Also detect if interrupts on CPU 1 are disabled for too long.
config TASK_WDT
- bool "Task watchdog"
+ bool "Initialize Task Watchdog Timer on startup"
default y
help
- This watchdog timer can be used to make sure individual tasks are still running.
+ The Task Watchdog Timer can be used to make sure individual tasks are still
+ running. Enabling this option will cause the Task Watchdog Timer to be
+ initialized automatically at startup. The Task Watchdog timer can be
+ initialized after startup as well (see Task Watchdog Timer API Reference)
config TASK_WDT_PANIC
- bool "Invoke panic handler when Task Watchdog is triggered"
+ bool "Invoke panic handler on Task Watchdog timeout"
depends on TASK_WDT
default n
help
- Normally, the Task Watchdog will only print out a warning if it detects it has not
- been fed. If this is enabled, it will invoke the panic handler instead, which
- can then halt or reboot the chip.
+ If this option is enabled, the Task Watchdog Timer will be configured to
+ trigger the panic handler when it times out. This can also be configured
+ at run time (see Task Watchdog Timer API Reference)
config TASK_WDT_TIMEOUT_S
- int "Task watchdog timeout (seconds)"
+ int "Task Watchdog timeout period (seconds)"
depends on TASK_WDT
range 1 60
default 5
help
- Timeout for the task WDT, in seconds.
+ Timeout period configuration for the Task Watchdog Timer in seconds.
+ This is also configurable at run time (see Task Watchdog Timer API Reference)
-config TASK_WDT_CHECK_IDLE_TASK
- bool "Task watchdog watches CPU0 idle task"
+config TASK_WDT_CHECK_IDLE_TASK_CPU0
+ bool "Watch CPU0 Idle Task"
depends on TASK_WDT
default y
help
- With this turned on, the task WDT can detect if the idle task is not called within the task
- watchdog timeout period. The idle task not being called usually is a symptom of another
- task hoarding the CPU. It is also a bad thing because FreeRTOS household tasks depend on the
- idle task getting some runtime every now and then. Take Care: With this disabled, this
- watchdog will trigger if no tasks register themselves within the timeout value.
+ If this option is enabled, the Task Watchdog Timer will watch the CPU0
+ Idle Task. Having the Task Watchdog watch the Idle Task allows for detection
+ of CPU starvation as the Idle Task not being called is usually a symptom of
+ CPU starvation. Starvation of the Idle Task is detrimental as FreeRTOS household
+ tasks depend on the Idle Task getting some runtime every now and then.
config TASK_WDT_CHECK_IDLE_TASK_CPU1
- bool "Task watchdog also watches CPU1 idle task"
- depends on TASK_WDT_CHECK_IDLE_TASK && !FREERTOS_UNICORE
+ bool "Watch CPU1 Idle Task"
+ depends on TASK_WDT && !FREERTOS_UNICORE
default y
help
- Also check the idle task that runs on CPU1.
+ If this option is enabled, the Task Wtachdog Timer will wach the CPU1
+ Idle Task.
#The brownout detector code is disabled (by making it depend on a nonexisting symbol) because the current revision of ESP32
#silicon has a bug in the brown-out detector, rendering it unusable for resetting the CPU.
do_global_ctors();
#if CONFIG_INT_WDT
esp_int_wdt_init();
-#endif
-#if CONFIG_TASK_WDT
- esp_task_wdt_init();
#endif
esp_cache_err_int_init();
esp_crosscore_int_init();
#endif
//Enable allocation in region where the startup stacks were located.
