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- /****************************************************************************
- * drivers/timers/watchdog.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements. See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership. The
- * ASF licenses this file to you 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.
- *
- ****************************************************************************/
- /****************************************************************************
- * Included Files
- ****************************************************************************/
- #include <nuttx/config.h>
- #include <sys/types.h>
- #include <stdint.h>
- #include <stdbool.h>
- #include <string.h>
- #include <fcntl.h>
- #include <assert.h>
- #include <errno.h>
- #include <debug.h>
- #include <nuttx/fs/fs.h>
- #include <nuttx/irq.h>
- #include <nuttx/kmalloc.h>
- #include <nuttx/power/pm.h>
- #include <nuttx/semaphore.h>
- #include <nuttx/wdog.h>
- #include <nuttx/wqueue.h>
- #include <nuttx/timers/watchdog.h>
- #ifdef CONFIG_WATCHDOG
- /****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
- #ifdef CONFIG_WATCHDOG_AUTOMONITOR
- #define WATCHDOG_AUTOMONITOR_TIMEOUT_MSEC \
- (1000 * CONFIG_WATCHDOG_AUTOMONITOR_TIMEOUT)
- #if (CONFIG_WATCHDOG_AUTOMONITOR_TIMEOUT == \
- CONFIG_WATCHDOG_AUTOMONITOR_PING_INTERVAL)
- #define WATCHDOG_AUTOMONITOR_PING_INTERVAL \
- SEC2TICK(CONFIG_WATCHDOG_AUTOMONITOR_TIMEOUT / 2)
- #else
- #define WATCHDOG_AUTOMONITOR_PING_INTERVAL \
- SEC2TICK(CONFIG_WATCHDOG_AUTOMONITOR_PING_INTERVAL)
- #endif
- #endif
- /****************************************************************************
- * Private Type Definitions
- ****************************************************************************/
- /* This structure describes the state of the upper half driver */
- struct watchdog_upperhalf_s
- {
- #ifdef CONFIG_WATCHDOG_AUTOMONITOR
- #if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER)
- struct wdog_s wdog;
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER)
- struct work_s work;
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE)
- struct pm_callback_s idle;
- #endif
- bool monitor;
- #endif
- uint8_t crefs; /* The number of times the device has been opened */
- sem_t exclsem; /* Supports mutual exclusion */
- FAR char *path; /* Registration path */
- /* The contained lower-half driver */
- FAR struct watchdog_lowerhalf_s *lower;
- };
- /****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
- static int wdog_open(FAR struct file *filep);
- static int wdog_close(FAR struct file *filep);
- static ssize_t wdog_read(FAR struct file *filep, FAR char *buffer,
- size_t buflen);
- static ssize_t wdog_write(FAR struct file *filep, FAR const char *buffer,
- size_t buflen);
- static int wdog_ioctl(FAR struct file *filep, int cmd,
- unsigned long arg);
- /****************************************************************************
- * Private Data
- ****************************************************************************/
- static const struct file_operations g_wdogops =
- {
- wdog_open, /* open */
- wdog_close, /* close */
- wdog_read, /* read */
- wdog_write, /* write */
- NULL, /* seek */
- wdog_ioctl, /* ioctl */
- NULL /* poll */
- };
- /****************************************************************************
- * Private Functions
- ****************************************************************************/
- #if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE)
- static int watchdog_automonitor_capture(int irq, FAR void *context,
- FAR void *arg)
- {
- FAR struct watchdog_upperhalf_s *upper = arg;
- FAR struct watchdog_lowerhalf_s *lower = upper->lower;
- if (upper->monitor)
- {
- lower->ops->keepalive(lower);
- }
- return 0;
- }
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER)
- static void watchdog_automonitor_timer(wdparm_t arg)
- {
- FAR struct watchdog_upperhalf_s *upper = (FAR void *)arg;
- FAR struct watchdog_lowerhalf_s *lower = upper->lower;
- if (upper->monitor)
- {
- lower->ops->keepalive(lower);
- wd_start(&upper->wdog, WATCHDOG_AUTOMONITOR_PING_INTERVAL,
- watchdog_automonitor_timer, (wdparm_t)upper);
- }
- }
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER)
- static void watchdog_automonitor_worker(FAR void *arg)
- {
- FAR struct watchdog_upperhalf_s *upper = arg;
- FAR struct watchdog_lowerhalf_s *lower = upper->lower;
- if (upper->monitor)
- {
- lower->ops->keepalive(lower);
- work_queue(LPWORK, &upper->work, watchdog_automonitor_worker,
