Panic when using Thread

[l0nax]

Bug description

When using the experimental Thread module, the ESP32-C6 sometimes crashes.
Previously I wasn't able to connect to the WiFi, but after using ESP-IDF v5.2.x and creating an "IoT" network with PMF disabled the ESP now connects successfully.

Sometimes (by resetting the MCU over and over again) the OpenThread integration works as expected. But I only managed to get it into this state once.

• Would you like to work on a fix? -> yes

To Reproduce

The related code & config can be found here: https://gitlab.com/l0nax/esp32c6-openthread-panic-bug-repro#

Please note that when using the master branch of this repository I receive a bunch of compilation errors which I did not manage to resolve:

error[E0432]: unresolved imports `crate::sys::otDnsTxtEntry`, `crate::sys::otSrpClientAddService`, `crate::sys::otSrpClientClearHostAndServices`, `crate::sys::otSrpClientClearService`, `crate::sys::otSrpClientEnableAutoStartMode`, `crate::sys::otSrpClientGetHostInfo`, `crate::sys::otSrpClientGetServerAddress`, `crate::sys::otSrpClientGetServices`, `crate::sys::otSrpClientHostInfo`, `crate::sys::otSrpClientIsAutoStartModeEnabled`, `crate::sys::otSrpClientIsRunning`, `crate::sys::otSrpClientItemState`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_ADDING`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REFRESHING`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REGISTERED`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REMOVED`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REMOVING`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_TO_ADD`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_TO_REFRESH`, `crate::sys::otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_TO_REMOVE`, `crate::sys::otSrpClientRemoveHostAndServices`, `crate::sys::otSrpClientRemoveService`, `crate::sys::otSrpClientService`, `crate::sys::otSrpClientSetHostAddresses`, `crate::sys::otSrpClientSetHostName`, `crate::sys::otSrpClientStart`, `crate::sys::otSrpClientStop`
  --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread/srp.rs:10:39
   |
10 |     esp, esp_openthread_get_instance, otDnsTxtEntry, otError, otError_OT_ERROR_INVALID_ARGS,
   |                                       ^^^^^^^^^^^^^ no `otDnsTxtEntry` in `sys`
11 |     otError_OT_ERROR_NO_BUFS, otIp6Address, otIp6Address__bindgen_ty_1, otSrpClientAddService,
   |                                                                         ^^^^^^^^^^^^^^^^^^^^^ no `otSrpClientAddService` in `sys`
12 |     otSrpClientClearHostAndServices, otSrpClientClearService, otSrpClientEnableAutoStartMode,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ no `otSrpClientEnableAutoStartMode` in `sys`
   |     |                                |
   |     |                                no `otSrpClientClearService` in `sys`
   |     no `otSrpClientClearHostAndServices` in `sys`
13 |     otSrpClientGetHostInfo, otSrpClientGetServerAddress, otSrpClientGetServices,
   |     ^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^ no `otSrpClientGetServices` in `sys`
   |     |                       |
   |     |                       no `otSrpClientGetServerAddress` in `sys`
   |     no `otSrpClientGetHostInfo` in `sys`
14 |     otSrpClientHostInfo, otSrpClientIsAutoStartModeEnabled, otSrpClientIsRunning,
   |     ^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^
   |     |                    |
   |     |                    no `otSrpClientIsAutoStartModeEnabled` in `sys`
   |     no `otSrpClientHostInfo` in `sys`
15 |     otSrpClientItemState, otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_ADDING,
   |     ^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
16 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REFRESHING,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
17 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REGISTERED,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
18 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REMOVED,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
19 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_REMOVING,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
20 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_TO_ADD,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
21 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_TO_REFRESH,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
22 |     otSrpClientItemState_OT_SRP_CLIENT_ITEM_STATE_TO_REMOVE, otSrpClientRemoveHostAndServices,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
23 |     otSrpClientRemoveService, otSrpClientService, otSrpClientSetHostAddresses,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^
24 |     otSrpClientSetHostName, otSrpClientStart, otSrpClientStop, EspError, ESP_ERR_INVALID_STATE,
   |     ^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^

error[E0432]: unresolved imports `crate::sys::otSrpClientEnableAutoHostAddress`, `crate::sys::otSrpClientGetKeyLeaseInterval`, `crate::sys::otSrpClientGetLeaseInterval`, `crate::sys::otSrpClientGetTtl`, `crate::sys::otSrpClientSetKeyLeaseInterval`, `crate::sys::otSrpClientSetLeaseInterval`, `crate::sys::otSrpClientSetTtl`
  --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread/srp.rs:29:5
   |
29 |     otSrpClientEnableAutoHostAddress, otSrpClientGetKeyLeaseInterval, otSrpClientGetLeaseInterval,
   |     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^ no `otSrpClientGetLeaseInterval` in `sys`
   |     |                                 |
   |     |                                 no `otSrpClientGetKeyLeaseInterval` in `sys`
   |     no `otSrpClientEnableAutoHostAddress` in `sys`
30 |     otSrpClientGetTtl, otSrpClientSetKeyLeaseInterval, otSrpClientSetLeaseInterval,
   |     ^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^  ^^^^^^^^^^^^^^^^^^^^^^^^^^^ no `otSrpClientSetLeaseInterval` in `sys`
   |     |                  |
   |     |                  no `otSrpClientSetKeyLeaseInterval` in `sys`
   |     no `otSrpClientGetTtl` in `sys`
31 |     otSrpClientSetTtl,
   |     ^^^^^^^^^^^^^^^^^ no `otSrpClientSetTtl` in `sys`

error: cannot find macro `debug` in this scope
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1525:9
     |
1525 |         debug!("Border router initialized");
     |         ^^^^^
     |
help: consider importing this macro
     |
   6 + use log::debug;
     |

error: cannot find macro `debug` in this scope
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1533:9
     |
1533 |         debug!("Border router deinitialized");
     |         ^^^^^
     |
help: consider importing this macro
     |
   6 + use log::debug;
     |

error[E0412]: cannot find type `otSrpClientHostInfo` in module `crate::sys`
   --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread/srp.rs:948:39
    |
948 |         host_info: *const crate::sys::otSrpClientHostInfo,
    |                                       ^^^^^^^^^^^^^^^^^^^ not found in `crate::sys`

error[E0412]: cannot find type `otSrpClientService` in module `crate::sys`
   --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread/srp.rs:949:38
    |
949 |         services: *const crate::sys::otSrpClientService,
    |                                      ^^^^^^^^^^^^^^^^^^ not found in `crate::sys`

error[E0412]: cannot find type `otSrpClientService` in module `crate::sys`
   --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread/srp.rs:950:46
    |
950 |         removed_services: *const crate::sys::otSrpClientService,
    |                                              ^^^^^^^^^^^^^^^^^^ not found in `crate::sys`

