2016-10-21 09:59:57 +00:00
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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include "sdkconfig.h"
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2017-08-30 13:11:10 +00:00
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#include "freertos/FreeRTOSConfig.h"
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2016-10-21 09:59:57 +00:00
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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2016-11-16 09:53:50 +00:00
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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2016-10-21 09:59:57 +00:00
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#include <esp_types.h>
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#include "esp_err.h"
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#include "esp_intr.h"
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2016-11-25 09:33:51 +00:00
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#include "esp_intr_alloc.h"
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2017-08-30 13:11:10 +00:00
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#include "esp_ipc.h"
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2016-10-25 09:05:13 +00:00
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#include "esp_attr.h"
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2016-11-11 11:20:54 +00:00
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#include "esp_freertos_hooks.h"
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2016-10-21 09:59:57 +00:00
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#include "soc/timer_group_struct.h"
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2016-10-26 04:23:01 +00:00
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#include "soc/timer_group_reg.h"
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#include "esp_log.h"
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2016-11-22 18:15:27 +00:00
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#include "driver/timer.h"
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2016-10-21 09:59:57 +00:00
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#include "esp_task_wdt.h"
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2017-08-30 13:11:10 +00:00
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//Assertion macro that exits from critical section and returns 'ret'
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#define ASSERT_EXIT_CRIT_RET_ERR(cond, ret) ({ \
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if(!(cond)){ \
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portEXIT_CRITICAL(&taskwdt_spinlock); \
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return ret; \
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} \
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})
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2016-10-21 09:59:57 +00:00
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typedef struct wdt_task_t wdt_task_t;
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struct wdt_task_t {
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TaskHandle_t task_handle;
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bool fed;
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wdt_task_t *next;
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};
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typedef struct task_wdt_config_t task_wdt_config_t;
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struct task_wdt_config_t {
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wdt_task_t *list;
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uint32_t timeout;
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bool panic;
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bool idle_enable[portNUM_PROCESSORS];
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TaskHandle_t idle_handles[portNUM_PROCESSORS];
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intr_handle_t intr_handle;
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};
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static task_wdt_config_t *wdt_config = NULL;
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static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
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/*
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* Internal function that checks the list for target task. Returns the list item
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* if found and returns null if not found. Also checks if the all the other
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* tasks have checked in. Called within critical.
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*/
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static wdt_task_t *check_list(TaskHandle_t handle, bool *checked)
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{
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wdt_task_t *target = NULL;
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*checked = true;
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for(wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
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if(task->task_handle == handle){
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target = task; //Get pointer to target task list member
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}else{
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if(task->fed == false){ //If a task has yet to check in
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*checked = false;
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}
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}
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}
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return target;
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}
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2016-11-17 10:05:47 +00:00
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2017-08-30 13:11:10 +00:00
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/*
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* Resets the wdt and fed flags of each task on the list. Called within critical
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*/
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static void feed_wdt()
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{
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//All tasks have checked in; time to feed the hw watchdog.
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
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TIMERG0.wdt_feed=1;
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TIMERG0.wdt_wprotect=0;
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//Reset fed flags on all tasks in list
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for (wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
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task->fed=false;
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}
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}
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/*
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* ISR for when wdt expires. Checks for which tasks have not fed. Trigger panic
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* if configured to do so in initialization
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*/
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static void task_wdt_isr(void *arg)
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{
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portENTER_CRITICAL(&taskwdt_spinlock);
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wdt_task_t *wdttask;
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const char *cpu;
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//Feed the watchdog so we don't reset
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
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TIMERG0.wdt_feed=1;
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TIMERG0.wdt_wprotect=0;
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//Ack interrupt
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TIMERG0.int_clr_timers.wdt=1;
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//We are taking a spinlock while doing I/O (ets_printf) here. Normally, that is a pretty
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//bad thing, possibly (temporarily) hanging up the 2nd core and stopping FreeRTOS. In this case,
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//something bad already happened and reporting this is considered more important
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//than the badness caused by a spinlock here.
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if (!wdt_config->list) { //No tasks on list
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portEXIT_CRITICAL(&taskwdt_spinlock);
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return;
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}
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//Watchdog got triggered because at least one task did not report in.
