kopia lustrzana https://github.com/espressif/esp-idf
415 wiersze
15 KiB
C
415 wiersze
15 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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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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#include "freertos/semphr.h"
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#include <esp_types.h>
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#include "esp_err.h"
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#include "esp_intr_alloc.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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#include "soc/timer_group_reg.h"
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#include "esp_log.h"
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#include "driver/timer.h"
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#include "driver/periph_ctrl.h"
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#include "esp_task_wdt.h"
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//Assertion macro where, if 'cond' is false, will exit the critical section and return 'ret'
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#define ASSERT_EXIT_CRIT_RETURN(cond, ret) ({ \
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if(!(cond)){ \
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portEXIT_CRITICAL(&twdt_spinlock); \
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return ret; \
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} \
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})
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//Empty define used in ASSERT_EXIT_CRIT_RETURN macro when returning in void
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#define VOID_RETURN
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//Structure used for each subscribed task
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typedef struct twdt_task_t twdt_task_t;
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struct twdt_task_t {
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TaskHandle_t task_handle;
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bool has_reset;
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twdt_task_t *next;
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};
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//Structure used to hold run time configuration of the TWDT
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typedef struct twdt_config_t twdt_config_t;
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struct twdt_config_t {
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twdt_task_t *list; //Linked list of subscribed tasks
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uint32_t timeout; //Timeout period of TWDT
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bool panic; //Flag to trigger panic when TWDT times out
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intr_handle_t intr_handle;
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};
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static twdt_config_t *twdt_config = NULL;
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static portMUX_TYPE twdt_spinlock = portMUX_INITIALIZER_UNLOCKED;
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/*
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* Idle hook callback for Idle Tasks to reset the TWDT. This callback will only
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* be registered to the Idle Hook of a particular core when the corresponding
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* Idle Task subscribes to the TWDT.
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*/
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static bool idle_hook_cb(void)
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{
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esp_task_wdt_reset();
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return true;
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}
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/*
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* Internal function that looks for the target task in the TWDT task list.
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* Returns the list item if found and returns null if not found. Also checks if
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* all the other tasks have reset. Should be called within critical.
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*/
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static twdt_task_t *find_task_in_twdt_list(TaskHandle_t handle, bool *all_reset)
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{
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twdt_task_t *target = NULL;
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*all_reset = true;
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for(twdt_task_t *task = twdt_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->has_reset == false){ //If a task has yet to reset
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*all_reset = 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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/*
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* Resets the hardware timer and has_reset flags of each task on the list.
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* Called within critical
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*/
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static void reset_hw_timer()
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{
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//All tasks have reset; time to reset the hardware timer.
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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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//Clear all has_reset flags in list
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for (twdt_task_t *task = twdt_config->list; task != NULL; task = task->next){
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task->has_reset=false;
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}
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}
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/*
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* ISR for when TWDT times out. Checks for which tasks have not reset. Also
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* triggers panic if configured to do so
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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(&twdt_spinlock);
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twdt_task_t *twdttask;
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const char *cpu;
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//Reset hardware timer so that 2nd stage timeout is not reached (will trigger system 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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//Acknowledge interrupt
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TIMERG0.int_clr.wdt=1;
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//We are taking a spinlock while doing I/O (ets_printf) here. Normally, that is a pretty
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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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//Return immediately if no tasks have been added to task list
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ASSERT_EXIT_CRIT_RETURN((twdt_config->list != NULL), VOID_RETURN);
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//Watchdog got triggered because at least one task did not reset in time.
