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author | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-04-15 22:31:05 +0000 |
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committer | patacongo <patacongo@7fd9a85b-ad96-42d3-883c-3090e2eb8679> | 2012-04-15 22:31:05 +0000 |
commit | 3be0d4303617db1047adb2f653f3b4422b6d451f (patch) | |
tree | 9d64c8ce61b033c342fe18c118e47469098b3720 /apps/examples/watchdog | |
parent | df5cef7de40f31a5b1fbf91be7453983e472407b (diff) | |
download | px4-firmware-3be0d4303617db1047adb2f653f3b4422b6d451f.tar.gz px4-firmware-3be0d4303617db1047adb2f653f3b4422b6d451f.tar.bz2 px4-firmware-3be0d4303617db1047adb2f653f3b4422b6d451f.zip |
Add a watchdog timer test
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4614 7fd9a85b-ad96-42d3-883c-3090e2eb8679
Diffstat (limited to 'apps/examples/watchdog')
-rw-r--r-- | apps/examples/watchdog/Kconfig | 40 | ||||
-rw-r--r-- | apps/examples/watchdog/Makefile | 103 | ||||
-rw-r--r-- | apps/examples/watchdog/watchdog.h | 132 | ||||
-rw-r--r-- | apps/examples/watchdog/watchdog_main.c | 326 |
4 files changed, 601 insertions, 0 deletions
diff --git a/apps/examples/watchdog/Kconfig b/apps/examples/watchdog/Kconfig new file mode 100644 index 000000000..18daf9327 --- /dev/null +++ b/apps/examples/watchdog/Kconfig @@ -0,0 +1,40 @@ +# +# For a description of the syntax of this configuration file, +# see misc/tools/kconfig-language.txt. +# + +config EXAMPLES_WATCHDOG + bool "Watchdog Timer example" + default n + ---help--- + Enable the watchdog timer example + +if EXAMPLES_WATCHDOG + +config EXAMPLES_WATCHDOG_DEVPATH + string "Watchdog device path" + default "/dev/watchdog0" + ---help--- + The path to the watchdog device. Default: /dev/watchdog0 + +config CONFIG_EXAMPLES_WATCHDOG_PINGTIME + int "Watchdog ping time" + default 5000 + ---help--- + Time in milliseconds that the example will ping the watchdog before letting the + watchdog expire. Default: 5000 milliseconds. + +config CONFIG_EXAMPLES_WATCHDOG_PINGDELAY + int "Watchdog ping delay" + default 500 + ---help--- + Time delay between pings in milliseconds. Default: 500 milliseconds. + +config EXAMPLES_WATCHDOG_TIMEOUT + int "Watchdog timeout" + default 2000 + ---help--- + The watchdog timeout value in milliseconds before the watchdog timer + expires. Default: 2000 milliseconds. + +endif diff --git a/apps/examples/watchdog/Makefile b/apps/examples/watchdog/Makefile new file mode 100644 index 000000000..d2739dbb0 --- /dev/null +++ b/apps/examples/watchdog/Makefile @@ -0,0 +1,103 @@ +############################################################################ +# apps/examples/watchdog/Makefile +# +# Copyright (C) 2012 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt <gnutt@nuttx.org> +# +# 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 NuttX 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 $(TOPDIR)/.config +-include $(TOPDIR)/Make.defs +include $(APPDIR)/Make.defs + +# Watchdog Timer Example. + +ASRCS = +CSRCS = watchdog_main.c + +AOBJS = $(ASRCS:.S=$(OBJEXT)) +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ifeq ($(WINTOOL),y) + BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}" +else + BIN = "$(APPDIR)/libapps$(LIBEXT)" +endif + +ROOTDEPPATH = --dep-path . + +# Touchscreen built-in application info + +APPNAME = wdog +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +# Common build + +VPATH = + +all: .built +.PHONY: context clean depend distclean + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +.built: $(OBJS) + @( for obj in $(OBJS) ; do \ + $(call ARCHIVE, $(BIN), $${obj}); \ + done ; ) + @touch .built + +.context: + $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main) + @touch $@ + +context: .context + +.depend: Makefile $(SRCS) + @$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + @touch $@ + +depend: .depend + +clean: + @rm -f *.o *~ .