diff --git a/arch/arm/src/samd5e5/hardware/sam_wdt.h b/arch/arm/src/samd5e5/hardware/sam_wdt.h index 53e2afd03fd..d8024f58f89 100644 --- a/arch/arm/src/samd5e5/hardware/sam_wdt.h +++ b/arch/arm/src/samd5e5/hardware/sam_wdt.h @@ -92,7 +92,7 @@ # define WDT_CONFIG_PER_1K (7 << WDT_CONFIG_PER_SHIFT) /* 1024 clock cycles */ # define WDT_CONFIG_PER_2K (8 << WDT_CONFIG_PER_SHIFT) /* 2048 clock cycles */ # define WDT_CONFIG_PER_4K (9 << WDT_CONFIG_PER_SHIFT) /* 4096 clock cycles */ -# define WDT_CONFIG_PER_8k (10 << WDT_CONFIG_PER_SHIFT) /* 8192 clock cycles */ +# define WDT_CONFIG_PER_8K (10 << WDT_CONFIG_PER_SHIFT) /* 8192 clock cycles */ # define WDT_CONFIG_PER_16K (11 << WDT_CONFIG_PER_SHIFT) /* 16384 clock cycles */ #define WDT_CONFIG_WINDOW_SHIFT (4) /* Bits 4-7: Window Mode Time-Out Period */ #define WDT_CONFIG_WINDOW_MASK (15 << WDT_CONFIG_WINDOW_SHIFT) diff --git a/arch/arm/src/samd5e5/sam_wdt.c b/arch/arm/src/samd5e5/sam_wdt.c new file mode 100644 index 00000000000..070ab137f95 --- /dev/null +++ b/arch/arm/src/samd5e5/sam_wdt.c @@ -0,0 +1,514 @@ +/**************************************************************************** + * arch/arm/src/samd5e5/sam_wdt.c + * + * Copyright (C) 2020 Falker Automacao Agricola LTDA. + * Author: Leomar Mateus Radke + * Author: Ricardo Wartchow + * + * 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 +#include + +#include + +#include +#include +#include + +#include +#include + +#include + +#include "arm_internal.h" +#include "arm_arch.h" +#include "sam_periphclks.h" +#include "sam_wdt.h" + +#if defined(CONFIG_WATCHDOG) && defined(CONFIG_SAMD5E5_WDT) + +#ifndef BOARD_SCLK_FREQUENCY +# define BOARD_SCLK_FREQUENCY 32768 +#endif + +#define WDT_FCLK (BOARD_SCLK_FREQUENCY / 128) +#define WDT_MAXTIMEOUT ((1000 * (WDT_MR_WDV_MAX+1)) / WDT_FCLK) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ +/* Clocking *****************************************************************/ + +/** 8 clock cycles */ +#define WDT_CLK_8CYCLE 8 +/** 16 clock cycles */ +#define WDT_CLK_16CYCLE 16 +/** 32 clock cycles */ +#define WDT_CLK_32CYCLE 32 +/** 64 clock cycles */ +#define WDT_CLK_64CYCLE 64 +/** 128 clock cycles */ +#define WDT_CLK_128CYCLE 128 +/** 256 clock cycles */ +#define WDT_CLK_256CYCLE 256 +/** 512 clock cycles */ +#define WDT_CLK_512CYCLE 512 +/** 1024 clock cycles */ +#define WDT_CLK_1024CYCLE 1024 +/** 20488 clock cycles */ +#define WDT_CLK_2048CYCLE 2048 +/** 4096 clock cycles */ +#define WDT_CLK_4096CYCLE 4096 +/** 8192 clock cycles */ +#define WDT_CLK_8192CYCLE 8192 +/** 16384 clock cycles */ +#define WDT_CLK_16384CYCLE 16384 + +/** + * \brief Macro is used to indicate the rate of second/millisecond + */ +#define WDT_PERIOD_RATE 1000 + +/**************************************************************************** + * Private Types + ****************************************************************************/ +/* This structure provides the private representation of the "lower-half" + * driver state structure. This structure must be cast-compatible with the + * well-known watchdog_lowerhalf_s structure. + */ + +struct sam_lowerhalf_s +{ + FAR const struct watchdog_ops_s *ops; /* Lower half operations */ + uint32_t timeout; /* The (actual) selected timeout */ + uint32_t lastreset; /* The last reset time */ + bool started; /* true: The watchdog timer has been started */ + uint8_t prescaler; /* Clock prescaler value */ + uint16_t reload; /* Timer reload value */ +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ +void sam_sync_wdt(int value); + +/* Register operations ******************************************************/ + + +/*static int sam_interrupt(int irq, FAR void *context, FAR void *arg);*/ + +/* "Lower half" driver methods **********************************************/ + +static int sam_start(FAR struct watchdog_lowerhalf_s *lower); +static int sam_stop(FAR struct watchdog_lowerhalf_s *lower); +static int sam_keepalive(FAR struct watchdog_lowerhalf_s *lower); +static int sam_getstatus(FAR