/*
* SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include <stdio.h>
#include <sys/queue.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/task_snapshot.h"
#include "esp_err.h"
#include "esp_attr.h"
#include "esp_check.h"
#include "esp_log.h"
#include "esp_debug_helpers.h"
#include "esp_freertos_hooks.h"
#include "esp_task_wdt.h"
#include "esp_private/system_internal.h"
#include "esp_private/crosscore_int.h"
#include "esp_private/esp_task_wdt.h"
#include "esp_private/esp_task_wdt_impl.h"
#if CONFIG_ESP_SYSTEM_USE_EH_FRAME
#include "esp_private/eh_frame_parser.h"
#endif // CONFIG_ESP_SYSTEM_USE_EH_FRAME
#if CONFIG_IDF_TARGET_ARCH_RISCV && !CONFIG_ESP_SYSTEM_USE_EH_FRAME
/* Function used to print all the registers pointed by the given frame .*/
extern void panic_print_registers(const void *frame, int core);
#endif // CONFIG_IDF_TARGET_ARCH_RISCV && !CONFIG_ESP_SYSTEM_USE_EH_FRAME
/* We will use this function in order to simulate an `abort()` occurring in
* a different context than the one it's called from. */
extern void xt_unhandled_exception(void *frame);
/* Forward declaration of the idle hook callback */
static bool idle_hook_cb(void);
/* Global flag set to make the `panic` mechanism think a real `abort()` was
* called. This is used in the ISR handler, in case we have to panic when
* a task doesn't feed its timer. */
extern bool g_panic_abort;
/* Global flag marking whether the current ISR is a Task Watchdog ISR. */
bool g_twdt_isr = false;
// --------------------------------------------------- Definitions -----------------------------------------------------
// ---------------------- Typedefs -------------------------
/**
* @brief Structure used for each subscribed task
*/
typedef struct twdt_entry twdt_entry_t;
struct twdt_entry {
SLIST_ENTRY(twdt_entry) slist_entry;
TaskHandle_t task_handle; // NULL if user entry
const char *user_name; // NULL if task entry
bool has_reset;
};
// Structure used to hold run time configuration of the TWDT
typedef struct twdt_obj twdt_obj_t;
struct twdt_obj {
twdt_ctx_t impl_ctx;
SLIST_HEAD(entry_list_head, twdt_entry) entries_slist;
uint32_t idle_core_mask; // Current core's who's idle tasks are subscribed
bool panic; // Flag to trigger panic when TWDT times out
bool waiting_for_task; // Flag to start the timer as soon as a task is added
};
// ----------------------- Objects -------------------------
static const char *TAG = "task_wdt";
static portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
static twdt_obj_t *p_twdt_obj = NULL;
#if CONFIG_FREERTOS_SMP
#define CORE_USER_NAME_LEN 8 // Long enough for "CPU XXX"
static esp_task_wdt_user_handle_t core_user_handles[portNUM_PROCESSORS] = {NULL};
static char core_user_names[portNUM_PROCESSORS][CORE_USER_NAME_LEN];
#endif
// ----------------------------------------------------- Private -------------------------------------------------------
// ----------------------- Helpers -------------------------
/**
* @brief Reset the timer and reset flags of each entry
* When entering this function, the spinlock has already been taken, no need to take it back.
