From e53d307814a9cb5c980c4e6d77496e8635d27c38 Mon Sep 17 00:00:00 2001
From: Angus Gratton <angus@espressif.com>
Date: Fri, 13 Jan 2017 14:30:00 +1100
Subject: [PATCH] Panic handler: Use same reset path as esp_restart(),
 disabling hardware

Closes #223 https://github.com/espressif/esp-idf/issues/223
---
 components/esp32/include/rom/rtc.h |  6 ++++++
 components/esp32/panic.c           |  7 +++----
 components/esp32/system_api.c      | 13 +++++++++++++
 3 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/components/esp32/include/rom/rtc.h b/components/esp32/include/rom/rtc.h
index e3c031775..9bcd9bd7e 100644
--- a/components/esp32/include/rom/rtc.h
+++ b/components/esp32/include/rom/rtc.h
@@ -181,6 +181,9 @@ void set_rtc_memory_crc(void);
 /**
   * @brief Software Reset digital core.
   *
+  * It is not recommended to use this function in esp-idf, use
+  * esp_restart() instead.
+  *
   * @param  None
   *
   * @return None
@@ -190,6 +193,9 @@ void software_reset(void);
 /**
   * @brief Software Reset digital core.
   *
+  * It is not recommended to use this function in esp-idf, use
+  * esp_restart() instead.
+  *
   * @param  int cpu_no : The CPU to reset, 0 for PRO CPU, 1 for APP CPU.
   *
   * @return None
diff --git a/components/esp32/panic.c b/components/esp32/panic.c
index c5b18870a..dcf7ba8d7 100644
--- a/components/esp32/panic.c
+++ b/components/esp32/panic.c
@@ -320,6 +320,8 @@ static void doBacktrace(XtExcFrame *frame)
     panicPutStr("\n\n");
 }
 
+void esp_restart_noos() __attribute__ ((noreturn));
+
 /*
   We arrive here after a panic or unhandled exception, when no OCD is detected. Dump the registers to the
   serial port and either jump to the gdb stub, halt the CPU or reboot.
@@ -365,10 +367,7 @@ static void commonErrorHandler(XtExcFrame *frame)
     esp_gdbstub_panic_handler(frame);
 #elif CONFIG_ESP32_PANIC_PRINT_REBOOT || CONFIG_ESP32_PANIC_SILENT_REBOOT
     panicPutStr("Rebooting...\r\n");
-    for (x = 0; x < 100; x++) {
-        ets_delay_us(1000);
-    }
-    software_reset();
+    esp_restart_noos();
 #else
     disableAllWdts();
     panicPutStr("CPU halted.\r\n");
diff --git a/components/esp32/system_api.c b/components/esp32/system_api.c
index 60fa1796c..55fe02659 100644
--- a/components/esp32/system_api.c
+++ b/components/esp32/system_api.c
@@ -72,12 +72,25 @@ esp_err_t esp_efuse_read_mac(uint8_t* mac)
 esp_err_t system_efuse_read_mac(uint8_t mac[6]) __attribute__((alias("esp_efuse_read_mac")));
 
 
+void esp_restart_noos() __attribute__ ((noreturn));
+
 void IRAM_ATTR esp_restart(void)
 {
     esp_wifi_stop();
 
     // Disable scheduler on this core.
     vTaskSuspendAll();
+
+    esp_restart_noos();
+}
+
+/* "inner" restart function for after RTOS, interrupts & anything else on this
+ * core are already stopped. Stalls other core, resets hardware,
+ * triggers restart.
+*/
+void IRAM_ATTR esp_restart_noos()
+{
+
     const uint32_t core_id = xPortGetCoreID();
     const uint32_t other_core_id = core_id == 0 ? 1 : 0;
     esp_cpu_stall(other_core_id);