SAM4S Xplained Pro: Watchdog timer support for Bob Doison

ChangeLog

@@ -7237,3 +7237,6 @@
 	  Bob Doison (2014-4-21).
 	* arch/arm/src/sam34/sam_wdt.c/.h:  Add watchdog driver.  From Bob
 	  Doison (2014-4-21).
+	* nuttx/configs/sam4s-xplained-pro:  Add board-specific watchdog
+	  timer support.  From Bob Doison (2014-4-21).
+

configs/sam4s-xplained-pro/TODO.txt

@@ -1,9 +1,12 @@
-
+ - implement flash driver
-
+   - see arch/arm/src/stm32/stm32_flash.c and related
- - implement flash driver
+     - both banks could be mapped with care taken not to erase the active code. 
-   - see arch/arm/src/stm32/stm32_flash.c and related
+       - perhaps the MPU could block code corruption?
-     - both banks could be mapped with care taken not to erase the active code. 
+       
-       - perhaps the MPU could block code corruption?
+   - once implemented, the free() cmd replacement can show flash information. 
-       
+
-   - once implemented, the free() cmd replacement can show flash information. 
+ - Seen crashes when running serial ports below 921600
-
+ - USB serial not quite stable when pushing lots of data
+ 
+ - UARTs don't use DMA. We may need this for high baudrates.
+   - Inbound hardware flow control requires dma. 

configs/sam4s-xplained-pro/include/board.h

@@ -54,8 +54,8 @@
  ************************************************************************************/
 
 /* Clocking *************************************************************************/
-/* After power-on reset, the sam3u device is running on a 4MHz internal RC.  These
+/* After power-on reset, the sam4s device is running on a 4MHz internal RC.  These
- * definitions will configure clocking with MCK = 48MHz, PLLA = 96, and CPU=120MHz.
+ * definitions will configure clocking with MCK = 120MHz, PLLA = 240, and CPU=120MHz.
  */
 
 /* Main oscillator register settings */
@@ -69,6 +69,8 @@
  * PLLdiv: 1 (bypassed)
  * Fpll:   (12MHz * 20) / 1 = 240MHz
  */
+#define BOARD_32KOSC_FREQUENCY     (32768)
+#define BOARD_SLCK_FREQUENCY       (BOARD_32KOSC_FREQUENCY)
 
 #define BOARD_MAINOSC_FREQUENCY    (12000000)
 #define BOARD_CKGR_PLLAR_MUL       (19 << PMC_CKGR_PLLAR_MUL_SHIFT)

configs/sam4s-xplained-pro/src/Makefile

@@ -68,6 +68,11 @@ ifeq ($(CONFIG_ARCH_BUTTONS),y)
 CSRCS += sam_buttons.c
 endif
 
+ifeq ($(CONFIG_SAM34_WDT),y)
+CSRCS += sam_wdt.c
+endif
+
+
 COBJS = $(CSRCS:.c=$(OBJEXT))
 
 SRCS = $(ASRCS) $(CSRCS)

configs/sam4s-xplained-pro/src/sam_nsh.c

@@ -98,11 +98,10 @@ int nsh_archinitialize(void)
   int ret;
 #endif
 
-  message("initializing...\n");
-
 #ifdef HAVE_HSMCI
   /* Initialize the HSMCI driver */
 
+  message("initializing HSMCI\n");
   ret = sam_hsmci_initialize();
   if (ret < 0)
     {
@@ -114,6 +113,7 @@ int nsh_archinitialize(void)
 #ifdef HAVE_PROC
   /* mount the proc filesystem */
 
+  message("Mounting procfs to /proc\n");
   ret = mount(NULL, "/proc", "procfs", 0, NULL);
   if (ret < 0)
   {
@@ -125,6 +125,7 @@ int nsh_archinitialize(void)
 #ifdef HAVE_USBMONITOR
   /* Start the USB Monitor */
 
+  message("Starting USB Monitor\n");
   ret = usbmonitor_start(0, NULL);
   if (ret != OK)
     {
@@ -134,6 +135,7 @@ int nsh_archinitialize(void)
 #endif
 
 #warning "add automount config...."
+  message("Mounting /dev/mmcsd0 to /fat\n");
   ret = mount("/dev/mmcsd0", "/fat", "vfat", 0, NULL);
   if (ret < 0)
   {

