arduino-esp32/cores/esp32/esp32-hal-misc.c

// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at

//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_attr.h"
#include "nvs_flash.h"
#include "nvs.h"
#include "esp_partition.h"
#include "esp_log.h"
#include "esp_timer.h"
#ifdef CONFIG_APP_ROLLBACK_ENABLE
#include "esp_ota_ops.h"
#endif  //CONFIG_APP_ROLLBACK_ENABLE
#ifdef CONFIG_BT_ENABLED
#include "esp_bt.h"
#endif  //CONFIG_BT_ENABLED
#include <sys/time.h>
#include "soc/rtc.h"
#if !defined(CONFIG_IDF_TARGET_ESP32C2) && !defined(CONFIG_IDF_TARGET_ESP32C6) && !defined(CONFIG_IDF_TARGET_ESP32H2)
#include "soc/rtc_cntl_reg.h"
#include "soc/apb_ctrl_reg.h"
#endif
#include "esp_task_wdt.h"
#include "esp32-hal.h"

#include "esp_system.h"
#ifdef ESP_IDF_VERSION_MAJOR  // IDF 4+

#if CONFIG_IDF_TARGET_ESP32  // ESP32/PICO-D4
#include "esp32/rom/rtc.h"
#elif CONFIG_IDF_TARGET_ESP32S2
#include "esp32s2/rom/rtc.h"
#elif CONFIG_IDF_TARGET_ESP32S3
#include "esp32s3/rom/rtc.h"
#elif CONFIG_IDF_TARGET_ESP32C2
#include "esp32c2/rom/rtc.h"
#elif CONFIG_IDF_TARGET_ESP32C3
#include "esp32c3/rom/rtc.h"
#elif CONFIG_IDF_TARGET_ESP32C6
#include "esp32c6/rom/rtc.h"
#elif CONFIG_IDF_TARGET_ESP32H2
#include "esp32h2/rom/rtc.h"

#else
#error Target CONFIG_IDF_TARGET is not supported
#endif

#if SOC_TEMP_SENSOR_SUPPORTED
#include "driver/temperature_sensor.h"
#endif

#else  // ESP32 Before IDF 4.0
#include "rom/rtc.h"
#endif

//Undocumented!!! Get chip temperature in Fahrenheit
//Source: https://github.com/pcbreflux/espressif/blob/master/esp32/arduino/sketchbook/ESP32_int_temp_sensor/ESP32_int_temp_sensor.ino
#ifdef CONFIG_IDF_TARGET_ESP32
uint8_t temprature_sens_read();

float temperatureRead() {
  return (temprature_sens_read() - 32) / 1.8;
}
#elif SOC_TEMP_SENSOR_SUPPORTED
static temperature_sensor_handle_t temp_sensor = NULL;

static bool temperatureReadInit() {
  static volatile bool initialized = false;
  if (!initialized) {
    initialized = true;
    //Install temperature sensor, expected temp ranger range: 10~50 ℃
    temperature_sensor_config_t temp_sensor_config = TEMPERATURE_SENSOR_CONFIG_DEFAULT(10, 50);
    if (temperature_sensor_install(&temp_sensor_config, &temp_sensor) != ESP_OK) {
      initialized = false;
      temp_sensor = NULL;
      log_e("temperature_sensor_install failed");
    } else if (temperature_sensor_enable(temp_sensor) != ESP_OK) {
      temperature_sensor_uninstall(temp_sensor);
      initialized = false;
      temp_sensor = NULL;
      log_e("temperature_sensor_enable failed");
    }
  }
  return initialized;
}

float temperatureRead() {
  float result = NAN;
  if (temperatureReadInit()) {
    if (temperature_sensor_get_celsius(temp_sensor, &result) != ESP_OK) {
      log_e("temperature_sensor_get_celsius failed");
    }
  }
  return result;
}
#endif

void __yield() {
  vPortYield();
}

void yield() __attribute__((weak, alias("__yield")));

#if CONFIG_AUTOSTART_ARDUINO

extern TaskHandle_t loopTaskHandle;
extern bool loopTaskWDTEnabled;

void enableLoopWDT() {
  if (loopTaskHandle != NULL) {
    if (esp_task_wdt_add(loopTaskHandle) != ESP_OK) {
      log_e("Failed to add loop task to WDT");
    } else {
      loopTaskWDTEnabled = true;
    }
  }
}

void disableLoopWDT() {
  if (loopTaskHandle != NULL && loopTaskWDTEnabled) {
    loopTaskWDTEnabled = false;
    if (esp_task_wdt_delete(loopTaskHandle) != ESP_OK) {
      log_e("Failed to remove loop task from WDT");
    }
  }
}