*/
static void task_wdt_timer_feed(void)
{
esp_task_wdt_impl_timer_feed(p_twdt_obj->impl_ctx);
/* Clear the has_reset flag in each entry */
twdt_entry_t *entry;
SLIST_FOREACH(entry, &p_twdt_obj->entries_slist, slist_entry) {
entry->has_reset = false;
}
}
/**
* @brief Checks whether a user entry exists and if all other entries have been reset
*
* @param[in] user_entry User entry
* @param[out] all_reset Whether all entries have been reset
* @return Whether the user entry exists
*/
static bool find_entry_and_check_all_reset(twdt_entry_t *user_entry, bool *all_reset)
{
bool found_user_entry = false;
bool found_non_reset = false;
twdt_entry_t *entry;
SLIST_FOREACH(entry, &p_twdt_obj->entries_slist, slist_entry) {
if (entry == user_entry) {
found_user_entry = true;
} else if (entry->has_reset == false) {
found_non_reset = true;
}
}
*all_reset = !found_non_reset;
return found_user_entry;
}
/**
* @brief Find whether a task entry exists, and checks if all other entries have been reset
*
* @param[in] handle Task handle
* @param[out] all_reset Whether all entries have been reset
* @return Task entry, or NULL if not found
*/
static twdt_entry_t *find_entry_from_task_handle_and_check_all_reset(TaskHandle_t handle, bool *all_reset)
{
twdt_entry_t *target = NULL;
bool found_non_reset = false;
twdt_entry_t *entry;
SLIST_FOREACH(entry, &p_twdt_obj->entries_slist, slist_entry) {
if (entry->task_handle == handle) {
target = entry;
} else if (entry->has_reset == false) {
found_non_reset = true;
}
}
*all_reset = !found_non_reset;
return target;
}
/**
* @brief Create a task/user entry and add it to the task WDT
*
* @param[in] is_task Whether the entry is a task entry or user entry
* @param[in] entry_data Data associated with the entry (either a task handle or user entry name)
* @param[out] entry_ret Pointer to created entry
* @return ESP_OK if entry was added, failure otherwise
*/
static esp_err_t add_entry(bool is_task, void *entry_data, twdt_entry_t **entry_ret)
{
esp_err_t ret;
// Allocate entry object
twdt_entry_t *entry = calloc(1, sizeof(twdt_entry_t));
if (entry == NULL) {
return ESP_ERR_NO_MEM;
}
if (is_task) {
entry->task_handle = (TaskHandle_t)entry_data;
} else {
entry->user_name = (const char *)entry_data;
}
portENTER_CRITICAL(&spinlock);
// Check TWDT state
ESP_GOTO_ON_FALSE_ISR((p_twdt_obj != NULL), ESP_ERR_INVALID_STATE, state_err, TAG, "task watchdog was never initialized");
// Check if the task is an entry, and if all entries have been reset
bool all_reset;
if (is_task) {
twdt_entry_t *entry_found = find_entry_from_task_handle_and_check_all_reset(entry->task_handle, &all_reset);
ESP_GOTO_ON_FALSE_ISR((entry_found == NULL), ESP_ERR_INVALID_ARG, state_err, TAG, "task is already subscribed");
} else {
bool entry_found = find_entry_and_check_all_reset(entry, &all_reset);
ESP_GOTO_ON_FALSE_ISR(!entry_found, ESP_ERR_INVALID_ARG, state_err, TAG, "user is already subscribed");
}
// Add entry to list
SLIST_INSERT_HEAD(&p_twdt_obj->entries_slist, entry, slist_entry);
// Start the timer if it has not been started yet and was waiting on a task to registered
if (p_twdt_obj->waiting_for_task) {
esp_task_wdt_impl_timer_restart(p_twdt_obj->impl_ctx);
p_twdt_obj->waiting_for_task = false;
}
if (all_reset) { //Reset hardware timer if all other tasks in list have reset in
task_wdt_timer_feed();
}
portEXIT_CRITICAL(&spinlock);
*entry_ret = entry;
