// 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 <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 "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"
-#if CONFIG_TASK_WDT
+//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; \
+ } \
+})
-static const char* TAG = "task_wdt";
+//Empty define used in ASSERT_EXIT_CRIT_RETURN macro when returning in void
+#define VOID_RETURN
-typedef struct wdt_task_t wdt_task_t;
-struct wdt_task_t {
+//Structure used for each subscribed task
+typedef struct twdt_task_t twdt_task_t;
+struct twdt_task_t {
TaskHandle_t task_handle;
- bool fed_watchdog;
- wdt_task_t *next;
+ bool has_reset;
+ twdt_task_t *next;
};
-static wdt_task_t *wdt_task_list=NULL;
-static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
+//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;
+ }
+}
-static void task_wdt_isr(void *arg) {
- wdt_task_t *wdttask;
+/*
+ * 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;
- //Feed the watchdog so we do not 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.
- portENTER_CRITICAL(&taskwdt_spinlock);
- if (!wdt_task_list) {
- //No task on list. Maybe none registered yet.
- 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_task_list; wdttask!=NULL; wdttask=wdttask->next) {
- if (!wdttask->fed_watchdog) {
- 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 CONFIG_TASK_WDT_PANIC
- ets_printf("Aborting.\n");
- abort();
-#endif
- portEXIT_CRITICAL(&taskwdt_spinlock);
+ if (twdt_config->panic){ //Trigger Panic if configured to do so
+ ets_printf("Aborting.\n");
+ portEXIT_CRITICAL(&twdt_spinlock);
+ esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
+ 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
+ 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.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
-void esp_task_wdt_feed() {
- wdt_task_t *wdttask=wdt_task_list;
- bool found_task=false, do_feed_wdt=true;
- TaskHandle_t handle=xTaskGetCurrentTaskHandle();
- portENTER_CRITICAL(&taskwdt_spinlock);
+ }else{ //twdt_config previously initialized
+ //Reconfigure task wdt
+ twdt_config->panic = panic;
+ twdt_config->timeout = timeout;
- //Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
- //the real watchdog timer.
- for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
- //See if we are at the current task.
- if (wdttask->task_handle == handle) {
- wdttask->fed_watchdog=true;
- found_task=true;
+ //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
}
- //If even one task in the list doesn't have the do_feed_wdt var set, we do not feed the watchdog.
- if (!wdttask->fed_watchdog) do_feed_wdt=false;
- }
-
- if (!found_task) {
- //This is the first time the task calls the task_wdt_feed function. Create a new entry for it in
- //the linked list.
- wdt_task_t *newtask=malloc(sizeof(wdt_task_t));
- memset(newtask, 0, sizeof(wdt_task_t));
- newtask->task_handle=handle;
- newtask->fed_watchdog=true;
- if (wdt_task_list == NULL) {
- wdt_task_list=newtask;
- } else {
- for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) ;
- wdttask->next=newtask;
+ 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 (do_feed_wdt) {
- //All tasks have checked in; time to feed the hw watchdog.
- TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
- TIMERG0.wdt_feed=1;
- TIMERG0.wdt_wprotect=0;
- //Reset fed_watchdog status
- for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
+
+ if(all_reset){ //Reset hardware timer if all other tasks in list have reset in
+ reset_hw_timer();
}
- portEXIT_CRITICAL(&taskwdt_spinlock);
+
+ portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
+ return ESP_OK;
}
-void esp_task_wdt_delete() {
- TaskHandle_t handle=xTaskGetCurrentTaskHandle();
- wdt_task_t *wdttask=wdt_task_list;
- portENTER_CRITICAL(&taskwdt_spinlock);
+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);
- //Wdt task list can't be empty
- if (!wdt_task_list) {
- ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
- portEXIT_CRITICAL(&taskwdt_spinlock);
- return;
+ 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();
}
- if (handle==wdt_task_list) {
- //Current task is first on list.
- wdt_task_list=wdt_task_list->next;
- free(wdttask);
- } else {
- //Find current task in list
- if (wdt_task_list->task_handle==handle) {
- //Task is the very first one.
- wdt_task_t *freeme=wdt_task_list;
- wdt_task_list=wdt_task_list->next;
- free(freeme);
- portEXIT_CRITICAL(&taskwdt_spinlock);
- return;
+
+ 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
}
- while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
- if (!wdttask->next) {
- ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
- portEXIT_CRITICAL(&taskwdt_spinlock);
- return;
+ 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;
}
- wdt_task_t *freeme=wdttask->next;
- wdttask->next=wdttask->next->next;
- free(freeme);
}
- portEXIT_CRITICAL(&taskwdt_spinlock);
+
+ 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();
+ }
-#if CONFIG_TASK_WDT_CHECK_IDLE_TASK
-static bool idle_hook(void) {
-#if !CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
- if (xPortGetCoreID()!=0) return true;
-#endif
- esp_task_wdt_feed();
- return true;
+ 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;
}
-#endif
+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);
-void esp_task_wdt_init() {
- TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
- 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=CONFIG_TASK_WDT_TIMEOUT_S*2000; //Set timeout before interrupt
- TIMERG0.wdt_config3=CONFIG_TASK_WDT_TIMEOUT_S*4000; //Set timeout before reset
- TIMERG0.wdt_config0.en=1;
- TIMERG0.wdt_feed=1;
- TIMERG0.wdt_wprotect=0;
-#if CONFIG_TASK_WDT_CHECK_IDLE_TASK
- esp_register_freertos_idle_hook(idle_hook);
-#endif
- ESP_ERROR_CHECK( esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, NULL) );
+ //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);
}
-#endif
projects / esp-idf / blobdiff