void
reset()
{
mec_reset();
uart_irq_start();
wdog_start();
}
/* Initializes the controller
*/
void controller_init( void )
{
/* initialize variables */
flag_check_delay = 0;
flag_new_request = 0;
/* clear data structures */
memset( &javiator_data, 0, sizeof( javiator_data ) );
/* initialize hardware */
ports_init( );
wdog_init( );
//adc_init( );
parallel_init( );
bmu09a_init( );
lsm215_init( );
//minia_init( );
leds_init( );
/* register watchdog event and start timer */
wdog_register_flag( (uint8_t *) &flag_check_delay, NOTIFY_PERIOD );
wdog_start( );
#if 0
/* register ADC channels */
adc_add_channel( ADC_CH_SONAR );
adc_add_channel( ADC_CH_BATT );
#endif
/* set Robostix signal LEDs */
LED_ON( RED );
LED_ON( BLUE );
LED_ON( YELLOW );
/* enable interrupts */
sei( );
}
/* Initializes the controller
*/
void controller_init( void )
{
/* initialize variables */
flag_shut_down = 1;
flag_check_delay = 0;
flag_new_signals = 0;
flag_new_sensors = 0;
/* clear data structures */
memset( &javiator_data, 0, sizeof( javiator_data ) );
memset( &motor_signals, 0, sizeof( motor_signals ) );
/* initialize hardware */
ports_init( );
wdog_init( );
adc_init( );
serial_init( );
//parallel_init( );
dm3gx1_init( );
minia_init( );
pwm_init( );
leds_init( );
/* register watchdog event and start timer */
wdog_register_flag( (uint8_t *) &flag_check_delay, NOTIFY_PERIOD );
wdog_start( );
/* set Robostix signal LEDs */
LED_ON( RED );
LED_ON( BLUE );
LED_ON( YELLOW );
/* enable interrupts */
sei( );
}
static void wdog_ping(void)
{
wdog_start(wdog_ticks);
}
static long wdog_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
void __user *argp = (void __user *)arg;
int __user *p = argp;
int new_heartbeat;
int status;
int options;
uint32_t remaining;
struct watchdog_info ident = {
.options = WDIOF_SETTIMEOUT|
WDIOF_MAGICCLOSE|
WDIOF_KEEPALIVEPING,
.firmware_version = 1,
.identity = "BCM2708",
};
switch (cmd) {
case WDIOC_GETSUPPORT:
return copy_to_user(argp, &ident, sizeof(ident)) ? -EFAULT : 0;
case WDIOC_GETSTATUS:
status = wdog_get_status();
return put_user(status, p);
case WDIOC_GETBOOTSTATUS:
return put_user(0, p);
case WDIOC_KEEPALIVE:
wdog_ping();
return 0;
case WDIOC_SETTIMEOUT:
if (get_user(new_heartbeat, p))
return -EFAULT;
if (wdog_set_heartbeat(new_heartbeat))
return -EINVAL;
wdog_ping();
/* Fall */
case WDIOC_GETTIMEOUT:
return put_user(heartbeat, p);
case WDIOC_GETTIMELEFT:
remaining = WDOG_TICKS_TO_SECS(wdog_get_remaining());
return put_user(remaining, p);
case WDIOC_SETOPTIONS:
if (get_user(options, p))
return -EFAULT;
if (options & WDIOS_DISABLECARD)
wdog_stop();
if (options & WDIOS_ENABLECARD)
wdog_start(wdog_ticks);
return 0;
default:
return -ENOTTY;
}
}
/**
* @inode: inode of device
* @file: file handle to device
*
* The watchdog device has been opened. The watchdog device is single
* open and on opening we load the counters.
*/
static int wdog_open(struct inode *inode, struct file *file)
{
if (test_and_set_bit(0, &wdog_is_open))
return -EBUSY;
/*
* Activate
*/
wdog_start(wdog_ticks);
return nonseekable_open(inode, file);
}
/**
* @inode: inode to board
* @file: file handle to board
*
* The watchdog has a configurable API. There is a religious dispute
* between people who want their watchdog to be able to shut down and
* those who want to be sure if the watchdog manager dies the machine
* reboots. In the former case we disable the counters, in the latter
* case you have to open it again very soon.
*/
static int wdog_release(struct inode *inode, struct file *file)
{
if (expect_close == 42) {
wdog_stop();
} else {
printk(KERN_CRIT
"wdt: WDT device closed unexpectedly. WDT will not stop!\n");
wdog_ping();
}
clear_bit(0, &wdog_is_open);
expect_close = 0;
return 0;
}
/**
* @this: our notifier block
* @code: the event being reported
* @unused: unused
*
* Our notifier is called on system shutdowns. Turn the watchdog
* off so that it does not fire during the next reboot.
*/
static int wdog_notify_sys(struct notifier_block *this, unsigned long code,
void *unused)
{
if (code == SYS_DOWN || code == SYS_HALT)
wdog_stop();
return NOTIFY_DONE;
}
/*
* Kernel Interfaces
*/
static const struct file_operations wdog_fops = {
.owner = THIS_MODULE,
.llseek = no_llseek,
.write = wdog_write,
.unlocked_ioctl = wdog_ioctl,
.open = wdog_open,
.release = wdog_release,
};
static struct miscdevice wdog_miscdev = {
.minor = WATCHDOG_MINOR,
.name = "watchdog",
.fops = &wdog_fops,
};
/*
* The WDT card needs to learn about soft shutdowns in order to
* turn the timebomb registers off.
*/
static struct notifier_block wdog_notifier = {
.notifier_call = wdog_notify_sys,
};
/**
* cleanup_module:
*
* Unload the watchdog. You cannot do this with any file handles open.
* If your watchdog is set to continue ticking on close and you unload
* it, well it keeps ticking. We won't get the interrupt but the board
* will not touch PC memory so all is fine. You just have to load a new
* module in 60 seconds or reboot.
*/
static void __exit wdog_exit(void)
{
misc_deregister(&wdog_miscdev);
unregister_reboot_notifier(&wdog_notifier);
}
static int __init wdog_init(void)
{
int ret;
/* Check that the heartbeat value is within it's range;
if not reset to the default */
if (wdog_set_heartbeat(heartbeat)) {
wdog_set_heartbeat(WD_TIMO);
printk(KERN_INFO "bcm2708_wdog: heartbeat value must be "
"0 < heartbeat < %d, using %d\n",
WDOG_TICKS_TO_SECS(PM_WDOG_TIME_SET),
WD_TIMO);
}
ret = register_reboot_notifier(&wdog_notifier);
if (ret) {
printk(KERN_ERR
"wdt: cannot register reboot notifier (err=%d)\n", ret);
goto out_reboot;
}
ret = misc_register(&wdog_miscdev);
if (ret) {
printk(KERN_ERR
"wdt: cannot register miscdev on minor=%d (err=%d)\n",
WATCHDOG_MINOR, ret);
goto out_misc;
}
printk(KERN_INFO "bcm2708 watchdog, heartbeat=%d sec (nowayout=%d)\n",
heartbeat, nowayout);
return 0;
out_misc:
unregister_reboot_notifier(&wdog_notifier);
out_reboot:
return ret;
}