error[E0425]: cannot find function `otSrpClientSetCallback` in module `crate::sys`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1341:25
     |
1341 |             crate::sys::otSrpClientSetCallback(
     |                         ^^^^^^^^^^^^^^^^^^^^^^ not found in `crate::sys`

error[E0560]: struct `EspThread<'d, BorderRouter<N>>` has no field named `inner`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1728:13
     |
1728 |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
     |             ^^^^^ `EspThread<'d, BorderRouter<N>>` does not have this field
     |
     = note: available fields are: `netif`, `mode`

error[E0433]: failed to resolve: use of undeclared type `EspThreadInner`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1728:36
     |
1728 |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
     |                                    ^^^^^^^^^^^^^^ use of undeclared type `EspThreadInner`

error[E0061]: this function takes 3 arguments but 1 argument was supplied
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1726:9
     |
1636 |   impl<'d, N> EspThread<'d, BorderRouter<N>>
     |               ------------------------------ this is the type of the `Self` literal
...
1726 |           Self::internal_init(Self {
     |  _________^^^^^^^^^^^^^^^^^^^-
1727 | |             driver,
1728 | |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
1729 | |         })
     | |__________- two arguments of type `netif::EspNetif` and `BorderRouter<N>` are missing
     |
note: expected `ThreadDriver<'_, Host>`, found `EspThread<'_, BorderRouter<N>>`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1726:29
     |
1726 |           Self::internal_init(Self {
     |  _____________________________^
1727 | |             driver,
1728 | |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
1729 | |         })
     | |_________^
     = note: expected struct `ThreadDriver<'_, Host>`
                found struct `EspThread<'d, BorderRouter<N>>`
note: associated function defined here
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/3c7ce53/src/thread.rs:1877:8
     |
1877 |     fn internal_init(
     |        ^^^^^^^^^^^^^
1878 |         driver: ThreadDriver<'d, Host>,
     |         ------------------------------
1879 |         netif: EspNetif,
     |         ---------------
1880 |         mut mode: T,
     |         -----------
help: provide the arguments
     |
1726 -         Self::internal_init(Self {
1727 -             driver,
1728 -             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
1729 -         })
1726 +         Self::internal_init(/* ThreadDriver<'_, Host> */, /* netif::EspNetif */, /* BorderRouter<N> */)
     |

When upgrading to a newer ESP-IDF version, the behavior is almost the same but it panics because of an unknown event.
This is due to a new OpenThread event OPENTHREAD_EVENT_DATASET_CHANGED (https://github.com/espressif/esp-idf/blob/2044fba6e71422446986f9ae0909b1ab67e57815/components/openthread/include/esp_openthread_types.h#L49).

Logs:

[...]
I (4854) OPENTHREAD: Platform UDP bound to port 49153
I(4854) OPENTHREAD:[N] Mle-----------: Role disabled -> detached
I (4864) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (4864) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4874) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4874) wifi:Set ps type: 2, coexist: 0

I (4894) esp32c6_ble_wifi_credentials: Thread Border Router initialized, now running...
I (4904) OPENTHREAD: Platform UDP bound to port 61631
I (4914) esp32c6_ble_wifi_credentials: [OT-Sub] Got: RoleChanged { current_role: Detached, previous_role: Disabled }
I (4914) OT_STATE: netif up
I (4914) esp32c6_ble_wifi_credentials: [OT-Sub] Got: IfUp

thread '<unnamed>' (2) panicked at /home/eb/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/esp-idf-svc-0.51.0/src/thread.rs:1831:18:
unknown event ID: 17
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace

Expected behavior

• That the WiFi connects without running into the ESP_ERR_TIMEOUT problem over and over again, i.e. it can be used with a "normal" WiFi network.
• The OpenThread integration can be used "stable", i.e., not crashing almost every time.

Environment

• Crate (esp-idf-svc) version: v0.51.0
• ESP-IDF branch or tag: v5.2.2, v5.2.5
• Target device (MCU): esp32c6 (on the 'esp32-c6-devkitc-1' board)
• OS: Arch Linux

[ivmarkov]

It is very difficult to say what is going on as you have not pasted the panic output. Also I'm away ATM so I can't really take your code and flash it to see for myself.

With that said, a couple of things you could try:

• Try increasing the main task stack size. The experimental Thread support in the esp-idf-svc version which is on crates.io is running thread on the main thread, as earlier ESP IDF Thread versions <= 5.3.X which the currently-released esp-idf-svc supports simply don't offer any other option
• Upgrade to esp-idf-svc + hal + sys from master and to ESP-IDF V5.5. You are getting compilation errors because you are likely holding it wrong. How it should be done is that you should keep your regular dep to esp-idf-svc, but then create a [patch.crates-io] section in the Cargo.toml of your binary crate, and in there, you should patch ALL of esp-idf-hal, esp-idf-sys and esp-idf-svc to their master GIT repos. Since you likely did not patch the sys crate, the svc crate cannot find the Thread SRP bindings which were introduced in the sys crate just recently and fails to compile. Moreover, by upgrading to master, I can support you in your efforts, as this is what I use as well, in esp-idf-matter

As for the missing / unknown event (which is the reason for your "with newer ESP IDF" panic) - thanks for reporting, we should definitely fix it! PRs welcome, else I can do myself.

And then, with ALL that said, I have never been able to make the Thread Border Router running on a c6. And I'm not even talking about running the BR via the Rust bindings - but by just flashing the native C "Thread Border Router" firmware of Espressif - it panics on something which looks like not enough stack memory. But... maybe with ESP-IDF 5.5 which is latest stable things had improved.

[ivmarkov]

#608 addresses the new DatasetChanged event.

[l0nax]

Thanks for the fast help :)

Here is one of the crashes with the obscure panic:

[...]
I (5469) esp32c6_ble_wifi_credentials: Wi-Fi connected! IP: 192.168.1.24
I (5469) esp32c6_ble_wifi_credentials: Initializing OpenThread stack...
I (5479) OPENTHREAD: Host connection mode none
I (5479) phy: libbtbb version: f97b181, May  8 2024, 10:42:29
I(5489) OPENTHREAD:[I] ChildSupervsn-: Timeout: 0 -> 190
I (5499) OPENTHREAD: OpenThread attached to netif
I (5499) esp32c6_ble_wifi_credentials: [OT-Sub] Got: Started
I(5509) OPENTHREAD:[N] RoutingManager: BR ULA prefix: fd5e:49c4:61b::/48 (loaded)
I(5509) OPENTHREAD:[N] RoutingManager: Local on-link prefix: fdde:ad00:beef:cafe::/64
I (5519) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (5519) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (5529) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (5529) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (5539) OPENTHREAD: Platform UDP bound to port 49153
I(5539) OPENTHREAD:[N] Mle-----------: Role disabled -> detached
I (5549) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (5549) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (5559) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (5569) wifi:Set ps type: 2, coexist: 0

I (5579) esp32c6_ble_wifi_credentials: Thread Border Router initialized, now running...
I (5589) esp32c6_ble_wifi_credentials: [OT-Sub] Got: RoleChanged { current_role: Detached, previous_role: Disabled }
I (5589) OT_STATE: netif up
I (5589) esp32c6_ble_wifi_credentials: [OT-Sub] Got: IfUp
I (5599) OPENTHREAD: NAT64 ready
Guru Meditation Error: Core  0 panic'ed (Load access fault). Exception was unhandled.

