My ESP crashes running my code and restarts itself

I am trying to write project that My board configuration is based on ESP32 and Arduino IDE. I use this library in my project,my totally project is here

#include <WiFi.h>
#include <PubSubClient.h>
#include <Wire.h>

//***RFID***//
#include <SPI.h>//https://www.arduino.cc/en/reference/SPI
#include <MFRC522.h>//https://github.com/miguelbalboa/rfid

//***fingerprint***//
#include <Adafruit_Fingerprint.h>
#include <HardwareSerial.h>

//***oled***//
#include "SSD1306.h"

//***neopixel***//
#include "Freenove_WS2812_Lib_for_ESP32.h"

I checked one by one code on esp32 and They run quite correctly.

but now when i compile my code ,These text appear in serial

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:1
load:0x3fff0018,len:4
load:0x3fff001c,len:1216
ho 0 tail 12 room 4
load:0x40078000,len:9720
ho 0 tail 12 room 4
load:0x40080400,len:6352
entry 0x400806b8
Guru Meditation Error: Core  1 panic'ed (LoadProhibited). Exception was unhandled.
Core 1 register dump:
PC      : 0x400d5652  PS      : 0x00060130  A0      : 0x800d1537  A1      : 0x3ffb1ee0  
A2      : 0x3ffc10cc  A3      : 0x00000001  A4      : 0x3ffb1eed  A5      : 0x000000ff  
A6      : 0x0000fe01  A7      : 0x00000000  A8      : 0x000000ff  A9      : 0x3ffb1eef  
A10     : 0x00000000  A11     : 0x3ffb1eed  A12     : 0x000000ff  A13     : 0x3ffb1eee  
A14     : 0x00060f20  A15     : 0x00000000  SAR     : 0x0000001f  EXCCAUSE: 0x0000001c  
EXCVADDR: 0x00000000  LBEG    : 0x00000000  LEND    : 0x00000000  LCOUNT  : 0x00000000  

Backtrace: 0x400d5652:0x3ffb1ee0 0x400d1534:0x3ffb1f10 0x400d1c50:0x3ffb1f30 0x400d1cf7:0x3ffb1f60 0x400d719a:0x3ffb1fb0 0x4008a351:0x3ffb1fd0

i decode them with EspExceptionDecoder and it is:

Decoding 6 results
0x400d5652: CompressedEnumTable ::set(unsigned int, bool) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/compressed_enum_table.hpp line 52
:  (inlined by) nvs::Storage::init(unsigned int, unsigned int) at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/nvs_flash/src/nvs_storage.cpp line 112
0x400d1534: uartEnableInterrupt at C:\Arduino\hardware\espressif\esp32\cores\esp32/esp32-hal-uart.c line 512
0x400d1c50: _GLOBAL__sub_I_loopTaskHandle at C:\Arduino\hardware\espressif\esp32\cores\esp32/IPAddress.h line 94
:  (inlined by) _GLOBAL__sub_I_loopTaskHandle at C:\Arduino\hardware\espressif\esp32\cores\esp32/main.cpp line 29
0x400d1cf7: addApbChangeCallback at C:\Arduino\hardware\espressif\esp32\cores\esp32/esp32-hal-cpu.c line 213
0x400d719a: uart_start_select at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/vfs/vfs_uart.c line 140
0x4008a351: _xt_context_save at /home/runner/work/esp32-arduino-lib-builder/esp32-arduino-lib-builder/esp-idf/components/freertos/xtensa_context.S line 131

anyone can help me?

Please post your complete sketch

Please follow the advice given in the link below when posting code. Use code tags (the </> icon above the compose window) to make it easier to read and copy for examination

Does your code use arrays? Reading and/or writing beyond the bounds of an array can cause crashes. Examine all array operations for bounds violations.

@faezehfrj, your topic has been moved to a more suitable location on the forum. Installation and Troubleshooting is not for problems with your project. See About the Installation & Troubleshooting category.

yes I use array in my project a lot. I use Mqtt ,Therefore i should use array for subscribe and publish message , OLED display that display text in format char. how can i Handle them?
@groundFungus

Thanks.
@sterretje

I did not mean to not use arrays, I meant that you need to look, carefully, at where you do use them to make sure that array bounds are not violated.

