Add Watchdog timer and add support for NRF watchdog

locale/circuitpython.pot

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2020-06-01 08:56-0500\n"
+"POT-Creation-Date: 2020-06-01 17:10-0700\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <[email protected]>\n"
@@ -1652,6 +1652,26 @@ msgstr ""
 msgid "WARNING: Your code filename has two extensions\n"
 msgstr ""
 
+#: shared-bindings/watchdog/WatchDogTimer.c
+msgid "WatchDogTimer cannot be deinitialized once mode is set to RESET"
+msgstr ""
+
+#: shared-bindings/watchdog/WatchDogTimer.c
+msgid "WatchDogTimer is not currently running"
+msgstr ""
+
+#: shared-bindings/watchdog/WatchDogTimer.c
+msgid "WatchDogTimer.mode cannot be changed once set to WatchDogMode.RESET"
+msgstr ""
+
+#: shared-bindings/watchdog/WatchDogTimer.c
+msgid "WatchDogTimer.timeout must be greater than 0"
+msgstr ""
+
+#: supervisor/shared/safe_mode.c
+msgid "Watchdog timer expired."
+msgstr ""
+
 #: py/builtinhelp.c
 #, c-format
 msgid ""
@@ -3059,6 +3079,10 @@ msgstr ""
 msgid "time.struct_time() takes a 9-sequence"
 msgstr ""
 
+#: ports/nrf/common-hal/watchdog/WatchDogTimer.c
+msgid "timeout duration exceeded the maximum supported value"
+msgstr ""
+
 #: shared-bindings/busio/UART.c
 msgid "timeout must be 0.0-100.0 seconds"
 msgstr ""
@@ -3212,6 +3236,10 @@ msgstr ""
 msgid "value_count must be > 0"
 msgstr ""
 
+#: shared-bindings/watchdog/WatchDogTimer.c
+msgid "watchdog timeout must be greater than 0"
+msgstr ""
+
 #: shared-bindings/_bleio/Adapter.c
 msgid "window must be <= interval"
 msgstr ""

ports/nrf/Makefile

@@ -136,6 +136,7 @@ SRC_NRFX = $(addprefix nrfx/,\
 	drivers/src/nrfx_gpiote.c \
 	drivers/src/nrfx_rtc.c \
 	drivers/src/nrfx_nvmc.c \
+	drivers/src/nrfx_wdt.c \
 	)
 
 ifdef EXTERNAL_FLASH_DEVICES

ports/nrf/boards/common.template.ld

@@ -70,20 +70,6 @@ SECTIONS
         _etext = .;        /* define a global symbol at end of code */
     } >FLASH_FIRMWARE
 
-    /*
-    .ARM.extab :
-    {
-        *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } >FLASH_FIRMWARE
-
-    .ARM :
-    {
-        __exidx_start = .;
-        *(.ARM.exidx*)
-        __exidx_end = .;
-    } >FLASH_FIRMWARE
-    */
-
     /* used by the startup to initialize data */
     _sidata = .;
 
@@ -147,6 +133,14 @@ SECTIONS
         . = ALIGN(4);
     } >RAM
 
+    /* Remove exception unwinding information, since Circuit Python
+       does not support this GCC feature. */
+    /DISCARD/ :
+    {
+        *(.ARM.extab* .gnu.linkonce.armextab.*)
+        *(.ARM.exidx*)
+    }
+
     /* Remove information from the standard libraries */
     /*
     /DISCARD/ :

ports/nrf/boards/pca10100/mpconfigboard.mk

@@ -8,9 +8,13 @@ MCU_CHIP = nrf52833
 INTERNAL_FLASH_FILESYSTEM = 1
 
 CIRCUITPY_AUDIOMP3 = 0
+CIRCUITPY_BITBANGIO = 0
 CIRCUITPY_BUSIO = 1
+CIRCUITPY_COUNTIO = 0
 CIRCUITPY_DISPLAYIO = 0
 CIRCUITPY_FRAMEBUFFERIO = 0
+CIRCUITPY_FREQUENCYIO = 0
+CIRCUITPY_I2CSLAVE = 0
 CIRCUITPY_NEOPIXEL_WRITE = 0
 CIRCUITPY_NVM = 0
 CIRCUITPY_PIXELBUF  = 0
@@ -20,6 +24,8 @@ CIRCUITPY_RTC = 1
 CIRCUITPY_TOUCHIO = 0
 CIRCUITPY_ULAB = 0
 
