智慧家具报vPortCPUAcquireMutexIntsDisabledInternal怎么解决？

做智慧家具的时候，系统容易在用户没有语音操作或者第一次语音操作之后崩溃，log报错 vPortCPUAcquireMutexIntsDisabledInternal,有诶有遇到过相关问题的能帮我解答一下。

log如下：

assertion "res == coreID || res == portMUX_FREE_VAL" failed: file "/home/shao/WS/Project2_2/esp/esp-adf/esp-idf/components/freertos/portmux_impl.inc.h", line 105, function: vPortCPUAcquireMutexIntsDisabledInternal



abort() was called at PC 0x400d7d63 on core 1



Backtrace: 0x4008e14b:0x3fff2510 0x4008e47d:0x3fff2530 0x400d7d63:0x3fff2550 0x4008b7f9:0x3fff2580 0x4008a740:0x3fff25b0 0x401c9fad:0x3fff25d0







Rebooting...



ets Jun  8 2016 00:22:57







rst:0xc (SW_CPU_RESET),boot:0x1f (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:2



load:0x3fff0018,len:4



load:0x3fff001c,len:5576



load:0x40078000,len:9484



load:0x40080400,len:6996



entry 0x40080744



I (29) boot: ESP-IDF v3.2-103-g4aa1058e8 2nd stage bootloader



I (29) boot: compile time 11:49:40



I (29) boot: Enabling RNG early entropy source...



I (32) qio_mode: Enabling default flash chip QIO



I (36) boot: SPI Speed      : 40MHz



I (39) boot: SPI Mode       : QIO



I (42) boot: SPI Flash Size : 8MB



I (45) boot: Partition Table:



I (48) boot: ## Label            Usage          Type ST Offset   Length



I (54) boot:  0 nvs              WiFi data        01 02 00009000 00006000



I (61) boot:  1 phy_init         RF data          01 01 0000f000 00001000



I (67) boot:  2 factory          factory app      00 00 00010000 00400000



I (74) boot:  3 secadb           Unknown data     01 82 00410000 00100000



I (80) boot:  4 unsecadb         Unknown data     01 82 00510000 001f0000



I (87) boot:  5 user             Unknown data     01 82 00700000 000f0000



I (94) boot: End of partition table



I (97) esp_image: segment 0: paddr=0x00010020 vaddr=0x3f400020 size=0x1999a4 (1677732) map



I (597) esp_image: segment 1: paddr=0x001a99cc vaddr=0x3ffb0000 size=0x03d8c ( 15756) load



I (602) esp_image: segment 2: paddr=0x001ad760 vaddr=0x40080000 size=0x00400 (  1024) load



I (603) esp_image: segment 3: paddr=0x001adb68 vaddr=0x40080400 size=0x024a8 (  9384) load



I (613) esp_image: segment 4: paddr=0x001b0018 vaddr=0x400d0018 size=0x16c7c4 (1492932) map



I (1056) esp_image: segment 5: paddr=0x0031c7e4 vaddr=0x400828a8 size=0x15238 ( 86584) load



I (1099) boot: Loaded app from partition at offset 0x10000



I (1100) boot: Disabling RNG early entropy source...



E (143) sdmmc_common: sdmmc_init_ocr: send_op_cond (1) returned 0x107



E (143) SDCARD: Failed to initialize the card (ESP_ERR_TIMEOUT). Make sure SD card lines have pull-up resistors in place.



Connect to stored Wi-Fi SSID:Josh PWD:12345678



W (231) JOSHVM_Audio: Before javatask,free heap size = 118720



W (355) WIFI_SERV: Disconnect reason 1.



Reason code:        0:STA_UNKNOWN,1:AUTH_ERROR,2:AP_NOT_FOUND,3:BY_USER



Serial port 0 open successfully

javacall_set_property: key=org.joshvm.ams.appdbpath.root, value=internal/, type=0, replace=1

========CommAppManager.connect

[Device synchronized. Protocol version is 1]

PERIPH_WIFI_CONNECTED [185]







========CommAppManager.disconnect: stop=false

========CommAppManager.disconnect: stop=true

========CommAppManager.disconnect: stop=true