Merge branch 'bugfix/new_task_watchdog_API_false_trigger' into 'master'
feat/New Task Watchdog API See merge request !1380
This commit is contained in:
commit
a45e9c806d
13 changed files with 750 additions and 236 deletions
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@ -534,45 +534,50 @@ config INT_WDT_CHECK_CPU1
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Also detect if interrupts on CPU 1 are disabled for too long.
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Also detect if interrupts on CPU 1 are disabled for too long.
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config TASK_WDT
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config TASK_WDT
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bool "Task watchdog"
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bool "Initialize Task Watchdog Timer on startup"
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default y
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default y
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help
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help
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This watchdog timer can be used to make sure individual tasks are still running.
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The Task Watchdog Timer can be used to make sure individual tasks are still
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running. Enabling this option will cause the Task Watchdog Timer to be
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initialized automatically at startup. The Task Watchdog timer can be
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initialized after startup as well (see Task Watchdog Timer API Reference)
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config TASK_WDT_PANIC
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config TASK_WDT_PANIC
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bool "Invoke panic handler when Task Watchdog is triggered"
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bool "Invoke panic handler on Task Watchdog timeout"
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depends on TASK_WDT
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depends on TASK_WDT
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default n
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default n
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help
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help
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Normally, the Task Watchdog will only print out a warning if it detects it has not
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If this option is enabled, the Task Watchdog Timer will be configured to
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been fed. If this is enabled, it will invoke the panic handler instead, which
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trigger the panic handler when it times out. This can also be configured
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can then halt or reboot the chip.
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at run time (see Task Watchdog Timer API Reference)
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config TASK_WDT_TIMEOUT_S
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config TASK_WDT_TIMEOUT_S
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int "Task watchdog timeout (seconds)"
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int "Task Watchdog timeout period (seconds)"
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depends on TASK_WDT
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depends on TASK_WDT
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range 1 60
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range 1 60
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default 5
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default 5
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help
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help
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Timeout for the task WDT, in seconds.
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Timeout period configuration for the Task Watchdog Timer in seconds.
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This is also configurable at run time (see Task Watchdog Timer API Reference)
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config TASK_WDT_CHECK_IDLE_TASK
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config TASK_WDT_CHECK_IDLE_TASK_CPU0
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bool "Task watchdog watches CPU0 idle task"
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bool "Watch CPU0 Idle Task"
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depends on TASK_WDT
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depends on TASK_WDT
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default y
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default y
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help
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help
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With this turned on, the task WDT can detect if the idle task is not called within the task
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If this option is enabled, the Task Watchdog Timer will watch the CPU0
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watchdog timeout period. The idle task not being called usually is a symptom of another
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Idle Task. Having the Task Watchdog watch the Idle Task allows for detection
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task hoarding the CPU. It is also a bad thing because FreeRTOS household tasks depend on the
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of CPU starvation as the Idle Task not being called is usually a symptom of
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idle task getting some runtime every now and then. Take Care: With this disabled, this
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CPU starvation. Starvation of the Idle Task is detrimental as FreeRTOS household
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watchdog will trigger if no tasks register themselves within the timeout value.
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tasks depend on the Idle Task getting some runtime every now and then.
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config TASK_WDT_CHECK_IDLE_TASK_CPU1
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config TASK_WDT_CHECK_IDLE_TASK_CPU1
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bool "Task watchdog also watches CPU1 idle task"
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bool "Watch CPU1 Idle Task"
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depends on TASK_WDT_CHECK_IDLE_TASK && !FREERTOS_UNICORE
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depends on TASK_WDT && !FREERTOS_UNICORE
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default y
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default y
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help
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help
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Also check the idle task that runs on CPU1.
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If this option is enabled, the Task Wtachdog Timer will wach the CPU1
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Idle Task.
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#The brownout detector code is disabled (by making it depend on a nonexisting symbol) because the current revision of ESP32
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#The brownout detector code is disabled (by making it depend on a nonexisting symbol) because the current revision of ESP32
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#silicon has a bug in the brown-out detector, rendering it unusable for resetting the CPU.
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#silicon has a bug in the brown-out detector, rendering it unusable for resetting the CPU.
