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@@ -20,6 +20,7 @@
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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/FreeRTOSConfig.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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@@ -28,6 +29,7 @@
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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_ipc.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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@@ -37,25 +39,80 @@
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#include "esp_task_wdt.h"
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-#if CONFIG_TASK_WDT
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-
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-static const char* TAG = "task_wdt";
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+//Assertion macro that exits from critical section and returns 'ret'
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+#define ASSERT_EXIT_CRIT_RET_ERR(cond, ret) ({ \
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+ if(!(cond)){ \
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+ portEXIT_CRITICAL(&taskwdt_spinlock); \
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+ return ret; \
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+ } \
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+})
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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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+ bool fed;
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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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+typedef struct task_wdt_config_t task_wdt_config_t;
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+struct task_wdt_config_t {
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+ wdt_task_t *list;
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+ uint32_t timeout;
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+ bool panic;
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+ bool idle_enable[portNUM_PROCESSORS];
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+ TaskHandle_t idle_handles[portNUM_PROCESSORS];
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+ intr_handle_t intr_handle;
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+};
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+
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+static task_wdt_config_t *wdt_config = NULL;
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static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
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+/*
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+ * Internal function that checks the list for target task. Returns the list item
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+ * if found and returns null if not found. Also checks if the all the other
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+ * tasks have checked in. Called within critical.
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+ */
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+static wdt_task_t *check_list(TaskHandle_t handle, bool *checked)
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+{
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+ wdt_task_t *target = NULL;
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+ *checked = true;
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+ for(wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
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+ if(task->task_handle == handle){
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+ target = task; //Get pointer to target task list member
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+ }else{
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+ if(task->fed == false){ //If a task has yet to check in
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+ *checked = false;
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+ }
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+ }
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+ }
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+ return target;
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+}
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-static void task_wdt_isr(void *arg) {
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+/*
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+ * Resets the wdt and fed flags of each task on the list. Called within critical
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+ */
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+static void feed_wdt()
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+{
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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 flags on all tasks in list
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+ for (wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
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+ task->fed=false;
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+ }
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+}
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+
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+/*
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+ * ISR for when wdt expires. Checks for which tasks have not fed. Trigger panic
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+ * if configured to do so in initialization
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+ */
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+static void task_wdt_isr(void *arg)
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+{
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+ portENTER_CRITICAL(&taskwdt_spinlock);
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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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+ //Feed the watchdog so we don't 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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@@ -65,16 +122,14 @@ static void task_wdt_isr(void *arg) {
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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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+ if (!wdt_config->list) { //No tasks on list
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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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+ for (wdttask=wdt_config->list; wdttask!=NULL; wdttask=wdttask->next) {
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+ if (!wdttask->fed) {
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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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@@ -85,125 +140,243 @@ static void task_wdt_isr(void *arg) {
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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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+ if (wdt_config->panic){
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+ ets_printf("Aborting.\n");
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+ portEXIT_CRITICAL(&taskwdt_spinlock);
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+ abort();
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+ }
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+
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portEXIT_CRITICAL(&taskwdt_spinlock);
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}
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+/*
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+ * Idle hook for Idle Task to feed the wdt. Will only call feed if the idle task
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+ * of that core has been added to wdt task list.
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+ */
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+static bool idle_hook(void)
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+{
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+ uint32_t core_id = xPortGetCoreID();
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+ if (wdt_config->idle_enable[core_id]){
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+ esp_task_wdt_feed();
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+ }
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+ return true;
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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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+/*
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+ * Initializes the task watchdog timer by allocating memory for the config data
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+ * structure, obtaining the idle task handles/registering idle hooks, and
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+ * setting the hardware timer registers. If reconfiguring, it will just modify
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+ * wdt_config and reset the hardware timer.