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ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
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for (wdttask=wdt_config->list; wdttask!=NULL; wdttask=wdttask->next) {
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if (!wdttask->fed) {
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cpu=xTaskGetAffinity(wdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
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if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
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ets_printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
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}
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}
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ets_printf(DRAM_STR("Tasks currently running:\n"));
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for (int x=0; x<portNUM_PROCESSORS; x++) {
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ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
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}
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2016-10-25 10:08:55 +00:00
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2017-08-30 13:11:10 +00:00
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if (wdt_config->panic){
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ets_printf("Aborting.\n");
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portEXIT_CRITICAL(&taskwdt_spinlock);
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abort();
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}
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2016-11-16 09:53:50 +00:00
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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2017-08-30 13:11:10 +00:00
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/*
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* Idle hook for Idle Task to feed the wdt. Will only call feed if the idle task
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* of that core has been added to wdt task list.
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*/
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static bool idle_hook(void)
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{
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uint32_t core_id = xPortGetCoreID();
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if (wdt_config->idle_enable[core_id]){
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esp_task_wdt_feed();
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}
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return true;
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}
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2017-08-30 13:11:10 +00:00
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/*
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* Initializes the task watchdog timer by allocating memory for the config data
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* structure, obtaining the idle task handles/registering idle hooks, and
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* setting the hardware timer registers. If reconfiguring, it will just modify
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* wdt_config and reset the hardware timer.
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*/
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esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic)
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{
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portENTER_CRITICAL(&taskwdt_spinlock);
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if(wdt_config == NULL){ //wdt not initialized yet
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//Allocate memory for wdt_config
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wdt_config = calloc(1, sizeof(task_wdt_config_t));
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ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_NO_MEM);
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2017-08-30 13:11:10 +00:00
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wdt_config->list = NULL;
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wdt_config->timeout = timeout;
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wdt_config->panic = panic;
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//Get idle task handles
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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wdt_config->idle_handles[i] = xTaskGetIdleTaskHandleForCPU( i );
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wdt_config->idle_enable[i] = false;
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}
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//Register Idle Hook and Interrupts
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esp_register_freertos_idle_hook(idle_hook);
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ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &wdt_config->intr_handle))
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//Configure hardware timer
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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TIMERG0.wdt_config0.sys_reset_length=7; //3.2uS
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TIMERG0.wdt_config0.cpu_reset_length=7; //3.2uS
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TIMERG0.wdt_config0.level_int_en=1;
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TIMERG0.wdt_config0.stg0=TIMG_WDT_STG_SEL_INT; //1st stage timeout: interrupt
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TIMERG0.wdt_config0.stg1=TIMG_WDT_STG_SEL_RESET_SYSTEM; //2nd stage timeout: reset system
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TIMERG0.wdt_config1.clk_prescale=80*500; //Prescaler: wdt counts in ticks of 0.5mS
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TIMERG0.wdt_config2=wdt_config->timeout*2; //Set timeout before interrupt
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TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
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TIMERG0.wdt_config0.en=1;
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TIMERG0.wdt_feed=1;
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TIMERG0.wdt_wprotect=0; //Enable write protection
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}else{ //wdt_config previously initialized
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//Reconfigure task wdt
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wdt_config->panic = panic;
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wdt_config->timeout = timeout;
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//Reconfigure hardware timer
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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TIMERG0.wdt_config0.en=0; //Disable timer
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TIMERG0.wdt_config2=wdt_config->timeout*2; //Set timeout before interrupt
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TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
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TIMERG0.wdt_config0.en=1; //Renable timer
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TIMERG0.wdt_feed=1; //Reset timer
