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added main and defined M_PI
Watchdog/Watchdog.cpp@8:729ad465d6c9, 2019-08-05 (annotated)
- Committer:
- JesiMiranda
- Date:
- Mon Aug 05 21:57:13 2019 +0000
- Revision:
- 8:729ad465d6c9
- Parent:
- 7:b548a684290d
- Child:
- 10:14374b492f1d
up-to-date code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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JesiMiranda | 7:b548a684290d | 1 | /// @file Watchdog.cpp provides the interface to the Watchdog module |
JesiMiranda | 7:b548a684290d | 2 | /// |
JesiMiranda | 7:b548a684290d | 3 | /// This provides basic Watchdog service for the mbed. You can configure |
JesiMiranda | 7:b548a684290d | 4 | /// various timeout intervals that meet your system needs. Additionally, |
JesiMiranda | 8:729ad465d6c9 | 5 | /// it is possible to identify if the Watchdog was the cause of any |
JesiMiranda | 7:b548a684290d | 6 | /// system restart. |
JesiMiranda | 8:729ad465d6c9 | 7 | /// |
JesiMiranda | 7:b548a684290d | 8 | /// Adapted from Simon's Watchdog code from http://mbed.org/forum/mbed/topic/508/ |
JesiMiranda | 7:b548a684290d | 9 | /// |
JesiMiranda | 7:b548a684290d | 10 | /// @note Copyright © 2011 by Smartware Computing, all rights reserved. |
JesiMiranda | 7:b548a684290d | 11 | /// This software may be used to derive new software, as long as |
JesiMiranda | 7:b548a684290d | 12 | /// this copyright statement remains in the source file. |
JesiMiranda | 7:b548a684290d | 13 | /// @author David Smart |
JesiMiranda | 7:b548a684290d | 14 | /// |
JesiMiranda | 7:b548a684290d | 15 | /// @note Copyright © 2015 by NBRemond, all rights reserved. |
JesiMiranda | 7:b548a684290d | 16 | /// This software may be used to derive new software, as long as |
JesiMiranda | 7:b548a684290d | 17 | /// this copyright statement remains in the source file. |
JesiMiranda | 7:b548a684290d | 18 | /// |
JesiMiranda | 7:b548a684290d | 19 | /// Added support for STM32 Nucleo platforms |
JesiMiranda | 7:b548a684290d | 20 | /// |
JesiMiranda | 7:b548a684290d | 21 | /// @author Bernaérd Remond |
JesiMiranda | 7:b548a684290d | 22 | /// |
JesiMiranda | 7:b548a684290d | 23 | |
JesiMiranda | 7:b548a684290d | 24 | //#define LPC |
JesiMiranda | 7:b548a684290d | 25 | #define ST_NUCLEO |
JesiMiranda | 7:b548a684290d | 26 | |
JesiMiranda | 7:b548a684290d | 27 | |
JesiMiranda | 7:b548a684290d | 28 | #include "mbed.h" |
JesiMiranda | 7:b548a684290d | 29 | #include "Watchdog.h" |
JesiMiranda | 8:729ad465d6c9 | 30 | #include "BNO080.h" |
JesiMiranda | 7:b548a684290d | 31 | |
JesiMiranda | 7:b548a684290d | 32 | /// Watchdog gets instantiated at the module level |
JesiMiranda | 8:729ad465d6c9 | 33 | Watchdog::Watchdog(BNO080 *imu) |
JesiMiranda | 8:729ad465d6c9 | 34 | { |
JesiMiranda | 8:729ad465d6c9 | 35 | #ifdef LPC |
JesiMiranda | 7:b548a684290d | 36 | wdreset = (LPC_WDT->WDMOD >> 2) & 1; // capture the cause of the previous reset |
JesiMiranda | 7:b548a684290d | 37 | #endif |
JesiMiranda | 7:b548a684290d | 38 | #ifdef ST_NUCLEO |
JesiMiranda | 7:b548a684290d | 39 | // capture the cause of the previous reset |
JesiMiranda | 7:b548a684290d | 40 | /* Check if the system has resumed from IWDG reset */ |
