drivers: wdt: Watchdog API redesign and shim for nrfx wdt driver #7007

kl-cruz · 2018-04-10T13:02:16Z

I prepared shim implementation for nrfx watchdog driver. For now it is rather in proof-of-concept state. Changes includes also hard rework of wdt test to meet new API. Test passes on pca10028, pca10040 and pca10056 dev kits.
Due to difficult nature of watchdog peripheral (for test purposes ofc), test should be restarted using pin reset or command: nrfjprog -r.

Commit with new watchdog API was cherry-picked from: #1260

codecov-io · 2018-04-10T17:26:13Z

Codecov Report

Merging #7007 into master will increase coverage by 3.27%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #7007      +/-   ##
==========================================
+ Coverage   55.26%   58.54%   +3.27%     
==========================================
  Files         467      464       -3     
  Lines       51649    47400    -4249     
  Branches     9888     8783    -1105     
==========================================
- Hits        28543    27748     -795     
+ Misses      19196    15821    -3375     
+ Partials     3910     3831      -79

Impacted Files	Coverage Δ
tests/net/neighbor/src/main.c	`52.9% <0%> (-34.28%)`	⬇️
tests/kernel/workq/work_queue_api/src/main.c	`66.66% <0%> (-32.72%)`	⬇️
tests/kernel/tickless/tickless_concept/src/main.c	`66.66% <0%> (-30.84%)`	⬇️
tests/kernel/critical/src/main.c	`66.66% <0%> (-29.34%)`	⬇️
tests/net/ipv6/src/main.c	`64.34% <0%> (-29.28%)`	⬇️
...sts/kernel/mem_pool/mem_pool_threadsafe/src/main.c	`66.66% <0%> (-28.99%)`	⬇️
subsys/net/lib/http/http.c	`0% <0%> (-27.36%)`	⬇️
subsys/net/lib/app/server.c	`25.25% <0%> (-27.28%)`	⬇️
tests/kernel/irq_offload/src/main.c	`66.66% <0%> (-25%)`	⬇️
subsys/net/lib/app/net_app.c	`20.47% <0%> (-22.69%)`	⬇️
... and 147 more

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dbkinder

Looks OK

kl-cruz · 2018-04-11T06:47:11Z

Reworked comments in test and text in shim-related commit message. Fixed code issue found by failing test.

tbursztyka

Tiny comments.

I would have split the shim driver and the dts changes/additions into 2 patches.

tbursztyka · 2018-04-12T08:34:24Z

drivers/watchdog/Kconfig

+	  3 INFO, write SYS_LOG_INF in addition to previous levels
+	  4 DEBUG, write SYS_LOG_DBG in addition to previous levels
+
+config HAVE_WDT_MULTISTAGE


This option seems useless to me

This code is part of #1260

I think this option should be kept: #1260 (review)

tbursztyka · 2018-04-12T08:37:39Z

include/watchdog.h

+	void (*enable)(struct device *dev);
+	void (*get_config)(struct device *dev, struct wdt_config *config);
+	int (*set_config)(struct device *dev, struct wdt_config *config);
+	void (*reload)(struct device *dev);


Convention seems to be that you need to declare typedefs first for each type of fonction (not all, as long as signature is same, and name is relevant to match 2+ functions...).

So you'll need to have wdt_api_* function types.

This code is part of #1260

Can be aligned

Aligned only new functions names. Please let me know if I should change old ones too

tbursztyka · 2018-04-12T08:40:07Z

drivers/watchdog/wdt_nrf.c

+	}
+
+	IRQ_CONNECT(CONFIG_WDT_NRF_IRQ,
+		CONFIG_WDT_NRF_IRQ_PRI, wdt_nrf_isr,


is it github that messes up the indentation or is the indentation badly done? (indent should be below last '(' + 1 space)

tbursztyka · 2018-04-12T08:40:55Z

drivers/watchdog/wdt_nrf.c

+{
+	ARG_UNUSED(dev);
+
+	nrfx_err_t err_code = nrfx_wdt_channel_alloc(&m_ch[m_ch_id]);


Variable declaration always at the beginning of a code block, so here above ARG_UNUSED()

kl-cruz · 2018-04-17T13:45:40Z

Splitted shim to shim and dts commits

anangl · 2018-04-19T07:00:12Z

drivers/watchdog/wdt_nrf.c

+{
+	ARG_UNUSED(dev);
+	/* Deprecated function. No implementation needed. */
+	SYS_LOG_ERR("Function not implemented!");


