2021-09-29 10:45:38 -04:00
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/*
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* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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2016-10-21 05:59:57 -04:00
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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2016-11-16 04:53:50 -05:00
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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2016-10-21 05:59:57 -04:00
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#include <esp_types.h>
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#include "esp_err.h"
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2019-03-26 04:30:43 -04:00
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#include "esp_intr_alloc.h"
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2016-10-25 05:05:13 -04:00
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#include "esp_attr.h"
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2020-03-27 05:58:12 -04:00
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#include "esp_debug_helpers.h"
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2016-11-11 06:20:54 -05:00
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#include "esp_freertos_hooks.h"
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2019-05-13 06:02:45 -04:00
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#include "soc/timer_periph.h"
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2016-10-21 05:59:57 -04:00
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#include "esp_log.h"
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2016-11-22 13:15:27 -05:00
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#include "driver/timer.h"
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2017-11-30 23:11:37 -05:00
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#include "driver/periph_ctrl.h"
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2016-10-21 05:59:57 -04:00
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#include "esp_task_wdt.h"
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2019-03-21 00:21:01 -04:00
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#include "esp_private/system_internal.h"
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2020-03-27 05:58:12 -04:00
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#include "esp_private/crosscore_int.h"
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2019-12-26 03:30:03 -05:00
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#include "hal/timer_types.h"
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#include "hal/wdt_hal.h"
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2019-07-24 11:18:19 -04:00
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2016-10-21 05:59:57 -04:00
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2018-08-21 07:47:21 -04:00
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static const char *TAG = "task_wdt";
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2017-10-09 06:07:30 -04:00
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//Assertion macro where, if 'cond' is false, will exit the critical section and return 'ret'
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#define ASSERT_EXIT_CRIT_RETURN(cond, ret) ({ \
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if(!(cond)){ \
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portEXIT_CRITICAL(&twdt_spinlock); \
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return ret; \
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} \
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})
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2017-09-30 06:07:19 -04:00
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2017-10-09 06:07:30 -04:00
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//Empty define used in ASSERT_EXIT_CRIT_RETURN macro when returning in void
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#define VOID_RETURN
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2016-10-21 05:59:57 -04:00
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2019-12-26 03:30:03 -05:00
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//HAL related variables and constants
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#define TWDT_INSTANCE WDT_MWDT0
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#define TWDT_TICKS_PER_US MWDT0_TICKS_PER_US
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#define TWDT_PRESCALER MWDT0_TICK_PRESCALER //Tick period of 500us if WDT source clock is 80MHz
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static wdt_hal_context_t twdt_context;
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2017-10-09 06:07:30 -04:00
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//Structure used for each subscribed task
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typedef struct twdt_task_t twdt_task_t;
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struct twdt_task_t {
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2016-10-25 06:18:11 -04:00
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TaskHandle_t task_handle;
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2017-10-09 06:07:30 -04:00
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bool has_reset;
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twdt_task_t *next;
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};
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//Structure used to hold run time configuration of the TWDT
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typedef struct twdt_config_t twdt_config_t;
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struct twdt_config_t {
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twdt_task_t *list; //Linked list of subscribed tasks
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uint32_t timeout; //Timeout period of TWDT
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bool panic; //Flag to trigger panic when TWDT times out
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intr_handle_t intr_handle;
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2016-10-21 05:59:57 -04:00
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};
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2017-10-09 06:07:30 -04:00
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static twdt_config_t *twdt_config = NULL;
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static portMUX_TYPE twdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
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2016-10-21 05:59:57 -04:00
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2017-10-09 06:07:30 -04:00
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/*
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* Idle hook callback for Idle Tasks to reset the TWDT. This callback will only
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* be registered to the Idle Hook of a particular core when the corresponding
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* Idle Task subscribes to the TWDT.
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*/
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static bool idle_hook_cb(void)
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{
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esp_task_wdt_reset();
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return true;
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}
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2016-11-17 05:05:47 -05:00
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2017-10-09 06:07:30 -04:00
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/*
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* Internal function that looks for the target task in the TWDT task list.
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* Returns the list item if found and returns null if not found. Also checks if
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* all the other tasks have reset. Should be called within critical.
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*/
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static twdt_task_t *find_task_in_twdt_list(TaskHandle_t handle, bool *all_reset)
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{
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twdt_task_t *target = NULL;
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*all_reset = true;
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for(twdt_task_t *task = twdt_config->list; task != NULL; task = task->next){
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if(task->task_handle == handle){
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target = task; //Get pointer to target task list member
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}else{
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if(task->has_reset == false){ //If a task has yet to reset
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*all_reset = false;
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}
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}
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}
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return target;
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}
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/*
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* Resets the hardware timer and has_reset flags of each task on the list.