heap_caps_enable_nonos_stack_heaps();
+
+ //Initialize task wdt if configured to do so
+#ifdef CONFIG_TASK_WDT_PANIC
+ ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_TASK_WDT_TIMEOUT_S, true))
+#elif CONFIG_TASK_WDT
+ ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_TASK_WDT_TIMEOUT_S, false))
+#endif
+
+ //Add IDLE 0 to task wdt
+#ifdef CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0
+ TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU(0);
+ if(idle_0 != NULL){
+ ESP_ERROR_CHECK(esp_task_wdt_add(idle_0))
+ }
+#endif
+ //Add IDLE 1 to task wdt
+#ifdef CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
+ TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
+ if(idle_1 != NULL){
+ ESP_ERROR_CHECK(esp_task_wdt_add(idle_1))
+ }
+#endif
+
app_main();
vTaskDelete(NULL);
}
return esp_register_freertos_tick_hook_for_cpu(new_tick_cb, xPortGetCoreID());
}
+void esp_deregister_freertos_idle_hook_for_cpu(esp_freertos_idle_cb_t old_idle_cb, UBaseType_t cpuid)
+{
+ portENTER_CRITICAL(&hooks_spinlock);
+ if(cpuid >= portNUM_PROCESSORS){
+ return;
+ }
+ for(int n = 0; n < MAX_HOOKS; n++){
+ if(idle_cb[cpuid][n] == old_idle_cb) idle_cb[cpuid][n] = NULL;
+ }
+ portEXIT_CRITICAL(&hooks_spinlock);
+}
+
void esp_deregister_freertos_idle_hook(esp_freertos_idle_cb_t old_idle_cb)
{
portENTER_CRITICAL(&hooks_spinlock);
for(int m = 0; m < portNUM_PROCESSORS; m++) {
- for(int n = 0; n < MAX_HOOKS; n++){
- if(idle_cb[m][n] == old_idle_cb) idle_cb[m][n] = NULL;
- }
+ esp_deregister_freertos_idle_hook_for_cpu(old_idle_cb, m);
+ }
+ portEXIT_CRITICAL(&hooks_spinlock);
+}
+
+void esp_deregister_freertos_tick_hook_for_cpu(esp_freertos_tick_cb_t old_tick_cb, UBaseType_t cpuid)
+{
+ portENTER_CRITICAL(&hooks_spinlock);
+ if(cpuid >= portNUM_PROCESSORS){
+ return;
+ }
+ for(int n = 0; n < MAX_HOOKS; n++){
+ if(tick_cb[cpuid][n] == old_tick_cb) tick_cb[cpuid][n] = NULL;
}
portEXIT_CRITICAL(&hooks_spinlock);
}
{
portENTER_CRITICAL(&hooks_spinlock);
for(int m = 0; m < portNUM_PROCESSORS; m++){
- for(int n = 0; n < MAX_HOOKS; n++){
- if(tick_cb[m][n] == old_tick_cb) tick_cb[m][n] = NULL;
- }
+ esp_deregister_freertos_tick_hook_for_cpu(old_tick_cb, m);
}
portEXIT_CRITICAL(&hooks_spinlock);
}
*/
esp_err_t esp_register_freertos_tick_hook(esp_freertos_tick_cb_t new_tick_cb);
+/**
+ * @brief Unregister an idle callback from the idle hook of the specified core
+ *
+ * @param[in] old_idle_cb Callback to be unregistered
+ * @param[in] cpuid id of the core
+ */
+void esp_deregister_freertos_idle_hook_for_cpu(esp_freertos_idle_cb_t old_idle_cb, UBaseType_t cpuid);
/**
* @brief Unregister an idle callback. If the idle callback is registered to
*/
void esp_deregister_freertos_idle_hook(esp_freertos_idle_cb_t old_idle_cb);
+/**
+ * @brief Unregister a tick callback from the tick hook of the specified core
+ *
+ * @param[in] old_tick_cb Callback to be unregistered
+ * @param[in] cpuid id of the core
+ */
+void esp_deregister_freertos_tick_hook_for_cpu(esp_freertos_tick_cb_t old_tick_cb, UBaseType_t cpuid);
/**
* @brief Unregister a tick callback. If the tick callback is registered to the
// 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.
