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//go:build rp2040
package machine
import (
"device/rp"
)
// Watchdog provides access to the hardware watchdog available
// in the RP2040.
var Watchdog = &watchdogImpl{}
const (
// WatchdogMaxTimeout in milliseconds (approx 8.3s).
//
// Nominal 1us per watchdog tick, 24-bit counter,
// but due to errata two ticks consumed per 1us.
// See: Errata RP2040-E1
WatchdogMaxTimeout = (rp.WATCHDOG_LOAD_LOAD_Msk / 1000) / 2
)
type watchdogImpl struct {
// The value to reset the counter to on each Update
loadValue uint32
}
// Configure the watchdog.
//
// This method should not be called after the watchdog is started and on
// some platforms attempting to reconfigure after starting the watchdog
// is explicitly forbidden / will not work.
func (wd *watchdogImpl) Configure(config WatchdogConfig) error {
// x2 due to errata RP2040-E1
wd.loadValue = config.TimeoutMillis * 1000 * 2
if wd.loadValue > rp.WATCHDOG_LOAD_LOAD_Msk {
wd.loadValue = rp.WATCHDOG_LOAD_LOAD_Msk
}
rp.WATCHDOG.CTRL.ClearBits(rp.WATCHDOG_CTRL_ENABLE)
// Reset everything apart from ROSC and XOSC
rp.PSM.WDSEL.Set(0x0001ffff &^ (rp.PSM_WDSEL_ROSC | rp.PSM_WDSEL_XOSC))
// Pause watchdog during debug
rp.WATCHDOG.CTRL.SetBits(rp.WATCHDOG_CTRL_PAUSE_DBG0 | rp.WATCHDOG_CTRL_PAUSE_DBG1 | rp.WATCHDOG_CTRL_PAUSE_JTAG)
// Load initial counter
rp.WATCHDOG.LOAD.Set(wd.loadValue)
return nil
}
// Starts the watchdog.
func (wd *watchdogImpl) Start() error {
rp.WATCHDOG.CTRL.SetBits(rp.WATCHDOG_CTRL_ENABLE)
return nil
}
// Update the watchdog, indicating that the app is healthy.
func (wd *watchdogImpl) Update() {
rp.WATCHDOG.LOAD.Set(wd.loadValue)
}
// startTick starts the watchdog tick.
// cycles needs to be a divider that when applied to the xosc input,
// produces a 1MHz clock. So if the xosc frequency is 12MHz,
// this will need to be 12.
func (wd *watchdogImpl) startTick(cycles uint32) {
rp.WATCHDOG.TICK.Set(cycles | rp.WATCHDOG_TICK_ENABLE)
}
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