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@ -335,9 +335,6 @@ void start_cpu0_default(void)
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do_global_ctors();
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do_global_ctors();
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#if CONFIG_INT_WDT
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#if CONFIG_INT_WDT
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esp_int_wdt_init();
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esp_int_wdt_init();
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#endif
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#if CONFIG_TASK_WDT
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esp_task_wdt_init();
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#endif
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#endif
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esp_cache_err_int_init();
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esp_cache_err_int_init();
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esp_crosscore_int_init();
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esp_crosscore_int_init();
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@ -426,6 +423,29 @@ static void main_task(void* args)
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#endif
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#endif
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//Enable allocation in region where the startup stacks were located.
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//Enable allocation in region where the startup stacks were located.
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heap_caps_enable_nonos_stack_heaps();
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heap_caps_enable_nonos_stack_heaps();
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//Initialize task wdt if configured to do so
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#ifdef CONFIG_TASK_WDT_PANIC
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ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_TASK_WDT_TIMEOUT_S, true))
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#elif CONFIG_TASK_WDT
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ESP_ERROR_CHECK(esp_task_wdt_init(CONFIG_TASK_WDT_TIMEOUT_S, false))
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#endif
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//Add IDLE 0 to task wdt
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#ifdef CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0
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TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU(0);
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if(idle_0 != NULL){
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ESP_ERROR_CHECK(esp_task_wdt_add(idle_0))
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}
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#endif
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//Add IDLE 1 to task wdt
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#ifdef CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
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TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
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if(idle_1 != NULL){
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ESP_ERROR_CHECK(esp_task_wdt_add(idle_1))
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}
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#endif
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app_main();
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app_main();
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vTaskDelete(NULL);
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vTaskDelete(NULL);
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}
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}
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@ -106,13 +106,35 @@ esp_err_t esp_register_freertos_tick_hook(esp_freertos_tick_cb_t new_tick_cb)
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return esp_register_freertos_tick_hook_for_cpu(new_tick_cb, xPortGetCoreID());
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return esp_register_freertos_tick_hook_for_cpu(new_tick_cb, xPortGetCoreID());
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}
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}
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void esp_deregister_freertos_idle_hook_for_cpu(esp_freertos_idle_cb_t old_idle_cb, UBaseType_t cpuid)
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{
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portENTER_CRITICAL(&hooks_spinlock);
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if(cpuid >= portNUM_PROCESSORS){
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return;
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}
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for(int n = 0; n < MAX_HOOKS; n++){
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if(idle_cb[cpuid][n] == old_idle_cb) idle_cb[cpuid][n] = NULL;
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}
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portEXIT_CRITICAL(&hooks_spinlock);
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}
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void esp_deregister_freertos_idle_hook(esp_freertos_idle_cb_t old_idle_cb)
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void esp_deregister_freertos_idle_hook(esp_freertos_idle_cb_t old_idle_cb)
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{
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{
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portENTER_CRITICAL(&hooks_spinlock);
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portENTER_CRITICAL(&hooks_spinlock);
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for(int m = 0; m < portNUM_PROCESSORS; m++) {
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for(int m = 0; m < portNUM_PROCESSORS; m++) {
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for(int n = 0; n < MAX_HOOKS; n++){
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esp_deregister_freertos_idle_hook_for_cpu(old_idle_cb, m);
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if(idle_cb[m][n] == old_idle_cb) idle_cb[m][n] = NULL;
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}
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}
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portEXIT_CRITICAL(&hooks_spinlock);
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}
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void esp_deregister_freertos_tick_hook_for_cpu(esp_freertos_tick_cb_t old_tick_cb, UBaseType_t cpuid)
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{
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portENTER_CRITICAL(&hooks_spinlock);
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if(cpuid >= portNUM_PROCESSORS){
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return;
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}
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for(int n = 0; n < MAX_HOOKS; n++){
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if(tick_cb[cpuid][n] == old_tick_cb) tick_cb[cpuid][n] = NULL;
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}
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}
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portEXIT_CRITICAL(&hooks_spinlock);
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portEXIT_CRITICAL(&hooks_spinlock);
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}
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}
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@ -121,9 +143,7 @@ void esp_deregister_freertos_tick_hook(esp_freertos_tick_cb_t old_tick_cb)
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{
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{
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portENTER_CRITICAL(&hooks_spinlock);
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portENTER_CRITICAL(&hooks_spinlock);
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for(int m = 0; m < portNUM_PROCESSORS; m++){
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for(int m = 0; m < portNUM_PROCESSORS; m++){
