C++ 我在 ESP32 上遇到 Guru Meditation 错误

我正在try 编写一个在ESP32上运行的带有中断的代码，但我总是得到一个大师冥想

Guru Meditation Error: Core 1 panic'ed (Interrupt wdt timeout on CPU1). Core 1 register dump: PC : 0x4008e6b4 PS : 0x00060c35 A0 : 0x8008d64e A1 : 0x3ffbefac
A2 : 0x3ffb8a00 A3 : 0x3ffb8890 A4 : 0x00000004 A5 : 0x00060c23
A6 : 0x00060c23 A7 : 0x00000001 A8 : 0x3ffb8890 A9 : 0x00000018
A10 : 0x3ffb8890 A11 : 0x00000018 A12 : 0x3ffc42d4 A13 : 0x00060c23
A14 : 0x007bf158 A15 : 0x003fffff SAR : 0x0000000e EXCCAUSE: 0x00000006
EXCVADDR: 0x00000000 LBEG : 0x40089c09 LEND : 0x40089c19 LCOUNT : 0xfffffffc
Core 1 was running in ISR context: EPC1 : 0x400dffeb EPC2 : 0x00000000 EPC3 : 0x00000000 EPC4 : 0x00000000 Backtrace:0x4008e6b1:0x3ffbefac |<-CORRUPTED Core 0 register dump: PC : 0x4008e833 PS : 0x00060035 A0 : 0x8008d277 A1 : 0x3ffbeaac
A2 : 0x3ffbf158 A3

我使用的是Arduino IDE 2.1.0，因此无法使用异常解码器.这是我的代码，它仍在进行中.

#include <Wire.h>
#include <AS5600.h>
#include <WiFi.h>
#include <esp_now.h>
 
#define HES 19
#define LimitPins 18

#define TCA9548A_ADDR 0x70
#define N17AS5600 3
#define N23AS5600 2

#define AS5600_ADDR 0x36

volatile bool HESstate = true;
volatile bool LastHESState = true;
volatile int Count = 0;

volatile bool LimiteState = true;
volatile bool LastLimitState = true;

volatile bool N17Direction = false;

volatile int MainLoop = 1;
volatile int StartValue;
volatile int StopValue;
volatile int DistanceN17;

volatile long LastButtonPress = 0;

volatile bool FirstTimeN17 = false;
volatile bool HomeZeroN17 = false;
volatile bool GetTimeN17 = false;

volatile bool FirstTimeN23 = false;
volatile bool HomeZeroN23 = false;

int16_t Angle17;
int16_t Angle23;
int32_t Distance17;
int32_t Distance23;
int32_t OffsetD17;
int32_t OffsetD23;

AS5600 SensorN17;
AS5600 SensorN23;

uint8_t broadcastAddress[] = {0xC8, 0xF0, 0x9E, 0xA6, 0x08, 0xF0};

typedef struct struct_message {
  int MSG;
} struct_message;

struct_message myData;
esp_now_peer_info_t peerInfo;

void TCA9548A(byte bus){
  if(bus > 7) return;
  Wire.beginTransmission(TCA9548A_ADDR);
  Wire.write(1 << bus);
  Wire.endTransmission();
}

void SetupInterrupts(){
  pinMode(HES, INPUT_PULLUP);
  attachInterrupt(HES, HallEffectSensor, FALLING);

  pinMode(LimitPins, INPUT_PULLUP);
  attachInterrupt(LimitPins, LimitSwitches, RISING);
}

void SetupTCA9548A(){
  TCA9548A(N17AS5600);
  SensorN17.begin(21, 22); // .begin(sda, scl) pour ESP32
 
  TCA9548A(N23AS5600);
  SensorN23.begin(21, 22); // .begin(sda, scl) pour ESP32
  OffsetD23 = -1 * SensorN23.getCumulativePosition();
}

void SetupESP_NOW(){
  WiFi.mode(WIFI_STA);

  if(esp_now_init() != ESP_OK){
    Serial.println("Error initializing ESP-NOW");
    return;
  }
  
  memcpy(peerInfo.peer_addr, broadcastAddress, 6);
  peerInfo.channel = 0;  
  peerInfo.encrypt = false;
      
  if(esp_now_add_peer(&peerInfo) != ESP_OK){
    Serial.println("Failed to add peer");
    return;
  }
}

void setup() {
  Serial.begin(9600);
  Wire.begin();

  SetupInterrupts();
  SetupTCA9548A();
  SetupESP_NOW();

  delay(5000);
}

void loop() {
  if(MainLoop == 1){
    myData.MSG = 170; // 170: Nema17 va UP.
    esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
    MainLoop = 11;

    while(GetTimeN17){
      Serial.print("Temps: ");
      Serial.print(StopValue - StartValue);
      Serial.print(" | Vitesse: ");
      Serial.println(DistanceN17 / (StopValue - StartValue));
    }
  }

  if(MainLoop == 2){
    myData.MSG = 171; // 171: Nema17 va DOWN.
    esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
    MainLoop = 22;

    if(!FirstTimeN17){
      StartValue = millis();
      FirstTimeN17 = true;
    }
  }

  if(MainLoop == 9){
    myData.MSG = 179; // 170: Nema17 à l'arrêt.
    esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
    MainLoop = 11;

    if(!HomeZeroN17){
      OffsetD17 = -1 * SensorN17.getCumulativePosition();
      HomeZeroN17 = true;
      MainLoop = 2;
    }
  }

  //LastHESState = true;
  LastLimitState = true;
}

void HallEffectSensor(){
  /*if(LastHESState){
    if(!N23Homed){
      myData.MSG = 239; // 239: Nema23 à l'arrêt.
      esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
      N23Homed = true;
    }
    
    //HESstate = !HESstate;
    LastHESState = false;
  }*/
}

void LimitSwitches(){
  if(LastLimitState){

    switch(MainLoop){
      case 11:
        MainLoop = 9;

      case 22:
        MainLoop = 1;
        StopValue = millis();
        DistanceN17 = SensorN17.getCumulativePosition();
        GetTimeN17 = true;

      default:
        MainLoop = 0;
    }
    LastLimitState = false;
  }
}

我试图编写的代码是这样的:当我从插脚18&amp；19获得外部触发器时(我知道插针19的中断部分都被注释了)，变量MainLoop改变它的值以访问主循环的特定部分.

感谢那些能看到我的问题的人.晚安.