*.swp .built + $(call CLEAN) + +distclean: clean + @rm -f Make.dep .depend + +-include Make.dep diff --git a/apps/examples/watchdog/watchdog.h b/apps/examples/watchdog/watchdog.h new file mode 100644 index 000000000..1b36da9b4 --- /dev/null +++ b/apps/examples/watchdog/watchdog.h @@ -0,0 +1,132 @@ +/**************************************************************************** + * examples/examples/watchdog/watchdog.h + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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 NuttX 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. + * + ****************************************************************************/ + +#ifndef __APPS_EXAMPLES_WATCHDOG_WATCHDOG_H +#define __APPS_EXAMPLES_WATCHDOG_WATCHDOG_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +/**************************************************************************** + * Definitions + ****************************************************************************/ +/* Configuration ************************************************************/ +/* CONFIG_NSH_BUILTIN_APPS - Build the WATCHDOG test as an NSH built-in + * function. Default: Not built! The example can only be used as an NSH + * built-in application + * CONFIG_EXAMPLES_WATCHDOG_DEVPATH - The path to the Watchdog device. + * Default: /dev/watchdog0 + * CONFIG_EXAMPLES_WATCHDOG_PINGTIME - Time in milliseconds that the example + * will ping the watchdog before letting the watchdog expire. Default: 5000 + * milliseconds + * CONFIG_EXAMPLES_WATCHDOG_PINGDELAY - Time delay between pings in + * milliseconds. Default: 500 milliseconds. + * CONFIG_EXAMPLES_WATCHDOG_TIMEOUT - The watchdog timeout value in + * milliseconds before the watchdog timer expires. Default: 2000 + * milliseconds. + */ + +#ifndef CONFIG_WATCHDOG +# error "WATCHDOG device support is not enabled (CONFIG_WATCHDOG)" +#endif + +#ifndef CONFIG_NSH_BUILTIN_APPS +# warning "The WATCHDOG example only works as an NSH built-in application (CONFIG_NSH_BUILTIN_APPS)" +#endif + +#ifndef CONFIG_EXAMPLES_WATCHDOG_DEVPATH +# define CONFIG_EXAMPLES_WATCHDOG_DEVPATH "/dev/watchdog0" +#endif + +#ifndef CONFIG_EXAMPLES_WATCHDOG_PINGTIME +# define CONFIG_EXAMPLES_WATCHDOG_PINGTIME 5000 +#endif + +#ifndef CONFIG_EXAMPLES_WATCHDOG_PINGDELAY +# define CONFIG_EXAMPLES_WATCHDOG_PINGDELAY 500 +#endif + +#ifndef CONFIG_EXAMPLES_WATCHDOG_TIMEOUT +# define CONFIG_EXAMPLES_WATCHDOG_TIMEOUT 2000 +#endif + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lib_rawprintf(__VA_ARGS__) +# define msgflush() +# else +# define message(...) printf(__VA_ARGS__) +# define msgflush() fflush(stdout) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lib_rawprintf +# define msgflush() +# else +# define message printf +# define msgflush() fflush(stdout) +# endif +#endif + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: watchdog_devinit() + * + * Description: + * Perform architecuture-specific initialization of the Watchdog hardware. + * This interface must be provided by all configurations using + * apps/examples/watchdog + * + ****************************************************************************/ + +int watchdog_devinit(void); + +#endif /* __APPS_EXAMPLES_WATCHDOG_WATCHDOG_H */ diff --git a/apps/examples/watchdog/watchdog_main.c b/apps/examples/watchdog/watchdog_main.c new file mode 100644 index 000000000..6d1e1c43a --- /dev/null +++ b/apps/examples/watchdog/watchdog_main.c @@ -0,0 +1,326 @@ +/**************************************************************************** + * examples/watchdog/watchdog_main.c + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <sys/ioctl.h> + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/watchdog.h> + +#include "watchdog.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct wdog_example_s +{ + uint32_t pingtime; + uint32_t pingdelay; + uint32_t timeout; +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: wdog_help + ****************************************************************************/ + +static void wdog_help(void) +{ + message("Usage: wdog [-h] [-d <pingtime] [-p <pingdelay>] [-t <timeout>]\n"); + message("\nInitialize the watchdog to the <timeout>. Start the watchdog\n"); + message("timer. Ping for the watchdog for <pingtime> seconds, then let it expire.