diff options
| -rw-r--r-- | src/Hardware/ExceptionHandlers.cpp | 5 | ||||
| -rw-r--r-- | src/Hardware/SAME70/CanDriver.cpp | 3 | ||||
| -rw-r--r-- | src/Platform.cpp | 8 | ||||
| -rw-r--r-- | src/RepRap.cpp | 33 | ||||
| -rw-r--r-- | src/RepRapFirmware.h | 6 |
5 files changed, 39 insertions, 16 deletions
diff --git a/src/Hardware/ExceptionHandlers.cpp b/src/Hardware/ExceptionHandlers.cpp index 11958f11..eb936130 100644 --- a/src/Hardware/ExceptionHandlers.cpp +++ b/src/Hardware/ExceptionHandlers.cpp @@ -142,8 +142,13 @@ void WDT_IRQHandler() noexcept { LPC_WDT->MOD &=~((uint32_t)(1<<2)); //SD::clear timout flag before resetting to prevent the Smoothie bootloader going into DFU mode #else +# if SAME70 // SAME70 has a separate interrupt line for the RSWDT +extern "C" [[noreturn]] void RSWDT_Handler() noexcept __attribute__((naked)); +void RSWDT_Handler() noexcept +# else extern "C" [[noreturn]] void WDT_Handler() noexcept __attribute__((naked)); void WDT_Handler() noexcept +# endif { #endif __asm volatile diff --git a/src/Hardware/SAME70/CanDriver.cpp b/src/Hardware/SAME70/CanDriver.cpp index d91f1847..fd51480c 100644 --- a/src/Hardware/SAME70/CanDriver.cpp +++ b/src/Hardware/SAME70/CanDriver.cpp @@ -732,8 +732,9 @@ bool WaitForTxBufferFree(mcan_module *const module_inst, uint32_t whichTxBuffer, { delay(1); } + return true; } - return true; + return false; } // Get a message from a FIFO with timeout. Return true if successful, false if we timed out diff --git a/src/Platform.cpp b/src/Platform.cpp index 95a2a423..85ea7158 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -1573,15 +1573,13 @@ float Platform::GetCpuTemperature() const noexcept void Platform::InitialiseInterrupts() noexcept { -#if SAM4E || SAME70 || SAME5x || defined(__LPC17xx__) - NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts -#endif + // Watchdog interrupt priority if applicable has already been set up in RepRap::Init #if HAS_HIGH_SPEED_SD - NVIC_SetPriority(SdhcIRQn, NvicPriorityHSMCI); // set priority for SD interface interrupts + NVIC_SetPriority(SdhcIRQn, NvicPriorityHSMCI); // set priority for SD interface interrupts #endif - // Set PanelDue UART interrupt priority is set in AuxDevioce::Init + // Set PanelDue UART interrupt priority is set in AuxDevice::Init // WiFi UART interrupt priority is now set in module WiFiInterface #if SUPPORT_TMC22xx && !SAME5x // SAME5x uses a DMA interrupt instead of the UART interrupt diff --git a/src/RepRap.cpp b/src/RepRap.cpp index 6b53fba3..63201ade 100644 --- a/src/RepRap.cpp +++ b/src/RepRap.cpp @@ -483,9 +483,11 @@ void RepRap::Init() noexcept // Set up the timeout of the regular watchdog, and set up the backup watchdog if there is one. #if SAME5x WatchdogInit(); + NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts + NVIC_ClearPendingIRQ(WDT_IRQn); NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog early warning interrupt #elif defined(__LPC17xx__) - wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault + wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault #else { // The clock frequency for both watchdogs is about 32768/128 = 256Hz @@ -493,20 +495,33 @@ void RepRap::Init() noexcept // The documentation says you mustn't write to the mode register within 3 slow clocks after kicking the watchdog. // I have a theory that the converse is also true, i.e. after enabling the watchdog you mustn't kick it within 3 slow clocks // So I've added a delay call before we set 'active' true (which enables kicking the