esp-idf/components/esp_system/panic.c

/*
 * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#include <stdlib.h>
#include <string.h>

#include "esp_macros.h"
#include "esp_err.h"
#include "esp_attr.h"
#include "esp_compiler.h"

#include "esp_private/system_internal.h"
#include "esp_private/usb_console.h"

#include "esp_cpu.h"
#include "soc/rtc.h"
#include "hal/timer_hal.h"
#include "hal/wdt_types.h"
#include "hal/wdt_hal.h"
#include "hal/mwdt_ll.h"
#include "esp_private/esp_int_wdt.h"

#include "esp_private/panic_internal.h"
#include "port/panic_funcs.h"
#include "esp_rom_sys.h"

#include "sdkconfig.h"

#if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
#if __has_include("esp_app_desc.h")
#define WITH_ELF_SHA256
#include "esp_app_desc.h"
#endif
#endif // CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT

#if CONFIG_ESP_COREDUMP_ENABLE
#include "esp_core_dump.h"
#endif

#if CONFIG_APPTRACE_ENABLE
#include "esp_app_trace.h"
#if CONFIG_APPTRACE_SV_ENABLE
#include "SEGGER_RTT.h"
#endif

#if CONFIG_APPTRACE_ONPANIC_HOST_FLUSH_TMO == -1
#define APPTRACE_ONPANIC_HOST_FLUSH_TMO   ESP_APPTRACE_TMO_INFINITE
#else
#define APPTRACE_ONPANIC_HOST_FLUSH_TMO   (1000*CONFIG_APPTRACE_ONPANIC_HOST_FLUSH_TMO)
#endif
#endif // CONFIG_APPTRACE_ENABLE

#if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
#include "hal/uart_hal.h"
#endif

#if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
#include "esp_gdbstub.h"
#endif

#if CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG || CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG
#include "hal/usb_serial_jtag_ll.h"
#endif

#ifdef __XTENSA__
#include "xtensa/semihosting.h"
#elif __riscv
#include "riscv/semihosting.h"
#endif

#define ESP_SEMIHOSTING_SYS_PANIC_REASON    0x116

#define MWDT_DEFAULT_TICKS_PER_US       500

bool g_panic_abort = false;
char *g_panic_abort_details = NULL;

static wdt_hal_context_t rtc_wdt_ctx = RWDT_HAL_CONTEXT_DEFAULT();

#if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT

#if CONFIG_ESP_CONSOLE_UART
static uart_hal_context_t s_panic_uart = { .dev = CONFIG_ESP_CONSOLE_UART_NUM == 0 ? &UART0 :&UART1 };

static void panic_print_char_uart(const char c)
{
    uint32_t sz = 0;
    while (!uart_hal_get_txfifo_len(&s_panic_uart));
    uart_hal_write_txfifo(&s_panic_uart, (uint8_t *) &c, 1, &sz);
}
#endif // CONFIG_ESP_CONSOLE_UART

#if CONFIG_ESP_CONSOLE_USB_CDC
static void panic_print_char_usb_cdc(const char c)
{
    esp_usb_console_write_buf(&c, 1);
    /* result ignored */
}
#endif // CONFIG_ESP_CONSOLE_USB_CDC

#if CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG || CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG
//Timeout; if there's no host listening, the txfifo won't ever
//be writable after the first packet.

#define USBSERIAL_TIMEOUT_MAX_US 50000
static int s_usbserial_timeout = 0;

static void panic_print_char_usb_serial_jtag(const char c)
{
    while (!usb_serial_jtag_ll_txfifo_writable() && s_usbserial_timeout < (USBSERIAL_TIMEOUT_MAX_US / 100)) {
        esp_rom_delay_us(100);
        s_usbserial_timeout++;
    }
    if (usb_serial_jtag_ll_txfifo_writable()) {
        usb_serial_jtag_ll_write_txfifo((const uint8_t *)&c, 1);
        s_usbserial_timeout = 0;
    }
}
#endif //CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG || CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG

void panic_print_char(const char c)
{
#if CONFIG_ESP_CONSOLE_UART
    panic_print_char_uart(c);
#endif
#if CONFIG_ESP_CONSOLE_USB_CDC
    panic_print_char_usb_cdc(c);
#endif
#if CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG || CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG
    panic_print_char_usb_serial_jtag(c);
#endif
}

void panic_print_str(const char *str)
{
    for (int i = 0; str[i] != 0; i++) {
        panic_print_char(str[i]);
    }
}