JesiMiranda | 8:729ad465d6c9 | 41 | /* |
JesiMiranda | 8:729ad465d6c9 | 42 | if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)) { |
JesiMiranda | 8:729ad465d6c9 | 43 | wdreset = true; |
JesiMiranda | 8:729ad465d6c9 | 44 | } |
JesiMiranda | 8:729ad465d6c9 | 45 | else { |
JesiMiranda | 8:729ad465d6c9 | 46 | wdreset = false; |
JesiMiranda | 8:729ad465d6c9 | 47 | } |
JesiMiranda | 8:729ad465d6c9 | 48 | */ |
JesiMiranda | 8:729ad465d6c9 | 49 | //printf("in constructor\r\n"); |
JesiMiranda | 8:729ad465d6c9 | 50 | imu1 = imu; |
JesiMiranda | 8:729ad465d6c9 | 51 | wdreset = false; |
JesiMiranda | 7:b548a684290d | 52 | #endif |
JesiMiranda | 7:b548a684290d | 53 | |
JesiMiranda | 7:b548a684290d | 54 | } |
JesiMiranda | 7:b548a684290d | 55 | |
JesiMiranda | 7:b548a684290d | 56 | /// Load timeout value in watchdog timer and enable |
JesiMiranda | 7:b548a684290d | 57 | // Timeout is in units of seconds |
JesiMiranda | 8:729ad465d6c9 | 58 | void Watchdog::Configure(float timeout) |
JesiMiranda | 8:729ad465d6c9 | 59 | { |
JesiMiranda | 8:729ad465d6c9 | 60 | #ifdef LPC |
JesiMiranda | 7:b548a684290d | 61 | LPC_WDT->WDCLKSEL = 0x1; // Set CLK src to PCLK |
JesiMiranda | 7:b548a684290d | 62 | uint32_t clk = SystemCoreClock / 16; // WD has a fixed /4 prescaler, PCLK default is /4 |
JesiMiranda | 7:b548a684290d | 63 | LPC_WDT->WDTC = (uint32_t)(timeout * (float)clk); |
JesiMiranda | 7:b548a684290d | 64 | LPC_WDT->WDMOD = 0x3; // Enabled and Reset |
JesiMiranda | 8:729ad465d6c9 | 65 | #endif |
JesiMiranda | 8:729ad465d6c9 | 66 | |
JesiMiranda | 7:b548a684290d | 67 | #ifdef ST_NUCLEO |
JesiMiranda | 8:729ad465d6c9 | 68 | // see http://embedded-lab.com/blog/?p=9662 |
JesiMiranda | 8:729ad465d6c9 | 69 | #define LsiFreq (45000) |
JesiMiranda | 7:b548a684290d | 70 | uint16_t PrescalerCode; |
JesiMiranda | 7:b548a684290d | 71 | uint16_t Prescaler; |
JesiMiranda | 7:b548a684290d | 72 | uint16_t ReloadValue; |
JesiMiranda | 7:b548a684290d | 73 | float Calculated_timeout; |
JesiMiranda | 8:729ad465d6c9 | 74 | |
JesiMiranda | 7:b548a684290d | 75 | if ((timeout * (LsiFreq/4)) < 0x7FF) { |
JesiMiranda | 7:b548a684290d | 76 | PrescalerCode = IWDG_PRESCALER_4; |
JesiMiranda | 7:b548a684290d | 77 | Prescaler = 4; |
JesiMiranda | 8:729ad465d6c9 | 78 | } else if ((timeout * (LsiFreq/8)) < 0xFF0) { |
JesiMiranda | 7:b548a684290d | 79 | PrescalerCode = IWDG_PRESCALER_8; |
JesiMiranda | 7:b548a684290d | 80 | Prescaler = 8; |
JesiMiranda | 8:729ad465d6c9 | 81 | } else if ((timeout * (LsiFreq/16)) < 0xFF0) { |
JesiMiranda | 7:b548a684290d | 82 | PrescalerCode = IWDG_PRESCALER_16; |
JesiMiranda | 7:b548a684290d | 83 | Prescaler = 16; |
JesiMiranda | 8:729ad465d6c9 | 84 | } else if ((timeout * (LsiFreq/32)) < 0xFF0) { |
JesiMiranda | 7:b548a684290d | 85 | PrescalerCode = IWDG_PRESCALER_32; |
JesiMiranda | 7:b548a684290d | 86 | Prescaler = 32; |
JesiMiranda | 8:729ad465d6c9 | 87 | if(imu1->begin()) { |
JesiMiranda | 8:729ad465d6c9 | 88 | IWDG->KR = 0xAAAA; //Reload IWDG |
JesiMiranda | 8:729ad465d6c9 | 89 | IWDG->KR = 0xCCCC; //Start IWDG |
JesiMiranda | 8:729ad465d6c9 | 90 | Service(); |
JesiMiranda | 8:729ad465d6c9 | 91 | } |
