Move panic handler and gdbstub into esp32 component, clean up wdt according to merge req suggestions

components/esp32/Kconfig

@@ -81,8 +81,10 @@ config TRACEMEM_RESERVE_DRAM
     default 0x4000 if MEMMAP_TRACEMEM && !MEMMAP_TRACEMEM_TWOBANKS
     default 0x0
 
+# Not implemented and/or needs new silicon rev to work
 config MEMMAP_SPISRAM
     bool "Use external SPI SRAM chip as main memory"
+    depends on ESP32_NEEDS_NEW_SILICON_REV
     default "n"
     help
         The ESP32 can control an external SPI SRAM chip, adding the memory it contains to the 
@@ -153,6 +155,45 @@ config ULP_COPROC_RESERVE_MEM
     depends on !ULP_COPROC_ENABLED
 
 
+choice ESP32_PANIC
+    prompt "Panic handler behaviour"
+    default FREERTOS_PANIC_PRINT_REBOOT
+    help
+        If FreeRTOS detects unexpected behaviour or an unhandled exception, the panic handler is 
+        invoked. Configure the panic handlers action here.
+
+config ESP32_PANIC_PRINT_HALT
+    bool "Print registers and halt"
+    help
+        Outputs the relevant registers over the serial port and halt the 
+        processor. Needs a manual reset to restart.
+
+config ESP32_PANIC_PRINT_REBOOT
+    bool "Print registers and reboot"
+    help
+        Outputs the relevant registers over the serial port and immediately
+        reset the processor.
+
+config ESP32_PANIC_SILENT_REBOOT
+    bool "Silent reboot"
+    help
+        Just resets the processor without outputting anything
+
+config ESP32_PANIC_GDBSTUB
+    bool "Invoke GDBStub"
+    help
+        Invoke gdbstub on the serial port, allowing for gdb to attach to it to do a postmortem
+        of the crash.
+endchoice
+
+config ESP32_DEBUG_OCDAWARE
+    bool "Make exception and panic handlers JTAG/OCD aware"
+    default y
+    help
+        The FreeRTOS panic and unhandled exception handers can detect a JTAG OCD debugger and
+        instead of panicking, have the debugger stop on the offending instruction.
+
+
 config INT_WDT
     bool "Interrupt watchdog"
     default y

components/esp32/cpu_start.c

@@ -147,19 +147,19 @@ void start_cpu0_default(void)
 #endif
     esp_set_cpu_freq();     // set CPU frequency configured in menuconfig
     uart_div_modify(0, (APB_CLK_FREQ << 4) / 115200);
-    ets_setup_syscalls();
-    do_global_ctors();
-    esp_ipc_init();
-    spi_flash_init();
 #if CONFIG_BROWNOUT_DET
     esp_brownout_init();
 #endif
 #if CONFIG_INT_WDT
-    int_wdt_init();
+    esp_int_wdt_init();
 #endif
 #if CONFIG_TASK_WDT
-    task_wdt_init();
+    esp_task_wdt_init();
 #endif
+    ets_setup_syscalls();
+    do_global_ctors();
+    esp_ipc_init();
+    spi_flash_init();
 
     xTaskCreatePinnedToCore(&main_task, "main",
             ESP_TASK_MAIN_STACK, NULL,

components/freertos/gdbstub.c → components/esp32/gdbstub.c

@@ -24,7 +24,7 @@
 #include "soc/uart_reg.h"
 #include "soc/io_mux_reg.h"
 
-#include "gdbstub.h"
+#include "esp_gdbstub.h"
 
 //Length of buffer used to reserve GDB commands. Has to be at least able to fit the G command, which
 //implies a minimum size of about 320 bytes.

components/freertos/gdbstub.h → components/esp32/include/esp_gdbstub.h

@@ -17,6 +17,6 @@
 #include <xtensa/config/core.h>
 #include "freertos/xtensa_api.h"
 
-void gdbstubPanicHandler(XtExcFrame *frame);
+void esp_gdbstub_panic_handler(XtExcFrame *frame);
 
