Merge branch 'feature/esp_sys_event_restart_panic' into 'master'

refactor(esp_system): route panic through esp_sys_event

See merge request espressif/esp-idf!48407

components/esp_gdbstub/CMakeLists.txt

@@ -28,4 +28,9 @@ idf_component_register(SRCS ${srcs}
                        PRIV_INCLUDE_DIRS ${priv_includes}
                        LDFRAGMENTS "linker.lf"
                        REQUIRES "freertos"
-                       PRIV_REQUIRES esp_hal_wdt esp_hal_uart)
+                       PRIV_REQUIRES esp_hal_wdt esp_hal_uart esp_system)
+
+if(CONFIG_ESP_SYSTEM_PANIC_GDBSTUB)
+    # Make sure the panic event registration in gdbstub.c is considered by the linker
+    target_link_libraries(${COMPONENT_LIB} INTERFACE "-u esp_gdbstub_panic_handler")
+endif()

components/esp_gdbstub/src/gdbstub.c

@@ -24,6 +24,10 @@
 #include "hal/wdt_hal.h"
 #endif
 
+#include "esp_private/esp_sys_event_panic.h"
+#include "esp_private/panic_internal.h"
+#include "esp_private/crosscore_int.h"
+
 #if GDBSTUB_QXFER_FEATURES_ENABLED
 #define GDBSTUB_QXFER_SUPPORTED_STR ";qXfer:features:read+"
 #else
@@ -55,6 +59,7 @@ static void send_reason(void);
 esp_gdbstub_scratch_t s_scratch;
 esp_gdbstub_gdb_regfile_t *gdb_local_regfile = &s_scratch.regfile;
 
+
 /**
  * @brief panic handler
 */
@@ -105,6 +110,21 @@ void esp_gdbstub_panic_handler(void *in_frame)
     }
 }
 
+#if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
+// Panic event handler - enters GDB stub (never returns)
+// Priority 999 ensures this runs last, after trace and coredump handlers
+ESP_PANIC_HANDLER_REGISTER(esp_gdbstub_panic_event, 999)
+{
+    (void)user_arg;
+    esp_panic_ctx_t *panic_ctx = (esp_panic_ctx_t *)ctx;
+    panic_print_str("Entering gdb stub now.\r\n");
+    panic_disable_all_wdts();
+    esp_gdbstub_panic_handler((void *)panic_ctx->info->frame);
+    // Never returns
+    return ESP_OK;
+}
+#endif /* CONFIG_ESP_SYSTEM_PANIC_GDBSTUB */
+
 /**
  * Set interrupt reason to GDB
 */
@@ -612,6 +632,14 @@ void update_breakpoints(void)
 #endif // CONFIG_IDF_TARGET_ARCH_XTENSA
 }
 
+// Strong override of the weak hook in esp_system's crosscore_int.c. Called from
+// the crosscore ISR on the target core to apply breakpoint/watchpoint changes
+// requested from the other core. Placed in IRAM as it runs in interrupt context.
+IRAM_ATTR void esp_crosscore_int_gdb_call_hook(void)
+{
+    update_breakpoints();
+}
+
 /** Write breakpoint */
 static void handle_Z0_command(const unsigned char *cmd, int len)
 {

components/esp_system/CMakeLists.txt

@@ -141,18 +141,6 @@ target_link_libraries(${COMPONENT_LIB} INTERFACE "-u esp_system_include_startup_
 
 # [refactor-todo] requirements due to init code, should be removable
 # once link-time registration of component init functions is used.
-if(CONFIG_ESP_TRACE_ENABLE)
-    idf_component_optional_requires(PRIVATE esp_trace)
-endif()
-
-if(CONFIG_ESP_COREDUMP_ENABLE)
-    idf_component_optional_requires(PRIVATE espcoredump)
-endif()
-
-# [refactor-todo] requirement from the panic handler,
-# need to introduce panic "event" concept to remove this dependency (IDF-2194)
-idf_component_optional_requires(PRIVATE esp_gdbstub)
-
 if(NOT CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT)
     idf_component_optional_requires(PRIVATE esp_app_format)
 endif()

components/esp_system/crosscore_int.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,6 +10,7 @@
 #include "esp_cpu.h"
 #include "esp_intr_alloc.h"
 #include "esp_debug_helpers.h"
+#include "esp_private/crosscore_int.h"
 #include "soc/periph_defs.h"
 #include "soc/system_intr.h"
 #include "hal/crosscore_int_ll.h"
@@ -17,10 +18,6 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/portmacro.h"
 
