Merge b9f353e31e into 43797ea6cc

Add support for watchdog timer notifer chain so that users
can customize the callback function when the watchdog timer
times out which enabled by Auto-monitor

Signed-off-by: yaojiaqi <yaojiaqi@lixiang.com>

arch/arm/src/stm32/stm32_tim.c

@@ -333,6 +333,10 @@ static int  stm32_tim_setmode(struct stm32_tim_dev_s *dev,
                               stm32_tim_mode_t mode);
 static int  stm32_tim_setclock(struct stm32_tim_dev_s *dev,
                                uint32_t freq);
+static uint32_t stm32_tim_getprescaler(struct stm32_tim_dev_s *dev);
+static void stm32_tim_setprescaler(struct stm32_tim_dev_s *dev,
+                                 uint32_t prescaler);
+static uint32_t stm32_tim_getperiod(struct stm32_tim_dev_s *dev);
 static void stm32_tim_setperiod(struct stm32_tim_dev_s *dev,
                                 uint32_t period);
 static uint32_t stm32_tim_getcounter(struct stm32_tim_dev_s *dev);
@@ -360,22 +364,25 @@ static int  stm32_tim_checkint(struct stm32_tim_dev_s *dev, int source);
 
 static const struct stm32_tim_ops_s stm32_tim_ops =
 {
-  .enable     = stm32_tim_enable,
-  .disable    = stm32_tim_disable,
-  .setmode    = stm32_tim_setmode,
-  .setclock   = stm32_tim_setclock,
-  .setperiod  = stm32_tim_setperiod,
-  .getcounter = stm32_tim_getcounter,
-  .setcounter = stm32_tim_setcounter,
-  .getwidth   = stm32_tim_getwidth,
-  .setchannel = stm32_tim_setchannel,
-  .setcompare = stm32_tim_setcompare,
-  .getcapture = stm32_tim_getcapture,
-  .setisr     = stm32_tim_setisr,
-  .enableint  = stm32_tim_enableint,
-  .disableint = stm32_tim_disableint,
-  .ackint     = stm32_tim_ackint,
-  .checkint   = stm32_tim_checkint,
+  .enable         = stm32_tim_enable,
+  .disable        = stm32_tim_disable,
+  .setmode        = stm32_tim_setmode,
+  .setclock       = stm32_tim_setclock,
+  .setprescaler   = stm32_tim_setprescaler,
+  .getprescaler   = stm32_tim_getprescaler,
+  .getperiod      = stm32_tim_getperiod,
+  .setperiod      = stm32_tim_setperiod,
+  .getcounter     = stm32_tim_getcounter,
+  .setcounter     = stm32_tim_setcounter,
+  .getwidth       = stm32_tim_getwidth,
+  .setchannel     = stm32_tim_setchannel,
+  .setcompare     = stm32_tim_setcompare,
+  .getcapture     = stm32_tim_getcapture,
+  .setisr         = stm32_tim_setisr,
+  .enableint      = stm32_tim_enableint,
+  .disableint     = stm32_tim_disableint,
+  .ackint         = stm32_tim_ackint,
+  .checkint       = stm32_tim_checkint,
 };
 
 #ifdef CONFIG_STM32_TIM1
@@ -899,6 +906,41 @@ static int stm32_tim_setclock(struct stm32_tim_dev_s *dev, uint32_t freq)
   return prescaler;
 }
 