void panic_print_hex(int h)
{
    int x;
    int c;
    // Does not print '0x', only the digits (8 digits to print)
    for (x = 0; x < 8; x++) {
        c = (h >> 28) & 0xf; // extract the leftmost byte
        if (c < 10) {
            panic_print_char('0' + c);
        } else {
            panic_print_char('a' + c - 10);
        }
        h <<= 4; // move the 2nd leftmost byte to the left, to be extracted next
    }
}

void panic_print_dec(int d)
{
    // can print at most 2 digits!
    int n1, n2;
    n1 = d % 10; // extract ones digit
    n2 = d / 10; // extract tens digit
    if (n2 == 0) {
        panic_print_char(' ');
    } else {
        panic_print_char(n2 + '0');
    }
    panic_print_char(n1 + '0');
}
#endif  // CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT

/*
  If watchdogs are enabled, the panic handler runs the risk of getting aborted pre-emptively because
  an overzealous watchdog decides to reset it. On the other hand, if we disable all watchdogs, we run
  the risk of somehow halting in the panic handler and not resetting. That is why this routine kills
  all watchdogs except the timer group 0 watchdog, and it reconfigures that to reset the chip after
  one second.

  We have to do this before we do anything that might cause issues in the WDT interrupt handlers,
  for example stalling the other core on ESP32 may cause the ESP32_ECO3_CACHE_LOCK_FIX
  handler to get stuck.
*/
void esp_panic_handler_reconfigure_wdts(uint32_t timeout_ms)
{
    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
#if SOC_TIMER_GROUPS >= 2
    // IDF-3825
    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
#endif

    //Todo: Refactor to use Interrupt or Task Watchdog API, and a system level WDT context
    //Reconfigure TWDT (Timer Group 0)
    wdt_hal_init(&wdt0_context, WDT_MWDT0, MWDT_LL_DEFAULT_CLK_PRESCALER, false); //Prescaler: wdt counts in ticks of TG0_WDT_TICK_US
    wdt_hal_write_protect_disable(&wdt0_context);
    wdt_hal_config_stage(&wdt0_context, 0, timeout_ms * 1000 / MWDT_DEFAULT_TICKS_PER_US, WDT_STAGE_ACTION_RESET_SYSTEM); //1 second before reset
    wdt_hal_enable(&wdt0_context);
    wdt_hal_write_protect_enable(&wdt0_context);

#if SOC_TIMER_GROUPS >= 2
    //Disable IWDT (Timer Group 1)
    wdt_hal_write_protect_disable(&wdt1_context);
    wdt_hal_disable(&wdt1_context);
    wdt_hal_write_protect_enable(&wdt1_context);
#endif
}

/*
  This disables all the watchdogs for when we call the gdbstub.
*/
static inline void disable_all_wdts(void)
{
    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
#if SOC_TIMER_GROUPS >= 2
    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
#endif

    //Todo: Refactor to use Interrupt or Task Watchdog API, and a system level WDT context
    //Task WDT is the Main Watchdog Timer of Timer Group 0
    wdt_hal_write_protect_disable(&wdt0_context);
    wdt_hal_disable(&wdt0_context);
    wdt_hal_write_protect_enable(&wdt0_context);

#if SOC_TIMER_GROUPS >= 2
    //Interrupt WDT is the Main Watchdog Timer of Timer Group 1
    wdt_hal_write_protect_disable(&wdt1_context);
    wdt_hal_disable(&wdt1_context);
    wdt_hal_write_protect_enable(&wdt1_context);
#endif
}

static void print_abort_details(const void *f)
{
    panic_print_str(g_panic_abort_details);
}

// Control arrives from chip-specific panic handler, environment prepared for
// the 'main' logic of panic handling. This means that chip-specific stuff have
// already been done, and panic_info_t has been filled.
void esp_panic_handler(panic_info_t *info)
{
    // The port-level panic handler has already called this, but call it again
    // to reset the TG0WDT period
    esp_panic_handler_reconfigure_wdts(1000);

    // If the exception was due to an abort, override some of the panic info
    if (g_panic_abort) {
        info->description = NULL;
        info->details = g_panic_abort_details ? print_abort_details : NULL;
        info->reason = NULL;
        info->exception = PANIC_EXCEPTION_ABORT;
    }

