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sys/auto_init: add auto_init_wdt_{event, thread} modules
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9 files changed

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‎drivers/include/periph/wdt.h‎

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@@ -157,9 +157,42 @@
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* Makefile add:
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*
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* ~~~~~~~~~~~~~~~~~~~~~~~~ {.mk}
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* MODULE += periph_wdt_cb
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* USEMODULE += periph_wdt_cb
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* ~~~~~~~~~~~~~~~~~~~~~~~~
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*
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* WDT Auto-Start
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* ==============
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*
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* It is possible to enable the Watchdog in early boot, before application startup:
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*
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* ~~~~~~~~~~~~~~~~~~~~~~~~ {.mk}
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* USEMODULE += periph_wdt_auto_start
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* ~~~~~~~~~~~~~~~~~~~~~~~~
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*
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* The watchdog will automatically be initialized with the parameters
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* @ref CONFIG_PERIPH_WDT_WIN_MIN_MS and @ref CONFIG_PERIPH_WDT_WIN_MAX_MS
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*
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* It is also possible to automatically kick the watchdog.
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* This is a very non-invasive way of using the watchdog, but it is also very
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* weak as it can only detect situations where low-priority threads are
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* starved from execution and may even trigger wrongly in situations where the
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* system just experiences high load, but would otherwise have recovered on it's own.
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*
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* If you want to enable it anyway, select this module:
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*
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* ~~~~~~~~~~~~~~~~~~~~~~~~ {.mk}
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* USEMODULE += auto_init_wdt_thread
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* ~~~~~~~~~~~~~~~~~~~~~~~~
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*
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* If you are using an event thread, you can also use the watchdog to ensure that events
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* are processed in time.
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* To do so, add
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*
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* ~~~~~~~~~~~~~~~~~~~~~~~~ {.mk}
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* USEMODULE += auto_init_wdt_event
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* ~~~~~~~~~~~~~~~~~~~~~~~~
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*
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*
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* @{
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*
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* @file wdt.h

‎makefiles/pseudomodules.inc.mk‎

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@@ -589,6 +589,8 @@ NO_PSEUDOMODULES += auto_init_multimedia
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NO_PSEUDOMODULES += auto_init_security
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NO_PSEUDOMODULES += auto_init_usbus
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NO_PSEUDOMODULES += auto_init_screen
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NO_PSEUDOMODULES += auto_init_wdt_event
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NO_PSEUDOMODULES += auto_init_wdt_thread
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# Packages and drivers may also add modules to PSEUDOMODULES in their `Makefile.include`.
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‎sys/Makefile.dep‎

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Original file line numberDiff line numberDiff line change
@@ -24,6 +24,23 @@ ifneq (,$(filter auto_init_gnrc_netif,$(USEMODULE)))
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USEMODULE += gnrc_netif_init_devs
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endif
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ifneq (,$(filter auto_init_wdt_thread,$(USEMODULE)))
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USEMODULE += periph_wdt_auto_start
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USEMODULE += ztimer_msec
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# we can only have either auto_init_wdt_event or auto_init_wdt_thread
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ifneq (,$(filter auto_init_wdt_event,$(USEMODULE)))
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$(error auto_init_wdt_event and auto_init_wdt_thread are mutually exclusive)
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endif
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endif
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ifneq (,$(filter auto_init_wdt_event,$(USEMODULE)))
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USEMODULE += event_periodic_callback
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USEMODULE += event_thread
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USEMODULE += periph_wdt_auto_start
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USEMODULE += ztimer_msec
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endif
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ifneq (,$(filter auto_init_sock_dns,$(USEMODULE)))
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ifneq (,$(filter ipv4,$(USEMODULE)))
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USEMODULE += ipv4_addr

‎sys/auto_init/Makefile‎

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Original file line numberDiff line numberDiff line change
@@ -30,4 +30,12 @@ ifneq (,$(filter auto_init_screen,$(USEMODULE)))
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DIRS += screen
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endif
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ifneq (,$(filter auto_init_wdt_event,$(USEMODULE)))
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DIRS += wdt_event
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endif
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ifneq (,$(filter auto_init_wdt_thread,$(USEMODULE)))
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DIRS += wdt_thread
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endif
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include $(RIOTBASE)/Makefile.base

