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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.
60 lines
2.0 KiB
C++
60 lines
2.0 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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#pragma once
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#include <module-sys/Service/Watchdog.hpp>
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#include "thread.hpp"
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namespace sys
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{
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//
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// System watchdog
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//
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// System watchdog works in cooperation with an actual watchdog
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// (HW or simulated). After initialization, it expects to be continually
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// refreshed within a certain period of time.
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//
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// As long as its timing requirements are satisfied, it takes care
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// of refreshing the actual watchdog so a reset will not occur. Otherwise,
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// it will allow the actual watchdog to timeout causing a system reset.
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//
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class SystemWatchdog : public Watchdog, private cpp_freertos::Thread
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{
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public:
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static constexpr auto threadName = "System_Watchdog";
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SystemWatchdog(const SystemWatchdog &) = delete;
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SystemWatchdog(SystemWatchdog &&) = delete;
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SystemWatchdog &operator=(const SystemWatchdog &) = delete;
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SystemWatchdog &operator=(SystemWatchdog &&) = delete;
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static SystemWatchdog &getInstance();
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// Initialize the actual watchdog and start the thread
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bool init();
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void refresh() override;
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private:
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SystemWatchdog();
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// Timeout period for refresh
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static constexpr TickType_t refreshTimeoutPeriod = pdMS_TO_TICKS(90000);
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// Timeout period for the actual watchdog
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static constexpr TickType_t watchdogTimeoutPeriod = pdMS_TO_TICKS(16000);
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// Period of actual watchdog refresh
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static constexpr TickType_t checkPeriod = pdMS_TO_TICKS(8000);
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void Run() final;
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TickType_t lastRefreshTimestamp = 0;
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bool timeout_occurred = false;
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static_assert(sizeof(lastRefreshTimestamp) == 4 && alignof(decltype(lastRefreshTimestamp)) == 4,
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"SystemWatchdog::lastRefreshTimestamp must be 32-bit long and properly aligned otherwise data "
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"races may occur");
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};
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} // namespace sys
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