+/****************************************************************************
+ * Name: stm32_tim_getprescaler
+ ****************************************************************************/
+
+static uint32_t stm32_tim_getprescaler(struct stm32_tim_dev_s *dev)
+{
+  DEBUGASSERT(dev != NULL);
+  return stm32_tim_getwidth(dev) > 16 ?
+    stm32_getreg32(dev, STM32_GTIM_PSC_OFFSET) :
+    (uint32_t)stm32_getreg16(dev, STM32_GTIM_PSC_OFFSET);
+}
+
+/****************************************************************************
+ * Name: stm32_tim_setprescaler
+ ****************************************************************************/
+
+static void stm32_tim_setprescaler(struct stm32_tim_dev_s *dev,
+                                 uint32_t prescaler)
+{
+  DEBUGASSERT(dev != NULL);
+  stm32_putreg32(dev, STM32_GTIM_PSC_OFFSET, prescaler);
+}
+
+/****************************************************************************
+ * Name: stm32_tim_getperiod
+ ****************************************************************************/
+
+static uint32_t stm32_tim_getperiod(struct stm32_tim_dev_s *dev)
+{
+  DEBUGASSERT(dev != NULL);
+  return stm32_tim_getwidth(dev) > 16 ?
+    stm32_getreg32(dev, STM32_GTIM_ARR_OFFSET) :
+    (uint32_t)stm32_getreg16(dev, STM32_GTIM_ARR_OFFSET);
+}
+
 /****************************************************************************
  * Name: stm32_tim_setperiod
  ****************************************************************************/

arch/arm/src/stm32/stm32_tim.h

@@ -40,22 +40,25 @@
 
 /* Helpers ******************************************************************/
 
-#define STM32_TIM_SETMODE(d,mode)       ((d)->ops->setmode(d,mode))
-#define STM32_TIM_SETCLOCK(d,freq)      ((d)->ops->setclock(d,freq))
-#define STM32_TIM_SETPERIOD(d,period)   ((d)->ops->setperiod(d,period))
-#define STM32_TIM_GETCOUNTER(d)         ((d)->ops->getcounter(d))
-#define STM32_TIM_SETCOUNTER(d,c)       ((d)->ops->setcounter(d,c))
-#define STM32_TIM_GETWIDTH(d)           ((d)->ops->getwidth(d))
-#define STM32_TIM_SETCHANNEL(d,ch,mode) ((d)->ops->setchannel(d,ch,mode))
-#define STM32_TIM_SETCOMPARE(d,ch,comp) ((d)->ops->setcompare(d,ch,comp))
-#define STM32_TIM_GETCAPTURE(d,ch)      ((d)->ops->getcapture(d,ch))
-#define STM32_TIM_SETISR(d,hnd,arg,s)   ((d)->ops->setisr(d,hnd,arg,s))
-#define STM32_TIM_ENABLEINT(d,s)        ((d)->ops->enableint(d,s))
-#define STM32_TIM_DISABLEINT(d,s)       ((d)->ops->disableint(d,s))
-#define STM32_TIM_ACKINT(d,s)           ((d)->ops->ackint(d,s))
-#define STM32_TIM_CHECKINT(d,s)         ((d)->ops->checkint(d,s))
-#define STM32_TIM_ENABLE(d)             ((d)->ops->enable(d))
-#define STM32_TIM_DISABLE(d)            ((d)->ops->disable(d))
+#define STM32_TIM_SETMODE(d,mode)          ((d)->ops->setmode(d,mode))
+#define STM32_TIM_SETCLOCK(d,freq)         ((d)->ops->setclock(d,freq))
+#define STM32_TIM_GETPRESCALER(d)          ((d)->ops->getprescaler(d))
+#define STM32_TIM_SETPRESCALER(d,p)        ((d)->ops->setprescaler(d,p))
+#define STM32_TIM_GETPERIOD(d)             ((d)->ops->getperiod(d))
+#define STM32_TIM_SETPERIOD(d,p)           ((d)->ops->setperiod(d,p))
+#define STM32_TIM_GETCOUNTER(d)            ((d)->ops->getcounter(d))
+#define STM32_TIM_SETCOUNTER(d,c)          ((d)->ops->setcounter(d,c))
+#define STM32_TIM_GETWIDTH(d)              ((d)->ops->getwidth(d))
+#define STM32_TIM_SETCHANNEL(d,ch,mode)    ((d)->ops->setchannel(d,ch,mode))
+#define STM32_TIM_SETCOMPARE(d,ch,comp)    ((d)->ops->setcompare(d,ch,comp))
+#define STM32_TIM_GETCAPTURE(d,ch)         ((d)->ops->getcapture(d,ch))
+#define STM32_TIM_SETISR(d,hnd,arg,s)      ((d)->ops->setisr(d,hnd,arg,s))
+#define STM32_TIM_ENABLEINT(d,s)           ((d)->ops->enableint(d,s))
+#define STM32_TIM_DISABLEINT(d,s)          ((d)->ops->disableint(d,s))
+#define STM32_TIM_ACKINT(d,s)              ((d)->ops->ackint(d,s))
+#define STM32_TIM_CHECKINT(d,s)            ((d)->ops->checkint(d,s))
+#define STM32_TIM_ENABLE(d)                ((d)->ops->enable(d))
+#define STM32_TIM_DISABLE(d)               ((d)->ops->disable(d))
 
