esp-idf/components/esp_system/task_wdt.c

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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include <esp_types.h>
#include "esp_err.h"
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#include "esp_intr_alloc.h"
#include "esp_attr.h"
#include "esp_debug_helpers.h"
#include "esp_freertos_hooks.h"
#include "soc/timer_periph.h"
#include "esp_log.h"
#include "driver/timer.h"
#include "driver/periph_ctrl.h"
#include "esp_task_wdt.h"
#include "esp_private/system_internal.h"
#include "esp_private/crosscore_int.h"
#include "hal/timer_types.h"
#include "hal/wdt_hal.h"
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static const char *TAG = "task_wdt";
//Assertion macro where, if 'cond' is false, will exit the critical section and return 'ret'
#define ASSERT_EXIT_CRIT_RETURN(cond, ret) ({ \
if(!(cond)){ \
portEXIT_CRITICAL(&twdt_spinlock); \
return ret; \
} \
})
//Empty define used in ASSERT_EXIT_CRIT_RETURN macro when returning in void
#define VOID_RETURN
//HAL related variables and constants
#define TWDT_INSTANCE WDT_MWDT0
#define TWDT_TICKS_PER_US MWDT0_TICKS_PER_US
#define TWDT_PRESCALER MWDT0_TICK_PRESCALER //Tick period of 500us if WDT source clock is 80MHz
static wdt_hal_context_t twdt_context;
//Structure used for each subscribed task
typedef struct twdt_task_t twdt_task_t;
struct twdt_task_t {
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TaskHandle_t task_handle;
bool has_reset;
twdt_task_t *next;
};
//Structure used to hold run time configuration of the TWDT
typedef struct twdt_config_t twdt_config_t;
struct twdt_config_t {
twdt_task_t *list; //Linked list of subscribed tasks
uint32_t timeout; //Timeout period of TWDT
bool panic; //Flag to trigger panic when TWDT times out
intr_handle_t intr_handle;
};
static twdt_config_t *twdt_config = NULL;
static portMUX_TYPE twdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
/*
* Idle hook callback for Idle Tasks to reset the TWDT. This callback will only
* be registered to the Idle Hook of a particular core when the corresponding
* Idle Task subscribes to the TWDT.
*/
static bool idle_hook_cb(void)
{
esp_task_wdt_reset();
return true;
}
/*
* Internal function that looks for the target task in the TWDT task list.
* Returns the list item if found and returns null if not found. Also checks if
* all the other tasks have reset. Should be called within critical.
*/
static twdt_task_t *find_task_in_twdt_list(TaskHandle_t handle, bool *all_reset)
{
twdt_task_t *target = NULL;
*all_reset = true;
for(twdt_task_t *task = twdt_config->list; task != NULL; task = task->next){
if(task->task_handle == handle){
target = task; //Get pointer to target task list member
}else{
if(task->has_reset == false){ //If a task has yet to reset
*all_reset = false;
}
}
}
return target;
}
/*
* Resets the hardware timer and has_reset flags of each task on the list.
* Called within critical
*/
static void reset_hw_timer(void)
{
//All tasks have reset; time to reset the hardware timer.
wdt_hal_write_protect_disable(&twdt_context);
wdt_hal_feed(&twdt_context);
wdt_hal_write_protect_enable(&twdt_context);
//Clear all has_reset flags in list
for (twdt_task_t *task = twdt_config->list; task != NULL; task = task->next){
task->has_reset=false;
}
}
/*
* This function is called by task_wdt_isr function (ISR for when TWDT times out).
* It can be redefined in user code to handle twdt events.
* Note: It has the same limitations as the interrupt function.
* Do not use ESP_LOGI functions inside.
*/
void __attribute__((weak)) esp_task_wdt_isr_user_handler(void)
{
}
/*
* ISR for when TWDT times out. Checks for which tasks have not reset. Also
* triggers panic if configured to do so
*/
static void task_wdt_isr(void *arg)
{
portENTER_CRITICAL_ISR(&twdt_spinlock);
twdt_task_t *twdttask;
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const char *cpu;
//Reset hardware timer so that 2nd stage timeout is not reached (will trigger system reset)
wdt_hal_write_protect_disable(&twdt_context);
wdt_hal_handle_intr(&twdt_context); //Feeds WDT and clears acknowledges interrupt
wdt_hal_write_protect_enable(&twdt_context);
//We are taking a spinlock while doing I/O (ESP_EARLY_LOGE) here. Normally, that is a pretty
//bad thing, possibly (temporarily) hanging up the 2nd core and stopping FreeRTOS. In this case,
//something bad already happened and reporting this is considered more important
//than the badness caused by a spinlock here.