 #endif

components/esp32/include/esp_int_wdt.h

@@ -23,15 +23,29 @@ extern "C" {
   * @{
   */
 
+/*
+This routine enables a watchdog to catch instances of processes disabling
+interrupts for too long, or code within interrupt handlers taking too long. 
+It does this by setting up a watchdog which gets fed from the FreeRTOS
+task switch interrupt. When this watchdog times out, initially it will call
+a high-level interrupt routine that will panic FreeRTOS in order to allow
+for forensic examination of the state of the CPU. When this interrupt 
+handler is not called and the watchdog times out a second time, it will 
+reset the SoC.
+
+This uses the TIMERG1 WDT.
+*/
+
+
 /**
-  * @brief  Initialize the interrupt watchdog. This is called in the init code, no need to 
-  *         call it explicitly.
+  * @brief  Initialize the interrupt watchdog. This is called in the init code if
+  *         the interrupt watchdog is enabled in menuconfig.
   *
   * @param  null
   *
   * @return null
   */
-void int_wdt_init();
+void esp_int_wdt_init();
 
 
 /**

components/esp32/include/esp_panic.h

@@ -14,7 +14,7 @@
 
 #ifndef __ASSEMBLER__
 
-void setBreakpointIfJtag(void *fn);
+void esp_set_breakpoint_if_jtag(void *fn);
 
 #endif
 

components/esp32/include/esp_task_wdt.h

@@ -28,15 +28,25 @@ extern "C" {
   * @{
   */
 
+/*
+This routine enables a more general-purpose task watchdog: tasks can individually
+feed the watchdog and the watchdog will bark if one or more tasks haven't fed the
+watchdog within the specified time. Optionally, the idle tasks can also configured
+to feed the watchdog in a similar fashion, to detect CPU starvation.
+
+This uses the TIMERG0 WDT.
+*/
+
+
 /**
-  * @brief  Initialize the task watchdog. This is called in the init code, no need to 
-  *         call it explicitly.
+  * @brief  Initialize the task watchdog. This is called in the init code, if the
+  *         task watchdog is enabled in menuconfig.
   *
   * @param  null
   *
   * @return null
   */
-void task_wdt_init();
+void esp_task_wdt_init();
 
 /**
   * @brief  Feed the watchdog. After the first feeding session, the watchdog will expect the calling
@@ -47,7 +57,7 @@ void task_wdt_init();
   * @return null
   */
 
-void task_wdt_feed();
+void esp_task_wdt_feed();
 
 
 /**
@@ -57,7 +67,7 @@ void task_wdt_feed();
   *
   * @return null
   */
-void task_wdt_delete();
+void esp_task_wdt_delete();
 
 /**
   * @}

components/esp32/include/soc/rtc_cntl_reg.h

@@ -14,6 +14,8 @@
 #ifndef _SOC_RTC_CNTL_REG_H_
 #define _SOC_RTC_CNTL_REG_H_
 
+#define WDT_WRITE_KEY 0x50D83AA1
+
 
 #include "soc.h"
 #define RTC_CNTL_OPTIONS0_REG          (DR_REG_RTCCNTL_BASE + 0x0)

components/esp32/include/soc/timer_group_reg.h

@@ -15,6 +15,8 @@
 #define __TIMG_REG_H__
 #include "soc.h"
 
+#define WDT_WRITE_KEY 0x50D83AA1
+
 #define REG_TIMG_BASE(i)       (DR_REG_TIMERGROUP0_BASE + i*0x1000)
 #define TIMG_T0CONFIG_REG(i)          (REG_TIMG_BASE(i) + 0x0000)
 /* TIMG_T0_EN : R/W ;bitpos:[31] ;default: 1'h0 ; */

components/esp32/int_wdt.c

@@ -13,18 +13,6 @@
 // limitations under the License.
 