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* Called within critical
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*/
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2019-07-16 05:33:30 -04:00
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static void reset_hw_timer(void)
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2017-10-09 06:07:30 -04:00
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{
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//All tasks have reset; time to reset the hardware timer.
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2019-12-26 03:30:03 -05:00
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wdt_hal_write_protect_disable(&twdt_context);
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wdt_hal_feed(&twdt_context);
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wdt_hal_write_protect_enable(&twdt_context);
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2017-10-09 06:07:30 -04:00
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//Clear all has_reset flags in list
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for (twdt_task_t *task = twdt_config->list; task != NULL; task = task->next){
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task->has_reset=false;
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}
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}
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2018-09-03 01:33:12 -04:00
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/*
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* This function is called by task_wdt_isr function (ISR for when TWDT times out).
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* It can be redefined in user code to handle twdt events.
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* Note: It has the same limitations as the interrupt function.
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* Do not use ESP_LOGI functions inside.
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*/
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void __attribute__((weak)) esp_task_wdt_isr_user_handler(void)
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{
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}
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2017-10-09 06:07:30 -04:00
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/*
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* ISR for when TWDT times out. Checks for which tasks have not reset. Also
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* triggers panic if configured to do so
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*/
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static void task_wdt_isr(void *arg)
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{
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2018-08-29 02:09:04 -04:00
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portENTER_CRITICAL_ISR(&twdt_spinlock);
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2017-10-09 06:07:30 -04:00
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twdt_task_t *twdttask;
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2016-10-25 06:18:11 -04:00
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const char *cpu;
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2017-10-09 06:07:30 -04:00
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//Reset hardware timer so that 2nd stage timeout is not reached (will trigger system reset)
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2019-12-26 03:30:03 -05:00
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wdt_hal_write_protect_disable(&twdt_context);
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wdt_hal_handle_intr(&twdt_context); //Feeds WDT and clears acknowledges interrupt
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wdt_hal_write_protect_enable(&twdt_context);
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2018-08-21 07:47:21 -04:00
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//We are taking a spinlock while doing I/O (ESP_EARLY_LOGE) here. Normally, that is a pretty
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2016-11-16 04:53:50 -05:00
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//bad thing, possibly (temporarily) hanging up the 2nd core and stopping FreeRTOS. In this case,
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//something bad already happened and reporting this is considered more important
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//than the badness caused by a spinlock here.
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2017-10-09 06:07:30 -04:00
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//Return immediately if no tasks have been added to task list
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ASSERT_EXIT_CRIT_RETURN((twdt_config->list != NULL), VOID_RETURN);
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//Watchdog got triggered because at least one task did not reset in time.
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2018-08-21 07:47:21 -04:00
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ESP_EARLY_LOGE(TAG, "Task watchdog got triggered. The following tasks did not reset the watchdog in time:");
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2017-10-09 06:07:30 -04:00
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for (twdttask=twdt_config->list; twdttask!=NULL; twdttask=twdttask->next) {
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if (!twdttask->has_reset) {
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cpu=xTaskGetAffinity(twdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
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2021-01-25 22:20:09 -05:00
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if (xTaskGetAffinity(twdttask->task_handle)==tskNO_AFFINITY) {
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cpu=DRAM_STR("CPU 0/1");
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}
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2018-08-21 07:47:21 -04:00
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ESP_EARLY_LOGE(TAG, " - %s (%s)", pcTaskGetTaskName(twdttask->task_handle), cpu);
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2016-10-25 06:18:11 -04:00
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}
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}
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2018-08-21 07:47:21 -04:00
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ESP_EARLY_LOGE(TAG, "%s", DRAM_STR("Tasks currently running:"));
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2016-10-25 06:18:11 -04:00
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for (int x=0; x<portNUM_PROCESSORS; x++) {
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2018-08-21 07:47:21 -04:00