-#ifndef __ESP_TASK_WDT_H
-#define __ESP_TASK_WDT_H
+#pragma once
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_err.h"
#ifdef __cplusplus
extern "C" {
#endif
-
-/** \defgroup Watchdog_APIs Watchdog APIs
- * @brief Watchdog APIs
- */
-
-/** @addtogroup Watchdog_APIs
- * @{
+/**
+ * @brief Initialize the Task Watchdog Timer (TWDT)
+ *
+ * This function configures and initializes the TWDT. If the TWDT is already
+ * initialized when this function is called, this function will update the
+ * TWDT's timeout period and panic configurations instead. After initializing
+ * the TWDT, any task can elect to be watched by the TWDT by subscribing to it
+ * using esp_task_wdt_add().
+ *
+ * @param[in] timeout Timeout period of TWDT in seconds
+ * @param[in] panic Flag that controls whether the panic handler will be
+ * executed when the TWDT times out
+ *
+ * @return
+ * - ESP_OK: Initialization was successful
+ * - ESP_ERR_NO_MEM: Initialization failed due to lack of memory
+ *
+ * @note esp_task_wdt_init() must only be called after the scheduler
+ * started
*/
+esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic);
-/*
-This routine enables a more general-purpose task watchdog: tasks can individually
-feed the watchdog and the watchdog will bark if one or more tasks haven't fed the
-watchdog within the specified time. Optionally, the idle tasks can also configured
-to feed the watchdog in a similar fashion, to detect CPU starvation.
-
-This uses the TIMERG0 WDT.
-*/
-
+/**
+ * @brief Deinitialize the Task Watchdog Timer (TWDT)
+ *
+ * This function will deinitialize the TWDT. Calling this function whilst tasks
+ * are still subscribed to the TWDT, or when the TWDT is already deinitialized,
+ * will result in an error code being returned.
+ *
+ * @return
+ * - ESP_OK: TWDT successfully deinitialized
+ * - ESP_ERR_INVALID_STATE: Error, tasks are still subscribed to the TWDT
+ * - ESP_ERR_NOT_FOUND: Error, TWDT has already been deinitialized
+ */
+esp_err_t esp_task_wdt_deinit();
/**
- * @brief Initialize the task watchdog. This is called in the init code, if the
- * task watchdog is enabled in menuconfig.
+ * @brief Subscribe a task to the Task Watchdog Timer (TWDT)
+ *
+ * This function subscribes a task to the TWDT. Each subscribed task must
+ * periodically call esp_task_wdt_reset() to prevent the TWDT from elapsing its
+ * timeout period. Failure to do so will result in a TWDT timeout. If the task
+ * being subscribed is one of the Idle Tasks, this function will automatically
+ * enable esp_task_wdt_reset() to called from the Idle Hook of the Idle Task.
+ * Calling this function whilst the TWDT is uninitialized or attempting to
+ * subscribe an already subscribed task will result in an error code being
+ * returned.
*
+ * @param[in] handle Handle of the task. Input NULL to subscribe the current
+ * running task to the TWDT
+ *
+ * @return
+ * - ESP_OK: Successfully subscribed the task to the TWDT
+ * - ESP_ERR_INVALID_ARG: Error, the task is already subscribed
+ * - ESP_ERR_NO_MEM: Error, could not subscribe the task due to lack of
+ * memory
+ * - ESP_ERR_INVALID_STATE: Error, the TWDT has not been initialized yet
*/
-void esp_task_wdt_init();
+esp_err_t esp_task_wdt_add(TaskHandle_t handle);
/**
- * @brief Feed the watchdog. After the first feeding session, the watchdog will expect the calling
- * task to keep feeding the watchdog until task_wdt_delete() is called.
+ * @brief Reset the Task Watchdog Timer (TWDT) on behalf of the currently
+ * running task
+ *
+ * This function will reset the TWDT on behalf of the currently running task.
