Merge branch 'feature/add_int_task_wdt_esp32c2' into 'master'

WDT: implement interrupt wdt and task wdt for ESP32-C2

Closes IDF-4035, IDF-4205, and IDF-5055

See merge request espressif/esp-idf!18918

.gitlab/ci/target-test.yml

@@ -1015,7 +1015,7 @@ UT_S2_SDSPI:
 
 UT_C2:
   extends: .unit_test_esp32c2_template
-  parallel: 21
+  parallel: 22
   tags:
     - ESP32C2_IDF
     - UT_T1_1

components/esp_event/test/test_event.c

@@ -22,8 +22,6 @@
 #include "test_utils.h"
 
 
-#if !TEMPORARY_DISABLED_FOR_TARGETS(ESP32C2)
-//IDF-4035
 static const char* TAG = "test_event";
 
 #define TEST_CONFIG_ITEMS_TO_REGISTER        5
@@ -2021,4 +2019,3 @@ TEST_CASE("can post events from interrupt handler", "[event]")
 }
 
 #endif // CONFIG_ESP_EVENT_POST_FROM_ISR
-#endif //!TEMPORARY_DISABLED_FOR_TARGETS(ESP32C2)

components/esp_hw_support/sleep_modes.c

@@ -48,6 +48,7 @@
 #include "esp_private/sleep_retention.h"
 #include "esp_private/esp_clk.h"
 #include "esp_private/startup_internal.h"
+#include "esp_private/esp_task_wdt.h"
 
 #ifdef CONFIG_IDF_TARGET_ESP32
 #include "esp32/rom/cache.h"
@@ -663,6 +664,13 @@ static inline bool can_power_down_vddsdio(const uint32_t vddsdio_pd_sleep_durati
 
 esp_err_t esp_light_sleep_start(void)
 {
+#if CONFIG_ESP_TASK_WDT_USE_ESP_TIMER
+    esp_err_t timerret = ESP_OK;
+
+    /* If a task watchdog timer is running, we have to stop it. */
+    timerret = esp_task_wdt_stop();
+#endif // CONFIG_ESP_TASK_WDT_USE_ESP_TIMER
+
     s_config.ccount_ticks_record = esp_cpu_get_cycle_count();
     static portMUX_TYPE light_sleep_lock = portMUX_INITIALIZER_UNLOCKED;
     portENTER_CRITICAL(&light_sleep_lock);
@@ -821,6 +829,14 @@ esp_err_t esp_light_sleep_start(void)
     }
     portEXIT_CRITICAL(&light_sleep_lock);
     s_config.sleep_time_overhead_out = (esp_cpu_get_cycle_count() - s_config.ccount_ticks_record) / (esp_clk_cpu_freq() / 1000000ULL);
+
+#if CONFIG_ESP_TASK_WDT_USE_ESP_TIMER
+    /* Restart the Task Watchdog timer as it was stopped before sleeping. */
+    if (timerret == ESP_OK) {
+        esp_task_wdt_restart();
+    }
+#endif // CONFIG_ESP_TASK_WDT_USE_ESP_TIMER
+
     return err;
 }
 

components/esp_pm/linker.lf

@@ -33,16 +33,24 @@ entries:
         freertos_hooks:esp_vApplicationIdleHook (noflash)
     if PM_SLP_IRAM_OPT = y:
         task_wdt:idle_hook_cb (noflash)
-        task_wdt:reset_hw_timer (noflash)
+        task_wdt:task_wdt_timer_feed (noflash)
         task_wdt:find_entry_and_check_all_reset (noflash)
         task_wdt:find_entry_from_task_handle_and_check_all_reset (noflash)
         task_wdt:esp_task_wdt_reset (noflash)
         task_wdt:esp_task_wdt_reset_user (noflash)
+        if ESP_TASK_WDT_USE_ESP_TIMER = y:
+            task_wdt_impl_esp_timer:esp_task_wdt_impl_timer_feed (noflash)
+        else:
+            task_wdt_impl_timergroup:esp_task_wdt_impl_timer_feed (noflash)
 
 [mapping:esp_timer_pm]
 archive: libesp_timer.a
 entries:
     if PM_SLP_IRAM_OPT = y:
+        # esp_timer_feed is called from task_wdt_timer_feed, so put it
+        # in IRAM if task_wdt_timer_feed itself is in IRAM.
+        if ESP_TASK_WDT_USE_ESP_TIMER = y:
+            esp_timer:esp_timer_feed (noflash)
         if ESP_TIMER_IMPL_TG0_LAC = y:
             esp_timer_impl_lac:esp_timer_impl_lock (noflash)
             esp_timer_impl_lac:esp_timer_impl_unlock (noflash)

components/esp_system/CMakeLists.txt

@@ -21,11 +21,20 @@ else()
             "startup.c"
             "system_time.c"
             "stack_check.c"
-            "task_wdt.c"
             "ubsan.c"
             "xt_wdt.c"
             "debug_stubs.c")
 