+SUPEROPT_GC = 0
+
 # These defines must be overridden before mpconfigboard.h is included, which is
 # why they are passed on the command line.
 CFLAGS += -DSPIM3_BUFFER_SIZE=0 -DSOFTDEVICE_RAM_SIZE='(32*1024)'

ports/nrf/boards/simmel/mpconfigboard.h

@@ -40,7 +40,7 @@
 #endif
 
 #define CIRCUITPY_INTERNAL_NVM_SIZE 0
-#define CIRCUITPY_INTERNAL_FLASH_FILESYSTEM_SIZE (80*1024)
+#define CIRCUITPY_INTERNAL_FLASH_FILESYSTEM_SIZE (76*1024)
 
 #define BOOTLOADER_SIZE                 (0x4000)  // 12 kiB
 #define CIRCUITPY_BLE_CONFIG_SIZE       (12*1024)

ports/nrf/boards/simmel/mpconfigboard.mk

@@ -24,6 +24,7 @@ CIRCUITPY_ROTARYIO = 0
 CIRCUITPY_RTC = 1
 CIRCUITPY_TOUCHIO = 0
 CIRCUITPY_ULAB = 0
+CIRCUITPY_WATCHDOG = 1
 
 # Enable micropython.native
 #CIRCUITPY_ENABLE_MPY_NATIVE = 1

ports/nrf/common-hal/microcontroller/__init__.c

@@ -94,7 +94,7 @@ void common_hal_mcu_on_next_reset(mcu_runmode_t runmode) {
 
 void common_hal_mcu_reset(void) {
     filesystem_flush();
-    NVIC_SystemReset();
+    reset_cpu();
 }
 
 // The singleton microcontroller.Processor object, bound to microcontroller.cpu
@@ -106,7 +106,6 @@ const mcu_processor_obj_t common_hal_mcu_processor_obj = {
 };
 
 #if CIRCUITPY_INTERNAL_NVM_SIZE > 0
-
 // The singleton nvm.ByteArray object.
 const nvm_bytearray_obj_t common_hal_mcu_nvm_obj = {
     .base = {
@@ -117,6 +116,17 @@ const nvm_bytearray_obj_t common_hal_mcu_nvm_obj = {
 };
 #endif
 
+#if CIRCUITPY_WATCHDOG
+// The singleton watchdog.WatchDogTimer object.
+watchdog_watchdogtimer_obj_t common_hal_mcu_watchdogtimer_obj = {
+    .base = {
+        .type = &watchdog_watchdogtimer_type,
+    },
+    .timeout = 0.0f,
+    .mode = WATCHDOGMODE_NONE,
+};
+#endif
+
 STATIC const mp_rom_map_elem_t mcu_pin_globals_table[] = {
   { MP_ROM_QSTR(MP_QSTR_P0_00), MP_ROM_PTR(&pin_P0_00) },
   { MP_ROM_QSTR(MP_QSTR_P0_01), MP_ROM_PTR(&pin_P0_01) },