JesiMiranda | 8:729ad465d6c9 | 92 | //wait(5); |
JesiMiranda | 8:729ad465d6c9 | 93 | |
JesiMiranda | 8:729ad465d6c9 | 94 | } else if ((timeout * (LsiFreq/64)) < 0xFF0) { |
JesiMiranda | 7:b548a684290d | 95 | PrescalerCode = IWDG_PRESCALER_64; |
JesiMiranda | 7:b548a684290d | 96 | Prescaler = 64; |
JesiMiranda | 8:729ad465d6c9 | 97 | } else if ((timeout * (LsiFreq/128)) < 0xFF0) { |
JesiMiranda | 7:b548a684290d | 98 | PrescalerCode = IWDG_PRESCALER_128; |
JesiMiranda | 7:b548a684290d | 99 | Prescaler = 128; |
JesiMiranda | 8:729ad465d6c9 | 100 | } else { |
JesiMiranda | 7:b548a684290d | 101 | PrescalerCode = IWDG_PRESCALER_256; |
JesiMiranda | 7:b548a684290d | 102 | Prescaler = 256; |
JesiMiranda | 7:b548a684290d | 103 | } |
JesiMiranda | 8:729ad465d6c9 | 104 | |
JesiMiranda | 7:b548a684290d | 105 | // specifies the IWDG Reload value. This parameter must be a number between 0 and 0x0FFF. |
JesiMiranda | 7:b548a684290d | 106 | ReloadValue = (uint32_t)(timeout * (LsiFreq/Prescaler)); |
JesiMiranda | 8:729ad465d6c9 | 107 | |
JesiMiranda | 7:b548a684290d | 108 | Calculated_timeout = ((float)(Prescaler * ReloadValue)) / LsiFreq; |
JesiMiranda | 7:b548a684290d | 109 | printf("WATCHDOG set with prescaler:%d reload value: 0x%X - timeout:%f\n",Prescaler, ReloadValue, Calculated_timeout); |
JesiMiranda | 8:729ad465d6c9 | 110 | |
JesiMiranda | 8:729ad465d6c9 | 111 | IWDG->KR = 0x5555; //Disable write protection of IWDG registers |
JesiMiranda | 8:729ad465d6c9 | 112 | IWDG->PR = PrescalerCode; //Set PR value |
JesiMiranda | 8:729ad465d6c9 | 113 | IWDG->RLR = ReloadValue; //Set RLR value |
JesiMiranda | 8:729ad465d6c9 | 114 | IWDG->KR = 0xAAAA; //Reload IWDG |
JesiMiranda | 8:729ad465d6c9 | 115 | IWDG->KR = 0xCCCC; //Start IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf |
JesiMiranda | 7:b548a684290d | 116 | #endif |
JesiMiranda | 8:729ad465d6c9 | 117 | |
JesiMiranda | 7:b548a684290d | 118 | Service(); |
JesiMiranda | 8:729ad465d6c9 | 119 | |
JesiMiranda | 7:b548a684290d | 120 | } |
JesiMiranda | 7:b548a684290d | 121 | |
JesiMiranda | 7:b548a684290d | 122 | /// "Service", "kick" or "feed" the dog - reset the watchdog timer |
JesiMiranda | 7:b548a684290d | 123 | /// by writing this required bit pattern |
JesiMiranda | 8:729ad465d6c9 | 124 | void Watchdog::Service() |
JesiMiranda | 8:729ad465d6c9 | 125 | { |
JesiMiranda | 8:729ad465d6c9 | 126 | #ifdef LPC |
JesiMiranda | 7:b548a684290d | 127 | LPC_WDT->WDFEED = 0xAA; |
JesiMiranda | 7:b548a684290d | 128 | LPC_WDT->WDFEED = 0x55; |
JesiMiranda | 8:729ad465d6c9 | 129 | #endif |
JesiMiranda | 7:b548a684290d | 130 | #ifdef ST_NUCLEO |
JesiMiranda | 7:b548a684290d | 131 | IWDG->KR = 0xAAAA; //Reload IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf |
JesiMiranda | 7:b548a684290d | 132 | #endif |
JesiMiranda | 7:b548a684290d | 133 | } |
JesiMiranda | 7:b548a684290d | 134 | |
JesiMiranda | 7:b548a684290d | 135 | /// get the flag to indicate if the watchdog causes the reset |
JesiMiranda | 8:729ad465d6c9 | 136 | bool Watchdog::WatchdogCausedReset() |
JesiMiranda | 8:729ad465d6c9 | 137 | { |
JesiMiranda | 7:b548a684290d | 138 | return wdreset; |
JesiMiranda | 7:b548a684290d | 139 | } |