This is not entirely true. Though this function is "empty", it is not deprecated. It is called on the initialization of the device (see DEVICE_AND_API_INIT below). Maybe it would be good to rename it to e.g. init_wdt to differentiate from the ones needed for filling the wdt_driver_api structure and avoid confusion this way?

anangl · 2018-04-19T13:30:52Z

drivers/watchdog/Kconfig

@@ -30,4 +57,6 @@ source "drivers/watchdog/Kconfig.esp32"

 source "drivers/watchdog/Kconfig.sam0"

+source "drivers/watchdog/Kconfig.nrf"


"Kconfig.nrfx" - that's the convention we decided to use for shims using nrfx drivers.

anangl · 2018-04-19T13:42:51Z

drivers/watchdog/Kconfig.nrf

+	int "Reload value in [ms]"
+	depends on WDT_NRF
+	default 2000
+	range 1 130150524


This value is strange. I guess it was supposed to be: 0xFFFFFFFF (max value that can be written to NRF_WDT->CRV) * 30,51 us (1s / 32768) = 131039452 ms. But maybe we should limit it to some more reasonable value. 86400000 would be one day. Could there be a need to reload a watchdog less frequently?

anangl · 2018-04-19T13:51:09Z

drivers/watchdog/wdt_nrf.c

+
+struct wdt_nrf_dev_data {
+	void (*cb)(struct device *dev, void *handle);
+};


Is this still needed? It looks like remains from an earlier version.
See also line 183.

anangl · 2018-04-20T12:55:10Z

drivers/watchdog/Kconfig.nrfx

+
+config WDT_NRF_DEVICE_NAME
+	string "Device name for Watchdog (WDT)"
+	depends on WDT_NRFX


Use if WDT_NRFX to enclose these two config entries instead of specifying depends on WDT_NRFX for both of them (it's not very likely that new ones will be added here in the future, but this will be consistent with other Kconfigs).

anangl · 2018-04-20T13:02:26Z

drivers/watchdog/wdt_nrfx_wdt.c

+{
+	/* Started watchdog cannot be stopped on nRF devices. */
+	ARG_UNUSED(dev);
+	return 0;


This operation is not available, so it would be better to return -ENOTSUP.

anangl · 2018-04-23T05:24:50Z

drivers/watchdog/wdt_nrfx_wdt.c

+	 * Clearing events also clears the reload register and has to be done
+	 * AFTER event handler.
+	 */
+	if (nrf_wdt_int_enable_check(NRF_WDT_INT_TIMEOUT_MASK)) {


This is unnecessary. The TIMEOUT event is the only one that can trigger the interrupt.

Ok, will be removed. It can speed up code execution a little

anangl · 2018-04-23T05:29:15Z

drivers/watchdog/wdt_nrfx_wdt.c

+ * The m_alloc_ch_num variable stores number of currently allocated
+ * and activated watchdog channels.
+ */
+static u32_t               m_alloc_ch_num;


u8_t will be enough.
And what about renaming it to m_activated_channels?

I'd prefer to use here m_allocated_channels (if we would like to change it) to be more consistent with nrfx_wdt_channel_alloc function itself.
u8_t -> okay, that's right.

anangl · 2018-04-23T05:31:49Z

drivers/watchdog/wdt_nrfx_wdt.c

+/* Each activated and not reloaded channel can generate watchdog interrupt.
+ * Array m_cb provides storing callbacks for each channel.
+ */
+static wdt_callback_t      m_cb[NRF_WDT_CHANNELS_NUMBER];


I'd suggest m_callbacks. m_cb may be confused with "control block".

will be changed

anangl · 2018-04-23T06:06:40Z

drivers/watchdog/wdt_nrfx_wdt.c

+	return 0;
+}
+
+static void wdt_nrf_enable(struct device *dev)


This function is deprecated, so it should be "not implemented" like the others.

anangl · 2018-04-23T06:38:15Z

drivers/watchdog/wdt_nrfx_wdt.c

+		return -ENOMEM;
+	}
+
+	cfg->handle = &m_ch[m_alloc_ch_num];


Now I see that we misunderstood the API a bit. This field was not originally supposed to be filled by the driver (see here). But I think such approach is troublesome because driver would need to do some mapping of the handle pointer to a proper watchdog channel and this will be ineffective. It will be better to use what you proposed earlier - to return from this function the index of the activated channel, and then expect this index to be passed to wdt_feed.