-#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
-#include "esp_gdbstub.h"
-#endif
-
 #define REASON_YIELD            BIT(0)
 #define REASON_FREQ_SWITCH      BIT(1)
 #define REASON_PRINT_BACKTRACE  BIT(2)
@@ -30,6 +27,15 @@
 static portMUX_TYPE reason_spinlock = portMUX_INITIALIZER_UNLOCKED;
 static volatile uint32_t reason[CONFIG_FREERTOS_NUMBER_OF_CORES];
 
+/* Weak no-op hook for the REASON_GDB_CALL crosscore interrupt. esp_gdbstub
+ * provides a strong override (see gdbstub.c) when the runtime gdbstub is
+ * enabled. Keeping the default here lets esp_system trigger the gdb-call
+ * handling without taking any dependency on the esp_gdbstub component. Runs in
+ * interrupt context, hence placed in IRAM. */
+void __attribute__((weak)) ESP_SYSTEM_IRAM_ATTR esp_crosscore_int_gdb_call_hook(void)
+{
+}
+
 /*
 ToDo: There is a small chance the CPU already has yielded when this ISR is serviced. In that case, it's running the intended task but
 the ISR will cause it to switch _away_ from it. portYIELD_FROM_ISR will probably just schedule the task again, but have to check that.
@@ -64,11 +70,9 @@ static void ESP_SYSTEM_IRAM_ATTR esp_crosscore_isr(void *arg)
          * to allow DFS features without the extra latency of the ISR hook.
          */
     }
-#if CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
     if (my_reason_val & REASON_GDB_CALL) {
-        update_breakpoints();
+        esp_crosscore_int_gdb_call_hook();
     }
-#endif // !CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME
 
     if (my_reason_val & REASON_PRINT_BACKTRACE) {
         esp_backtrace_print(100);

components/esp_system/include/esp_private/crosscore_int.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -48,6 +48,15 @@ void esp_crosscore_int_send_freq_switch(int core_id);
 
 void esp_crosscore_int_send_gdb_call(int core_id);
 
+/**
+ * Hook invoked from the crosscore ISR when a REASON_GDB_CALL interrupt is
+ * received on this core. esp_system provides a weak no-op default; esp_gdbstub
+ * supplies a strong override that updates this core's hardware breakpoints and
+ * watchpoints. Runs in interrupt context (possibly with cache disabled), so any
+ * override must be placed in IRAM.
+ */
+void esp_crosscore_int_gdb_call_hook(void);
+
 #if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 /**
  * Send an interrupt to a CPU indicating it should print its current backtrace

components/esp_system/include/esp_private/esp_sys_event_panic.h

@@ -0,0 +1,65 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "esp_sys_event.h"
+#include "esp_private/panic_internal.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @file esp_sys_event_panic.h
+ * @brief Panic event using esp_sys_event framework
+ *
+ * This header provides macros for registering panic handlers that are
+ * called when the system panics. Panic handlers receive information about
+ * the panic via panic_info_t and can perform actions like logging, core
+ * dump preparation, or custom diagnostics.
+ *
+ * Note: Panic handlers run in a very restricted context. They must:
+ * - Be placed in IRAM if they access any non-IRAM data
+ * - Not allocate memory
+ * - Not use FreeRTOS APIs
+ * - Complete quickly to avoid triggering watchdog timeout
+ */
+
+// Context passed to panic handlers
+typedef struct {
+    const panic_info_t *info;   /*!< Pointer to panic info */
+} esp_panic_ctx_t;
+
+/**
+ * @brief Register a static (link-time) panic handler
+ *
+ * Handlers registered with this macro are called during panic processing
+ * in priority order (lower priority values run first). The watchdog is
+ * fed before and after each handler to prevent timeout during handler
+ * execution.
+ *
+ * @param fn Handler function name
+ * @param prio Priority (lower runs first)
+ */
+#define ESP_PANIC_HANDLER_REGISTER(fn, prio) \
+    _ESP_SYS_EVENT_REGISTER(PANIC, prio, fn)
+
+/**
+ * @brief Register a static (link-time) early panic breakpoint handler
+ *
+ * Handlers registered with this macro are called before
+ * panic handler breaks with debugger attached.
+ *
+ * @param fn Handler function name
+ * @param prio Priority (lower runs first)
+ */
+#define ESP_PANIC_EARLY_BREAK_HANDLER_REGISTER(fn, prio) \
+    _ESP_SYS_EVENT_REGISTER(PANIC_EARLY_BREAK, prio, fn)
+
+#ifdef __cplusplus
+}
+#endif

components/esp_system/include/esp_private/panic_internal.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -90,6 +90,15 @@ void panic_prepare_frame_from_ctx(void* frame);
 
 void panic_clear_active_interrupts(const void* frame);
 
