esp32 idf4.2版本 ble 作为从机蓝牙 手机主动断开 有概率会不出现ESP_GATTS_DISCONNECT_EVT回调导致的问题

[qixin123]

//异常时的log
[17:25:18.802]收←◆[0;33mW (153965) BT_HCI: hcif disc complete: hdl 0x0, rsn 0x13[0m
[0;33mW (153966) BT_APPL: bta_gattc_conn_cback() - cif=7 connected=0 conn_id=7 reason=0x0013[0m


//正常时的log
[17:31:28.856]收←◆[0;33mW (23367) BT_HCI: hcif di
[17:31:28.882]收←◆sc complete: hdl 0x0, rsn 0x13[0m
[0;33mW (23369) BT_APPL: bta_gattc_conn_cback() - cif=7 connected=0 conn_id=7 reason=0x0013[0m
Factory_Mode_HAL_DeInit
[0;32mI (23373) Factory BLE: ESP_GATTS_DISCONNECT_EVT, reason = 0x13[0m
[0;32mI (23380) MEOW_LOG: ESP_GATTS_DISCONNECT_EVT,
[17:31:28.916]收←◆disconnect reason 0x13[0m
[0;32mI (23387) MEOW_LOG: HEAD_RETURNING[0m
BLE_dis_connnected[0;32mI (23391) MEOW_LOG: ice_mng_rcv:00,0c
[0m

出现异常时 没有出现ESP_GATTS_DISCONNECT_EVT回调 同时main while中循环打印esp_ble_gap_read_rssi 获取发现也任务不执行了 有可能是不是协议栈挂掉了？

[qixin123]

这是我们目前所创建的一些任务
Task name TaskStatus priority Free Stack Task Num

deal_data_task R 10 428 12 -1
Tmr Svc R 1 1384 8 0
IDLE1 R 0 1016 7 1
IDLE0 R 0 968 6 0
T_adc B 6 1248 24 1
T_touch_sense B 3 3632 17 -1
T_ws2812_effect B 9 3528 15 0
T_touch_deshake B 3 3632 16 -1
feed_dogs_task B 5 604 35 -1
t_head B 8 3472 20 1
t_wheel B 8 3632 19 0
T_ble_change_na B 5 3240 33 -1
BTC_TASK B 19 6016 27 1
T_ice_managing B 5 2248 34 -1
T_ice S 5 408 294 -1
T_ws2812_buffer B 8 3528 14 0
T_head_return B 8 2416 23 0
hciT B 22 1572 28 1
BTU_TASK B 20 5824 29 1
T_send_notify B 8 3144 31 -1
main B 5 1864 5 0
T_disconnect_re B 5 2532 32 -1
t_shake B 8 2432 22 0
ipc1 B 24 488 3 1
ota_task B 5 6584 30 1
Light_Task B 6 3616 18 -1
T_power B 5 2128 25 -1
esp_timer B 22 3404 1 0
btController B 23 2084 26 1
uart_event_task B 10 1580 13 -1
t_motor_pwc B 8 3312 21 0
ipc0 B 24 540 2 0