+    if(CONFIG_ESP_TASK_WDT_EN)
+        list(APPEND srcs "task_wdt/task_wdt.c")
+
+        if(CONFIG_ESP_TASK_WDT_USE_ESP_TIMER)
+            list(APPEND srcs "task_wdt/task_wdt_impl_esp_timer.c")
+        else()
+            list(APPEND srcs "task_wdt/task_wdt_impl_timergroup.c")
+        endif()
+    endif()
+
     if(CONFIG_ESP_SYSTEM_USE_EH_FRAME)
         list(APPEND srcs "eh_frame_parser.c")
     endif()

components/esp_system/Kconfig

@@ -370,7 +370,6 @@ menu "ESP System Settings"
 
     config ESP_INT_WDT
         bool "Interrupt watchdog"
-        default n if IDF_TARGET_ESP32C2 # add support in IDF-4114
         default y
         help
             This watchdog timer can detect if the FreeRTOS tick interrupt has not been called for a certain time,
@@ -394,19 +393,36 @@ menu "ESP System Settings"
         help
             Also detect if interrupts on CPU 1 are disabled for too long.
 
-    config ESP_TASK_WDT
-        bool "Initialize Task Watchdog Timer on startup"
+    config ESP_TASK_WDT_EN
+        bool "Enable Task Watchdog Timer"
         default y
         select FREERTOS_ENABLE_TASK_SNAPSHOT
         help
             The Task Watchdog Timer can be used to make sure individual tasks are still
-            running. Enabling this option will cause the Task Watchdog Timer to be
-            initialized automatically at startup. The Task Watchdog timer can be
-            initialized after startup as well (see Task Watchdog Timer API Reference)
+            running. Enabling this option will enable the Task Watchdog Timer. It can be
+            either initialized automatically at startup or initialized after startup
+            (see Task Watchdog Timer API Reference)
+
+    config ESP_TASK_WDT_USE_ESP_TIMER
+        # Software implementation of Task Watchdog, handy for targets with only a single
+        # Timer Group, such as the ESP32-C2
+        bool
+        depends on ESP_TASK_WDT_EN
+        default y if IDF_TARGET_ESP32C2
+        default n if !IDF_TARGET_ESP32C2
+        select ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD
+
+    config ESP_TASK_WDT_INIT
+        bool "Initialize Task Watchdog Timer on startup"
+        depends on ESP_TASK_WDT_EN
+        default y
+        help
+            Enabling this option will cause the Task Watchdog Timer to be initialized
+            automatically at startup.
 
     config ESP_TASK_WDT_PANIC
         bool "Invoke panic handler on Task Watchdog timeout"
-        depends on ESP_TASK_WDT
+        depends on ESP_TASK_WDT_INIT
         default n
         help
             If this option is enabled, the Task Watchdog Timer will be configured to
@@ -415,7 +431,7 @@ menu "ESP System Settings"
 
     config ESP_TASK_WDT_TIMEOUT_S
         int "Task Watchdog timeout period (seconds)"
-        depends on ESP_TASK_WDT
+        depends on ESP_TASK_WDT_INIT
         range 1 60
         default 5
         help
@@ -424,7 +440,7 @@ menu "ESP System Settings"
 
     config ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
         bool "Watch CPU0 Idle Task"
-        depends on ESP_TASK_WDT
+        depends on ESP_TASK_WDT_INIT
         default y
         help
             If this option is enabled, the Task Watchdog Timer will watch the CPU0
@@ -435,10 +451,10 @@ menu "ESP System Settings"
 
     config ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
         bool "Watch CPU1 Idle Task"
-        depends on ESP_TASK_WDT && !FREERTOS_UNICORE
+        depends on ESP_TASK_WDT_INIT && !FREERTOS_UNICORE
         default y
         help
-            If this option is enabled, the Task Wtachdog Timer will wach the CPU1
+            If this option is enabled, the Task Watchdog Timer will wach the CPU1
             Idle Task.
 
     config ESP_XT_WDT

components/esp_system/crosscore_int.c

@@ -96,12 +96,14 @@ static void IRAM_ATTR esp_crosscore_isr(void *arg) {
         esp_backtrace_print(100);
     }
 
+#if CONFIG_ESP_TASK_WDT_EN
     if (my_reason_val & REASON_TWDT_ABORT) {
         extern void task_wdt_timeout_abort_xtensa(bool);
         /* Called from a crosscore interrupt, thus, we are not the core that received
          * the TWDT interrupt, call the function with `false` as a parameter. */
         task_wdt_timeout_abort_xtensa(false);
     }
+#endif // CONFIG_ESP_TASK_WDT_EN
 #endif // CONFIG_IDF_TARGET_ARCH_XTENSA
 }
 
