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Diffstat (limited to 'nuttx/sched/wd_start.c')
| -rw-r--r-- | nuttx/sched/wd_start.c | 375 |
1 files changed, 375 insertions, 0 deletions
diff --git a/nuttx/sched/wd_start.c b/nuttx/sched/wd_start.c new file mode 100644 index 000000000..2a69d131a --- /dev/null +++ b/nuttx/sched/wd_start.c @@ -0,0 +1,375 @@ +/**************************************************************************** + * sched/wd_start.c + * + * Copyright (C) 2007-2009, 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 <sys/types.h> + +#include <stdint.h> +#include <stdbool.h> +#include <stdarg.h> +#include <wdog.h> +#include <unistd.h> +#include <sched.h> +#include <errno.h> + +#include <nuttx/arch.h> + +#include "os_internal.h" +#include "wd_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +typedef void (*wdentry0_t)(int argc); +#if CONFIG_MAX_WDOGPARMS > 0 +typedef void (*wdentry1_t)(int argc, uint32_t arg1); +#endif +#if CONFIG_MAX_WDOGPARMS > 1 +typedef void (*wdentry2_t)(int argc, uint32_t arg1, uint32_t arg2); +#endif +#if CONFIG_MAX_WDOGPARMS > 2 +typedef void (*wdentry3_t)(int argc, uint32_t arg1, uint32_t arg2, + uint32_t arg3); +#endif +#if CONFIG_MAX_WDOGPARMS > 3 +typedef void (*wdentry4_t)(int argc, uint32_t arg1, uint32_t arg2, + uint32_t arg3, uint32_t arg4); +#endif + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: wd_start + * + * Description: + * This function adds a watchdog to the timer queue. The specified + * watchdog function will be called from the interrupt level after the + * specified number of ticks has elapsed. Watchdog timers may be started + * from the interrupt level. + * + * Watchdog timers execute in the address enviroment that was in effect + * when wd_start() is called. + * + * Watchdog timers execute only once. + * + * To replace either the timeout delay or the function to be executed, + * call wd_start again with the same wdog; only the most recent wdStart() + * on a given watchdog ID has any effect. + * + * Parameters: + * wdog = watchdog ID + * delay = Delay count in clock ticks + * wdentry = function to call on timeout + * parm1..4 = parameters to pass to wdentry + * + * Return Value: + * OK or ERROR + * + * Assumptions: + * The watchdog routine runs in the context of the timer interrupt handler + * and is subject to all ISR restrictions. + * + ****************************************************************************/ + +int wd_start(WDOG_ID wdog, int delay, wdentry_t wdentry, int argc, ...) +{ + va_list ap; + FAR wdog_t *curr; + FAR wdog_t *prev; + FAR wdog_t *next; + int32_t now; + irqstate_t saved_state; + int i; + + /* Verify the wdog */ + + if (!wdog || argc > CONFIG_MAX_WDOGPARMS || delay < 0) + { + set_errno(EINVAL); + return ERROR; + } + + /* Check if the watchdog has been started. If so, stop it. + * NOTE: There is a race condition here... the caller may receive + * the watchdog between the time that wd_start is called and + * the critical section is established. + */ + + saved_state = irqsave(); + if (wdog->active) + { + wd_cancel(wdog); + } + + /* Save the data in the watchdog structure */ + + wdog->func = wdentry; /* Function to execute when delay expires */ + up_getpicbase(&wdog->picbase); + wdog->argc = argc; + + va_start(ap, argc); + for (i = 0; i < argc; i++) + { + wdog->parm[i] = va_arg(ap, uint32_t); + } +#ifdef CONFIG_DEBUG + for (; i < CONFIG_MAX_WDOGPARMS; i++) + { + wdog->parm[i] = 0; + } +#endif + va_end(ap); + + /* Calculate delay+1, forcing the delay into a range that we can handle */ + + if (delay <= 0) + { + delay = 1; + } + else if (++delay <= 0) + { + delay--; + } + + /* Do the easy case first -- when the watchdog timer queue is empty. */ + + if (g_wdactivelist.head == NULL) + { + sq_addlast((FAR sq_entry_t*)wdog,&g_wdactivelist); + } + + /* There are