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Revert "esp32: New Task Watchdog API"

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This reverts commit 616baa239d.
This commit is contained in:
Jeroen Domburg
2017-09-30 18:07:19 +08:00
parent a3731902f5
commit b6a2bd1184
12 changed files with 192 additions and 643 deletions
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components/esp32/task_wdt.c
+124 -297
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@@ -20,7 +20,6 @@
#include <string.h>
#include <stdbool.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOSConfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
@@ -29,7 +28,6 @@
#include "esp_err.h"
#include "esp_intr.h"
#include "esp_intr_alloc.h"
#include "esp_ipc.h"
#include "esp_attr.h"
#include "esp_freertos_hooks.h"
#include "soc/timer_group_struct.h"
@@ -39,80 +37,25 @@
#include "esp_task_wdt.h"
//Assertion macro that exits from critical section and returns 'ret'
#define ASSERT_EXIT_CRIT_RET_ERR(cond, ret) ({ \
if(!(cond)){ \
portEXIT_CRITICAL(&taskwdt_spinlock); \
return ret; \
} \
})
#if CONFIG_TASK_WDT
static const char* TAG = "task_wdt";
typedef struct wdt_task_t wdt_task_t;
struct wdt_task_t {
TaskHandle_t task_handle;
bool fed;
bool fed_watchdog;
wdt_task_t *next;
};
typedef struct task_wdt_config_t task_wdt_config_t;
struct task_wdt_config_t {
wdt_task_t *list;
uint32_t timeout;
bool panic;
bool idle_enable[portNUM_PROCESSORS];
TaskHandle_t idle_handles[portNUM_PROCESSORS];
intr_handle_t intr_handle;
};
static task_wdt_config_t *wdt_config = NULL;
static wdt_task_t *wdt_task_list=NULL;
static portMUX_TYPE taskwdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
/*
* Internal function that checks the list for target task. Returns the list item
* if found and returns null if not found. Also checks if the all the other
* tasks have checked in. Called within critical.
*/
static wdt_task_t *check_list(TaskHandle_t handle, bool *checked)
{
wdt_task_t *target = NULL;
*checked = true;
for(wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
if(task->task_handle == handle){
target = task; //Get pointer to target task list member
}else{
if(task->fed == false){ //If a task has yet to check in
*checked = false;
}
}
}
return target;
}
/*
* Resets the wdt and fed flags of each task on the list. Called within critical
*/
static void feed_wdt()
{
//All tasks have checked in; time to feed the hw watchdog.
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0;
//Reset fed flags on all tasks in list
for (wdt_task_t *task = wdt_config->list; task != NULL; task = task->next){
task->fed=false;
}
}
/*
* ISR for when wdt expires. Checks for which tasks have not fed. Trigger panic
* if configured to do so in initialization
*/
static void task_wdt_isr(void *arg)
{
portENTER_CRITICAL(&taskwdt_spinlock);
static void task_wdt_isr(void *arg) {
wdt_task_t *wdttask;
const char *cpu;
//Feed the watchdog so we don't reset
//Feed the watchdog so we do not reset
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0;
@@ -122,14 +65,16 @@ static void task_wdt_isr(void *arg)
//bad thing, possibly (temporarily) hanging up the 2nd core and stopping FreeRTOS. In this case,
//something bad already happened and reporting this is considered more important
//than the badness caused by a spinlock here.
if (!wdt_config->list) { //No tasks on list
portENTER_CRITICAL(&taskwdt_spinlock);
if (!wdt_task_list) {
//No task on list. Maybe none registered yet.
portEXIT_CRITICAL(&taskwdt_spinlock);
return;
}
//Watchdog got triggered because at least one task did not report in.
ets_printf("Task watchdog got triggered. The following tasks did not feed the watchdog in time:\n");
for (wdttask=wdt_config->list; wdttask!=NULL; wdttask=wdttask->next) {
if (!wdttask->fed) {
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
if (!wdttask->fed_watchdog) {
cpu=xTaskGetAffinity(wdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
if (xTaskGetAffinity(wdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
ets_printf(" - %s (%s)\n", pcTaskGetTaskName(wdttask->task_handle), cpu);
@@ -140,243 +85,125 @@ static void task_wdt_isr(void *arg)
ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
}
if (wdt_config->panic){
ets_printf("Aborting.\n");
portEXIT_CRITICAL(&taskwdt_spinlock);
abort();
}
#if CONFIG_TASK_WDT_PANIC
ets_printf("Aborting.\n");
abort();
#endif
portEXIT_CRITICAL(&taskwdt_spinlock);
}
/*
* Idle hook for Idle Task to feed the wdt. Will only call feed if the idle task
* of that core has been added to wdt task list.