 
-/*
-This routine enables a watchdog to catch instances of processes disabling
-interrupts for too long, or code within interrupt handlers taking too long. 
-It does this by setting up a watchdog which gets fed from the FreeRTOS
-task switch interrupt. When this watchdog times out, initially it will call
-a high-level interrupt routine that will panic FreeRTOS in order to allow
-for forensic examination of the state of the CPU. When this interrupt 
-handler is not called and the watchdog times out a second time, it will 
-reset the SoC.
-
-This uses the TIMERG1 WDT.
-*/
 
 #include "sdkconfig.h"
 #include <stdint.h>
@@ -37,6 +25,7 @@ This uses the TIMERG1 WDT.
 #include "esp_err.h"
 #include "esp_intr.h"
 #include "soc/timer_group_struct.h"
+#include "soc/timer_group_reg.h"
 
 #include "esp_int_wdt.h"
 
@@ -45,9 +34,8 @@ This uses the TIMERG1 WDT.
 
 #define WDT_INT_NUM 24
 
-#define WDT_WRITE_KEY 0x50D83AA1
 
-void int_wdt_init() {
+void esp_int_wdt_init() {
     TIMERG1.wdt_wprotect=WDT_WRITE_KEY;
     TIMERG1.wdt_config0.sys_reset_length=7;             //3.2uS
     TIMERG1.wdt_config0.cpu_reset_length=7;             //3.2uS
@@ -73,6 +61,7 @@ void int_wdt_init() {
 }
 
 
+//Take care: the tick hook can also be called before esp_int_wdt_init() is called.
 #if CONFIG_INT_WDT_CHECK_CPU1
 //Not static; the ISR assembly checks this.
 bool int_wdt_app_cpu_ticked=false;

components/esp32/panic.c

@@ -26,11 +26,10 @@
 #include "soc/dport_reg.h"
 #include "soc/rtc_cntl_reg.h"
 #include "soc/timer_group_struct.h"
+#include "soc/timer_group_reg.h"
 
-#include "gdbstub.h"
-#include "panic.h"
-
-#define WDT_WRITE_KEY 0x50D83AA1
+#include "esp_gdbstub.h"
+#include "esp_panic.h"
 
 
 /*
@@ -196,7 +195,13 @@ void xt_unhandled_exception(XtExcFrame *frame) {
 }
 
 
-//Disables all but one WDT, and allows enough time on that WDT to do what we need to do.
+/*
+If watchdogs are enabled, the panic handler runs the risk of getting aborted pre-emptively because
+an overzealous watchdog decides to reset it. On the other hand, if we disable all watchdogs, we run
+the risk of somehow halting in the panic handler and not resetting. That is why this routine kills 
+all watchdogs except the timer group 0 watchdog, and it reconfigures that to reset the chip after
+one second.
+*/
 static void reconfigureAllWdts() {
 	TIMERG0.wdt_wprotect=WDT_WRITE_KEY;
 	TIMERG0.wdt_feed=1;
@@ -213,6 +218,9 @@ static void reconfigureAllWdts() {
 	TIMERG1.wdt_wprotect=0;
 }
 
+/*
+This disables all the watchdogs for when we call the gdbstub.
+*/
 static void disableAllWdts() {
 	TIMERG0.wdt_wprotect=WDT_WRITE_KEY;
 	TIMERG0.wdt_config0.en=0;
@@ -254,7 +262,7 @@ void commonErrorHandler(XtExcFrame *frame) {
 #if CONFIG_FREERTOS_PANIC_GDBSTUB
 	disableAllWdts();
 	panicPutStr("Entering gdb stub now.\r\n");
-	gdbstubPanicHandler(frame);
+	esp_gdbstub_panic_handler(frame);
 #elif CONFIG_FREERTOS_PANIC_PRINT_REBOOT || CONFIG_FREERTOS_PANIC_SILENT_REBOOT
 	panicPutStr("Rebooting...\r\n");
 	for (x=0; x<100; x++) ets_delay_us(1000);
@@ -267,7 +275,7 @@ void commonErrorHandler(XtExcFrame *frame) {
 }
 
 
-void setBreakpointIfJtag(void *fn) {
+void esp_set_breakpoint_if_jtag(void *fn) {
 	if (!inOCDMode()) return;
 	setFirstBreakpoint((uint32_t)fn);
 }

components/esp32/task_wdt.c

@@ -13,14 +13,6 @@
 // limitations under the License.
 