//Return immediately if no tasks have been added to task list
ASSERT_EXIT_CRIT_RETURN((twdt_config->list != NULL), VOID_RETURN);
//Watchdog got triggered because at least one task did not reset in time.
ESP_EARLY_LOGE(TAG, "Task watchdog got triggered. The following tasks did not reset the watchdog in time:");
for (twdttask=twdt_config->list; twdttask!=NULL; twdttask=twdttask->next) {
if (!twdttask->has_reset) {
cpu=xTaskGetAffinity(twdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
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if (xTaskGetAffinity(twdttask->task_handle)==tskNO_AFFINITY) {
cpu=DRAM_STR("CPU 0/1");
}
ESP_EARLY_LOGE(TAG, " - %s (%s)", pcTaskGetTaskName(twdttask->task_handle), cpu);
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}
}
ESP_EARLY_LOGE(TAG, "%s", DRAM_STR("Tasks currently running:"));
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for (int x=0; x<portNUM_PROCESSORS; x++) {
ESP_EARLY_LOGE(TAG, "CPU %d: %s", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
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}
esp_task_wdt_isr_user_handler();
if (twdt_config->panic){ //Trigger Panic if configured to do so
ESP_EARLY_LOGE(TAG, "Aborting.");
portEXIT_CRITICAL_ISR(&twdt_spinlock);
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esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
abort();
} else {
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#if !CONFIG_IDF_TARGET_ESP32C3 // TODO: ESP32-C3 IDF-2986
int current_core = xPortGetCoreID();
//Print backtrace of current core
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", current_core);
esp_backtrace_print(100);
#if !CONFIG_FREERTOS_UNICORE
//Print backtrace of other core
ESP_EARLY_LOGE(TAG, "Print CPU %d backtrace", !current_core);
esp_crosscore_int_send_print_backtrace(!current_core);
#endif
#endif
}
portEXIT_CRITICAL_ISR(&twdt_spinlock);
}
/*
* Initializes the TWDT by allocating memory for the config data
* structure, obtaining the idle task handles/registering idle hooks, and
* setting the hardware timer registers. If reconfiguring, it will just modify
* wdt_config and reset the hardware timer.
*/
esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic)
{
portENTER_CRITICAL(&twdt_spinlock);
if(twdt_config == NULL){ //TWDT not initialized yet
//Allocate memory for wdt_config
twdt_config = calloc(1, sizeof(twdt_config_t));
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NO_MEM);
twdt_config->list = NULL;
twdt_config->timeout = timeout;
twdt_config->panic = panic;
//Register Interrupt and ISR
ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &twdt_config->intr_handle));
//Configure hardware timer
periph_module_enable(PERIPH_TIMG0_MODULE);
wdt_hal_init(&twdt_context, TWDT_INSTANCE, TWDT_PRESCALER, true);
wdt_hal_write_protect_disable(&twdt_context);
//Configure 1st stage timeout and behavior
wdt_hal_config_stage(&twdt_context, WDT_STAGE0, twdt_config->timeout * 1000000 / TWDT_TICKS_PER_US, WDT_STAGE_ACTION_INT);
//Configure 2nd stage timeout and behavior
wdt_hal_config_stage(&twdt_context, WDT_STAGE1, 2*twdt_config->timeout * 1000000 / TWDT_TICKS_PER_US, WDT_STAGE_ACTION_RESET_SYSTEM);
//Enable the WDT
wdt_hal_enable(&twdt_context);
wdt_hal_write_protect_enable(&twdt_context);
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} else { //twdt_config previously initialized
//Reconfigure task wdt
twdt_config->panic = panic;
twdt_config->timeout = timeout;
//Reconfigure hardware timer
wdt_hal_write_protect_disable(&twdt_context);
wdt_hal_disable(&twdt_context);
wdt_hal_config_stage(&twdt_context, WDT_STAGE0, twdt_config->timeout*1000*1000/TWDT_TICKS_PER_US, WDT_STAGE_ACTION_INT);
wdt_hal_config_stage(&twdt_context, WDT_STAGE1, 2*twdt_config->timeout*1000*1000/TWDT_TICKS_PER_US, WDT_STAGE_ACTION_RESET_SYSTEM);
wdt_hal_enable(&twdt_context);
wdt_hal_write_protect_enable(&twdt_context);
}
portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_deinit(void)
{
portENTER_CRITICAL(&twdt_spinlock);
//TWDT must already be initialized
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NOT_FOUND);
//Task list must be empty
ASSERT_EXIT_CRIT_RETURN((twdt_config->list == NULL), ESP_ERR_INVALID_STATE);
//Disable hardware timer
wdt_hal_deinit(&twdt_context);
