/************************************************************************** * * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. * * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. * * @file WatchdogMgmt.c * * @date 20-Sep-2019 * @author S. Nash * * @brief Monitor for the off and stop buttons. * **************************************************************************/ #include "CPLD.h" #include "SafetyShutdown.h" #include "SystemCommMessages.h" #include "Timers.h" #include "WatchdogMgmt.h" // ********** private definitions ********** #define MIN_WATCHDOG_PET_INTERVAL_MS 45 #define WATCHDOG_POST_TIMEOUT_MS 100 #define WATCHDOG_RECOVERY_TIME_MS 250 typedef enum Button_Self_Test_States { WATCHDOG_SELF_TEST_STATE_START = 0, WATCHDOG_SELF_TEST_STATE_IN_PROGRESS, WATCHDOG_SELF_TEST_STATE_RECOVER, WATCHDOG_SELF_TEST_STATE_COMPLETE, NUM_OF_WATCHDOG_SELF_TEST_STATES } WATCHDOG_SELF_TEST_STATE_T; // ********** private data ********** static U32 lastWatchdogPetTime = 0; DATA_ARRAY_DECL( BOOL, TaskCheckIns, NUM_OF_TASKS, watchdogTaskCheckedIn ); static WATCHDOG_SELF_TEST_STATE_T watchdogSelfTestState = WATCHDOG_SELF_TEST_STATE_START; static SELF_TEST_STATUS_T watchdogSelfTestStatus; static U32 watchdogSelfTestTimerCount = 0; // ********** private function prototypes ********** static void resetWDTaskCheckIns( void ); static BOOL haveAllTasksCheckedIn( void ); static void petWatchdog( void ); static DATA_ARRAY_GET_PROTOTYPE( BOOL, hasTaskGeneralCheckedIn, task ); /************************************************************************* * @brief initWatchdogMgmt * The initWatchdogMgmt function initializes the watchdog mgmt. module. * @details * Inputs : none * Outputs : Watchdog mgmt. module initialized. * @param none * @return none *************************************************************************/ void initWatchdogMgmt( void ) { U32 i; lastWatchdogPetTime = 0; watchdogSelfTestState = WATCHDOG_SELF_TEST_STATE_START; watchdogSelfTestStatus = SELF_TEST_STATUS_IN_PROGRESS; watchdogSelfTestTimerCount = 0; // initialize task check-ins to false for ( i = 0; i < NUM_OF_TASKS; i++ ) { watchdogTaskCheckedIn[ i ].data = FALSE; watchdogTaskCheckedIn[ i ].ovData = FALSE; watchdogTaskCheckedIn[ i ].ovInitData = FALSE; watchdogTaskCheckedIn[ i ].override = OVERRIDE_RESET; } } /************************************************************************* * @brief execWatchdogMgmt * The execWatchdogMgmt function executes thewatchdog mgmt. service. * @details * Inputs : none * Outputs : * @param none * @return none *************************************************************************/ void execWatchdogMgmt( void ) { BOOL allTasksCheckedIn; // called by background task, so give bg task credit for checking in checkInWithWatchdogMgmt( TASK_BG ); // check to see if all monitored tasks have checked in allTasksCheckedIn = haveAllTasksCheckedIn(); // if all monitored tasks checked in, pet watchdog and clear the slate if ( ( TRUE == allTasksCheckedIn ) && ( didTimeout( lastWatchdogPetTime, MIN_WATCHDOG_PET_INTERVAL_MS ) ) ) { petWatchdog(); resetWDTaskCheckIns(); } #ifndef RM46_EVAL_BOARD_TARGET // check to see if watchdog has expired #ifndef BREADBOARD_TARGET if ( getCPLDWatchdogExpired() == PIN_SIGNAL_LOW ) #else if ( getCPLDWatchdogExpired() == PIN_SIGNAL_HIGH ) #endif { // ignore expired watchdog until after watchdog POST if ( WATCHDOG_SELF_TEST_STATE_COMPLETE == watchdogSelfTestState ) { #ifndef DEBUG_ENABLED activateAlarmNoData( ALARM_ID_WATCHDOG_EXPIRED ); #endif } } #endif } /************************************************************************* * @brief checkInWithWatchdogMgmt * The checkInWithWatchdogMgmt function checks a given task in with the \n * watchdog mgmt. service. * @details * Inputs : none * Outputs : task is checked in with the watchdog mgmt.. * @param task : the task that is checking in with the watchdog mgmt. * @return none *************************************************************************/ void checkInWithWatchdogMgmt( TASK_T task ) { if ( task < NUM_OF_TASKS ) { watchdogTaskCheckedIn[ task ].data = TRUE; } } /************************************************************************* * @brief execWatchdogTest * The execWatchdogTest function executes the watchdog test. \n * This function should be called periodically until a pass or fail \n * result is returned. * @details * Inputs : * Outputs : * @param none * @return in progress, passed, or failed *************************************************************************/ SELF_TEST_STATUS_T execWatchdogTest( void ) { SELF_TEST_STATUS_T result = SELF_TEST_STATUS_IN_PROGRESS; switch ( watchdogSelfTestState ) { case WATCHDOG_SELF_TEST_STATE_START: watchdogSelfTestState = WATCHDOG_SELF_TEST_STATE_IN_PROGRESS; watchdogSelfTestTimerCount = getMSTimerCount(); // no break here so we pass through directly to in progress processing case WATCHDOG_SELF_TEST_STATE_IN_PROGRESS: while ( FALSE == didTimeout( watchdogSelfTestTimerCount, WATCHDOG_POST_TIMEOUT_MS ) ) { // waiting here for w.d. test period to prevent this task from checking in - watchdog should expire } if ( getCPLDWatchdogExpired() == PIN_SIGNAL_HIGH ) { watchdogSelfTestStatus = SELF_TEST_STATUS_PASSED; } else { activateAlarmNoData( ALARM_ID_WATCHDOG_POST_TEST_FAILED ); watchdogSelfTestStatus = SELF_TEST_STATUS_FAILED; } watchdogSelfTestTimerCount = getMSTimerCount(); watchdogSelfTestState = WATCHDOG_SELF_TEST_STATE_RECOVER; break; case WATCHDOG_SELF_TEST_STATE_RECOVER: if ( TRUE == didTimeout( watchdogSelfTestTimerCount, WATCHDOG_RECOVERY_TIME_MS ) ) { result = watchdogSelfTestStatus; watchdogSelfTestState = WATCHDOG_SELF_TEST_STATE_COMPLETE; } break; case WATCHDOG_SELF_TEST_STATE_COMPLETE: // if we get called in this state, assume we're doing self test again watchdogSelfTestStatus = SELF_TEST_STATUS_IN_PROGRESS; watchdogSelfTestState = WATCHDOG_SELF_TEST_STATE_START; break; default: result = SELF_TEST_STATUS_FAILED; SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_WATCHDOG_INVALID_SELF_TEST_STATE, watchdogSelfTestState ) break; } return result; } /************************************************************************* * @brief resetWDTaskCheckIns * The resetWDTaskCheckIns function resets the task check-ins with the watchdog. * @details * Inputs : none * Outputs : watchdogTaskCheckedIn[] array reset to all false. * @param none * @return none *************************************************************************/ static void resetWDTaskCheckIns( void ) { U32 i; // initialize task check-ins to false for ( i = 0; i < NUM_OF_TASKS; i++ ) { watchdogTaskCheckedIn[ i ].data = FALSE; } } /************************************************************************* * @brief haveAllTasksCheckedIn * The haveAllTasksCheckedIn function determines whether all tasks have /n * checked in with watchdog mgmt. * @details * Inputs : watchdogTaskCheckedIn[] * Outputs : none * @param none * @return TRUE if all tasks have checked in since last watchdog pet, FALSE if not. *************************************************************************/ static BOOL haveAllTasksCheckedIn( void ) { BOOL result = TRUE; U32 i; // check that each task has checked in for ( i = 0; i < NUM_OF_TASKS; i++ ) { if ( FALSE == hasTaskGeneralCheckedIn( i ) ) { result = FALSE; break; } } return result; } /************************************************************************* * @brief hasTaskGeneralCheckedIn * The hasTaskGeneralCheckedIn function gets the check-in state of a given /n * task. * @details * Inputs : watchdogTaskCheckedIn[] * Outputs : none * @param task : ID of task to check * @return TRUE if given task has checked in, FALSE if not *************************************************************************/ static DATA_ARRAY_GET( BOOL, hasTaskGeneralCheckedIn, task, NUM_OF_TASKS-1, watchdogTaskCheckedIn, FALSE ) /************************************************************************* * @brief petWatchdog * The petWatchdog function pets the watchdog by pulsing the CPLD WD pet /n * signal. * @details * Inputs : none * Outputs : CPLD WD pet signal is pulsed * @param none * @return none *************************************************************************/ static void petWatchdog( void ) { #ifndef RM46_EVAL_BOARD_TARGET // pulse the watchdog signal toggleCPLDWatchdog(); #endif // remember when we last pet the watchdog lastWatchdogPetTime = getMSTimerCount(); } /************************************************************************* * TEST SUPPORT FUNCTIONS *************************************************************************/ /************************************************************************* * @brief testSetWatchdogTaskCheckInOverride and testResetWatchdogTaskCheckInOverride * The testSetWatchdogTaskCheckInOverride function overrides the state of the \n * task check-in with the watchdog management with a given check-in state. \n * The testResetWatchdogTaskCheckInOverride function resets the override of the \n * state of the check-in with the watchdog management. * @details * Inputs : none * Outputs : watchdogTaskCheckedIn[] * @param task : ID of task to override check-in state for * @param value : override state for the given task ID * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_ARRAY_OVERRIDE_FUNC( BOOL, testSetWatchdogTaskCheckInOverride, testResetWatchdogTaskCheckInOverride, watchdogTaskCheckedIn, task, NUM_OF_TASKS-1 )