add raspi4 watchdog driver

bsp/raspberry-pi/raspi4-32/.config

@@ -147,7 +147,7 @@ CONFIG_RT_USING_SPI=y
 # CONFIG_RT_USING_SFUD is not set
 # CONFIG_RT_USING_ENC28J60 is not set
 # CONFIG_RT_USING_SPI_WIFI is not set
-# CONFIG_RT_USING_WDT is not set
+CONFIG_RT_USING_WDT=y
 # CONFIG_RT_USING_AUDIO is not set
 # CONFIG_RT_USING_SENSOR is not set
 # CONFIG_RT_USING_TOUCH is not set
@@ -170,6 +170,7 @@ CONFIG_RT_USING_LIBC=y
 CONFIG_RT_USING_POSIX=y
 # CONFIG_RT_USING_POSIX_MMAP is not set
 # CONFIG_RT_USING_POSIX_TERMIOS is not set
+# CONFIG_RT_USING_POSIX_GETLINE is not set
 # CONFIG_RT_USING_POSIX_AIO is not set
 # CONFIG_RT_USING_MODULE is not set
 
@@ -216,7 +217,9 @@ CONFIG_RT_USING_POSIX=y
 #
 # IoT - internet of things
 #
+# CONFIG_PKG_USING_LORAWAN_DRIVER is not set
 # CONFIG_PKG_USING_PAHOMQTT is not set
+# CONFIG_PKG_USING_UMQTT is not set
 # CONFIG_PKG_USING_WEBCLIENT is not set
 # CONFIG_PKG_USING_WEBNET is not set
 # CONFIG_PKG_USING_MONGOOSE is not set
@@ -262,7 +265,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_GAGENT_CLOUD is not set
 # CONFIG_PKG_USING_ALI_IOTKIT is not set
 # CONFIG_PKG_USING_AZURE is not set
-# CONFIG_PKG_USING_TENCENT_IOTHUB is not set
+# CONFIG_PKG_USING_TENCENT_IOT_EXPLORER is not set
 # CONFIG_PKG_USING_JIOT-C-SDK is not set
 # CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set
 # CONFIG_PKG_USING_JOYLINK is not set
@@ -284,6 +287,10 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_CAPNP is not set
 # CONFIG_PKG_USING_RT_CJSON_TOOLS is not set
 # CONFIG_PKG_USING_AGILE_TELNET is not set
+# CONFIG_PKG_USING_NMEALIB is not set
+# CONFIG_PKG_USING_AGILE_JSMN is not set
+# CONFIG_PKG_USING_PDULIB is not set
+# CONFIG_PKG_USING_BTSTACK is not set
 
 #
 # security packages
@@ -292,6 +299,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_libsodium is not set
 # CONFIG_PKG_USING_TINYCRYPT is not set
 # CONFIG_PKG_USING_TFM is not set
+# CONFIG_PKG_USING_YD_CRYPTO is not set
 
 #
 # language packages
@@ -308,6 +316,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_STEMWIN is not set
 # CONFIG_PKG_USING_WAVPLAYER is not set
 # CONFIG_PKG_USING_TJPGD is not set
+# CONFIG_PKG_USING_HELIX is not set
 
 #
 # tools packages
@@ -326,7 +335,9 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_CHINESE_FONT_LIBRARY is not set
 # CONFIG_PKG_USING_LUNAR_CALENDAR is not set
 # CONFIG_PKG_USING_BS8116A is not set
+# CONFIG_PKG_USING_GPS_RMC is not set
 # CONFIG_PKG_USING_URLENCODE is not set
+# CONFIG_PKG_USING_UMCN is not set
 
 #
 # system packages
@@ -337,6 +348,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_LWEXT4 is not set
 # CONFIG_PKG_USING_PARTITION is not set
 # CONFIG_PKG_USING_FAL is not set
+# CONFIG_PKG_USING_FLASHDB is not set
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
 # CONFIG_PKG_USING_LITTLEVGL2RTT is not set
@@ -349,6 +361,11 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_SYSWATCH is not set
 # CONFIG_PKG_USING_SYS_LOAD_MONITOR is not set
 # CONFIG_PKG_USING_PLCCORE is not set
+# CONFIG_PKG_USING_RAMDISK is not set
+# CONFIG_PKG_USING_MININI is not set
+# CONFIG_PKG_USING_QBOOT is not set
+# CONFIG_PKG_USING_UCOSIII_WRAPPER is not set
+# CONFIG_PKG_USING_PPOOL is not set
 