 
-/*
-This routine enables a more general-purpose task watchdog: tasks can individually
-feed the watchdog and the watchdog will bark if one or more tasks haven't fed the
-watchdog within the specified time. Optionally, the idle tasks can also configured
-to feed the watchdog in a similar fashion, to detect CPU starvation.
-
-This uses the TIMERG0 WDT.
-*/
 
 #include <stdint.h>
 #include <stdio.h>
@@ -35,6 +27,7 @@ This uses the TIMERG0 WDT.
 #include "esp_intr.h"
 #include "esp_attr.h"
 #include "soc/timer_group_struct.h"
+#include "soc/timer_group_reg.h"
 #include "esp_log.h"
 
 #include "esp_task_wdt.h"
@@ -52,11 +45,6 @@ struct wdt_task_t {
 
 static wdt_task_t *wdt_task_list=NULL;
 
-//We use this interrupt number on whatever task calls task_wdt_init.
-#define WDT_INT_NUM 24
-
-#define WDT_WRITE_KEY 0x50D83AA1
-
 static void IRAM_ATTR task_wdt_isr(void *arg) {
     wdt_task_t *wdttask;
     const char *cpu;
@@ -87,7 +75,7 @@ static void IRAM_ATTR task_wdt_isr(void *arg) {
 }
 
 
-void task_wdt_feed() {
+void esp_task_wdt_feed() {
     wdt_task_t *wdttask=wdt_task_list;
     bool found_task=false, do_feed_wdt=true;
     TaskHandle_t handle=xTaskGetCurrentTaskHandle();
@@ -127,7 +115,7 @@ void task_wdt_feed() {
     }
 }
 
-void task_wdt_delete() {
+void esp_task_wdt_delete() {
     TaskHandle_t handle=xTaskGetCurrentTaskHandle();
     wdt_task_t *wdttask=wdt_task_list;
     //Wdt task list can't be empty
@@ -152,7 +140,7 @@ void task_wdt_delete() {
     }
 }
 
-void task_wdt_init() {
+void esp_task_wdt_init() {
     TIMERG0.wdt_wprotect=WDT_WRITE_KEY;
     TIMERG0.wdt_config0.sys_reset_length=7;             //3.2uS
     TIMERG0.wdt_config0.cpu_reset_length=7;             //3.2uS
@@ -178,7 +166,7 @@ void vApplicationIdleHook(void) {
 #if !CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
     if (xPortGetCoreID()!=0) return;
 #endif
-    task_wdt_feed();
+    esp_task_wdt_feed();
 }
 #endif
 

components/freertos/Kconfig

@@ -93,45 +93,6 @@ config FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
 
         If using the WiFi stack, this value must be at least 1.
 
-#This still needs to be implemented.
-choice FREERTOS_PANIC
-    prompt "Panic handler behaviour"
-    default FREERTOS_PANIC_PRINT_REBOOT
-    help
-        If FreeRTOS detects unexpected behaviour or an unhandled exception, the panic handler is 
-        invoked. Configure the panic handlers action here.
-
-config FREERTOS_PANIC_PRINT_HALT
-    bool "Print registers and halt"
-    help
-        Outputs the relevant registers over the serial port and halt the 
-        processor. Needs a manual reset to restart.
-
-config FREERTOS_PANIC_PRINT_REBOOT
-    bool "Print registers and reboot"
-    help
-        Outputs the relevant registers over the serial port and immediately
-        reset the processor.
-
-config FREERTOS_PANIC_SILENT_REBOOT
-    bool "Silent reboot"
-    help
-        Just resets the processor without outputting anything
-
-config FREERTOS_PANIC_GDBSTUB
-    bool "Invoke GDBStub"
-    help
-        Invoke gdbstub on the serial port, allowing for gdb to attach to it to do a postmortem
-        of the crash.
-endchoice
-
-config FREERTOS_DEBUG_OCDAWARE
-    bool "Make exception and panic handlers JTAG/OCD aware"
-    default y
-    help
-        The FreeRTOS panic and unhandled exception handers can detect a JTAG OCD debugger and
-        instead of panicking, have the debugger stop on the offending instruction.
-
 choice FREERTOS_ASSERT
     prompt "FreeRTOS assertions"
     default FREERTOS_ASSERT_FAIL_ABORT

components/freertos/port.c

@@ -101,7 +101,7 @@
 #include "FreeRTOS.h"
 #include "task.h"
 