configs/sam4s-xplained-pro/src/sam_wdt.c

@@ -0,0 +1,237 @@
+/************************************************************************************
+ * configs/sam4s-xplained-pro/src/up_watchdog.c
+ *
+ *   Copyright (C) 2014 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <sched.h>
+#include <stdio.h>
+#include <fcntl.h>
+
+#include <nuttx/watchdog.h>
+#include <arch/board/board.h>
+
+#include <nuttx/kthread.h>
+
+#include "sam_wdt.h"
+#include <nuttx/clock.h>
+
+#ifdef CONFIG_WATCHDOG
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+/* Configuration *******************************************************************/
+/* Wathdog hardware should be enabled */
+
+#if !defined(CONFIG_SAM34_WDT)
+#  warning "CONFIG_SAM34_WDT must be defined"
+#endif
+
+/* Select the path to the registered watchdog timer device */
+
+#ifndef CONFIG_WATCHDOG_DEVPATH
+#  ifdef CONFIG_EXAMPLES_WATCHDOG_DEVPATH
+#    define CONFIG_WATCHDOG_DEVPATH CONFIG_EXAMPLES_WATCHDOG_DEVPATH
+#  else
+#    define CONFIG_WATCHDOG_DEVPATH "/dev/watchdog0"
+#  endif
+#endif
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing the watchdog timer */
+
+#ifndef CONFIG_DEBUG
+#  undef CONFIG_DEBUG_WATCHDOG
+#endif
+
+#ifdef CONFIG_DEBUG_WATCHDOG
+#  define wdgdbg                 dbg
+#  define wdglldbg               lldbg
+#  ifdef CONFIG_DEBUG_VERBOSE
+#    define wdgvdbg              vdbg
+#    define wdgllvdbg            llvdbg
+#  else
+#    define wdgvdbg(x...)
+#    define wdgllvdbg(x...)
+#  endif
+#else
+#  define wdgdbg(x...)
+#  define wdglldbg(x...)
+#  define wdgvdbg(x...)
+#  define wdgllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+
+/*
+Watchdog kicker task
+*/
+#if defined(CONFIG_WDT_THREAD)
+static int wdog_daemon(int argc, char *argv[])
+{
+  int fd;
+  int ret;
+
+  /* Open the watchdog device for reading */
+
+  wdgvdbg("Opening.\n");
+  fd = open(CONFIG_WATCHDOG_DEVPATH, O_RDONLY);
+  if (fd < 0)
+    {
+      wdgdbg("open %s failed: %d\n", CONFIG_WATCHDOG_DEVPATH, errno);
+      goto errout;
+    }
+
+  /* Start the watchdog timer. */
+
+  wdgvdbg("Starting.\n");
+  ret = ioctl(fd, WDIOC_START, 0);
+  if (ret < 0)
+    {
+      wdgdbg("ioctl(WDIOC_START) failed: %d\n", errno);
+      goto errout_with_dev;
+    }
+
+  while(1)
+    {
+      usleep((CONFIG_WDT_THREAD_INTERVAL)*1000);
+
+      wdgvdbg("ping\n");
+      ret = ioctl(fd, WDIOC_KEEPALIVE, 0);
+      if (ret < 0)
+        {
+          wdgdbg("ioctl(WDIOC_KEEPALIVE) failed: %d\n", errno);
+          goto errout_with_dev;
+        }
+    }
+
+errout_with_dev:
+  close(fd);
+errout:
+  return ERROR;
+}
+#endif
+
+/****************************************************************************
+ * Name: up_wdginitialize()
+ *
+ * Description:
+ *   Perform architecture-specific initialization of the Watchdog hardware.
+ *   This interface must be provided by all configurations using
+ *   apps/examples/watchdog
+ *
+ ****************************************************************************/
+
+int up_wdginitialize(void)
+{
+
+#if (defined(CONFIG_SAM34_WDT) && !defined(CONFIG_WDT_DISABLE_ON_RESET))
+  int fd;
+  int ret;
+
+  /* Initialize tha register the watchdog timer device */
+
+  wdgvdbg("Initializing Watchdog driver...\n");
+  sam_wdtinitialize(CONFIG_WATCHDOG_DEVPATH);
+
+  /* Open the watchdog device */
+
+  wdgvdbg("Opening.\n");
+  fd = open(CONFIG_WATCHDOG_DEVPATH, O_RDONLY);
+  if (fd < 0)
+    {
+      wdgdbg("open %s failed: %d\n", CONFIG_WATCHDOG_DEVPATH, errno);
+      goto errout;
+    }
+
+  /* Set the watchdog timeout */
+
+  wdgvdbg("Timeout = %d.\n", CONFIG_WDT_TIMEOUT);
+  ret = ioctl(fd, WDIOC_SETTIMEOUT, (unsigned long)CONFIG_WDT_TIMEOUT);
+  if (ret < 0)
+    {
+      wdgdbg("ioctl(WDIOC_SETTIMEOUT) failed: %d\n", errno);
+      goto errout_with_dev;
+    }
+
+  /* Set the watchdog minimum time */
+
+  wdgvdbg("MinTime = %d.\n", CONFIG_WDT_MINTIME);
+  ret = ioctl(fd, WDIOC_MINTIME, (unsigned long)CONFIG_WDT_MINTIME);
+  if (ret < 0)
+    {
+      wdgdbg("ioctl(WDIOC_MINTIME) failed: %d\n", errno);
+      goto errout_with_dev;
+    }
+
+  /* Start Kicker task */
+
+#if defined(CONFIG_WDT_THREAD)
+  sched_lock();
+
+  int taskid = KERNEL_THREAD(CONFIG_WDT_THREAD_NAME,
+                             CONFIG_WDT_THREAD_PRIORITY,
+                             CONFIG_WDT_THREAD_STACKSIZE,
+                             (main_t)wdog_daemon, (FAR char * const *)NULL);
+
+  ASSERT(taskid > 0);
+  sched_unlock();
+#endif
+  return OK;
+errout_with_dev:
+  close(fd);
+errout:
+  return ERROR;
+#else
+  return -ENODEV;
+#endif
+}
+
+#endif /* CONFIG_WATCHDOG */