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ESP_EARLY_LOGE(TAG, "CPU %d: %s", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
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2016-10-25 06:18:11 -04:00
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}
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2016-10-25 06:08:55 -04:00
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2018-09-03 01:33:12 -04:00
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esp_task_wdt_isr_user_handler();
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2020-03-27 05:58:12 -04:00
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2017-10-09 06:07:30 -04:00
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if (twdt_config->panic){ //Trigger Panic if configured to do so
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2018-08-21 07:47:21 -04:00
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ESP_EARLY_LOGE(TAG, "Aborting.");
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2018-08-29 02:09:04 -04:00
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portEXIT_CRITICAL_ISR(&twdt_spinlock);
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2018-07-29 05:57:59 -04:00
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esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
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2017-10-09 06:07:30 -04:00
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abort();
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2020-03-27 05:58:12 -04:00
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} else {
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2020-12-29 00:20:24 -05:00
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2021-06-10 03:22:43 -04:00
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#if !CONFIG_IDF_TARGET_ESP32C3 && !CONFIG_IDF_TARGET_ESP32H2 // TODO: ESP32-C3 IDF-2986
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2020-03-27 05:58:12 -04:00
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int current_core = xPortGetCoreID();
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//Print backtrace of current core
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ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", current_core);
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esp_backtrace_print(100);
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2020-12-29 00:20:24 -05:00
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#if !CONFIG_FREERTOS_UNICORE
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2020-03-27 05:58:12 -04:00
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//Print backtrace of other core
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ESP_EARLY_LOGE(TAG, "Print CPU %d backtrace", !current_core);
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esp_crosscore_int_send_print_backtrace(!current_core);
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2020-12-29 00:20:24 -05:00
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#endif
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#endif
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2017-10-09 06:07:30 -04:00
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}
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2020-11-10 02:40:01 -05:00
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2018-08-29 02:09:04 -04:00
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portEXIT_CRITICAL_ISR(&twdt_spinlock);
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2017-10-09 06:07:30 -04:00
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}
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/*
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* Initializes the TWDT by allocating memory for the config data
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* structure, obtaining the idle task handles/registering idle hooks, and
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* setting the hardware timer registers. If reconfiguring, it will just modify
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* wdt_config and reset the hardware timer.
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*/
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esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic)
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{
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portENTER_CRITICAL(&twdt_spinlock);
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if(twdt_config == NULL){ //TWDT not initialized yet
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//Allocate memory for wdt_config
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twdt_config = calloc(1, sizeof(twdt_config_t));
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NO_MEM);
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twdt_config->list = NULL;
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twdt_config->timeout = timeout;
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twdt_config->panic = panic;
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//Register Interrupt and ISR
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2018-09-24 02:49:39 -04:00
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ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &twdt_config->intr_handle));
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2017-10-09 06:07:30 -04:00
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//Configure hardware timer
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2017-11-30 23:11:37 -05:00
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periph_module_enable(PERIPH_TIMG0_MODULE);
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2019-12-26 03:30:03 -05:00
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wdt_hal_init(&twdt_context, TWDT_INSTANCE, TWDT_PRESCALER, true);
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wdt_hal_write_protect_disable(&twdt_context);
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//Configure 1st stage timeout and behavior
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2021-09-29 10:45:38 -04:00
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wdt_hal_config_stage(&twdt_context, WDT_STAGE0, twdt_config->timeout * (1000000 / TWDT_TICKS_PER_US), WDT_STAGE_ACTION_INT);
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2019-12-26 03:30:03 -05:00
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//Configure 2nd stage timeout and behavior
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2021-09-29 10:45:38 -04:00
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wdt_hal_config_stage(&twdt_context, WDT_STAGE1, twdt_config->timeout * (2 * 1000000 / TWDT_TICKS_PER_US), WDT_STAGE_ACTION_RESET_SYSTEM);
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2019-12-26 03:30:03 -05:00
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//Enable the WDT