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TIMERG0.wdt_wprotect=0; //Enable write protection
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}
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portEXIT_CRITICAL(&taskwdt_spinlock);
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return ESP_OK;
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}
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esp_err_t esp_task_wdt_deinit()
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{
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portENTER_CRITICAL(&taskwdt_spinlock);
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//wdt must already be initialized
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ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
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//Task list must be empty
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ASSERT_EXIT_CRIT_RET_ERR((wdt_config->list == NULL), ESP_ERR_INVALID_STATE);
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//Disable hardware timer
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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TIMERG0.wdt_config0.en=0; //Disable timer
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TIMERG0.wdt_wprotect=0; //Enable write protection
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esp_deregister_freertos_idle_hook(idle_hook); //deregister idle hook
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ESP_ERROR_CHECK(esp_intr_free(wdt_config->intr_handle)) //Unregister interrupt
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free(wdt_config); //Free wdt_config
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wdt_config = NULL;
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portEXIT_CRITICAL(&taskwdt_spinlock);
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return ESP_OK;
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}
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esp_err_t esp_task_wdt_add(TaskHandle_t handle)
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{
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portENTER_CRITICAL(&taskwdt_spinlock); //Nested critical in Legacy (called from feed)
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#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
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wdt_task_t *target_task;
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#else
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//Return error if wdt has not been initialized
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ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
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wdt_task_t *target_task;
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bool all_fed;
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if (handle == NULL){ //Get handle of current task if none is provided
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handle = xTaskGetCurrentTaskHandle();
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}
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//Check if tasks exists in task list, and if all other tasks have checked in
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target_task = check_list(handle, &all_fed);
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//Return error if task has already been added
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ASSERT_EXIT_CRIT_RET_ERR((target_task == NULL), ESP_ERR_INVALID_ARG);
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#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
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//Add task to wdt list
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target_task = calloc(1,sizeof(wdt_task_t));
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//Return error if calloc failed
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ASSERT_EXIT_CRIT_RET_ERR((target_task != NULL), ESP_ERR_NO_MEM);
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target_task->task_handle = handle;
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target_task->fed = true;
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target_task->next = NULL;
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if (wdt_config->list == NULL) { //Adding to empty list
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wdt_config->list = target_task;
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} else { //Adding to tail of list
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wdt_task_t *task;
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for (task = wdt_config->list; task->next != NULL; task = task->next){
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; //point task to current tail of wdt task list
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}
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task->next = target_task;
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}
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2017-08-30 13:11:10 +00:00
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//If idle task, set idle_enable flag
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|
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
|
|
if(handle == wdt_config->idle_handles[i]){
|
|
|
|
wdt_config->idle_enable[i] = true;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
2016-11-11 11:20:54 +00:00
|
|
|
|
2017-08-30 13:11:10 +00:00
|
|
|
#ifndef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
|
|
|
|
if(all_fed){ //Reset if all other tasks in list have checked in
|
|
|
|
feed_wdt();
|
|
|
|
}
|
2016-11-11 11:20:54 +00:00
|
|
|
#endif
|
2017-08-30 13:11:10 +00:00
|
|
|
portEXIT_CRITICAL(&taskwdt_spinlock); //Nested critical if Legacy
|
|
|
|
return ESP_OK;
|
2016-11-11 11:20:54 +00:00
|
|
|
}
|
|
|
|
|
2017-08-30 13:11:10 +00:00
|
|
|
esp_err_t esp_task_wdt_feed()
|
|
|
|
{
|
|
|
|
portENTER_CRITICAL(&taskwdt_spinlock);
|
|
|
|
//Return error if wdt has not been initialized
|
|
|
|
ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
|
2016-11-11 11:20:54 +00:00
|
|
|
|
2017-08-30 13:11:10 +00:00
|
|
|
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
|
|
|
|
}
|
|
|
|
|
|
|
|
if(all_fed){ //Reset if all other tasks in list have checked in
|
|
|
|
feed_wdt();
|
|
|
|
}
|
|
|
|
|
|
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
|
|
return ESP_OK;
|
2016-10-21 09:59:57 +00:00
|
|
|
}
|
|
|
|
|
2017-08-30 13:11:10 +00:00
|
|
|
#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);
|
|
|
|
|
|
|
|
//Task doesn't exist on list. Return error
|
|
|
|
ASSERT_EXIT_CRIT_RET_ERR((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;
|
|
|
|
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){
|
|
|
|
; //point prev to task preceding target_task
|
|
|
|
}
|
|
|
|
prev->next = target_task->next;
|
|
|
|
free(target_task);
|
|
|
|
}
|
|
|
|
|
|
|
|
//If idle task, disable idle_enable flag
|
|
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
|
|
if(handle == wdt_config->idle_handles[i]){
|
|
|
|
wdt_config->idle_enable[i] = false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if(all_fed){ //Reset timer if all remaining tasks have checked in
|
|
|
|
feed_wdt();
|
|
|
|
}
|
|
|
|
|
|
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
|
|
return ESP_OK;
|
|
|
|
}
|
2016-10-21 09:59:57 +00:00
|
|
|
|