Well, that's point to discuss. Feed function needs information about channel to be feeded. Now we have two points where we can do it. Solution based on pointer to struct is more generic imo. Now it is not completely compatible with documentation.
Surely it can be done using integer value returned by install_timeout function (second solution). However it requires a little changes in implementation.
I will align doc to choosen solution.

Okay, My proposal is to return index of allocated watchdog channel in install_timeout function and use it to deal with feed function. Index can be easily translated inside the shim layer.
There is only one point to discuss. It requires one change in doc. I mean values started from zero are valid and point to channel index instead of pointing directly to "success" return code:
https://github.com/zephyrproject-rtos/zephyr/pull/1260/files#diff-eb04a3826c198cc49f02f288abf3d859R230

Returning the index in install_timeout is fine.

anangl · 2018-04-23T06:45:57Z

drivers/watchdog/wdt_nrfx_wdt.c

+	nrfx_err_t err_code;
+
+	/* Set default value according to default value in MCU. */
+	config.behaviour = NRF_WDT_BEHAVIOUR_RUN_SLEEP;


This should be NRF_WDT_BEHAVIOUR_RUN_SLEEP_HALT, otherwise WDT_OPT_PAUSE_HALTED_BY_DBG won't be handled correctly.
And perhaps it would be better to keep this line together with others related to the config structure?

By default watchdog is running when CPU sleeps. I think next lines can be modified to cover all cases. I'll look at it

Ok I got it. Changed.

anangl · 2018-04-23T06:49:17Z

include/watchdog.h

+ *		   window differs from windows for alarms installed so far.
+ */
+static inline int wdt_install_timeout(struct device *dev,
+				      struct wdt_timeout_cfg *cfg)


const should be added here, see these comments.

anangl · 2018-04-23T06:52:24Z

drivers/watchdog/wdt_nrfx_wdt.c

+{
+	nrfx_err_t err_code;
+	ARG_UNUSED(dev);
+


You should also check cfg->options here and return -ENOTSUP for settings other than WDT_FLAG_RESET_SOC.

anangl · 2018-04-24T16:46:25Z

include/watchdog.h

+	int (*wdt_api_setup)(struct device *dev, u8_t options);
+	int (*wdt_api_disable)(struct device *dev);
+	int (*wdt_api_install_timeout)(struct device *dev, struct wdt_timeout_cfg *cfg);
+	int (*wdt_api_feed)(struct device *dev, int ch_id);


ch_id is a bit cryptic, why not name it channel_id?
And perhaps we could use u8_t for this parameter. I don't think there will be watchdogs with more than 256 channels.

If we return an int in install_timeout, then this should also be an int. This would also give the driver the option to check if the value is negative in the event that install_timeout failed and the application didn't check.

int is better idea in each of these places because of handling error values.

MaureenHelm · 2018-04-24T18:30:02Z

include/watchdog.h

-	wdt_api_get_config get_config;
-	wdt_api_set_config set_config;
-	wdt_api_reload reload;
+	int (*wdt_api_setup)(struct device *dev, u8_t options);


Can we remove the wdt_api_ prefix from the member names? The prefix is fine if you define typedefs for the function prototypes, but it's redundant to also use the prefix in the struct members. See spi.h for an example.

That's good question. I'd like to keep it consistent in some way with other drivers.
If we use spi as an example then I will prepare typedef for each function and pass it to this structure. It seems to be more readable. Please let me know what do You think about it

It looks good

MaureenHelm · 2018-04-24T18:41:14Z

drivers/watchdog/wdt_nrfx_wdt.c

+		return -ENOMEM;
+	}
+
+	cfg->handle = &m_ch[m_alloc_ch_num];


Returning the index in install_timeout is fine.

MaureenHelm · 2018-04-24T18:49:19Z

include/watchdog.h

+	int (*wdt_api_setup)(struct device *dev, u8_t options);
+	int (*wdt_api_disable)(struct device *dev);
+	int (*wdt_api_install_timeout)(struct device *dev, struct wdt_timeout_cfg *cfg);
+	int (*wdt_api_feed)(struct device *dev, int ch_id);


If we return an int in install_timeout, then this should also be an int. This would also give the driver the option to check if the value is negative in the event that install_timeout failed and the application didn't check.

kl-cruz · 2018-04-25T12:00:17Z

include/watchdog.h

+};
+
+/** Watchdog callback. */
+typedef void (*wdt_callback_t)(struct device *dev, void *handle);


@MaureenHelm @anangl, changes with installing new timeout will affect also callback typedef. My proposal is to change callback to:
void (*wdt_callback_t)(struct device *dev, int channel_id); in case of handling more channels with the same callback

@anangl of course int here can be changed to u8_t

kl-cruz · 2018-04-25T14:42:26Z

I provided some changes with API. I mean - now channel index should be passed to feed function to feed watchdog properly. Channel index is returning by install function. Now doc should be aligned to new behaviour.