Core  0 register dump:
MEPC    : 0x40810e56  RA      : 0x40811410  SP      : 0x40843aa0  GP      : 0x40822fd4
TP      : 0x407ec4dc  T0      : 0x00000000  T1      : 0x40803652  T2      : 0x000002ff
S0/FP   : 0x4084e46e  S1      : 0x4084e368  A0      : 0x4084c210  A1      : 0x40833338
A2      : 0x4084e368  A3      : 0x00000018  A4      : 0x00000000  A5      : 0x00000000
A6      : 0x4084e46e  A7      : 0x0062b82b  S2      : 0x00000000  S3      : 0x40833000
S4      : 0x0000007c  S5      : 0x4084c210  S6      : 0x4084d28c  S7      : 0x00000018
S8      : 0x00000001  S9      : 0x4083250c  S10     : 0x4084e454  S11     : 0x4084e368
T3      : 0x80000000  T4      : 0x0205003a  T5      : 0x02000000  T6      : 0x00000000
MSTATUS : 0x00001881  MTVEC   : 0x40800001  MCAUSE  : 0x00000005  MTVAL   : 0x00000004
MHARTID : 0x00000000

Stack memory:
40843aa0: 0x36818c58 0xcd5018dd 0x4084d28c 0x40833000 0x00000000 0x40833338 0x00000000 0x40811410
40843ac0: 0x40848090 0x40824274 0x408349b0 0x000000f5 0x00000000 0xffffffc4 0x000000a0 0x4084e45e
40843ae0: 0x4084e368 0x421b4000 0x4084e3f8 0x00000000 0x00000000 0x00000000 0x40880000 0x00002000
40843b00: 0x000000c6 0x421b4000 0x40880000 0x000000f5 0x40880000 0x4084e3f8 0x4084e368 0x40820b12
40843b20: 0x00000000 0x00000000 0x40880000 0x40880000 0x40880000 0x40880000 0x00000000 0x40880000
40843b40: 0x408257c0 0x421b23ac 0x40880000 0x4081b506 0x00000000 0x00000000 0x00000011 0x00000000
40843b60: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843b80: 0x00000000 0x00000000 0x00000000 0x4080a898 0x00000000 0x00000000 0x00000000 0x00000000
40843ba0: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0xa5a5a5a5 0xa5a5a5a5 0xa5a5a5a5
40843bc0: 0xa5a5a5a5 0xa5a5a5a5 0xa5a5a5a5 0xa5a5a5a5 0x00000150 0x40843a70 0x00000157 0x40826d1c
40843be0: 0x40826d1c 0x40843bd4 0x40826d14 0x00000002 0x40841b0c 0x40841b0c 0x40843bd4 0x00000000
40843c00: 0x00000017 0x408421d0 0x69666977 0x00000000 0x00000000 0x00000000 0x40843bc0 0x00000017
40843c20: 0x00000000 0x00000000 0x00000000 0x00000000 0x40836bd0 0x40836c38 0x40836ca0 0x00000000
40843c40: 0x00000000 0x00000001 0x00000000 0x00000000 0x4084c138 0x42061dd2 0x00000000 0x00000000
40843c60: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843c80: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843ca0: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843cc0: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843ce0: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843d00: 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000 0x00000000
40843d20: 0x00000000 0x00000054 0x40843d28 0x40843d28 0x40843d28 0x40843d28 0x00000000 0x40843d40
40843d40: 0xffffffff 0x40843d40 0x40843d40 0x00000000 0x40843d54 0xffffffff 0x40843d54 0x40843d54
40843d60: 0x00000000 0x00000001 0x00000000 0x4f00ffff 0x00000000 0x005f9cbb 0x40843d20 0x00000bfc
40843d80: 0x6f6d706f 0x00006564 0x2e617473 0x64697373 0x00000000 0x2e617473 0x68747561 0x65646f6d
40843da0: 0x00010000 0x00000000 0x00000004 0x00000001 0x40832a14 0x2e617473 0x64697373 0x00000000
40843dc0: 0x2e617473 0x68747561 0x65646f6d 0x00000000 0x2e617473 0x00240701 0x00000000 0x00000000
40843de0: 0x00000000 0x40832a18 0x2e617473 0x68747561 0x65646f6d 0x00000000 0x2e617473 0x64777370
40843e00: 0x00000000 0x2e617473 0x00010002 0x00000000 0x0000000c 0x00000000 0x40832a42 0x2e617473
40843e20: 0x64777370 0x00000000 0x2e617473 0x006b6d70 0x2e617473 0x6e616863 0x00000000 0x00410603
40843e40: 0x00000000 0x00000000 0x00000000 0x40832a43 0x2e617473 0x006b6d70 0x2e617473 0x6e616863
40843e60: 0x00000000 0x6f747561 0x6e6f632e 0x0000006e 0x00200704 0x00000000 0x00000000 0x00000000
40843e80: 0x40832a84 0x2e617473 0x6e616863 0x00000000 0x6f747561 0x6e6f632e 0x0000006e 0x69737362

I changed the dependency part of my Cargo.toml to:

[dependencies]
log = "0.4"
esp-idf-svc = { version = "0.51.0", features = ["alloc", "experimental"] }
esp-idf-sys = "0.36.1"
anyhow = { version = "1.0.99", features = ["backtrace"] }
thread = "0.0.1"
esp-idf-hal = "0.45.2"

[patch.crates-io]
esp-idf-svc = { git = "https://github.com/esp-rs/esp-idf-svc", branch = "master" }
esp-idf-hal = { git = "https://github.com/esp-rs/esp-idf-hal", branch = "master" }
esp-idf-sys = { git = "https://github.com/esp-rs/esp-idf-sys", branch = "master" }