Why not post the entire code being used, OP?

Here is some good well working ESP32 MQTT code:

/*
   Chappie Weather upgrade/addition
   process wind speed direction and rain fall.
*/
#include <WiFi.h>
#include <PubSubClient.h>
#include "certs.h"
#include "sdkconfig.h"
#include "esp_system.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/event_groups.h"
#include "driver/pcnt.h"
#include <driver/adc.h>
#include <SimpleKalmanFilter.h>
#include <ESP32Time.h>
////
ESP32Time rtc;
WiFiClient wifiClient;
PubSubClient MQTTclient(mqtt_server, mqtt_port, wifiClient);
////
float CalculatedVoltage = 0.0f;
float kph = 0.0f;
float rain  = 0.0f;
/*
   PCNT PCNT_UNIT_0, PCNT_CHANNEL_0 GPIO_NUM_15 = pulse input pin
   PCNT PCNT_UNIT_1, PCNT_CHANNEL_0 GPIO_NUM_4 = pulse input pin
*/
pcnt_unit_t pcnt_unit00 = PCNT_UNIT_0; //pcnt unit 0 channel 0
pcnt_unit_t pcnt_unit10 = PCNT_UNIT_1; //pcnt unit 1 channel 0
//
//
hw_timer_t * timer = NULL;
//
#define evtAnemometer  ( 1 << 0 )
#define evtRainFall    ( 1 << 1 )
#define evtParseMQTT   ( 1 << 2 )
EventGroupHandle_t eg;
#define OneMinuteGroup ( evtAnemometer | evtRainFall )
////
QueueHandle_t xQ_Message; // payload and topic queue of MQTT payload and topic
const int payloadSize = 100;
struct stu_message
{
  char payload [payloadSize] = {'\0'};
  String topic ;
} x_message;
////
SemaphoreHandle_t sema_MQTT_KeepAlive;
SemaphoreHandle_t sema_mqttOK;
SemaphoreHandle_t sema_CalculatedVoltage;
////
int mqttOK = 0; // stores a count value that is used to cause an esp reset
volatile bool TimeSet = false;
////
/*
   A single subject has been subscribed to, the mqtt broker sends out "OK" messages if the client receives an OK message the mqttOK value is set back to zero.
*/
////
void IRAM_ATTR mqttCallback(char* topic, byte * payload, unsigned int length)
{
  memset( x_message.payload, '\0', payloadSize ); // clear payload char buffer
  x_message.topic = ""; //clear topic string buffer
  x_message.topic = topic; //store new topic
    int i = 0; // extract payload
    for ( i; i < length; i++)
    {
      x_message.payload[i] = ((char)payload[i]);
    }
    x_message.payload[i] = '\0';
    xQueueOverwrite( xQ_Message, (void *) &x_message );// send data to queue
} // void mqttCallback(char* topic, byte* payload, unsigned int length)
////
// interrupt service routine for WiFi events put into IRAM
void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
{
  switch (event) {
    case SYSTEM_EVENT_STA_CONNECTED:
      break;
    case SYSTEM_EVENT_STA_DISCONNECTED:
      log_i("Disconnected from WiFi access point");
      break;
    case SYSTEM_EVENT_AP_STADISCONNECTED:
      log_i("WiFi client disconnected");
      break;
    default: break;
  }
} // void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
////
void IRAM_ATTR onTimer()
{
  BaseType_t xHigherPriorityTaskWoken;
  xEventGroupSetBitsFromISR(eg, OneMinuteGroup, &xHigherPriorityTaskWoken);
} // void IRAM_ATTR onTimer()
////
void setup()
{
  eg = xEventGroupCreate(); // get an event group handle
  //  x_message.topic.reserve(300);
  adc1_config_width(ADC_WIDTH_12Bit);
  adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11);// using GPIO 34 wind direction
  adc1_config_channel_atten(ADC1_CHANNEL_3, ADC_ATTEN_DB_11);// using GPIO 39 current
  adc1_config_channel_atten(ADC1_CHANNEL_0, ADC_ATTEN_DB_11);// using GPIO 36 battery volts

