circuitpython/ports/nrf/common-hal/watchdog/WatchDogTimer.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2019 Nick Moore for Adafruit Industries
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <math.h>
#include <string.h>
#include "py/gc.h"
#include "py/obj.h"
#include "py/objproperty.h"
#include "py/runtime.h"
#include "common-hal/watchdog/WatchDogTimer.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/watchdog/__init__.h"
#include "shared-bindings/watchdog/WatchDogTimer.h"
#include "supervisor/port.h"
#include "nrf/timers.h"
#include "nrf_wdt.h"
#include "nrfx_wdt.h"
#include "nrfx_timer.h"
STATIC uint8_t timer_refcount = 0;
STATIC nrfx_timer_t *timer = NULL;
STATIC nrfx_wdt_t wdt = NRFX_WDT_INSTANCE(0);
STATIC nrfx_wdt_channel_id wdt_channel_id;
STATIC void watchdogtimer_timer_event_handler(nrf_timer_event_t event_type, void *p_context) {
watchdog_watchdogtimer_obj_t *self = MP_OBJ_TO_PTR(p_context);
if (event_type != NRF_TIMER_EVENT_COMPARE0) {
// Spurious event.
return;
}
// If the timer hits without being cleared, pause the timer and raise an exception.
nrfx_timer_pause(timer);
self->mode = WATCHDOGMODE_NONE;
mp_obj_exception_clear_traceback(MP_OBJ_FROM_PTR(&mp_watchdog_timeout_exception));
MP_STATE_VM(mp_pending_exception) = &mp_watchdog_timeout_exception;
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#if MICROPY_ENABLE_SCHEDULER
if (MP_STATE_VM(sched_state) == MP_SCHED_IDLE) {
MP_STATE_VM(sched_state) = MP_SCHED_PENDING;
}
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#endif
}
static void timer_free(void) {
timer_refcount--;
if (timer_refcount == 0) {
nrf_peripherals_free_timer(timer);
timer = NULL;
}
}
// This function is called if the timer expires. The system will reboot
// in 1/16384 of a second. Issue a reboot ourselves so we can do any
// cleanup necessary.
STATIC void watchdogtimer_watchdog_event_handler(void) {
reset_cpu();
}
void common_hal_watchdog_feed(watchdog_watchdogtimer_obj_t *self) {
if (self->mode == WATCHDOGMODE_RESET) {
nrfx_wdt_feed(&wdt);
} else if (self->mode == WATCHDOGMODE_RAISE) {
nrfx_timer_clear(timer);
}
}
void common_hal_watchdog_deinit(watchdog_watchdogtimer_obj_t *self) {
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if (self->mode == WATCHDOGMODE_RESET) {
if (gc_alloc_possible()) {
mp_raise_NotImplementedError(translate("WatchDogTimer cannot be deinitialized once mode is set to RESET"));
}
// Don't change anything because RESET cannot be undone.
return;
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}
if (timer) {
timer_free();
}
self->mode = WATCHDOGMODE_NONE;
}
void watchdog_reset(void) {
common_hal_watchdog_deinit(&common_hal_mcu_watchdogtimer_obj);
}
mp_float_t common_hal_watchdog_get_timeout(watchdog_watchdogtimer_obj_t *self) {
return self->timeout;
}
void common_hal_watchdog_set_timeout(watchdog_watchdogtimer_obj_t *self, mp_float_t timeout) {
if (self->mode == WATCHDOGMODE_RAISE) {
// If the WatchDogTimer is already running in "RAISE" mode, reset the timer
// with the new value.
uint64_t ticks = timeout * 31250ULL;
if (ticks > UINT32_MAX) {
mp_raise_ValueError(translate("timeout duration exceeded the maximum supported value"));
}
nrfx_timer_clear(timer);
nrfx_timer_compare(timer, NRF_TIMER_CC_CHANNEL0, ticks, true);
}
self->timeout = timeout;
}
watchdog_watchdogmode_t common_hal_watchdog_get_mode(watchdog_watchdogtimer_obj_t *self) {
return self->mode;
}
void common_hal_watchdog_set_mode(watchdog_watchdogtimer_obj_t *self, watchdog_watchdogmode_t new_mode) {
watchdog_watchdogmode_t current_mode = self->mode;
if (new_mode == WATCHDOGMODE_RAISE) {
if (timer_refcount == 0) {
timer = nrf_peripherals_allocate_timer_or_throw();
}
timer_refcount++;
nrfx_timer_config_t timer_config = {
.frequency = NRF_TIMER_FREQ_31250Hz,
.mode = NRF_TIMER_MODE_TIMER,
.bit_width = NRF_TIMER_BIT_WIDTH_32,
.interrupt_priority = NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY,
.p_context = self,
};
nrfx_timer_init(timer, &timer_config, &watchdogtimer_timer_event_handler);
uint64_t ticks = nrfx_timer_ms_to_ticks(timer, self->timeout * 1000);
if (ticks > UINT32_MAX) {
mp_raise_ValueError(translate("timeout duration exceeded the maximum supported value"));
}
// true enables interrupt.
nrfx_timer_clear(timer);
nrfx_timer_compare(timer, NRF_TIMER_CC_CHANNEL0, ticks, true);
nrfx_timer_resume(timer);
} else if (new_mode == WATCHDOGMODE_RESET) {
uint64_t ticks = self->timeout * 1000.0f;
if (ticks > UINT32_MAX) {
mp_raise_ValueError(translate("timeout duration exceeded the maximum supported value"));
}
nrfx_wdt_config_t config = {
.reload_value = ticks, // in units of ms
.behaviour = NRF_WDT_BEHAVIOUR_RUN_SLEEP,
NRFX_WDT_IRQ_CONFIG
};
nrfx_err_t err_code;
err_code = nrfx_wdt_init(&wdt, &config, watchdogtimer_watchdog_event_handler);
if (err_code != NRFX_SUCCESS) {
mp_raise_OSError(1);
}
err_code = nrfx_wdt_channel_alloc(&wdt, &wdt_channel_id);
if (err_code != NRFX_SUCCESS) {
mp_raise_OSError(1);
}
nrfx_wdt_enable(&wdt);
nrfx_wdt_feed(&wdt);
}
// If we just switched away from RAISE, disable the timmer.
if (current_mode == WATCHDOGMODE_RAISE && new_mode != WATCHDOGMODE_RAISE) {
timer_free();
}
self->mode = new_mode;
}