void feedLoopWDT() {
  esp_err_t err = esp_task_wdt_reset();
  if (err != ESP_OK) {
    log_e("Failed to feed WDT! Error: %d", err);
  }
}
#endif

void enableCore0WDT() {
  TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU(0);
  if (idle_0 == NULL || esp_task_wdt_add(idle_0) != ESP_OK) {
    log_e("Failed to add Core 0 IDLE task to WDT");
  }
}

void disableCore0WDT() {
  TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU(0);
  if (idle_0 == NULL || esp_task_wdt_delete(idle_0) != ESP_OK) {
    log_e("Failed to remove Core 0 IDLE task from WDT");
  }
}

#ifndef CONFIG_FREERTOS_UNICORE
void enableCore1WDT() {
  TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
  if (idle_1 == NULL || esp_task_wdt_add(idle_1) != ESP_OK) {
    log_e("Failed to add Core 1 IDLE task to WDT");
  }
}

void disableCore1WDT() {
  TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
  if (idle_1 == NULL || esp_task_wdt_delete(idle_1) != ESP_OK) {
    log_e("Failed to remove Core 1 IDLE task from WDT");
  }
}
#endif

BaseType_t xTaskCreateUniversal(
  TaskFunction_t pxTaskCode, const char *const pcName, const uint32_t usStackDepth, void *const pvParameters, UBaseType_t uxPriority,
  TaskHandle_t *const pxCreatedTask, const BaseType_t xCoreID
) {
#ifndef CONFIG_FREERTOS_UNICORE
  if (xCoreID >= 0 && xCoreID < 2) {
    return xTaskCreatePinnedToCore(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, xCoreID);
  } else {
#endif
    return xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask);
#ifndef CONFIG_FREERTOS_UNICORE
  }
#endif
}

unsigned long ARDUINO_ISR_ATTR micros() {
  return (unsigned long)(esp_timer_get_time());
}

unsigned long ARDUINO_ISR_ATTR millis() {
  return (unsigned long)(esp_timer_get_time() / 1000ULL);
}

void delay(uint32_t ms) {
  vTaskDelay(ms / portTICK_PERIOD_MS);
}

void ARDUINO_ISR_ATTR delayMicroseconds(uint32_t us) {
  uint64_t m = (uint64_t)esp_timer_get_time();
  if (us) {
    uint64_t e = (m + us);
    if (m > e) {  //overflow
      while ((uint64_t)esp_timer_get_time() > e) {
        NOP();
      }
    }
    while ((uint64_t)esp_timer_get_time() < e) {
      NOP();
    }
  }
}

void initVariant() __attribute__((weak));
void initVariant() {}

void init() __attribute__((weak));
void init() {}

#ifdef CONFIG_APP_ROLLBACK_ENABLE
bool verifyOta() __attribute__((weak));
bool verifyOta() {
  return true;
}

bool verifyRollbackLater() __attribute__((weak));
bool verifyRollbackLater() {
  return false;
}
#endif

#ifdef CONFIG_BT_ENABLED
#if CONFIG_IDF_TARGET_ESP32
//overwritten in esp32-hal-bt.c
bool btInUse() __attribute__((weak));
bool btInUse() {
  return false;
}
#else
//from esp32-hal-bt.c
extern bool btInUse();
#endif
#endif

void initArduino() {
  //init proper ref tick value for PLL (uncomment if REF_TICK is different than 1MHz)
  //ESP_REG(APB_CTRL_PLL_TICK_CONF_REG) = APB_CLK_FREQ / REF_CLK_FREQ - 1;
#if CONFIG_SPIRAM_SUPPORT || CONFIG_SPIRAM
  psramInit();
#endif
#ifdef CONFIG_APP_ROLLBACK_ENABLE
  if (!verifyRollbackLater()) {
    const esp_partition_t *running = esp_ota_get_running_partition();
    esp_ota_img_states_t ota_state;
    if (esp_ota_get_state_partition(running, &ota_state) == ESP_OK) {
      if (ota_state == ESP_OTA_IMG_PENDING_VERIFY) {
        if (verifyOta()) {
          esp_ota_mark_app_valid_cancel_rollback();
        } else {
          log_e("OTA verification failed! Start rollback to the previous version ...");
          esp_ota_mark_app_invalid_rollback_and_reboot();
        }
      }
    }
  }
#endif
  esp_log_level_set("*", CONFIG_LOG_DEFAULT_LEVEL);
  esp_err_t err = nvs_flash_init();
  if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
    const esp_partition_t *partition = esp_partition_find_first(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_DATA_NVS, NULL);
    if (partition != NULL) {
      err = esp_partition_erase_range(partition, 0, partition->size);
      if (!err) {
        err = nvs_flash_init();
      } else {
        log_e("Failed to format the broken NVS partition!");
      }
    } else {
      log_e("Could not find NVS partition");
    }
  }
  if (err) {
    log_e("Failed to initialize NVS! Error: %u", err);
  }
#ifdef CONFIG_BT_ENABLED
  if (!btInUse()) {
    esp_bt_controller_mem_release(ESP_BT_MODE_BTDM);
  }
#endif
  init();
  initVariant();
}