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for(int n = 0; n < MAX_HOOKS; n++){
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esp_deregister_freertos_tick_hook_for_cpu(old_tick_cb, m);
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if(tick_cb[m][n] == old_tick_cb) tick_cb[m][n] = NULL;
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}
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}
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}
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portEXIT_CRITICAL(&hooks_spinlock);
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portEXIT_CRITICAL(&hooks_spinlock);
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}
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}
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@ -89,6 +89,13 @@ esp_err_t esp_register_freertos_tick_hook_for_cpu(esp_freertos_tick_cb_t new_tic
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*/
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*/
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esp_err_t esp_register_freertos_tick_hook(esp_freertos_tick_cb_t new_tick_cb);
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esp_err_t esp_register_freertos_tick_hook(esp_freertos_tick_cb_t new_tick_cb);
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/**
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* @brief Unregister an idle callback from the idle hook of the specified core
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*
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* @param[in] old_idle_cb Callback to be unregistered
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* @param[in] cpuid id of the core
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*/
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void esp_deregister_freertos_idle_hook_for_cpu(esp_freertos_idle_cb_t old_idle_cb, UBaseType_t cpuid);
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/**
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/**
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* @brief Unregister an idle callback. If the idle callback is registered to
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* @brief Unregister an idle callback. If the idle callback is registered to
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@ -99,6 +106,13 @@ esp_err_t esp_register_freertos_tick_hook(esp_freertos_tick_cb_t new_tick_cb);
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*/
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*/
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void esp_deregister_freertos_idle_hook(esp_freertos_idle_cb_t old_idle_cb);
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void esp_deregister_freertos_idle_hook(esp_freertos_idle_cb_t old_idle_cb);
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/**
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* @brief Unregister a tick callback from the tick hook of the specified core
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*
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* @param[in] old_tick_cb Callback to be unregistered
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* @param[in] cpuid id of the core
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*/
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void esp_deregister_freertos_tick_hook_for_cpu(esp_freertos_tick_cb_t old_tick_cb, UBaseType_t cpuid);
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/**
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/**
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* @brief Unregister a tick callback. If the tick callback is registered to the
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* @brief Unregister a tick callback. If the tick callback is registered to the
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@ -3,7 +3,7 @@
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// Licensed under the Apache License, Version 2.0 (the "License");
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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 not use this file except in compliance with the License.
|
||||||
// You may obtain a copy of the License at
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
// http://www.apache.org/licenses/LICENSE-2.0
|
// http://www.apache.org/licenses/LICENSE-2.0
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//
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//
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// Unless required by applicable law or agreed to in writing, software
|
// Unless required by applicable law or agreed to in writing, software
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||||||
|
@ -12,63 +12,152 @@
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||||||
// See the License for the specific language governing permissions and
|
// See the License for the specific language governing permissions and
|
||||||
// limitations under the License.
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// limitations under the License.
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||||||
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#ifndef __ESP_TASK_WDT_H
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#pragma once
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#define __ESP_TASK_WDT_H
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_err.h"
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#ifdef __cplusplus
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#ifdef __cplusplus
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extern "C" {
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extern "C" {
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#endif
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#endif
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/** \defgroup Watchdog_APIs Watchdog APIs
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* @brief Watchdog APIs
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*/
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/** @addtogroup Watchdog_APIs
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* @{
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*/
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/*
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This routine enables a more general-purpose task watchdog: tasks can individually
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feed the watchdog and the watchdog will bark if one or more tasks haven't fed the
|
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watchdog within the specified time. Optionally, the idle tasks can also configured
|
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to feed the watchdog in a similar fashion, to detect CPU starvation.
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This uses the TIMERG0 WDT.
|
|
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*/
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/**
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/**
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* @brief Initialize the task watchdog. This is called in the init code, if the
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* @brief Initialize the Task Watchdog Timer (TWDT)
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* task watchdog is enabled in menuconfig.
|
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*
|
*
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*/
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* This function configures and initializes the TWDT. If the TWDT is already
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void esp_task_wdt_init();
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* initialized when this function is called, this function will update the
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* TWDT's timeout period and panic configurations instead. After initializing
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/**
|
* the TWDT, any task can elect to be watched by the TWDT by subscribing to it
|
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* @brief Feed the watchdog. After the first feeding session, the watchdog will expect the calling
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* using esp_task_wdt_add().