- upper, WATCHDOG_AUTOMONITOR_PING_INTERVAL);
- }
- }
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE)
- static void watchdog_automonitor_idle(FAR struct pm_callback_s *cb,
- int domain, enum pm_state_e pmstate)
- {
- FAR struct watchdog_upperhalf_s *upper = (FAR void *)cb;
- FAR struct watchdog_lowerhalf_s *lower = upper->lower;
- if (upper->monitor)
- {
- lower->ops->keepalive(lower);
- }
- }
- #endif
- #ifdef CONFIG_WATCHDOG_AUTOMONITOR
- static void watchdog_automonitor_start(FAR struct watchdog_upperhalf_s
- *upper)
- {
- FAR struct watchdog_lowerhalf_s *lower = upper->lower;
- if (!upper->monitor)
- {
- upper->monitor = true;
- #if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE)
- lower->ops->capture(lower, watchdog_automonitor_capture);
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER)
- wd_start(&upper->wdog, WATCHDOG_AUTOMONITOR_PING_INTERVAL,
- watchdog_automonitor_timer, (wdparm_t)upper);
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER)
- work_queue(LPWORK, &upper->work, watchdog_automonitor_worker,
- upper, WATCHDOG_AUTOMONITOR_PING_INTERVAL);
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE)
- upper->idle.notify = watchdog_automonitor_idle;
- pm_register(&upper->idle);
- #endif
- if (lower->ops->settimeout)
- {
- lower->ops->settimeout(lower, WATCHDOG_AUTOMONITOR_TIMEOUT_MSEC);
- }
- lower->ops->start(lower);
- }
- }
- static void watchdog_automonitor_stop(FAR struct watchdog_upperhalf_s *upper)
- {
- FAR struct watchdog_lowerhalf_s *lower = upper->lower;
- if (upper->monitor)
- {
- upper->monitor = false;
- lower->ops->stop(lower);
- #if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE)
- lower->ops->capture(lower, NULL);
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER)
- wd_cancel(&upper->wdog);
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER)
- work_cancel(LPWORK, &upper->work);
- #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE)
- pm_unregister(&upper->idle);
- #endif
- }
- }
- #endif
- /****************************************************************************
- * Name: wdog_open
- *
- * Description:
- * This function is called whenever the watchdog timer device is opened.
- *
- ****************************************************************************/
- static int wdog_open(FAR struct file *filep)
- {
- FAR struct inode *inode = filep->f_inode;
- FAR struct watchdog_upperhalf_s *upper = inode->i_private;
- uint8_t tmp;
- int ret;
- wdinfo("crefs: %d\n", upper->crefs);
- /* Get exclusive access to the device structures */
- ret = nxsem_wait(&upper->exclsem);
- if (ret < 0)
- {
- goto errout;
- }
- /* Increment the count of references to the device. If this the first
- * time that the driver has been opened for this device, then initialize
- * the device.
- */
- tmp = upper->crefs + 1;
- if (tmp == 0)
- {
- /* More than 255 opens; uint8_t overflows to zero */
- ret = -EMFILE;
- goto errout_with_sem;
- }
- /* Save the new open count */
- upper->crefs = tmp;
- ret = OK;
- errout_with_sem:
- nxsem_post(&upper->exclsem);
- errout:
- return ret;
- }
- /****************************************************************************
- * Name: wdog_close
- *
- * Description:
- * This function is called when the watchdog timer device is closed.
- *
- ****************************************************************************/
- static int wdog_close(FAR struct file *filep)
- {
- FAR struct inode *inode = filep->f_inode;
- FAR struct watchdog_upperhalf_s *upper = inode->i_private;
- int ret;
- wdinfo("crefs: %d\n", upper->crefs);
- /* Get exclusive access to the device structures */
- ret = nxsem_wait(&upper->exclsem);
- if (ret < 0)
- {
- goto errout;
- }
- /* Decrement the references to the driver. If the reference count will
- * decrement to 0, then uninitialize the driver.
- */
- if (upper->crefs > 0)
- {
- upper->crefs--;
- }
- nxsem_post(&upper->exclsem);
- ret = OK;
- errout:
- return ret;
- }
- /****************************************************************************
- * Name: wdog_read
- *
- * Description:
- * A dummy read method. This is provided only to satisfy the VFS layer.
- *
- ****************************************************************************/
- static ssize_t wdog_read(FAR struct file *filep, FAR char *buffer,
- size_t buflen)
- {
- /* Return zero -- usually meaning end-of-file */
- return 0;
- }
- /****************************************************************************
- * Name: wdog_write
- *
- * Description:
- * A dummy write method. This is provided only to satisfy the VFS layer.