\n"); + message("\nOptions include:\n"); + message(" [-d <pingtime>] = Selects the <delay> time in milliseconds. Default: %d\n", + CONFIG_EXAMPLES_WATCHDOG_PINGTIME); + message(" [-p <pingdelay] = Time delay between pings in milliseconds. Default: %d\n", + CONFIG_EXAMPLES_WATCHDOG_PINGDELAY); + message(" [-t timeout] = Time in milliseconds that the example will ping the watchdog\n"); + message(" before letting the watchdog expire. Default: %d\n", + CONFIG_EXAMPLES_WATCHDOG_TIMEOUT); + message(" [-h] = Shows this message and exits\n"); +} + +/**************************************************************************** + * Name: arg_string + ****************************************************************************/ + +static int arg_string(FAR char **arg, FAR char **value) +{ + FAR char *ptr = *arg; + + if (ptr[2] == '\0') + { + *value = arg[1]; + return 2; + } + else + { + *value = &ptr[2]; + return 1; + } +} + +/**************************************************************************** + * Name: arg_decimal + ****************************************************************************/ + +static int arg_decimal(FAR char **arg, FAR long *value) +{ + FAR char *string; + int ret; + + ret = arg_string(arg, &string); + *value = strtol(string, NULL, 10); + return ret; +} + +/**************************************************************************** + * Name: parse_args + ****************************************************************************/ + +static void parse_args(FAR struct wdog_example_s *wdog, int argc, FAR char **argv) +{ + FAR char *ptr; + long value; + int index; + int nargs; + + wdog->pingtime = CONFIG_EXAMPLES_WATCHDOG_PINGTIME; + wdog->pingdelay = CONFIG_EXAMPLES_WATCHDOG_PINGDELAY; + wdog->timeout = CONFIG_EXAMPLES_WATCHDOG_TIMEOUT; + + for (index = 1; index < argc; ) + { + ptr = argv[index]; + if (ptr[0] != '-') + { + message("Invalid options format: %s\n", ptr); + exit(EXIT_SUCCESS); + } + + switch (ptr[1]) + { + case 'd': + nargs = arg_decimal(&argv[index], &value); + if (value < 1) + { + message("Ping delay out of range: %ld\n", value); + exit(EXIT_FAILURE); + } + + wdog->pingdelay = (uint32_t)value; + index += nargs; + break; + + case 'p': + nargs = arg_decimal(&argv[index], &value); + if (value < 1 || value > 99) + { + message("Ping time out of range: %ld\n", value); + exit(EXIT_FAILURE); + } + + wdog->pingtime = (uint8_t)value; + index += nargs; + break; + + case 't': + nargs = arg_decimal(&argv[index], &value); + if (value < 1 || value > INT_MAX) + { + message("Duration out of range: %ld\n", value); + exit(EXIT_FAILURE); + } + + wdog->timeout = (int)value; + index += nargs; + break; + + case 'h': + wdog_help(); + exit(EXIT_SUCCESS); + + default: + message("Unsupported option: %s\n", ptr); + wdog_help(); + exit(EXIT_FAILURE); + } + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: user_start/wdog_main + ****************************************************************************/ + +int wdog_main(int argc, char *argv[]) +{ + struct wdog_example_s wdog; + uint32_t elapsed; + int fd; + int ret; + + /* Parse the command line */ + + parse_args(&wdog, argc, argv); + + /* Initialization of the WATCHDOG hardware is performed by logic external to + * this test. + */ + + ret = watchdog_devinit(); + if (ret != OK) + { + message("wdog_main: watchdog_devinit failed: %d\n", ret); + goto errout; + } + + /* Open the watchdog device for reading */ + + fd = open(CONFIG_EXAMPLES_WATCHDOG_DEVPATH, O_RDONLY); + if (fd < 0) + { + message("wdog_main: open %s failed: %d\n", + CONFIG_EXAMPLES_WATCHDOG_DEVPATH, errno); + goto errout; + } + message("wdog_main: starting output with frequency: %d duty: %08x count: %d\n", + info.frequency, info.duty, info.count); + + /* Set the watchdog timeout */ + + ret = ioctl(fd, WDIOC_SETTIMEOUT, (unsigned long)wdog.timeout); + if (ret < 0) + { + message("wdog_main: ioctl(WDIOC_SETTIMEOUT) failed: %d\n", errno); + goto errout_with_dev; + } + + /* Then start the watchdog timer. */ + + ret = ioctl(fd, WDIOC_START, 0); + if (ret < 0) + { + message("wdog_main: ioctl(WDIOC_START) failed: %d\n", errno); + goto errout_with_dev; + } + + /* Then ping */ + + for (elapsed = 0; elapsed < wdog.pingtime; elapsed += wdog.pingdelay) + { + /* Sleep for the requested amount of time */ + + usleep(wdog.pingdelay * 1000); + + /* Then ping */ + + ret = ioctl(fd, WDIOC_KEEPALIVE, 0); + if (ret < 0) + { + message("wdog_main: ioctl(WDIOC_KEEPALIVE) failed: %d\n", errno); + goto errout_with_dev; + } + + message(" ping elapsed=%d\n", elpased); + msgflush(); + } + + /* Then stop pinging */ + + for (; ; elapsed += wdog.pingdelay) + { + /* Sleep for the requested amount of time */ + + usleep(wdog.pingdelay * 1000); + + message(" NO ping elapsed=%d\n", elpased); + msgflush(); + } + + /* We should not get here */ + + ret = ioctl(fd, WDIOC_STOP, 0); + if (ret < 0) + { + message("wdog_main: ioctl(WDIOC_STOP) failed: %d\n", errno); + goto errout_with_dev; + } + + close(fd); + msgflush(); + return OK; + +errout_with_dev: + close(fd); +errout: + msgflush(); + return ERROR; +} |