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* task to keep feeding the watchdog until task_wdt_delete() is called.
|
|
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*
|
*
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*/
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* @param[in] timeout Timeout period of TWDT in seconds
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* @param[in] panic Flag that controls whether the panic handler will be
|
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void esp_task_wdt_feed();
|
* executed when the TWDT times out
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/**
|
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* @brief Delete the watchdog for the current task.
|
|
||||||
*
|
*
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||||||
|
* @return
|
||||||
|
* - ESP_OK: Initialization was successful
|
||||||
|
* - ESP_ERR_NO_MEM: Initialization failed due to lack of memory
|
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|
*
|
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|
* @note esp_task_wdt_init() must only be called after the scheduler
|
||||||
|
* started
|
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*/
|
*/
|
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void esp_task_wdt_delete();
|
esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic);
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|
|
||||||
/**
|
/**
|
||||||
* @}
|
* @brief Deinitialize the Task Watchdog Timer (TWDT)
|
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|
*
|
||||||
|
* This function will deinitialize the TWDT. Calling this function whilst tasks
|
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|
* are still subscribed to the TWDT, or when the TWDT is already deinitialized,
|
||||||
|
* will result in an error code being returned.
|
||||||
|
*
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||||||
|
* @return
|
||||||
|
* - ESP_OK: TWDT successfully deinitialized
|
||||||
|
* - ESP_ERR_INVALID_STATE: Error, tasks are still subscribed to the TWDT
|
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|
* - ESP_ERR_NOT_FOUND: Error, TWDT has already been deinitialized
|
||||||
|
*/
|
||||||
|
esp_err_t esp_task_wdt_deinit();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Subscribe a task to the Task Watchdog Timer (TWDT)
|
||||||
|
*
|
||||||
|
* This function subscribes a task to the TWDT. Each subscribed task must
|
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|
* 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
|
||||||
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* 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
|
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|
* 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
|
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|
* running task to the TWDT
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*
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||||||
|
* @return
|
||||||
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* - ESP_OK: Successfully subscribed the task to the TWDT
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* - ESP_ERR_INVALID_ARG: Error, the task is already subscribed
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* - ESP_ERR_NO_MEM: Error, could not subscribe the task due to lack of
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|
* memory
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||||||
|
* - ESP_ERR_INVALID_STATE: Error, the TWDT has not been initialized yet
|
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*/
|
*/
|
||||||
|
esp_err_t esp_task_wdt_add(TaskHandle_t handle);
|
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|
|
||||||
|
/**
|
||||||
|
* @brief Reset the Task Watchdog Timer (TWDT) on behalf of the currently
|
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|
* running task
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|
*
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|
* This function will reset the TWDT on behalf of the currently running task.
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* Each subscribed task must periodically call this function to prevent the
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* TWDT from timing out. If one or more subscribed tasks fail to reset the
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|
* TWDT on their own behalf, a TWDT timeout will occur. If the IDLE tasks have
|
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|
* been subscribed to the TWDT, they will automatically call this function from
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|
* 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.
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|
*
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||||||
|
* @return
|
||||||
|
* - ESP_OK: Successfully reset the TWDT on behalf of the currently
|
||||||
|
* running task
|
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* - ESP_ERR_NOT_FOUND: Error, the current running task has not subscribed
|
||||||
|
* to the TWDT
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* - ESP_ERR_INVALID_STATE: Error, the TWDT has not been initialized yet
|
||||||
|
*/
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||||||
|
esp_err_t esp_task_wdt_reset();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Unsubscribes a task from the Task Watchdog Timer (TWDT)
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||||||
|
*
|
||||||
|
* 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 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
|
||||||
|
*/
|
||||||
|
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
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif
|
|
|
@ -3,7 +3,7 @@
|
||||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
// you may not use this file except in compliance with the License.
|
// you may not use this file except in compliance with the License.
|
||||||
// You may obtain a copy of the License at
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
// http://www.apache.org/licenses/LICENSE-2.0
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
//
|
//
|
||||||
// Unless required by applicable law or agreed to in writing, software
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
@ -12,14 +12,13 @@
|
||||||
// See the License for the specific language governing permissions and
|
// See the License for the specific language governing permissions and
|
||||||
// limitations under the License.
|
// limitations under the License.