  // hardware timer 4 set for one minute alarm
  timer = timerBegin( 3, 80, true );
  timerAttachInterrupt( timer, &onTimer, true );
  timerAlarmWrite(timer, 60000000, true);
  timerAlarmEnable(timer);
  /* Initialize PCNT's counter */
  int PCNT_H_LIM_VAL         = 3000;
  int PCNT_L_LIM_VAL         = -10;
  // 1st PCNT counter
  pcnt_config_t pcnt_config  = {};
  pcnt_config.pulse_gpio_num = GPIO_NUM_15;// Set PCNT input signal and control GPIOs
  pcnt_config.ctrl_gpio_num  = PCNT_PIN_NOT_USED;
  pcnt_config.channel        = PCNT_CHANNEL_0;
  pcnt_config.unit           = PCNT_UNIT_0;
  // What to do on the positive / negative edge of pulse input?
  pcnt_config.pos_mode       = PCNT_COUNT_INC;   // Count up on the positive edge
  pcnt_config.neg_mode       = PCNT_COUNT_DIS;   // Count down disable
  // What to do when control input is low or high?
  pcnt_config.lctrl_mode     = PCNT_MODE_KEEP; // do not count if low reverse
  pcnt_config.hctrl_mode     = PCNT_MODE_KEEP;    // Keep the primary counter mode if high
  // Set the maximum and minimum limit values to watch
  pcnt_config.counter_h_lim  = PCNT_H_LIM_VAL;
  pcnt_config.counter_l_lim  = PCNT_L_LIM_VAL;
  pcnt_unit_config(&pcnt_config); // Initialize PCNT unit
  pcnt_set_filter_value( PCNT_UNIT_0, 1); //Configure and enable the input filter
  pcnt_filter_enable( PCNT_UNIT_0 );
  pcnt_counter_pause( PCNT_UNIT_0 );
  pcnt_counter_clear( PCNT_UNIT_0 );
  pcnt_counter_resume( PCNT_UNIT_0); // start the show
  // setup 2nd PCNT
  pcnt_config = {};
  pcnt_config.pulse_gpio_num = GPIO_NUM_4;
  pcnt_config.ctrl_gpio_num  = PCNT_PIN_NOT_USED;
  pcnt_config.channel        = PCNT_CHANNEL_0;
  pcnt_config.unit           = PCNT_UNIT_1;
  pcnt_config.pos_mode       = PCNT_COUNT_INC;
  pcnt_config.neg_mode       = PCNT_COUNT_DIS;
  pcnt_config.lctrl_mode     = PCNT_MODE_KEEP;
  pcnt_config.hctrl_mode     = PCNT_MODE_KEEP;
  pcnt_config.counter_h_lim  = PCNT_H_LIM_VAL;
  pcnt_config.counter_l_lim  = PCNT_L_LIM_VAL;
  pcnt_unit_config(&pcnt_config);
  //pcnt_set_filter_value( PCNT_UNIT_1, 1 );
  //pcnt_filter_enable  ( PCNT_UNIT_1 );
  pcnt_counter_pause  ( PCNT_UNIT_1 );
  pcnt_counter_clear  ( PCNT_UNIT_1 );
  pcnt_counter_resume ( PCNT_UNIT_1 );
  //
  xQ_Message = xQueueCreate( 1, sizeof(stu_message) );
  //
  sema_CalculatedVoltage = xSemaphoreCreateBinary();
  xSemaphoreGive( sema_CalculatedVoltage );
  sema_mqttOK = xSemaphoreCreateBinary();
  xSemaphoreGive( sema_mqttOK );
  sema_MQTT_KeepAlive = xSemaphoreCreateBinary();
  ///
  xTaskCreatePinnedToCore( MQTTkeepalive, "MQTTkeepalive", 15000, NULL, 5, NULL, 1 );
  xTaskCreatePinnedToCore( fparseMQTT, "fparseMQTT", 10000, NULL, 5, NULL, 1 ); // assign all to core 1, WiFi in use.
  xTaskCreatePinnedToCore( fReadBattery, "fReadBattery", 4000, NULL, 3, NULL, 1 );
  xTaskCreatePinnedToCore( fReadCurrent, "fReadCurrent", 4000, NULL, 3, NULL, 1 );
  xTaskCreatePinnedToCore( fWindDirection, "fWindDirection", 10000, NULL, 4, NULL, 1 );
  xTaskCreatePinnedToCore( fAnemometer, "fAnemometer", 10000, NULL, 4, NULL, 1 );
  xTaskCreatePinnedToCore( fRainFall, "fRainFall", 10000, NULL, 4, NULL, 1 );
  xTaskCreatePinnedToCore( fmqttWatchDog, "fmqttWatchDog", 3000, NULL, 3, NULL, 1 ); // assign all to core 1
} //void setup()
////


