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Merge pull request #11 from torlando-tech/fix/ble-wdt-stability

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Fix Task WDT crashes from LVGL priority starvation
This commit is contained in:
Torlando
2026-03-04 17:07:27 -05:00
committed by GitHub
parent f24d80688a ed8c08109f
commit 3c81eeb5be
3 changed files with 38 additions and 29 deletions
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lib/ble_interface/BLEInterface.cpp
+5 -5
View File
@@ -10,7 +10,6 @@
#ifdef ARDUINO
#include <Arduino.h>
#include <esp_heap_caps.h>
#include <esp_task_wdt.h>
#endif
using namespace RNS;
@@ -1136,12 +1135,13 @@ void BLEInterface::ble_task(void* param) {
BLEInterface* self = static_cast<BLEInterface*>(param);
Serial.printf("BLE task started on core %d\n", xPortGetCoreID());
// Subscribe BLE task to Task Watchdog — detects BLE deadlocks
esp_task_wdt_add(NULL);
// NOTE: BLE task is intentionally NOT subscribed to the FreeRTOS Task WDT.
// Blocking NimBLE GATT operations (service discovery, subscribe, read, write)
// each have ~30s internal timeouts. A full connect chain (connect + discover +
// enable notifications + identity read) can legitimately block 30-60s total,
// which exceeds the 30s WDT. NimBLE's own timeouts provide recovery.
while (true) {
esp_task_wdt_reset();
// Run the BLE loop (already has internal mutex protection)
self->loop();
lib/ble_interface/platforms/NimBLEPlatform.cpp
+29 -21
View File
@@ -11,7 +11,6 @@
#include "Identity.h"
#include <algorithm>
#include <esp_mac.h>
#include <esp_task_wdt.h>
// WiFi coexistence: Check if WiFi is available and connected
// This is used to add extra delays before BLE connection attempts
@@ -310,7 +309,6 @@ void NimBLEPlatform::shutdown() {
" active write operation(s)");
// DELAY RATIONALE: Shutdown wait polling - check every 100ms for write completion
delay(100);
esp_task_wdt_reset();
}
// Check if we timed out
@@ -412,7 +410,6 @@ bool NimBLEPlatform::attemptHostReset() {
uint32_t start = millis();
while (!ble_hs_synced() && (millis() - start) < 3000) {
delay(50);
esp_task_wdt_reset();
}
if (ble_hs_synced()) {
@@ -539,7 +536,6 @@ bool NimBLEPlatform::pauseSlaveForMaster() {
while (ble_gap_adv_active() && millis() - start < 2000) {
// DELAY RATIONALE: Advertising stop polling - check completion every NimBLE scheduler tick (~10ms)
delay(10);
esp_task_wdt_reset(); // Feed WDT during blocking wait
}
if (ble_gap_adv_active()) {
@@ -574,7 +570,6 @@ bool NimBLEPlatform::pauseSlaveForMaster() {
}
// DELAY RATIONALE: Slave state polling - check completion every NimBLE scheduler tick (~10ms)
delay(10);
esp_task_wdt_reset();
}
WARNING("NimBLEPlatform: Timed out waiting for slave to become idle");
@@ -649,7 +644,6 @@ void NimBLEPlatform::enterErrorRecovery() {
uint32_t sync_start = millis();
while (!ble_hs_synced() && (millis() - sync_start) < 5000) {
delay(50);
esp_task_wdt_reset();
}
if (ble_hs_synced()) {
INFO("NimBLEPlatform: Host sync restored after " +
@@ -676,7 +670,6 @@ void NimBLEPlatform::enterErrorRecovery() {
uint32_t reset_start = millis();
while (!ble_hs_synced() && (millis() - reset_start) < 5000) {
delay(50);
esp_task_wdt_reset();
}
if (ble_hs_synced()) {
INFO("NimBLEPlatform: Host-controller resync after " +
@@ -1018,7 +1011,6 @@ void NimBLEPlatform::stopScan() {
while (ble_gap_disc_active() && millis() - start < 1000) {
// DELAY RATIONALE: Scan stop polling - check completion every NimBLE scheduler tick (~10ms)
delay(10);
esp_task_wdt_reset();
}
// Transition to IDLE
@@ -1141,7 +1133,6 @@ bool NimBLEPlatform::connect(const BLEAddress& address, uint16_t timeout_ms) {
while (ble_gap_conn_active() && millis() - start < 1000) {
// DELAY RATIONALE: Service discovery polling - check completion per scheduler tick
delay(10);
esp_task_wdt_reset();
}
if (ble_gap_conn_active()) {
ERROR("NimBLEPlatform: GAP connection still active after timeout");
@@ -1329,14 +1320,9 @@ bool NimBLEPlatform::connectNative(const BLEAddress& address, uint16_t timeout_m
// discovery) that would deadlock the host task.
_native_connect_pending = true;
// Feed WDT before blocking connect — NimBLE connect can take several seconds
// with WiFi coexistence, and the BLE task is subscribed to the 10s WDT
esp_task_wdt_reset();
// Connect (blocking) — NimBLE handles GAP event management internally
bool connected = client->connect(nimAddr, false); // deleteAttributes=false
esp_task_wdt_reset(); // Feed WDT after connect returns
_native_connect_pending = false;
if (!connected) {
@@ -1360,7 +1346,8 @@ bool NimBLEPlatform::connectNative(const BLEAddress& address, uint16_t timeout_m
" MTU=" + std::to_string(negotiated_mtu));
// Fire _on_connected from THIS task (BLEInterface loop), not the host task.
// This allows the callback to safely do blocking GATT operations.