+ * Each subscribed task must periodically call this function to prevent the
+ * TWDT from timing out. If one or more subscribed tasks fail to reset the
+ * TWDT on their own behalf, a TWDT timeout will occur. If the IDLE tasks have
+ * been subscribed to the TWDT, they will automatically call this function from
+ * their idle hooks. Calling this function from a task that has not subscribed
+ * to the TWDT, or when the TWDT is uninitialized will result in an error code
+ * being returned.
*
+ * @return
+ * - ESP_OK: Successfully reset the TWDT on behalf of the currently
+ * running task
+ * - ESP_ERR_NOT_FOUND: Error, the current running task has not subscribed
+ * to the TWDT
+ * - ESP_ERR_INVALID_STATE: Error, the TWDT has not been initialized yet
*/
+esp_err_t esp_task_wdt_reset();
-void esp_task_wdt_feed();
-
+/**
+ * @brief Unsubscribes a task from the Task Watchdog Timer (TWDT)
+ *
+ * This function will unsubscribe a task from the TWDT. After being
+ * unsubscribed, the task should no longer call esp_task_wdt_reset(). If the
+ * task is an IDLE task, this function will automatically disable the calling
+ * of esp_task_wdt_reset() from the Idle Hook. Calling this function whilst the
+ * TWDT is uninitialized or attempting to unsubscribe an already unsubscribed
+ * task from the TWDT will result in an error code being returned.
+ *
+ * @param[in] handle Handle of the task. Input NULL to unsubscribe the
+ * current running task.
+ *
+ * @return
+ * - ESP_OK: Successfully unsubscribed the task from the TWDT
+ * - ESP_ERR_INVALID_ARG: Error, the task is already unsubscribed
+ * - ESP_ERR_INVALID_STATE: Error, the TWDT has not been initialized yet
+ */
+esp_err_t esp_task_wdt_delete(TaskHandle_t handle);
/**
- * @brief Delete the watchdog for the current task.
+ * @brief Query whether a task is subscribed to the Task Watchdog Timer (TWDT)
*
+ * This function will query whether a task is currently subscribed to the TWDT,
+ * or whether the TWDT is initialized.
+ *
+ * @param[in] handle Handle of the task. Input NULL to query the current
+ * running task.
+ *
+ * @return:
+ * - ESP_OK: The task is currently subscribed to the TWDT
+ * - ESP_ERR_NOT_FOUND: The task is currently not subscribed to the TWDT
+ * - ESP_ERR_INVALID_STATE: The TWDT is not initialized, therefore no tasks
+ * can be subscribed
*/
-void esp_task_wdt_delete();
+esp_err_t esp_task_wdt_status(TaskHandle_t handle);
/**
- * @}
+ * @brief Reset the TWDT on behalf of the current running task, or
+ * subscribe the TWDT to if it has not done so already
+ *
+ * @warning This function is deprecated, use esp_task_wdt_add() and
+ * esp_task_wdt_reset() instead
+ *
+ * This function is similar to esp_task_wdt_reset() and will reset the TWDT on
+ * behalf of the current running task. However if this task has not subscribed
+ * to the TWDT, this function will automatically subscribe the task. Therefore,
+ * an unsubscribed task will subscribe to the TWDT on its first call to this
+ * function, then proceed to reset the TWDT on subsequent calls of this
+ * function.
*/
+void esp_task_wdt_feed() __attribute__ ((deprecated));
#ifdef __cplusplus
}
#endif
-
-
-
-#endif
\ No newline at end of file
// 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 "esp_task_wdt.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;
+};
+
+//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 wdt_task_t *wdt_task_list=NULL;
-static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
+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;
+}
-static void task_wdt_isr(void *arg) {
- wdt_task_t *wdttask;
+/*
+ * 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;
- //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);
+ 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);
-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);
+ 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);
- //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;
+ //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
*/
TaskHandle_t xTaskGetIdleTaskHandle( void );
+/**
+ * xTaskGetIdleTaskHandleForCPU() is only available if
+ * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
+ *
+ * Simply returns the idle task handle of a given cpu. It is not valid to call
+ * xTaskGetIdleTaskHandleForCPU() before the scheduler has been started.