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
#include <string.h>
|
#include <string.h>
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include "sdkconfig.h"
|
#include "sdkconfig.h"
|
||||||
|
#include "freertos/FreeRTOSConfig.h"
|
||||||
#include "freertos/FreeRTOS.h"
|
#include "freertos/FreeRTOS.h"
|
||||||
#include "freertos/task.h"
|
#include "freertos/task.h"
|
||||||
#include "freertos/queue.h"
|
#include "freertos/queue.h"
|
||||||
|
@ -37,47 +36,115 @@
|
||||||
|
|
||||||
#include "esp_task_wdt.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;
|
//Structure used for each subscribed task
|
||||||
struct wdt_task_t {
|
typedef struct twdt_task_t twdt_task_t;
|
||||||
|
struct twdt_task_t {
|
||||||
TaskHandle_t task_handle;
|
TaskHandle_t task_handle;
|
||||||
bool fed_watchdog;
|
bool has_reset;
|
||||||
wdt_task_t *next;
|
twdt_task_t *next;
|
||||||
};
|
};
|
||||||
|
|
||||||
static wdt_task_t *wdt_task_list=NULL;
|
//Structure used to hold run time configuration of the TWDT
|
||||||
static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
|
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;
|
||||||
|
|
||||||
static void task_wdt_isr(void *arg) {
|
/*
|
||||||
wdt_task_t *wdttask;
|
* Idle hook callback for Idle Tasks to reset the TWDT. This callback will only
|
||||||
const char *cpu;
|
* be registered to the Idle Hook of a particular core when the corresponding
|
||||||
//Feed the watchdog so we do not reset
|
* 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_wprotect=TIMG_WDT_WKEY_VALUE;
|
||||||
TIMERG0.wdt_feed=1;
|
TIMERG0.wdt_feed=1;
|
||||||
TIMERG0.wdt_wprotect=0;
|
TIMERG0.wdt_wprotect=0;
|
||||||
//Ack interrupt
|
//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;
|
||||||
|
//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;
|
||||||
|
//Acknowledge interrupt
|
||||||
TIMERG0.int_clr_timers.wdt=1;
|
TIMERG0.int_clr_timers.wdt=1;
|
||||||
//We are taking a spinlock while doing I/O (ets_printf) here. Normally, that is a pretty
|
//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,
|
//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
|
//something bad already happened and reporting this is considered more important
|
||||||
//than the badness caused by a spinlock here.
|
//than the badness caused by a spinlock here.
|
||||||
portENTER_CRITICAL(&taskwdt_spinlock);
|
|
||||||
if (!wdt_task_list) {
|
//Return immediately if no tasks have been added to task list
|
||||||
//No task on list. Maybe none registered yet.
|
ASSERT_EXIT_CRIT_RETURN((twdt_config->list != NULL), VOID_RETURN);
|
||||||
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
||||||
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");
|
||||||
//Watchdog got triggered because at least one task did not report in.
|
for (twdttask=twdt_config->list; twdttask!=NULL; twdttask=twdttask->next) {
|
||||||
ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
|
if (!twdttask->has_reset) {
|
||||||
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
|
cpu=xTaskGetAffinity(twdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
|
||||||
if (!wdttask->fed_watchdog) {
|
if (xTaskGetAffinity(twdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
|
||||||
cpu=xTaskGetAffinity(wdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
|
ets_printf(" - %s (%s)\n", pcTaskGetTaskName(twdttask->task_handle), cpu);
|
||||||
if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
|
|
||||||
ets_printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
ets_printf(DRAM_STR("Tasks currently running:\n"));
|
ets_printf(DRAM_STR("Tasks currently running:\n"));
|
||||||
|
@ -85,125 +152,263 @@ static void task_wdt_isr(void *arg) {
|
||||||
ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
|
ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
|
||||||
}
|
}
|
||||||
|
|
||||||
#if CONFIG_TASK_WDT_PANIC
|
if (twdt_config->panic){ //Trigger Panic if configured to do so
|
||||||
ets_printf("Aborting.\n");
|
ets_printf("Aborting.\n");
|
||||||
abort();
|
portEXIT_CRITICAL(&twdt_spinlock);
|
||||||
#endif
|
abort();
|
||||||
portEXIT_CRITICAL(&taskwdt_spinlock);
|
}
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
void esp_task_wdt_feed() {
|
twdt_config->list = NULL;
|
||||||
wdt_task_t *wdttask=wdt_task_list;
|
twdt_config->timeout = timeout;
|
||||||
bool found_task=false, do_feed_wdt=true;
|
twdt_config->panic = panic;
|
||||||
TaskHandle_t handle=xTaskGetCurrentTaskHandle();
|
|
||||||
portENTER_CRITICAL(&taskwdt_spinlock);
|
|
||||||
|
|
||||||
//Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
|
//Register Interrupt and ISR
|
||||||
//the real watchdog timer.
|
ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &twdt_config->intr_handle))
|
||||||
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;
|
|
||||||
}
|
|
||||||
//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) {
|
//Configure hardware timer
|
||||||
//This is the first time the task calls the task_wdt_feed function. Create a new entry for it in
|
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
|
||||||
//the linked list.