    /*
      * For any supported chip, the panic handler prints the contents of panic_info_t in the following format:
      *
      *
      * Guru Meditation Error: Core <core> (<exception>). <description>
      * <details>
      *
      * <state>
      *
      * <elf_info>
      *
      *
      * ----------------------------------------------------------------------------------------
      * core - core where exception was triggered
      * exception - what kind of exception occurred
      * description - a short description regarding the exception that occurred
      * details - more details about the exception
      * state - processor state like register contents, and backtrace
      * elf_info - details about the image currently running
      *
      * NULL fields in panic_info_t are not printed.
      *
      * */
    if (info->reason) {
        panic_print_str("Guru Meditation Error: Core ");
        panic_print_dec(info->core);
        panic_print_str(" panic'ed (");
        panic_print_str(info->reason);
        panic_print_str("). ");
    }

    if (info->description) {
        panic_print_str(info->description);
    }

    panic_print_str("\r\n");

    PANIC_INFO_DUMP(info, details);

    panic_print_str("\r\n");

    // If on-chip-debugger is attached, and system is configured to be aware of this,
    // then only print up to details. Users should be able to probe for the other information
    // in debug mode.
#if CONFIG_ESP_DEBUG_OCDAWARE
    if (esp_cpu_dbgr_is_attached()) {
        char *panic_reason_str = NULL;
        if (info->pseudo_excause) {
            panic_reason_str = (char *)info->reason;
        } else if (g_panic_abort && strlen(g_panic_abort_details)) {
            panic_reason_str = g_panic_abort_details;
        }
        if (panic_reason_str) {
            /* OpenOCD will print the halt cause when target is stopped at the below breakpoint (info->addr) */
            long args[] = {(long)panic_reason_str, strlen(panic_reason_str)};
            semihosting_call_noerrno(ESP_SEMIHOSTING_SYS_PANIC_REASON, args);
        }
        panic_print_str("Setting breakpoint at 0x");
        panic_print_hex((uint32_t)info->addr);
        panic_print_str(" and returning...\r\n");
        disable_all_wdts();
#if CONFIG_APPTRACE_ENABLE
#if CONFIG_APPTRACE_SV_ENABLE
        SEGGER_RTT_ESP_FlushNoLock(CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH, APPTRACE_ONPANIC_HOST_FLUSH_TMO);
#else
        esp_apptrace_flush_nolock(ESP_APPTRACE_DEST_TRAX, CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH,
                                  APPTRACE_ONPANIC_HOST_FLUSH_TMO);
#endif
#endif

        esp_cpu_set_breakpoint(0, info->addr); // use breakpoint 0
        return;
    }
#endif //CONFIG_ESP_DEBUG_OCDAWARE
    // start panic WDT to restart system if we hang in this handler
    if (!wdt_hal_is_enabled(&rtc_wdt_ctx)) {
        wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
        uint32_t stage_timeout_ticks = (uint32_t)(7000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
        wdt_hal_write_protect_disable(&rtc_wdt_ctx);
        wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
        // 64KB of core dump data (stacks of about 30 tasks) will produce ~85KB base64 data.
        // @ 115200 UART speed it will take more than 6 sec to print them out.
        wdt_hal_enable(&rtc_wdt_ctx);
        wdt_hal_write_protect_enable(&rtc_wdt_ctx);

    }

    esp_panic_handler_reconfigure_wdts(1000); // Restart WDT again

    PANIC_INFO_DUMP(info, state);
    panic_print_str("\r\n");

    /* No matter if we come here from abort or an exception, this variable must be reset.
     * Else, any exception/error occurring during the current panic handler would considered
     * an abort. Do this after PANIC_INFO_DUMP(info, state) as it also checks this variable.
     * For example, if coredump triggers a stack overflow and this variable is not reset,
     * the second panic would be still be marked as the result of an abort, even the previous
     * message reason would be kept. */
    g_panic_abort = false;

#ifdef WITH_ELF_SHA256
    panic_print_str("\r\nELF file SHA256: ");
    panic_print_str(esp_app_get_elf_sha256_str());
    panic_print_str("\r\n");
#endif // WITH_ELF_SHA256

    panic_print_str("\r\n");

#if CONFIG_APPTRACE_ENABLE
    disable_all_wdts();
#if CONFIG_APPTRACE_SV_ENABLE
    SEGGER_RTT_ESP_FlushNoLock(CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH, APPTRACE_ONPANIC_HOST_FLUSH_TMO);
#else
    esp_apptrace_flush_nolock(ESP_APPTRACE_DEST_TRAX, CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH,
                              APPTRACE_ONPANIC_HOST_FLUSH_TMO);
#endif
    esp_panic_handler_reconfigure_wdts(1000); // restore WDT config
#endif // CONFIG_APPTRACE_ENABLE