return ESP_OK;
state_err:
portEXIT_CRITICAL(&spinlock);
free(entry);
return ret;
}
/**
* @brief Delete a task/user entry
*
* @param[in] is_task Whether the entry is a task entry or user entry
* @param[in] entry_data Data associated with the entry (either a task handle or user entry name)
* @return ESP_OK if entry was deleted, failure otherwise
*/
static esp_err_t delete_entry(bool is_task, void *entry_data)
{
esp_err_t ret;
portENTER_CRITICAL(&spinlock);
// Check TWDT state
ESP_GOTO_ON_FALSE_ISR((p_twdt_obj != NULL), ESP_ERR_INVALID_STATE, err, TAG, "task watchdog was never initialized");
// Find entry for task
bool all_reset;
twdt_entry_t *entry;
if (is_task) {
entry = find_entry_from_task_handle_and_check_all_reset((TaskHandle_t)entry_data, &all_reset);
ESP_GOTO_ON_FALSE_ISR((entry != NULL), ESP_ERR_NOT_FOUND, err, TAG, "task not found");
} else {
entry = (twdt_entry_t *)entry_data;
bool entry_found = find_entry_and_check_all_reset(entry, &all_reset);
ESP_GOTO_ON_FALSE_ISR(entry_found, ESP_ERR_NOT_FOUND, err, TAG, "user not found");
}
// Remove entry
SLIST_REMOVE(&p_twdt_obj->entries_slist, entry, twdt_entry, slist_entry);
/* Stop the timer if we don't have any more tasks/objects to watch */
if (SLIST_EMPTY(&p_twdt_obj->entries_slist)) {
p_twdt_obj->waiting_for_task = true;
esp_task_wdt_impl_timer_stop(p_twdt_obj->impl_ctx);
} else {
p_twdt_obj->waiting_for_task = false;
}
/* Reset hardware timer if all remaining tasks have reset and if the list of tasks is not empty */
if (!p_twdt_obj->waiting_for_task && all_reset) {
task_wdt_timer_feed();
}
portEXIT_CRITICAL(&spinlock);
free(entry);
return ESP_OK;
err:
portEXIT_CRITICAL(&spinlock);
return ret;
}
/**
* @brief Unsubscribe the idle tasks of one or more cores
*
* @param core_mask
*/
static void unsubscribe_idle(uint32_t core_mask)
{
int core_num = 0;
while (core_mask != 0) {
if (core_mask & 0x1) {
#if CONFIG_FREERTOS_SMP
assert(core_user_handles[core_num]);
esp_deregister_freertos_idle_hook_for_cpu(idle_hook_cb, core_num);
ESP_ERROR_CHECK(esp_task_wdt_delete_user(core_user_handles[core_num]));
core_user_handles[core_num] = NULL;
#else // CONFIG_FREERTOS_SMP
TaskHandle_t idle_task_handle = xTaskGetIdleTaskHandleForCPU(core_num);
assert(idle_task_handle);
esp_deregister_freertos_idle_hook_for_cpu(idle_hook_cb, core_num);
ESP_ERROR_CHECK(esp_task_wdt_delete(idle_task_handle));
#endif // CONFIG_FREERTOS_SMP
}
core_mask >>= 1;
core_num++;
}
}
/**
* @brief Subscribes the idle tasks of one or more cores
*
* @param core_mask Bit mask of cores to subscribe
*/
static void subscribe_idle(uint32_t core_mask)
{
int core_num = 0;
while (core_mask != 0) {
if (core_mask & 0x1) {
#if CONFIG_FREERTOS_SMP
snprintf(core_user_names[core_num], CORE_USER_NAME_LEN, "CPU %d", (uint8_t)core_num);
ESP_ERROR_CHECK(esp_task_wdt_add_user((const char *)core_user_names[core_num], &core_user_handles[core_num]));
ESP_ERROR_CHECK(esp_register_freertos_idle_hook_for_cpu(idle_hook_cb, core_num));
#else // CONFIG_FREERTOS_SMP
TaskHandle_t idle_task_handle = xTaskGetIdleTaskHandleForCPU(core_num);
assert(idle_task_handle);
ESP_ERROR_CHECK(esp_task_wdt_add(idle_task_handle));
ESP_ERROR_CHECK(esp_register_freertos_idle_hook_for_cpu(idle_hook_cb, core_num));
#endif // CONFIG_FREERTOS_SMP
}
core_mask >>= 1;
core_num++;
}
}
/**
* The behavior of the Task Watchdog depends on the configuration from the `menuconfig`.