void fWindDirection( void *pvParameters )
// read the wind direction sensor, return heading in degrees
{
  float adcValue = 0.0f;
  uint64_t TimePastKalman  = esp_timer_get_time();
  SimpleKalmanFilter KF_ADC( 1.0f, 1.0f, .01f );
  float high = 0.0f;
  float low = 2000.0f;
  float ADscale = 3.3f / 4096.0f;
  TickType_t xLastWakeTime = xTaskGetTickCount();
  const TickType_t xFrequency = 100; //delay for mS
  int count = 0;
  String windDirection;
  windDirection.reserve(20);
  String MQTTinfo = "";
  MQTTinfo.reserve( 150 );
  while ( !MQTTclient.connected() )
  {
    vTaskDelay( 250 );
  }
  for (;;)
  {
    windDirection = "";
    adcValue = float( adc1_get_raw(ADC1_CHANNEL_6) ); //take a raw ADC reading
    KF_ADC.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
    adcValue = KF_ADC.updateEstimate( adcValue ); // apply simple Kalman filter
    TimePastKalman = esp_timer_get_time(); // time of update complete
    adcValue = adcValue * ADscale;
    log_i( "                       adc %f", adcValue );
    if ( (adcValue >= 0.0f) & (adcValue <= .25f )  )
    {
     // log_i( " n" );
      windDirection.concat( "N" );
    }
    //
//    if ( (adcValue >= .25f) & adcValue <= .5f )
//    {
//      log_i( " nne" );
//      windDirection.concat( "NNE");
//    }
    //
    if ( (adcValue > .25f) & (adcValue <= .6f ) )
    {
    //  log_i( " e" );
      windDirection.concat( "E" );
    }
//    if ( (adcValue > 1.0f) & (adcValue < 1.75f) )
//    {
//      log_i( " sse" );
//      windDirection.concat( "S-SE");
//    }
//    //
//        if ( (adcValue >= 1.75f) & (adcValue < 2.2f) )
//    {
//      log_i( " nnw" );
//      windDirection.concat( "N-NW" );
//    }
    //
    if ( (adcValue > 2.0f) & ( adcValue < 3.3f) )
    {
   //   log_i( " s" );
      windDirection.concat( "S");
    }
    //
//    if ( (adcValue > 2.6f) & (adcValue < 3.0f ) )
//    {
//      log_i( " ssw" );
//      windDirection.concat( "S-SW" );
//    }
    if ( (adcValue >= 1.7f) & (adcValue < 2.0f ) )
    {
     // log_i( " w" );
      windDirection.concat( "W" );
    }
    if( count >= 30 )
    {
      MQTTinfo.concat( String(kph, 2) );
      MQTTinfo.concat( ",");
      MQTTinfo.concat( windDirection );
      MQTTinfo.concat( ",");
      MQTTinfo.concat( String(rain,2) );
      xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY );
      MQTTclient.publish( topicWSWDRF, MQTTinfo.c_str() );
      xSemaphoreGive( sema_MQTT_KeepAlive );
      count = 0;
    }
    count++;
    MQTTinfo = "";
    xLastWakeTime = xTaskGetTickCount();
    vTaskDelayUntil( &xLastWakeTime, xFrequency );
  }
  vTaskDelete ( NULL );
}
// read rainfall
void fRainFall( void *pvParemeters )
{
  int16_t count = 0;
  pcnt_counter_pause( PCNT_UNIT_1 );
  pcnt_counter_clear( PCNT_UNIT_1 );
  pcnt_counter_resume( PCNT_UNIT_1 );
  for  (;; )
  {
    xEventGroupWaitBits (eg, evtRainFall, pdTRUE, pdTRUE, portMAX_DELAY);
    pcnt_counter_pause( PCNT_UNIT_1 );
    pcnt_get_counter_value( PCNT_UNIT_1, &count );
    pcnt_counter_clear( PCNT_UNIT_1 );
    pcnt_counter_resume( PCNT_UNIT_1 );
    if ( count != 0 )
    {
      // 0.2794mm of rain per click clear clicks at mid night
