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The system watchdog monitors whether there is message traffic on the Bus. If no message was sent for an extended period of time, a reset will occur. It should also protect against system-wide hangs. On Linux, watchdog is simulated by a FreeRTOS task that will call exit on timeout.
76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
// Copyright (c) 2017-2021, Mudita Sp. z.o.o. All rights reserved.
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// For licensing, see https://github.com/mudita/MuditaOS/LICENSE.md
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#include "SystemWatchdog.hpp"
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#include "Service/Common.hpp"
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#include "critical.hpp"
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#include "ticks.hpp"
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#include "bsp/watchdog/watchdog.hpp"
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#include "log/log.hpp"
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namespace sys
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{
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using namespace cpp_freertos;
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static constexpr uint16_t stackDepthWords = 256;
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SystemWatchdog::SystemWatchdog()
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: Thread(threadName, stackDepthWords, static_cast<UBaseType_t>(ServicePriority::High))
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{}
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SystemWatchdog &SystemWatchdog::getInstance()
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{
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static SystemWatchdog watchdog;
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return watchdog;
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}
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bool SystemWatchdog::init()
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{
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#ifdef DISABLE_WATCHDOG
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return true;
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#else
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if (!bsp::watchdog::init(watchdogTimeoutPeriod)) {
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return false;
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}
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bsp::watchdog::refresh();
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if (!Start()) {
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return false;
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}
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refresh();
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return true;
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#endif
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}
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void SystemWatchdog::refresh()
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{
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#ifndef DISABLE_WATCHDOG
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// Critical section not required (atomic 32-bit writes)
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lastRefreshTimestamp = Ticks::GetTicks();
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#endif
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}
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void SystemWatchdog::Run()
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{
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while (true) {
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vTaskDelay(checkPeriod);
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if (timeout_occurred) {
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continue;
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}
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// Critical section not required (atomic 32-bit reads)
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if (Ticks::GetTicks() - lastRefreshTimestamp >= refreshTimeoutPeriod) {
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// Allow HW watchdog timeout to occur
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timeout_occurred = true;
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LOG_FATAL("!!! System watchdog timeout, system will be resetted soon !!!");
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}
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else {
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bsp::watchdog::refresh();
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}
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}
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}
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} // namespace sys
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