And upgraded to ESP-IDF v5.5.1. When compiling my project, I receive the following build error:

error: cannot find macro `debug` in this scope
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1525:9
     |
1525 |         debug!("Border router initialized");
     |         ^^^^^
     |
help: consider importing this macro
     |
   6 + use log::debug;
     |

error: cannot find macro `debug` in this scope
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1533:9
     |
1533 |         debug!("Border router deinitialized");
     |         ^^^^^
     |
help: consider importing this macro
     |
   6 + use log::debug;
     |

error[E0560]: struct `EspThread<'d, BorderRouter<N>>` has no field named `inner`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1728:13
     |
1728 |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
     |             ^^^^^ `EspThread<'d, BorderRouter<N>>` does not have this field
     |
     = note: available fields are: `netif`, `mode`

error[E0433]: failed to resolve: use of undeclared type `EspThreadInner`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1728:36
     |
1728 |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
     |                                    ^^^^^^^^^^^^^^ use of undeclared type `EspThreadInner`

error[E0061]: this function takes 3 arguments but 1 argument was supplied
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1726:9
     |
1636 |   impl<'d, N> EspThread<'d, BorderRouter<N>>
     |               ------------------------------ this is the type of the `Self` literal
...
1726 |           Self::internal_init(Self {
     |  _________^^^^^^^^^^^^^^^^^^^-
1727 | |             driver,
1728 | |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
1729 | |         })
     | |__________- two arguments of type `netif::EspNetif` and `BorderRouter<N>` are missing
     |
note: expected `ThreadDriver<'_, Host>`, found `EspThread<'_, BorderRouter<N>>`
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1726:29
     |
1726 |           Self::internal_init(Self {
     |  _____________________________^
1727 | |             driver,
1728 | |             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
1729 | |         })
     | |_________^
     = note: expected struct `ThreadDriver<'_, Host>`
                found struct `EspThread<'d, BorderRouter<N>>`
note: associated function defined here
    --> /home/eb/.cargo/git/checkouts/esp-idf-svc-3846902cb7f9c731/a37ce9d/src/thread.rs:1877:8
     |
1877 |     fn internal_init(
     |        ^^^^^^^^^^^^^
1878 |         driver: ThreadDriver<'d, Host>,
     |         ------------------------------
1879 |         netif: EspNetif,
     |         ---------------
1880 |         mut mode: T,
     |         -----------
help: provide the arguments
     |
1726 -         Self::internal_init(Self {
1727 -             driver,
1728 -             inner: UnsafeCell::new(EspThreadInner::new(netif, BorderRouter(backbone_netif))),
1729 -         })
1726 +         Self::internal_init(/* ThreadDriver<'_, Host> */, /* netif::EspNetif */, /* BorderRouter<N> */)
     |

Some errors have detailed explanations: E0061, E0433, E0560.
For more information about an error, try `rustc --explain E0061`.
error: could not compile `esp-idf-svc` (lib) due to 5 previous errors

[ivmarkov]

Here is one of the crashes with the obscure panic:
Guru Meditation Error: Core 0 panic'ed (Load access fault). Exception was unhandled.

"LoadAccessFault" could be anything. Without decoding the stack trace with esp-idf-monitor - as what you see as a "stacktrace" is currently just a raw stack memory dump - I would be shooting in the dark. Still, I would bet that you are running out of stack space, as I already mentioned before.

You could also at least try running espflash with the --elf option, but for the cxx chips, the resulting decoding is very unreliable, hence the esp-idf-monitor suggestion from above.

For the non-master version, Set CONFIG_ESP_MAIN_TASK_STACK_SIZE=20000 or something like that, rebuild and try again. That is, if you are still running OpenThread on the main task thread, as it used to be the case in your code before that.

And upgraded to ESP-IDF v5.5.1. When compiling my project, I receive the following build error:

This should now be fixed, just do cargo update.
You might run out of stack space with the master version too, and there - for changing the stack size I will have to implement a small variation of the start method - yet - trying master and a more recent ESP-IDF like 5.5x is still a safer bet.

[l0nax]

I've already set CONFIG_ESP_MAIN_TASK_STACK_SIZE=20000.

When compiling now, most of the errors are resolved. But now I cannot call init_coex:

error[E0599]: no method named `init_coex` found for struct `EspThread<'d, T>` in the current scope
  --> src/main.rs:92:12
   |
92 |     thread.init_coex();
   |            ^^^^^^^^^ method not found in `EspThread<'_, BorderRouter<&EspNetif>>`

When compiling ESP-IDF v5.4.2 (and locally applying the patch from #608) I was unable to produce a crash, but the WiFi connection seemed to cut of:

Logs

I (638) esp32c6_ble_wifi_credentials: Initializing WiFi...
I (638) pp: pp rom version: 5b8dcfa
I (638) net80211: net80211 rom version: 5b8dcfa
I (648) wifi:wifi driver task: 4084d5d4, prio:23, stack:6656, core=0
I (658) wifi:wifi firmware version: bea31f3
I (658) wifi:wifi certification version: v7.0
I (658) wifi:config NVS flash: enabled
I (658) wifi:config nano formatting: disabled
I (668) wifi:mac_version:HAL_MAC_ESP32AX_761,ut_version:N, band mode:0x1
I (668) wifi:Init data frame dynamic rx buffer num: 32
I (678) wifi:Init static rx mgmt buffer num: 5
I (678) wifi:Init management short buffer num: 32
I (688) wifi:Init dynamic tx buffer num: 32
I (688) wifi:Init static tx FG buffer num: 2
I (688) wifi:Init static rx buffer size: 1700 (rxctrl:92, csi:512)
I (698) wifi:Init static rx buffer num: 10
I (698) wifi:Init dynamic rx buffer num: 32
I (708) wifi_init: rx ba win: 6
I (708) wifi_init: accept mbox: 6
I (708) wifi_init: tcpip mbox: 32
I (718) wifi_init: udp mbox: 6
I (718) wifi_init: tcp mbox: 6
I (718) wifi_init: tcp tx win: 5760
I (728) wifi_init: tcp rx win: 5760
I (728) wifi_init: tcp mss: 1440
I (728) wifi_init: WiFi IRAM OP enabled
I (728) wifi_init: WiFi RX IRAM OP enabled
I (738) wifi_init: WiFi SLP IRAM OP enabled
I (748) esp32c6_ble_wifi_credentials: Allowing to stabilize...
I (858) esp32c6_ble_wifi_credentials: Connecting to WiFi
I (858) esp32c6_ble_wifi_credentials: Starting Wi-Fi...
I (858) wifi:Set ps type: 0, coexist: 0

I (858) phy_init: phy_version 331,5b89037,Mar  3 2025,16:01:12
W (948) wifi:ACK_TAB0   :0x   90a0b, QAM16:0x9 (24Mbps), QPSK:0xa (12Mbps), BPSK:0xb (6Mbps)
W (948) wifi:CTS_TAB0   :0x   90a0b, QAM16:0x9 (24Mbps), QPSK:0xa (12Mbps), BPSK:0xb (6Mbps)
W (958) wifi:(agc)0x600a7128:0xd2008a06, min.avgNF:0xce->0xd2(dB), RCalCount:0x8, min.RRssi:0xa06(-95.62)
I (968) wifi:11ax coex: WDEVAX_PTI0(0x55777555), WDEVAX_PTI1(0x00003377).

