Hello everyone,
I am having an odd problem. I am using an SoC based on the nRF52832 (the ISP1507-AX). So far I had been using ncs v1.6.0-rc2 during development. Recently I have been trying to use v1.6.0. However, when the watchdog module is used, the BLE connection is impossible (using the mobile nRF Connect App, there is some delay before disconnection):
The thing is, this only happens on 1.6.0 and NOT on 1.6.0-rc2. I haven't tried other releases so far.
Thus, I constructed a sample reproducing the error. This very vaguely resemble the architecture I've been using. Am I doing something wrong ? And why would it not happen on 1.6.0-rc2 ?
Attached you'll find all files.
Here is the main.c:
/* Standard and Zephyr libraries */
#include <zephyr.h>
#include <stdio.h>
#include <stddef.h>
#include <string.h>
#include <errno.h>
#include <soc.h>
#include <sys/byteorder.h>
#include <sys/util.h>
#include <device.h>
#include <devicetree.h>
#include <drivers/sensor.h>
/* Bluetooth Stack Libraries */
#include <bluetooth/bluetooth.h>
#include <bluetooth/hci.h>
#include <bluetooth/conn.h>
#include <bluetooth/uuid.h>
#include <bluetooth/gatt.h>
#include <bluetooth/services/bas.h>
#include <bluetooth/services/dis.h>
#include <bluetooth/services/hrs.h>
/* Settings librairy for DIS */
#include <settings/settings.h>
/* Watchdog and task_wdt */
#include <drivers/watchdog.h>
#include <sys/reboot.h>
#include <task_wdt/task_wdt.h>
/* Logging module */
#include <logging/log.h>
LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
/**************************************************************************
* DECLARATIONS
*************************************************************************/
void sensor_stop(void);
void sensor_start(void);
/**************************************************************************
* BLUETOOTH FUNCTIONS
*************************************************************************/
/** Device Name as defined in the prj.conf */
#define DEVICE_NAME CONFIG_BT_DEVICE_NAME
/** device name length */
#define DEVICE_NAME_LEN (sizeof(DEVICE_NAME) - 1)
static const struct bt_data ad[] = {
BT_DATA_BYTES(BT_DATA_FLAGS, (BT_LE_AD_GENERAL | BT_LE_AD_NO_BREDR)),
BT_DATA_BYTES(BT_DATA_UUID16_ALL,
BT_UUID_16_ENCODE(BT_UUID_HRS_VAL),
BT_UUID_16_ENCODE(BT_UUID_BAS_VAL),
BT_UUID_16_ENCODE(BT_UUID_DIS_VAL))
};
static void connected(struct bt_conn *conn, uint8_t err)
{
if (err) {
LOG_ERR("Connection failed (err 0x%02x)", err);
} else {
LOG_INF("Connected\n");
sensor_start();
}
}
static void disconnected(struct bt_conn *conn, uint8_t reason)
{
LOG_INF("Disconnected (reason 0x%02x)", reason);
sensor_stop();
}
static struct bt_conn_cb conn_callbacks = {
.connected = connected,
.disconnected = disconnected,
};
static void bt_ready(void)
{
int err;
LOG_INF("Bluetooth initialized");
err = bt_le_adv_start(BT_LE_ADV_CONN_NAME, ad, ARRAY_SIZE(ad), NULL, 0);
if (err) {
LOG_ERR("Advertising failed to start (err %d)", err);
return;
}
LOG_INF("Advertising successfully started");
}
static void bas_notify(void)
{
uint8_t battery_level = bt_bas_get_battery_level();
battery_level--;
if (!battery_level) {
battery_level = 100U;
}
bt_bas_set_battery_level(battery_level);
}
static void hrs_notify(uint8_t heartrate)
{
bt_hrs_notify(heartrate);
}
static void ble_init(void)
{
int err;
err = bt_enable(NULL);
if (err) {
LOG_ERR("Bluetooth init failed (err %d)", err);
return;
}
bt_ready();
bt_conn_cb_register(&conn_callbacks);
}
/**************************************************************************
* WATCHDOG FUNCTIONS
*************************************************************************/
#define WATCHDOG_ACTIVE
/**
* If the devicetree has a watchdog node, we get the watchdog device
* from there. Otherwise, the task watchdog will be used without a
* hardware watchdog fallback.
*/
#if DT_NODE_HAS_STATUS(DT_ALIAS(watchdog0), okay)
#define WDT_NODE DT_ALIAS(watchdog0)
#elif DT_HAS_COMPAT_STATUS_OKAY(nordic_nrf_watchdog)
#define WDT_NODE DT_COMPAT_GET_ANY_STATUS_OKAY(nordic_nrf_watchdog)
#endif
static void watchdog_main_init(void)
{
#ifdef WDT_NODE
const struct device *hw_wdt_dev = DEVICE_DT_GET(WDT_NODE);
#else
const struct device *hw_wdt_dev = NULL;
#endif
if (!device_is_ready(hw_wdt_dev))
{
LOG_INF("Hardware watchdog %s is not ready; ignoring it.\n",
log_strdup(hw_wdt_dev->name));
hw_wdt_dev = NULL;
}
task_wdt_init(hw_wdt_dev);
}
void task_wdt_callback(int channel_id, void *user_data)
{
LOG_ERR("Task watchdog channel %d callback, thread: %s\n",
channel_id, log_strdup(k_thread_name_get((k_tid_t)user_data)));
/*
* If the issue could be resolved, call task_wdt_feed(channel_id) here
* to continue operation.
