ardupilot/libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c

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/*
independent watchdog support
*/
#include "hal.h"
#include "watchdog.h"
#include "stm32_util.h"
#ifndef IWDG_BASE
#if defined(STM32H7)
#define IWDG_BASE 0x58004800
#elif defined(STM32F7) || defined(STM32F4)
#define IWDG_BASE 0x40003000
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#elif defined(STM32F1) || defined(STM32F3)
#define IWDG_BASE 0x40003000
#else
#error "Unsupported IWDG MCU config"
#endif
#endif
#ifndef RCC_BASE
#error "Unsupported IWDG RCC MCU config"
#endif
/*
defines for working out if the reset was from the watchdog
*/
#if defined(STM32H7)
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#define WDG_RESET_STATUS (*(__IO uint32_t *)(RCC_BASE + 0xD0))
#define WDG_RESET_CLEAR (1U<<16)
#define WDG_RESET_IS_IWDG (1U<<26)
#define WDG_RESET_IS_SFT (1U<<24)
#elif defined(STM32F7) || defined(STM32F4)
#define WDG_RESET_STATUS (*(__IO uint32_t *)(RCC_BASE + 0x74))
#define WDG_RESET_CLEAR (1U<<24)
#define WDG_RESET_IS_IWDG (1U<<29)
#define WDG_RESET_IS_SFT (1U<<28)
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#elif defined(STM32F1) || defined(STM32F3)
#define WDG_RESET_STATUS (*(__IO uint32_t *)(RCC_BASE + 0x24))
#define WDG_RESET_CLEAR (1U<<24)
#define WDG_RESET_IS_IWDG (1U<<29)
#define WDG_RESET_IS_SFT (1U<<28)
#elif defined(STM32G4) || defined(STM32L4) || defined(STM32L4PLUS)
#define WDG_RESET_STATUS (*(__IO uint32_t *)(RCC_BASE + 0x94))
#define WDG_RESET_CLEAR (1U<<23)
#define WDG_RESET_IS_IWDG (1U<<29)
#define WDG_RESET_IS_SFT (1U<<28)
#else
#error "Unsupported IWDG MCU config"
#endif
typedef struct
{
__IO uint32_t KR; /*!< IWDG Key register, Address offset: 0x00 */
__IO uint32_t PR; /*!< IWDG Prescaler register, Address offset: 0x04 */
__IO uint32_t RLR; /*!< IWDG Reload register, Address offset: 0x08 */
__IO uint32_t SR; /*!< IWDG Status register, Address offset: 0x0C */
__IO uint32_t WINR; /*!< IWDG Window register, Address offset: 0x10 */
} IWDG_Regs;
#define IWDGD (*(IWDG_Regs *)(IWDG_BASE))
static uint32_t reset_reason;
static bool watchdog_enabled;
/*
setup the watchdog
*/
void stm32_watchdog_init(void)
{
// setup for 2s reset
IWDGD.KR = 0x5555;
IWDGD.PR = 2; // div16
IWDGD.RLR = 0xFFF;
IWDGD.KR = 0xCCCC;
watchdog_enabled = true;
}
/*
pat the dog, to prevent a reset. If not called for 1s
after stm32_watchdog_init() then MCU will reset
*/
void stm32_watchdog_pat(void)
{
if (watchdog_enabled) {
IWDGD.KR = 0xAAAA;
}
}
/*
save reason code for reset
*/
void stm32_watchdog_save_reason(void)
{
if (reset_reason == 0) {
reset_reason = WDG_RESET_STATUS;
}
}
/*
clear reason code for reset
*/
void stm32_watchdog_clear_reason(void)
{
WDG_RESET_STATUS = WDG_RESET_CLEAR;
}
/*
return true if reboot was from a watchdog reset
*/
bool stm32_was_watchdog_reset(void)
{
stm32_watchdog_save_reason();
return (reset_reason & WDG_RESET_IS_IWDG) != 0;
}
/*
return true if reboot was from a software reset
*/
bool stm32_was_software_reset(void)
{
stm32_watchdog_save_reason();
return (reset_reason & WDG_RESET_IS_SFT) != 0;
}
/*
save persistent watchdog data
*/
void stm32_watchdog_save(const uint32_t *data, uint32_t nwords)
{
set_rtc_backup(1, data, nwords);
}
/*
load persistent watchdog data
*/
void stm32_watchdog_load(uint32_t *data, uint32_t nwords)
{
get_rtc_backup(1, data, nwords);
}