 #
 # peripheral libraries and drivers
@@ -386,6 +403,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_RPLIDAR is not set
 # CONFIG_PKG_USING_AS608 is not set
 # CONFIG_PKG_USING_RC522 is not set
+# CONFIG_PKG_USING_WS2812B is not set
 # CONFIG_PKG_USING_EMBARC_BSP is not set
 # CONFIG_PKG_USING_EXTERN_RTC_DRIVERS is not set
 # CONFIG_PKG_USING_MULTI_RTIMER is not set
@@ -393,6 +411,15 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_BEEP is not set
 # CONFIG_PKG_USING_EASYBLINK is not set
 # CONFIG_PKG_USING_PMS_SERIES is not set
+# CONFIG_PKG_USING_CAN_YMODEM is not set
+# CONFIG_PKG_USING_LORA_RADIO_DRIVER is not set
+# CONFIG_PKG_USING_QLED is not set
+# CONFIG_PKG_USING_PAJ7620 is not set
+# CONFIG_PKG_USING_AGILE_CONSOLE is not set
+# CONFIG_PKG_USING_LD3320 is not set
+# CONFIG_PKG_USING_WK2124 is not set
+# CONFIG_PKG_USING_LY68L6400 is not set
+# CONFIG_PKG_USING_DM9051 is not set
 
 #
 # miscellaneous packages
@@ -429,6 +456,11 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_VT100 is not set
 # CONFIG_PKG_USING_ULAPACK is not set
 # CONFIG_PKG_USING_UKAL is not set
+# CONFIG_PKG_USING_CRCLIB is not set
+# CONFIG_PKG_USING_THREES is not set
+# CONFIG_PKG_USING_2048 is not set
+# CONFIG_PKG_USING_LWGPS is not set
+# CONFIG_PKG_USING_TENSORFLOWLITEMICRO is not set
 
 #
 # Privated Packages of RealThread
@@ -461,6 +493,10 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_ZBAR is not set
 # CONFIG_PKG_USING_MCF is not set
 # CONFIG_PKG_USING_URPC is not set
+# CONFIG_PKG_USING_BSAL is not set
+# CONFIG_PKG_USING_DCM is not set
+# CONFIG_PKG_USING_EMQ is not set
+# CONFIG_PKG_USING_CFGM is not set
 CONFIG_BCM2711_SOC=y
 # CONFIG_BSP_SUPPORT_FPU is not set
 
@@ -487,7 +523,7 @@ CONFIG_BSP_USING_SPI0_DEVICE0=y
 # CONFIG_BSP_USING_SPI0_DEVICE1 is not set
 CONFIG_BSP_USING_CORETIMER=y
 # CONFIG_BSP_USING_SYSTIMER is not set
-# CONFIG_BSP_USING_WDT is not set
+CONFIG_BSP_USING_WDT=y
 # CONFIG_BSP_USING_RTC is not set
 # CONFIG_BSP_USING_SDIO is not set
 