|
TIMERG0.wdt_config0.sys_reset_length=7; //3.2uS
|
||||||
wdt_task_t *newtask=malloc(sizeof(wdt_task_t));
|
TIMERG0.wdt_config0.cpu_reset_length=7; //3.2uS
|
||||||
memset(newtask, 0, sizeof(wdt_task_t));
|
TIMERG0.wdt_config0.level_int_en=1;
|
||||||
newtask->task_handle=handle;
|
TIMERG0.wdt_config0.stg0=TIMG_WDT_STG_SEL_INT; //1st stage timeout: interrupt
|
||||||
newtask->fed_watchdog=true;
|
TIMERG0.wdt_config0.stg1=TIMG_WDT_STG_SEL_RESET_SYSTEM; //2nd stage timeout: reset system
|
||||||
if (wdt_task_list == NULL) {
|
TIMERG0.wdt_config1.clk_prescale=80*500; //Prescaler: wdt counts in ticks of 0.5mS
|
||||||
wdt_task_list=newtask;
|
TIMERG0.wdt_config2=twdt_config->timeout*2000; //Set timeout before interrupt
|
||||||
} else {
|
TIMERG0.wdt_config3=twdt_config->timeout*4000; //Set timeout before reset
|
||||||
for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) ;
|
TIMERG0.wdt_config0.en=1;
|
||||||
wdttask->next=newtask;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
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_feed=1;
|
||||||
TIMERG0.wdt_wprotect=0;
|
TIMERG0.wdt_wprotect=0; //Enable write protection
|
||||||
//Reset fed_watchdog status
|
|
||||||
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
|
}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(&taskwdt_spinlock);
|
portEXIT_CRITICAL(&twdt_spinlock);
|
||||||
|
return ESP_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
void esp_task_wdt_delete() {
|
esp_err_t esp_task_wdt_deinit()
|
||||||
TaskHandle_t handle=xTaskGetCurrentTaskHandle();
|
{
|
||||||
wdt_task_t *wdttask=wdt_task_list;
|
portENTER_CRITICAL(&twdt_spinlock);
|
||||||
portENTER_CRITICAL(&taskwdt_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);
|
||||||
|
|
||||||
//Wdt task list can't be empty
|
//Disable hardware timer
|
||||||
if (!wdt_task_list) {
|
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
|
||||||
ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
|
TIMERG0.wdt_config0.en=0; //Disable timer
|
||||||
portEXIT_CRITICAL(&taskwdt_spinlock);
|
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
|
||||||
|
}
|
||||||
|
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(all_reset){ //Reset hardware timer if all other tasks in list have reset in
|
||||||
|
reset_hw_timer();
|
||||||
|
}
|
||||||
|
|
||||||
|
portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
|
||||||
|
return ESP_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
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();
|
||||||
|
}
|
||||||
|
|
||||||
|
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
|
||||||
|
}
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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();
|
||||||
|
}
|
||||||
|
|
||||||
|
portENTER_CRITICAL(&twdt_spinlock);
|
||||||
|
//Return if TWDT is not initialized
|
||||||
|
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
|
||||||
|
|
||||||
|
twdt_task_t *task;
|
||||||
|
for(task = twdt_config->list; task!=NULL; task=task->next){
|
||||||
|
//Return ESP_OK if task is found
|
||||||
|
ASSERT_EXIT_CRIT_RETURN((task->task_handle != handle), ESP_OK);
|
||||||
|
}
|
||||||
|
|
||||||
|
//Task could not be found
|
||||||
|
portEXIT_CRITICAL(&twdt_spinlock);
|
||||||
|
return ESP_ERR_NOT_FOUND;
|
||||||
|
}
|
||||||
|
|
||||||
|
void esp_task_wdt_feed()
|
||||||
|
{
|
||||||
|
portENTER_CRITICAL(&twdt_spinlock);
|
||||||
|
//Return immediately if TWDT has not been initialized
|
||||||
|
ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), VOID_RETURN);
|
||||||
|
|
||||||
|
//Check if task is on list
|
||||||
|
TaskHandle_t handle = xTaskGetCurrentTaskHandle();
|
||||||
|
bool all_reset;
|
||||||
|
twdt_task_t *target_task = find_task_in_twdt_list(handle, &all_reset);
|
||||||
|
|
||||||
|
//reset the task if it's on the list, then return
|
||||||
|
if(target_task != NULL){
|
||||||
|
target_task->has_reset = true;
|
||||||
|
if(all_reset){
|
||||||
|
reset_hw_timer(); //Reset hardware timer if all other tasks have reset
|
||||||
|
}
|
||||||
|
portEXIT_CRITICAL(&twdt_spinlock);
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
if (handle==wdt_task_list) {
|
|
||||||
//Current task is first on list.
