Merge pull request #245 from brilliantlabsAR/watchdog

Watchdog
brilliantlabsAR · Aug 14, 2024 · 8c65615 · 8c65615
2 parents 7f76ee6 + 87d6eb0
commit 8c65615
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Showing 10 changed files with 115 additions and 5 deletions.
diff --git a/source/application/Makefile b/source/application/Makefile
@@ -36,6 +36,7 @@ C_FILES += \
 	flash.c \
 	luaport.c \
 	spi.c \
+	watchdog.c \
 	lua_libraries/bluetooth.c \
 	lua_libraries/camera.c \
 	lua_libraries/display.c \
@@ -89,6 +90,7 @@ C_FILES += \
 	$(LIBRARIES)/nrfx/drivers/src/nrfx_spim.c \
 	$(LIBRARIES)/nrfx/drivers/src/nrfx_systick.c \
 	$(LIBRARIES)/nrfx/drivers/src/nrfx_twim.c \
+	$(LIBRARIES)/nrfx/drivers/src/nrfx_wdt.c \
 	$(LIBRARIES)/nrfx/helpers/nrfx_flag32_allocator.c \
 	$(LIBRARIES)/nrfx/mdk/system_nrf52840.c \
 	$(LIBRARIES)/segger/SEGGER_RTT.c \

diff --git a/source/application/lua_libraries/bluetooth.c b/source/application/lua_libraries/bluetooth.c
@@ -30,6 +30,7 @@
 #include "lauxlib.h"
 #include "lua.h"
 #include "luaport.h"
+#include "watchdog.h"
 
 static int lua_bluetooth_is_connected(lua_State *L)
 {
@@ -93,7 +94,7 @@ static struct lua_bluetooth_callback
 
 static void lua_bluetooth_receive_callback_handler(lua_State *L, lua_Debug *ar)
 {
-    lua_sethook(L, NULL, 0, 0);
+    sethook_watchdog(L);
 
     lua_rawgeti(L, LUA_REGISTRYINDEX, lua_bluetooth_callback.function);
 

diff --git a/source/application/lua_libraries/imu.c b/source/application/lua_libraries/imu.c
@@ -32,6 +32,7 @@
 #include "nrfx_gpiote.h"
 #include "nrfx_systick.h"
 #include "pinout.h"
+#include "watchdog.h"
 
 #define PI 3.14159265
 
@@ -55,7 +56,7 @@ static int lua_imu_callback_function = 0;
 
 static void lua_imu_tap_callback_handler(lua_State *L, lua_Debug *ar)
 {
-    lua_sethook(L, NULL, 0, 0);
+    sethook_watchdog(L);
 
     // Clear the interrupt by reading the status register
     check_error(i2c_read(ACCELEROMETER, 0x03, 0xFF).fail);

diff --git a/source/application/luaport.c b/source/application/luaport.c
@@ -31,6 +31,7 @@
 #include "lualib.h"
 #include "nrf_soc.h"
 #include "nrfx_log.h"
+#include "watchdog.h"
 
 lua_State *L_global = NULL;
 
@@ -50,7 +51,7 @@ void lua_write_to_repl(uint8_t *buffer, uint8_t length)
 
 static void lua_break_signal_handler(lua_State *L, lua_Debug *ar)
 {
-    lua_sethook(L, NULL, 0, 0);
+    sethook_watchdog(L);
     luaL_error(L, "break signal");
 }
 
@@ -72,6 +73,9 @@ void run_lua(bool factory_reset)
         error_with_message("Cannot create lua state: not enough memory");
     }
 
+    // Attach watchdog to hook
+    sethook_watchdog(L);
+
     // Open the standard libraries
     luaL_requiref(L, LUA_GNAME, luaopen_base, 1);
     luaL_requiref(L, LUA_COLIBNAME, luaopen_coroutine, 1);

diff --git a/source/application/main.c b/source/application/main.c
@@ -43,6 +43,7 @@
 #include "nrfx_systick.h"
 #include "pinout.h"
 #include "spi.h"
+#include "watchdog.h"
 
 bool not_real_hardware = false;
 bool stay_awake = false;
@@ -165,6 +166,11 @@ static void fpga_send_bitstream_bytes(void *context,
 
 static void hardware_setup(bool *factory_reset)
 {
+    // Configure watchdog
+    {
+        init_watchdog();
+    }
+
     // Configure systick so we can use it for simple delays
     {
         nrfx_systick_init();
@@ -403,6 +409,8 @@ int main(void)
 
     while (1)
     {
+        reload_watchdog(NULL, NULL);
+
         run_lua(factory_reset);
 
         factory_reset = false;

diff --git a/source/application/nrfx_config.h b/source/application/nrfx_config.h
@@ -47,4 +47,6 @@
 #define NRFX_TWIM_ENABLED 1
 #define NRFX_TWIM0_ENABLED 1
 