‎sys/auto_init/include/auto_init_priorities.h‎

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Original file line numberDiff line numberDiff line change
@@ -41,6 +41,12 @@ extern "C" {
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*/
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#define AUTO_INIT_PRIO_MOD_XTIMER 1030
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#endif
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#ifndef AUTO_INIT_PRIO_WDT_THREAD
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/**
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* @brief WDT priority
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*/
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#define AUTO_INIT_PRIO_WDT_THREAD 1035
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#endif
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#ifndef AUTO_INIT_PRIO_MOD_RANDOM
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/**
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* @brief RNG priority
@@ -71,6 +77,12 @@ extern "C" {
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*/
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#define AUTO_INIT_PRIO_MOD_EVENT_THREAD 1080
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#endif
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#ifndef AUTO_INIT_PRIO_WDT_EVENT
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/**
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* @brief WDT event priority
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*/
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#define AUTO_INIT_PRIO_WDT_EVENT 1085
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#endif
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#ifndef AUTO_INIT_PRIO_MOD_SYS_BUS
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/**
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* @brief sys bus priority

‎sys/auto_init/wdt_event/Makefile‎

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@@ -0,0 +1,3 @@
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MODULE = auto_init_wdt_event
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include $(RIOTBASE)/Makefile.base

‎sys/auto_init/wdt_event/wdt.c‎

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@@ -0,0 +1,47 @@
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/*
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* Copyright (C) 2022 ML!PA Consulting GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup sys_auto_init
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* @{
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*
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* @file wdt.c
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* @brief Watchdog Event
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*
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* @author Benjamin Valentin <[email protected]>
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*
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* @}
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*/
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#include "auto_init.h"
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#include "auto_init_utils.h"
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#include "auto_init_priorities.h"
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#include "architecture.h"
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#include "event/periodic_callback.h"
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#include "event/thread.h"
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#include "periph/wdt.h"
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#include "ztimer.h"
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static void _wdt_event_cb(void *ctx)
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{
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(void)ctx;
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wdt_kick();
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}
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static void auto_init_wdt_event(void)
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{
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static event_periodic_callback_t wdt_event;
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unsigned sleep_ms = (CONFIG_PERIPH_WDT_WIN_MIN_MS + CONFIG_PERIPH_WDT_WIN_MAX_MS)
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/ 2;
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event_periodic_callback_init(&wdt_event, ZTIMER_MSEC, EVENT_PRIO_LOWEST, _wdt_event_cb, NULL);
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event_periodic_callback_start(&wdt_event, sleep_ms);
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}
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AUTO_INIT(auto_init_wdt_event, AUTO_INIT_PRIO_WDT_EVENT);

‎sys/auto_init/wdt_thread/Makefile‎

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@@ -0,0 +1,3 @@
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MODULE = auto_init_wdt_thread
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include $(RIOTBASE)/Makefile.base

‎sys/auto_init/wdt_thread/wdt.c‎

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@@ -0,0 +1,58 @@
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/*
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* Copyright (C) 2022 ML!PA Consulting GmbH
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
6+
* directory for more details.
7+
*/
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9+
/**
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* @ingroup sys_auto_init
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* @{
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*
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* @file wdt.c
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* @brief Watchdog Thread
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*
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* @author Benjamin Valentin <[email protected]>
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*
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* @}
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*/
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#include "auto_init.h"
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#include "auto_init_utils.h"
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#include "auto_init_priorities.h"
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25+
#include "architecture.h"
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#include "periph/wdt.h"
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#include "ztimer.h"
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#ifndef WDT_THREAD_STACKSIZE
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#if DEVELHELP
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#define WDT_THREAD_STACKSIZE THREAD_STACKSIZE_SMALL
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#else
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#define WDT_THREAD_STACKSIZE THREAD_STACKSIZE_TINY
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#endif
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#endif
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static char WORD_ALIGNED wdt_stack[WDT_THREAD_STACKSIZE];
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static void *_wdt_thread(void *ctx)
40+
{
41+
(void)ctx;
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unsigned sleep_ms = (CONFIG_PERIPH_WDT_WIN_MIN_MS + CONFIG_PERIPH_WDT_WIN_MAX_MS)
43+
/ 2;
44+
while (1) {
45+
ztimer_sleep(ZTIMER_MSEC, sleep_ms);
46+
wdt_kick();
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}
48+
49+
return NULL;
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}
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static void auto_init_wdt_thread(void)
53+
{
54+
thread_create(wdt_stack, sizeof(wdt_stack), THREAD_PRIORITY_MIN,
55+
THREAD_CREATE_STACKTEST, _wdt_thread, NULL, "watchdog");
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}
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AUTO_INIT(auto_init_wdt_thread, AUTO_INIT_PRIO_WDT_THREAD);

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