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HAL_ChibiOS: add adjustable wdg timeout for hwdefs 

This allows the watchdog timeout to be adjusted in the hwdef.dat file,
so that critical nodes like ESCs can recover more quickly.
This commit is contained in:
Bob Long 2024-02-16 13:31:14 -05:00 committed by Peter Barker
parent 03bdbea77c
commit 230269bed8
3 changed files with 18 additions and 5 deletions
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2
Tools/AP_Periph/AP_Periph.cpp
View File

@ -608,7 +608,9 @@ void AP_Periph_FW::prepare_reboot()
// delay to give the ACK a chance to get out, the LEDs to flash,
// the IO board safety to be forced on, the parameters to flush,
hal.scheduler->expect_delay_ms(100);
hal.scheduler->delay(40);
hal.scheduler->expect_delay_ms(0);
}
/*

19
libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c
View File

@ -22,6 +22,16 @@
#error "Unsupported IWDG RCC MCU config"
#endif
/*
define for controlling how long the watchdog is set for.
*/
#ifndef STM32_WDG_TIMEOUT_MS
#define STM32_WDG_TIMEOUT_MS 2048
#endif
#if STM32_WDG_TIMEOUT_MS > 4096 || STM32_WDG_TIMEOUT_MS < 20
#error "Watchdog timeout out of range"
#endif
/*
defines for working out if the reset was from the watchdog
*/
@ -68,16 +78,17 @@ static bool watchdog_enabled;
*/
void stm32_watchdog_init(void)
{
// setup for 2s reset
// setup the watchdog timeout
// t = 4 * 2^PR * (RLR+1) / 32KHz
IWDGD.KR = 0x5555;
IWDGD.PR = 2; // div16
IWDGD.RLR = 0xFFF;
IWDGD.PR = 3; // changing this would change the definition of STM32_WDG_TIMEOUT_MS
IWDGD.RLR = STM32_WDG_TIMEOUT_MS - 1;
IWDGD.KR = 0xCCCC;
watchdog_enabled = true;
}
/*
pat the dog, to prevent a reset. If not called for 1s
pat the dog, to prevent a reset. If not called for STM32_WDG_TIMEOUT_MS
after stm32_watchdog_init() then MCU will reset
*/
void stm32_watchdog_pat(void)

2
libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.h
View File

@ -10,7 +10,7 @@ extern "C" {
void stm32_watchdog_init(void);
/*
pat the dog, to prevent a reset. If not called for 1s
pat the dog, to prevent a reset. If not called for STM32_WDG_TIMEOUT_MS
after stm32_watchdog_init() then MCU will reset
*/
void stm32_watchdog_pat(void);