*/
static bool idle_hook(void)
{
uint32_t core_id = xPortGetCoreID();
if (wdt_config->idle_enable[core_id]){
esp_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();
portENTER_CRITICAL(&taskwdt_spinlock);
//Walk the linked list of wdt tasks to find this one, as well as see if we need to feed
//the real watchdog timer.
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) {
//See if we are at the current task.
if (wdttask->task_handle == handle) {
wdttask->fed_watchdog=true;
found_task=true;
}
//If even one task in the list doesn't have the do_feed_wdt var set, we do not feed the watchdog.
if (!wdttask->fed_watchdog) do_feed_wdt=false;
}
if (!found_task) {
//This is the first time the task calls the task_wdt_feed function. Create a new entry for it in
//the linked list.
wdt_task_t *newtask=malloc(sizeof(wdt_task_t));
memset(newtask, 0, sizeof(wdt_task_t));
newtask->task_handle=handle;
newtask->fed_watchdog=true;
if (wdt_task_list == NULL) {
wdt_task_list=newtask;
} else {
for (wdttask=wdt_task_list; wdttask->next!=NULL; wdttask=wdttask->next) ;
wdttask->next=newtask;
}
}
if (do_feed_wdt) {
//All tasks have checked in; time to feed the hw watchdog.
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0;
//Reset fed_watchdog status
for (wdttask=wdt_task_list; wdttask!=NULL; wdttask=wdttask->next) wdttask->fed_watchdog=false;
}
portEXIT_CRITICAL(&taskwdt_spinlock);
}
void esp_task_wdt_delete() {
TaskHandle_t handle=xTaskGetCurrentTaskHandle();
wdt_task_t *wdttask=wdt_task_list;
portENTER_CRITICAL(&taskwdt_spinlock);
//Wdt task list can't be empty
if (!wdt_task_list) {
ESP_LOGE(TAG, "task_wdt_delete: No tasks in list?");
portEXIT_CRITICAL(&taskwdt_spinlock);
return;
}
if (handle==wdt_task_list) {
//Current task is first on list.
wdt_task_list=wdt_task_list->next;
free(wdttask);
} else {
//Find current task in list
if (wdt_task_list->task_handle==handle) {
//Task is the very first one.
wdt_task_t *freeme=wdt_task_list;
wdt_task_list=wdt_task_list->next;
free(freeme);
portEXIT_CRITICAL(&taskwdt_spinlock);
return;
}
while (wdttask->next!=NULL && wdttask->next->task_handle!=handle) wdttask=wdttask->next;
if (!wdttask->next) {
ESP_LOGE(TAG, "task_wdt_delete: Task never called task_wdt_feed!");
portEXIT_CRITICAL(&taskwdt_spinlock);
return;
}
wdt_task_t *freeme=wdttask->next;
wdttask->next=wdttask->next->next;
free(freeme);
}
portEXIT_CRITICAL(&taskwdt_spinlock);
}
#if CONFIG_TASK_WDT_CHECK_IDLE_TASK
static bool idle_hook(void) {
#if !CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1
if (xPortGetCoreID()!=0) return true;
#endif
esp_task_wdt_feed();
return true;
}
/*
* Initializes the task watchdog timer by allocating memory for the config data
* structure, obtaining the idle task handles/registering idle hooks, and
* setting the hardware timer registers. If reconfiguring, it will just modify
* wdt_config and reset the hardware timer.
