kopia lustrzana https://github.com/bristol-seds/pico-tracker
Started new watchdog and init process.
Richard Meadows
rodzic
3e87c0b877
commit
4f33da8740
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@ -33,6 +33,7 @@ void si_trx_on(uint8_t modulation_type, uint32_t frequency, uint16_t deviation);
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void si_trx_off(void);
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void si_trx_switch_channel(int16_t channel);
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void si_trx_shutdown(void);
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void si_trx_init(void);
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void spi_loopback_test(void);
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@ -0,0 +1,58 @@
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/*
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* Functions related to the watchdog.
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* Copyright (C) 2015 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef WATCHDOG_H
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#define WATCHDOG_H
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#include "samd20.h"
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/**
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* These are random constants to prevent run-away code from
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* accidentially hitting them.
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*/
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typedef enum {
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IDLE_NONE,
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IDLE_WAIT_FOR_GPS = 0x90137526,
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IDLE_WHILE_TELEMETRY_ACTIVE = 0x15476064,
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IDLE_WAIT_FOR_NEXT_TELEMETRY = 0x36749870,
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} idle_wait_t;
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/**
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* Define how many iterations these loops are permitted before a reset
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* is triggered.
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*/
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#define MAXIDLE_WAIT_FOR_GPS 0xFFFFFFFE
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#define MAXIDLE_WHILE_TELEMETRY_ACTIVE 0xFFFFFFFE
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#define MAXIDLE_WAIT_FOR_NEXT_TELEMETRY 0xFFFFFFFE
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struct idle_counter {
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uint32_t wait_for_gps;
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uint32_t while_telemetry_active;
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uint32_t wait_for_next_telemetry;
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};
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void watchdog_do_idle(idle_wait_t idle_t);
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void watchdog_init(void);
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#endif /* WATCHDOG_H */
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@ -38,7 +38,7 @@
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#include "gps.h"
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#include "mfsk.h"
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#include "ubx_messages.h"
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#include "system/wdt.h"
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#include "watchdog.h"
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#include "xosc.h"
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#include "telemetry.h"
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#include "timer.h"
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@ -52,7 +52,7 @@
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#include "spi_bitbang.h"
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#include "system/interrupt.h"
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#define CALLSIGN "UBSEDS8"
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#define CALLSIGN "UBSEDSx"
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void xosc_measure_callback(uint32_t result);
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void timepulse_callback(uint32_t sequence);
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@ -60,51 +60,29 @@ void timepulse_callback(uint32_t sequence);
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int32_t _xosc_error = 0;
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/**
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* Initialises the status LED
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* Initialises the status LED. SHOULD TURN ON THE LED
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*/
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static inline void led_init(void)
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static inline void led_reset(void)
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{
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/**
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* This pin is shared with the XOSC line on the current hardware bodge
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*/
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port_pin_set_config(LED0_PIN,
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PORT_PIN_DIR_INPUT, /* Direction */
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PORT_PIN_DIR_OUTPUT, /* Direction */
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PORT_PIN_PULL_NONE, /* Pull */
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false); /* Powersave */
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// port_pin_set_output_level(LED0_PIN, 1); /* LED is active low */
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port_pin_set_output_level(LED0_PIN, 0); /* LED is active low */
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}
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/**
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* Turns the status LED on
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*/
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static inline void led_on(void)
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{
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//port_pin_set_output_level(LED0_PIN, 0); /* LED is active low */
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port_pin_set_output_level(LED0_PIN, 0); /* LED is active low */
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}
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/**
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* Turns the status LED off
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*/
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static inline void led_off(void)
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{
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//port_pin_set_output_level(LED0_PIN, 1); /* LED is active low */
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}
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void wdt_init() {
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/* 64 seconds timeout. So 2^(15+6) cycles of the wdt clock */
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system_gclk_gen_set_config(WDT_GCLK,
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GCLK_SOURCE_OSCULP32K, /* Source */
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false, /* High When Disabled */
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128, /* Division Factor */
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false, /* Run in standby */
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true); /* Output Pin Enable */
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system_gclk_gen_enable(WDT_GCLK);
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/* Set the watchdog timer. On 256Hz gclk 4 */
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wdt_set_config(true, /* Lock WDT */
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true, /* Enable WDT */
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GCLK_GENERATOR_4, /* Clock Source */
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WDT_PERIOD_16384CLK, /* Timeout Period */
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WDT_PERIOD_NONE, /* Window Period */
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WDT_PERIOD_NONE); /* Early Warning Period */
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port_pin_set_output_level(LED0_PIN, 1); /* LED is active low */
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}
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/**
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@ -277,22 +255,22 @@ void aprs_test(void)
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if (!gps_is_locked()) return; /* Don't bother with no GPS */
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while(1) {
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struct ubx_nav_posllh pos = gps_get_nav_posllh();
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float lat = (float)pos.payload.lat / 10000000.0; // This division is from the gps reciver, not for geofence
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float lon = (float)pos.payload.lon / 10000000.0;
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uint32_t altitude = pos.payload.height / 1000;
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struct ubx_nav_posllh pos = gps_get_nav_posllh();
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float lat = (float)pos.payload.lat / 10000000.0; // This division is from the gps reciver, not for geofence
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float lon = (float)pos.payload.lon / 10000000.0;