-#include "panic.h"
+#include "esp_panic.h"
 
 /* Defined in portasm.h */
 extern void _frxt_tick_timer_init(void);
@@ -375,7 +375,7 @@ portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux) {
 
 #if CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
 void vPortFirstTaskHook(TaskFunction_t function) {
-	setBreakpointIfJtag(function);
+	esp_set_breakpoint_if_jtag(function);
 }
 #endif
 

components/freertos/xtensa_vectors.S

@@ -91,7 +91,7 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *******************************************************************************/
 
 #include "xtensa_rtos.h"
-#include "panic.h"
+#include "esp_panic.h"
 #include "sdkconfig.h"
 /*
   Define for workaround: pin no-cpu-affinity tasks to a cpu when fpu is used.
@@ -303,12 +303,12 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
 
     .section .iram1,"ax"
-	.global panicHandler
+    .global panicHandler
 
     .global     _xt_panic
     .type       _xt_panic,@function
     .align      4
-	.literal_position
+    .literal_position
     .align      4
 
 _xt_panic:
@@ -344,41 +344,41 @@ _xt_panic:
     movi    a0, PS_INTLEVEL(7) | PS_UM | PS_WOE
     wsr     a0, PS
 
-	//Call panic handler
-	mov		a6,sp
-	call4 panicHandler
+    //Call panic handler
+    mov     a6,sp
+    call4 panicHandler
 
 1:  j       1b                              /* loop infinitely */
 
-	retw
+    retw
 
 
-	.align 4
+    .align 4
 //Call using call0. Prints the hex char in a2. Kills a3, a4, a5
 panic_print_hex:
-	movi a3,0x60000000
-	movi a4,8
+    movi a3,0x60000000
+    movi a4,8
 panic_print_hex_loop:
-	l32i a5, a3, 0x1c
-	extui a5, a5, 16, 8
-	bgei a5,64,panic_print_hex_loop
-
-	srli a5,a2,28
-	bgei a5,10,panic_print_hex_a
-	addi a5,a5,'0'
-	j panic_print_hex_ok
+    l32i a5, a3, 0x1c
+    extui a5, a5, 16, 8
+    bgei a5,64,panic_print_hex_loop
+
+    srli a5,a2,28
+    bgei a5,10,panic_print_hex_a
+    addi a5,a5,'0'
+    j panic_print_hex_ok
 panic_print_hex_a:
-	addi a5,a5,'A'-10
+    addi a5,a5,'A'-10
 panic_print_hex_ok:
-	s32i a5,a3,0
-	slli a2,a2,4
-	
-	addi a4,a4,-1
-	bnei a4,0,panic_print_hex_loop
-	movi a5,' '
-	s32i a5,a3,0
+    s32i a5,a3,0
+    slli a2,a2,4
+    
+    addi a4,a4,-1
+    bnei a4,0,panic_print_hex_loop
+    movi a5,' '
+    s32i a5,a3,0
 
-	ret
+    ret
 
 
 
@@ -463,8 +463,8 @@ _DebugExceptionVector:
     jx      a3
     #else
     wsr     a0, EXCSAVE+XCHAL_DEBUGLEVEL    /* save original a0 somewhere */
-	movi    a0,PANIC_RSN_DEBUGEXCEPTION
-	wsr     a0,EXCCAUSE
+    movi    a0,PANIC_RSN_DEBUGEXCEPTION
+    wsr     a0,EXCCAUSE
     call0   _xt_panic                       /* does not return */
     rfi     XCHAL_DEBUGLEVEL                /* make a0 point here not later */
     #endif
@@ -492,8 +492,8 @@ _DoubleExceptionVector:
     #if XCHAL_HAVE_DEBUG
     break   1, 4                            /* unhandled double exception */
     #endif
-	movi    a0,PANIC_RSN_DOUBLEEXCEPTION
-	wsr     a0,EXCCAUSE
+    movi    a0,PANIC_RSN_DOUBLEEXCEPTION
+    wsr     a0,EXCCAUSE
     call0   _xt_panic                       /* does not return */
     rfde                                    /* make a0 point here not later */
 