+ */
+TaskHandle_t xTaskGetIdleTaskHandleForCPU( UBaseType_t cpuid );
+
/**
* configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for
* uxTaskGetSystemState() to be available.
return xIdleTaskHandle[ xPortGetCoreID() ];
}
+ TaskHandle_t xTaskGetIdleTaskHandleForCPU( UBaseType_t cpuid )
+ {
+ TaskHandle_t xReturn = NULL;
+ /* If xTaskGetIdleTaskHandleForCPU() is called before the scheduler has been
+ started, then xIdleTaskHandle will be NULL. */
+ if (cpuid < portNUM_PROCESSORS) {
+ configASSERT( ( xIdleTaskHandle[ cpuid ] != NULL ) );
+ xReturn = xIdleTaskHandle[ cpuid ];
+ }
+ return xReturn;
+ }
+
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/
Overview
--------
-Esp-idf has support for two types of watchdogs: a task watchdog as well as an interrupt watchdog. Both can be
-enabled using ``make menuconfig`` and selecting the appropriate options.
+The ESP-IDF has support for two types of watchdogs: The Interrupt Watchdog Timer
+and the Task Watchdog Timer (TWDT). The Interrupt Watchdog Timer and the TWDT
+can both be enabled using ``make menuconfig``, however the TWDT can also be
+enabled during runtime. The Interrupt Watchdog is responsible for detecting
+instances where FreeRTOS task switching is blocked for a prolonged period of
+time. The TWDT is responsible for detecting instances of tasks running without
+yielding for a prolonged period.
Interrupt watchdog
^^^^^^^^^^^^^^^^^^
cannot execute the NMI handler that invokes the panic handler (e.g. because IRAM is overwritten by garbage),
it will hard-reset the SOC.
-Task watchdog
-^^^^^^^^^^^^^
-
-Any tasks can elect to be watched by the task watchdog. If such a task does not feed the watchdog within the time
-specified by the task watchdog timeout (which is configurable using ``make menuconfig``), the watchdog will
-print out a warning with information about which processes are running on the ESP32 CPUs and which processes
-failed to feed the watchdog.
-
-By default, the task watchdog watches the idle tasks. The usual cause of idle tasks not feeding the watchdog
-is a higher-priority process looping without yielding to the lower-priority processes, and can be an indicator
-of badly-written code that spinloops on a peripheral or a task that is stuck in an infinite loop.
-
-Other task can elect to be watched by the task watchdog by calling ``esp_task_wdt_feed()``. Calling this routine
-for the first time will register the task to the task watchdog; calling it subsequent times will feed
-the watchdog. If a task does not want to be watched anymore (e.g. because it is finished and will call
-``vTaskDelete()`` on itself), it needs to call ``esp_task_wdt_delete()``.
-
-The task watchdog is built around the hardware watchdog in timer group 0. If this watchdog for some reason
-cannot execute the interrupt handler that prints the task data (e.g. because IRAM is overwritten by garbage
-or interrupts are disabled entirely) it will hard-reset the SOC.
+Task Watchdog Timer
+^^^^^^^^^^^^^^^^^^^
+
+The Task Watchdog Timer (TWDT) is responsible for detecting instances of tasks
+running for a prolonged period of time without yielding. This is a symptom of
+CPU starvation and is usually caused by a higher priority task looping without
+yielding to a lower-priority task thus starving the lower priority task from
+CPU time. This can be an indicator of poorly written code that spinloops on a
+peripheral, or a task that is stuck in an infinite loop.
+
+By default the TWDT will watch the Idle Tasks of each CPU, however any task can
+elect to be watched by the TWDT. Each watched task must 'reset' the TWDT
+periodically to indicate that they have been allocated CPU time. If a task does
+not reset within the TWDT timeout period, a warning will be printed with
+information about which tasks failed to reset the TWDT in time and which
+tasks are currently running on the ESP32 CPUs and.