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ets_printf("Task watchdog got triggered. The following tasks did not reset the watchdog in time:\n");
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for (twdttask=twdt_config->list; twdttask!=NULL; twdttask=twdttask->next) {
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if (!twdttask->has_reset) {
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cpu=xTaskGetAffinity(twdttask->task_handle)==0?DRAM_STR("CPU 0"):DRAM_STR("CPU 1");
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if (xTaskGetAffinity(twdttask->task_handle)==tskNO_AFFINITY) cpu=DRAM_STR("CPU 0/1");
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ets_printf(" - %s (%s)\n", pcTaskGetTaskName(twdttask->task_handle), cpu);
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}
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}
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ets_printf(DRAM_STR("Tasks currently running:\n"));
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for (int x=0; x<portNUM_PROCESSORS; x++) {
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ets_printf("CPU %d: %s\n", x, pcTaskGetTaskName(xTaskGetCurrentTaskHandleForCPU(x)));
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}
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if (twdt_config->panic){ //Trigger Panic if configured to do so
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ets_printf("Aborting.\n");
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portEXIT_CRITICAL(&twdt_spinlock);
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abort();
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}
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portEXIT_CRITICAL(&twdt_spinlock);
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}
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/*
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* Initializes the TWDT 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(&twdt_spinlock);
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if(twdt_config == NULL){ //TWDT not initialized yet
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//Allocate memory for wdt_config
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twdt_config = calloc(1, sizeof(twdt_config_t));
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NO_MEM);
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twdt_config->list = NULL;
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twdt_config->timeout = timeout;
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twdt_config->panic = panic;
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//Register Interrupt and ISR
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ESP_ERROR_CHECK(esp_intr_alloc(ETS_TG0_WDT_LEVEL_INTR_SOURCE, 0, task_wdt_isr, NULL, &twdt_config->intr_handle));
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//Configure hardware timer
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periph_module_enable(PERIPH_TIMG0_MODULE);
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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=twdt_config->timeout*2000; //Set timeout before interrupt
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TIMERG0.wdt_config3=twdt_config->timeout*4000; //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; //Enable write protection
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}else{ //twdt_config previously initialized
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//Reconfigure task wdt
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twdt_config->panic = panic;
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twdt_config->timeout = timeout;
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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=twdt_config->timeout*2000; //Set timeout before interrupt
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TIMERG0.wdt_config3=twdt_config->timeout*4000; //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(&twdt_spinlock);
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return ESP_OK;
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}
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esp_err_t esp_task_wdt_deinit()
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{
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portENTER_CRITICAL(&twdt_spinlock);
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//TWDT must already be initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NOT_FOUND);
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//Task list must be empty
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ASSERT_EXIT_CRIT_RETURN((twdt_config->list == NULL), ESP_ERR_INVALID_STATE);
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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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ESP_ERROR_CHECK(esp_intr_free(twdt_config->intr_handle)); //Unregister interrupt
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free(twdt_config); //Free twdt_config
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twdt_config = NULL;
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portEXIT_CRITICAL(&twdt_spinlock);
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return ESP_OK;
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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(&twdt_spinlock);
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//TWDT must already be initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
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twdt_task_t *target_task;
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bool all_reset;
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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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//Check if tasks exists in task list, and if all other tasks have reset
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target_task = find_task_in_twdt_list(handle, &all_reset);
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//task cannot be already subscribed
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ASSERT_EXIT_CRIT_RETURN((target_task == NULL), ESP_ERR_INVALID_ARG);
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//Add target task to TWDT task list
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target_task = calloc(1,sizeof(twdt_task_t));
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ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_NO_MEM);
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target_task->task_handle = handle;
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target_task->has_reset = true;
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target_task->next = NULL;
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if (twdt_config->list == NULL) { //Adding to empty list
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twdt_config->list = target_task;
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} else { //Adding to tail of list
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twdt_task_t *task;
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for (task = twdt_config->list; task->next != NULL; task = task->next){
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; //point task to current tail of TWDT task list
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}
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task->next = target_task;
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}
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//If idle task, register the idle hook callback to appropriate core
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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if(handle == xTaskGetIdleTaskHandleForCPU(i)){
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ESP_ERROR_CHECK(esp_register_freertos_idle_hook_for_cpu(idle_hook_cb, i));
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break;
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}
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}
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if(all_reset){ //Reset hardware timer if all other tasks in list have reset in
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reset_hw_timer();
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}
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portEXIT_CRITICAL(&twdt_spinlock); //Nested critical if Legacy
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return ESP_OK;
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}
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esp_err_t esp_task_wdt_reset()
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{