+/**
+ * @brief Disable all watchdog timers
+ *
+ * This function disables all watchdog timers (Timer Group WDTs and RTC WDT).
+ * It is intended for use by panic handlers that take over execution (e.g., gdbstub)
+ * or that halt the system.
+ */
+void panic_disable_all_wdts(void);
+
 #ifdef __cplusplus
 }
 #endif

components/esp_system/include/esp_sys_event_list.inc

@@ -34,9 +34,13 @@
 #define _ESP_SYS_EVENT_SECTION_SHUTDOWN                     esysev_shdn
 #define _ESP_SYS_EVENT_SECTION_SYSTEM_INIT_CORE             esysev_initc
 #define _ESP_SYS_EVENT_SECTION_SYSTEM_INIT_SECONDARY        esysev_inits
+#define _ESP_SYS_EVENT_SECTION_PANIC                        esysev_panic
+#define _ESP_SYS_EVENT_SECTION_PANIC_EARLY_BREAK            esysev_paneb
 #endif
 
 /* ESP_SYS_EVENT_DEF(ENUM_SUFFIX) */
 ESP_SYS_EVENT_DEF(SHUTDOWN)
 ESP_SYS_EVENT_DEF(SYSTEM_INIT_CORE)
 ESP_SYS_EVENT_DEF(SYSTEM_INIT_SECONDARY)
+ESP_SYS_EVENT_DEF(PANIC)
+ESP_SYS_EVENT_DEF(PANIC_EARLY_BREAK)

components/esp_system/ld/linux/sections.ld

@@ -21,6 +21,16 @@ SECTIONS
         PROVIDE(_esysev_inits_start = .);
         KEEP(*(SORT_BY_INIT_PRIORITY(.esysev_inits.*)))
         PROVIDE(_esysev_inits_end = .);
+
+        . = ALIGN(4);
+        PROVIDE(_esysev_panic_start = .);
+        KEEP(*(SORT_BY_INIT_PRIORITY(.esysev_panic.*)))
+        PROVIDE(_esysev_panic_end = .);
+
+        . = ALIGN(4);
+        PROVIDE(_esysev_paneb_start = .);
+        KEEP(*(SORT_BY_INIT_PRIORITY(.esysev_paneb.*)))
+        PROVIDE(_esysev_paneb_end = .);
     }
 }
 INSERT AFTER .data;

components/esp_system/linker.lf

@@ -12,12 +12,22 @@ entries:
 entries:
     .esysev_inits+
 
+[sections:esysev_panic]
+entries:
+    .esysev_panic+
+
+[sections:esysev_paneb]
+entries:
+    .esysev_paneb+
+
 # Default placements (overridden below with ALIGN/SURROUND flags)
 [scheme:esp_sys_event_default]
 entries:
     esysev_shdn  -> flash_rodata
     esysev_initc -> flash_rodata
     esysev_inits -> flash_rodata
+    esysev_panic -> flash_rodata
+    esysev_paneb -> flash_rodata
 
 [mapping:esp_sys_event]
 archive: *
@@ -25,7 +35,9 @@ entries:
     * (esp_sys_event_default);
         esysev_shdn  -> flash_rodata ALIGN(4, pre) KEEP() SORT(init_priority) SURROUND(esysev_shdn),
         esysev_initc -> flash_rodata ALIGN(4, pre) KEEP() SORT(init_priority) SURROUND(esysev_initc),
-        esysev_inits -> flash_rodata ALIGN(4, pre) KEEP() SORT(init_priority) SURROUND(esysev_inits)
+        esysev_inits -> flash_rodata ALIGN(4, pre) KEEP() SORT(init_priority) SURROUND(esysev_inits),
+        esysev_panic -> flash_rodata ALIGN(4, pre) KEEP() SORT(init_priority) SURROUND(esysev_panic),
+        esysev_paneb -> flash_rodata ALIGN(4, pre) KEEP() SORT(init_priority) SURROUND(esysev_paneb)
 