bsp/raspberry-pi/raspi4-32/driver/drv_wdt.c

@@ -0,0 +1,141 @@
+/*
+ * Copyright (c) 2006-2020, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author         Notes
+ * 2020-10-26     bigmagic       first version
+ */
+#include <rthw.h>
+#include "drv_wdt.h"
+#include "raspi4.h"
+
+#ifdef BSP_USING_WDT
+
+#define SECS_TO_WDOG_TICKS(x) ((x) << 16)
+#define WDOG_TICKS_TO_SECS(x) ((x) >> 16)
+
+static struct raspi_wdt_driver bcm_wdt;
+
+void raspi_watchdog_init(rt_uint32_t time_init)
+{
+    bcm_wdt.timeout = time_init;
+}
+
+void raspi_watchdog_start()
+{
+    volatile rt_uint32_t cur;
+    PM_WDOG = PM_PASSWORD | (SECS_TO_WDOG_TICKS(bcm_wdt.timeout) & PM_WDOG_TIME_SET);
+    cur = (PM_RSTC);
+    PM_RSTC = PM_PASSWORD | (cur & PM_RSTC_WRCFG_CLR) | PM_RSTC_WRCFG_FULL_RESET;
+}
+
+void raspi_watchdog_stop()
+{
+    PM_RSTC = PM_PASSWORD | PM_RSTC_RESET;
+}
+
+void raspi_watchdog_clr()
+{
+    bcm_wdt.timeout = 0;
+}
+
+void raspi_watchdog_set_timeout(rt_uint32_t timeout_us)
+{
+    bcm_wdt.timeout = timeout_us;
+}
+
+rt_uint64_t raspi_watchdog_get_timeout()
+{
+    return bcm_wdt.timeout;
+}
+
+rt_uint64_t raspi_watchdog_get_timeleft()
+{
+    rt_uint32_t ret = (PM_WDOG);
+    return WDOG_TICKS_TO_SECS(ret & PM_WDOG_TIME_SET);
+}
+
+static rt_err_t raspi_wdg_init(rt_watchdog_t *wdt)
+{
+    /*init for 10S*/
+    raspi_watchdog_init(1000000);
+    raspi_watchdog_start();
+    raspi_watchdog_stop();
+    return RT_EOK;
+}
+
+static rt_err_t raspi_wdg_control(rt_watchdog_t *wdt, int cmd, void *arg)
+{
+    rt_uint64_t  timeout_us = 0;
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_WDT_SET_TIMEOUT:
+        timeout_us = *((rt_uint32_t *)arg) * 1000000;
+        if (timeout_us >= 0xFFFFFFFF)
+            timeout_us = 0xFFFFFFFF;
+        raspi_watchdog_set_timeout((rt_uint32_t)timeout_us);
+        break;
+    case RT_DEVICE_CTRL_WDT_GET_TIMEOUT:
+        timeout_us = raspi_watchdog_get_timeout();
+        *((rt_uint32_t *)arg) = timeout_us / 1000000;
+        break;
+    case RT_DEVICE_CTRL_WDT_GET_TIMELEFT:
+        timeout_us = raspi_watchdog_get_timeleft();
+        *((rt_uint32_t *)arg) = timeout_us / 1000000;
+        break;
+    case RT_DEVICE_CTRL_WDT_KEEPALIVE:
+        raspi_watchdog_clr();
+        break;
+    case RT_DEVICE_CTRL_WDT_START:
+        raspi_watchdog_start();
+        break;
+    case RT_DEVICE_CTRL_WDT_STOP:
+        raspi_watchdog_stop();
+        break;
+    default:
+        return RT_EIO;
+    }
+    return RT_EOK;
+}
+
+static const struct rt_watchdog_ops raspi_wdg_pos =
+{
+    raspi_wdg_init,
+    raspi_wdg_control,
+};
+
+static rt_watchdog_t raspi_wdg;
+
+int rt_hw_wdt_init(void)
+{
+    raspi_wdg.ops = &raspi_wdg_pos;
+    rt_hw_watchdog_register(&raspi_wdg, "wdg", 0, RT_NULL);
+    return RT_EOK;
+}
+
+INIT_DEVICE_EXPORT(rt_hw_wdt_init);
+
+/**
+ * Reboot
+ */
+int reboot(void)
+{
+    unsigned int r;
+
+    rt_kprintf("reboot system...\n");
+    rt_thread_mdelay(100);
+    r = PM_RSTS;
+    // trigger a restart by instructing the GPU to boot from partition 0
+    r &= ~0xfffffaaa;
+    PM_RSTS |= (PM_PASSWORD | r);   // boot from partition 0
+    PM_WDOG |= (PM_PASSWORD | 0x0A);
+    PM_RSTC |= (PM_PASSWORD | PM_RSTC_WRCFG_FULL_RESET);
+    
+    while (1);
+    
+    return 0;
+}
+MSH_CMD_EXPORT(reboot,reboot system...);
+#endif /*BSP_USING_WDT */

bsp/raspberry-pi/raspi4-32/driver/drv_wdt.h

@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2006-2020, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author         Notes
+ * 2020-10-26     bigmagic       first version
+ */
+#ifndef __DRV_WDT_H__
+#define __DRV_WDT_H__
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#include "board.h"
+
+struct raspi_wdt_driver
+{
+    rt_uint32_t timeout;
+};
+
+int rt_hw_wdt_init(void);
+
+#endif

bsp/raspberry-pi/raspi4-32/driver/raspi4.h

@@ -119,6 +119,18 @@ typedef enum {
 
 #define GIC_ACK_INTID_MASK  0x000003ff
 
+//watchdog
+#define PM_RSTC         HWREG32(PER_BASE + 0x0010001c)
+#define PM_RSTS         HWREG32(PER_BASE + 0x00100020)
+#define PM_WDOG         HWREG32(PER_BASE + 0x00100024)
+
+#define PM_PASSWORD                 (0x5A000000)
+#define PM_WDOG_TIME_SET            (0x000fffff)
+#define PM_RSTS_HADWRH_SET          (0x00000040)
+#define PM_RSTC_WRCFG_FULL_RESET    (0x00000020)
+#define PM_RSTC_WRCFG_CLR           (0xffffffcf)
+#define PM_RSTC_RESET               (0x00000102)
+
 /* the basic constants and interfaces needed by gic */
 rt_inline rt_uint32_t platform_get_gic_dist_base(void)
 {

bsp/raspberry-pi/raspi4-32/rtconfig.h

@@ -87,6 +87,7 @@
 #define RT_SERIAL_RB_BUFSZ 64
 #define RT_USING_PIN
 #define RT_USING_SPI
+#define RT_USING_WDT
 
 /* Using USB */
 
@@ -178,6 +179,7 @@
 #define BSP_USING_SPI0_BUS
 #define BSP_USING_SPI0_DEVICE0
 #define BSP_USING_CORETIMER
+#define BSP_USING_WDT
 
 /* Board Peripheral Drivers */