65535], exp_offset[12]
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```
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Reference in New Issue
Block a user