116 lines
3.7 KiB
C++
116 lines
3.7 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifdef ARDUINO_ARCH_SAM
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#include "../../inc/MarlinConfig.h"
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#include "../../Marlin.h"
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#include "watchdog_Due.h"
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// Override Arduino runtime to either config or disable the watchdog
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//
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// We need to configure the watchdog as soon as possible in the boot
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// process, because watchdog initialization at hardware reset on SAM3X8E
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// is unreliable, and there is risk of unintended resets if we delay
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// that initialization to a later time.
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void watchdogSetup(void) {
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#if ENABLED(USE_WATCHDOG)
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// 4 seconds timeout
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uint32_t timeout = 4000;
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// Calculate timeout value in WDT counter ticks: This assumes
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// the slow clock is running at 32.768 kHz watchdog
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// frequency is therefore 32768 / 128 = 256 Hz
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timeout = (timeout << 8) / 1000;
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if (timeout == 0)
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timeout = 1;
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else if (timeout > 0xFFF)
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timeout = 0xFFF;
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// We want to enable the watchdog with the specified timeout
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uint32_t value =
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WDT_MR_WDV(timeout) | // With the specified timeout
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WDT_MR_WDD(timeout) | // and no invalid write window
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#if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
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WDT_MR_WDRPROC | // WDT fault resets processor only - We want
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// to keep PIO controller state
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#endif
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WDT_MR_WDDBGHLT | // WDT stops in debug state.
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WDT_MR_WDIDLEHLT; // WDT stops in idle state.
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#if ENABLED(WATCHDOG_RESET_MANUAL)
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// We enable the watchdog timer, but only for the interrupt.
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// Configure WDT to only trigger an interrupt
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value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt.
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// Disable WDT interrupt (just in case, to avoid triggering it!)
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NVIC_DisableIRQ(WDT_IRQn);
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// We NEED memory barriers to ensure Interrupts are actually disabled!
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// ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
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__DSB();
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__ISB();
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// Initialize WDT with the given parameters
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WDT_Enable(WDT, value);
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// Configure and enable WDT interrupt.
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NVIC_ClearPendingIRQ(WDT_IRQn);
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NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
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NVIC_EnableIRQ(WDT_IRQn);
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#else
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// a WDT fault triggers a reset
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value |= WDT_MR_WDRSTEN;
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// Initialize WDT with the given parameters
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WDT_Enable(WDT, value);
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#endif
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// Reset the watchdog
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WDT_Restart(WDT);
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#else
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// Make sure to completely disable the Watchdog
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WDT_Disable(WDT);
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#endif
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}
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#if ENABLED(USE_WATCHDOG)
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// Initialize watchdog - On SAM3X, Watchdog was already configured
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// and enabled or disabled at startup, so no need to reconfigure it
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// here.
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void watchdog_init(void) {
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// Reset watchdog to start clean
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WDT_Restart(WDT);
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}
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#endif // USE_WATCHDOG
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#endif
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