@@ -171,7 +173,9 @@ void IRAM_ATTR esp_crosscore_int_send_print_backtrace(int core_id)
     esp_crosscore_int_send(core_id, REASON_PRINT_BACKTRACE);
 }
 
+#if CONFIG_ESP_TASK_WDT_EN
 void IRAM_ATTR esp_crosscore_int_send_twdt_abort(int core_id) {
     esp_crosscore_int_send(core_id, REASON_TWDT_ABORT);
 }
+#endif // CONFIG_ESP_TASK_WDT_EN
 #endif

components/esp_system/include/esp_private/crosscore_int.h

@@ -61,6 +61,7 @@ void esp_crosscore_int_send_gdb_call(int core_id);
  */
 void esp_crosscore_int_send_print_backtrace(int core_id);
 
+#if CONFIG_ESP_TASK_WDT_EN
 /**
  * Send an interrupt to a CPU indicating it call `task_wdt_timeout_abort_xtensa`.
  * This will make the CPU abort, using the interrupted task frame.
@@ -72,7 +73,9 @@ void esp_crosscore_int_send_print_backtrace(int core_id);
  * @param core_id Core that should abort
  */
 void esp_crosscore_int_send_twdt_abort(int core_id);
-#endif
+
+#endif // CONFIG_ESP_TASK_WDT_EN
+#endif // !CONFIG_IDF_TARGET_ESP32C3 && !CONFIG_IDF_TARGET_ESP32H2 && !CONFIG_IDF_TARGET_ESP32C2
 
 #ifdef __cplusplus
 }

components/esp_system/include/esp_private/esp_int_wdt.h

@@ -6,10 +6,32 @@
 
 #pragma once
 
+#include "system_internal.h"
+#include "soc/periph_defs.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#if SOC_TIMER_GROUPS > 1
+
+/* If we have two hardware timer groups, use the second one for interrupt watchdog. */
+#define WDT_LEVEL_INTR_SOURCE   ETS_TG1_WDT_LEVEL_INTR_SOURCE
+#define IWDT_PRESCALER          MWDT1_TICK_PRESCALER   // Tick period of 500us if WDT source clock is 80MHz
+#define IWDT_TICKS_PER_US       MWDT1_TICKS_PER_US
+#define IWDT_INSTANCE           WDT_MWDT1
+#define IWDT_INITIAL_TIMEOUT_S  5
+
+#else
+
+#define WDT_LEVEL_INTR_SOURCE   ETS_TG0_WDT_LEVEL_INTR_SOURCE
+#define IWDT_PRESCALER          MWDT0_TICK_PRESCALER   // Tick period of 500us if WDT source clock is 80MHz
+#define IWDT_TICKS_PER_US       MWDT0_TICKS_PER_US
+#define IWDT_INSTANCE           WDT_MWDT0
+#define IWDT_INITIAL_TIMEOUT_S  5
+
+#endif // SOC_TIMER_GROUPS > 1
+
 /**
  * @brief Initialize the non-CPU-specific parts of interrupt watchdog.
  *

components/esp_system/include/esp_private/esp_task_wdt.h

@@ -0,0 +1,57 @@
+/*
+ * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "sdkconfig.h"
+#include "esp_err.h"
+
+#if CONFIG_ESP_TASK_WDT_EN
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Type used to define the context of a Task WatchDog Timer implementation.
+ *        This is used internally in the TWDT driver, it is implementation specific.
+ */
+typedef void* twdt_ctx_t;
+
+/**
+ * @brief Type of the function used as an ISR callback.
+ */
+typedef void (*twdt_isr_callback)(void*);
+
+/**
+ * @brief   Stop the Task Watchdog Timer (TWDT)
+ *
+ * This function will temporarily stop the timer until it is restarted by a call to esp_task_wdt_restart().
+
+ * @note esp_task_wdt_stop() must not be called by multiple tasks simultaneously.
+ * @return
+ *  - ESP_OK: TWDT successfully stopped
+ *  - Other: Failed to stop the TWDT
+ */
+esp_err_t esp_task_wdt_stop(void);
+
+/**
+ * @brief   Restart the Task Watchdog Timer (TWDT)
+ *
+ * This function will restart the timer after it has been stopped by esp_task_wdt_stop().
+
+ * @note esp_task_wdt_restart() must not be called by multiple tasks simultaneously.
+ * @return
+ *  - ESP_OK: TWDT successfully stopped
+ *  - Other: Failed to stop the TWDT
+ */
+esp_err_t esp_task_wdt_restart(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CONFIG_ESP_TASK_WDT_EN