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+ */
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+esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic)
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+{
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portENTER_CRITICAL(&taskwdt_spinlock);
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+ if(wdt_config == NULL){ //wdt not initialized yet
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+ //Allocate memory for wdt_config
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+ wdt_config = calloc(1, sizeof(task_wdt_config_t));
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+ ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_NO_MEM);
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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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-
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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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+ wdt_config->list = NULL;
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+ wdt_config->timeout = timeout;
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+ wdt_config->panic = panic;
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+
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+ //Get idle task handles
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+ for(int i = 0; i < portNUM_PROCESSORS; i++){
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+ wdt_config->idle_handles[i] = xTaskGetIdleTaskHandleForCPU( i );
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+ wdt_config->idle_enable[i] = false;
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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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+
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+ //Register Idle Hook and Interrupts
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+ esp_register_freertos_idle_hook(idle_hook);
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+ ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &wdt_config->intr_handle))
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+
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+ //Configure hardware timer
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+ TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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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=wdt_config->timeout*2; //Set timeout before interrupt
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+ TIMERG0.wdt_config3=wdt_config->timeout*4; //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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- //Reset fed_watchdog status
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- for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
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+ TIMERG0.wdt_wprotect=0; //Enable write protection
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+
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+ }else{ //wdt_config previously initialized
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+ //Reconfigure task wdt
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+ wdt_config->panic = panic;
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+ wdt_config->timeout = timeout;
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+
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+ //Reconfigure hardware timer
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+ TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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+ TIMERG0.wdt_config0.en=0; //Disable timer
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+ TIMERG0.wdt_config2=wdt_config->timeout*2; //Set timeout before interrupt
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+ TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
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+ TIMERG0.wdt_config0.en=1; //Renable timer
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+ TIMERG0.wdt_feed=1; //Reset timer
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+ TIMERG0.wdt_wprotect=0; //Enable write protection
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}
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portEXIT_CRITICAL(&taskwdt_spinlock);
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+ return ESP_OK;
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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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+esp_err_t esp_task_wdt_deinit()
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+{
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portENTER_CRITICAL(&taskwdt_spinlock);
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+ //wdt must already be initialized
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+ ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
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+ //Task list must be empty
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+ ASSERT_EXIT_CRIT_RET_ERR((wdt_config->list == NULL), ESP_ERR_INVALID_STATE);
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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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+ //Disable hardware timer
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+ TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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+ TIMERG0.wdt_config0.en=0; //Disable timer
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+ TIMERG0.wdt_wprotect=0; //Enable write protection
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+
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+ esp_deregister_freertos_idle_hook(idle_hook); //deregister idle hook
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+ ESP_ERROR_CHECK(esp_intr_free(wdt_config->intr_handle)) //Unregister interrupt
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+ free(wdt_config); //Free wdt_config
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+ wdt_config = NULL;
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+ portEXIT_CRITICAL(&taskwdt_spinlock);
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+ return ESP_OK;
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+}
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+
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+esp_err_t esp_task_wdt_add(TaskHandle_t handle)
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+{
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+ portENTER_CRITICAL(&taskwdt_spinlock); //Nested critical in Legacy (called from feed)
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+#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
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+ wdt_task_t *target_task;
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+#else
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+ //Return error if wdt has not been initialized
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+ ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
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+
