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_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_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 Farenheit
//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;
#ifdef F_CPU
    setCpuFrequencyMhz(F_CPU/1000000);
#endif
#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);
}