ESP32 - using SPI with interrupts

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1

I'm programming a device using ESP32. The device uses SPI for control and raises interrupts on GPIO pins for feedback. (Actually there are two identical RF devices connected to HSPI and VSPI and pinned to one of the ESP32 cores - for debugging/development ease. Each device has 2 independent transceivers. So there are 4 concurrent devices controlled via SPI). I need to run SPI commands from the task context as well as the from ISR context. All SPI comm is wrapped into spi.beginTransaction / spi.endTransaction. In the task context SPI comm is additionally wrapped into noInterrupts / interrupts blocks. Once in a while a crash happens in spi.endTransaction as below. What can potentially cause this?

Also what are best practices for SPI programming when interrupts are involved that I'm not aware of?

Thanks!

Guru Meditation Error: Core  1 panic'ed (Interrupt wdt timeout on CPU1). 

Core  1 register dump:
PC      : 0x4008c377  PS      : 0x00060f35  A0      : 0x8008ba37  A1      : 0x3ffc7d10  
A2      : 0x3ffbf338  A3      : 0xb33fffff  A4      : 0x0000cdcd  A5      : 0x00060f23  
A6      : 0x00060f23  A7      : 0x0000abab  A8      : 0x0000cdcd  A9      : 0xffffffff  
A10     : 0x3ffc25b4  A11     : 0x0000005a  A12     : 0x3ffc7e40  A13     : 0x3ffc7e40  
A14     : 0x007bf338  A15     : 0x003fffff  SAR     : 0x00000011  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x400872d4  LEND    : 0x400872ea  LCOUNT  : 0x00000000  


Backtrace: 0x4008c374:0x3ffc7d10 0x4008ba34:0x3ffc7d50 0x40089a62:0x3ffc7d70 0x40089f3e:0x3ffc7d90 0x400d604d:0x3ffc7dd0 0x400d25c5:0x3ffc7df0 0x4008129e:0x3ffc7e10 0x40082002:0x3ffc7e40 0x40081ec2:0x3ffc7ef0 0x400d19c2:0x3ffc7f40

  #0  0x4008c374:0x3ffc7d10 in compare_and_set_native at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/esp_hw_support/include/soc/compare_set.h:25
      (inlined by) spinlock_acquire at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/esp_hw_support/include/soc/spinlock.h:103
      (inlined by) xPortEnterCriticalTimeout at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/port/xtensa/port.c:301
  #1  0x4008ba34:0x3ffc7d50 in vPortEnterCritical at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/port/xtensa/include/freertos/portmacro.h:578
      (inlined by) xTaskPriorityDisinherit at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/tasks.c:4806
  #2  0x40089a62:0x3ffc7d70 in prvCopyDataToQueue at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/queue.c:2245
  #3  0x40089f3e:0x3ffc7d90 in xQueueGenericSend at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/queue.c:854
  #4  0x400d604d:0x3ffc7dd0 in spiEndTransaction at /Users/anton/.platformio/packages/framework-arduinoespressif32/cores/esp32/esp32-hal-spi.c:1153
  #5  0x400d25c5:0x3ffc7df0 in SPIClass::endTransaction() at /Users/anton/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src/SPI.cpp:193
  #6  0x4008129e:0x3ffc7e10 in AT86RF215Hal::spiTransactionUnlock() at lib/at86rf215/at86rf215_hal.h:34
      (inlined by) AT86RF215Driver::Band::rx(unsigned char*, unsigned short) at lib/at86rf215/at86rf215_driver.cpp:116
  #7  0x40082002:0x3ffc7e40 in Rx::update() at lib/modem/rx.cpp:37
  #8  0x40081ec2:0x3ffc7ef0 in Modem::update() at lib/modem/modem.cpp:69
  #9  0x400d19c2:0x3ffc7f40 in void loopModem<modemAir>(void*) at src/main.cpp:57 (discriminator 1)


Core  0 register dump:
PC      : 0x4008c1de  PS      : 0x00060735  A0      : 0x8008b152  A1      : 0x3ffbe97c  
A2      : 0x3ffb7e64  A3      : 0x3ffbca54  A4      : 0x00000000  A5      : 0x00060723  
A6      : 0x00060723  A7      : 0x00000001  A8      : 0x3ffbca54  A9      : 0x00000019  
A10     : 0x3ffbca54  A11     : 0x00000019  A12     : 0x3ffc50d0  A13     : 0x00060723  
A14     : 0x007bf338  A15     : 0x003fffff  SAR     : 0x00000006  EXCCAUSE: 0x00000006  
EXCVADDR: 0x00000000  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000  


Backtrace: 0x4008c1db:0x3ffbe97c |<-CORRUPTED

  #0  0x4008c1db:0x3ffbe97c in vListInsert at /Users/ficeto/Desktop/ESP32/ESP32S2/esp-idf-public/components/freertos/list.c:183
2

The RTOS wants to be doing its task scheduling all the time. That's its prime job as an RTOS.
Disabling interrupts for a few milliseconds stops it doing that normal behavior so it thinks something has gone wrong and reboots as an emergency measure.

You will find many articles on the web about this.
Just set a flag exit the interrupt and use a high priority task to deal with the data as part of the normal scheduling process.