c533099e08
1. minor modifications 2. use TIMG_WDT_INT_ENA_M instead of BIT(2) in wdt.c 3. add doc/api/timer.rst
213 lines
7.4 KiB
C
213 lines
7.4 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_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 IRAM_ATTR 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(DRAM_STR("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(DRAM_STR(" - %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(DRAM_STR("CPU %d: %s\n"), x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
|
|
}
|
|
|
|
#if CONFIG_TASK_WDT_PANIC
|
|
ets_printf(DRAM_STR("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->next!=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_INTR_DISABLE(ETS_T0_WDT_INUM);
|
|
intr_matrix_set(xPortGetCoreID(), ETS_TG0_WDT_LEVEL_INTR_SOURCE, ETS_T0_WDT_INUM);
|
|
xt_set_interrupt_handler(ETS_T0_WDT_INUM, task_wdt_isr, NULL);
|
|
TIMERG0.int_clr_timers.wdt=1;
|
|
timer_group_intr_enable(TIMER_GROUP_0, TIMG_WDT_INT_ENA_M);
|
|
ESP_INTR_ENABLE(ETS_T0_WDT_INUM);
|
|
}
|
|
|
|
|
|
#endif
|