esp-idf/components/esp_system/int_wdt.c

/*
 * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_types.h"
#include "esp_err.h"
#include "esp_intr_alloc.h"
#include "esp_attr.h"
#include "esp_log.h"
#include "esp_freertos_hooks.h"
#include "soc/timer_periph.h"
#include "esp_private/periph_ctrl.h"
#include "esp_int_wdt.h"
#include "esp_private/system_internal.h"
#include "hal/cpu_hal.h"
#include "hal/timer_types.h"
#include "hal/wdt_hal.h"
#include "hal/interrupt_controller_hal.h"

#if CONFIG_ESP_INT_WDT

#define WDT_INT_NUM ETS_T1_WDT_INUM

#define IWDT_INSTANCE           WDT_MWDT1
#define IWDT_PRESCALER          MWDT1_TICK_PRESCALER   //Tick period of 500us if WDT source clock is 80MHz
#define IWDT_TICKS_PER_US       MWDT1_TICKS_PER_US
#define IWDT_INITIAL_TIMEOUT_S  5
static wdt_hal_context_t iwdt_context;

#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
/*
 * This parameter is used to indicate the response time of Interrupt watchdog to
 * identify the live lock.
 */
#define IWDT_LIVELOCK_TIMEOUT_MS    (20)

extern uint32_t _lx_intr_livelock_counter, _lx_intr_livelock_max;
#endif

//Take care: the tick hook can also be called before esp_int_wdt_init() is called.
#if CONFIG_ESP_INT_WDT_CHECK_CPU1
//Not static; the ISR assembly checks this.
bool int_wdt_app_cpu_ticked = false;

static void IRAM_ATTR tick_hook(void)
{
    if (cpu_hal_get_core_id() != 0) {
        int_wdt_app_cpu_ticked = true;
    } else {
        //Only feed wdt if app cpu also ticked.
        if (int_wdt_app_cpu_ticked) {
            //Todo: Check if there's a way to avoid reconfiguring the stages on each feed.
            wdt_hal_write_protect_disable(&iwdt_context);
            //Reconfigure stage timeouts
#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
            _lx_intr_livelock_counter = 0;
            wdt_hal_config_stage(&iwdt_context, WDT_STAGE0,
                                CONFIG_ESP_INT_WDT_TIMEOUT_MS * 1000 / IWDT_TICKS_PER_US / (_lx_intr_livelock_max + 1), WDT_STAGE_ACTION_INT);                    //Set timeout before interrupt
#else
            wdt_hal_config_stage(&iwdt_context, WDT_STAGE0, CONFIG_ESP_INT_WDT_TIMEOUT_MS * 1000 / IWDT_TICKS_PER_US, WDT_STAGE_ACTION_INT);          //Set timeout before interrupt
#endif
            wdt_hal_config_stage(&iwdt_context, WDT_STAGE1, 2 * CONFIG_ESP_INT_WDT_TIMEOUT_MS * 1000 / IWDT_TICKS_PER_US, WDT_STAGE_ACTION_RESET_SYSTEM); //Set timeout before reset
            wdt_hal_feed(&iwdt_context);
            wdt_hal_write_protect_enable(&iwdt_context);
            int_wdt_app_cpu_ticked = false;
        }
    }
}
#else
static void IRAM_ATTR tick_hook(void)
{
#if !CONFIG_FREERTOS_UNICORE
    if (cpu_hal_get_core_id() != 0) {
        return;
    }
#endif
    //Todo: Check if there's a way to avoid reconfiguring the stages on each feed.
    wdt_hal_write_protect_disable(&iwdt_context);
    //Reconfigure stage timeouts
    wdt_hal_config_stage(&iwdt_context, WDT_STAGE0, CONFIG_ESP_INT_WDT_TIMEOUT_MS * 1000 / IWDT_TICKS_PER_US, WDT_STAGE_ACTION_INT);          //Set timeout before interrupt
    wdt_hal_config_stage(&iwdt_context, WDT_STAGE1, 2 * CONFIG_ESP_INT_WDT_TIMEOUT_MS * 1000 / IWDT_TICKS_PER_US, WDT_STAGE_ACTION_RESET_SYSTEM); //Set timeout before reset
    wdt_hal_feed(&iwdt_context);
    wdt_hal_write_protect_enable(&iwdt_context);
}
#endif