struct watchdog_lowerhalf_s *lower, + FAR struct watchdog_status_s *status); +static int sam_settimeout(FAR struct watchdog_lowerhalf_s *lower, + uint32_t timeout); +/*static xcpt_t sam_capture(FAR struct watchdog_lowerhalf_s *lower, + xcpt_t handler); +static int sam_ioctl(FAR struct watchdog_lowerhalf_s *lower, int cmd, + unsigned long arg);*/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ +/* "Lower half" driver methods */ + +static const struct watchdog_ops_s g_wdgops = +{ + .start = sam_start, + .stop = sam_stop, + .keepalive = sam_keepalive, + .getstatus = sam_getstatus, + .settimeout = sam_settimeout, + .capture = NULL, + .ioctl = NULL, +}; + +/* "Lower half" driver state */ + +static struct sam_lowerhalf_s g_wdgdev; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ +void sam_sync_wdt(int value) +{ + while ((getreg32(SAM_WDT_SYNCBUSY) & value) != 0); +} + +void sam_wdt_dumpregs(void) +{ + wdinfo("WDT Regs:\n"); + wdinfo(" INTENCLR: %02x\n", getreg8(SAM_WDT_INTENCLR)); + wdinfo(" INTENSET: %02x\n", getreg8(SAM_WDT_INTENSET)); + wdinfo(" INTFLAG: %02x\n", getreg8(SAM_WDT_INTFLAG)); + wdinfo(" CTRLA: %02x\n", getreg8(SAM_WDT_CTRLA)); + wdinfo(" CONFIG: %02x\n", getreg8(SAM_WDT_CONFIG)); + wdinfo(" EWC: %02x\n", getreg8(SAM_WDT_EWCTRL)); + wdinfo(" CLEAR: %02x\n", getreg8(SAM_WDT_CLEAR)); +} +/**************************************************************************** + * Name: sam_interrupt + * + * Description: + * WDT interrupt + * + * Input Parameters: + * Usual interrupt handler arguments. + * + * Returned Value: + * Always returns OK. + * + ****************************************************************************/ + +/**************************************************************************** + * Name: sam_start + * + * Description: + * Start the watchdog timer, resetting the time to the current timeout, + * + * Input Parameters: + * lower - A pointer the publicly visible representation of the "lower-half" + * driver state structure. + * + * Returned Value: + * Zero on success; a negated errno value on failure. + * + ****************************************************************************/ + +static int sam_start(FAR struct watchdog_lowerhalf_s *lower) +{ + FAR struct sam_lowerhalf_s *priv = (FAR struct sam_lowerhalf_s *)lower; + irqstate_t flags; + + wdinfo("Entry: started=%d\n"); + DEBUGASSERT(priv); + + /* Have we already been started? */ + + if (!priv->started) + { + /* Set up prescaler and reload value for the selected timeout before + * starting the watchdog timer. + */ + + /* Enable IWDG (the LSI oscillator will be enabled by hardware). NOTE: + * If the "Hardware watchdog" feature is enabled through the device option + * bits, the watchdog is automatically enabled at power-on. + */ + + flags = enter_critical_section(); + + /*putreg8(WDT_CTRLA_ENABLE, SAM_WDT_CTRLA); + sam_sync_wdt(WDT_SYNCBUSY_ENABLE);*/ + + priv->lastreset = clock_systime_ticks(); + + priv->started = true; + + leave_critical_section(flags); + } + return OK; +} + +/**************************************************************************** + * Name: sam_stop + * + * Description: + * Stop the watchdog timer + * + * Input Parameters: + * lower - A pointer the publicly visible representation of the "lower-half" + * driver state structure. + * + * Returned Value: + * Zero on success; a negated errno value on failure. + * + ****************************************************************************/ + +static int sam_stop(FAR struct watchdog_lowerhalf_s *lower) +{ + /* The watchdog is always disabled after a reset. It is enabled by clearing + * the WDDIS bit in the WDT_CR register, then it cannot be disabled again + * except by a reset. + */ + + wdinfo("Entry\n"); + return -ENOSYS; +} + +/**************************************************************************** + * Name: sam_keepalive + * + * Description: + * 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". + * + * The application program must write in the SAM_WDT_CLEAR register