ESP_ERROR_CHECK(esp_intr_free(twdt_config->intr_handle)); //Unregister interrupt
free(twdt_config); //Free twdt_config
twdt_config = NULL;
portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_add(TaskHandle_t handle)
{
portENTER_CRITICAL(&twdt_spinlock);
//TWDT must already be initialized
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
twdt_task_t *target_task;
bool all_reset;
if (handle == NULL){ //Get handle of current task if none is provided
handle = xTaskGetCurrentTaskHandle();
}
//Check if tasks exists in task list, and if all other tasks have reset
target_task = find_task_in_twdt_list(handle, &all_reset);
//task cannot be already subscribed
ASSERT_EXIT_CRIT_RETURN((target_task == NULL), ESP_ERR_INVALID_ARG);
//Add target task to TWDT task list
target_task = calloc(1,sizeof(twdt_task_t));
ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_NO_MEM);
target_task->task_handle = handle;
target_task->has_reset = true;
target_task->next = NULL;
if (twdt_config->list == NULL) { //Adding to empty list
twdt_config->list = target_task;
} else { //Adding to tail of list
twdt_task_t *task;
for (task = twdt_config->list; task->next != NULL; task = task->next){
; //point task to current tail of TWDT task list
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}
task->next = target_task;
}
//If idle task, register the idle hook callback to appropriate core
for(int i = 0; i < portNUM_PROCESSORS; i++){
if(handle == xTaskGetIdleTaskHandleForCPU(i)){
ESP_ERROR_CHECK(esp_register_freertos_idle_hook_for_cpu(idle_hook_cb, i));
break;
}
}
if(all_reset){ //Reset hardware timer if all other tasks in list have reset in
reset_hw_timer();
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}
portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
return ESP_OK;
}
esp_err_t esp_task_wdt_reset(void)
{
portENTER_CRITICAL(&twdt_spinlock);
//TWDT must already be initialized
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
TaskHandle_t handle = xTaskGetCurrentTaskHandle();
twdt_task_t *target_task;
bool all_reset;
//Check if task exists in task list, and if all other tasks have reset
target_task = find_task_in_twdt_list(handle, &all_reset);
//Return error if trying to reset task that is not on the task list
ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_NOT_FOUND);
target_task->has_reset = true; //Reset the task if it's on the task list
if(all_reset){ //Reset if all other tasks in list have reset in
reset_hw_timer();
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}
portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_delete(TaskHandle_t handle)
{
if(handle == NULL){
handle = xTaskGetCurrentTaskHandle();
}
portENTER_CRITICAL(&twdt_spinlock);
//Return error if twdt has not been initialized
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NOT_FOUND);
twdt_task_t *target_task;
bool all_reset;
target_task = find_task_in_twdt_list(handle, &all_reset);
//Task doesn't exist on list. Return error
ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_INVALID_ARG);
if(target_task == twdt_config->list){ //target_task is head of list. Delete
twdt_config->list = target_task->next;
free(target_task);
}else{ //target_task not head of list. Delete
twdt_task_t *prev;
for (prev = twdt_config->list; prev->next != target_task; prev = prev->next){
; //point prev to task preceding target_task
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}
prev->next = target_task->next;
free(target_task);
}
//If idle task, deregister idle hook callback form appropriate core
for(int i = 0; i < portNUM_PROCESSORS; i++){
if(handle == xTaskGetIdleTaskHandleForCPU(i)){
esp_deregister_freertos_idle_hook_for_cpu(idle_hook_cb, i);
break;
}
}
if(all_reset){ //Reset hardware timer if all remaining tasks have reset
reset_hw_timer();
}
portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_status(TaskHandle_t handle)
{
if(handle == NULL){
handle = xTaskGetCurrentTaskHandle();
}
portENTER_CRITICAL(&twdt_spinlock);
//Return if TWDT is not initialized
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
twdt_task_t *task;
for(task = twdt_config->list; task!=NULL; task=task->next){
//Return ESP_OK if task is found
ASSERT_EXIT_CRIT_RETURN((task->task_handle != handle), ESP_OK);
}
//Task could not be found
portEXIT_CRITICAL(&twdt_spinlock);
return ESP_ERR_NOT_FOUND;
}