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Merge branch 'feature/add_int_task_wdt_esp32c2_v5.0' into 'release/v5.0'

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WDT: implement interrupt wdt and task wdt for ESP32-C2 (backport v5.0)

See merge request espressif/esp-idf!20980
This commit is contained in:
Zim Kalinowski
2022-12-05 16:38:35 +08:00
parent 6536aee5cc 3e9701205c
commit 759f7ec13d
46 changed files with 1099 additions and 206 deletions
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17
docs/en/api-reference/system/wdts.rst
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@@ -19,13 +19,15 @@ The various watchdog timers can be enabled using the :ref:`project-configuration
Interrupt Watchdog Timer (IWDT)
-------------------------------
{IDF_TARGET_IWDT_TIMER_GROUP:default="Timer Group 1", esp32c2="Timer Group 0"}
The purpose of the IWDT is to ensure that interrupt service routines (ISRs) are not blocked from running for a prolonged period of time (i.e., the IWDT timeout period). Blocking ISRs from running in a timely manner is undesirable as it can increases ISR latency, and also prevents task switching (as task switching is executed form an ISR). The things that can block ISRs from running include:
- Disabling interrupts
- Critical Sections (also disables interrupts)
- Other same/higher priority ISRs (will block same/lower priority ISRs from running it completes execution)
The IWDT utilizes the watchdog timer in Timer Group 1 as its underlying hardware timer and leverages the FreeRTOS tick interrupt on each CPU to feed the watchdog timer. If the tick interrupt on a particular CPU is not run at within the IWDT timeout period, it is indicative that something is blocking ISRs from being run on that CPU (see the list of reasons above).
The IWDT utilizes the watchdog timer in {IDF_TARGET_IWDT_TIMER_GROUP} as its underlying hardware timer and leverages the FreeRTOS tick interrupt on each CPU to feed the watchdog timer. If the tick interrupt on a particular CPU is not run at within the IWDT timeout period, it is indicative that something is blocking ISRs from being run on that CPU (see the list of reasons above).
When the IWDT times out, the default action is to invoke the panic handler and display the panic reason as ``Interrupt wdt timeout on CPU0`` or ``Interrupt wdt timeout on CPU1`` (as applicable). Depending on the panic handler's configured behavior (see :ref:`CONFIG_ESP_SYSTEM_PANIC`), users can then debug the source of the IWDT timeout (via the backtrace, OpenOCD, gdbstub etc) or simply reset the chip (which may be preferred in a production environment).
@@ -59,7 +61,13 @@ Task Watchdog Timer (TWDT)
The Task Watchdog Timer (TWDT) is used to monitor particular tasks, ensuring that they are able to execute within a given timeout period. The TWDT primarily watches the {IDF_TARGET_IDLE_TASKS}, however any task can subscribe to be watched by the TWDT. By watching the {IDF_TARGET_IDLE_TASKS}, the TWDT can detect instances of tasks running for a prolonged period of time wihtout yielding. This can be an indicator of poorly written code that spinloops on a peripheral, or a task that is stuck in an infinite loop.
The TWDT is built around the Hardware Watchdog Timer in Timer Group 0. When a timeout occurs, an interrupt is triggered. Users can redefine the function `esp_task_wdt_isr_user_handler` in the user code, in order to receive the timeout event and handle it differently.
.. only:: not esp32c2
The TWDT is built around the Hardware Watchdog Timer in Timer Group 0. When a timeout occurs, an interrupt is triggered. Users can define the function `esp_task_wdt_isr_user_handler` in the user code, in order to receive the timeout event and extend the default behavior.
.. only:: esp32c2
The {IDF_TARGET_NAME} has only a single Timer Group, used by Interrupt Watchdog (IWDT). Thus, the Task Watchdog is built around the `esp_timer` component in order to implement a software timer. When a timeout occurs, an interrupt is triggered, notifying the `esp_timer`'s main task. The later will then execute the TWDT callback previously registered. Users can define the function `esp_task_wdt_isr_user_handler` in the user code, in order to receive the timeout event and extend the default behavior.
Usage
^^^^^
@@ -93,13 +101,14 @@ The default timeout period for the TWDT is set using config item :ref:`CONFIG_ES
For more information, you can refer to :doc:`SPI Flash <../storage/spi_flash>`.
The following config options control TWDT configuration at startup. They are all enabled by default:
The following config options control TWDT configuration. They are all enabled by default:
{IDF_TARGET_IDLE_TASK:default="Idle task", esp32="CPU0 Idle task", esp32s3="CPU0 Idle task"}
.. list::
- :ref:`CONFIG_ESP_TASK_WDT` - the TWDT is initialized automatically during startup. If this option is disabled, it is still possible to initialize the Task WDT at runtime by calling :cpp:func:`esp_task_wdt_init`.
- :ref:`CONFIG_ESP_TASK_WDT_EN` - enables TWDT feature. If this option is disabled, TWDT cannot be used, even if initialized at runtime.
- :ref:`CONFIG_ESP_TASK_WDT_INIT` - the TWDT is initialized automatically during startup. If this option is disabled, it is still possible to initialize the Task WDT at runtime by calling :cpp:func:`esp_task_wdt_init`.
- :ref:`CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0` - {IDF_TARGET_IDLE_TASK} is subscribed to the TWDT during startup. If this option is disabled, it is still possible to subscribe the idle task by calling :cpp:func:`esp_task_wdt_init` again.
:not CONFIG_FREERTOS_UNICORE: - :ref:`CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1` - CPU1 Idle task is subscribed to the TWDT during startup.