|
//Add task if it's has not on list
|
||||||
wdt_task_list=wdt_task_list->next;
|
target_task = calloc(1, sizeof(twdt_task_t));
|
||||||
free(wdttask);
|
ASSERT_EXIT_CRIT_RETURN((target_task != NULL), VOID_RETURN); //If calloc failed
|
||||||
} else {
|
target_task->task_handle = handle;
|
||||||
//Find current task in list
|
target_task->has_reset = true;
|
||||||
if (wdt_task_list->task_handle==handle) {
|
target_task->next = NULL;
|
||||||
//Task is the very first one.
|
|
||||||
wdt_task_t *freeme=wdt_task_list;
|
if (twdt_config->list == NULL) { //Adding to empty list
|
||||||
wdt_task_list=wdt_task_list->next;
|
twdt_config->list = target_task;
|
||||||
free(freeme);
|
} else { //Adding to tail of list
|
||||||
portEXIT_CRITICAL(&taskwdt_spinlock);
|
twdt_task_t *task;
|
||||||
return;
|
for (task = twdt_config->list; task->next != NULL; task = task->next){
|
||||||
|
; //point task to current tail of wdt task list
|
||||||
}
|
}
|
||||||
while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
|
task->next = target_task;
|
||||||
if (!wdttask->next) {
|
|
||||||
ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
|
|
||||||
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
wdt_task_t *freeme=wdttask->next;
|
|
||||||
wdttask->next=wdttask->next->next;
|
|
||||||
free(freeme);
|
|
||||||
}
|
}
|
||||||
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
||||||
|
portEXIT_CRITICAL(&twdt_spinlock);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
#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;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
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) );
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
|
@ -1382,6 +1382,15 @@ BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
|
||||||
*/
|
*/
|
||||||
TaskHandle_t xTaskGetIdleTaskHandle( void );
|
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
|
* configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for
|
||||||
* uxTaskGetSystemState() to be available.
|
* uxTaskGetSystemState() to be available.
|
||||||
|
|
|
@ -2367,6 +2367,18 @@ UBaseType_t uxTaskGetNumberOfTasks( void )
|
||||||
return xIdleTaskHandle[ xPortGetCoreID() ];
|
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 */
|
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
|
||||||
/*----------------------------------------------------------*/
|
/*----------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
|
@ -4,8 +4,13 @@ Watchdogs
|
||||||
Overview
|
Overview
|
||||||
--------
|
--------
|
||||||
|
|
||||||
Esp-idf has support for two types of watchdogs: a task watchdog as well as an interrupt watchdog. Both can be
|
The ESP-IDF has support for two types of watchdogs: The Interrupt Watchdog Timer
|
||||||
enabled using ``make menuconfig`` and selecting the appropriate options.
|
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
|
Interrupt watchdog
|
||||||
^^^^^^^^^^^^^^^^^^
|
^^^^^^^^^^^^^^^^^^
|
||||||
|
@ -24,49 +29,75 @@ The interrupt watchdog is built around the hardware watchdog in timer group 1. I
|
||||||
cannot execute the NMI handler that invokes the panic handler (e.g. because IRAM is overwritten by garbage),
|
cannot execute the NMI handler that invokes the panic handler (e.g. because IRAM is overwritten by garbage),
|
||||||
it will hard-reset the SOC.
|
it will hard-reset the SOC.
|
||||||
|
|
||||||
Task watchdog
|
Task Watchdog Timer
|
||||||
^^^^^^^^^^^^^
|
^^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
Any tasks can elect to be watched by the task watchdog. If such a task does not feed the watchdog within the time
|
The Task Watchdog Timer (TWDT) is responsible for detecting instances of tasks
|
||||||
specified by the task watchdog timeout (which is configurable using ``make menuconfig``), the watchdog will
|
running for a prolonged period of time without yielding. This is a symptom of
|
||||||
print out a warning with information about which processes are running on the ESP32 CPUs and which processes
|
CPU starvation and is usually caused by a higher priority task looping without
|
||||||
failed to feed the watchdog.
