C++ ESP32在vTaskDelay上崩溃

我在PlatformIO中使用ESP32-IDF将此代码放到我的ESP32上:

#include <driver/gpio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>

#define RELAY 2


void hello_task(void *pvParameter)
{
    printf("Hello world!\n");
    for (int i = 10; i >= 0; i--) {
        printf("Restarting in %d seconds...\n", i);
        vTaskDelay(pdMS_TO_TICKS(1000));
    }
    printf("Restarting now.\n");
    fflush(stdout);
    esp_restart();
}


void led_blink(void *pvParams)
{
    printf("Resetting pin\n");
    gpio_reset_pin(RELAY);
    printf("Setting pin direction\n");
    gpio_set_direction(RELAY,GPIO_MODE_OUTPUT);
    while (1) {
        printf("Setting GPIO level low\n");
        esp_err_t error_num = gpio_set_level(RELAY,0);
        printf("error_num: %d\n", error_num);
        vTaskDelay(pdMS_TO_TICKS(500)); // Here is where the panic happens
        printf("Setting GPIO level high\n");
        error_num = gpio_set_level(RELAY,1);
        printf("error_num: %d\n", error_num);
        vTaskDelay(pdMS_TO_TICKS(1000));
    }
}


void app_main()
{
    xTaskCreate(&hello_task, "hello_task", 2048, NULL, 5, NULL);
    xTaskCreate(&led_blink,"LED_BLINK",1024,NULL,5,NULL);
}

当到达LED_BLINK中的第一个vTaskDelay时，它会死机.这就是日志(log)的最后一部分显示的内容(如果有人说有必要，我可以把整个内容放进go ):

␛[0;32mI (306) app_start: Starting scheduler on CPU0␛[0m
␛[0;32mI (311) app_start: Starting scheduler on CPU1␛[0m
␛[0;32mI (311) main_task: Started on CPU0␛[0m
␛[0;32mI (321) main_task: Calling app_main()␛[0m
Hello world!
Restarting in 10 seconds...
Resetting pin
␛[0;32mI (321) gpio: GPIO[2]| InputEn: 0| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 ␛[0m
Setting pin direction
Setting GPIO level low
error_num: 0
␛[0;32mI (341) main_task: Returned from app_main()␛[0m
Guru Meditation Error: Core  0 panic'ed (LoadProhibited). Exception was unhandled.

Core  0 register dump:
PC      : 0x400869c8  PS      : 0x00060033  A0      : 0x800883ea  A1      : 0x3ffb0e50  
A2      : 0x00000001  A3      : 0x0000000a  A4      : 0x00000035  A5      : 0x00000005  
A6      : 0xb33fffff  A7      : 0xb33fffff  A8      : 0x00000001  A9      : 0x00000000  
A10     : 0x00000000  A11     : 0x80000001  A12     : 0x00000000  A13     : 0x00060023  
A14     : 0xb33fffff  A15     : 0xb33fffff  SAR     : 0x0000001e  EXCCAUSE: 0x0000001c  
EXCVADDR: 0x0000000e  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000  


Backtrace: 0x400869c5:0x3ffb0e50 0x400883e7:0x3ffb0e70 0x40088231:0x3ffb0e90 0x40082732:0x3ffb0ea0 0x4008467f:0x3ffb5290 0x400d385f:0x3ffb52b0 0x40086726:0x3ffb52d0 0x40087c79:0x3ffb52f0

我有一个可以支持2a的电源，这远远超过了需求，所以这不是一个电源问题.我注意到日志(log)显示为OutputEn: 0，这让我认为可能是PIN设置有问题，但PIN设置的返回代码是0……

为什么会发生这样的撞车事故？基本上，我只是复制了一些教程代码并添加了一些printf语句.