      rain = 0.2794f * (float)count;
      log_i( "count %d, rain rain = %f mm", count, rain );
    }
  }
  vTaskDelete ( NULL );
}
////
void fAnemometer( void *pvParameters )
{
  int16_t count = 0;
  pcnt_counter_clear(PCNT_UNIT_0);
  pcnt_counter_resume(PCNT_UNIT_0);
  for (;;)
  {
    xEventGroupWaitBits (eg, evtAnemometer, pdTRUE, pdTRUE, portMAX_DELAY);
    pcnt_counter_pause( PCNT_UNIT_0 );
    pcnt_get_counter_value( PCNT_UNIT_0, &count); //int16_t *count
    // A wind speed of 2.4km/h causes the switch to close once per second
    kph = 2.4 * ((float)count / 60.0f);
    //if ( count != 0 )
    //{
      log_i( "count %d, wind Kph = %f", count, kph );
    //}
    count = 0;
    pcnt_counter_clear( PCNT_UNIT_0 );
    pcnt_counter_resume( PCNT_UNIT_0 );
  }
  vTaskDelete ( NULL );
}
//////
void fmqttWatchDog( void * paramater )
{
  int UpdateImeTrigger = 86400; //seconds in a day
  int UpdateTimeInterval = 86300; // 1st time update in 100 counts
  int maxNonMQTTresponse = 60;
  for (;;)
  {
    vTaskDelay( 1000 );
    if ( mqttOK >= maxNonMQTTresponse )
    {
      ESP.restart();
    }
    xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
    mqttOK++;
    xSemaphoreGive( sema_mqttOK );
    UpdateTimeInterval++; // trigger new time get
    if ( UpdateTimeInterval >= UpdateImeTrigger )
    {
      TimeSet = false; // sets doneTime to false to get an updated time after a days count of seconds
      UpdateTimeInterval = 0;
    }
  }
  vTaskDelete( NULL );
}
//////
void fparseMQTT( void *pvParameters )
{
  struct stu_message px_message;
  for (;;)
  {
    if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
    {
      // parse the time from the OK message and update MCU time
      if ( String(px_message.topic) == topicOK )
      {
        if ( !TimeSet)
        {
          String temp = "";
          temp =  px_message.payload[0];
          temp += px_message.payload[1];
          temp += px_message.payload[2];
          temp += px_message.payload[3];
          int year =  temp.toInt();
          temp = "";
          temp =  px_message.payload[5];
          temp += px_message.payload[6];
          int month =  temp.toInt();
          temp =  "";
          temp =  px_message.payload[8];
          temp += px_message.payload[9];
          int day =  temp.toInt();
          temp = "";
          temp = px_message.payload[11];
          temp += px_message.payload[12];
          int hour =  temp.toInt();
          temp = "";
          temp = px_message.payload[14];
          temp += px_message.payload[15];
          int min =  temp.toInt();
          rtc.setTime( 0, min, hour, day, month, year );
          log_i( "rtc  %s ", rtc.getTime() );
          TimeSet = true;
        }
      }
      //
    } //if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
    xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
    mqttOK = 0;
    xSemaphoreGive( sema_mqttOK );
  }
} // void fparseMQTT( void *pvParameters )
//////
void fReadCurrent( void * parameter )
{
  float ADbits = 4096.0f;
  float ref_voltage = 3.3f;
  float offSET = .0f;