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portENTER_CRITICAL(&twdt_spinlock);
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//TWDT must already be initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
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TaskHandle_t handle = xTaskGetCurrentTaskHandle();
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twdt_task_t *target_task;
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bool all_reset;
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//Check if task exists in task list, and if all other tasks have reset
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target_task = find_task_in_twdt_list(handle, &all_reset);
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//Return error if trying to reset task that is not on the task list
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ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_NOT_FOUND);
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target_task->has_reset = true; //Reset the task if it's on the task list
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if(all_reset){ //Reset if all other tasks in list have reset in
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reset_hw_timer();
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}
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portEXIT_CRITICAL(&twdt_spinlock);
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return ESP_OK;
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}
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esp_err_t esp_task_wdt_delete(TaskHandle_t handle)
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{
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if(handle == NULL){
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handle = xTaskGetCurrentTaskHandle();
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}
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portENTER_CRITICAL(&twdt_spinlock);
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//Return error if twdt has not been initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_NOT_FOUND);
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twdt_task_t *target_task;
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bool all_reset;
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target_task = find_task_in_twdt_list(handle, &all_reset);
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//Task doesn't exist on list. Return error
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ASSERT_EXIT_CRIT_RETURN((target_task != NULL), ESP_ERR_INVALID_ARG);
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if(target_task == twdt_config->list){ //target_task is head of list. Delete
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twdt_config->list = target_task->next;
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free(target_task);
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}else{ //target_task not head of list. Delete
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twdt_task_t *prev;
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for (prev = twdt_config->list; prev->next != target_task; prev = prev->next){
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; //point prev to task preceding target_task
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}
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prev->next = target_task->next;
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free(target_task);
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}
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//If idle task, deregister idle hook callback form appropriate core
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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if(handle == xTaskGetIdleTaskHandleForCPU(i)){
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esp_deregister_freertos_idle_hook_for_cpu(idle_hook_cb, i);
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break;
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}
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}
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if(all_reset){ //Reset hardware timer if all remaining tasks have reset
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reset_hw_timer();
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}
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portEXIT_CRITICAL(&twdt_spinlock);
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return ESP_OK;
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}
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esp_err_t esp_task_wdt_status(TaskHandle_t handle)
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{
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if(handle == NULL){
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handle = xTaskGetCurrentTaskHandle();
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}
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portENTER_CRITICAL(&twdt_spinlock);
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//Return if TWDT is not initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), ESP_ERR_INVALID_STATE);
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twdt_task_t *task;
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for(task = twdt_config->list; task!=NULL; task=task->next){
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//Return ESP_OK if task is found
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ASSERT_EXIT_CRIT_RETURN((task->task_handle != handle), ESP_OK);
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}
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//Task could not be found
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portEXIT_CRITICAL(&twdt_spinlock);
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return ESP_ERR_NOT_FOUND;
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}
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void esp_task_wdt_feed()
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{
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portENTER_CRITICAL(&twdt_spinlock);
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//Return immediately if TWDT has not been initialized
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ASSERT_EXIT_CRIT_RETURN((twdt_config != NULL), VOID_RETURN);
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//Check if task is on list
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TaskHandle_t handle = xTaskGetCurrentTaskHandle();
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bool all_reset;
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twdt_task_t *target_task = find_task_in_twdt_list(handle, &all_reset);
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//reset the task if it's on the list, then return
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if(target_task != NULL){
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target_task->has_reset = true;
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if(all_reset){
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reset_hw_timer(); //Reset hardware timer if all other tasks have reset
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}
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portEXIT_CRITICAL(&twdt_spinlock);
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return;
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}
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//Add task if it's has not on list
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target_task = calloc(1, sizeof(twdt_task_t));
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ASSERT_EXIT_CRIT_RETURN((target_task != NULL), VOID_RETURN); //If calloc failed
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target_task->task_handle = handle;
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target_task->has_reset = true;
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target_task->next = NULL;
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if (twdt_config->list == NULL) { //Adding to empty list
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twdt_config->list = target_task;
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} else { //Adding to tail of list
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twdt_task_t *task;
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for (task = twdt_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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task->next = target_task;
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}
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portEXIT_CRITICAL(&twdt_spinlock);
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}
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