Guru Meditation Error: Core 0 panic'ed (LoadProhibited) - esp32

Question

I am trying to run 6 tasks parallel and all the tasks run for infinite time. But when the task starts running this error comes:
Guru Meditation Error: Core 0 panic'ed (LoadProhibited). Exception was unhandled.
Core 0 register dump:
PC : 0x400868b4 PS : 0x00060033 A0 : 0x80085442 A1 : 0x3ffb0b50
0x400868b4: xTaskIncrementTick at C:/Users/preet/esp/esp-idf/components/freertos/tasks.c:3157
A2 : 0x00000001 A3 : 0x80059301 A4 : 0x00000000 A5 : 0x00000132
A6 : 0x00000003 A7 : 0x00060023 A8 : 0x00000000 A9 : 0x3ffb0b30
A10 : 0x3ffb26b8 A11 : 0x00000003 A12 : 0x00060b20 A13 : 0x00060b23
A14 : 0x3ffb6300 A15 : 0x3ffb53fc SAR : 0x00000016 EXCCAUSE: 0x0000001c
EXCVADDR: 0x80059309 LBEG : 0x00000000 LEND : 0x00000000 LCOUNT : 0x00000000
Backtrace:0x400868b1:0x3ffb0b500x4008543f:0x3ffb0b70 0x40085199:0x3ffb0b90 0x400826e9:0x3ffb0ba0 0x400e4b6b:0x3ffb6210 0x400d18ef:0x3ffb6230 0x40086462:0x3ffb6250 0x40087991:0x3ffb6270
0x400868b1: xTaskIncrementTick at C:/Users/preet/esp/esp-idf/components/freertos/tasks.c:3156
0x4008543f: xPortSysTickHandler at C:/Users/preet/esp/esp-idf/components/freertos/port/port_systick.c:167
0x40085199: _frxt_timer_int at C:/Users/preet/esp/esp-idf/components/freertos/port/xtensa/portasm.S:329
0x400826e9: _xt_lowint1 at C:/Users/preet/esp/esp-idf/components/freertos/port/xtensa/xtensa_vectors.S:1111
0x400e4b6b: cpu_ll_waiti at C:/Users/preet/esp/esp-idf/components/hal/esp32/include/hal/cpu_ll.h:183
(inlined by) esp_pm_impl_waiti at C:/Users/preet/esp/esp-idf/components/esp_pm/pm_impl.c:837
0x400d18ef: esp_vApplicationIdleHook at C:/Users/preet/esp/esp-idf/components/esp_system/freertos_hooks.c:63
0x40086462: prvIdleTask at C:/Users/preet/esp/esp-idf/components/freertos/tasks.c:3973 (discriminator 1)
0x40087991: vPortTaskWrapper at C:/Users/preet/esp/esp-idf/components/freertos/port/xtensa/port.c:131
ELF file SHA256: 142fe637d0302132
Rebooting...
My code is:
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "sdkconfig.h"
#define TAG "Smart Sliding Gate"
#define PUSH_BUTTON 25
#define FORCE_STOP_BUTTON 26
#define IR_PIN 14
#define RELAY_1_PIN 22
#define RELAY_2_PIN 21
#define MAGNET_1_PIN 12
#define MAGNET_2_PIN 13
TaskHandle_t FFO_xHandle = NULL;
TaskHandle_t FRO_xHandle = NULL;
TaskHandle_t MS_xHandle = NULL;
TaskHandle_t MFS_xHandle = NULL;
TaskHandle_t MRS_xHandle = NULL;
TaskHandle_t IR_xHandle = NULL;
TaskHandle_t MAGNET_xHandle = NULL;
int MOTOR_STATE = 0;
xSemaphoreHandle I_F_F_O_SIGNAL = 0;
xSemaphoreHandle M_F_F_O_SIGNAL = 0;
xSemaphoreHandle M_F_R_O_SIGNAL = 0;
void MOTOR_FORWARD_START(void * pvParameters)
{
gpio_pad_select_gpio(RELAY_1_PIN);
gpio_pad_select_gpio(RELAY_2_PIN);
gpio_set_direction(RELAY_1_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(RELAY_2_PIN, GPIO_MODE_OUTPUT);
gpio_set_level(RELAY_1_PIN, 1);
gpio_set_level(RELAY_2_PIN, 0);
ESP_LOGW(TAG, "Motor working in forward direction.");
vTaskDelete(MFS_xHandle);
}
void MOTOR_REVERSE_START(void * pvParameters)
{
gpio_pad_select_gpio(RELAY_1_PIN);
gpio_pad_select_gpio(RELAY_2_PIN);
gpio_set_direction(RELAY_1_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(RELAY_2_PIN, GPIO_MODE_OUTPUT);
gpio_set_level(RELAY_1_PIN, 0);
gpio_set_level(RELAY_2_PIN, 1);
ESP_LOGW(TAG, "Motor working in reverse direction.");
vTaskDelete(MRS_xHandle);
}
void MOTOR_STOP(void * pvParameters)
{
gpio_pad_select_gpio(RELAY_1_PIN);