 /****************************************************************************
  * Public Types
@@ -159,6 +162,9 @@ struct stm32_tim_ops_s
   void (*disable)(struct stm32_tim_dev_s *dev);
   int  (*setmode)(struct stm32_tim_dev_s *dev, stm32_tim_mode_t mode);
   int  (*setclock)(struct stm32_tim_dev_s *dev, uint32_t freq);
+  uint32_t (*getprescaler)(struct stm32_tim_dev_s *dev);
+  void (*setprescaler)(struct stm32_tim_dev_s *dev, uint32_t prescaler);
+  uint32_t (*getperiod)(struct stm32_tim_dev_s *dev);
   void (*setperiod)(struct stm32_tim_dev_s *dev, uint32_t period);
   uint32_t (*getcounter)(struct stm32_tim_dev_s *dev);
   void (*setcounter)(struct stm32_tim_dev_s *dev, uint32_t count);

drivers/timers/Kconfig

@@ -439,6 +439,14 @@ menuconfig WATCHDOG_AUTOMONITOR
 
 if WATCHDOG_AUTOMONITOR
 
+config WATCHDOG_TIMEOUT_NOTIFIER
+	bool "Enable watchdog timeout notifier"
+	default n
+	---help---
+		The watchdog timeout notifier chain mechanism supports users registering
+		custom callback functions, which will be called when the watchdog timer
+		managed by Auto-monitor times out.
+
 choice
 	prompt "Auto-monitor keepalive by"
 	default WATCHDOG_AUTOMONITOR_BY_WDOG

drivers/timers/watchdog.c

@@ -71,6 +71,20 @@
 #  endif
 #endif
 
+#if defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_ONESHOT)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_ONESHOT
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_TIMER)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_TIMER
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WDOG)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_WDOG
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_WORKER)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_WORKER
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_CAPTURE)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_CAPTURE
+#elif defined(CONFIG_WATCHDOG_AUTOMONITOR_BY_IDLE)
+#  define WATCHDOG_NOTIFIER_ACTION WATCHDOG_KEEPALIVE_BY_IDLE
+#endif
+
 /****************************************************************************
  * Private Type Definitions
  ****************************************************************************/
@@ -135,6 +149,10 @@ static const struct file_operations g_wdogops =
   wdog_ioctl, /* ioctl */
 };
 
+#ifdef CONFIG_WATCHDOG_TIMEOUT_NOTIFIER
+static ATOMIC_NOTIFIER_HEAD(g_watchdog_notifier_list);
+#endif
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -699,6 +717,55 @@ static int wdog_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
  * Public Functions
  ****************************************************************************/
 
