209 lines
7.2 KiB
C
209 lines
7.2 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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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 obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.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_err.h"
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#include "esp_intr.h"
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#include "esp_intr_alloc.h"
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#include "esp_attr.h"
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#include "esp_freertos_hooks.h"
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#include "soc/timer_group_struct.h"
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#include "soc/timer_group_reg.h"
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#include "esp_log.h"
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#include "driver/timer.h"
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#include "esp_task_wdt.h"
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#if CONFIG_TASK_WDT
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static const char* TAG = "task_wdt";
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typedef struct wdt_task_t wdt_task_t;
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struct wdt_task_t {
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TaskHandle_t task_handle;
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bool fed_watchdog;
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wdt_task_t *next;
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};
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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 task_wdt_isr(void *arg) {
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wdt_task_t *wdttask;
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const char *cpu;
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//Feed the watchdog so we do not reset
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
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TIMERG0.wdt_feed=1;
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TIMERG0.wdt_wprotect=0;
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//Ack interrupt
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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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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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if (!wdttask->fed_watchdog) {
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cpu=xTaskGetAffinity(wdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
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if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
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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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ets_printf(DRAM_STR("Tasks currently running:\n"));
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for (int x=0; x<portNUM_PROCESSORS; x++) {
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ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
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}
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#if CONFIG_TASK_WDT_PANIC
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ets_printf("Aborting.\n");
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abort();
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#endif
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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void esp_task_wdt_feed() {
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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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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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//the real watchdog timer.
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for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
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//See if we are at the current task.
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if (wdttask->task_handle == handle) {
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wdttask->fed_watchdog=true;
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found_task=true;
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}
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//If even one task in the list doesn't have the do_feed_wdt var set, we do not feed the watchdog.
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if (!wdttask->fed_watchdog) do_feed_wdt=false;
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}
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if (!found_task) {
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//This is the first time the task calls the task_wdt_feed function. Create a new entry for it in
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//the linked list.
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wdt_task_t *newtask=malloc(sizeof(wdt_task_t));
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memset(newtask, 0, sizeof(wdt_task_t));
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newtask->task_handle=handle;
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newtask->fed_watchdog=true;
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if (wdt_task_list == NULL) {
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wdt_task_list=newtask;
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} else {
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for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) ;
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wdttask->next=newtask;
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}
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}
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if (do_feed_wdt) {
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//All tasks have checked in; time to feed the hw watchdog.
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
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TIMERG0.wdt_feed=1;
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TIMERG0.wdt_wprotect=0;
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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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}
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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void esp_task_wdt_delete() {
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TaskHandle_t handle=xTaskGetCurrentTaskHandle();
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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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if (!wdt_task_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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}
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if (handle==wdt_task_list) {
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//Current task is first on list.
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wdt_task_list=wdt_task_list->next;
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free(wdttask);
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} else {
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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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if (!wdttask->next) {
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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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}
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wdt_task_t *freeme=wdttask->next;
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wdttask->next=wdttask->next->next;
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free(freeme);
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}
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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#if CONFIG_TASK_WDT_CHECK_IDLE_TASK
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static bool idle_hook(void) {
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#if !CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
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if (xPortGetCoreID()!=0) return true;
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#endif
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esp_task_wdt_feed();
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return true;
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}
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#endif
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void esp_task_wdt_init() {
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TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
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TIMERG0.wdt_config0.sys_reset_length=7; //3.2uS
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TIMERG0.wdt_config0.cpu_reset_length=7; //3.2uS
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TIMERG0.wdt_config0.level_int_en=1;
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TIMERG0.wdt_config0.stg0=TIMG_WDT_STG_SEL_INT; //1st stage timeout: interrupt
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TIMERG0.wdt_config0.stg1=TIMG_WDT_STG_SEL_RESET_SYSTEM; //2nd stage timeout: reset system
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TIMERG0.wdt_config1.clk_prescale=80*500; //Prescaler: wdt counts in ticks of 0.5mS
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TIMERG0.wdt_config2=CONFIG_TASK_WDT_TIMEOUT_S*2000; //Set timeout before interrupt
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TIMERG0.wdt_config3=CONFIG_TASK_WDT_TIMEOUT_S*4000; //Set timeout before reset
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TIMERG0.wdt_config0.en=1;
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TIMERG0.wdt_feed=1;
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TIMERG0.wdt_wprotect=0;
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#if CONFIG_TASK_WDT_CHECK_IDLE_TASK
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esp_register_freertos_idle_hook(idle_hook);
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#endif
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esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, NULL);
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}
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#endif
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