gpio_pad_select_gpio(RELAY_2_PIN);
gpio_set_direction(RELAY_1_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(RELAY_2_PIN, GPIO_MODE_OUTPUT);
gpio_set_level(RELAY_1_PIN, 0);
gpio_set_level(RELAY_2_PIN, 0);
ESP_LOGW(TAG, "Motor Stopped.");
vTaskDelete(MS_xHandle);
}
void MAGNETIC_END_SENSOR()
{
gpio_pad_select_gpio(MAGNET_1_PIN);
gpio_pad_select_gpio(MAGNET_2_PIN);
gpio_set_direction(MAGNET_1_PIN, GPIO_MODE_INPUT);
gpio_set_direction(MAGNET_2_PIN, GPIO_MODE_INPUT);
while (1)
{
if (gpio_get_level(MAGNET_1_PIN) == 1 || gpio_get_level(MAGNET_2_PIN) == 1){
if (MOTOR_STATE == 0){
xSemaphoreGive(M_F_F_O_SIGNAL);
ESP_LOGW(TAG, "F Signal sent.");
}
else if (MOTOR_STATE == 1){
xSemaphoreGive(M_F_R_O_SIGNAL);
ESP_LOGW(TAG, "R Signal sent.");
}
ESP_LOGW(TAG, "Gate reached to the destination, Stopping the motor.");
xTaskCreate(&MOTOR_STOP, "MOTOR_STOP", 512, NULL, 1, MS_xHandle);
MOTOR_STATE =! MOTOR_STATE;
ESP_LOGW(TAG, "Motor stopped and Motor State changed.");
vTaskDelete(MAGNET_xHandle);
}
}
}
void FULL_REVERSE_OPERATION(void * pvParameters)
{
xTaskCreate(&MOTOR_REVERSE_START, "MOTOR_REVERSE_START", 512, NULL, 1, MRS_xHandle);
vTaskDelay( 500 / portTICK_PERIOD_MS );
xTaskCreate(&MAGNETIC_END_SENSOR, "MAGNETIC_END_SENSOR", 1024, NULL, 1, MAGNET_xHandle);
while (1)
{
if (xSemaphoreTake(M_F_R_O_SIGNAL, portMAX_DELAY)){
vTaskDelete(FRO_xHandle);
}
}
}
void IR_INTERRUPT_SENSOR(void * pvParameters)
{
gpio_pad_select_gpio(IR_PIN);
gpio_set_direction(IR_PIN, GPIO_MODE_INPUT);
while (1)
{
if (gpio_get_level(IR_PIN) == 0){
ESP_LOGW(TAG, "IR Rays Intreupted.");
xSemaphoreGive(I_F_F_O_SIGNAL);
xTaskCreate(&MOTOR_STOP, "MOTOR_STOP", 512, NULL, 1, MS_xHandle);
ESP_LOGW(TAG, "Motor Stopped.");
MOTOR_STATE =! MOTOR_STATE;
xTaskCreate(&FULL_REVERSE_OPERATION, "FULL_REVERSE_OPERATION", 1536, NULL, 1, MRS_xHandle);
ESP_LOGW(TAG, "Motor State changed and working in reverse direction.");
vTaskDelete(IR_xHandle);
}
}
}
void FULL_FORWARD_OPERTAION(void * pvParameters)
{
xTaskCreate(&MOTOR_FORWARD_START, "MOTOR_FORWARD_START", 1024, NULL, 1, MFS_xHandle);
xTaskCreate(&IR_INTERRUPT_SENSOR, "IR_INTERRUPT_SENSOR", 2048, NULL, 1, IR_xHandle);
vTaskDelay( 500 / portTICK_PERIOD_MS );
xTaskCreate(&MAGNETIC_END_SENSOR, "MAGNETIC_END_SENSOR", 1536, NULL, 1, MAGNET_xHandle);
while (1)
{
if (xSemaphoreTake(I_F_F_O_SIGNAL, portMAX_DELAY)){
vTaskDelete(MAGNET_xHandle);
vTaskDelete(FFO_xHandle);
}
else if (xSemaphoreTake(M_F_F_O_SIGNAL, portMAX_DELAY)){
vTaskDelete(IR_xHandle);
vTaskDelete(FFO_xHandle);
}
}
}
void BUTTON_OPERATION(void * pvParameters)
{
gpio_pad_select_gpio(PUSH_BUTTON);
gpio_pad_select_gpio(FORCE_STOP_BUTTON);
gpio_set_direction(PUSH_BUTTON, GPIO_MODE_INPUT);
gpio_set_direction(FORCE_STOP_BUTTON, GPIO_MODE_INPUT);
while (1)
{
if (gpio_get_level(PUSH_BUTTON) == 1){
if (MOTOR_STATE == 0){
xTaskCreate(&FULL_FORWARD_OPERTAION, "FULL_FORWARD_OPERTAION", 4096, NULL, 1, FFO_xHandle);
}
else if (MOTOR_STATE == 1){
xTaskCreate(&FULL_REVERSE_OPERATION, "FULL_REVERSE_OPERATION", 1536, NULL, 1, FRO_xHandle);
}
}
else if (gpio_get_level(FORCE_STOP_BUTTON) == 1){
xTaskCreate(&MOTOR_STOP, "MOTOR_STOP", 512, NULL, 1, MS_xHandle);
}
vTaskDelay( 500 / portTICK_PERIOD_MS );
}
}
void app_main(void)
{
vSemaphoreCreateBinary(I_F_F_O_SIGNAL);
vSemaphoreCreateBinary(M_F_F_O_SIGNAL);
vSemaphoreCreateBinary(M_F_R_O_SIGNAL);
xTaskCreate(&BUTTON_OPERATION, "BUTTON_OPERATION", 4096, NULL, tskIDLE_PRIORITY, NULL);
}