at regular + * intervals during normal operation to prevent an MCU reset. + * + * Input Parameters: + * lower - A pointer the publicly visible representation of the "lower-half" + * driver state structure. + * + * Returned Value: + * Zero on success; a negated errno value on failure. + * + ****************************************************************************/ + +static int sam_keepalive(FAR struct watchdog_lowerhalf_s *lower) +{ + FAR struct sam_lowerhalf_s *priv = (FAR struct sam_lowerhalf_s *)lower; + irqstate_t flags; + + wdinfo("Entry\n"); + /* Reload the WDT timer */ + + flags = enter_critical_section(); + + putreg32(WDT_CLEAR_CLEAR, SAM_WDT_CLEAR); + priv->lastreset = clock_systime_ticks(); + + leave_critical_section(flags); + return OK; +} + +/**************************************************************************** + * Name: sam_getstatus + * + * Description: + * Get the current watchdog timer status + * + * Input Parameters: + * lower - A pointer the publicly visible representation of the "lower-half" + * driver state structure. + * status - The location to return the watchdog status information. + * + * Returned Value: + * Zero on success; a negated errno value on failure. + * + ****************************************************************************/ + +static int sam_getstatus(FAR struct watchdog_lowerhalf_s *lower, + FAR struct watchdog_status_s *status) +{ + FAR struct sam_lowerhalf_s *priv = (FAR struct sam_lowerhalf_s *)lower; + uint32_t ticks; + uint32_t elapsed; + + wdinfo("Entry\n"); + DEBUGASSERT(priv); + + /* Return the status bit */ + + status->flags = WDFLAGS_RESET; + if (priv->started) + { + status->flags |= WDFLAGS_ACTIVE; + } + + /* Return the actual timeout in milliseconds */ + + status->timeout = priv->timeout; + + /* Get the elapsed time since the last ping */ + + ticks = clock_systime_ticks() - priv->lastreset; + elapsed = (int32_t)TICK2MSEC(ticks); + + if (elapsed > priv->timeout) + { + elapsed = priv->timeout; + } + + /* Return the approximate time until the watchdog timer expiration */ + + status->timeleft = priv->timeout - elapsed; + + wdinfo("Status :\n"); + wdinfo(" flags : %08x\n", status->flags); + wdinfo(" timeout : %d\n", status->timeout); + wdinfo(" timeleft : %d\n", status->timeleft); + return OK; +} + +/**************************************************************************** + * Name: sam_settimeout + * + * Description: + * Set a new timeout value (and reset the watchdog timer) + * + * Input Parameters: + * lower - A pointer the publicly visible representation of the "lower-half" + * driver state structure. + * timeout - The new timeout value in millisecnds. + * + * Returned Value: + * Zero on success; a negated errno value on failure. + * + ****************************************************************************/ + +static int sam_settimeout(FAR struct watchdog_lowerhalf_s *lower, + uint32_t timeout) +{ + FAR struct sam_lowerhalf_s *priv = (FAR struct sam_lowerhalf_s *)lower; + uint64_t tmp; + uint32_t period_cycles; + uint8_t timeout_period = WDT_CONFIG_PER_16K; + irqstate_t flags; + + DEBUGASSERT(priv); + wdinfo("Entry: timeout=%d\n", timeout); + + /* Can this timeout be represented? */ + + flags = enter_critical_section(); + + /* calc the period cycles corresponding to timeout period */ + tmp = (uint64_t)timeout * WDT_PERIOD_RATE; + + /* check whether overflow*/ + if (tmp >> 32) + return -ERANGE; + + period_cycles = (uint32_t)tmp; + /* calc the register value corresponding to period cysles */ + switch (period_cycles) + { + case WDT_CLK_8CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_8; + break; + + case WDT_CLK_16CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_16; + break; + + case WDT_CLK_32CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_32; + break; + + case WDT_CLK_64CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_64; + break; + + case WDT_CLK_128CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_128; + break; + + case