//used by hal log
const char *ARDUINO_ISR_ATTR pathToFileName(const char *path) {
  size_t i = 0;
  size_t pos = 0;
  char *p = (char *)path;
  while (*p) {
    i++;
    if (*p == '/' || *p == '\\') {
      pos = i;
    }
    p++;
  }
  return path + pos;
}

#include "esp_rom_sys.h"
#include "esp_debug_helpers.h"
#if CONFIG_IDF_TARGET_ARCH_XTENSA
#include "esp_cpu_utils.h"
#else
#include "riscv/rvruntime-frames.h"
#endif
#include "esp_memory_utils.h"
#include "esp_private/panic_internal.h"

static arduino_panic_handler_t _panic_handler = NULL;
static void *_panic_handler_arg = NULL;

void set_arduino_panic_handler(arduino_panic_handler_t handler, void *arg) {
  _panic_handler = handler;
  _panic_handler_arg = arg;
}

arduino_panic_handler_t get_arduino_panic_handler(void) {
  return _panic_handler;
}

void *get_arduino_panic_handler_arg(void) {
  return _panic_handler_arg;
}

static void handle_custom_backtrace(panic_info_t *info) {
  arduino_panic_info_t p_info;
  p_info.reason = info->reason;
  p_info.core = info->core;
  p_info.pc = info->addr;
  p_info.backtrace_len = 0;
  p_info.backtrace_corrupt = false;
  p_info.backtrace_continues = false;

#if CONFIG_IDF_TARGET_ARCH_XTENSA
  XtExcFrame *xt_frame = (XtExcFrame *)info->frame;
  esp_backtrace_frame_t stk_frame = {.pc = xt_frame->pc, .sp = xt_frame->a1, .next_pc = xt_frame->a0, .exc_frame = xt_frame};
  uint32_t i = 100, pc_ptr = esp_cpu_process_stack_pc(stk_frame.pc);
  p_info.backtrace[p_info.backtrace_len++] = pc_ptr;

  bool corrupted = !(esp_stack_ptr_is_sane(stk_frame.sp) && (esp_ptr_executable((void *)esp_cpu_process_stack_pc(stk_frame.pc)) ||
                                                             /* Ignore the first corrupted PC in case of InstrFetchProhibited */
                                                             (stk_frame.exc_frame && ((XtExcFrame *)stk_frame.exc_frame)->exccause == EXCCAUSE_INSTR_PROHIBITED)));

  while (i-- > 0 && stk_frame.next_pc != 0 && !corrupted) {
    if (!esp_backtrace_get_next_frame(&stk_frame)) {
      corrupted = true;
    }
    pc_ptr = esp_cpu_process_stack_pc(stk_frame.pc);
    if (esp_ptr_executable((void *)pc_ptr)) {
      p_info.backtrace[p_info.backtrace_len++] = pc_ptr;
      if (p_info.backtrace_len == 60) {
        break;
      }
    }
  }

  if (corrupted) {
    p_info.backtrace_corrupt = true;
  } else if (stk_frame.next_pc != 0) {
    p_info.backtrace_continues = true;
  }
#elif CONFIG_IDF_TARGET_ARCH_RISCV
  uint32_t sp = (uint32_t)((RvExcFrame *)info->frame)->sp;
  p_info.backtrace[p_info.backtrace_len++] = sp;
  uint32_t *spptr = (uint32_t *)(sp);
  for (int i = 0; i < 256; i++) {
    if (esp_ptr_executable((void *)spptr[i])) {
      p_info.backtrace[p_info.backtrace_len++] = spptr[i];
      if (p_info.backtrace_len == 60) {
        if (i < 255) {
          p_info.backtrace_continues = true;
        }
        break;
      }
    }
  }
#endif
  _panic_handler(&p_info, _panic_handler_arg);
}

void __real_esp_panic_handler(panic_info_t *);
void __wrap_esp_panic_handler(panic_info_t *info) {
  if (_panic_handler != NULL) {
    handle_custom_backtrace(info);
  }
  __real_esp_panic_handler(info);
}