 # ============== esp_system component mappings ==============
 

components/esp_system/panic.c

@@ -23,6 +23,8 @@
 #include "esp_private/esp_int_wdt.h"
 
 #include "esp_private/panic_internal.h"
+#include "esp_private/esp_sys_event_panic.h"
+#include "esp_private/esp_sys_event_internal.h"
 #include "port/panic_funcs.h"
 #include "esp_rom_sys.h"
 
@@ -35,22 +37,10 @@
 #endif
 #endif // CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
 
-#if CONFIG_ESP_COREDUMP_ENABLE
-#include "esp_core_dump.h"
-#endif
-
-#if CONFIG_ESP_TRACE_ENABLE
-#include "esp_trace.h"
-#endif
-
 #if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
 #include "hal/uart_hal.h"
 #endif
 
-#if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
-#include "esp_gdbstub.h"
-#endif
-
 #if CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG || CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG
 #include "hal/usb_serial_jtag_ll.h"
 #endif
@@ -270,9 +260,20 @@ void esp_panic_handler_feed_wdts(void)
 }
 #endif /* SOC_WDT_SUPPORTED || SOC_RTC_WDT_SUPPORTED */
 
+/********************** esp_sys_event panic trigger **********************/
+
+static void esp_panic_trigger_event(esp_sys_event_id_t id, esp_panic_ctx_t *ctx)
+{
+    ESP_SYS_EVENT_FOREACH(h, id) {
+        esp_panic_handler_feed_wdts();
+        h->handler(NULL, ctx);
+    }
+    esp_panic_handler_feed_wdts();
+}
+
 #if SOC_WDT_SUPPORTED || SOC_RTC_WDT_SUPPORTED
 /* This function disables all the watchdogs */
-static inline void disable_all_wdts(void)
+void panic_disable_all_wdts(void)
 {
 #if SOC_WDT_SUPPORTED
     //Disable Timer Group WDTs
@@ -286,7 +287,7 @@ static inline void disable_all_wdts(void)
 #endif /* SOC_RTC_WDT_SUPPORTED */
 }
 #else /* SOC_WDT_SUPPORTED || SOC_RTC_WDT_SUPPORTED */
-static inline void disable_all_wdts(void)
+void panic_disable_all_wdts(void)
 {
 }
 #endif /* SOC_WDT_SUPPORTED || SOC_RTC_WDT_SUPPORTED */
@@ -395,11 +396,14 @@ void esp_panic_handler(panic_info_t *info)
         panic_print_hex((uint32_t)info->addr);
         panic_print_str(" and returning...\r\n");
 
-#if CONFIG_ESP_TRACE_ENABLE
-        esp_trace_panic_handler(info);
-#endif
+        // Trigger early breakpoint handlers before returning to debugger.
+        // This allows trace to dump info before breaking
+        esp_panic_ctx_t panic_ctx = {
+            .info = info,
+        };
+        esp_panic_trigger_event(ESP_SYS_EVENT_PANIC_EARLY_BREAK, &panic_ctx);
 
-        disable_all_wdts();
+        panic_disable_all_wdts();
         esp_cpu_set_breakpoint(0, info->addr); // use breakpoint 0
         return;
     }
@@ -432,28 +436,16 @@ void esp_panic_handler(panic_info_t *info)
 
     panic_print_str("\r\n");
 
-#if CONFIG_ESP_TRACE_ENABLE
-    esp_panic_handler_feed_wdts();
-    esp_trace_panic_handler(info);
-#endif
+    // Trigger esp_sys_event panic handlers (includes trace, coredump, gdbstub if enabled)
+    // If gdbstub is enabled and registered, it will take over and never return.
+    // If we return here, proceed to reboot/halt.
+    {
+        esp_panic_ctx_t panic_ctx = {
+            .info = info,
+        };
+        esp_panic_trigger_event(ESP_SYS_EVENT_PANIC, &panic_ctx);
 
-#if CONFIG_ESP_COREDUMP_ENABLE
-    esp_panic_handler_feed_wdts();
-    static bool s_dumping_core = false;
-    if (s_dumping_core) {
-        panic_print_str("Re-entered core dump! Exception happened during core dump!\r\n");
-    } else {
-        s_dumping_core = true;
-        esp_core_dump_write(info);
-        s_dumping_core = false;
     }
-#endif /* CONFIG_ESP_COREDUMP_ENABLE */
-
-#if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
-    panic_print_str("Entering gdb stub now.\r\n");
-    disable_all_wdts();
-    esp_gdbstub_panic_handler((void *)info->frame);
-#else
 #if CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS
     esp_panic_handler_feed_wdts();
 
