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 hardware
28 * watchdog to 16s 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)
62 return (bus_read_4(sc->mem_res, off));
66 WR4(struct wdt_softc *sc, bus_size_t off, uint32_t val)
68 bus_write_4(sc->mem_res, off, val);
74 struct wdt_softc *sc = argp;
77 if (RD4(sc, WDT_SR) & (WDT_WDUNF | WDT_WDERR)) {
78 #if defined(KDB) && !defined(KDB_UNATTENDED)
80 kdb_enter(KDB_WHY_WATCHDOG, "watchdog timeout");
82 panic("watchdog timeout");
85 return (FILTER_STRAY);
88 /* User interface, see watchdog(9) */
90 wdt_watchdog(void *argp, u_int cmd, int *error)
92 struct wdt_softc *sc = argp;
95 mtx_lock(&sc->sc_mtx);
99 interval = cmd & WD_INTERVAL;
100 if (interval > WD_TO_16SEC)
102 else if (interval > 0)
103 sc->cmd = interval | WD_ACTIVE;
105 /* We cannot turn off our watchdog so if user
106 * fails to turn us on go to passive mode. */
107 if ((sc->cmd & WD_ACTIVE) == 0)
108 sc->cmd = WD_PASSIVE;
110 mtx_unlock(&sc->sc_mtx);
113 /* This routine is called no matter what state the user sets the
114 * watchdog mode to. Called at a rate that is slightly less than
115 * half the hardware timeout. */
119 struct wdt_softc *sc = argp;
121 mtx_assert(&sc->sc_mtx, MA_OWNED);
122 if (sc->cmd & (WD_ACTIVE | WD_PASSIVE))
123 WR4(sc, WDT_CR, WDT_KEY|WDT_WDRSTT);
125 sc->cmd &= WD_PASSIVE;
126 callout_reset(&sc->tick_ch, sc->interval, wdt_tick, sc);
130 wdt_probe(device_t dev)
133 if (at91_is_sam9()) {
134 device_set_desc(dev, "WDT");
141 wdt_attach(device_t dev)
143 static struct wdt_softc *sc;
144 struct resource *irq;
148 sc = device_get_softc(dev);
149 sc->cmd = WD_PASSIVE;
152 mtx_init(&sc->sc_mtx, device_get_nameunit(dev), "at91_wdt", MTX_DEF);
153 callout_init_mtx(&sc->tick_ch, &sc->sc_mtx, 0);
156 sc->mem_res = bus_alloc_resource_any(dev, SYS_RES_MEMORY, &rid,
159 if (sc->mem_res == NULL)
160 panic("couldn't allocate wdt register resources");
162 wdt_mr = RD4(sc, WDT_MR);
163 if ((wdt_mr & WDT_WDRSTEN) == 0)
164 device_printf(dev, "Watchdog disabled! (Boot ROM?)\n");
167 /* Rude, full reset of whole system on watch dog timeout */
168 WR4(sc, WDT_MR, WDT_WDDBGHLT | WDT_WDD(0xC00)|
169 WDT_WDRSTEN| WDT_WDV(0xFFF));
171 /* Generate stack trace and panic on watchdog timeout*/
172 WR4(sc, WDT_MR, WDT_WDDBGHLT | WDT_WDD(0xC00)|
173 WDT_WDFIEN| WDT_WDV(0xFFF));
175 /* This may have been set by Boot ROM so register value
176 * may not be what we just requested since this is a
177 * write once register. */
178 wdt_mr = RD4(sc, WDT_MR);
179 if (wdt_mr & WDT_WDFIEN) {
181 irq = bus_alloc_resource_any(dev, SYS_RES_IRQ, &rid,
182 RF_ACTIVE | RF_SHAREABLE);
184 panic("could not allocate interrupt.\n");
186 err = bus_setup_intr(dev, irq, INTR_TYPE_CLK, wdt_intr,
187 NULL, sc, &sc->intrhand);
191 sc->interval = (((wdt_mr & WDT_WDV(~0)) + 1) * WDT_DIV) /
194 device_printf(dev, "watchdog timeout: %d seconds\n",
197 /* Slightly less than 1/2 of watchdog hardware timeout */
198 sc->interval = (sc->interval/2) - (sc->interval/20);
199 callout_reset(&sc->tick_ch, sc->interval, wdt_tick, sc);
201 /* Register us as a watchdog */
202 sc->sc_wet = EVENTHANDLER_REGISTER(watchdog_list,
203 wdt_watchdog, sc, 0);
208 static device_method_t wdt_methods[] = {
209 DEVMETHOD(device_probe, wdt_probe),
210 DEVMETHOD(device_attach, wdt_attach),
214 static driver_t wdt_driver = {
217 sizeof(struct wdt_softc),
220 static devclass_t wdt_devclass;
222 DRIVER_MODULE(at91_wdt, atmelarm, wdt_driver, wdt_devclass, 0, 0);