void esp_int_wdt_init(void)
{
    periph_module_enable(PERIPH_TIMG1_MODULE);
    //The timer configs initially are set to 5 seconds, to make sure the CPU can start up. The tick hook sets
    //it to their actual value.
    wdt_hal_init(&iwdt_context, IWDT_INSTANCE, IWDT_PRESCALER, true);
    wdt_hal_write_protect_disable(&iwdt_context);
    //1st stage timeout: interrupt
    wdt_hal_config_stage(&iwdt_context, WDT_STAGE0, IWDT_INITIAL_TIMEOUT_S * 1000000 / IWDT_TICKS_PER_US, WDT_STAGE_ACTION_INT);
    //2nd stage timeout: reset system
    wdt_hal_config_stage(&iwdt_context, WDT_STAGE1, IWDT_INITIAL_TIMEOUT_S * 1000000 / IWDT_TICKS_PER_US, WDT_STAGE_ACTION_RESET_SYSTEM);
    //Enable WDT
    wdt_hal_enable(&iwdt_context);
    wdt_hal_write_protect_enable(&iwdt_context);


#if (CONFIG_ESP32_ECO3_CACHE_LOCK_FIX && CONFIG_BTDM_CTRL_HLI)

#define APB_DCRSET      (0x200c)
#define APB_ITCTRL      (0x3f00)

#define ERI_ADDR(APB)   (0x100000 + (APB))

#define _SYM2STR(x)     # x
#define SYM2STR(x)      _SYM2STR(x)
    uint32_t eriadrs, scratch = 0, immediate = 0;
    if (soc_has_cache_lock_bug()) {
        if (xPortGetCoreID() != CONFIG_BTDM_CTRL_PINNED_TO_CORE) {
            __asm__ __volatile__ (
                    /* Enable Xtensa Debug Module Integration Mode */
                    "movi   %[ERI], " SYM2STR(ERI_ADDR(APB_ITCTRL)) "\n"
                    "rer    %[REG], %[ERI]\n"
                    "movi   %[IMM], 1\n"
                    "or     %[REG], %[IMM], %[REG]\n"
                    "wer    %[REG], %[ERI]\n"
                    /* Enable Xtensa Debug Module BreakIn signal */
                    "movi   %[ERI], " SYM2STR(ERI_ADDR(APB_DCRSET)) "\n"
                    "rer    %[REG], %[ERI]\n"
                    "movi   %[IMM], 0x10000\n"
                    "or     %[REG], %[IMM], %[REG]\n"
                    "wer    %[REG], %[ERI]\n"
                    : [ERI] "=r" (eriadrs), [REG] "+r" (scratch), [IMM] "+r" (immediate)
                );
        }
    }
#endif
}

void esp_int_wdt_cpu_init(void)
{
    assert((CONFIG_ESP_INT_WDT_TIMEOUT_MS >= (portTICK_PERIOD_MS << 1)) && "Interrupt watchdog timeout needs to meet twice the RTOS tick period!");
    esp_register_freertos_tick_hook_for_cpu(tick_hook, cpu_hal_get_core_id());
    ESP_INTR_DISABLE(WDT_INT_NUM);

#if SOC_TIMER_GROUPS > 1
    esp_rom_route_intr_matrix(cpu_hal_get_core_id(), ETS_TG1_WDT_LEVEL_INTR_SOURCE, WDT_INT_NUM);
#else
    // TODO: Clean up code for ESP32-C2, IDF-4114
    ESP_EARLY_LOGW("INT_WDT", "ESP32-C2 only has one timer group");
#endif

    /* Set the type and priority to watch dog interrupts */
#if SOC_CPU_HAS_FLEXIBLE_INTC
    interrupt_controller_hal_set_int_type(WDT_INT_NUM, INTR_TYPE_LEVEL);
    interrupt_controller_hal_set_int_level(WDT_INT_NUM, SOC_INTERRUPT_LEVEL_MEDIUM);
#endif

#if CONFIG_ESP32_ECO3_CACHE_LOCK_FIX
    /*
     * This is a workaround for issue 3.15 in "ESP32 ECO and workarounds for
     * Bugs" document.
     */
    _lx_intr_livelock_counter = 0;
    if (soc_has_cache_lock_bug()) {
        assert((portTICK_PERIOD_MS << 1) <= IWDT_LIVELOCK_TIMEOUT_MS);
        assert(CONFIG_ESP_INT_WDT_TIMEOUT_MS >= (IWDT_LIVELOCK_TIMEOUT_MS * 3));
        _lx_intr_livelock_max = CONFIG_ESP_INT_WDT_TIMEOUT_MS / IWDT_LIVELOCK_TIMEOUT_MS - 1;
    }
#endif

    // We do not register a handler for the watchdog interrupt because:
    // 1. Interrupt level 4 on Xtensa architecture is not servicable from C
    // 2. Instead, we set the entry of watchdog interrupt to the panic handler, see riscv/vector.S and xtensa_vectors.S
    ESP_INTR_ENABLE(WDT_INT_NUM);
}

#endif