WDT_CLK_256CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_256; + break; + + case WDT_CLK_512CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_512; + break; + + case WDT_CLK_1024CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_1K; + break; + + case WDT_CLK_2048CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_2K; + break; + + case WDT_CLK_4096CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_4K; + break; + + case WDT_CLK_8192CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_8K; + break; + + case WDT_CLK_16384CYCLE *WDT_PERIOD_RATE: + timeout_period = WDT_CONFIG_PER_16K; + break; + } + + if(!priv->started) + putreg8(WDT_CONFIG_PER_16K, SAM_WDT_CONFIG); + else + putreg8(timeout_period, SAM_WDT_CONFIG); + + priv->reload = timeout_period; + wdinfo("fwdt=%d reload=%d timout=%d\n", + WDT_FCLK, timeout_period, priv->timeout); + leave_critical_section(flags); + + return OK; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: sam_wdt_initialize + * + * Description: + * Initialize the WDT watchdog timer. The watchdog timer is initialized and + * registers as 'devpath'. + * + * Input Parameters: + * devpath - The full path to the watchdog. This should be of the form + * /dev/watchdog0 + * + * Returned Value: + * None + * + ****************************************************************************/ +void sam_wdt_initialize(FAR const char *devpath) +{ + FAR struct sam_lowerhalf_s *priv = &g_wdgdev; + + DEBUGASSERT((getreg8(SAM_WDT_CTRLA) & WDT_CTRLA_ENABLE) == 0); + + sam_apb_wdt_enableperiph(); + + + /* Initialize the driver state structure. */ + priv->ops = &g_wdgops; + priv->started = false; + + sam_settimeout((FAR struct watchdog_lowerhalf_s *)priv, BOARD_SCLK_FREQUENCY/2); + + (void)watchdog_register(devpath, (FAR struct watchdog_lowerhalf_s *)priv); + +} + +#endif /* CONFIG_WATCHDOG && CONFIG__WDT */ diff --git a/arch/arm/src/samd5e5/sam_wdt.h b/arch/arm/src/samd5e5/sam_wdt.h new file mode 100644 index 00000000000..7403f0d73d6 --- /dev/null +++ b/arch/arm/src/samd5e5/sam_wdt.h @@ -0,0 +1,97 @@ +/**************************************************************************** + * arch/arm/src/sama5/sam_wdt.h + * + * Copyright (C) 2020 Falker Automacao Agricola LTDA. + * Author: Leomar Mateus Radke + * Author: Ricardo Wartchow + * + * 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. + * + ****************************************************************************/ + +#ifndef __ARCH_ARM_SRC_SAMD5E5_SAM_WDT_H +#define __ARCH_ARM_SRC_SAMD5E5_SAM_WDT_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include "chip.h" +#include "hardware/sam_wdt.h" + +#ifdef CONFIG_SAMD5E5_WDT + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: sam_wdt_initialize() + * + * Description: + * Perform architecture-specific initialization of the Watchdog hardware. + * This interface should be provided by all configurations using + * to avoid exposed platform-dependent logic. + * + * At a minimum, this function should call watchdog_register(). + * + * Input Parameters: + * None + * + * Returned Value: + * Zero on success; a negated errno value on failure. + * + ****************************************************************************/ + +void sam_wdt_initialize(FAR const char *devpath); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* CONFIG_SAMD5E5_WDT */ +#endif /* __ARCH_ARM_SRC_SAMD5E5_SAM_WDT_H */ diff --git a/boards/arm/samd5e5/metro-m4/src/sam_bringup.c b/boards/arm/samd5e5/metro-m4/src/sam_bringup.c index 4f66060ec98..d5be4550ad1 100644 --- a/boards/arm/samd5e5/metro-m4/src/sam_bringup.c +++ b/boards/arm/samd5e5/metro-m4/src/sam_bringup.c @@ -47,6 +47,10 @@ #include "metro-m4.h" +#if defined(CONFIG_SAMD5E5_WDT) && defined(CONFIG_WATCHDOG) + #include "sam_wdt.h" +#endif + /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ @@ -86,6 +90,10 @@ int sam_bringup(void) } #endif +#if defined(CONFIG_SAMD5E5_WDT) && defined(CONFIG_WATCHDOG) + (void)sam_wdt_initialize(CONFIG_WATCHDOG_DEVPATH); +#endif + UNUSED(ret); return OK; }