+
+The TWDT is built around the Hardware Watchdog Timer in Timer Group 0. The TWDT
+can be initialized by calling :cpp:func:`esp_task_wdt_init` which will configure
+the hardware timer. A task can then subscribe to the TWDT using
+:cpp:func:`esp_task_wdt_add` in order to be watched. Each subscribed task must
+periodically call :cpp:func:`esp_task_wdt_reset` to reset the TWDT. Failure by
+any subscribed tasks to periodically call :cpp:func:`esp_task_wdt_reset`
+indicates that one or more tasks have been starved of CPU time or are stuck in a
+loop somewhere.
+
+A watched task can be unsubscribed from the TWDT using
+:cpp:func:`esp_task_wdt_delete()`. A task that has been unsubscribed should no
+longer call :cpp:func:`esp_task_wdt_reset`. Once all tasks have unsubscribed
+form the TWDT, the TWDT can be deinitialized by calling
+:cpp:func:`esp_task_wdt_deinit()`.
+
+By default :ref:`CONFIG_TASK_WDT` in ``make menuconfig`` will be enabled causing
+the TWDT to be initialized automatically during startup. Likewise
+:ref:`CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0` and
+:ref:`CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1` are also enabled by default causing
+the two Idle Tasks to be subscribed to the TWDT during startup.
JTAG and watchdogs
^^^^^^^^^^^^^^^^^^
-While debugging using OpenOCD, if the CPUs are halted the watchdogs will keep running, eventually resetting the
-CPU. This makes it very hard to debug code; that is why the OpenOCD config will disable both watchdogs on startup.
-This does mean that you will not get any warnings or panics from either the task or interrupt watchdog when the ESP32
-is connected to OpenOCD via JTAG.
+While debugging using OpenOCD, the CPUs will be halted every time a breakpoint
+is reached. However if the watchdog timers continue to run when a breakpoint is
+encountered, they will eventually trigger a reset making it very difficult to
+debug code. Therefore OpenOCD will disable the hardware timers of both the
+interrupt and task watchdogs at every breakpoint. Moreover, OpenOCD will not
+reenable them upon leaving the breakpoint. This means that interrupt watchdog
+and task watchdog functionality will essentially be disabled. No warnings or
+panics from either watchdogs will be generated when the ESP32 is connected to
+OpenOCD via JTAG.
+
-API Reference
--------------
+Interrupt Watchdog API Reference
+--------------------------------
-Header Files
-^^^^^^^^^^^^
+Header File
+^^^^^^^^^^^
* :component_file:`esp32/include/esp_int_wdt.h`
- * :component_file:`esp32/include/esp_task_wdt.h`
Functions
---------
-
+
.. doxygenfunction:: esp_int_wdt_init
-.. doxygenfunction:: esp_task_wdt_init
-.. doxygenfunction:: esp_task_wdt_feed
-.. doxygenfunction:: esp_task_wdt_delete
+
+Task Watchdog API Reference
+----------------------------
+
+A full example using the Task Watchdog is available in esp-idf: :example:`system/task_watchdog`
+
+.. include:: /_build/inc/esp_task_wdt.inc
--- /dev/null
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := task_watchdog
+
+include $(IDF_PATH)/make/project.mk
+
--- /dev/null
+# Example: task_watchdog
+
+This test code shows how to initialize the task watchdog, add tasks to the
+watchdog task list, feeding the tasks, deleting tasks from the watchdog task
+list, and deinitializing the task watchdog.
+
+
+### Test:
+
+Program should run without error. Comment out "esp_task_wdt_feed()" to observe
+a watchdog timeout.
+
--- /dev/null
+#
+# Main Makefile. This is basically the same as a component makefile.