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uint32_t altitude = pos.payload.height / 1000;
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/* Set location */
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aprs_set_location(lat, lon, altitude);
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/* Set location */
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aprs_set_location(lat, lon, altitude);
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/* Set frequency */
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telemetry_aprs_set_frequency(144800000);
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/* Set frequency */
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telemetry_aprs_set_frequency(144800000);
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/* Transmit packet and wait */
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telemetry_start(TELEMETRY_APRS, 0xFFFF);
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while (telemetry_active()) {
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system_sleep();
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}
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/* Transmit packet and wait */
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telemetry_start(TELEMETRY_APRS, 0xFFFF);
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while (telemetry_active()) {
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system_sleep();
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}
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}
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}
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@ -302,6 +280,21 @@ void aprs_test(void)
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*/
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void init(void)
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{
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/**
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* Reset to get the system in a safe state
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* --------------------------------------------------------------------------
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*/
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led_reset();
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si_trx_shutdown();
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/* If the reset was caused by the internal watchdog... */
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if (PM->RCAUSE.reg & PM_RCAUSE_WDT) {
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/* External hardware is in an undefined state. Wait here for the
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external watchdog to trigger an external reset */
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while (1);
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}
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/**
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* Internal initialisation
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* ---------------------------------------------------------------------------
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@ -320,8 +313,8 @@ void init(void)
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system_events_init();
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system_extint_init();
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/* Get the current CPU Clock */
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SystemCoreClock = system_cpu_clock_get_hz();
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/* Remember the HW watchdog has been running since reset */
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//watchdog_init();
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/* Configure Sleep Mode */
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//system_set_sleepmode(SYSTEM_SLEEPMODE_STANDBY);
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@ -335,15 +328,11 @@ void init(void)
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* ---------------------------------------------------------------------------
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*/
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/* Set the wdt here. We should get to the first reset in one min */
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//wdt_init();
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//wdt_reset_count();
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/* Enables the xosc on gclk1 */
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/* Enable the xosc on gclk1 */
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xosc_init();
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led_init();
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gps_init();
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/* GPS init */
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// gps_init();
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/* Enable timer interrupt and event channel */
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timepulse_extint_init();
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@ -395,32 +384,12 @@ int main(void)
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init();
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led_on();
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while (1) {
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/* Sleep wait for next telemetry */
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while (telemetry_trigger_flag == 0) {
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system_sleep();
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}
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telemetry_trigger_flag = 0;
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/* End pips */
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telemetry_stop();
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while (telemetry_active()) {
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system_sleep();
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}
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/* Watchdog */
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//wdt_reset_count();
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/* Send the next packet */
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/* Send a packet */
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output_telemetry_string((telemetry_alternate++ & 1) ?
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TELEMETRY_CONTESTIA :
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TELEMETRY_RTTY);
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/* Maybe aprs? */
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#if APRS_ENABLE
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if (aprs_trigger_flag) {
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@ -434,5 +403,17 @@ int main(void)
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/* Measure XOSC against gps timepulse */
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measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
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/* Sleep wait for next telemetry */
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while (telemetry_trigger_flag == 0) {
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system_sleep();
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}
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telemetry_trigger_flag = 0;
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/* End pips */
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telemetry_stop();
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while (telemetry_active()) {
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system_sleep();
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}
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}
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}
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@ -466,9 +466,9 @@ void si_trx_switch_channel(int16_t channel)
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}
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/**
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* Initialises the radio interface to the radio
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* Resets the radio
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*/
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void si_trx_init(void)
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void si_trx_shutdown(void)
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{
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/* Configure the SDN pin */
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port_pin_set_config(SI406X_SDN_PIN,
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@ -478,6 +478,13 @@ void si_trx_init(void)
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/* Put the transciever in shutdown */
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_si_trx_sdn_enable();
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}
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/**
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* Initialises the radio interface to the radio
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*/
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void si_trx_init(void)
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{
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si_trx_shutdown();
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/* Configure the SPI select pin */
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port_pin_set_config(SI406X_SEL_PIN,
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@ -0,0 +1,159 @@
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/*
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* Functions related to the watchdog.
