Diff: Watchdog/Watchdog.cpp

Revision:

8:729ad465d6c9

Parent:

7:b548a684290d

Child:

10:14374b492f1d

--- a/Watchdog/Watchdog.cpp	Tue Jul 30 21:06:04 2019 +0000
+++ b/Watchdog/Watchdog.cpp	Mon Aug 05 21:57:13 2019 +0000
@@ -2,9 +2,9 @@
 ///
 /// This provides basic Watchdog service for the mbed. You can configure
 /// various timeout intervals that meet your system needs. Additionally,
-/// it is possible to identify if the Watchdog was the cause of any 
+/// it is possible to identify if the Watchdog was the cause of any
 /// system restart.
-/// 
+///
 /// Adapted from Simon's Watchdog code from http://mbed.org/forum/mbed/topic/508/
 ///
 /// @note Copyright © 2011 by Smartware Computing, all rights reserved.
@@ -27,106 +27,113 @@
 
 #include "mbed.h"
 #include "Watchdog.h"
-
+#include "BNO080.h"
 
 /// Watchdog gets instantiated at the module level
-Watchdog::Watchdog() {
-#ifdef LPC    
+Watchdog::Watchdog(BNO080 *imu)
+{
+#ifdef LPC
     wdreset = (LPC_WDT->WDMOD >> 2) & 1;    // capture the cause of the previous reset
 #endif
 #ifdef ST_NUCLEO
     // capture the cause of the previous reset
     /* Check if the system has resumed from IWDG reset */
-/*
-    if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)) {
-        wdreset = true;
-    }
-    else {
-        wdreset = false; 
-    }
-*/       
-        //printf("in constructor\r\n");
-        wdreset = false; 
+    /*
+        if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)) {
+            wdreset = true;
+        }
+        else {
+            wdreset = false;
+        }
+    */
+    //printf("in constructor\r\n");
+    imu1 = imu;
+    wdreset = false;
 #endif
 
 }
 
 /// Load timeout value in watchdog timer and enable
 // Timeout is in units of seconds
-void Watchdog::Configure(float timeout) {
-#ifdef LPC    
+void Watchdog::Configure(float timeout)
+{
+#ifdef LPC
     LPC_WDT->WDCLKSEL = 0x1;                // Set CLK src to PCLK
     uint32_t clk = SystemCoreClock / 16;    // WD has a fixed /4 prescaler, PCLK default is /4
     LPC_WDT->WDTC = (uint32_t)(timeout * (float)clk);
     LPC_WDT->WDMOD = 0x3;                   // Enabled and Reset
-#endif  
- 
+#endif
+
 #ifdef ST_NUCLEO
-    // see http://embedded-lab.com/blog/?p=9662    
-    #define LsiFreq (45000)
+    // see http://embedded-lab.com/blog/?p=9662
+#define LsiFreq (45000)
     uint16_t PrescalerCode;
     uint16_t Prescaler;
     uint16_t ReloadValue;
     float Calculated_timeout;
-    
+
     if ((timeout * (LsiFreq/4)) < 0x7FF) {
         PrescalerCode = IWDG_PRESCALER_4;
         Prescaler = 4;
-    }
-    else if ((timeout * (LsiFreq/8)) < 0xFF0) {
+    } else if ((timeout * (LsiFreq/8)) < 0xFF0) {
         PrescalerCode = IWDG_PRESCALER_8;
         Prescaler = 8;
-    }
-    else if ((timeout * (LsiFreq/16)) < 0xFF0) {
+    } else if ((timeout * (LsiFreq/16)) < 0xFF0) {
         PrescalerCode = IWDG_PRESCALER_16;
         Prescaler = 16;
-    }
-    else if ((timeout * (LsiFreq/32)) < 0xFF0) {
+    } else if ((timeout * (LsiFreq/32)) < 0xFF0) {
         PrescalerCode = IWDG_PRESCALER_32;
         Prescaler = 32;
-    }
-    else if ((timeout * (LsiFreq/64)) < 0xFF0) {
+        if(imu1->begin()) {
+            IWDG->KR = 0xAAAA;    //Reload IWDG
+            IWDG->KR = 0xCCCC;    //Start IWDG
+            Service();
+        }
+        //wait(5);
+
+    } else if ((timeout * (LsiFreq/64)) < 0xFF0) {
         PrescalerCode = IWDG_PRESCALER_64;
         Prescaler = 64;
-    }
-    else if ((timeout * (LsiFreq/128)) < 0xFF0) {
+    } else if ((timeout * (LsiFreq/128)) < 0xFF0) {
         PrescalerCode = IWDG_PRESCALER_128;
         Prescaler = 128;
-    }
-    else {
+    } else {
         PrescalerCode = IWDG_PRESCALER_256;
         Prescaler = 256;
     }
-    
+
     // specifies the IWDG Reload value. This parameter must be a number between 0 and 0x0FFF.
     ReloadValue = (uint32_t)(timeout * (LsiFreq/Prescaler));
-    
+
     Calculated_timeout = ((float)(Prescaler * ReloadValue)) / LsiFreq;
     printf("WATCHDOG set with prescaler:%d reload value: 0x%X - timeout:%f\n",Prescaler, ReloadValue, Calculated_timeout);
-    
-    IWDG->KR = 0x5555; //Disable write protection of IWDG registers      
-    IWDG->PR = PrescalerCode;      //Set PR value      
-    IWDG->RLR = ReloadValue;      //Set RLR value      
-    IWDG->KR = 0xAAAA;    //Reload IWDG      
-    IWDG->KR = 0xCCCC;    //Start IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf       
+
+    IWDG->KR = 0x5555; //Disable write protection of IWDG registers
+    IWDG->PR = PrescalerCode;      //Set PR value
+    IWDG->RLR = ReloadValue;      //Set RLR value
+    IWDG->KR = 0xAAAA;    //Reload IWDG
+    IWDG->KR = 0xCCCC;    //Start IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf
 #endif
- 
+
     Service();
+
 }
 
 /// "Service", "kick" or "feed" the dog - reset the watchdog timer
 /// by writing this required bit pattern
-void Watchdog::Service() {
-#ifdef LPC    
+void Watchdog::Service()
+{
+#ifdef LPC
     LPC_WDT->WDFEED = 0xAA;
     LPC_WDT->WDFEED = 0x55;
-#endif    
+#endif
 #ifdef ST_NUCLEO
     IWDG->KR = 0xAAAA;         //Reload IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf
 #endif
 }
 
 /// get the flag to indicate if the watchdog causes the reset
-bool Watchdog::WatchdogCausedReset() {
+bool Watchdog::WatchdogCausedReset()
+{
     return wdreset;
 }