* It can be summarized as follow, regardless of the target:
* +------------------------+--------------------------------+--------------------------+
* | \ Panic configuration | | |
* | +------------------+ | Panic Enabled | Panic Disabled |
* | TWDT triggered on \ | | |
* +------------------------+--------------------------------+--------------------------+
* | | - Current core backtrace | - Current core backtrace |
* | Both Cores | - Crosscore TWDT abort | - Crosscore backtrace |
* | | - Wait for other core to abort | |
* +------------------------+--------------------------------+--------------------------+
* | Other Core | - Crosscore TWDT abort | - Crosscore backtrace |
* +------------------------+--------------------------------+--------------------------+
* | Current Core | - Abort from current CPU | - Current core backtrace |
* +------------------------+--------------------------------+--------------------------+
*
*/
static UBaseType_t get_task_affinity(const TaskHandle_t xTask)
{
if (xTask == NULL) {
/* User entry, we cannot predict on which core it is scheduled to run,
* so let's mark all cores as failing */
#if configNUM_CORES > 1
return BIT(1) | BIT(0);
#else
return BIT(0);
#endif
}
#if CONFIG_FREERTOS_SMP
#if configNUM_CORES > 1
return vTaskCoreAffinityGet(xTask);
#else
return BIT(0);
#endif
#else
BaseType_t task_affinity = xTaskGetAffinity(xTask);
if (task_affinity == 0 || task_affinity == 1) {
return BIT(task_affinity);
}
return BIT(1) | BIT(0);
#endif
}
#if CONFIG_IDF_TARGET_ARCH_RISCV
static void task_wdt_timeout_handling(int cores_fail, bool panic)
{
/* For RISC-V, make sure the cores that fail is only composed of core 0. */
assert(cores_fail == BIT(0));
const int current_core = 0;
TaskSnapshot_t snapshot = { 0 };
BaseType_t ret = vTaskGetSnapshot(xTaskGetCurrentTaskHandle(), &snapshot);
if (p_twdt_obj->panic) {
assert(ret == pdTRUE);
ESP_EARLY_LOGE(TAG, "Aborting.");
esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
/**
* We cannot simply use `abort` here because the `panic` handler would
* interpret it as if the task watchdog ISR aborted and so, print this
* current ISR backtrace/context. We want to trick the `panic` handler
* to think the task itself is aborting.
* To do so, we need to get the interruptee's top of the stack. It contains
* its own context, saved when the interrupt occurred.
* We must also set the global flag that states that an abort occurred
* (and not a panic)
**/
g_panic_abort = true;
g_twdt_isr = true;
void *frame = (void *) snapshot.pxTopOfStack;
#if CONFIG_ESP_SYSTEM_USE_EH_FRAME
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", current_core);
#endif // CONFIG_ESP_SYSTEM_USE_EH_FRAME
xt_unhandled_exception(frame);
} else {
/* Targets based on a RISC-V CPU cannot perform backtracing that easily.
* We have two options here:
* - Perform backtracing at runtime.
* - Let IDF monitor do the backtracing for us. Used during panic already.
* This could be configurable, choosing one or the other depending on
* CONFIG_ESP_SYSTEM_USE_EH_FRAME configuration option.
*
* In both cases, this takes time, and we are in an ISR, we must
* exit this handler as fast as possible, then we will simply print
* the interruptee's registers.
*/
if (ret == pdTRUE) {
void *frame = (void *) snapshot.pxTopOfStack;
#if CONFIG_ESP_SYSTEM_USE_EH_FRAME
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", current_core);
esp_eh_frame_print_backtrace(frame);
#else // CONFIG_ESP_SYSTEM_USE_EH_FRAME
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) registers", current_core);
panic_print_registers(frame, current_core);
esp_rom_printf("\r\n");
#endif // CONFIG_ESP_SYSTEM_USE_EH_FRAME
}
}
}
#else // CONFIG_IDF_TARGET_ARCH_RISCV
/**
* Function simulating an abort coming from the interrupted task of the current
* core.
* It is called either by the function right below or by a crosscore interrupt,
* in the case where the other core (than the main one) has to abort because one
* of his tasks didn't reset the TWDT on time.
