ESP32C3 定时器重启的问题

void stop_step_motor(void)
{
    ESP_LOGI(GATTS_TABLE_TAG, "stop_step_motor");
    //停止定时器
    gptimer_stop(gptimer);
}

static bool IRAM_ATTR step_timer_inr(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *args)
{
    BaseType_t high_task_awoken = pdFALSE;

    if(step_flag==0)
        {//上升沿有效
            step_flag=1;
            gpio_set_level(GPIO_NUM_10,1);//step
            bjdj_step_target--;//目标步数
            if(bjdj_step_target==0)
            {
                //停止定时器
                stop_step_motor();
                
            }
        }
        else
        {
            step_flag=0;
            gpio_set_level(GPIO_NUM_10,0);
        }
    
    // return whether we need to yield at the end of ISR
    return (high_task_awoken == pdTRUE);
}

void step_timer_init()
{
    ESP_LOGI(GATTS_TABLE_TAG, "Create timer handle");
 
    gptimer_config_t timer_config = {
        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
        .direction = GPTIMER_COUNT_UP,
        .resolution_hz = 1000000, // 1MHz, 1 tick=1us
    };
    ESP_ERROR_CHECK(gptimer_new_timer(&timer_config, &gptimer));
 
    gptimer_event_callbacks_t cbs = {
        .on_alarm = step_timer_inr,
    };
    ESP_ERROR_CHECK(gptimer_register_event_callbacks(gptimer, &cbs, NULL));
 
    ESP_ERROR_CHECK(gptimer_enable(gptimer));
 
    ESP_LOGI(GATTS_TABLE_TAG, "Start timer, stop it at alarm event");
    gptimer_alarm_config_t alarm_config1 = {
        .reload_count = 0,
        // .alarm_count = 10000, // period = 10ms
        .alarm_count = 10000, // period = 0.1ms
        .flags.auto_reload_on_alarm = true,
    };
    ESP_ERROR_CHECK(gptimer_set_alarm_action(gptimer, &alarm_config1));
    // ESP_ERROR_CHECK(gptimer_start(gptimer));
 
}

 一运行到函数stop_step_motor(),esp32C3就重启，并报如下的错：

abort() was called at PC 0x40381aa5 on core 0
0x40381aa5: lock_acquire_generic at D:/esp/esp-idf/components/newlib/locks.c:130

Core  0 register dump:
MEPC    : 0x40380926  RA      : 0x4038b2da  SP      : 0x3fc943f0  GP      : 0x3fc92c00
0x40380926: panic_abort at D:/esp/esp-idf/components/esp_system/panic.c:423

0x4038b2da: __ubsan_include at D:/esp/esp-idf/components/esp_system/ubsan.c:313

TP      : 0x3fc78e74  T0      : 0x37363534  T1      : 0x7271706f  T2      : 0x33323130
S0/FP   : 0x00000004  S1      : 0x3fc94454  A0      : 0x3fc9441c  A1      : 0x3fc94452

最后发现是打LOG引起的，注释掉就可以了

void stop_step_motor(void)
{
    //ESP_LOGI(GATTS_TABLE_TAG, "stop_step_motor");
    //停止定时器
    gptimer_stop(gptimer);
}

得到的教训就是一定不能在定时器中断函数中占用太长时间。