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+ wdt_task_t *target_task;
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+ bool all_fed;
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+ if (handle == NULL){ //Get handle of current task if none is provided
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+ handle = xTaskGetCurrentTaskHandle();
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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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+ //Check if tasks exists in task list, and if all other tasks have checked in
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+ target_task = check_list(handle, &all_fed);
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+ //Return error if task has already been added
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+ ASSERT_EXIT_CRIT_RET_ERR((target_task == NULL), ESP_ERR_INVALID_ARG);
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+#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
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+ //Add task to wdt list
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+ target_task = calloc(1,sizeof(wdt_task_t));
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+ //Return error if calloc failed
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+ ASSERT_EXIT_CRIT_RET_ERR((target_task != NULL), ESP_ERR_NO_MEM);
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+
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+ target_task->task_handle = handle;
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+ target_task->fed = true;
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+ target_task->next = NULL;
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+ if (wdt_config->list == NULL) { //Adding to empty list
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+ wdt_config->list = target_task;
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+ } else { //Adding to tail of list
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+ wdt_task_t *task;
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+ for (task = wdt_config->list; task->next != NULL; task = task->next){
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+ ; //point task to current tail of wdt task list
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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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+ task->next = target_task;
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}
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- portEXIT_CRITICAL(&taskwdt_spinlock);
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-}
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+ //If idle task, set idle_enable flag
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+ for(int i = 0; i < portNUM_PROCESSORS; i++){
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+ if(handle == wdt_config->idle_handles[i]){
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+ wdt_config->idle_enable[i] = true;
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+ break;
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+ }
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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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+#ifndef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
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+ if(all_fed){ //Reset if all other tasks in list have checked in
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+ feed_wdt();
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|
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+ }
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#endif
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- esp_task_wdt_feed();
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- return true;
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+ portEXIT_CRITICAL(&taskwdt_spinlock); //Nested critical if Legacy
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+ return ESP_OK;
|
|
|
}
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-#endif
|
|
|
|
|
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+esp_err_t esp_task_wdt_feed()
|
|
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+{
|
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+ portENTER_CRITICAL(&taskwdt_spinlock);
|
|
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+ //Return error if wdt has not been initialized
|
|
|
+ ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
|
|
|
|
|
|
-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) );
|
|
|
+ TaskHandle_t handle = xTaskGetCurrentTaskHandle();
|
|
|
+ wdt_task_t *target_task;
|
|
|
+ bool all_fed;
|
|
|
+
|
|
|
+ //Check if tasks exists in task list, and if all other tasks have checked in
|
|
|
+ target_task = check_list(handle, &all_fed);
|
|
|
+
|
|
|
+ if(target_task == NULL){
|
|
|
+#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
|
|
|
+ //Add task to wdt task list if it doesn't exist, return error if failed to add
|
|
|
+ ASSERT_EXIT_CRIT_RET_ERR((esp_task_wdt_add(handle) == ESP_OK), ESP_ERR_NO_MEM);
|
|
|
+#else
|
|
|
+ portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
|
+ return ESP_ERR_INVALID_STATE; //Return error if task does not exist
|
|
|
+#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
|
|
|
+ }else{
|
|
|
+ target_task->fed = true; //Feed the task
|
|
|
+ }
|
|
|
+
|
|
|
+ if(all_fed){ //Reset if all other tasks in list have checked in
|
|
|
+ feed_wdt();
|
|
|
+ }
|
|
|
+
|
|
|
+ portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
|
+ return ESP_OK;
|
|
|
}
|
|
|
|
|
|
+#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
|
|
|
+esp_err_t esp_task_wdt_delete()
|
|
|
+{
|
|
|
+ TaskHandle_t handle = xTaskGetCurrentTaskHandle();
|
|
|
+#else
|
|
|
+esp_err_t esp_task_wdt_delete(TaskHandle_t handle)
|
|
|
+{
|
|
|
+ if(handle == NULL){
|
|
|
+ handle = xTaskGetCurrentTaskHandle();
|
|
|
+ }
|
|
|
+#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
|
|
|
+ portENTER_CRITICAL(&taskwdt_spinlock);
|
|
|
+ //Return error if wdt has not been initialized
|
|
|
+ ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
|
|
|
+ wdt_task_t *target_task;
|
|
|
+ bool all_fed;
|
|
|
+
|
|
|
+ target_task = check_list(handle, &all_fed);
|
|
|
+
|
|
|
+ //Task doesn't exist on list. Return error
|
|
|
+ ASSERT_EXIT_CRIT_RET_ERR((target_task != NULL), ESP_ERR_INVALID_ARG);
|
|
|
+
|
|
|
+ if(target_task == wdt_config->list){ //target_task is head of list. Delete
|
|
|
+ wdt_config->list = target_task->next;
|
|
|
+ free(target_task);
|
|
|
+ }else{ //target_task not head of list. Delete
|
|
|
+ wdt_task_t *prev;
|
|
|
+ for (prev = wdt_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, disable idle_enable flag
|
|
|
+ for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
|
+ if(handle == wdt_config->idle_handles[i]){
|
|
|
+ wdt_config->idle_enable[i] = false;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ if(all_fed){ //Reset timer if all remaining tasks have checked in
|
|
|
+ feed_wdt();
|
|
|
+ }
|
|
|
+
|
|
|
+ portEXIT_CRITICAL(&taskwdt_spinlock);
|
|
|
+ return ESP_OK;
|
|
|
+}
|
|
|
|
|
|
-#endif
|
Darian Leung