*/
void task_wdt_timeout_abort_xtensa(bool current_core)
{
TaskSnapshot_t snapshot = { 0 };
BaseType_t ret = pdTRUE;
ESP_EARLY_LOGE(TAG, "Aborting.");
esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
ret = vTaskGetSnapshot(xTaskGetCurrentTaskHandle(), &snapshot);
assert(ret == pdTRUE);
g_panic_abort = true;
/* For Xtensa, we should set this flag as late as possible, as this function may
* be called after a crosscore interrupt. Indeed, a higher interrupt may occur
* after calling the crosscore interrupt, if its handler fails, this flag
* shall not be set.
* This flag will tell the coredump component (if activated) that yes, we are in
* an ISR context, but it is intended, it is not because an ISR encountered an
* exception. If we don't set such flag, later tested by coredump, the later would
* switch the execution frame/context we are giving it to the interrupt stack.
* For details about this behavior in the TODO task: IDF-5694
*/
g_twdt_isr = true;
void *frame = (void *) snapshot.pxTopOfStack;
if (current_core) {
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", xPortGetCoreID());
} else {
ESP_EARLY_LOGE(TAG, "Print CPU %d backtrace", xPortGetCoreID());
}
xt_unhandled_exception(frame);
}
static void task_wdt_timeout_handling(int cores_fail, bool panic)
{
const int current_core = xPortGetCoreID();
if (panic) {
#if !CONFIG_FREERTOS_UNICORE
const int other_core = !current_core;
if ((cores_fail & BIT(0)) && (cores_fail & BIT(1))) {
/* In the case where both CPUs have failing tasks, print the current CPU backtrace and then let the
* other core fail. */
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", current_core);
esp_backtrace_print(100);
/* TODO: the interrupt we send should have the highest priority */
esp_crosscore_int_send_twdt_abort(other_core);
/* We are going to abort, on the other core, we have nothing to
* do anymore here, just wait until we crash */
while (1) {}
} else if (cores_fail & BIT(other_core)) {
/* If only the other core is failing, we can tell it to abort. */
esp_crosscore_int_send_twdt_abort(other_core);
while (1) {}
}
#endif // !CONFIG_FREERTOS_UNICORE
/* Current core is failing, abort right now */
task_wdt_timeout_abort_xtensa(true);
} else {
/* Print backtrace of the core that failed to reset the watchdog */
if (cores_fail & BIT(current_core)) {
ESP_EARLY_LOGE(TAG, "Print CPU %d (current core) backtrace", current_core);
esp_backtrace_print(100);
}
#if !CONFIG_FREERTOS_UNICORE
const int other_core = !current_core;
if (cores_fail & BIT(other_core)) {
ESP_EARLY_LOGE(TAG, "Print CPU %d backtrace", other_core);
esp_crosscore_int_send_print_backtrace(other_core);
}
#endif // !CONFIG_FREERTOS_UNICORE
}
}
#endif // CONFIG_IDF_TARGET_ARCH_RISCV
// ---------------------- Callbacks ------------------------
/**
* @brief Idle hook callback
*
* Idle hook callback called by the idle tasks to feed the TWDT
*
* @return Whether the idle tasks should continue idling
*/
static bool idle_hook_cb(void)
{
#if CONFIG_FREERTOS_SMP
esp_task_wdt_reset_user(core_user_handles[xPortGetCoreID()]);
#else // CONFIG_FREERTOS_SMP
esp_task_wdt_reset();
#endif // CONFIG_FREERTOS_SMP
return true;
}
/**
* @brief TWDT timeout ISR function
*
* The ISR checks which entries have not been reset, prints some debugging information, and triggers a panic if
* configured to do so.
*
* @param arg ISR argument
*/
static void task_wdt_isr(void *arg)
{
portENTER_CRITICAL_ISR(&spinlock);
esp_task_wdt_impl_timeout_triggered(p_twdt_obj->impl_ctx);
/* Keep a bitmap of CPU cores having tasks that have not reset TWDT.