- *
- ****************************************************************************/
- static ssize_t wdog_write(FAR struct file *filep, FAR const char *buffer,
- size_t buflen)
- {
- return 0;
- }
- /****************************************************************************
- * Name: wdog_ioctl
- *
- * Description:
- * The standard ioctl method. This is where ALL of the watchdog timer
- * work is done.
- *
- ****************************************************************************/
- static int wdog_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
- {
- FAR struct inode *inode = filep->f_inode;
- FAR struct watchdog_upperhalf_s *upper;
- FAR struct watchdog_lowerhalf_s *lower;
- int ret;
- wdinfo("cmd: %d arg: %ld\n", cmd, arg);
- upper = inode->i_private;
- DEBUGASSERT(upper != NULL);
- lower = upper->lower;
- DEBUGASSERT(lower != NULL);
- /* Get exclusive access to the device structures */
- ret = nxsem_wait(&upper->exclsem);
- if (ret < 0)
- {
- return ret;
- }
- /* Handle built-in ioctl commands */
- switch (cmd)
- {
- /* cmd: WDIOC_START
- * Description: Start the watchdog timer
- * Argument: Ignored
- */
- case WDIOC_START:
- {
- #ifdef CONFIG_WATCHDOG_AUTOMONITOR
- watchdog_automonitor_stop(upper);
- #endif
- /* Start the watchdog timer, resetting the time to the current
- * timeout
- */
- DEBUGASSERT(lower->ops->start); /* Required */
- ret = lower->ops->start(lower);
- }
- break;
- /* cmd: WDIOC_STOP
- * Description: Stop the watchdog timer
- * Argument: Ignored
- */
- case WDIOC_STOP:
- {
- /* Stop the watchdog timer */
- DEBUGASSERT(lower->ops->stop); /* Required */
- ret = lower->ops->stop(lower);
- }
- break;
- /* cmd: WDIOC_GETSTATUS
- * Description: Get the status of the watchdog timer.
- * Argument: A writeable pointer to struct watchdog_status_s.
- */
- case WDIOC_GETSTATUS:
- {
- FAR struct watchdog_status_s *status;
- /* Get the current watchdog timer status */
- if (lower->ops->getstatus) /* Optional */
- {
- status = (FAR struct watchdog_status_s *)((uintptr_t)arg);
- if (status)
- {
- ret = lower->ops->getstatus(lower, status);
- }
- else
- {
- ret = -EINVAL;
- }
- }
- else
- {
- ret = -ENOSYS;
- }
- }
- break;
- /* cmd: WDIOC_SETTIMEOUT
- * Description: Reset the watchdog timeout to this value
- * Argument: A 32-bit timeout value in milliseconds.
- */
- case WDIOC_SETTIMEOUT:
- {
- /* Set a new timeout value (and reset the watchdog timer) */
- if (lower->ops->settimeout) /* Optional */
- {
- ret = lower->ops->settimeout(lower, (uint32_t)arg);
- }
- else
- {
- ret = -ENOSYS;
- }
- }
- break;
- /* cmd: WDIOC_CAPTURE
- * Description: Do not reset. Instead, called this handler.
- * Argument: A pointer to struct watchdog_capture_s.
- */
- case WDIOC_CAPTURE:
- {
- FAR struct watchdog_capture_s *capture;
- /* Don't reset on watchdog timer timeout; instead, call this user
- * provider timeout handler. NOTE: Providing handler==NULL will
- * restore the reset behavior.
- */
- if (lower->ops->capture) /* Optional */
- {
- capture = (FAR struct watchdog_capture_s *)((uintptr_t)arg);
- if (capture)
- {
- capture->oldhandler =
- lower->ops->capture(lower, capture->newhandler);
- ret = OK;
- }
- else
- {
- ret = -EINVAL;
- }
- }
- else
- {
- ret = -ENOSYS;
- }
- }
- break;
- /* cmd: WDIOC_KEEPALIVE
- * Description: Reset the watchdog timer ("ping", "pet the dog")
- * Argument: Argument: Ignored
- */
- case WDIOC_KEEPALIVE:
- {
- /* Reset the watchdog timer to the current timeout value, prevent
- * any imminent watchdog timeouts. This is sometimes referred as
- * "pinging" the watchdog timer or "petting the dog".