  uint64_t TimePastKalman  = esp_timer_get_time(); // used by the Kalman filter UpdateProcessNoise, time since last kalman calculation
  SimpleKalmanFilter KF_I( 1.0f, 1.0f, .01f );
  float mA = 0.0f;
  int   printCount = 0;
  const float mVperAmp = 100.0f;
  float adcValue = 0;
  float Voltage = 0;
  float Power = 0.0;
  String powerInfo = "";
  powerInfo.reserve( 150 );
  while ( !MQTTclient.connected() )
  {
    vTaskDelay( 250 );
  }
  TickType_t xLastWakeTime = xTaskGetTickCount();
  const TickType_t xFrequency = 1000; //delay for mS
  for (;;)
  {
    adc1_get_raw(ADC1_CHANNEL_3); // read once discard reading
    adcValue = ( (float)adc1_get_raw(ADC1_CHANNEL_3) );
    Voltage = ( (adcValue * ref_voltage) / ADbits ) + offSET; // Gets you mV
    mA = Voltage / mVperAmp; // get amps
    KF_I.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
    mA = KF_I.updateEstimate( mA ); // apply simple Kalman filter
    TimePastKalman = esp_timer_get_time(); // time of update complete
    printCount++;
    if ( printCount == 60 )
    {
      xSemaphoreTake( sema_CalculatedVoltage, portMAX_DELAY);
      Power = CalculatedVoltage * mA;
      log_i( "Voltage=%f mA=%f Power=%f", CalculatedVoltage, mA, Power );
      printCount = 0;
      powerInfo.concat( String(CalculatedVoltage, 2) );
      xSemaphoreGive( sema_CalculatedVoltage );
      powerInfo.concat( ",");
      powerInfo.concat( String(mA, 2) );
      powerInfo.concat( ",");
      powerInfo.concat( String(Power, 4) );
      xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY );
      MQTTclient.publish( topicPower, powerInfo.c_str() );
      xSemaphoreGive( sema_MQTT_KeepAlive );
      powerInfo = "";
    }
    xLastWakeTime = xTaskGetTickCount();
    vTaskDelayUntil( &xLastWakeTime, xFrequency );
  }
  vTaskDelete( NULL );
} //void fReadCurrent( void * parameter )
////
void fReadBattery( void * parameter )
{
  //float ADbits = 4096.0f;
  //float ref_voltage = 3.3f;
  float ADscale = 3.3f / 4096.0f;
  float adcValue = 0.0f;
  float offSET = 0.0f;
  const float r1 = 50500.0f; // R1 in ohm, 50K
  const float r2 = 10000.0f; // R2 in ohm, 10k potentiometer
  //float Vscale = (r1+r2)/r2;
  float Vbatt = 0.0f;
  int printCount = 0;
  float vRefScale = (3.3f / 4096.0f) * ((r1 + r2) / r2);
  uint64_t TimePastKalman  = esp_timer_get_time(); // used by the Kalman filter UpdateProcessNoise, time since last kalman calculation
  SimpleKalmanFilter KF_ADC_b( 1.0f, 1.0f, .01f );
  TickType_t xLastWakeTime = xTaskGetTickCount();
  const TickType_t xFrequency = 1000; //delay for mS
  for (;;)
  {
    adc1_get_raw(ADC1_CHANNEL_0); //read and discard
    adcValue = float( adc1_get_raw(ADC1_CHANNEL_0) ); //take a raw ADC reading
    KF_ADC_b.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
    adcValue = KF_ADC_b.updateEstimate( adcValue ); // apply simple Kalman filter
    Vbatt = adcValue * vRefScale;
    xSemaphoreTake( sema_CalculatedVoltage, portMAX_DELAY );
    CalculatedVoltage = Vbatt;
    xSemaphoreGive( sema_CalculatedVoltage );
//        printCount++;
//        if ( printCount == 3 )
//        {
//        log_i( "Vbatt %f", Vbatt );
//        printCount = 0;
//        }