* Bit 0 represents core 0, bit 1 represents core 1, and so on. */
int cpus_fail = 0;
bool panic = p_twdt_obj->panic;
if (esp_task_wdt_print_triggered_tasks(NULL, NULL, &cpus_fail) != ESP_OK) {
// If there are no entries, there's nothing to do.
portEXIT_CRITICAL_ISR(&spinlock);
return;
}
ESP_EARLY_LOGE(TAG, "%s", DRAM_STR("Tasks currently running:"));
for (int x = 0; x < portNUM_PROCESSORS; x++) {
ESP_EARLY_LOGE(TAG, "CPU %d: %s", x, pcTaskGetName(xTaskGetCurrentTaskHandleForCPU(x)));
}
portEXIT_CRITICAL_ISR(&spinlock);
/* Run user ISR handler.
* This function has been declared as weak, thus, it may be possible that it was not defines.
* to check this, we can directly test its address. In any case, the linker will get rid of
* this `if` when linking, this means that if the function was not defined, the whole `if`
* block will be discarded (zero runtime overhead), else only the function call will be kept.
*/
if (esp_task_wdt_isr_user_handler != NULL) {
esp_task_wdt_isr_user_handler();
}
// Trigger configured timeout behavior (e.g., panic or print backtrace)
assert(cpus_fail != 0);
task_wdt_timeout_handling(cpus_fail, panic);
}
// ----------------------------------------------------- Public --------------------------------------------------------
esp_err_t esp_task_wdt_init(const esp_task_wdt_config_t *config)
{
ESP_RETURN_ON_FALSE((config != NULL && config->idle_core_mask < (1 << portNUM_PROCESSORS)), ESP_ERR_INVALID_ARG, TAG, "Invalid arguments");
ESP_RETURN_ON_FALSE(p_twdt_obj == NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT already initialized");
esp_err_t ret = ESP_OK;
twdt_obj_t *obj = NULL;
/* Allocate and initialize the global object */
obj = calloc(1, sizeof(twdt_obj_t));
ESP_GOTO_ON_FALSE((obj != NULL), ESP_ERR_NO_MEM, err, TAG, "insufficient memory");
SLIST_INIT(&obj->entries_slist);
obj->panic = config->trigger_panic;
/* Allocate the timer itself, NOT STARTED */
ret = esp_task_wdt_impl_timer_allocate(config, task_wdt_isr, &obj->impl_ctx);
if (ret != ESP_OK) {
goto err;
}
/* No error so far, we can assign it to the driver object */
p_twdt_obj = obj;
/* Update which core's idle tasks are subscribed */
p_twdt_obj->idle_core_mask = config->idle_core_mask;
if (config->idle_core_mask) {
/* Subscribe the new cores idle tasks */
subscribe_idle(config->idle_core_mask);
}
/* Start the timer only if we are watching some tasks */
if (!SLIST_EMPTY(&p_twdt_obj->entries_slist)) {
p_twdt_obj->waiting_for_task = false;
esp_task_wdt_impl_timer_restart(p_twdt_obj->impl_ctx);
} else {
p_twdt_obj->waiting_for_task = true;
}
return ESP_OK;
err:
free(obj);
return ret;
}
esp_err_t esp_task_wdt_reconfigure(const esp_task_wdt_config_t *config)
{
ESP_RETURN_ON_FALSE((config != NULL && config->idle_core_mask < (1 << portNUM_PROCESSORS)), ESP_ERR_INVALID_ARG, TAG, "Invalid arguments");
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT not initialized yet");
uint32_t old_core_mask = 0;
esp_err_t ret = ESP_OK;
/* Stop the timer to make sure we don't get into the ISR while reconfiguring the TWDT */
portENTER_CRITICAL(&spinlock);
ret = esp_task_wdt_impl_timer_stop(p_twdt_obj->impl_ctx);
if (ret != ESP_OK) {
goto err;
}
/* We can start reconfiguring the tasks */
p_twdt_obj->panic = config->trigger_panic;
/* Reconfigure the timer underneath (without restarting it) */