#if CONFIG_ESP_COREDUMP_ENABLE
    static bool s_dumping_core;
    if (s_dumping_core) {
        panic_print_str("Re-entered core dump! Exception happened during core dump!\r\n");
    } else {
        disable_all_wdts();
        s_dumping_core = true;
        esp_core_dump_write(info);
        s_dumping_core = false;
        esp_panic_handler_reconfigure_wdts(1000);
    }
#endif /* CONFIG_ESP_COREDUMP_ENABLE */

#if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
    disable_all_wdts();
    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
    wdt_hal_disable(&rtc_wdt_ctx);
    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
    panic_print_str("Entering gdb stub now.\r\n");
    esp_gdbstub_panic_handler((void *)info->frame);
#else
#if CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS
    // start RTC WDT if it hasn't been started yet and set the timeout to more than the delay time
    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
    uint32_t stage_timeout_ticks = (uint32_t)(((CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS + 1) * 1000
                                               * rtc_clk_slow_freq_get_hz()) / 1000ULL);
    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
    // 64KB of core dump data (stacks of about 30 tasks) will produce ~85KB base64 data.
    // @ 115200 UART speed it will take more than 6 sec to print them out.
    wdt_hal_enable(&rtc_wdt_ctx);
    wdt_hal_write_protect_enable(&rtc_wdt_ctx);

    esp_panic_handler_reconfigure_wdts((CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS + 1) * 1000);

    panic_print_str("Rebooting in ");
    panic_print_dec(CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS);
    panic_print_str(" seconds...\r\n");

    esp_rom_delay_us(CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS * 1000000);

    esp_panic_handler_reconfigure_wdts(1000);
#endif /* CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS */

    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
    wdt_hal_disable(&rtc_wdt_ctx);
    wdt_hal_write_protect_enable(&rtc_wdt_ctx);

#if CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT

    if (esp_reset_reason_get_hint() == ESP_RST_UNKNOWN) {
        switch (info->exception) {
        case PANIC_EXCEPTION_IWDT:
            esp_reset_reason_set_hint(ESP_RST_INT_WDT);
            break;
        case PANIC_EXCEPTION_TWDT:
            esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
            break;
        case PANIC_EXCEPTION_ABORT:
        case PANIC_EXCEPTION_FAULT:
        default:
            esp_reset_reason_set_hint(ESP_RST_PANIC);
            break; // do not touch the previously set reset reason hint
        }
    }

    panic_print_str("Rebooting...\r\n");
    panic_restart();
#else /* CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT */
    disable_all_wdts();
    panic_print_str("CPU halted.\r\n");
    esp_system_reset_modules_on_exit();
    ESP_INFINITE_LOOP();
#endif /* CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT */
#endif /* CONFIG_ESP_SYSTEM_PANIC_GDBSTUB */
}

void IRAM_ATTR __attribute__((noreturn, no_sanitize_undefined)) panic_abort(const char *details)
{
    g_panic_abort = true;
    g_panic_abort_details = (char *) details;

#if CONFIG_APPTRACE_ENABLE
#if CONFIG_APPTRACE_SV_ENABLE
    SEGGER_RTT_ESP_FlushNoLock(CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH, APPTRACE_ONPANIC_HOST_FLUSH_TMO);
#else
    esp_apptrace_flush_nolock(ESP_APPTRACE_DEST_TRAX, CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH,
                              APPTRACE_ONPANIC_HOST_FLUSH_TMO);
#endif
#endif

#ifdef __XTENSA__
    asm("ill");     // should be an invalid operation on xtensa targets
#elif __riscv
    asm("unimp");   // should be an invalid operation on RISC-V targets
#endif

    ESP_INFINITE_LOOP();
}

/* Weak versions of reset reason hint functions.
 * If these weren't provided, reset reason code would be linked into the app
 * even if the app never called esp_reset_reason().
 */
void IRAM_ATTR __attribute__((weak)) esp_reset_reason_set_hint(esp_reset_reason_t hint)
{
}

esp_reset_reason_t IRAM_ATTR  __attribute__((weak)) esp_reset_reason_get_hint(void)
{
    return ESP_RST_UNKNOWN;
}