esp-idf: esp_restart() intermittently won't reset, causing stuck esp32 (IDFGH-258)

Environment

• Development Kit: custom board
• Core (if using chip or module): ESP32-D0WDQ6
• IDF version: master
• Development Env: C++ / arduino as idf component
• Power Supply: external 5V

Problem Description

Under some circumstances esp_restart() won’t actually reset the ESP32 leaving it in a state where no more console output is generated and no reset done. The ESP32 only reboots then after power cycle or EN-toggle.

Expected Behavior

Under all circumstances a call to esp_restart() should reboot the device. Also when the device is in a “locked” state, there should be a watchdog reset.

Actual Behavior

Sometimes esp_restart() get’s stuck. Then either no more console output is produced or just a lot of gibberish with no subsequent console output. No watchdog reset occurs.

Steps to repropduce

Hard to reproduce cause this happens in some safeguard timer functions (FreeRTOS timers) which are executed when some task won’t finish in time.

Code to reproduce this issue

Example:

#include "arduino.h"
// this is the callback that is called by the timer
void resetCallback(void * args) {
    ESP_LOGE(ResetTimer::LOG_TAG, "ResetTimer not stopped in time, going down for reset in 5 secs");
    WiFi.disconnect();
    delay(5000);
    ESP_LOGW(ResetTimer::LOG_TAG, "going down for reset now"); //this line is actually printed
    ESP.restart(); //here either no more console output or random gibberish
}

Debug Logs

looks like that: EDIT: uploaded real log

W (446999) ResetTimer: going down for reset now
D (446999) event: SYSTEM_EVENT_STA_STOP
I (446999) wifi: flush txq
[D][WiFiGeneric.cpp:293] _eventCallback(): Event: 3 - STA_STOP
I (446999) wifi: stop sw txq
I (447005) K&O-Logger: Unhandled WiFiEvent //this is sent by WiFi Event handler
I (447010) wifi: lmac stop hw txq
D (447016) RTC_MODULE: Wi-Fi returns adc2 lock.
//nothing or gibberish

Other items if possible

sdkconfig.txt