ret = esp_task_wdt_impl_timer_reconfigure(p_twdt_obj->impl_ctx, config);
if (ret != ESP_OK) {
goto err;
}
old_core_mask = p_twdt_obj->idle_core_mask;
/* If the new mask is different than the old one, we have to subscribe the new idle tasks */
if (old_core_mask != config->idle_core_mask) {
p_twdt_obj->idle_core_mask = config->idle_core_mask;
/* Unsubscribe all previously watched core idle tasks */
unsubscribe_idle(old_core_mask);
if (config->idle_core_mask) {
/* Subscribe the new cores idle tasks */
subscribe_idle(config->idle_core_mask);
}
}
/* Start the timer only if we are watching some tasks */
if (!SLIST_EMPTY(&p_twdt_obj->entries_slist)) {
esp_task_wdt_impl_timer_restart(p_twdt_obj->impl_ctx);
}
portEXIT_CRITICAL(&spinlock);
err:
return ESP_OK;
}
esp_err_t esp_task_wdt_stop(void)
{
esp_err_t ret = ESP_OK;
/* If the timer has not been initialized, do not attempt to stop it */
if (p_twdt_obj == NULL) {
ret = ESP_ERR_INVALID_STATE;
}
if (ret == ESP_OK) {
portENTER_CRITICAL(&spinlock);
ret = esp_task_wdt_impl_timer_stop(p_twdt_obj->impl_ctx);
portEXIT_CRITICAL(&spinlock);
}
return ret;
}
esp_err_t esp_task_wdt_restart(void)
{
esp_err_t ret = ESP_OK;
/* If the timer has not been initialized, do not attempt to stop it */
if (p_twdt_obj == NULL) {
ret = ESP_ERR_INVALID_STATE;
}
if (ret == ESP_OK) {
portENTER_CRITICAL(&spinlock);
ret = esp_task_wdt_impl_timer_restart(p_twdt_obj->impl_ctx);
portEXIT_CRITICAL(&spinlock);
}
return ret;
}
esp_err_t esp_task_wdt_deinit(void)
{
esp_err_t ret;
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
// Unsubscribe all previously watched core idle tasks
unsubscribe_idle(p_twdt_obj->idle_core_mask);
// Check TWDT state
ESP_GOTO_ON_FALSE_ISR(SLIST_EMPTY(&p_twdt_obj->entries_slist), ESP_ERR_INVALID_STATE, err, TAG, "Tasks/users still subscribed");
// Disable the timer
esp_task_wdt_impl_timer_stop(p_twdt_obj->impl_ctx);
// Free driver resources
esp_task_wdt_impl_timer_free(p_twdt_obj->impl_ctx);
// Free the global object
free(p_twdt_obj);
p_twdt_obj = NULL;
return ESP_OK;
err:
subscribe_idle(p_twdt_obj->idle_core_mask); // Resubscribe idle tasks
return ret;
}
esp_err_t esp_task_wdt_add(TaskHandle_t task_handle)
{
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
esp_err_t ret;
if (task_handle == NULL) { // Get handle of current task if none is provided
task_handle = xTaskGetCurrentTaskHandle();
}
twdt_entry_t *entry;
ret = add_entry(true, (void *)task_handle, &entry);
(void) entry; // Returned entry pointer not used
return ret;
}
esp_err_t esp_task_wdt_add_user(const char *user_name, esp_task_wdt_user_handle_t *user_handle_ret)
{
ESP_RETURN_ON_FALSE((user_name != NULL && user_handle_ret != NULL), ESP_ERR_INVALID_ARG, TAG, "Invalid arguments");
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
esp_err_t ret;
twdt_entry_t *entry;
ret = add_entry(false, (void *)user_name, &entry);
if (ret == ESP_OK) {
*user_handle_ret = (esp_task_wdt_user_handle_t)entry;
}
return ret;
}
esp_err_t esp_task_wdt_reset(void)
{
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
esp_err_t ret;
TaskHandle_t handle = xTaskGetCurrentTaskHandle();
portENTER_CRITICAL(&spinlock);
// Find entry from task handle
bool all_reset;
twdt_entry_t *entry;
entry = find_entry_from_task_handle_and_check_all_reset(handle, &all_reset);
ESP_GOTO_ON_FALSE_ISR((entry != NULL), ESP_ERR_NOT_FOUND, err, TAG, "task not found");
