ae9041ab71
The two task watchdog timer bugs are as follows... 1) If only a single task existed on the wdt task list, and esp_task_wdt_feed() was only called once, the watchdog triggers but fails to print task name 2) If a single task already exists on the task wdt list, and another task calls esp_task_wdt_feed() once, the watchdog fails to trigger Problem stemmed from the loop responsible for resetting the watchdog timer having incorrect loop parameters. The loop failed to traverse the full length of the task wdt list
210 lines
7.2 KiB
C
210 lines
7.2 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
|
|
|
|
#include <stdint.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <stdbool.h>
|
|
#include "sdkconfig.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/queue.h"
|
|
#include "freertos/semphr.h"
|
|
#include <esp_types.h>
|
|
#include "esp_err.h"
|
|
#include "esp_intr.h"
|
|
#include "esp_intr_alloc.h"
|
|
#include "esp_attr.h"
|
|
#include "esp_freertos_hooks.h"
|
|
#include "soc/timer_group_struct.h"
|
|
#include "soc/timer_group_reg.h"
|
|
#include "esp_log.h"
|
|
#include "driver/timer.h"
|
|
|
|
#include "esp_task_wdt.h"
|
|
|
|
#if CONFIG_TASK_WDT
|
|
|
|
static const char* TAG = "task_wdt";
|
|
|
|
typedef struct wdt_task_t wdt_task_t;
|
|
struct wdt_task_t {
|
|
TaskHandle_t task_handle;
|
|
bool fed_watchdog;
|
|
wdt_task_t *next;
|
|
};
|
|
|
|
static wdt_task_t *wdt_task_list=NULL;
|
|
static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
|
|
|
|
|
|
static void task_wdt_isr(void *arg) {
|
|
wdt_task_t *wdttask;
|
|
const char *cpu;
|
|
//Feed the watchdog so we do not reset
|
|
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
|
|
TIMERG0.wdt_feed=1;
|
|
TIMERG0.wdt_wprotect=0;
|
|
//Ack interrupt
|
|
TIMERG0.int_clr_timers.wdt=1;
|
|
//We are taking a spinlock while doing I/O (ets_printf) here. Normally, that is a pretty
|
|
//bad thing, possibly (temporarily) hanging up the 2nd core and stopping FreeRTOS. In this case,
|
|
//something bad already happened and reporting this is considered more important
|
|
//than the badness caused by a spinlock here.
|
|
portENTER_CRITICAL(&taskwdt_spinlock);
|
|
if (!wdt_task_list) {
|
|
//No task on list. Maybe none registered yet.
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
return;
|
|
}
|
|
//Watchdog got triggered because at least one task did not report in.
|
|
ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
|
|
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
|
|
if (!wdttask->fed_watchdog) {
|
|
cpu=xTaskGetAffinity(wdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
|
|
if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
|
|
ets_printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
|
|
}
|
|
}
|
|
ets_printf(DRAM_STR("Tasks currently running:\n"));
|
|
for (int x=0; x<portNUM_PROCESSORS; x++) {
|
|
ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
|
|
}
|
|
|
|
#if CONFIG_TASK_WDT_PANIC
|
|
ets_printf("Aborting.\n");
|
|
abort();
|
|
#endif
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
}
|
|
|
|
|
|
void esp_task_wdt_feed() {
|
|
wdt_task_t *wdttask=wdt_task_list;
|
|
bool found_task=false, do_feed_wdt=true;
|
|
TaskHandle_t handle=xTaskGetCurrentTaskHandle();
|
|
portENTER_CRITICAL(&taskwdt_spinlock);
|
|
|
|
//Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
|
|
//the real watchdog timer.
|
|
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
|
|
//See if we are at the current task.
|
|
if (wdttask->task_handle == handle) {
|
|
wdttask->fed_watchdog=true;
|
|
found_task=true;
|
|
}
|
|
//If even one task in the list doesn't have the do_feed_wdt var set, we do not feed the watchdog.
|
|
if (!wdttask->fed_watchdog) do_feed_wdt=false;
|
|
}
|
|
|
|
if (!found_task) {
|
|
//This is the first time the task calls the task_wdt_feed function. Create a new entry for it in
|
|
//the linked list.
|
|
wdt_task_t *newtask=malloc(sizeof(wdt_task_t));
|
|
memset(newtask, 0, sizeof(wdt_task_t));
|
|
newtask->task_handle=handle;
|
|
newtask->fed_watchdog=true;
|
|
if (wdt_task_list == NULL) {
|
|
wdt_task_list=newtask;
|
|
} else {
|
|
for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) ;
|
|
wdttask->next=newtask;
|
|
}
|
|
}
|
|
if (do_feed_wdt) {
|
|
//All tasks have checked in; time to feed the hw watchdog.
|
|
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
|
|
TIMERG0.wdt_feed=1;
|
|
TIMERG0.wdt_wprotect=0;
|
|
//Reset fed_watchdog status
|
|
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
|
|
}
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
}
|
|
|
|
void esp_task_wdt_delete() {
|
|
TaskHandle_t handle=xTaskGetCurrentTaskHandle();
|
|
wdt_task_t *wdttask=wdt_task_list;
|
|
portENTER_CRITICAL(&taskwdt_spinlock);
|
|
|
|
//Wdt task list can't be empty
|
|
if (!wdt_task_list) {
|
|
ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
return;
|
|
}
|
|
if (handle==wdt_task_list) {
|
|
//Current task is first on list.
|
|
wdt_task_list=wdt_task_list->next;
|
|
free(wdttask);
|
|
} else {
|
|
//Find current task in list
|
|
if (wdt_task_list->task_handle==handle) {
|
|
//Task is the very first one.
|
|
wdt_task_t *freeme=wdt_task_list;
|
|
wdt_task_list=wdt_task_list->next;
|
|
free(freeme);
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
return;
|
|
}
|
|
while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
|
|
if (!wdttask->next) {
|
|
ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
|
|
portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
return;
|
|
}
|
|
wdt_task_t *freeme=wdttask->next;
|
|
wdttask->next=wdttask->next->next;
|
|
free(freeme);
|
|
}
|
|
portEXIT_CRITICAL(&taskwdt_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
|