/*
* %CopyrightBegin%
*
* Copyright Ericsson AB 1997-2009. All Rights Reserved.
*
* The contents of this file are subject to the Erlang Public License,
* Version 1.1, (the "License"); you may not use this file except in
* compliance with the License. You should have received a copy of the
* Erlang Public License along with this software. If not, it can be
* retrieved online at http://www.erlang.org/.
*
* Software distributed under the License is distributed on an "AS IS"
* basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See
* the License for the specific language governing rights and limitations
* under the License.
*
* %CopyrightEnd%
*/
/*
* File: frc5te_wd.c
* Purpose: Watchdog NMI handling for FORCE 5TE
*
* Description:
* The watchdog handler routines are system specific. A program that
* wants to utilize a hardware watchdog should call wd_init and test
* the return value. If wd_init returns true (!0); there is a hardware
* watchdog, and that watchdog has been activated. If no watchdog exists,
* wd_init returns false (0).
*
* To keep the watchdog happy, call wd_reset at least every X seconds,
* where X is the number of seconds specified in the call to wd_init.
*
* The watchdog can be disarmed by setting the variable wd_disarmed to 1,
* and armed again by setting the same variable to 0. Watchdog status
* information can be retrieved using the function wd_status.
*
*/
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <frc5e.h>
#include <logLib.h>
#include <taskLib.h>
#include <sysLib.h>
#include <stdio.h>
#include "hw_watchdog.h"
/* prototypes */
extern sysNMIConnect();
#ifdef __STDC__
void wd_keeper(int);
void wd_nmi_int(UINT8);
void wd_status(void);
#else
void wd_keeper();
void wd_nmi_int();
void wd_status();
#endif
#define WD_NMI_MIN_DELAY 0.830 /* Min time before watchdog NMI (in seconds) */
#define WD_RESET_FREQUENCY (WD_NMI_MIN_DELAY / 2) /* how often the timer is reset */
#define WD_KEEPER_STACK_SIZE 10000
/* global variables */
extern int spTaskOptions;
static volatile int wd_count_startval; /* start value set by wd_init */
static volatile int wd_count; /* counter for wd_keeper */
volatile int wd_disarmed = 0; /* debug feature */
/* wd_init is executed to initialize the watchdog. It spawns the task */
/* wd_keeper and returns true (non-zero) if a hardware watchdog exists, */
/* or returns false (zero) otherwise. */
int wd_init(timeout, prio)
int timeout, prio;
{
taskSpawn("wd_keeper", prio, spTaskOptions, WD_KEEPER_STACK_SIZE,
(FUNCPTR)wd_keeper, timeout,0,0,0,0,0,0,0,0,0);
return !0; /* watchdog exists */
}
/* wd_reset is called as an alive-signal from the supervisor process. */
/* If there is no call to this function within a certain time, the */
/* watchdog will reboot the system. */
void wd_reset()
{
wd_count = wd_count_startval;
}
/* wd_keeper runs as a separate task and resets the watchdog timer */
/* before an NMI is generated. This task uses the counter wd_count to */
/* decide if it should exit or keep resetting the timer. */
/* Note! This task must run with higher priority than the application! */
void wd_keeper(timeout)
int timeout;
{
int wd_delay = sysClkRateGet() * WD_RESET_FREQUENCY;
wd_count_startval = (int)(timeout / WD_RESET_FREQUENCY);
wd_count = wd_count_startval;
/* Connect and enable level 15 interrupts */
sysNMIConnect((VOIDFUNCPTR) wd_nmi_int, WD_NMI, WD_NMI);
*(char *)FRC5CE_GEN_PURPOSE2_REG |= FRC5CE_NMI_ENABLE;
while ((wd_count > 0) || wd_disarmed) {
*(char *)FRC5CE_VME_A32MAP_REG |= FRC5CE_WATCHDOG_ENABLE;
taskDelay(wd_delay);
if (!wd_disarmed) wd_count--;
else wd_count = wd_count_startval;
}
logMsg("Watchdog keeper exits. No alive signal from application in %d seconds.\n",wd_count_startval * WD_RESET_FREQUENCY,0,0,0,0,0);
}
/* wd_nmi_int is the function connected to the watchdog interrupt. */
/* It will report the failure to reset the watchdog timer. */
void wd_nmi_int(type)
UINT8 type;
{
switch(type) {
case WD_NMI:
logMsg("Watchdog interrupt! System will reboot.\n",0,0,0,0,0,0);
break;
default:
logMsg("Bad type (%d) in call to watchdog interrupt handler.\n",type,0,0,0,0,0);
break;
}
}
/* wd_status displays the current value of the counter. */
void wd_status()
{
fprintf(stderr, "Watchdog is %sarmed.\n", wd_disarmed ? "dis" : "");
fprintf(stderr, "Counter value: %d\n", wd_count);
fprintf(stderr, "Start value is: %d (%d seconds)\n",
wd_count_startval, (int)(wd_count_startval * WD_RESET_FREQUENCY));
}