    TimePastKalman = esp_timer_get_time(); // time of update complete
    xLastWakeTime = xTaskGetTickCount();
    vTaskDelayUntil( &xLastWakeTime, xFrequency );
    //log_i( "fReadBattery %d",  uxTaskGetStackHighWaterMark( NULL ) );
  }
  vTaskDelete( NULL );
}
////
void MQTTkeepalive( void *pvParameters )
{
  sema_MQTT_KeepAlive   = xSemaphoreCreateBinary();
  xSemaphoreGive( sema_MQTT_KeepAlive ); // found keep alive can mess with a publish, stop keep alive during publish
  // setting must be set before a mqtt connection is made
  MQTTclient.setKeepAlive( 90 ); // setting keep alive to 90 seconds makes for a very reliable connection, must be set before the 1st connection is made.
  for (;;)
  {
    //check for a is-connected and if the WiFi 'thinks' its connected, found checking on both is more realible than just a single check
    if ( (wifiClient.connected()) && (WiFi.status() == WL_CONNECTED) )
    {
      xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY ); // whiles MQTTlient.loop() is running no other mqtt operations should be in process
      MQTTclient.loop();
      xSemaphoreGive( sema_MQTT_KeepAlive );
    }
    else {
      log_i( "MQTT keep alive found MQTT status %s WiFi status %s", String(wifiClient.connected()), String(WiFi.status()) );
      if ( !(wifiClient.connected()) || !(WiFi.status() == WL_CONNECTED) )
      {
        connectToWiFi();
      }
      connectToMQTT();
    }
    vTaskDelay( 250 ); //task runs approx every 250 mS
  }
  vTaskDelete ( NULL );
}
////
void connectToWiFi()
{
  int TryCount = 0;
  //log_i( "connect to wifi" );
  while ( WiFi.status() != WL_CONNECTED )
  {
    TryCount++;
    WiFi.disconnect();
    WiFi.begin( SSID, PASSWORD );
    vTaskDelay( 4000 );
    if ( TryCount == 10 )
    {
      ESP.restart();
    }
  }
  WiFi.onEvent( WiFiEvent );
} // void connectToWiFi()
////
void connectToMQTT()
{
  MQTTclient.setKeepAlive( 90 ); // needs be made before connecting
  byte mac[5];
  WiFi.macAddress(mac);
  String clientID = String(mac[0]) + String(mac[4]) ; // use mac address to create clientID
  while ( !MQTTclient.connected() )
  {
    // boolean connect(const char* id, const char* user, const char* pass, const char* willTopic, uint8_t willQos, boolean willRetain, const char* willMessage);
    MQTTclient.connect( clientID.c_str(), mqtt_username, mqtt_password, NULL , 1, true, NULL );
    vTaskDelay( 250 );
  }
  MQTTclient.setCallback( mqttCallback );
  MQTTclient.subscribe( topicOK );
} // void connectToMQTT()
////
void loop() {}

I share my code
my totally project
@groundFungus @Idahowalker thanks a lot for your response.

The most prominent error from the message decode seems to be having to do with the UART.

HardwareSerial mySerial(2);

Here you begin a serial assignment but never complete the initialization in setup().

Adafruit_Fingerprint finger = Adafruit_Fingerprint(&mySerial);

Here you assign a non initialized serial port to be the fingerprint thingie.

For staters.

@Idahowalker
I add this line in setup:

mySerial.begin(9600, SERIAL_8N1, 16, 17);

and error changed. I found ,Prioritize in setup is my problem. I use method in another method before is initialized .