ports/nrf/common-hal/watchdog/WatchDogTimer.c

@@ -0,0 +1,189 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Nick Moore for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 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 LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#include <math.h>
+#include <string.h>
+
+#include "py/obj.h"
+#include "py/objproperty.h"
+#include "py/runtime.h"
+
+#include "common-hal/watchdog/WatchDogTimer.h"
+
+#include "shared-bindings/microcontroller/__init__.h"
+#include "shared-bindings/watchdog/__init__.h"
+#include "shared-bindings/watchdog/WatchDogTimer.h"
+
+#include "supervisor/port.h"
+
+#include "nrf/timers.h"
+#include "nrf_wdt.h"
+#include "nrfx_wdt.h"
+#include "nrfx_timer.h"
+
+STATIC uint8_t timer_refcount = 0;
+STATIC nrfx_timer_t *timer = NULL;
+STATIC nrfx_wdt_t wdt = NRFX_WDT_INSTANCE(0);
+STATIC nrfx_wdt_channel_id wdt_channel_id;
+
+STATIC void watchdogtimer_timer_event_handler(nrf_timer_event_t event_type, void *p_context) {
+    watchdog_watchdogtimer_obj_t *self = MP_OBJ_TO_PTR(p_context);
+    if (event_type != NRF_TIMER_EVENT_COMPARE0) {
+        // Spurious event.
+        return;
+    }
+
+    // If the timer hits without being cleared, pause the timer and raise an exception.
+    nrfx_timer_pause(timer);
+    self->mode = WATCHDOGMODE_NONE;
+    mp_obj_exception_clear_traceback(MP_OBJ_FROM_PTR(&mp_watchdog_timeout_exception));
+    MP_STATE_VM(mp_pending_exception) = &mp_watchdog_timeout_exception;
+#if MICROPY_ENABLE_SCHEDULER
+    if (MP_STATE_VM(sched_state) == MP_SCHED_IDLE) {
+        MP_STATE_VM(sched_state) = MP_SCHED_PENDING;
+    }
+#endif
+}
+
+static void timer_free(void) {
+    timer_refcount--;
+    if (timer_refcount == 0) {
+        nrf_peripherals_free_timer(timer);
+        timer = NULL;
+    }
+}
+
+// This function is called if the timer expires. The system will reboot
+// in 1/16384 of a second. Issue a reboot ourselves so we can do any
+// cleanup necessary.
+STATIC void watchdogtimer_watchdog_event_handler(void) {
+    reset_cpu();
+}
+
+void common_hal_watchdog_feed(watchdog_watchdogtimer_obj_t *self) {
+    if (self->mode == WATCHDOGMODE_RESET) {
+        nrfx_wdt_feed(&wdt);
+    } else if (self->mode == WATCHDOGMODE_RAISE) {
+        nrfx_timer_clear(timer);
+    }
+}
+
+void common_hal_watchdog_deinit(watchdog_watchdogtimer_obj_t *self) {
+    if (timer) {
+        timer_free();
+    }
+    self->mode = WATCHDOGMODE_NONE;
+}
+
+void watchdog_reset(void) {
+    common_hal_watchdog_deinit(&common_hal_mcu_watchdogtimer_obj);
+}
+
+mp_float_t common_hal_watchdog_get_timeout(watchdog_watchdogtimer_obj_t *self) {
+    return self->timeout;
+}
+
+void common_hal_watchdog_set_timeout(watchdog_watchdogtimer_obj_t *self, mp_float_t timeout) {
+    if (self->mode == WATCHDOGMODE_RAISE) {
+        // If the WatchDogTimer is already running in "RAISE" mode, reset the timer
+        // with the new value.
+        uint64_t ticks = timeout * 31250ULL;
+        if (ticks > UINT32_MAX) {
+            mp_raise_ValueError(translate("timeout duration exceeded the maximum supported value"));
+        }
+        nrfx_timer_clear(timer);
+        nrfx_timer_compare(timer, NRF_TIMER_CC_CHANNEL0, ticks, true);
+    }
+
+    self->timeout = timeout;
+}
+
+watchdog_watchdogmode_t common_hal_watchdog_get_mode(watchdog_watchdogtimer_obj_t *self) {
+    return self->mode;
+}
+
+void common_hal_watchdog_set_mode(watchdog_watchdogtimer_obj_t *self, watchdog_watchdogmode_t new_mode) {
+    watchdog_watchdogmode_t current_mode = self->mode;
+
+    if (new_mode == WATCHDOGMODE_RAISE) {
+        if (timer_refcount == 0) {
+            timer = nrf_peripherals_allocate_timer_or_throw();
+        }
+        timer_refcount++;
+
+        nrfx_timer_config_t timer_config = {
+            .frequency = NRF_TIMER_FREQ_31250Hz,
+            .mode = NRF_TIMER_MODE_TIMER,
+            .bit_width = NRF_TIMER_BIT_WIDTH_32,
+            .interrupt_priority = NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY,
+            .p_context = self,
+        };
+
+        nrfx_timer_init(timer, &timer_config, &watchdogtimer_timer_event_handler);
+
+        uint64_t ticks = nrfx_timer_ms_to_ticks(timer, self->timeout * 1000);
+        if (ticks > UINT32_MAX) {
+            mp_raise_ValueError(translate("timeout duration exceeded the maximum supported value"));
+        }
+
+        // true enables interrupt.
+        nrfx_timer_clear(timer);
+        nrfx_timer_compare(timer, NRF_TIMER_CC_CHANNEL0, ticks, true);
+        nrfx_timer_resume(timer);
+
+    } else if (new_mode == WATCHDOGMODE_RESET) {
+        uint64_t ticks = self->timeout * 1000.0f;
+        if (ticks > UINT32_MAX) {
+            mp_raise_ValueError(translate("timeout duration exceeded the maximum supported value"));
+        }
+
+        nrfx_wdt_config_t config = {
+            .reload_value = ticks, // in units of ms
+            .behaviour = NRF_WDT_BEHAVIOUR_RUN_SLEEP,
+            NRFX_WDT_IRQ_CONFIG
+        };
+
+        nrfx_err_t err_code;
+        err_code = nrfx_wdt_init(&wdt, &config, watchdogtimer_watchdog_event_handler);
+        if (err_code != NRFX_SUCCESS) {
+            mp_raise_OSError(1);
+        }
+        err_code = nrfx_wdt_channel_alloc(&wdt, &wdt_channel_id);
+        if (err_code != NRFX_SUCCESS) {
+            mp_raise_OSError(1);
+        }
+        nrfx_wdt_enable(&wdt);
+        nrfx_wdt_feed(&wdt);
+    }
+
+    // If we just switched away from RAISE, disable the timmer.
+    if (current_mode == WATCHDOGMODE_RAISE && new_mode != WATCHDOGMODE_RAISE) {
+        timer_free();
+    }
+
+    self->mode = new_mode;
+}