*
* Otherwise we can perform some cleanup and reset the device.
*/
LOG_ERR("Resetting device...\n");
sys_reboot(SYS_REBOOT_COLD);
}
/**************************************************************************
* UPDATE VALUES FUNCTIONS
*************************************************************************/
#define START_DELAY_MS 1000
#define SENSOR_SAMPLING_TIME_MS 1000
#define WATCHDOG_PROCESS_TIMEOUT_MS 10000
static K_SEM_DEFINE(sensor_ok, 0, 1);
static K_SEM_DEFINE(sensor_init_ok, 0, 1);
static void sensor_timer_handler(struct k_timer *dummy)
{
k_sem_give(&sensor_ok);
}
K_TIMER_DEFINE(sensor_timer, sensor_timer_handler, NULL);
int sensor_init(void)
{
int status = 0;
/* Indicate to the processing thread that initialization is finished */
k_sem_give(&sensor_init_ok);
return status;
}
#ifdef WATCHDOG_ACTIVE
/** ID for the process watchdog */
static int processor_wdt_id;
#endif /* WATCHDOG_ACTIVE */
void sensor_stop(void)
{
k_timer_stop(&sensor_timer);
#ifdef WATCHDOG_ACTIVE
task_wdt_delete(processor_wdt_id);
#endif /* WATCHDOG_ACTIVE */
LOG_INF("Sensor stopped.\n");
}
void sensor_start(void)
{
/* start periodic timer that expires once every "samplingTime" */
k_timer_start(&sensor_timer, K_MSEC(START_DELAY_MS),
K_MSEC(SENSOR_SAMPLING_TIME_MS));
#ifdef WATCHDOG_ACTIVE
processor_wdt_id = task_wdt_add(WATCHDOG_PROCESS_TIMEOUT_MS,
task_wdt_callback,
(void *)k_current_get());
#endif /* WATCHDOG_ACTIVE */
LOG_INF("Sensor started.\n");
}
void sensor_process_thread(void)
{
/* Wait for the sensor to be initialized before starting the thread loop. */
k_sem_take(&sensor_init_ok, K_FOREVER);
static uint8_t sensor_data = 90;
while (1)
{
/* Semaphore is available every sampling time */
k_sem_take(&sensor_ok, K_FOREVER);
/* Notify new sensor value */
sensor_data++;
if (sensor_data == 160U) {
sensor_data = 90U;
}
hrs_notify(sensor_data);
#ifdef WATCHDOG_ACTIVE
task_wdt_feed(processor_wdt_id);
#endif /* WATCHDOG_ACTIVE */
}
}
/* Defines the processor thread with its stacksize and priority. */
K_THREAD_DEFINE(sensor_producer_thread_id, 512,
sensor_process_thread, NULL, NULL,
NULL, 5, 0, 0);
/**************************************************************************
* MAIN
*************************************************************************/
void main(void)
{
watchdog_main_init();
sensor_init();
ble_init();
while(1)
{
bas_notify();
k_sleep(K_MSEC(5000));
}
}
Here is the prj.conf:
# Deactivate DEBUG/LOG for production builds CONFIG_DEBUG=y CONFIG_SERIAL=y # Logging CONFIG_LOG=y # segger RTT console CONFIG_USE_SEGGER_RTT=y CONFIG_RTT_CONSOLE=y CONFIG_UART_CONSOLE=n # Unused Peripherals CONFIG_SPI=n # Activate the BLE layer, set as peripheral CONFIG_BT=y CONFIG_BT_DEBUG_LOG=y CONFIG_BT_DEBUG_SERVICE=y CONFIG_BT_SMP=y CONFIG_BT_PERIPHERAL=y CONFIG_BT_CTLR=y CONFIG_BT_CTLR_PHY_2M=y CONFIG_BT_GATT_CLIENT=y # Set up the Services CONFIG_BT_DIS=y CONFIG_BT_DIS_PNP=n CONFIG_BT_BAS=y CONFIG_BT_HRS=y # Set up device appearance # Appearance 833 is Heart Rate Belt CONFIG_BT_DEVICE_APPEARANCE=833 # WATCHDOG MODULE CONFIG_WATCHDOG=y CONFIG_WDT_DISABLE_AT_BOOT=y CONFIG_TASK_WDT=y CONFIG_THREAD_NAME=y
Here is the CMakeLists.txt:
# SPDX-License-Identifier: Apache-2.0
cmake_minimum_required(VERSION 3.13.1)
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(peripheral_hr)
FILE(GLOB app_sources src/*.c)
target_sources(app PRIVATE
${app_sources}
)
zephyr_library_include_directories(${ZEPHYR_BASE}/samples/bluetooth)
You just have to comment out or not the define at line 133 to reproduce the behavior. I have tested on this SoC based on the nRF52832 because I don't have other boards on hand.
Thank you very much in advance for any help.
Best regards,
