2 * Copyright (c) 2010 Greg Ansley. All rights reserved.
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions
7 * 1. Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * 2. Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
13 * THIS SOFTWARE IS PROVIDED BY AUTHOR AND CONTRIBUTORS ``AS IS'' AND
14 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
15 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
16 * ARE DISCLAIMED. IN NO EVENT SHALL AUTHOR OR CONTRIBUTORS BE LIABLE
17 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
18 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
19 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
20 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
21 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
22 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
27 * The SAM9 watchdog hardware can be programed only once. So we set the
28 * hardware watchdog to 16 s in wdt_attach and only reset it in the wdt_tick
29 * handler. The watchdog is halted in processor debug mode.
32 #include <sys/cdefs.h>
33 __FBSDID("$FreeBSD$");
35 #include <sys/param.h>
38 #include <sys/kernel.h>
39 #include <sys/module.h>
40 #include <sys/systm.h>
41 #include <sys/watchdog.h>
43 #include <machine/bus.h>
45 #include <arm/at91/at91var.h>
46 #include <arm/at91/at91_wdtreg.h>
51 struct resource *mem_res;
52 struct callout tick_ch;
53 eventhandler_tag sc_wet;
59 static inline uint32_t
60 RD4(struct wdt_softc *sc, bus_size_t off)
63 return (bus_read_4(sc->mem_res, off));
67 WR4(struct wdt_softc *sc, bus_size_t off, uint32_t val)
70 bus_write_4(sc->mem_res, off, val);
76 struct wdt_softc *sc = argp;
79 if (RD4(sc, WDT_SR) & (WDT_WDUNF | WDT_WDERR)) {
80 #if defined(KDB) && !defined(KDB_UNATTENDED)
82 kdb_enter(KDB_WHY_WATCHDOG, "watchdog timeout");
84 panic("watchdog timeout");
87 return (FILTER_STRAY);
90 /* User interface, see watchdog(9) */
92 wdt_watchdog(void *argp, u_int cmd, int *error)
94 struct wdt_softc *sc = argp;
97 mtx_lock(&sc->sc_mtx);
101 interval = cmd & WD_INTERVAL;
102 if (interval > WD_TO_16SEC)
104 else if (interval > 0)
105 sc->cmd = interval | WD_ACTIVE;
107 /* We cannot turn off our watchdog so if user
108 * fails to turn us on go to passive mode. */
109 if ((sc->cmd & WD_ACTIVE) == 0)
110 sc->cmd = WD_PASSIVE;
112 mtx_unlock(&sc->sc_mtx);
115 /* This routine is called no matter what state the user sets the
116 * watchdog mode to. Called at a rate that is slightly less than
117 * half the hardware timeout. */
121 struct wdt_softc *sc = argp;
123 mtx_assert(&sc->sc_mtx, MA_OWNED);
124 if (sc->cmd & (WD_ACTIVE | WD_PASSIVE))
125 WR4(sc, WDT_CR, WDT_KEY|WDT_WDRSTT);
127 sc->cmd &= WD_PASSIVE;
128 callout_reset(&sc->tick_ch, sc->interval, wdt_tick, sc);
132 wdt_probe(device_t dev)
135 if (at91_is_sam9() || at91_is_sam9xe()) {
136 device_set_desc(dev, "WDT");
143 wdt_attach(device_t dev)
145 static struct wdt_softc *sc;
146 struct resource *irq;
150 sc = device_get_softc(dev);
151 sc->cmd = WD_PASSIVE;
154 mtx_init(&sc->sc_mtx, device_get_nameunit(dev), "at91_wdt", MTX_DEF);
155 callout_init_mtx(&sc->tick_ch, &sc->sc_mtx, 0);
158 sc->mem_res = bus_alloc_resource_any(dev, SYS_RES_MEMORY, &rid,
161 if (sc->mem_res == NULL)
162 panic("couldn't allocate wdt register resources");
164 wdt_mr = RD4(sc, WDT_MR);
165 if ((wdt_mr & WDT_WDRSTEN) == 0)
166 device_printf(dev, "Watchdog disabled! (Boot ROM?)\n");
169 /* Rude, full reset of whole system on watch dog timeout */
170 WR4(sc, WDT_MR, WDT_WDDBGHLT | WDT_WDD(0xC00)|
171 WDT_WDRSTEN| WDT_WDV(0xFFF));
173 /* Generate stack trace and panic on watchdog timeout*/
174 WR4(sc, WDT_MR, WDT_WDDBGHLT | WDT_WDD(0xC00)|
175 WDT_WDFIEN| WDT_WDV(0xFFF));
178 * This may have been set by Boot ROM so register value may
179 * not be what we just requested since this is a write once
182 wdt_mr = RD4(sc, WDT_MR);
183 if (wdt_mr & WDT_WDFIEN) {
185 irq = bus_alloc_resource_any(dev, SYS_RES_IRQ, &rid,
186 RF_ACTIVE | RF_SHAREABLE);
188 panic("could not allocate interrupt.\n");
190 err = bus_setup_intr(dev, irq, INTR_TYPE_CLK, wdt_intr,
191 NULL, sc, &sc->intrhand);
195 sc->interval = (((wdt_mr & WDT_WDV(~0)) + 1) * WDT_DIV) /
198 device_printf(dev, "watchdog timeout: %d seconds\n",
201 /* Slightly less than 1/2 of watchdog hardware timeout */
202 sc->interval = (sc->interval/2) - (sc->interval/20);
203 callout_reset(&sc->tick_ch, sc->interval, wdt_tick, sc);
205 /* Register us as a watchdog */
206 sc->sc_wet = EVENTHANDLER_REGISTER(watchdog_list,
207 wdt_watchdog, sc, 0);
212 static device_method_t wdt_methods[] = {
213 DEVMETHOD(device_probe, wdt_probe),
214 DEVMETHOD(device_attach, wdt_attach),
218 static driver_t wdt_driver = {
221 sizeof(struct wdt_softc),
224 static devclass_t wdt_devclass;
226 DRIVER_MODULE(at91_wdt, atmelarm, wdt_driver, wdt_devclass, NULL, NULL);