@@ -488,10 +480,9 @@ void esp_panic_handler(panic_info_t *info)
 #else /* CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT */
     esp_panic_handler_feed_wdts();
     panic_print_str("CPU halted.\r\n");
-    disable_all_wdts();
+    panic_disable_all_wdts();
     esp_panic_handler_reset_modules_on_exit_and_halt();
 #endif /* CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT || CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT */
-#endif /* CONFIG_ESP_SYSTEM_PANIC_GDBSTUB */
 }
 
 void __attribute__((noreturn, no_sanitize_undefined)) panic_abort(const char *details)
@@ -499,10 +490,6 @@ void __attribute__((noreturn, no_sanitize_undefined)) panic_abort(const char *de
     g_panic_abort = true;
     g_panic_abort_details = (char *) details;
 
-#if CONFIG_ESP_TRACE_ENABLE
-    esp_trace_panic_handler(NULL);
-#endif
-
 #ifdef __XTENSA__
     asm("ill");     // should be an invalid operation on xtensa targets
 #elif __riscv

components/esp_trace/CMakeLists.txt

@@ -30,6 +30,7 @@ set(priv_requires
     "esp_hal_usb"
     "esp_driver_usb_serial_jtag"
     "esp_timer"
+    "esp_system"
 )
 set(priv_includes "")
 set(requires "app_trace")

components/esp_trace/src/core/esp_trace_core.c

@@ -23,6 +23,8 @@
 #include "esp_trace.h"
 #include "esp_trace_port_transport.h"
 #include "esp_private/startup_internal.h"
+#include "esp_private/esp_sys_event_system_init.h"
+#include "esp_private/esp_sys_event_panic.h"
 
 static const char *TAG = "esp_trace_core";
 
@@ -231,6 +233,26 @@ void esp_trace_panic_handler(const void *info)
     }
 }
 
+static esp_err_t esp_trace_panic_event_handler(void *user_arg, void *ctx)
+{
+    (void)user_arg;
+    esp_panic_ctx_t *panic_ctx = (esp_panic_ctx_t *)ctx;
+    esp_trace_panic_handler(panic_ctx->info);
+    return ESP_OK;
+}
+
+// Panic event handler - flushes trace buffers on panic
+ESP_PANIC_HANDLER_REGISTER(esp_trace_panic, 100)
+{
+    return esp_trace_panic_event_handler(user_arg, ctx);
+}
+
+// Early breakpoint event handler - flushes trace before returning to debugger
+ESP_PANIC_EARLY_BREAK_HANDLER_REGISTER(esp_trace_panic_early_break, 100)
+{
+    return esp_trace_panic_event_handler(user_arg, ctx);
+}
+
 esp_trace_open_params_t __attribute__((weak)) esp_trace_get_user_params(void)
 {
     esp_trace_open_params_t trace_params = {

components/espcoredump/src/core_dump_init.c

@@ -1,11 +1,14 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 #include "sdkconfig.h"
 
 #include "esp_private/startup_internal.h"
+#include "esp_private/esp_sys_event_system_init.h"
+#include "esp_private/esp_sys_event_panic.h"
+#include "esp_private/panic_internal.h"
 #include "esp_core_dump.h"
 
 // Hook to force the linker to include this file
@@ -18,3 +21,20 @@ ESP_SYSTEM_INIT_FN(init_coredump, SECONDARY, BIT(0), 130)
     esp_core_dump_init();
     return ESP_OK;
 }
+
+// Panic event handler - writes core dump on panic
+ESP_PANIC_HANDLER_REGISTER(esp_coredump_panic, 200)
+{
+    (void)user_arg;
+    esp_panic_ctx_t *panic_ctx = (esp_panic_ctx_t *)ctx;
+
+    static bool s_dumping_core = false;
+    if (s_dumping_core) {
+        panic_print_str("Re-entered core dump! Exception happened during core dump!\r\n");
+        return ESP_ERR_INVALID_STATE;
+    }
+    s_dumping_core = true;
+    esp_core_dump_write((panic_info_t *)panic_ctx->info);
+    s_dumping_core = false;
+    return ESP_OK;
+}