+#ifdef CONFIG_WATCHDOG_TIMEOUT_NOTIFIER
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_register
+ *
+ * Description:
+ *   Add notifier to the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - New entry in notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_register(FAR struct notifier_block *nb)
+{
+  atomic_notifier_chain_register(&g_watchdog_notifier_list, nb);
+}
+
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_unregister
+ *
+ * Description:
+ *   Remove notifier from the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - Entry to remove from notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_unregister(FAR struct notifier_block *nb)
+{
+  atomic_notifier_chain_unregister(&g_watchdog_notifier_list, nb);
+}
+
+/****************************************************************************
+ * Name: watchdog_automonitor_timeout
+ *
+ * Description:
+ *   This function can be called in the watchdog timeout interrupt handler.
+ *   If so, callbacks on the watchdog timer notify chain are called when the
+ *   watchdog timer times out.
+ *
+ ****************************************************************************/
+
+void watchdog_automonitor_timeout(void)
+{
+  atomic_notifier_call_chain(&g_watchdog_notifier_list, action, data);
+}
+#endif /* CONFIG_WATCHDOG_TIMEOUT_NOTIFIER */
+
 /****************************************************************************
  * Name: watchdog_register
  *

include/nuttx/timers/watchdog.h

@@ -31,6 +31,7 @@
 #include <nuttx/compiler.h>
 #include <nuttx/irq.h>
 #include <nuttx/fs/ioctl.h>
+#include <nuttx/notifier.h>
 
 #ifdef CONFIG_WATCHDOG
 
@@ -88,6 +89,35 @@
 #define WDFLAGS_CAPTURE  (1 << 2) /* 1=Call the user function when the
                                    *   watchdog timer expires */
 
+/* Keepalive Actions ********************************************************/
+
+/* According to the keepalive action specified by the Auto-monitor, callback
+ * functions registered on the watchdog notifier chain may take corresponding
+ * actions.
+ *
+ * These are detected and handled by the "upper half" watchdog timer driver.
+ *
+ * WATCHDOG_KEEPALIVE_BY_ONESHOT      - The watchdog timer is keepalive by
+ *                                      oneshot timer.
+ * WATCHDOG_KEEPALIVE_BY_TIMER        - The watchdog timer is keepalive by
+ *                                      timer.
+ * WATCHDOG_KEEPALIVE_BY_WDOG         - The watchdog timer is keepalive by
+ *                                      wdog.
+ * WATCHDOG_KEEPALIVE_BY_WORKER       - The watchdog timer is keepalive by
+ *                                      worker queue.
+ * WATCHDOG_KEEPALIVE_BY_CAPTURE      - The watchdog timer is keepalive by
+ *                                      capture.
+ * WATCHDOG_KEEPALIVE_BY_IDLE         - The watchdog timer is keepalive by
+ *                                      idle task.
+ */
+
+#define WATCHDOG_KEEPALIVE_BY_ONESHOT 0
+#define WATCHDOG_KEEPALIVE_BY_TIMER   1
+#define WATCHDOG_KEEPALIVE_BY_WDOG    2
+#define WATCHDOG_KEEPALIVE_BY_WORKER  3
+#define WATCHDOG_KEEPALIVE_BY_CAPTURE 4
+#define WATCHDOG_KEEPALIVE_BY_IDLE    5
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
@@ -197,6 +227,47 @@ extern "C"
 #define EXTERN extern
 #endif
 
+#ifdef CONFIG_WATCHDOG_TIMEOUT_NOTIFIER
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_register
+ *
+ * Description:
+ *   Add notifier to the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - New entry in notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_register(FAR struct notifier_block *nb);
+
+/****************************************************************************
+ * Name:  watchdog_notifier_chain_unregister
+ *
+ * Description:
+ *   Remove notifier from the watchdog notifier chain
+ *
+ * Input Parameters:
+ *    nb - Entry to remove from notifier chain
+ *
+ ****************************************************************************/
+
+void watchdog_notifier_chain_unregister(FAR struct notifier_block *nb);
+
+/****************************************************************************
+ * Name: watchdog_automonitor_timeout
+ *
+ * Description:
+ *   This function can be called in the watchdog timeout interrupt handler.
+ *   If so, callbacks on the watchdog timer notify chain are called when the
+ *   watchdog timer times out.
+ *
+ ****************************************************************************/
+
+void watchdog_automonitor_timeout(void);
+
+#endif /* CONFIG_WATCHDOG_TIMEOUT_NOTIFIER */
+
 /****************************************************************************
  * Name: watchdog_register
  *