esp-idf/components/esp32/task_wdt.c
Darian Leung 9d63e1da4a New Task Watchdog API (Revert of Revert)
This commit reverts the revert on the new task watchdog API. It also
fixes the following bug which caused the reversion.

- sdkconfig TASK_WDT_TIMEOUT_S has been reverted from the unit of ms back to the
unit of seconds. Fixes bug where projects using the new API without rebuilding sdkconfig
would cause the old default value of 5 to be interpreted in ms.

This commit also adds the following features to the task watchdog

- Updated idle hook registration to be compatible with dual core hooks

- Updated dual core hooks to support deregistration for cpu

- Legacy mode has been removed and esp_task_wdt_feed() is now replaced by
  esp_task_wdt_reset().  esp_task_wdt_feed() is deprecated

- Idle hooks to reset are now registered/deregistered when the idle tasks are
  added/deleted from the Task Watchdog instead of at Task Watchdog init/deinit

- Updated example
2017-11-02 16:47:51 +08:00

415 lines
15 KiB
C

// 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/FreeRTOSConfig.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"
#include "esp_intr.h"
#include "esp_intr_alloc.h"
#include "esp_attr.h"
#include "esp_freertos_hooks.h"
#include "soc/timer_group_struct.h"
#include "soc/timer_group_reg.h"
#include "esp_log.h"
#include "driver/timer.h"
#include "esp_task_wdt.h"
//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
//Structure used for each subscribed task
typedef struct twdt_task_t twdt_task_t;
struct twdt_task_t {
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()
{
//All tasks have reset; time to reset the hardware timer.
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0;
//Clear all has_reset flags in list
for (twdt_task_t *task = twdt_config->list; task != NULL; task = task->next){
task->has_reset=false;
}
}
/*
* 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(&twdt_spinlock);
twdt_task_t *twdttask;
const char *cpu;
//Reset hardware timer so that 2nd stage timeout is not reached (will trigger system reset)
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0;
//Acknowledge interrupt
TIMERG0.int_clr_timers.wdt=1;
//We are taking a spinlock while doing I/O (ets_printf) 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.
ets_printf("Task watchdog got triggered. The following tasks did not reset the watchdog in time:\n");
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");
if (xTaskGetAffinity(twdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
ets_printf(" - %s (%s)\n", pcTaskGetTaskName(twdttask->task_handle), cpu);
}
}
ets_printf(DRAM_STR("Tasks currently running:\n"));
for (int x=0; x<portNUM_PROCESSORS; x++) {
ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
}
if (twdt_config->panic){ //Trigger Panic if configured to do so
ets_printf("Aborting.\n");
portEXIT_CRITICAL(&twdt_spinlock);
abort();
}
portEXIT_CRITICAL(&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
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
TIMERG0.wdt_config0.sys_reset_length=7; //3.2uS
TIMERG0.wdt_config0.cpu_reset_length=7; //3.2uS
TIMERG0.wdt_config0.level_int_en=1;
TIMERG0.wdt_config0.stg0=TIMG_WDT_STG_SEL_INT; //1st stage timeout: interrupt
TIMERG0.wdt_config0.stg1=TIMG_WDT_STG_SEL_RESET_SYSTEM; //2nd stage timeout: reset system
TIMERG0.wdt_config1.clk_prescale=80*500; //Prescaler: wdt counts in ticks of 0.5mS
TIMERG0.wdt_config2=twdt_config->timeout*2000; //Set timeout before interrupt
TIMERG0.wdt_config3=twdt_config->timeout*4000; //Set timeout before reset
TIMERG0.wdt_config0.en=1;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0; //Enable write protection
}else{ //twdt_config previously initialized
//Reconfigure task wdt
twdt_config->panic = panic;
twdt_config->timeout = timeout;
//Reconfigure hardware timer
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
TIMERG0.wdt_config0.en=0; //Disable timer
TIMERG0.wdt_config2=twdt_config->timeout*2000; //Set timeout before interrupt
TIMERG0.wdt_config3=twdt_config->timeout*4000; //Set timeout before reset
TIMERG0.wdt_config0.en=1; //Renable timer
TIMERG0.wdt_feed=1; //Reset timer
TIMERG0.wdt_wprotect=0; //Enable write protection
}
portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_deinit()
{
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
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
TIMERG0.wdt_config0.en=0; //Disable timer
TIMERG0.wdt_wprotect=0; //Enable write protection
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
}
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();
}
portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
return ESP_OK;
}
esp_err_t esp_task_wdt_reset()
{
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();
}
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
}
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;
}
void esp_task_wdt_feed()
{
portENTER_CRITICAL(&twdt_spinlock);
//Return immediately if TWDT has not been initialized
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), VOID_RETURN);
//Check if task is on list
TaskHandle_t handle = xTaskGetCurrentTaskHandle();
bool all_reset;
twdt_task_t *target_task = find_task_in_twdt_list(handle, &all_reset);
//reset the task if it's on the list, then return
if(target_task != NULL){
target_task->has_reset = true;
if(all_reset){
reset_hw_timer(); //Reset hardware timer if all other tasks have reset
}
portEXIT_CRITICAL(&twdt_spinlock);
return;
}
//Add task if it's has not on list
target_task = calloc(1, sizeof(twdt_task_t));
ASSERT_EXIT_CRIT_RETURN((target_task != NULL), VOID_RETURN); //If calloc failed
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 wdt task list
}
task->next = target_task;
}
portEXIT_CRITICAL(&twdt_spinlock);
}