watchdog), and that seems to fix the problem. - const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds) - wdt_init(WDT, WDT_MR_WDRSTEN | WDT_MR_WDDBGHLT, timeout, timeout); // reset the processor on a watchdog fault, stop it when debugging - # if SAM4E || SAME70 + const uint16_t mainTimeout = 49152/128; // set main (back stop) watchdog timeout to 1.5s second (max allowed value is 4095 = 16 seconds) + WDT->WDT_MR = WDT_MR_WDRSTEN | WDT_MR_WDDBGHLT | WDT_MR_WDV(mainTimeout) | WDT_MR_WDD(mainTimeout); // reset the processor on a watchdog fault, stop it when debugging + // The RSWDT must be initialised *after* the main WDT - const uint16_t rsTimeout = 16384/128; // set secondary watchdog timeout to 0.5 second (max allowed value is 4095 = 16 seconds) - rswdt_init(RSWDT, RSWDT_MR_WDFIEN | RSWDT_MR_WDDBGHLT, rsTimeout, rsTimeout); // generate an interrupt on a watchdog fault + const uint16_t rsTimeout = 32768/128; // set secondary watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds) +# if SAME70 + RSWDT->RSWDT_MR = RSWDT_MR_WDFIEN | RSWDT_MR_WDDBGHLT | RSWDT_MR_WDV(rsTimeout) | RSWDT_MR_ALLONES_Msk; // generate an interrupt on a watchdog fault + NVIC_SetPriority(RSWDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts + NVIC_ClearPendingIRQ(RSWDT_IRQn); + NVIC_EnableIRQ(RSWDT_IRQn); // enable the watchdog interrupt +# else + RSWDT->RSWDT_MR = RSWDT_MR_WDFIEN | RSWDT_MR_WDDBGHLT | RSWDT_MR_WDV(rsTimeout) | RSWDT_MR_WDD(rsTimeout); // generate an interrupt on a watchdog fault + NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts + NVIC_ClearPendingIRQ(WDT_IRQn); NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog interrupt +# endif +# else + // We don't have a RSWDT so set the main watchdog timeout to 1 second + const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds) + wdt_init(WDT, WDT_MR_WDRSTEN | WDT_MR_WDDBGHLT, timeout, timeout); // reset the processor on a watchdog fault, stop it when debugging # endif delayMicroseconds(200); // 200us is about 6 slow clocks } #endif - active = true; // must do this before we start the network or call Spin(), else the watchdog may time out + active = true; // must do this after we initialise the watchdog but before we start the network or call Spin(), else the watchdog may time out platform->MessageF(UsbMessage, "%s\n", VersionText); @@ -1169,9 +1184,9 @@ void RepRap::Tick() noexcept // Kicking the watchdog before it has been initialised may trigger it! if (active) { - WatchdogReset(); // kick the watchdog + WatchdogReset(); // kick the watchdog #if SAM4E || SAME70 - rswdt_restart(RSWDT); // kick the secondary watchdog + RSWDT->RSWDT_CR = RSWDT_CR_KEY_PASSWD | RSWDT_CR_WDRSTT; // kick the secondary watchdog #endif if (!stopped) diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h index cfd3b2ca..e83c98e0 100644 --- a/src/RepRapFirmware.h +++ b/src/RepRapFirmware.h @@ -71,7 +71,11 @@ const char *SafeStrptime(const char *buf, const char *format, struct tm *timeptr // Functions needed for builds that use CoreNG. Not needed when using CoreN2G. void delay(uint32_t ms) noexcept; -static inline void WatchdogReset() noexcept { return watchdogReset(); } + +static inline void WatchdogReset() noexcept +{ + WDT->WDT_CR = WDT_CR_KEY_PASSWD | WDT_CR_WDRSTT; +} // Optimised version of memcpy for use when the source and destination are known to be 32-bit aligned and a whole number of 32-bit words is to be copied void memcpyu32(uint32_t *dst, const uint32_t *src, size_t numWords) noexcept; |