- */
- if (lower->ops->keepalive) /* Optional */
- {
- ret = lower->ops->keepalive(lower);
- }
- else
- {
- ret = -ENOSYS;
- }
- }
- break;
- /* Any unrecognized IOCTL commands might be platform-specific ioctl
- * commands
- */
- default:
- {
- wdinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
- /* An ioctl commands that are not recognized by the "upper-half"
- * driver are forwarded to the lower half driver through this
- * method.
- */
- if (lower->ops->ioctl) /* Optional */
- {
- ret = lower->ops->ioctl(lower, cmd, arg);
- }
- else
- {
- ret = -ENOTTY;
- }
- }
- break;
- }
- nxsem_post(&upper->exclsem);
- return ret;
- }
- /****************************************************************************
- * Public Functions
- ****************************************************************************/
- /****************************************************************************
- * Name: watchdog_register
- *
- * Description:
- * This function binds an instance of a "lower half" watchdog driver with
- * the "upper half" watchdog device and registers that device so that can
- * be usedby application code.
- *
- * When this function is called, the "lower half" driver should be in the
- * disabled state (as if the stop() method had already been called).
- *
- * Input Parameters:
- * dev path - The full path to the driver to be registers in the NuttX
- * pseudo-filesystem. The recommended convention is to name all
- * watchdogdrivers as "/dev/watchdog0", "/dev/watchdog1", etc. where
- * the driverpath differs only in the "minor" number at the end of the
- * device name.
- * lower - A pointer to an instance of lower half watchdog driver. This
- * instance is bound to the watchdog driver and must persists as long as
- * the driver persists.
- *
- * Returned Value:
- * On success, a non-NULL handle is returned to the caller. In the event
- * of any failure, a NULL value is returned.
- *
- ****************************************************************************/
- FAR void *watchdog_register(FAR const char *path,
- FAR struct watchdog_lowerhalf_s *lower)
- {
- FAR struct watchdog_upperhalf_s *upper;
- int ret;
- DEBUGASSERT(path && lower);
- wdinfo("Entry: path=%s\n", path);
- /* Allocate the upper-half data structure */
- upper = (FAR struct watchdog_upperhalf_s *)
- kmm_zalloc(sizeof(struct watchdog_upperhalf_s));
- if (!upper)
- {
- wderr("Upper half allocation failed\n");
- goto errout;
- }
- /* Initialize the watchdog timer device structure (it was already zeroed
- * by kmm_zalloc()).
- */
- nxsem_init(&upper->exclsem, 0, 1);
- upper->lower = lower;
- /* Copy the registration path */
- upper->path = strdup(path);
- if (!upper->path)
- {
- wderr("Path allocation failed\n");
- goto errout_with_upper;
- }
- /* Register the watchdog timer device */
- ret = register_driver(path, &g_wdogops, 0666, upper);
- if (ret < 0)
- {
- wderr("register_driver failed: %d\n", ret);
- goto errout_with_path;
- }
- #ifdef CONFIG_WATCHDOG_AUTOMONITOR
- watchdog_automonitor_start(upper);
- #endif
- return (FAR void *)upper;
- errout_with_path:
- kmm_free(upper->path);
- errout_with_upper:
- nxsem_destroy(&upper->exclsem);
- kmm_free(upper);
- errout:
- return NULL;
- }
- /****************************************************************************
- * Name: watchdog_unregister
- *
- * Description:
- * This function can be called to disable and unregister the watchdog
- * device driver.
- *
- * Input Parameters:
- * handle - This is the handle that was returned by watchdog_register()
- *
- * Returned Value:
- * None
- *
- ****************************************************************************/
- void watchdog_unregister(FAR void *handle)
- {
- FAR struct watchdog_upperhalf_s *upper;
- FAR struct watchdog_lowerhalf_s *lower;
- /* Recover the pointer to the upper-half driver state */
- upper = (FAR struct watchdog_upperhalf_s *)handle;
- DEBUGASSERT(upper != NULL);
- lower = upper->lower;
- DEBUGASSERT(lower != NULL);
- wdinfo("Unregistering: %s\n", upper->path);
- #ifdef CONFIG_WATCHDOG_AUTOMONITOR
- watchdog_automonitor_stop(upper);
- #endif
- /* Disable the watchdog timer */
- DEBUGASSERT(lower->ops->stop); /* Required */
- lower->ops->stop(lower);
- /* Unregister the watchdog timer device */
- unregister_driver(upper->path);
- /* Then free all of the driver resources */
- kmm_free(upper->path);
- nxsem_destroy(&upper->exclsem);
- kmm_free(upper);
- }
- #endif /* CONFIG_WATCHDOG */
|