55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#include <framework/watchdog/Watchdog.h>
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extern "C" {
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#include <bsp_flp/hw_timer/hw_timer.h>
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}
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <ostream>
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Watchdog::Watchdog(object_id_t objectId, uint32_t interval_us, uint32_t initial_interval_us) :
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SystemObject(objectId), commandQueue(3,
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WatchdogMessage::WATCHDOG_MESSAGE_SIZE) {
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hw_timer_set_reload_value(hw_timer_watchdog, interval_us);
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hw_timer_start_(hw_timer_watchdog, initial_interval_us);
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hw_timer_watchdog ->control_register |= 8;
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hw_gpio_port ->direction |= (HW_GPIO_DDR_OUT << HW_GPIO_LEON_WD_EN);
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hw_gpio_port ->output |= (HW_GPIO_DDR_OUT << HW_GPIO_LEON_WD_EN);
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}
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Watchdog::~Watchdog() {
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}
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ReturnValue_t Watchdog::performOperation() {
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WatchdogMessage message;
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ReturnValue_t result = commandQueue.receiveMessage(&message);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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hw_timer_reload(hw_timer_watchdog );
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} else {
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debug << "Watchdog::performOperation: Object 0x" << std::hex
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<< message.getSender() << std::dec << " requested ";
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switch (message.getCommand()) {
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case WatchdogMessage::ENABLE:
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debug << "watchdog enable" << std::endl;
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hw_timer_reload(hw_timer_watchdog );
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hw_timer_start(hw_timer_watchdog );
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break;
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case WatchdogMessage::DISABLE:
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debug << "watchdog disable" << std::endl;
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hw_timer_stop(hw_timer_watchdog );
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break;
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case WatchdogMessage::RESET_CPU:
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debug << "CPU reset" << std::endl;
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hw_timer_start_(hw_timer_watchdog, 10);
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break;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueId_t Watchdog::getCommandQueue() {
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return commandQueue.getId();
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}
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