/**************************************************************************** * 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 #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #ifdef CONFIG_WATCHDOG_AUTOMONITOR # define WATCHDOG_AUTOMONITOR_TIMEOUT_MSEC \ (CONFIG_WATCHDOG_AUTOMONITOR_TIMEOUT * MSEC_PER_SEC) # if !defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE) && \ !defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE) # if CONFIG_WATCHDOG_AUTOMONITOR_PING_INTERVAL == 0 # define WATCHDOG_AUTOMONITOR_PING_INTERVAL \ (CONFIG_WATCHDOG_AUTOMONITOR_TIMEOUT / 2) # else # define WATCHDOG_AUTOMONITOR_PING_INTERVAL \ CONFIG_WATCHDOG_AUTOMONITOR_PING_INTERVAL # endif # define WATCHDOG_AUTOMONITOR_PING_INTERVAL_MSEC \ (WATCHDOG_AUTOMONITOR_PING_INTERVAL * MSEC_PER_SEC) # define WATCHDOG_AUTOMONITOR_PING_INTERVAL_TICK \ SEC2TICK(WATCHDOG_AUTOMONITOR_PING_INTERVAL) # endif #endif /**************************************************************************** * Private Type Definitions ****************************************************************************/ /* This structure describes the state of the upper half driver */ struct watchdog_upperhalf_s { /* When a crash occurs, stop the watchdog */ struct notifier_block nb; #ifdef CONFIG_WATCHDOG_AUTOMONITOR # if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT) FAR struct oneshot_lowerhalf_s *oneshot; # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) FAR struct timer_lowerhalf_s *timer; # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WDOG) 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 */ mutex_t lock; /* 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 */ }; /**************************************************************************** * 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_ONESHOT) static void watchdog_automonitor_oneshot(FAR struct oneshot_lowerhalf_s *oneshot, FAR void *arg) { FAR struct watchdog_upperhalf_s *upper = arg; FAR struct watchdog_lowerhalf_s *lower = upper->lower; if (upper->monitor) { struct timespec ts = { WATCHDOG_AUTOMONITOR_PING_INTERVAL, 0 }; lower->ops->keepalive(lower); ONESHOT_START(oneshot, watchdog_automonitor_oneshot, upper, &ts); } } #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) static bool watchdog_automonitor_timer(FAR uint32_t *next_interval_us, 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 upper->monitor; } #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WDOG) static void watchdog_automonitor_wdog(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_TICK, watchdog_automonitor_wdog, (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_TICK); } } #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 (domain == PM_IDLE_DOMAIN && pmstate != PM_RESTORE && upper->monitor) { lower->ops->keepalive(lower); } } #endif #ifdef CONFIG_WATCHDOG_AUTOMONITOR # if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT) static void watchdog_automonitor_start(FAR struct watchdog_upperhalf_s *upper, FAR struct oneshot_lowerhalf_s *oneshot) # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) static void watchdog_automonitor_start(FAR struct watchdog_upperhalf_s *upper, FAR struct timer_lowerhalf_s *timer) # else static void watchdog_automonitor_start(FAR struct watchdog_upperhalf_s *upper) # endif { FAR struct watchdog_lowerhalf_s *lower = upper->lower; if (!upper->monitor) { # if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE) lower->ops->capture(lower, watchdog_automonitor_capture); # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT) struct timespec ts = { WATCHDOG_AUTOMONITOR_PING_INTERVAL, 0 }; upper->oneshot = oneshot; ONESHOT_START(oneshot, watchdog_automonitor_oneshot, upper, &ts); #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) upper->timer = timer; timer->ops->setcallback(timer, watchdog_automonitor_timer, upper); timer->ops->settimeout(timer, WATCHDOG_AUTOMONITOR_PING_INTERVAL_MSEC); timer->ops->start(timer); # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WDOG) wd_start(&upper->wdog, WATCHDOG_AUTOMONITOR_PING_INTERVAL_TICK, watchdog_automonitor_wdog, (wdparm_t)upper); # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER) work_queue(LPWORK, &upper->work, watchdog_automonitor_worker, upper, WATCHDOG_AUTOMONITOR_PING_INTERVAL_TICK); # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE) upper->idle.notify = watchdog_automonitor_idle; pm_register(&upper->idle); # endif upper->monitor = true; 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_ONESHOT) ONESHOT_CANCEL(upper->oneshot, NULL); # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) upper->timer->ops->stop(upper->timer); # elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WDOG) 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 static int wdog_notifier(FAR struct notifier_block *nb, unsigned long action, FAR void *data) { FAR struct watchdog_upperhalf_s *upper = (FAR struct watchdog_upperhalf_s *)nb; if (action == PANIC_KERNEL) { #ifdef CONFIG_WATCHDOG_AUTOMONITOR watchdog_automonitor_stop(upper); #else return upper->lower->ops->stop(upper->lower); #endif } return 0; } /**************************************************************************** * 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 = nxmutex_lock(&upper->lock); 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_lock; } /* Save the new open count */ upper->crefs = tmp; ret = OK; errout_with_lock: nxmutex_unlock(&upper->lock); 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 = nxmutex_lock(&upper->lock); 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--; } nxmutex_unlock(&upper->lock); 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) { #ifdef CONFIG_WATCHDOG_MAGIC_V FAR struct inode *inode = filep->f_inode; FAR struct watchdog_upperhalf_s *upper; FAR struct watchdog_lowerhalf_s *lower; int err = 0; int i; upper = inode->i_private; DEBUGASSERT(upper != NULL); lower = upper->lower; DEBUGASSERT(lower != NULL); nxmutex_lock(&upper->lock); for (i = 0; i < buflen; i++) { if (buffer[i] == 'V') { #ifdef CONFIG_WATCHDOG_AUTOMONITOR watchdog_automonitor_stop(upper); #else err = lower->ops->stop(lower); #endif break; } } if (i == buflen) { err = lower->ops->keepalive(lower); } nxmutex_unlock(&upper->lock); if (err < 0) { return err; } #endif return buflen; } /**************************************************************************** * 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 = nxmutex_lock(&upper->lock); 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; } nxmutex_unlock(&upper->lock); 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. * ****************************************************************************/ #if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT) FAR void *watchdog_register(FAR const char *path, FAR struct watchdog_lowerhalf_s *lower, FAR struct oneshot_lowerhalf_s *oneshot) #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) FAR void *watchdog_register(FAR const char *path, FAR struct watchdog_lowerhalf_s *lower, FAR struct timer_lowerhalf_s *timer) #else FAR void *watchdog_register(FAR const char *path, FAR struct watchdog_lowerhalf_s *lower) #endif { 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()). */ nxmutex_init(&upper->lock); 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; } #if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT) watchdog_automonitor_start(upper, oneshot); #elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER) watchdog_automonitor_start(upper, timer); #elif defined(CONFIG_WATCHDOG_AUTOMONITOR) watchdog_automonitor_start(upper); #endif upper->nb.notifier_call = wdog_notifier; panic_notifier_chain_register(&upper->nb); return (FAR void *)upper; errout_with_path: kmm_free(upper->path); errout_with_upper: nxmutex_destroy(&upper->lock); 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); panic_notifier_chain_unregister(&upper->nb); /* Then free all of the driver resources */ kmm_free(upper->path); nxmutex_destroy(&upper->lock); kmm_free(upper); }