ESP-IDF4.4.2 SPI驱动内存回收报错问题求解

模块：ESP32-S3 N8R2

环境：ESP-IDF4.4.2

我通过spi外接WK2124 SPI转串口芯片（SPI总线上只皆有此一个芯片），在内置串口与SPI外扩串口通讯时，每个串口分别在一个独立的任务中进行收发数据，每个串口也都启动了一个中断任务，程序启动第一次收发都正常运行，在第二轮收发时报错，错误信息如下：
Code: Select all
assert failed: tlsf_free heap_tlsf.c:872 (!block_is_free(block) && "block already marked as free")

Backtrace:0x40375d6a:0x3fc9d6500x4037c139:0x3fc9d670 0x40383155:0x3fc9d690 0x4038246f:0x3fc9d7b0 0x40382d86:0x3fc9d7d0 0x40375fca:0x3fc9d7f0 0x40383185:0x3fc9d810 0x40377882:0x3fc9d830 0x40377d08:0x3fc9d850 0x40377d55:0x3fc9d880 0x420095cf:0x3fc9d8a0 0x4200977e:0x3fc9d8d0 0x42009ccf:0x3fc9d920 0x42009588:0x3fc9d950 0x42007d8e:0x3fc9d970 0x42008db4:0x3fc9d990 0x42007dc8:0x3fc9d9d0 0x420083cd:0x3fc9d9f0 0x420078c8:0x3fc9da10 0x4037f265:0x3fc9db40
0x40375d6a: panic_abort at /home/zhuxy/esp/esp-idf/components/esp_system/panic.c:402
0x4037c139: esp_system_abort at /home/zhuxy/esp/esp-idf/components/esp_system/esp_system.c:128
0x40383155: __assert_func at /home/zhuxy/esp/esp-idf/components/newlib/assert.c:85
0x4038246f: tlsf_free at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:872 (discriminator 1)
0x40382d86: multi_heap_free_impl at /home/zhuxy/esp/esp-idf/components/heap/multi_heap.c:222
0x40375fca: heap_caps_free at /home/zhuxy/esp/esp-idf/components/heap/heap_caps.c:340
0x40383185: free at /home/zhuxy/esp/esp-idf/components/newlib/heap.c:39
0x40377882: uninstall_priv_desc at /home/zhuxy/esp/esp-idf/components/driver/spi_master.c:736
0x40377d08: spi_device_polling_end at /home/zhuxy/esp/esp-idf/components/driver/spi_master.c:983 (discriminator 15)
0x40377d55: spi_device_polling_transmit at /home/zhuxy/esp/esp-idf/components/driver/spi_master.c:1003
0x420095cf: wk_device_transmit at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/spi_wk2xxx.c:62
0x4200977e: wk_read_SFifo at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/spi_wk2xxx.c:195
0x42009ccf: wk_read_bytes at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/spi_wk2xxx.c:593
0x42009588: uart_port_read_bytes at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/uart_port.c:296
0x42007d8e: _modbus_rtu_recv at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus-rtu.c:204
0x42008db4: _modbus_receive_msg at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus.c:412
0x42007dc8: _modbus_rtu_receive at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus-rtu.c:191
0x420083cd: modbus_receive at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus.c:504
0x420078c8: modbus_rtu_task at /home/zhuxy/esp-projects/IoT-Station/main/src/modbus_slave.c:122
0x4037f265: vPortTaskWrapper at /home/zhuxy/esp/esp-idf/components/freertos/port/xtensa/port.c:131

ELF file SHA256: 4be6f973b94b35ce
CPU halted.


如果把两个任务的串口对调，错误又稍有不同，错误信息如下：
Code: Select all
Guru Meditation Error: Core  0 panic'ed (StoreProhibited). Exception was unhandled.

Core  0 register dump:
PC      : 0x40382734  PS      : 0x00060833  A0      : 0x80382d89  A1      : 0x3fc9f8a0  
0x40382734: insert_free_block at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:243
(inlined by) block_insert at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:269
(inlined by) tlsf_free at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:876

A2      : 0x3fc9974c  A3      : 0xa5a5a5a5  A4      : 0x3fc97a94  A5      : 0x00060823  
A6      : 0x00060820  A7      : 0x00000001  A8      : 0x3fc9fad4  A9      : 0x00000017  
A10     : 0x0000001f  A11     : 0x3fc9fadc  A12     : 0x3fc9fad4  A13     : 0x3fc9f9e8  
A14     : 0x02ce0988  A15     : 0x00ffffff  SAR     : 0x00000018  EXCCAUSE: 0x0000001d  
EXCVADDR: 0xa5a5a5b1  LBEG    : 0x40056f5c  LEND    : 0x40056f72  LCOUNT  : 0xffffffff  

Backtrace:0x40382731:0x3fc9f8a00x40382d86:0x3fc9f8c0 0x40375fca:0x3fc9f8e0 0x40383185:0x3fc9f900 0x40377882:0x3fc9f920 0x40377d08:0x3fc9f940 0x40377d55:0x3fc9f970 0x420095cf:0x3fc9f990 0x4200977e:0x3fc9f9c0 0x42009ccf:0x3fc9fa10 0x42009588:0x3fc9fa40 0x42007d8e:0x3fc9fa60 0x42008db4:0x3fc9fa80 0x42008f49:0x3fc9fac0 0x42008ff1:0x3fc9fc00 0x420071f5:0x3fc9fc30 0x4037f265:0x3fc9fca0
0x40382731: insert_free_block at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:242
(inlined by) block_insert at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:269
(inlined by) tlsf_free at /home/zhuxy/esp/esp-idf/components/heap/heap_tlsf.c:876

0x40382d86: multi_heap_free_impl at /home/zhuxy/esp/esp-idf/components/heap/multi_heap.c:222
0x40375fca: heap_caps_free at /home/zhuxy/esp/esp-idf/components/heap/heap_caps.c:340
0x40383185: free at /home/zhuxy/esp/esp-idf/components/newlib/heap.c:39
0x40377882: uninstall_priv_desc at /home/zhuxy/esp/esp-idf/components/driver/spi_master.c:736
0x40377d08: spi_device_polling_end at /home/zhuxy/esp/esp-idf/components/driver/spi_master.c:983 (discriminator 15)
0x40377d55: spi_device_polling_transmit at /home/zhuxy/esp/esp-idf/components/driver/spi_master.c:1003
0x420095cf: wk_device_transmit at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/spi_wk2xxx.c:62
0x4200977e: wk_read_SFifo at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/spi_wk2xxx.c:195
0x42009ccf: wk_read_bytes at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/spi_wk2xxx.c:593
0x42009588: uart_port_read_bytes at /home/zhuxy/esp-projects/IoT-Station/components/drivers/src/uart_port.c:296
0x42007d8e: _modbus_rtu_recv at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus-rtu.c:204
0x42008db4: _modbus_receive_msg at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus.c:412
0x42008f49: read_registers at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus.c:1202
0x42008ff1: modbus_read_registers at /home/zhuxy/esp-projects/IoT-Station/components/libmodbus/src/modbus.c:1243
0x420071f5: modbusTask at /home/zhuxy/esp-projects/IoT-Station/main/main.c:84
0x4037f265: vPortTaskWrapper at /home/zhuxy/esp/esp-idf/components/freertos/port/xtensa/port.c:131

我还发现一个奇怪现象，在调用SPI驱动接口前如加有printf或ESP_LOG来输出日志，则有可能正常运行（未长时间测试，未加日志输出则在第二次串口通讯时报错），这是什么原因呢？