// 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
// See the License for the specific language governing permissions and
// limitations under the License.
-
-
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include "esp_err.h"
#include "esp_intr.h"
#include "esp_intr_alloc.h"
-#include "esp_ipc.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 "driver/periph_ctrl.h"
#include "esp_task_wdt.h"
+#include "esp_system_internal.h"
-//Assertion macro that exits from critical section and returns 'ret'
-#define ASSERT_EXIT_CRIT_RET_ERR(cond, ret) ({ \
+//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(&taskwdt_spinlock); \
+ portEXIT_CRITICAL(&twdt_spinlock); \
return ret; \
} \
})
-typedef struct wdt_task_t wdt_task_t;
-struct wdt_task_t {
+//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 fed;
- wdt_task_t *next;
+ bool has_reset;
+ twdt_task_t *next;
};
-typedef struct task_wdt_config_t task_wdt_config_t;
-struct task_wdt_config_t {
- wdt_task_t *list;
- uint32_t timeout;
- bool panic;
- bool idle_enable[portNUM_PROCESSORS];
- TaskHandle_t idle_handles[portNUM_PROCESSORS];
+//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 task_wdt_config_t *wdt_config = NULL;
-static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
+static twdt_config_t *twdt_config = NULL;
+static portMUX_TYPE twdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
/*
- * Internal function that checks the list for target task. Returns the list item
- * if found and returns null if not found. Also checks if the all the other
- * tasks have checked in. Called within critical.
+ * 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 wdt_task_t *check_list(TaskHandle_t handle, bool *checked)
+static bool idle_hook_cb(void)
{
- wdt_task_t *target = NULL;
- *checked = true;
- for(wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
+ 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->fed == false){ //If a task has yet to check in
- *checked = false;
+ if(task->has_reset == false){ //If a task has yet to reset
+ *all_reset = false;
}
}
}
}
/*
- * Resets the wdt and fed flags of each task on the list. Called within critical
+ * Resets the hardware timer and has_reset flags of each task on the list.
+ * Called within critical
*/
-static void feed_wdt()
+static void reset_hw_timer()
{
- //All tasks have checked in; time to feed the hw watchdog.
+ //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;
- //Reset fed flags on all tasks in list
- for (wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
- task->fed=false;
+ //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 wdt expires. Checks for which tasks have not fed. Trigger panic
- * if configured to do so in initialization
+ * 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(&taskwdt_spinlock);
- wdt_task_t *wdttask;
+ portENTER_CRITICAL(&twdt_spinlock);
+ twdt_task_t *twdttask;
const char *cpu;
- //Feed the watchdog so we don't reset
+ //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;
- //Ack interrupt
+ //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.
- if (!wdt_config->list) { //No tasks on list
- portEXIT_CRITICAL(&taskwdt_spinlock);
- return;
- }
- //Watchdog got triggered because at least one task did not report in.
- ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
- for (wdttask=wdt_config->list; wdttask!=NULL; wdttask=wdttask->next) {
- if (!wdttask->fed) {
- cpu=xTaskGetAffinity(wdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
- if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
- ets_printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
+
+ //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"));
ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
}
- if (wdt_config->panic){
+ if (twdt_config->panic){ //Trigger Panic if configured to do so
ets_printf("Aborting.\n");
- portEXIT_CRITICAL(&taskwdt_spinlock);
+ portEXIT_CRITICAL(&twdt_spinlock);
+ esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
abort();
}
- portEXIT_CRITICAL(&taskwdt_spinlock);
+ portEXIT_CRITICAL(&twdt_spinlock);
}
/*
- * Idle hook for Idle Task to feed the wdt. Will only call feed if the idle task
- * of that core has been added to wdt task list.
- */
-static bool idle_hook(void)
-{
- uint32_t core_id = xPortGetCoreID();
- if (wdt_config->idle_enable[core_id]){
- esp_task_wdt_feed();
- }
- return true;
-}
-
-/*
- * Initializes the task watchdog timer by allocating memory for the config data
+ * 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(&taskwdt_spinlock);
- if(wdt_config == NULL){ //wdt not initialized yet
- //Allocate memory for wdt_config
- wdt_config = calloc(1, sizeof(task_wdt_config_t));
- ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_NO_MEM);
-
- wdt_config->list = NULL;
- wdt_config->timeout = timeout;
- wdt_config->panic = panic;
-
- //Get idle task handles
- for(int i = 0; i < portNUM_PROCESSORS; i++){
- wdt_config->idle_handles[i] = xTaskGetIdleTaskHandleForCPU( i );
- wdt_config->idle_enable[i] = false;
- }
+ 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 Idle Hook and Interrupts
- esp_register_freertos_idle_hook(idle_hook);
- ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &wdt_config->intr_handle))
+ //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);
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.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=wdt_config->timeout*2; //Set timeout before interrupt
- TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
+ 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{ //wdt_config previously initialized
+ }else{ //twdt_config previously initialized
//Reconfigure task wdt
- wdt_config->panic = panic;
- wdt_config->timeout = timeout;
+ 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=wdt_config->timeout*2; //Set timeout before interrupt
- TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
+ 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(&taskwdt_spinlock);
+ portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_deinit()
{
- portENTER_CRITICAL(&taskwdt_spinlock);
- //wdt must already be initialized
- ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
+ 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_RET_ERR((wdt_config->list == NULL), ESP_ERR_INVALID_STATE);
+ 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_deregister_freertos_idle_hook(idle_hook); //deregister idle hook
- ESP_ERROR_CHECK(esp_intr_free(wdt_config->intr_handle)) //Unregister interrupt
- free(wdt_config); //Free wdt_config
- wdt_config = NULL;
- portEXIT_CRITICAL(&taskwdt_spinlock);
+ 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(&taskwdt_spinlock); //Nested critical in Legacy (called from feed)
-#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
- wdt_task_t *target_task;
-#else
- //Return error if wdt has not been initialized
- ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
-
- wdt_task_t *target_task;
- bool all_fed;
+ 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 checked in
- target_task = check_list(handle, &all_fed);
- //Return error if task has already been added
- ASSERT_EXIT_CRIT_RET_ERR((target_task == NULL), ESP_ERR_INVALID_ARG);
-#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
- //Add task to wdt list
- target_task = calloc(1,sizeof(wdt_task_t));
- //Return error if calloc failed
- ASSERT_EXIT_CRIT_RET_ERR((target_task != NULL), ESP_ERR_NO_MEM);
-
+ //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->fed = true;
+ target_task->has_reset = true;
target_task->next = NULL;
- if (wdt_config->list == NULL) { //Adding to empty list
- wdt_config->list = target_task;
+ if (twdt_config->list == NULL) { //Adding to empty list
+ twdt_config->list = target_task;
} else { //Adding to tail of list
- wdt_task_t *task;
- for (task = wdt_config->list; task->next != NULL; task = task->next){
- ; //point task to current tail of wdt task 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, set idle_enable flag
+ //If idle task, register the idle hook callback to appropriate core
for(int i = 0; i < portNUM_PROCESSORS; i++){
- if(handle == wdt_config->idle_handles[i]){
- wdt_config->idle_enable[i] = true;
+ if(handle == xTaskGetIdleTaskHandleForCPU(i)){
+ ESP_ERROR_CHECK(esp_register_freertos_idle_hook_for_cpu(idle_hook_cb, i))
break;
}
}
-#ifndef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
- if(all_fed){ //Reset if all other tasks in list have checked in
- feed_wdt();
+ if(all_reset){ //Reset hardware timer if all other tasks in list have reset in
+ reset_hw_timer();
}
-#endif
- portEXIT_CRITICAL(&taskwdt_spinlock); //Nested critical if Legacy
+
+ portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
return ESP_OK;
}
-esp_err_t esp_task_wdt_feed()
+esp_err_t esp_task_wdt_reset()
{
- portENTER_CRITICAL(&taskwdt_spinlock);
- //Return error if wdt has not been initialized
- ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
+ portENTER_CRITICAL(&twdt_spinlock);
+ //TWDT must already be initialized
+ ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
TaskHandle_t handle = xTaskGetCurrentTaskHandle();
- wdt_task_t *target_task;
- bool all_fed;
-
- //Check if tasks exists in task list, and if all other tasks have checked in
- target_task = check_list(handle, &all_fed);
-
- if(target_task == NULL){
-#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
- //Add task to wdt task list if it doesn't exist, return error if failed to add
- ASSERT_EXIT_CRIT_RET_ERR((esp_task_wdt_add(handle) == ESP_OK), ESP_ERR_NO_MEM);
-#else
- portEXIT_CRITICAL(&taskwdt_spinlock);
- return ESP_ERR_INVALID_STATE; //Return error if task does not exist
-#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
- }else{
- target_task->fed = true; //Feed the task
- }
+ twdt_task_t *target_task;
+ bool all_reset;
- if(all_fed){ //Reset if all other tasks in list have checked in
- feed_wdt();
+ //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(&taskwdt_spinlock);
+ portEXIT_CRITICAL(&twdt_spinlock);
return ESP_OK;
}
-#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
-esp_err_t esp_task_wdt_delete()
-{
- TaskHandle_t handle = xTaskGetCurrentTaskHandle();
-#else
esp_err_t esp_task_wdt_delete(TaskHandle_t handle)
{
if(handle == NULL){
handle = xTaskGetCurrentTaskHandle();
}
-#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
- portENTER_CRITICAL(&taskwdt_spinlock);
- //Return error if wdt has not been initialized
- ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
- wdt_task_t *target_task;
- bool all_fed;
-
- target_task = check_list(handle, &all_fed);
+ 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_RET_ERR((target_task != NULL), ESP_ERR_INVALID_ARG);
+ ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_INVALID_ARG);
- if(target_task == wdt_config->list){ //target_task is head of list. Delete
- wdt_config->list = target_task->next;
+ 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
- wdt_task_t *prev;
- for (prev = wdt_config->list; prev->next != target_task; prev = prev->next){
+ 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, disable idle_enable flag
+ //If idle task, deregister idle hook callback form appropriate core
for(int i = 0; i < portNUM_PROCESSORS; i++){
- if(handle == wdt_config->idle_handles[i]){
- wdt_config->idle_enable[i] = false;
+ if(handle == xTaskGetIdleTaskHandleForCPU(i)){
+ esp_deregister_freertos_idle_hook_for_cpu(idle_hook_cb, i);
+ break;
}
}
- if(all_fed){ //Reset timer if all remaining tasks have checked in
- feed_wdt();
+ if(all_reset){ //Reset hardware timer if all remaining tasks have reset
+ reset_hw_timer();
}
- portEXIT_CRITICAL(&taskwdt_spinlock);
+ 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);
+}
+
+
projects / esp-idf / blobdiff