taskwdt fixes: better handling of empty/emptying wdt task list, lock task struct while feeding
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d1fc5fe432
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a023b005c6
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@ -22,6 +22,8 @@
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#include "sdkconfig.h"
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include <esp_types.h>
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#include <esp_types.h>
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#include "esp_err.h"
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#include "esp_err.h"
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#include "esp_intr.h"
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#include "esp_intr.h"
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@ -45,6 +47,7 @@ struct wdt_task_t {
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};
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};
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static wdt_task_t *wdt_task_list=NULL;
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static wdt_task_t *wdt_task_list=NULL;
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static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
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static void IRAM_ATTR task_wdt_isr(void *arg) {
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static void IRAM_ATTR task_wdt_isr(void *arg) {
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wdt_task_t *wdttask;
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wdt_task_t *wdttask;
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@ -55,13 +58,23 @@ static void IRAM_ATTR task_wdt_isr(void *arg) {
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TIMERG0.wdt_wprotect=0;
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TIMERG0.wdt_wprotect=0;
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//Ack interrupt
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//Ack interrupt
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TIMERG0.int_clr_timers.wdt=1;
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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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portENTER_CRITICAL(&taskwdt_spinlock);
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if (!wdt_task_list) {
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//No task on list. Maybe none registered yet.
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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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//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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ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
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for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
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for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
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if (!wdttask->fed_watchdog) {
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if (!wdttask->fed_watchdog) {
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cpu=xTaskGetAffinity(wdttask->task_handle)==0?"CPU 0":"CPU 1";
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cpu=xTaskGetAffinity(wdttask->task_handle)==0?"CPU 0":"CPU 1";
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if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu="CPU 0/1";
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if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu="CPU 0/1";
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printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
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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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}
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}
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ets_printf("Tasks currently running:\n");
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ets_printf("Tasks currently running:\n");
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@ -73,6 +86,7 @@ static void IRAM_ATTR task_wdt_isr(void *arg) {
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ets_printf("Aborting.\n");
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ets_printf("Aborting.\n");
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abort();
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abort();
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#endif
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#endif
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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}
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@ -80,6 +94,8 @@ void esp_task_wdt_feed() {
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wdt_task_t *wdttask=wdt_task_list;
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wdt_task_t *wdttask=wdt_task_list;
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bool found_task=false, do_feed_wdt=true;
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bool found_task=false, do_feed_wdt=true;
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TaskHandle_t handle=xTaskGetCurrentTaskHandle();
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TaskHandle_t handle=xTaskGetCurrentTaskHandle();
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portENTER_CRITICAL(&taskwdt_spinlock);
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//Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
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//Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
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//the real watchdog timer.
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//the real watchdog timer.
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for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
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for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
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@ -114,14 +130,18 @@ void esp_task_wdt_feed() {
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//Reset fed_watchdog status
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//Reset fed_watchdog status
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for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
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for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
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}
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}
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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}
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void esp_task_wdt_delete() {
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void esp_task_wdt_delete() {
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TaskHandle_t handle=xTaskGetCurrentTaskHandle();
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TaskHandle_t handle=xTaskGetCurrentTaskHandle();
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wdt_task_t *wdttask=wdt_task_list;
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wdt_task_t *wdttask=wdt_task_list;
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portENTER_CRITICAL(&taskwdt_spinlock);
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//Wdt task list can't be empty
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//Wdt task list can't be empty
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if (!wdt_task_list) {
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if (!wdt_task_list) {
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ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
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ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
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portEXIT_CRITICAL(&taskwdt_spinlock);
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return;
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return;
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}
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}
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if (handle==wdt_task_list) {
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if (handle==wdt_task_list) {
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@ -130,15 +150,25 @@ void esp_task_wdt_delete() {
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free(wdttask);
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free(wdttask);
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} else {
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} else {
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//Find current task in list
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//Find current task in list
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if (wdt_task_list->task_handle==handle) {
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//Task is the very first one.
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wdt_task_t *freeme=wdt_task_list;
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wdt_task_list=wdt_task_list->next;
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free(freeme);
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portEXIT_CRITICAL(&taskwdt_spinlock);
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return;
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}
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while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
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while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
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if (!wdttask->next) {
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if (!wdttask->next) {
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ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
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ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
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portEXIT_CRITICAL(&taskwdt_spinlock);
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return;
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return;
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}
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}
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wdt_task_t *freeme=wdttask->next;
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wdt_task_t *freeme=wdttask->next;
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wdttask->next=wdttask->next->next;
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wdttask->next=wdttask->next->next;
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free(freeme);
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free(freeme);
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}
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}
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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}
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