I (978) wifi:mode : sta (58:8c:81:36:dd:18)
I (978) wifi:enable tsf
I (978) esp32c6_ble_wifi_credentials: Connecting to Wi-Fi...
I (988) wifi:(he)max.RxAMPDULenExponentExtension:3, max.RxAMPDUpre-EOFpaddingBytes:8388607(0x7fffff)
I (998) wifi:(mac)omc_ul_mu_data_disable_rx:0
I (998) wifi:(phy)ppe_thresholds_present:1, nominal_packet_padding:0
I (1008) wifi:(phy)dcm tx(constellation:0, nss:0), dcm rx(constellation:1, nss:0)
I (1008) wifi:(phy)rx_mcs_map:0xfffa, tx_mcs_map:0xfffa, stbc_tx:0, bfmer(su:1, mu:0), ldpc:1, max_rate:172
I (1018) wifi:(phy)nsts:2, ru_index_bitmap:0x3(242:1, 484:1, 996:0, 2*996:0)
I (1028) wifi:(phy)threshold_bits:24, nsts_num:2, ru_num:2, he_cap->len:26, ppe_threshold_len:4(6,11,4)
I (1038) wifi:(ppe)RU242, NSTS0, PPE16:0, PPE8:7, nominal_packet_padding:2
I (1038) wifi:(opr)len:7, TWT Required:0, VHT Opr Info Present:0, 6GHz Opr Info Present:0, Co-Hosted BSS:0(max_indicator:0), Basic MCS and NSS:0xfffc
I (1058) wifi:(opr)len:7, Default PE Duration:4, TXOP RTS Threshold:1023(0 us), ER-SU-Disable:0
I (1068) wifi:(opr)len:7, BSS Color:23, disabled:0, Partial BSS Color:0
I (1068) wifi:(spr)len:2, ctrl:0x3, PSR Disallowed:1, Non-SRG OBSS PD SR Disallowed:1
I (1078) wifi:(spr)len:2, ctrl:0x3, Non-SRG Offset Present:0, SRG Info Present:0
I (3388) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1, snd_ch_cfg:0x0
I (3388) wifi:(connect)dot11_authmode:0x3, pairwise_cipher:0x3, group_cipher:0x3
I (3398) wifi:state: init -> auth (0xb0)
I (3418) wifi:state: auth -> assoc (0x0)
I (3438) wifi:(assoc)RESP, Extended Capabilities length:10, operating_mode_notification:0
I (3438) wifi:(assoc)RESP, Extended Capabilities, MBSSID:0, TWT Responder:0, OBSS Narrow Bandwidth RU In OFDMA Tolerance:0
I (3448) wifi:Extended Capabilities length:10, operating_mode_notification:1
I (3458) wifi:(he)max.RxAMPDULenExponentExtension:3, max.RxAMPDUpre-EOFpaddingBytes:8388607(0x7fffff)
I (3458) wifi:(mac)omc_ul_mu_data_disable_rx:0
I (3468) wifi:(phy)ppe_thresholds_present:1, nominal_packet_padding:0
I (3468) wifi:(phy)dcm tx(constellation:0, nss:0), dcm rx(constellation:1, nss:0)
I (3478) wifi:(phy)rx_mcs_map:0xfffa, tx_mcs_map:0xfffa, stbc_tx:0, bfmer(su:1, mu:0), ldpc:1, max_rate:172
I (3488) wifi:(phy)nsts:2, ru_index_bitmap:0x3(242:1, 484:1, 996:0, 2*996:0)
I (3498) wifi:(phy)threshold_bits:24, nsts_num:2, ru_num:2, he_cap->len:26, ppe_threshold_len:4(6,11,4)
I (3508) wifi:(ppe)RU242, NSTS0, PPE16:0, PPE8:7, nominal_packet_padding:2
I (3508) wifi:(opr)len:7, TWT Required:0, VHT Opr Info Present:0, 6GHz Opr Info Present:0, Co-Hosted BSS:0(max_indicator:0), Basic MCS and NSS:0xfffc
I (3528) wifi:(opr)len:7, Default PE Duration:4, TXOP RTS Threshold:1023(0 us), ER-SU-Disable:0
I (3538) wifi:(opr)len:7, BSS Color:23, disabled:0, Partial BSS Color:0
I (3538) wifi:state: assoc -> run (0x10)
I (3548) wifi:(he)ppe_thresholds_present:1, nominal_packet_padding(rx:0, cfg:2)
I (3548) wifi:(trc)phytype:CBW20-SGI, snr:42, maxRate:172, highestRateIdx:0
W (3558) wifi:(trc)band:2G, phymode:3, highestRateIdx:0, lowestRateIdx:11, dataSchedTableSize:14
I (3568) wifi:(trc)band:2G, rate(S-MCS7, rateIdx:0), ampdu(rate:S-MCS7, schedIdx(0, stop:8)), snr:42, ampduState:wait operational
I (3578) wifi:ifidx:0, rssi:-54, nf:-96, phytype(0x3, CBW20-SGI), phymode(0x7, 11ax), max_rate:172, he:1, vht:0, ht:1
I (3588) wifi:(ht)max.RxAMPDULenExponent:3(65535 bytes), MMSS:0(no restriction)
I (3618) wifi:(extcap)mbssid:0, enhanced_mbssid_advertise:0, complete_nontxbssid_profiles:0, twt_responder: 1
I (3618) wifi:connected with Elysnet IoT, aid = 1, channel 1, BW20, bssid = ee:38:83:43:f7:46
I (3618) wifi:security: WPA2-PSK, phy:ax, rssi:-54, cipher(pairwise:0x3, group:0x3), pmf:0,
I (3628) wifi:pm start, type: 0, twt_start:0