@@ -527,8 +527,8 @@ _xt_kernel_exc:
     #if XCHAL_HAVE_DEBUG
     break   1, 0                            /* unhandled kernel exception */
     #endif
-	movi    a0,PANIC_RSN_KERNELEXCEPTION
-	wsr     a0,EXCCAUSE
+    movi    a0,PANIC_RSN_KERNELEXCEPTION
+    wsr     a0,EXCCAUSE
     call0   _xt_panic                       /* does not return */
     rfe                                     /* make a0 point here not there */
 
@@ -916,11 +916,11 @@ _xt_coproc_exc:
     addi    a2, a2, TASKTCB_XCOREID_OFFSET  /* offset to xCoreID in tcb struct */
     s32i    a3, a2, 0                       /* store current cpuid */
 
-	/* Grab correct xt_coproc_owner_sa for this core */
-	movi    a2, XCHAL_CP_MAX << 2
-	mull    a2, a2, a3
+    /* Grab correct xt_coproc_owner_sa for this core */
+    movi    a2, XCHAL_CP_MAX << 2
+    mull    a2, a2, a3
     movi    a3, _xt_coproc_owner_sa         /* a3 = base of owner array */
-	add     a3, a3, a2
+    add     a3, a3, a2
 
     extui   a2, a0, 0, 16                   /* coprocessor bitmask portion */
     or      a4, a4, a2                      /* a4 = CPENABLE | (1 << n) */
@@ -1031,8 +1031,8 @@ _xt_coproc_exc:
     #if XCHAL_HAVE_DEBUG
     break   1, 1                            /* unhandled user exception */
     #endif
-	movi    a0,PANIC_RSN_COPROCEXCEPTION
-	wsr     a0,EXCCAUSE
+    movi    a0,PANIC_RSN_COPROCEXCEPTION
+    wsr     a0,EXCCAUSE
     call0   _xt_panic                       /* not in a thread (invalid) */
     /* never returns */
 
@@ -1620,19 +1620,19 @@ _xt_highint4:
 
     /* On the ESP32, this level is used for the INT_WDT handler. If that triggers, the program is stuck with interrupts
        off and the CPU should panic. */
-	rsr     a0, EXCSAVE_4
-	wsr     a0, EXCSAVE_1 /* panic handler reads this register */
-	/* Set EXCCAUSE to reflect cause of the wdt int trigger */
-	movi    a0,PANIC_RSN_INTWDT_CPU0
-	wsr     a0,EXCCAUSE
+    rsr     a0, EXCSAVE_4
+    wsr     a0, EXCSAVE_1 /* panic handler reads this register */
+    /* Set EXCCAUSE to reflect cause of the wdt int trigger */
+    movi    a0,PANIC_RSN_INTWDT_CPU0
+    wsr     a0,EXCCAUSE
 #if CONFIG_INT_WDT_CHECK_CPU1
-	/* Check if the cause is the app cpu failing to tick.*/
-	movi    a0, int_wdt_app_cpu_ticked
-	l32i    a0, a0, 0
-	bnez    a0, 1f
-	/* It is. Modify cause. */
-	movi    a0,PANIC_RSN_INTWDT_CPU1
-	wsr     a0,EXCCAUSE
+    /* Check if the cause is the app cpu failing to tick.*/
+    movi    a0, int_wdt_app_cpu_ticked
+    l32i    a0, a0, 0
+    bnez    a0, 1f
+    /* It is. Modify cause. */
+    movi    a0,PANIC_RSN_INTWDT_CPU1
+    wsr     a0,EXCCAUSE
 1:
 #endif
     call0 _xt_panic