|
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 task watchdog watches the idle tasks. The usual cause of idle tasks not feeding the watchdog
|
By default the TWDT will watch the Idle Tasks of each CPU, however any task can
|
||||||
is a higher-priority process looping without yielding to the lower-priority processes, and can be an indicator
|
elect to be watched by the TWDT. Each watched task must 'reset' the TWDT
|
||||||
of badly-written code that spinloops on a peripheral or a task that is stuck in an infinite loop.
|
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.
|
||||||
|
|
||||||
Other task can elect to be watched by the task watchdog by calling ``esp_task_wdt_feed()``. Calling this routine
|
The TWDT is built around the Hardware Watchdog Timer in Timer Group 0. The TWDT
|
||||||
for the first time will register the task to the task watchdog; calling it subsequent times will feed
|
can be initialized by calling :cpp:func:`esp_task_wdt_init` which will configure
|
||||||
the watchdog. If a task does not want to be watched anymore (e.g. because it is finished and will call
|
the hardware timer. A task can then subscribe to the TWDT using
|
||||||
``vTaskDelete()`` on itself), it needs to call ``esp_task_wdt_delete()``.
|
: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.
|
||||||
|
|
||||||
The task watchdog is built around the hardware watchdog in timer group 0. If this watchdog for some reason
|
A watched task can be unsubscribed from the TWDT using
|
||||||
cannot execute the interrupt handler that prints the task data (e.g. because IRAM is overwritten by garbage
|
:cpp:func:`esp_task_wdt_delete()`. A task that has been unsubscribed should no
|
||||||
or interrupts are disabled entirely) it will hard-reset the SOC.
|
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
|
JTAG and watchdogs
|
||||||
^^^^^^^^^^^^^^^^^^
|
^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
While debugging using OpenOCD, if the CPUs are halted the watchdogs will keep running, eventually resetting the
|
While debugging using OpenOCD, the CPUs will be halted every time a breakpoint
|
||||||
CPU. This makes it very hard to debug code; that is why the OpenOCD config will disable both watchdogs on startup.
|
is reached. However if the watchdog timers continue to run when a breakpoint is
|
||||||
This does mean that you will not get any warnings or panics from either the task or interrupt watchdog when the ESP32
|
encountered, they will eventually trigger a reset making it very difficult to
|
||||||
is connected to OpenOCD via JTAG.
|
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
|
|
||||||
-------------
|
|
||||||
|
|
||||||
Header Files
|
Interrupt Watchdog API Reference
|
||||||
^^^^^^^^^^^^
|
--------------------------------
|
||||||
|
|
||||||
|
Header File
|
||||||
|
^^^^^^^^^^^
|
||||||
|
|
||||||
* :component_file:`esp32/include/esp_int_wdt.h`
|
* :component_file:`esp32/include/esp_int_wdt.h`
|
||||||
* :component_file:`esp32/include/esp_task_wdt.h`
|
|
||||||
|
|
||||||
|
|
||||||
Functions
|
Functions
|
||||||
---------
|
---------
|
||||||
|
|
||||||
.. doxygenfunction:: esp_int_wdt_init
|
.. doxygenfunction:: esp_int_wdt_init
|
||||||
.. doxygenfunction:: esp_task_wdt_init
|
|
||||||
.. doxygenfunction:: esp_task_wdt_feed
|
Task Watchdog API Reference
|
||||||
.. doxygenfunction:: esp_task_wdt_delete
|
----------------------------
|
||||||
|
|
||||||
|
A full example using the Task Watchdog is available in esp-idf: :example:`system/task_watchdog`
|
||||||
|
|
||||||
|
.. include:: /_build/inc/esp_task_wdt.inc
|
||||||
|
|
9
examples/system/task_watchdog/Makefile
Normal file
9
examples/system/task_watchdog/Makefile
Normal file
|
@ -0,0 +1,9 @@
|
||||||
|
#
|
||||||
|
# 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
|
||||||
|
|
12
examples/system/task_watchdog/README.md
Normal file
12
examples/system/task_watchdog/README.md
Normal file
|
@ -0,0 +1,12 @@
|
||||||
|
# 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.
|
||||||
|
|
3
examples/system/task_watchdog/main/component.mk
Normal file
3
examples/system/task_watchdog/main/component.mk
Normal file
|
@ -0,0 +1,3 @@
|
||||||
|
#
|
||||||
|
# Main Makefile. This is basically the same as a component makefile.
|
||||||
|
#
|
|
@ -0,0 +1,85 @@
|
||||||
|
/* 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");
|
||||||
|
}
|
Loading…
Reference in a new issue