// Mark entry as reset and issue timer reset if all entries have been reset
entry->has_reset = true; // Reset the task if it's on the task list
if (all_reset) { // Reset if all other tasks in list have reset in
task_wdt_timer_feed();
}
ret = ESP_OK;
err:
portEXIT_CRITICAL(&spinlock);
return ret;
}
esp_err_t esp_task_wdt_reset_user(esp_task_wdt_user_handle_t user_handle)
{
ESP_RETURN_ON_FALSE(user_handle != NULL, ESP_ERR_INVALID_ARG, TAG, "Invalid arguments");
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
esp_err_t ret;
portENTER_CRITICAL(&spinlock);
// Check if entry exists
bool all_reset;
twdt_entry_t *entry = (twdt_entry_t *)user_handle;
bool entry_found = find_entry_and_check_all_reset(entry, &all_reset);
ESP_GOTO_ON_FALSE_ISR(entry_found, ESP_ERR_NOT_FOUND, err, TAG, "user handle not found");
// Mark entry as reset and issue timer reset if all entries have been reset
entry->has_reset = true; // Reset the task if it's on the task list
if (all_reset) { // Reset if all other tasks in list have reset in
task_wdt_timer_feed();
}
ret = ESP_OK;
err:
portEXIT_CRITICAL(&spinlock);
return ret;
}
esp_err_t esp_task_wdt_delete(TaskHandle_t task_handle)
{
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
esp_err_t ret;
if (task_handle == NULL) {
task_handle = xTaskGetCurrentTaskHandle();
}
ret = delete_entry(true, (void *)task_handle);
return ret;
}
esp_err_t esp_task_wdt_delete_user(esp_task_wdt_user_handle_t user_handle)
{
ESP_RETURN_ON_FALSE(user_handle != NULL, ESP_ERR_INVALID_ARG, TAG, "Invalid arguments");
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
return delete_entry(false, (void *)user_handle);
}
esp_err_t esp_task_wdt_status(TaskHandle_t task_handle)
{
ESP_RETURN_ON_FALSE(p_twdt_obj != NULL, ESP_ERR_INVALID_STATE, TAG, "TWDT was never initialized");
esp_err_t ret;
if (task_handle == NULL) {
task_handle = xTaskGetCurrentTaskHandle();
}
portENTER_CRITICAL(&spinlock);
// Find entry for task
bool all_reset;
twdt_entry_t *entry;
entry = find_entry_from_task_handle_and_check_all_reset(task_handle, &all_reset);
(void) all_reset; // Unused
ret = (entry != NULL) ? ESP_OK : ESP_ERR_NOT_FOUND;
portEXIT_CRITICAL(&spinlock);
return ret;
}
esp_err_t esp_task_wdt_print_triggered_tasks(task_wdt_msg_handler msg_handler, void *opaque, int *cpus_fail)
{
if (SLIST_EMPTY(&p_twdt_obj->entries_slist)) {
return ESP_FAIL;
}
twdt_entry_t *entry;
const char *caption = "Task watchdog got triggered. "
"The following tasks/users did not reset the watchdog in time:";
if (msg_handler == NULL) {
ESP_EARLY_LOGE(TAG, "%s", caption);
} else {
msg_handler(opaque, caption);
}
// Find what entries triggered the TWDT timeout (i.e., which entries have not been reset)
SLIST_FOREACH(entry, &p_twdt_obj->entries_slist, slist_entry) {
if (!entry->has_reset) {
const char *cpu;
const char *name = entry->task_handle ? pcTaskGetName(entry->task_handle) : entry->user_name;
const UBaseType_t affinity = get_task_affinity(entry->task_handle);
if (cpus_fail) {
*cpus_fail |= affinity;
}
if (affinity == BIT(0)) {
cpu = " (CPU 0)";
} else if (affinity == BIT(1)) {
cpu = " (CPU 1)";
} else {
cpu = " (CPU 0/1)";
}
if (msg_handler == NULL) {
ESP_EARLY_LOGE(TAG, " - %s%s", name, cpu);
} else {
msg_handler(opaque, "\n - ");
msg_handler(opaque, name);
msg_handler(opaque, cpu);
}
}
}
return ESP_OK;
}