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* Copyright (C) 2015 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
|
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* "Software"), to deal in the Software without restriction, including
|
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* without limitation the rights to use, copy, modify, merge, publish,
|
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* distribute, sublicense, and/or sell copies of the Software, and to
|
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* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
|
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*
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* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <string.h>
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#include "samd20.h"
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#include "watchdog.h"
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#include "hw_config.h"
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#include "system/gclk.h"
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#include "system/wdt.h"
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struct idle_counter idle_count, idle_count_max;
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idle_wait_t last_idle_t = IDLE_NONE;
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/**
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* Increments the specified idle counter
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*/
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void increment_idle_counter(idle_wait_t idle_t)
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{
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switch (idle_t) {
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case IDLE_WAIT_FOR_GPS:
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idle_count.wait_for_gps++;
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break;
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case IDLE_WHILE_TELEMETRY_ACTIVE:
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idle_count.while_telemetry_active++;
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break;
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case IDLE_WAIT_FOR_NEXT_TELEMETRY:
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idle_count.wait_for_next_telemetry++;
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break;
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default:
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/* Oh no no no. Let's die here */
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while(1);
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}
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}
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/**
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* Halts if any idle counter is above it's max
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*/
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void check_idle_counters(void)
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{
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if ((idle_count.wait_for_gps > MAXIDLE_WAIT_FOR_GPS) ||
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(idle_count.while_telemetry_active > MAXIDLE_WHILE_TELEMETRY_ACTIVE) ||
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(idle_count.wait_for_next_telemetry > MAXIDLE_WAIT_FOR_NEXT_TELEMETRY)) {
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/* Oh dear. Let's die here */
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while (1);
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}
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}
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#define MAX(a,b) ((a>b)?a:b)
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#define SET_COUNT_MAX(A) idle_count_max.A = MAX(idle_count_max.A, idle_count.A)
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/**
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* Clears the idle counters
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*/
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void clear_idle_counters(void)
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{
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SET_COUNT_MAX(wait_for_gps);
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SET_COUNT_MAX(while_telemetry_active);
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SET_COUNT_MAX(wait_for_next_telemetry);
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/* Zero out counter */
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memset(&idle_count, 0, sizeof(struct idle_counter));
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}
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/**
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* Called in idle loops. Kicks the watchdog
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*
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* idle_t - The type of idle loop
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*/
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void watchdog_do_idle(idle_wait_t idle_t)
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{
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/* Check valid */
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if ((idle_t != IDLE_WAIT_FOR_GPS) &&
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(idle_t != IDLE_WHILE_TELEMETRY_ACTIVE) &&
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(idle_t != IDLE_WAIT_FOR_NEXT_TELEMETRY)) {
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/* Oh dear */
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while (1);
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}
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/* Maybe clear */
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if (idle_t != last_idle_t) {
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clear_idle_counters();
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last_idle_t = idle_t;
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}
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/* Increment the idle counter */
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increment_idle_counter(idle_t);
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/* Check idle counter is still okay */
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check_idle_counters();
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/* And finally kick the watchdog */
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wdt_reset_count();
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}
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/**
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* The internal watchdog is used to bring the processor to a halt and
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* coredump to external memory.
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* 0.2s < tout < 0.32s
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*
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* The external watchdog then hard resets the MCU and GPS to bring the
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* system back up in a clean state.
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* 0.8s < tout < 2.1s
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*/
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void watchdog_init(void)
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{
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/* 0.25 seconds timeout. So 2^(15-2) cycles of the 32.768kHz wdt clock */
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system_gclk_gen_set_config(WDT_GCLK,
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GCLK_SOURCE_OSCULP32K, /* Source */
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false, /* High When Disabled */
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128, /* Division Factor 2^7 */
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false, /* Run in standby */
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true); /* Output Pin Enable */
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system_gclk_gen_enable(WDT_GCLK);
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/* Set the watchdog timer. On 256Hz gclk */
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wdt_set_config(true, /* Lock WDT */
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true, /* Enable WDT */
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WDT_GCLK, /* Clock Source */
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WDT_PERIOD_64CLK, /* Timeout Period div 2^6 */
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WDT_PERIOD_NONE, /* Window Period */
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WDT_PERIOD_NONE); /* Early Warning Period */
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wdt_reset_count();
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}
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/**
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* Called for the watchdog early warning interrupt
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*/
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void WDT_Handler(void) {
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/* Coredump */
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/* Wait for the watchdog to kill us */
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while (1);
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}
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