px4io: add watchdog

- F1 iwdg:Support optional configuable init

Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>

platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt

@@ -36,3 +36,5 @@ add_subdirectory(../stm32_common/hrt hrt)
 add_subdirectory(../stm32_common/board_critmon board_critmon)
 add_subdirectory(../stm32_common/board_reset board_reset)
 add_subdirectory(../stm32_common/version version)
+
+add_subdirectory(watchdog)

platforms/nuttx/src/px4/stm/stm32f1/watchdog/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# 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 PX4 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.
+#
+############################################################################
+
+px4_add_library(arch_watchdog_iwdg
+	iwdg.c
+)

platforms/nuttx/src/px4/stm/stm32f1/watchdog/iwdg.c

@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "chip.h"
+#include "stm32.h"
+#include <hardware/stm32_wdg.h>
+#include "nvic.h"
+
+/****************************************************************************
+ * Name: watchdog_pet()
+ *
+ * Description:
+ *   This function resets the Independent watchdog (IWDG)
+ *
+ *
+ * Input Parameters:
+ *   none.
+ *
+ * Returned value:
+ *   none.
+ *
+ ****************************************************************************/
+
+void watchdog_pet(void)
+{
+	putreg32(IWDG_KR_KEY_RELOAD, STM32_IWDG_KR);
+}
+
+/****************************************************************************
+ * Name: watchdog_init_ex()
+ *
+ * Description:
+ *   This function initialize the Independent watchdog (IWDG)
+ *
+ *
+ * Input Parameters:
+ *   prescale - 0 - 7.
+ *   reload   - 0 - 0xfff.
+ *
+ * Returned value:
+ *   none.
+ *
+ ****************************************************************************/
+
+void watchdog_init_ex(int prescale, int reload)
+{
+
+#if defined(CONFIG_STM32_JTAG_FULL_ENABLE) || \
+    defined(CONFIG_STM32_JTAG_NOJNTRST_ENABLE) || \
+    defined(CONFIG_STM32_JTAG_SW_ENABLE)
+	putreg32(getreg32(STM32_DBGMCU_CR) | DBGMCU_CR_IWDGSTOP, STM32_DBGMCU_CR);
+#endif
+
+	/* unlock */
+
+	putreg32(IWDG_KR_KEY_ENABLE, STM32_IWDG_KR);
+
+	/* Set the prescale value */
+
+	putreg32((prescale << IWDG_PR_SHIFT) & IWDG_PR_MASK, STM32_IWDG_PR);
+
+	/* Set the reload value */
+
+	putreg32((reload << IWDG_RLR_RL_SHIFT) &  IWDG_RLR_RL_MASK, STM32_IWDG_RLR);
+
+	/* Start the watch dog */
+
+	putreg32(IWDG_KR_KEY_START, STM32_IWDG_KR);
+
+	watchdog_pet();
+
+}
+
+
+/****************************************************************************
+ * Name: watchdog_init()
+ *
+ * Description:
+ *   This function initialize the Independent watchdog (IWDG)
+ *
+ *
+ * Input Parameters:
+ *   none.
+ *
+ * Returned value:
+ *   none.
+ *
+ ****************************************************************************/
+
+
+void watchdog_init(void)
+{
+	// max prescaler and max timeout ~26214.4 ms / 4 ~= 6.5 seconds
+	watchdog_init_ex(IWDG_PR_DIV256 >> IWDG_PR_SHIFT, IWDG_RLR_MAX >> IWDG_RLR_RL_SHIFT >> 2);
+}

src/drivers/drv_watchdog.h

@@ -45,5 +45,6 @@
 __BEGIN_DECLS
 
 void watchdog_init(void);
+void watchdog_init_ex(int prescale, int reload); // Optional interface
 void watchdog_pet(void);
 __END_DECLS

src/modules/px4iofirmware/CMakeLists.txt

@@ -47,6 +47,7 @@ set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES px4iofirmware)
 target_link_libraries(px4iofirmware
 	PUBLIC
 		arch_io_pins
+		arch_watchdog_iwdg
 		nuttx_apps
 		nuttx_arch
 		nuttx_c

src/modules/px4iofirmware/px4io.c

@@ -53,6 +53,7 @@
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_watchdog.h>
 
 #if defined(PX4IO_PERF)
 # include <lib/perf/perf_counter.h>
@@ -398,7 +399,11 @@ user_start(int argc, char *argv[])
 	uint64_t last_heartbeat_time = 0;
 	uint64_t last_loop_time = 0;
 
+	watchdog_init();
+
 	for (;;) {
+		watchdog_pet();
+
 		dt = (hrt_absolute_time() - last_loop_time) / 1000000.0f;
 		last_loop_time = hrt_absolute_time();