+#
--- /dev/null
+/* Task_Watchdog Example
+
+ This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+ Unless required by applicable law or agreed to in writing, this
+ software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ CONDITIONS OF ANY KIND, either express or implied.
+*/
+#include <stdio.h>
+#include <stdlib.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_task_wdt.h"
+
+#define TWDT_TIMEOUT_S 3
+#define TASK_RESET_PERIOD_S 2
+
+/*
+ * Macro to check the outputs of TWDT functions and trigger an abort if an
+ * incorrect code is returned.
+ */
+#define CHECK_ERROR_CODE(returned, expected) ({ \
+ if(returned != expected){ \
+ printf("TWDT ERROR\n"); \
+ abort(); \
+ } \
+})
+
+static TaskHandle_t task_handles[portNUM_PROCESSORS];
+
+//Callback for user tasks created in app_main()
+void reset_task(void *arg)
+{
+ //Subscribe this task to TWDT, then check if it is subscribed
+ CHECK_ERROR_CODE(esp_task_wdt_add(NULL), ESP_OK);
+ CHECK_ERROR_CODE(esp_task_wdt_status(NULL), ESP_OK);
+
+ while(1){
+ //reset the watchdog every 2 seconds
+ CHECK_ERROR_CODE(esp_task_wdt_reset(), ESP_OK); //Comment this line to trigger a TWDT timeout
+ vTaskDelay(pdMS_TO_TICKS(TASK_RESET_PERIOD_S * 1000));
+ }
+}
+
+void app_main()
+{
+ printf("Initialize TWDT\n");
+ //Initialize or reinitialize TWDT
+ CHECK_ERROR_CODE(esp_task_wdt_init(TWDT_TIMEOUT_S, false), ESP_OK);
+
+ //Subscribe Idle Tasks to TWDT if they were not subscribed at startup
+#ifndef CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0
+ esp_task_wdt_add(xTaskGetIdleTaskHandleForCPU(0));
+#endif
+#ifndef CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
+ esp_task_wdt_add(xTaskGetIdleTaskHandleForCPU(1));
+#endif
+
+ //Create user tasks and add them to watchdog
+ for(int i = 0; i < portNUM_PROCESSORS; i++){
+ xTaskCreatePinnedToCore(reset_task, "reset task", 1024, NULL, 10, &task_handles[i], i);
+ }
+
+ printf("Delay for 10 seconds\n");
+ vTaskDelay(pdMS_TO_TICKS(10000)); //Delay for 10 seconds
+
+ printf("Unsubscribing and deleting tasks\n");
+ //Delete and unsubscribe Users Tasks from Task Watchdog, then unsubscribe idle task
+ for(int i = 0; i < portNUM_PROCESSORS; i++){
+ vTaskDelete(task_handles[i]); //Delete user task first (prevents the resetting of an unsubscribed task)
+ CHECK_ERROR_CODE(esp_task_wdt_delete(task_handles[i]), ESP_OK); //Unsubscribe task from TWDT
+ CHECK_ERROR_CODE(esp_task_wdt_status(task_handles[i]), ESP_ERR_NOT_FOUND); //Confirm task is unsubscribed
+
+ //unsubscribe idle task
+ CHECK_ERROR_CODE(esp_task_wdt_delete(xTaskGetIdleTaskHandleForCPU(i)), ESP_OK); //Unsubscribe Idle Task from TWDT
+ CHECK_ERROR_CODE(esp_task_wdt_status(xTaskGetIdleTaskHandleForCPU(i)), ESP_ERR_NOT_FOUND); //Confirm Idle task has unsubscribed
+ }
+
+
+ //Deinit TWDT after all tasks have unsubscribed
+ CHECK_ERROR_CODE(esp_task_wdt_deinit(), ESP_OK);
+ CHECK_ERROR_CODE(esp_task_wdt_status(NULL), ESP_ERR_INVALID_STATE); //Confirm TWDT has been deinitialized
+
+ printf("Complete\n");
+}
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