I (3638) wifi:pm start, type:0, aid:0x1, trans-BSSID:ee:38:83:43:f7:46, BSSID[5]:0x46, mbssid(max-indicator:0, index:0), he:1
I (3648) wifi:dp: 1, bi: 102400, li: 3, scale listen interval from 307200 us to 307200 us
I (3658) wifi:set rx beacon pti, rx_bcn_pti: 10, bcn_timeout: 25000, mt_pti: 10, mt_time: 10000
I (3658) wifi:[ADDBA]TX addba request, tid:0, dialogtoken:1, bufsize:32, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x0)
I (3678) wifi:[ADDBA]TX addba request, tid:7, dialogtoken:2, bufsize:32, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x30)
I (3688) wifi:[ADDBA]TX addba request, tid:5, dialogtoken:3, bufsize:32, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x0)
I (3698) wifi:[ADDBA]RX addba response, status:0, tid:0/tb:1(0xa1), bufsize:32, batimeout:0, txa_wnd:32
I (3708) wifi:[ADDBA]RX addba response, status:0, tid:7/tb:1(0xa1), bufsize:32, batimeout:0, txa_wnd:32
I (3718) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (3718) wifi:[ADDBA]RX addba response, status:0, tid:5/tb:1(0xa1), bufsize:32, batimeout:0, txa_wnd:32
W (3728) wifi:<ba-add>idx:0, ifx:0, tid:0, TAHI:0x10046f7, TALO:0x438338ee, (ssn:0, win:64, cur_ssn:0), CONF:0xc0000005
I (3738) esp32c6_ble_wifi_credentials: Waiting for Wi-Fi connection...
I (4788) esp_netif_handlers: sta ip: 192.168.1.24, mask: 255.255.240.0, gw: 192.168.0.1
I (4788) esp32c6_ble_wifi_credentials: Wi-Fi connected! IP: 192.168.1.24
I (4788) esp32c6_ble_wifi_credentials: Initializing OpenThread stack...
I (4798) OPENTHREAD: Host connection mode none
I (4798) phy: libbtbb version: ec2ecba, Mar  3 2025, 16:01:27
I (4808) sleep_clock: Modem Power, Clock and Reset sleep retention initialization
I(4818) OPENTHREAD:[I] CslTxScheduler: Set frame request ahead: 20000 usec
I(4818) OPENTHREAD:[I] ChildSupervsn-: Timeout: 0 -> 190
I(4828) OPENTHREAD:[I] Settings------: Read NetworkInfo {rloc:0xd000, extaddr:1a5b30fe1ed4987f, role:leader, mode:0x0f, version:5, keyseq:0x0, ...
I(4838) OPENTHREAD:[I] Settings------: ... pid:0x7f647d69, mlecntr:0x13e16, maccntr:0x13880, mliid:15c7dbfa7ff1a403}
I (4848) OPENTHREAD: OpenThread attached to netif
I (4848) esp32c6_ble_wifi_credentials: [OT-Sub] Got: Started
I(4858) OPENTHREAD:[N] RoutingManager: BR ULA prefix: fd5e:49c4:61b::/48 (loaded)
I(4868) OPENTHREAD:[N] RoutingManager: Local on-link prefix: fdde:ad00:beef:cafe::/64
I (4868) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4878) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4878) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4888) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (4898) OPENTHREAD: Platform UDP bound to port 53
I (4898) OPENTHREAD: Platform UDP bound to port 49153
I(4898) OPENTHREAD:[N] Mle-----------: Role disabled -> detached
I (4908) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (4918) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4938) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4938) wifi:Set ps type: 2, coexist: 0

I (4948) esp32c6_ble_wifi_credentials: Thread Border Router initialized, now running...
I (4958) esp32c6_ble_wifi_credentials: Initializing HTTP Server
I (4968) OPENTHREAD: Platform UDP bound to port 61631
I (4978) esp32c6_ble_wifi_credentials: [OT-Sub] Got: RoleChanged { current_role: Detached, previous_role: Disabled }
I (4978) OT_STATE: netif up
I (4978) esp32c6_ble_wifi_credentials: [OT-Sub] Got: IfUp
I (4988) esp32c6_ble_wifi_credentials: [OT-Sub] Got: DatasetChanged
I (4988) OPENTHREAD: NAT64 ready
I (4998) esp_idf_svc::http::server: Started Httpd server with config Configuration { http_port: 80, ctrl_port: 32768, https_port: 443, max_sessions: 16, session_timeout: 1200s, stack_size: 10240, max_open_sockets: 4, max_uri_handlers: 32, max_resp_headers: 8, lru_purge_enable: true, uri_match_wildcard: false }
I (5018) esp_idf_svc::http::server: Registered Httpd server handler Get for URI "/"
I (5028) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (7048) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (9058) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (11068) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (11338) wifi:bcn_timeout,ap_probe_send_start
I (13078) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (13838) wifi:ap_probe_send over, reset wifi status to disassoc
I (13838) wifi:state: run -> init (0xc800)
I (13848) wifi:pm stop, total sleep time: 3753276 us / 10198090 us

I (13848) wifi:<ba-del>idx:0, tid:0
I (13848) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1, snd_ch_cfg:0x0
I (15088) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (17098) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (19108) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (21118) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (23128) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (25138) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (27148) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false

[ivmarkov]

I've already set CONFIG_ESP_MAIN_TASK_STACK_SIZE=20000.

When compiling now, most of the errors are resolved. But now I cannot call init_coex:

error[E0599]: no method named `init_coex` found for struct `EspThread<'d, T>` in the current scope
  --> src/main.rs:92:12
   |
92 |     thread.init_coex();
   |            ^^^^^^^^^ method not found in `EspThread<'_, BorderRouter<&EspNetif>>`

When compiling ESP-IDF v5.4.2 (and locally applying the patch from #608) I was unable to produce a crash, but the WiFi connection seemed to cut of:

Logs

It was removed from EspThread and left only on the driver (ThreadDriver) which you can access with EspThread::driver_mut but anyway - I restored it so cargo pull again.

[ivmarkov]

(and locally applying the patch from #608)

Why are you doing this? #608 is merged already. Just cargo update.

[l0nax]

I tried to access it, but EspThread::driver_mut is private.

I manually applied – temporarily – it because of the build errors on master to test whether it would work with newer ESP-IDF versions.

With the latest master version and ESP-IDF v5.5.1 it does not crash anymore but the WiFi coex mode does not seem to work.

Logs

I (859) wifi:Set ps type: 0, coexist: 0

I (859) phy_init: phy_version 341,a6c8fe6,Jul 30 2025,18:34:11
W (949) wifi:ACK_TAB0   :0x   90a0b, QAM16:0x9 (24Mbps), QPSK:0xa (12Mbps), BPSK:0xb (6Mbps)
W (949) wifi:CTS_TAB0   :0x   90a0b, QAM16:0x9 (24Mbps), QPSK:0xa (12Mbps), BPSK:0xb (6Mbps)
W (959) wifi:(agc)0x600a7128:0xd2061a0a, min.avgNF:0xce->0xd2(dB), RCalCount:0x61, min.RRssi:0xa0a(-95.38)
I (969) wifi:11ax coex: WDEVAX_PTI0(0x55777555), WDEVAX_PTI1(0x00003377).