+#define NRFX_WDT_ENABLED 1
+
 #include "templates/nrfx_config_nrf52840.h"
diff --git a/source/application/watchdog.c b/source/application/watchdog.c
@@ -0,0 +1,55 @@
+/*
+ * This file is a part of: https://github.com/brilliantlabsAR/frame-codebase
+ *
+ * Authored by: Raj Nakarja / Brilliant Labs Ltd. ([email protected])
+ *              Rohit Rathnam / Silicon Witchery AB ([email protected])
+ *              Uma S. Gupta / Techno Exponent ([email protected])
+ *
+ * ISC Licence
+ *
+ * Copyright © 2023 Brilliant Labs Ltd.
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
+ * REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
+ * AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
+ * INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
+ * LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
+ * OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "lua.h"
+#include "nrfx_wdt.h"
+
+static nrfx_wdt_t watchdog = NRFX_WDT_INSTANCE(0);
+
+void init_watchdog(void)
+{
+    nrfx_wdt_config_t watchdog_config = {
+        .behaviour = NRF_WDT_BEHAVIOUR_RUN_SLEEP_MASK,
+        .reload_value = 6000,
+        .interrupt_priority = NRFX_WDT_DEFAULT_CONFIG_IRQ_PRIORITY,
+    };
+
+    nrfx_wdt_channel_id watchdog_channel = NRF_WDT_RR0;
+
+    check_error(nrfx_wdt_init(&watchdog, &watchdog_config, NULL));
+    check_error(nrfx_wdt_channel_alloc(&watchdog, &watchdog_channel));
+
+    nrfx_wdt_enable(&watchdog);
+    nrfx_wdt_feed(&watchdog);
+}
+
+void reload_watchdog(lua_State *L, lua_Debug *ar)
+{
+    nrfx_wdt_channel_feed(&watchdog, NRF_WDT_RR0);
+}
+
+void sethook_watchdog(lua_State *L)
+{
+    lua_sethook(L, reload_watchdog, LUA_MASKCALL | LUA_MASKCOUNT, 2000);
+}
diff --git a/source/application/watchdog.h b/source/application/watchdog.h
@@ -0,0 +1,31 @@
+/*
+ * This file is a part of: https://github.com/brilliantlabsAR/frame-codebase
+ *
+ * Authored by: Raj Nakarja / Brilliant Labs Ltd. ([email protected])
+ *              Rohit Rathnam / Silicon Witchery AB ([email protected])
+ *              Uma S. Gupta / Techno Exponent ([email protected])
+ *
+ * ISC Licence
+ *
+ * Copyright © 2023 Brilliant Labs Ltd.
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
+ * REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
+ * AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
+ * INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
+ * LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
+ * OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+ * PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#pragma once
+
+#include "lua.h"
+
+void init_watchdog(void);
+void reload_watchdog(lua_State *L, lua_Debug *ar);
+void sethook_watchdog(lua_State *L);
diff --git a/source/error_logging.c b/source/error_logging.c
@@ -146,10 +146,15 @@ void _check_error(nrfx_err_t error_code, const char *file, const int line)
     {
         if (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk)
         {
-            LOG("Crashed at %s:%u - %s",
+            LOG("Crashed at %s:%u - %s (0x%02x)",
                 file,
                 line,
-                lookup_error_code(error_code));
+                lookup_error_code(error_code),
+                error_code);
+
+            for (size_t i = 0; i < 1000; i++)
+            {
+            }
 
             __BKPT();
         }

diff --git a/source/nrfx_glue.h b/source/nrfx_glue.h
@@ -33,6 +33,7 @@
 #define nrfx_gpiote_0_irq_handler GPIOTE_IRQHandler
 #define nrfx_rtc_1_irq_handler RTC1_IRQHandler
 #define nrfx_pdm_irq_handler PDM_IRQHandler
+#define nrfx_wdt_0_irq_handler WDT_IRQHandler
 
 #define NRFX_ASSERT(expression)                \
     do                                         \