*/
esp_err_t esp_task_wdt_init(uint32_t timeout, bool panic)
{
portENTER_CRITICAL(&taskwdt_spinlock);
if(wdt_config == NULL){ //wdt not initialized yet
//Allocate memory for wdt_config
wdt_config = calloc(1, sizeof(task_wdt_config_t));
ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_NO_MEM);
wdt_config->list = NULL;
wdt_config->timeout = timeout;
wdt_config->panic = panic;
//Get idle task handles
for(int i = 0; i < portNUM_PROCESSORS; i++){
wdt_config->idle_handles[i] = xTaskGetIdleTaskHandleForCPU( i );
wdt_config->idle_enable[i] = false;
}
//Register Idle Hook and Interrupts
esp_register_freertos_idle_hook(idle_hook);
ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &wdt_config->intr_handle))
//Configure hardware timer
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
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=wdt_config->timeout*2; //Set timeout before interrupt
TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
TIMERG0.wdt_config0.en=1;
TIMERG0.wdt_feed=1;
TIMERG0.wdt_wprotect=0; //Enable write protection
}else{ //wdt_config previously initialized
//Reconfigure task wdt
wdt_config->panic = panic;
wdt_config->timeout = timeout;
//Reconfigure hardware timer
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
TIMERG0.wdt_config0.en=0; //Disable timer
TIMERG0.wdt_config2=wdt_config->timeout*2; //Set timeout before interrupt
TIMERG0.wdt_config3=wdt_config->timeout*4; //Set timeout before reset
TIMERG0.wdt_config0.en=1; //Renable timer
TIMERG0.wdt_feed=1; //Reset timer
TIMERG0.wdt_wprotect=0; //Enable write protection
}
portEXIT_CRITICAL(&taskwdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_deinit()
{
portENTER_CRITICAL(&taskwdt_spinlock);
//wdt must already be initialized
ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
//Task list must be empty
ASSERT_EXIT_CRIT_RET_ERR((wdt_config->list == NULL), ESP_ERR_INVALID_STATE);
//Disable hardware timer
TIMERG0.wdt_wprotect=TIMG_WDT_WKEY_VALUE; //Disable write protection
TIMERG0.wdt_config0.en=0; //Disable timer
TIMERG0.wdt_wprotect=0; //Enable write protection
esp_deregister_freertos_idle_hook(idle_hook); //deregister idle hook
ESP_ERROR_CHECK(esp_intr_free(wdt_config->intr_handle)) //Unregister interrupt
free(wdt_config); //Free wdt_config
wdt_config = NULL;
portEXIT_CRITICAL(&taskwdt_spinlock);
return ESP_OK;
}
esp_err_t esp_task_wdt_add(TaskHandle_t handle)
{
portENTER_CRITICAL(&taskwdt_spinlock); //Nested critical in Legacy (called from feed)
#ifdef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
wdt_task_t *target_task;
#else
//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;
if (handle == NULL){ //Get handle of current task if none is provided
handle = xTaskGetCurrentTaskHandle();
}
//Check if tasks exists in task list, and if all other tasks have checked in
target_task = check_list(handle, &all_fed);
//Return error if task has already been added
ASSERT_EXIT_CRIT_RET_ERR((target_task == NULL), ESP_ERR_INVALID_ARG);
#endif //CONFIG_TASK_WDT_LEGACY_BEHAVIOR
//Add task to wdt list
target_task = calloc(1,sizeof(wdt_task_t));
//Return error if calloc failed
ASSERT_EXIT_CRIT_RET_ERR((target_task != NULL), ESP_ERR_NO_MEM);
target_task->task_handle = handle;
target_task->fed = true;
target_task->next = NULL;
if (wdt_config->list == NULL) { //Adding to empty list
wdt_config->list = target_task;
} else { //Adding to tail of list
wdt_task_t *task;
for (task = wdt_config->list; task->next != NULL; task = task->next){
; //point task to current tail of wdt task list
}
task->next = target_task;
}
//If idle task, set idle_enable flag
for(int i = 0; i < portNUM_PROCESSORS; i++){
if(handle == wdt_config->idle_handles[i]){
wdt_config->idle_enable[i] = true;
break;
}
}
#ifndef CONFIG_TASK_WDT_LEGACY_BEHAVIOR
if(all_fed){ //Reset if all other tasks in list have checked in
feed_wdt();
}
#endif
portEXIT_CRITICAL(&taskwdt_spinlock); //Nested critical if Legacy
return ESP_OK;
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) );
}
esp_err_t esp_task_wdt_feed()
{
portENTER_CRITICAL(&taskwdt_spinlock);
//Return error if wdt has not been initialized
ASSERT_EXIT_CRIT_RET_ERR((wdt_config != NULL), ESP_ERR_INVALID_STATE);
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