I (979) wifi:mode : sta (58:8c:81:36:dd:18)
I (979) wifi:enable tsf
I (979) esp32c6_ble_wifi_credentials: Connecting to Wi-Fi...
I (989) wifi:(he)max.RxAMPDULenExponentExtension:3, max.RxAMPDUpre-EOFpaddingBytes:8388607(0x7fffff)
I (999) wifi:(mac)omc_ul_mu_data_disable_rx:0
I (999) wifi:(phy)ppe_thresholds_present:1, nominal_packet_padding:0
I (1009) wifi:(phy)dcm tx(constellation:0, nss:0), dcm rx(constellation:1, nss:0)
I (1009) wifi:(phy)rx_mcs_map:0xfffa, tx_mcs_map:0xfffa, stbc_tx:0, bfmer(su:1, mu:0), ldpc:1, max_rate:172
I (1019) wifi:(phy)nsts:2, ru_index_bitmap:0x3(242:1, 484:1, 996:0, 2*996:0)
I (1029) wifi:(phy)threshold_bits:24, nsts_num:2, ru_num:2, he_cap->len:26, ppe_threshold_len:4(6,11,4)
I (1039) wifi:(ppe)RU242, NSTS0, PPE16:0, PPE8:7, nominal_packet_padding:2
I (1049) wifi:(opr)len:7, TWT Required:0, VHT Opr Info Present:0, 6GHz Opr Info Present:0, Co-Hosted BSS:0(max_indicator:0), Basic MCS and NSS:0xfffc
I (1059) wifi:(opr)len:7, Default PE Duration:4, TXOP RTS Threshold:1023(0 us), ER-SU-Disable:0
I (1069) wifi:(opr)len:7, BSS Color:23, disabled:0, Partial BSS Color:0
I (1069) wifi:(spr)len:2, ctrl:0x3, PSR Disallowed:1, Non-SRG OBSS PD SR Disallowed:1
I (1079) wifi:(spr)len:2, ctrl:0x3, Non-SRG Offset Present:0, SRG Info Present:0
I (3389) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1, snd_ch_cfg:0x0
I (3389) wifi:(connect)dot11_authmode:0x3, pairwise_cipher:0x3, group_cipher:0x3
I (3399) wifi:state: init -> auth (0xb0)
I (3429) wifi:state: auth -> assoc (0x0)
I (3449) wifi:(assoc)RESP, Extended Capabilities length:10, operating_mode_notification:0
I (3449) wifi:(assoc)RESP, Extended Capabilities, MBSSID:0, TWT Responder:0, OBSS Narrow Bandwidth RU In OFDMA Tolerance:0
I (3459) wifi:Extended Capabilities length:10, operating_mode_notification:1
I (3469) wifi:(he)max.RxAMPDULenExponentExtension:3, max.RxAMPDUpre-EOFpaddingBytes:8388607(0x7fffff)
I (3479) wifi:(mac)omc_ul_mu_data_disable_rx:0
I (3479) wifi:(phy)ppe_thresholds_present:1, nominal_packet_padding:0
I (3489) wifi:(phy)dcm tx(constellation:0, nss:0), dcm rx(constellation:1, nss:0)
I (3499) wifi:(phy)rx_mcs_map:0xfffa, tx_mcs_map:0xfffa, stbc_tx:0, bfmer(su:1, mu:0), ldpc:1, max_rate:172
I (3499) wifi:(phy)nsts:2, ru_index_bitmap:0x3(242:1, 484:1, 996:0, 2*996:0)
I (3509) wifi:(phy)threshold_bits:24, nsts_num:2, ru_num:2, he_cap->len:26, ppe_threshold_len:4(6,11,4)
I (3519) wifi:(ppe)RU242, NSTS0, PPE16:0, PPE8:7, nominal_packet_padding:2
I (3529) wifi:(opr)len:7, TWT Required:0, VHT Opr Info Present:0, 6GHz Opr Info Present:0, Co-Hosted BSS:0(max_indicator:0), Basic MCS and NSS:0xfffc
I (3539) wifi:(opr)len:7, Default PE Duration:4, TXOP RTS Threshold:1023(0 us), ER-SU-Disable:0
I (3549) wifi:(opr)len:7, BSS Color:23, disabled:0, Partial BSS Color:0
I (3559) wifi:state: assoc -> run (0x10)
I (3559) wifi:(he)ppe_thresholds_present:1, nominal_packet_padding(rx:0, cfg:2)
I (3569) wifi:(trc)phytype:CBW20-SGI, snr:43, maxRate:172, highestRateIdx:0
W (3569) wifi:(trc)band:2G, phymode:3, highestRateIdx:0, lowestRateIdx:11, dataSchedTableSize:14
I (3579) wifi:(trc)band:2G, rate(S-MCS7, rateIdx:0), ampdu(rate:S-MCS7, schedIdx(0, stop:8)), snr:43, ampduState:wait operational
I (3589) wifi:ifidx:0, rssi:-53, nf:-96, phytype(0x3, CBW20-SGI), phymode(0x7, 11ax), max_rate:172, he:1, vht:0, ht:1
I (3599) wifi:(ht)max.RxAMPDULenExponent:3(65535 bytes), MMSS:0(no restriction)
I (3639) wifi:(extcap)mbssid:0, enhanced_mbssid_advertise:0, complete_nontxbssid_profiles:0, twt_responder: 1
I (3639) wifi:connected with Elysnet IoT, aid = 1, channel 1, BW20, bssid = ee:38:83:43:f7:46
I (3649) wifi:security: WPA2-PSK, phy:ax, rssi:-53, cipher(pairwise:0x3, group:0x3), pmf:0,
I (3659) wifi:pm start, type: 0, twt_start:0

I (3659) wifi:pm start, type:0, aid:0x1, trans-BSSID:ee:38:83:43:f7:46, BSSID[5]:0x46, mbssid(max-indicator:0, index:0), he:1
I (3669) wifi:dp: 1, bi: 102400, li: 3, scale listen interval from 307200 us to 307200 us
I (3679) wifi:set rx beacon pti, rx_bcn_pti: 10, bcn_timeout: 25000, mt_pti: 10, mt_time: 10000
I (3689) wifi:[ADDBA]TX addba request, tid:0, dialogtoken:1, bufsize:32, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x0)
I (3699) wifi:[ADDBA]TX addba request, tid:7, dialogtoken:2, bufsize:32, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x30)
I (3709) wifi:[ADDBA]TX addba request, tid:5, dialogtoken:3, bufsize:32, A-MSDU:0(not supported), policy:1(IMR), ssn:0(0x0)
I (3719) wifi:AP's beacon interval = 102400 us, DTIM period = 1
I (3729) wifi:[ADDBA]RX addba response, status:0, tid:0/tb:1(0xa1), bufsize:32, batimeout:0, txa_wnd:32
I (3739) wifi:[ADDBA]RX addba response, status:0, tid:7/tb:1(0xa1), bufsize:32, batimeout:0, txa_wnd:32
I (3739) wifi:[ADDBA]RX addba response, status:0, tid:5/tb:1(0xa1), bufsize:32, batimeout:0, txa_wnd:32
I (3759) esp32c6_ble_wifi_credentials: Waiting for Wi-Fi connection...
W (3759) wifi:<ba-add>idx:0, ifx:0, tid:0, TAHI:0x10046f7, TALO:0x438338ee, (ssn:0, win:64, cur_ssn:0), CONF:0xc0000005
I (4789) esp_netif_handlers: sta ip: 192.168.1.24, mask: 255.255.240.0, gw: 192.168.0.1
I (4789) esp32c6_ble_wifi_credentials: Wi-Fi connected! IP: 192.168.1.24
I (4789) esp32c6_ble_wifi_credentials: Initializing OpenThread stack...
I (4799) OPENTHREAD: Host connection mode none
I (4799) phy: libbtbb version: a945109, Jul 30 2025, 18:34:25
I (4809) sleep_clock: Modem Power, Clock and Reset sleep retention initialization
I(4819) OPENTHREAD:[I] CslTxScheduler: Set frame request ahead: 20000 usec
I(4819) OPENTHREAD:[I] ChildSupervsn-: Timeout: 0 -> 190
I(4829) OPENTHREAD:[I] Settings------: Read NetworkInfo {rloc:0xd000, extaddr:1a5b30fe1ed4987f, role:leader, mode:0x0f, version:5, keyseq:0x0, ...
I(4839) OPENTHREAD:[I] Settings------: ... pid:0x33b034f2, mlecntr:0x149df, maccntr:0x14438, mliid:15c7dbfa7ff1a403}
I (4849) esp_idf_svc::thread: ThreadDriver initialized
I (4849) OPENTHREAD: OpenThread attached to netif
I (4859) esp32c6_ble_wifi_credentials: [OT-Sub] Got: Started
I(4869) OPENTHREAD:[N] RoutingManager: BR ULA prefix: fd5e:49c4:61b::/48 (loaded)
I(4869) OPENTHREAD:[N] RoutingManager: Local on-link prefix: fdde:ad00:beef:cafe::/64
I (4879) esp_idf_svc::thread: EspThread initialized
I (4879) wifi:Set ps type: 2, coexist: 0

