pios_wdg.c

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#include <pios.h>
#include <pios_thread.h>

unsigned int wdg_registered_flags;
unsigned int wdg_updated_flags;
uint32_t wdg_cleared_time;
uint32_t wdg_last_update_time;

bool wdg_expired;

static bool PIOS_WDG_Check();

uint16_t PIOS_WDG_Init()
{
        wdg_registered_flags = 0;
        wdg_updated_flags = 0;

        wdg_last_update_time = PIOS_Thread_Systime();

        return 0;
}

bool PIOS_WDG_RegisterFlag(uint16_t flag_requested) 
{
        wdg_registered_flags |= flag_requested;
        return true;
}

bool PIOS_WDG_UpdateFlag(uint16_t flag) 
{
        uint32_t now = PIOS_Thread_Systime();

        PIOS_WDG_Check();

        wdg_updated_flags |= flag;
        if( wdg_updated_flags == wdg_registered_flags) {
                wdg_updated_flags = 0;
                wdg_last_update_time = now - wdg_cleared_time;
                wdg_cleared_time = now;
        }
        return true;            
}

uint16_t PIOS_WDG_GetBootupFlags()
{
        return (uint16_t) 0xffff;
}

uint16_t PIOS_WDG_GetActiveFlags()
{
        return (uint16_t) 0xffff;
}

void PIOS_WDG_Clear(void)
{
}

static bool PIOS_WDG_Check()
{
        if (PIOS_Thread_Period_Elapsed(wdg_cleared_time, 250)) {
                if(!wdg_expired)
                        fprintf(stderr, "Watchdog fired / %d %d %x %x\r\n",
                                        wdg_cleared_time,
                                        PIOS_Thread_Systime(),
                                        wdg_registered_flags,
                                        wdg_updated_flags);
                wdg_expired = true;
        }
        return wdg_expired;
}