other active watchdogs in the timer queue */ + + else + { + now = 0; + prev = curr = (FAR wdog_t*)g_wdactivelist.head; + + /* Advance to positive time */ + + while ((now += curr->lag) < 0 && curr->next) + { + prev = curr; + curr = curr->next; + } + + /* Advance past shorter delays */ + + while (now <= delay && curr->next) + { + prev = curr; + curr = curr->next; + now += curr->lag; + } + + /* Check if the new wdog must be inserted before the curr. */ + + if (delay < now) + { + /* The relative delay time is smaller or equal to the current delay + * time, so decrement the current delay time by the new relative + * delay time. + */ + + delay -= (now - curr->lag); + curr->lag -= delay; + + /* Insert the new watchdog in the list */ + + if (curr == (FAR wdog_t*)g_wdactivelist.head) + { + sq_addfirst((FAR sq_entry_t*)wdog, &g_wdactivelist); + } + else + { + sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)wdog, + &g_wdactivelist); + } + } + + /* The new watchdog delay time is greater than the curr delay time, + * so the new wdog must be inserted after the curr. This only occurs + * if the wdog is to be added to the end of the list. + */ + + else + { + delay -= now; + if (!curr->next) + { + sq_addlast((FAR sq_entry_t*)wdog, &g_wdactivelist); + } + else + { + next = curr->next; + next->lag -= delay; + sq_addafter((FAR sq_entry_t*)curr, (FAR sq_entry_t*)wdog, + &g_wdactivelist); + } + } + } + + /* Put the lag into the watchdog structure and mark it as active. */ + + wdog->lag = delay; + wdog->active = true; + + irqrestore(saved_state); + return OK; +} + +/**************************************************************************** + * Name: wd_timer + * + * Description: + * This function is called from the timer interrupt handler to determine + * if it is time to execute a watchdog function. If so, the watchdog + * function will be executed in the context of the timer interrupt handler. + * + * Parameters: + * None + * + * Return Value: + * None + * + * Assumptions: + * + ****************************************************************************/ + +void wd_timer(void) +{ + FAR wdog_t *wdog; + + /* Check if there are any active watchdogs to process */ + + if (g_wdactivelist.head) + { + /* There are. Decrement the lag counter */ + + --(((FAR wdog_t*)g_wdactivelist.head)->lag); + + /* Check if the watchdog at the head of the list is ready to run */ + + if (((FAR wdog_t*)g_wdactivelist.head)->lag <= 0) + { + /* Process the watchdog at the head of the list as well as any + * other watchdogs that became ready to run at this time + */ + + while (g_wdactivelist.head && + ((FAR wdog_t*)g_wdactivelist.head)->lag <= 0) + { + /* Remove the watchdog from the head of the list */ + + wdog = (FAR wdog_t*)sq_remfirst(&g_wdactivelist); + + /* If there is another watchdog behind this one, update its + * its lag (this shouldn't be necessary). + */ + + if (g_wdactivelist.head) + { + ((FAR wdog_t*)g_wdactivelist.head)->lag += wdog->lag; + } + + /* Indicate that the watchdog is no longer active. */ + + wdog->active = false; + + /* Execute the watchdog function */ + + up_setpicbase(wdog->picbase); + switch (wdog->argc) + { + default: +#ifdef CONFIG_DEBUG + PANIC(OSERR_INTERNAL); +#endif + case 0: + (*((wdentry0_t)(wdog->func)))(0); + break; + +#if CONFIG_MAX_WDOGPARMS > 0 + case 1: + (*((wdentry1_t)(wdog->func)))(1, wdog->parm[0]); + break; +#endif +#if CONFIG_MAX_WDOGPARMS > 1 + case 2: + (*((wdentry2_t)(wdog->func)))(2, + wdog->parm[0], wdog->parm[1]); + break; +#endif +#if CONFIG_MAX_WDOGPARMS > 2 + case 3: + (*((wdentry3_t)(wdog->func)))(3, + wdog->parm[0], wdog->parm[1], + wdog->parm[2]); + break; +#endif +#if CONFIG_MAX_WDOGPARMS > 3 + case 4: + (*((wdentry4_t)(wdog->func)))(4, + wdog->parm[0], wdog->parm[1], + wdog->parm[2] ,wdog->parm[3]); + break; +#endif + } + } + } + } +} |