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px4-firmware/apps/examples/watchdog/watchdog_main.c

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/****************************************************************************
* examples/watchdog/watchdog_main.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/watchdog.h>
#include "watchdog.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
struct wdog_example_s
{
uint32_t pingtime;
uint32_t pingdelay;
uint32_t timeout;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: wdog_help
****************************************************************************/
static void wdog_help(void)
{
message("Usage: wdog [-h] [-d <pingtime] [-p <pingdelay>] [-t <timeout>]\n");
message("\nInitialize the watchdog to the <timeout>. Start the watchdog\n");
message("timer. Ping for the watchdog for <pingtime> seconds, then let it expire.\n");
message("\nOptions include:\n");
message(" [-d <pingtime>] = Selects the <delay> time in milliseconds. Default: %d\n",
CONFIG_EXAMPLES_WATCHDOG_PINGTIME);
message(" [-p <pingdelay] = Time delay between pings in milliseconds. Default: %d\n",
CONFIG_EXAMPLES_WATCHDOG_PINGDELAY);
message(" [-t timeout] = Time in milliseconds that the example will ping the watchdog\n");
message(" before letting the watchdog expire. Default: %d\n",
CONFIG_EXAMPLES_WATCHDOG_TIMEOUT);
message(" [-h] = Shows this message and exits\n");
}
/****************************************************************************
* Name: arg_string
****************************************************************************/
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
static int arg_decimal(FAR char **arg, FAR long *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = strtol(string, NULL, 10);
return ret;
}
/****************************************************************************
* Name: parse_args
****************************************************************************/
static void parse_args(FAR struct wdog_example_s *wdog, int argc, FAR char **argv)
{
FAR char *ptr;
long value;
int index;
int nargs;
wdog->pingtime = CONFIG_EXAMPLES_WATCHDOG_PINGTIME;
wdog->pingdelay = CONFIG_EXAMPLES_WATCHDOG_PINGDELAY;
wdog->timeout = CONFIG_EXAMPLES_WATCHDOG_TIMEOUT;
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
message("Invalid options format: %s\n", ptr);
exit(EXIT_SUCCESS);
}
switch (ptr[1])
{
case 'd':
nargs = arg_decimal(&argv[index], &value);
if (value < 1)
{
message("Ping delay out of range: %ld\n", value);
exit(EXIT_FAILURE);
}
wdog->pingdelay = (uint32_t)value;
index += nargs;
break;
case 'p':
nargs = arg_decimal(&argv[index], &value);
if (value < 1 || value > 99)
{
message("Ping time out of range: %ld\n", value);
exit(EXIT_FAILURE);
}
wdog->pingtime = (uint8_t)value;
index += nargs;
break;
case 't':
nargs = arg_decimal(&argv[index], &value);
if (value < 1 || value > INT_MAX)
{
message("Duration out of range: %ld\n", value);
exit(EXIT_FAILURE);
}
wdog->timeout = (int)value;
index += nargs;
break;
case 'h':
wdog_help();
exit(EXIT_SUCCESS);
default:
message("Unsupported option: %s\n", ptr);
wdog_help();
exit(EXIT_FAILURE);
}
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: wdog_main
****************************************************************************/
int wdog_main(int argc, char *argv[])
{
struct wdog_example_s wdog;
#ifdef CONFIG_DEBUG_WATCHDOG
struct watchdog_status_s status;
#endif
long elapsed;
int fd;
int ret;
/* Parse the command line */
parse_args(&wdog, argc, argv);
/* Initialization of the WATCHDOG hardware is performed by logic external to
* this test.
*/
ret = up_wdginitialize();
if (ret != OK)
{
message("wdog_main: up_wdginitialize failed: %d\n", ret);
goto errout;
}
/* Open the watchdog device for reading */
fd = open(CONFIG_EXAMPLES_WATCHDOG_DEVPATH, O_RDONLY);
if (fd < 0)
{
message("wdog_main: open %s failed: %d\n",
CONFIG_EXAMPLES_WATCHDOG_DEVPATH, errno);
goto errout;
}
/* Set the watchdog timeout */
ret = ioctl(fd, WDIOC_SETTIMEOUT, (unsigned long)wdog.timeout);
if (ret < 0)
{
message("wdog_main: ioctl(WDIOC_SETTIMEOUT) failed: %d\n", errno);
goto errout_with_dev;
}
/* Then start the watchdog timer. */
ret = ioctl(fd, WDIOC_START, 0);
if (ret < 0)
{
message("wdog_main: ioctl(WDIOC_START) failed: %d\n", errno);
goto errout_with_dev;
}
/* Then ping */
for (elapsed = 0; elapsed < wdog.pingtime; elapsed += wdog.pingdelay)
{
/* Sleep for the requested amount of time */
usleep(wdog.pingdelay * 1000);
/* Show watchdog status. Only if debug is enabled because this
* could interfere with the timer.
*/
#ifdef CONFIG_DEBUG_WATCHDOG
ret = ioctl(fd, WDIOC_GETSTATUS, (unsigned long)&status);
if (ret < 0)
{
message("wdog_main: ioctl(WDIOC_GETSTATUS) failed: %d\n", errno);
goto errout_with_dev;
}
message("wdog_main: flags=%08x timeout=%d timeleft=%d\n",
status.flags, status.timeout, status.timeleft);
#endif
/* Then ping */
ret = ioctl(fd, WDIOC_KEEPALIVE, 0);
if (ret < 0)
{
message("wdog_main: ioctl(WDIOC_KEEPALIVE) failed: %d\n", errno);
goto errout_with_dev;
}
message(" ping elapsed=%ld\n", elapsed);
msgflush();
}
/* Then stop pinging */
for (; ; elapsed += wdog.pingdelay)
{
/* Sleep for the requested amount of time */
usleep(wdog.pingdelay * 1000);
/* Show watchdog status. Only if debug is enabled because this
* could interfere with the timer.
*/
#ifdef CONFIG_DEBUG_WATCHDOG
ret = ioctl(fd, WDIOC_GETSTATUS, (unsigned long)&status);
if (ret < 0)
{
message("wdog_main: ioctl(WDIOC_GETSTATUS) failed: %d\n", errno);
goto errout_with_dev;
}
message("wdog_main: flags=%08x timeout=%d timeleft=%d\n",
status.flags, status.timeout, status.timeleft);
#endif
message(" NO ping elapsed=%ld\n", elapsed);
msgflush();
}
/* We should not get here */
ret = ioctl(fd, WDIOC_STOP, 0);
if (ret < 0)
{
message("wdog_main: ioctl(WDIOC_STOP) failed: %d\n", errno);
goto errout_with_dev;
}
close(fd);
msgflush();
return OK;
errout_with_dev:
close(fd);
errout:
msgflush();
return ERROR;
}
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