// This allows the callback to safely do blocking GATT operations
// (service discovery, notification enable, identity read/write).
if (_on_connected) {
ConnectionHandle conn = getConnection(conn_handle);
_on_connected(conn);
@@ -1429,6 +1416,10 @@ bool NimBLEPlatform::requestMTU(uint16_t conn_handle, uint16_t mtu) {
}
bool NimBLEPlatform::discoverServices(uint16_t conn_handle) {
if (!ble_hs_synced()) {
return false;
}
auto client_it = _clients.find(conn_handle);
if (client_it == _clients.end() || !client_it->second) {
return false;
@@ -1436,7 +1427,7 @@ bool NimBLEPlatform::discoverServices(uint16_t conn_handle) {
NimBLEClient* client = client_it->second;
// Get our service
// Get our service — blocking GATT operation
NimBLERemoteService* service = client->getService(UUID::SERVICE);
if (!service) {
ERROR("NimBLEPlatform: Service not found");
@@ -1447,7 +1438,7 @@ bool NimBLEPlatform::discoverServices(uint16_t conn_handle) {
return false;
}
// Get characteristics
// Get characteristics — each is a blocking GATT operation
NimBLERemoteCharacteristic* rxChar = service->getCharacteristic(UUID::RX_CHAR);
NimBLERemoteCharacteristic* txChar = service->getCharacteristic(UUID::TX_CHAR);
NimBLERemoteCharacteristic* idChar = service->getCharacteristic(UUID::IDENTITY_CHAR);
@@ -1507,7 +1498,6 @@ bool NimBLEPlatform::startAdvertising() {
uint32_t sync_wait = millis();
while (!ble_hs_synced() && (millis() - sync_wait) < 1000) {
delay(50);
esp_task_wdt_reset();
}
if (!ble_hs_synced()) {
DEBUG("NimBLEPlatform: Host not synced, cannot start advertising");
@@ -1578,7 +1568,6 @@ void NimBLEPlatform::stopAdvertising() {
while (ble_gap_adv_active() && millis() - start < 1000) {
// DELAY RATIONALE: Loop iteration throttle - prevent tight loop CPU consumption
delay(10);
esp_task_wdt_reset();
}
// Transition to IDLE
@@ -1635,6 +1624,12 @@ void NimBLEPlatform::setIdentityData(const Bytes& identity) {
//=============================================================================
bool NimBLEPlatform::write(uint16_t conn_handle, const Bytes& data, bool response) {
// Guard against use-after-free: during a host reset, NimBLE invalidates
// client objects on core 0 while we may still hold stale pointers.
if (!ble_hs_synced()) {
return false;
}
auto conn_it = _connections.find(conn_handle);
if (conn_it == _connections.end()) {
DEBUG("NimBLEPlatform::write: no connection for handle " + std::to_string(conn_handle));
@@ -1695,6 +1690,10 @@ bool NimBLEPlatform::write(uint16_t conn_handle, const Bytes& data, bool respons
bool NimBLEPlatform::writeCharacteristic(uint16_t conn_handle, uint16_t char_handle,
const Bytes& data, bool response) {
if (!ble_hs_synced()) {
return false;
}
auto client_it = _clients.find(conn_handle);
if (client_it == _clients.end() || !client_it->second) {
return false;
@@ -1723,6 +1722,11 @@ bool NimBLEPlatform::writeCharacteristic(uint16_t conn_handle, uint16_t char_han
bool NimBLEPlatform::read(uint16_t conn_handle, uint16_t char_handle,
std::function<void(OperationResult, const Bytes&)> callback) {
if (!ble_hs_synced()) {
if (callback) callback(OperationResult::DISCONNECTED, Bytes());
return false;
}
auto client_it = _clients.find(conn_handle);
if (client_it == _clients.end() || !client_it->second) {
if (callback) callback(OperationResult::NOT_FOUND, Bytes());
@@ -1762,6 +1766,10 @@ bool NimBLEPlatform::read(uint16_t conn_handle, uint16_t char_handle,
}
bool NimBLEPlatform::enableNotifications(uint16_t conn_handle, bool enable) {
if (!ble_hs_synced()) {
return false;
}
auto client_it = _clients.find(conn_handle);
if (client_it == _clients.end() || !client_it->second) {
return false;
@@ -1800,7 +1808,7 @@ bool NimBLEPlatform::enableNotifications(uint16_t conn_handle, bool enable) {
}
bool NimBLEPlatform::notify(uint16_t conn_handle, const Bytes& data) {
if (!_tx_char) {
if (!ble_hs_synced() || !_tx_char) {
return false;
}
@@ -1809,7 +1817,7 @@ bool NimBLEPlatform::notify(uint16_t conn_handle, const Bytes& data) {
}
bool NimBLEPlatform::notifyAll(const Bytes& data) {
if (!_tx_char) {
if (!ble_hs_synced() || !_tx_char) {
return false;
}
src/main.cpp
+4 -3
View File
@@ -656,9 +656,10 @@ void setup_lvgl_and_ui() {
INFO("LVGL initialized");
// Start LVGL on its own FreeRTOS task for responsive UI
// Core 1, priority 2 (higher than default to ensure smooth rendering)
// All LVGL API calls from other code are protected by mutex (LVGL_LOCK)
if (!UI::LVGL::LVGLInit::start_task(2, 1)) {
// Core 1, priority 1 (same as loopTask — round-robin scheduling).
// Previously priority 2, but this starved loopTask of CPU time during
// heavy rendering, causing 30s WDT timeouts on loopTask.
if (!UI::LVGL::LVGLInit::start_task(1, 1)) {
ERROR("Failed to start LVGL task!");
while (1) delay(1000);
}