Merge branch 'fix/panic_handler_reboot_before_halt' into 'master'

fix(panic_handler): Fixed a issue where the system reboots before halt

Closes IDFGH-16214

See merge request espressif/esp-idf!41194

components/esp_system/panic.c

@@ -262,6 +262,14 @@ static inline void disable_all_wdts(void)
     wdt_hal_write_protect_enable(&rtc_wdt_ctx);
 }
 
+/* IRAM-only halt stub: reset modules, then loop */
+void IRAM_ATTR esp_panic_handler_reset_modules_on_exit_and_halt(void)
+{
+    // Do not print or call non-IRAM functions beyond this point
+    esp_system_reset_modules_on_exit();
+    ESP_INFINITE_LOOP();
+}
+
 /********************** Panic handler functions **********************/
 
 /* This function is called from the panic handler entry point to increment the panic entry count */
@@ -455,10 +463,10 @@ void esp_panic_handler(panic_info_t *info)
     panic_print_str("Rebooting...\r\n");
     panic_restart();
 #else /* CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT */
+    esp_panic_handler_feed_wdts();
     panic_print_str("CPU halted.\r\n");
-    esp_system_reset_modules_on_exit();
     disable_all_wdts();
-    ESP_INFINITE_LOOP();
+    esp_panic_handler_reset_modules_on_exit_and_halt();
 #endif /* CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT */
 #endif /* CONFIG_ESP_SYSTEM_PANIC_GDBSTUB */
 }

tools/test_apps/system/panic/main/include/test_panic.h

@@ -83,6 +83,10 @@ void test_coredump_summary(void);
 
 void test_panic_print_backtrace(void);
 
+#if CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT
+void test_panic_halt(void);
+#endif /* CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT */
+
 #ifdef __cplusplus
 }
 #endif

tools/test_apps/system/panic/main/test_app_main.c

@@ -126,6 +126,9 @@ void app_main(void)
     HANDLE_TEST(test_name, test_tcb_corrupted);
     HANDLE_TEST(test_name, test_panic_handler_stuck0);
     HANDLE_TEST(test_name, test_panic_handler_crash0);
+#if CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT
+    HANDLE_TEST(test_name, test_panic_halt);
+#endif /* CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT */
 #if CONFIG_ESP_SYSTEM_USE_FRAME_POINTER
     HANDLE_TEST(test_name, test_panic_print_backtrace);
 #endif

tools/test_apps/system/panic/main/test_panic.c

@@ -445,3 +445,12 @@ void test_panic_print_backtrace(void)
 }
 
 #endif
+
+#if CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT
+void test_panic_halt(void)
+{
+    printf("Triggering panic. Device should print 'CPU halted.' and stop.\n");
+    fflush(stdout);
+    assert(0);
+}
+#endif /* CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT */

tools/test_apps/system/panic/pytest_panic.py

@@ -2,12 +2,9 @@
 # SPDX-License-Identifier: CC0-1.0
 import itertools
 import re
+from collections.abc import Sequence
+from re import Pattern
 from typing import Any
-from typing import List
-from typing import Optional
-from typing import Pattern
-from typing import Sequence
-from typing import Union
 
 import pexpect
 import pytest
@@ -48,6 +45,7 @@ CONFIGS = list(
 
 CONFIG_PANIC = list(itertools.chain(itertools.product(['panic'], ['supported_targets'])))
 CONFIG_PANIC_DUAL_CORE = list(itertools.chain(itertools.product(['panic'], TARGETS_DUAL_CORE)))
+CONFIG_PANIC_HALT = list(itertools.chain(itertools.product(['panic_halt'], TARGETS_ALL)))
 
 CONFIGS_BACKTRACE = list(
     itertools.chain(
@@ -105,11 +103,11 @@ CONFIG_COREDUMP_SUMMARY_FLASH_ENCRYPTED = list(
 PANIC_ABORT_PREFIX = 'Panic reason: '
 
 
-def get_default_backtrace(config: str) -> List[str]:
+def get_default_backtrace(config: str) -> list[str]:
     return [config, 'app_main', 'main_task', 'vPortTaskWrapper']
 
 
-def expect_coredump_flash_write_logs(dut: PanicTestDut, config: str, check_cpu_reset: Optional[bool] = True) -> None:
+def expect_coredump_flash_write_logs(dut: PanicTestDut, config: str, check_cpu_reset: bool | None = True) -> None:
     dut.expect_exact('Save core dump to flash...')
     if 'extram_stack' in config:
         dut.expect_exact('Backing up stack @')
@@ -120,7 +118,7 @@ def expect_coredump_flash_write_logs(dut: PanicTestDut, config: str, check_cpu_r
         dut.expect_cpu_reset()
 
 
-def expect_coredump_uart_write_logs(dut: PanicTestDut, check_cpu_reset: Optional[bool] = True) -> Any:
+def expect_coredump_uart_write_logs(dut: PanicTestDut, check_cpu_reset: bool | None = True) -> Any:
     # ================= CORE DUMP START =================
     # B8AAAMAEgAGAAAAXAEAAAAAAABkAAAA
     # ...
@@ -144,9 +142,9 @@ def expect_coredump_uart_write_logs(dut: PanicTestDut, check_cpu_reset: Optional
 def common_test(
     dut: PanicTestDut,
     config: str,
-    expected_backtrace: Optional[List[str]] = None,
-    check_cpu_reset: Optional[bool] = True,
-    expected_coredump: Optional[Sequence[Union[str, Pattern[Any]]]] = None,
+    expected_backtrace: list[str] | None = None,
+    check_cpu_reset: bool | None = True,
+    expected_coredump: Sequence[str | Pattern[Any]] | None = None,
 ) -> None:
     if 'gdbstub' in config:
         if 'coredump' in config:
@@ -1245,3 +1243,11 @@ def test_panic_print_backtrace(dut: PanicTestDut, config: str, test_func_name: s
 
     coredump_pattern = re.compile(PANIC_ABORT_PREFIX + regex_pattern.decode('utf-8'))
     common_test(dut, config, expected_backtrace=None, expected_coredump=[coredump_pattern])
+
+
+@pytest.mark.generic
+@idf_parametrize('config, target', CONFIG_PANIC_HALT, indirect=['config', 'target'])
+def test_panic_halt(dut: PanicTestDut) -> None:
+    dut.run_test_func('test_panic_halt')
+    dut.expect_exact('CPU halted.', timeout=30)
+    dut.expect_none(dut.REBOOT, timeout=3)

tools/test_apps/system/panic/sdkconfig.ci.panic_halt

@@ -0,0 +1,5 @@
+# Panic halt CI config
+CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT=y
+CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=n
+CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT=n
+CONFIG_ESP_SYSTEM_PANIC_GDBSTUB=n