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wdt_hal_enable(&twdt_context);
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wdt_hal_write_protect_enable(&twdt_context);
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2019-07-24 11:18:19 -04:00
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} else { //twdt_config previously initialized
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2017-10-09 06:07:30 -04:00
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//Reconfigure task wdt
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twdt_config->panic = panic;
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twdt_config->timeout = timeout;
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//Reconfigure hardware timer
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2019-12-26 03:30:03 -05:00
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wdt_hal_write_protect_disable(&twdt_context);
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wdt_hal_disable(&twdt_context);
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2021-09-29 10:45:38 -04:00
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wdt_hal_config_stage(&twdt_context, WDT_STAGE0, twdt_config->timeout * (1000 * 1000 / TWDT_TICKS_PER_US), WDT_STAGE_ACTION_INT);
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wdt_hal_config_stage(&twdt_context, WDT_STAGE1, twdt_config->timeout * (2 * 1000 * 1000 / TWDT_TICKS_PER_US), WDT_STAGE_ACTION_RESET_SYSTEM);
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2019-12-26 03:30:03 -05:00
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wdt_hal_enable(&twdt_context);
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wdt_hal_write_protect_enable(&twdt_context);
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2017-10-09 06:07:30 -04:00
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}
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portEXIT_CRITICAL(&twdt_spinlock);
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return ESP_OK;
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}
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2019-07-16 05:33:30 -04:00
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esp_err_t esp_task_wdt_deinit(void)
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2017-10-09 06:07:30 -04:00
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{
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portENTER_CRITICAL(&twdt_spinlock);
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//TWDT must already be initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NOT_FOUND);
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//Task list must be empty
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ASSERT_EXIT_CRIT_RETURN((twdt_config->list == NULL), ESP_ERR_INVALID_STATE);
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//Disable hardware timer
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2019-12-26 03:30:03 -05:00
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wdt_hal_deinit(&twdt_context);
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2017-10-09 06:07:30 -04:00
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2023-09-14 01:16:46 -04:00
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/* Need to exit critical section to free interrupt (potential IPC call), store and clear config before exiting */
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twdt_config_t *twdt_config_temp = twdt_config;
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2017-10-09 06:07:30 -04:00
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twdt_config = NULL;
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portEXIT_CRITICAL(&twdt_spinlock);
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2023-09-14 01:16:46 -04:00
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ESP_ERROR_CHECK(esp_intr_free(twdt_config_temp->intr_handle)); //Unregister interrupt
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free(twdt_config_temp); //Free twdt_config
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2017-10-09 06:07:30 -04:00
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return ESP_OK;
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2016-10-21 05:59:57 -04:00
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}
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2017-10-09 06:07:30 -04:00
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esp_err_t esp_task_wdt_add(TaskHandle_t handle)
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{
|
|
|
|
portENTER_CRITICAL(&twdt_spinlock);
|
|
|
|
//TWDT must already be initialized
|
|
|
|
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
|
2016-10-21 05:59:57 -04:00
|
|
|
|
2017-10-09 06:07:30 -04:00
|
|
|
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);
|
2017-08-30 09:11:10 -04:00
|
|
|
|
2017-10-09 06:07:30 -04:00
|
|
|
//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
|
2016-10-25 06:18:11 -04:00
|
|
|
}
|
2017-10-09 06:07:30 -04:00
|
|
|
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)){
|
2018-09-24 02:49:39 -04:00
|
|
|
ESP_ERROR_CHECK(esp_register_freertos_idle_hook_for_cpu(idle_hook_cb, i));
|
2017-10-09 06:07:30 -04:00
|
|
|
break;
|
2017-09-30 06:07:19 -04:00
|
|
|
}
|
|
|
|
}
|
2017-10-09 06:07:30 -04:00
|
|
|
|
|
|
|
if(all_reset){ //Reset hardware timer if all other tasks in list have reset in
|
|
|
|
reset_hw_timer();
|
2016-10-25 06:18:11 -04:00
|
|
|
}
|
2017-10-09 06:07:30 -04:00
|
|
|
|
|
|
|
portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
|
|
|
|
return ESP_OK;
|
2016-10-21 05:59:57 -04:00
|
|
|
}
|
|
|
|
|
2019-07-16 05:33:30 -04:00
|
|
|
esp_err_t esp_task_wdt_reset(void)
|
2017-10-09 06:07:30 -04:00
|
|
|
{
|
|
|
|
portENTER_CRITICAL(&twdt_spinlock);
|
|
|
|
//TWDT must already be initialized
|
|
|
|
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
|
2016-11-16 04:53:50 -05:00
|
|
|
|
2017-10-09 06:07:30 -04:00
|
|
|
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();
|
2016-10-25 06:18:11 -04:00
|
|
|
}
|
2017-10-09 06:07:30 -04:00
|
|
|
|
|
|
|
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
|
2016-10-25 06:18:11 -04:00
|
|
|
}
|
2017-10-09 06:07:30 -04:00
|
|
|
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;
|
2017-08-30 09:11:10 -04:00
|
|
|
}
|
|
|
|
}
|
2017-10-09 06:07:30 -04:00
|
|
|
|
|
|
|
if(all_reset){ //Reset hardware timer if all remaining tasks have reset
|
|
|
|
reset_hw_timer();
|
|
|
|
}
|
|
|
|
|
|
|
|
portEXIT_CRITICAL(&twdt_spinlock);
|
|
|
|
return ESP_OK;
|
2016-10-21 05:59:57 -04:00
|
|
|
}
|
|
|
|
|
2017-10-09 06:07:30 -04:00
|
|
|
esp_err_t esp_task_wdt_status(TaskHandle_t handle)
|
|
|
|
{
|
|
|
|
if(handle == NULL){
|
|
|
|
handle = xTaskGetCurrentTaskHandle();
|
|
|
|
}
|
2017-08-30 09:11:10 -04:00
|
|
|
|
2017-10-09 06:07:30 -04:00
|
|
|
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;
|
2017-09-30 06:07:19 -04:00
|
|
|
}
|