6 files changed, 33 insertions(+), 9 deletions(-)

M module-os/FreeRTOS/include/FreeRTOSConfig.h
M module-os/board/rt1051/systemview/FreeRTOSConfig.h
M module-sys/SystemWatchdog/SystemWatchdog.cpp
M module-sys/SystemWatchdog/include/SystemWatchdog/SystemWatchdog.hpp
M products/BellHybrid/BellHybridMain.cpp
M products/PurePhone/PurePhoneMain.cpp

@@ 131,7 131,7 @@ extern "C"
 #define INCLUDE_xTaskGetIdleTaskHandle       1
 #define INCLUDE_eTaskGetState                0
 #define INCLUDE_xTimerPendFunctionCall       1
-#define INCLUDE_xTaskAbortDelay              0
+#define INCLUDE_xTaskAbortDelay              1
 #define INCLUDE_xTaskGetHandle               0
 #define INCLUDE_xTaskResumeFromISR           1
 

@@ 125,7 125,7 @@ extern "C"
 #define INCLUDE_xTaskGetIdleTaskHandle       1
 #define INCLUDE_eTaskGetState                0
 #define INCLUDE_xTimerPendFunctionCall       1
-#define INCLUDE_xTaskAbortDelay              0
+#define INCLUDE_xTaskAbortDelay              1
 #define INCLUDE_xTaskGetHandle               0
 #define INCLUDE_xTaskResumeFromISR           1
 

@@ 1,4 1,4 @@
-// Copyright (c) 2017-2021, Mudita Sp. z.o.o. All rights reserved.
+// Copyright (c) 2017-2022, Mudita Sp. z.o.o. All rights reserved.
 // For licensing, see https://github.com/mudita/MuditaOS/LICENSE.md
 
 #include <SystemWatchdog/SystemWatchdog.hpp>


@@ 34,6 34,7 @@ namespace sys
         }
         bsp::watchdog::refresh();
 
+        enableRunLoop = true;
         if (!Start()) {
             return false;
         }


@@ 54,8 55,8 @@ namespace sys
 
     void SystemWatchdog::Run()
     {
-        while (true) {
-            vTaskDelay(checkPeriod);
+        while (enableRunLoop) {
+            Delay(checkPeriod);
 
             if (timeout_occurred) {
                 continue;


@@ 71,5 72,19 @@ namespace sys
                 bsp::watchdog::refresh();
             }
         }
+
+        // notify caller of deinit()
+        taskEndedSem.Give();
+    }
+
+    void SystemWatchdog::deinit()
+    {
+#ifndef DISABLE_WATCHDOG
+        enableRunLoop = false;
+        xTaskAbortDelay(GetHandle());
+        if (!taskEndedSem.Take(closurePeriod)) {
+            LOG_ERROR("Watchdog thread was not gently closed, killing");
+        }
+#endif
     }
 } // namespace sys

@@ 1,4 1,4 @@
-// Copyright (c) 2017-2021, Mudita Sp. z.o.o. All rights reserved.
+// Copyright (c) 2017-2022, Mudita Sp. z.o.o. All rights reserved.
 // For licensing, see https://github.com/mudita/MuditaOS/LICENSE.md
 
 #pragma once


@@ 36,6 36,9 @@ namespace sys
 
         void refresh() override;
 
+        // It doesn't disable watchdog, but it simply close the petting thread
+        void deinit();
+
       private:
         SystemWatchdog();
 


@@ 45,11 48,15 @@ namespace sys
         static constexpr TickType_t watchdogTimeoutPeriod = pdMS_TO_TICKS(16000);
         // Period of actual watchdog refresh
         static constexpr TickType_t checkPeriod = pdMS_TO_TICKS(8000);
+        // Timeout period for watchdog thread closure
+        static constexpr TickType_t closurePeriod = pdMS_TO_TICKS(2000);
 
         void Run() final;
 
-        TickType_t lastRefreshTimestamp = 0;
-        bool timeout_occurred           = false;
+        TickType_t lastRefreshTimestamp{0};
+        bool timeout_occurred{false};
+        bool enableRunLoop{false};
+        cpp_freertos::BinarySemaphore taskEndedSem{false};
 
         static_assert(sizeof(lastRefreshTimestamp) == 4 && alignof(decltype(lastRefreshTimestamp)) == 4,
                       "SystemWatchdog::lastRefreshTimestamp must be 32-bit long and properly aligned otherwise data "

@@ 1,4 1,4 @@
-// Copyright (c) 2017-2021, Mudita Sp. z.o.o. All rights reserved.
+// Copyright (c) 2017-2022, Mudita Sp. z.o.o. All rights reserved.
 // For licensing, see https://github.com/mudita/MuditaOS/LICENSE.md
 
 #include "PlatformFactory.hpp"


@@ 133,6 133,7 @@ int main()
                 LOG_FATAL("%s", e.what());
                 abort();
             }
+            sys::SystemWatchdog::getInstance().deinit();
             return true;
         });
 

@@ 219,6 219,7 @@ int main()
                 LOG_FATAL("%s", e.what());
                 abort();
             }
+            sys::SystemWatchdog::getInstance().deinit();
             return true;
         });