I (4899) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4899) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4899) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4909) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (4909) OPENTHREAD: Platform UDP bound to port 53
I (4919) OPENTHREAD: Platform UDP bound to port 49153
I(4919) OPENTHREAD:[N] Mle-----------: Role disabled -> detached
I (4929) esp32c6_ble_wifi_credentials: [OT-Sub] Got: GotIpv6
I (4929) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4959) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (4959) esp32c6_ble_wifi_credentials: Thread Border Router initialized, now running...
I (4979) esp32c6_ble_wifi_credentials: [OT-Sub] Got: RoleChanged { current_role: Detached, previous_role: Disabled }
I (4979) OT_STATE: netif up
I (4979) esp32c6_ble_wifi_credentials: [OT-Sub] Got: IfUp
I (4989) esp32c6_ble_wifi_credentials: [OT-Sub] Got: DatasetChanged
I (4989) OPENTHREAD: NAT64 ready
I (4999) OPENTHREAD: Platform UDP bound to port 61631
I (5009) esp_idf_svc::thread: ThreadDriver started
I (5009) esp32c6_ble_wifi_credentials: Initializing HTTP Server
I (5009) esp_idf_svc::http::server: Started Httpd server with config Configuration { http_port: 80, ctrl_port: 32768, https_port: 443, core: None, max_sessions: 16, session_timeout: 1200s, stack_size: 10240, max_open_sockets: 4, max_uri_handlers: 32, max_resp_headers: 8, lru_purge_enable: true, uri_match_wildcard: false }
I (5039) esp_idf_svc::http::server: Registered Httpd server handler Get for URI "/"
I (5049) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (7069) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (9079) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (11089) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I(12879) OPENTHREAD:[N] MeshForwarder-: Failed to send IPv6 UDP msg, len:82, chksum:05b8, ecn:no, to:0xffff, sec:no, error:ChannelAccessFailure, prio:net
I(12879) OPENTHREAD:[N] MeshForwarder-:     src:[fe80:0:0:0:185b:30fe:1ed4:987f]:19788
I(12889) OPENTHREAD:[N] MeshForwarder-:     dst:[ff02:0:0:0:0:0:0:2]:19788
I (13099) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (15109) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (15489) wifi:bcn_timeout,ap_probe_send_start
I (17119) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=true is_up=true
I (17989) wifi:ap_probe_send over, reset wifi status to disassoc
I (17989) wifi:state: run -> init (0xc800)
I (17999) wifi:pm stop, total sleep time: 7688729 us / 14324366 us

I (17999) wifi:<ba-del>idx:0, tid:0
I (17999) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1, snd_ch_cfg:0x0
I (19129) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (21139) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (23149) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (25159) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (27169) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (29179) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (31189) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I(32279) OPENTHREAD:[N] Mle-----------: RLOC16 d000 -> fffe
I (32279) esp32c6_ble_wifi_credentials: [OT-Sub] Got: DatasetChanged
I(32679) OPENTHREAD:[N] Mle-----------: Attach attempt 1, AnyPartition reattaching with Active Dataset
I (33199) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (35209) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (37219) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (39229) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I(39299) OPENTHREAD:[N] RouterTable---: Allocate router id 52
I(39299) OPENTHREAD:[N] Mle-----------: RLOC16 fffe -> d000
I(39299) OPENTHREAD:[N] Mle-----------: Role detached -> leader
I (39299) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I(39309) OPENTHREAD:[N] Mle-----------: Partition ID 0x6ef4f90
I (39329) esp32c6_ble_wifi_credentials: [OT-Sub] Got: MulticastJoined
I (39329) OPENTHREAD: Platform UDP bound to port 49154
E (39339) OPENTHREAD: esp_openthread_publish_meshcop_mdns(169): Failed to publish meshcop mdns service
I (39339) esp32c6_ble_wifi_credentials: [OT-Sub] Got: RoleChanged { current_role: Leader, previous_role: Detached }
I (39349) esp32c6_ble_wifi_credentials: [OT-Sub] Got: Attached
I (39359) esp32c6_ble_wifi_credentials: [OT-Sub] Got: DatasetChanged
E (40059) OPENTHREAD: esp_openthread_publish_meshcop_mdns(169): Failed to publish meshcop mdns service
E (40059) OPENTHREAD: Failed to probe backbone multicast listeners
I (41239) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (43249) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (45259) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (47269) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (49279) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false
I (51289) esp32c6_ble_wifi_credentials: Awaiking from the main thread... is_connected=false is_up=false

[ivmarkov]

I tried to access it, but EspThread::driver_mut is private.

Ok, I'll fix that too. There is no longer a reason why it should be private.

With the latest master version and ESP-IDF v5.5.1 it does not crash anymore but the WiFi coex mode does not seem to work.

I wonder why you think coex does not work though? Wifi gets a DHCP address and then the BR elects itself as a Leader?

[ivmarkov]

Not sure if that matters, but if you have coex problems, maybe you could try to call init_coex before the Wifi is connected?

[l0nax]

I already call init_coex – but this does not change the outcome.

Once the OpenThread stack is fully initialized, I can no longer communicate with the ESP32, and ping 'ing also results in no communication. Additionally, is_connectedandis_upfor WiFi returnfalse` after the OpenThread initialization.

[ivmarkov]

I already call init_coex – but this does not change the outcome.

Are you calling it before the Wifi is connected?

Once the OpenThread stack is fully initialized, I can no longer communicate with the ESP32, and ping 'ing also results in no communication. Additionally, is_connectedandis_upfor WiFi returnfalse` after the OpenThread initialization.

Anyway, I'm back. If you publish somewhere a version of your code which is against latest master esp-idf-svc, I can try running it on my end.