MaureenHelm · 2018-04-25T19:38:48Z

I provided some changes with API. I mean - now channel index should be passed to feed function to feed watchdog properly. Channel index is returning by install function. Now doc should be aligned to new behaviour.

Thanks. I updated the mcux driver accordingly in #7166

anangl · 2018-05-08T06:47:06Z

recheck

anangl · 2018-05-08T13:36:24Z

drivers/watchdog/wdt_nrfx_wdt.c

+
+static struct device DEVICE_NAME_GET(wdt_nrf);
+
+/* There are eight reload registers (channels) in Nordic's WDT. */


Number of channels is defined as NRF_WDT_CHANNEL_NUMBER. Although it is not likely that this number will change, it is risky to mention in the comment that it is eight.

anangl · 2018-05-08T13:38:38Z

drivers/watchdog/wdt_nrfx_wdt.c

+static struct device DEVICE_NAME_GET(wdt_nrf);
+
+/* There are eight reload registers (channels) in Nordic's WDT. */
+static nrfx_wdt_channel_id m_ch[NRF_WDT_CHANNELS_NUMBER];


Now that nrfx_wdt_channel_feed is called with (nrfx_wdt_channel_id)channel_id as the parameter, we should get rid of this to not create a mess.

anangl · 2018-05-08T13:41:06Z

drivers/watchdog/wdt_nrfx_wdt.c

+	}
+
+	m_allocated_channels++;
+	return (m_allocated_channels - 1);


Perhaps it would be more readable to use a local variable channel_id, initialize it to m_allocated_channels and return its value here.

anangl · 2018-05-08T13:44:11Z

drivers/watchdog/wdt_nrfx_wdt.c

+	config.reload_value = m_timeout;
+
+	err_code = nrfx_wdt_init(&config, wdt_event_handler);
+	if (err_code == NRFX_ERROR_INVALID_STATE) {


err_code != NRFX_SUCCESS will be safer.

anangl · 2018-05-08T13:49:43Z

drivers/watchdog/wdt_nrfx_wdt.c

+#define SYS_LOG_LEVEL CONFIG_SYS_LOG_WDT_LEVEL
+#include <logging/sys_log.h>
+
+#define NRF_WDT_CHANNELS_NUMBER 8


NRF_WDT_CHANNEL_NUMBER is defined in nrf_wdt.h and it should be used instead of this.

I'll change it

anangl · 2018-05-08T13:52:01Z

drivers/watchdog/wdt_nrfx_wdt.c

+#include <clock_control.h>
+#include <watchdog.h>
+
+#define SYS_LOG_DOMAIN "WDT NRF"


"wdt_nrfx_wdt"
But shouldn't we name this file just "wdt_nrfx.c" and then use "wdt_nrfx" here?

anangl · 2018-05-08T13:53:10Z

drivers/watchdog/wdt_nrfx_wdt.c

+
+#define NRF_WDT_CHANNELS_NUMBER 8
+
+static struct device DEVICE_NAME_GET(wdt_nrf);


DEVICE_DECLARE(wdt_nrf);

kl-cruz · 2018-05-11T11:54:37Z

@MaureenHelm I changed HAVE_WDT_MULTISTAGE to HAS in Kconfig. Everything else (globally)- no changes.
@anangl Introduce changes to nordic implementation.
I removed labels DNM, RFC from pull request name.

anangl · 2018-05-11T12:06:51Z

recheck

MaureenHelm

API changes look good

MaureenHelm · 2018-05-11T15:46:28Z

ext/hal/nordic/Kconfig

@@ -18,3 +18,6 @@ config NRFX_SPIM

 config NRFX_SPIS
 	bool
+
+config NRFX_WDT


The nrf changes should move to the nrf shim commit

MaureenHelm · 2018-05-11T15:56:18Z

dts/bindings/watchdog/nordic,nrf-watchdog.yaml

@@ -0,0 +1,38 @@
+---


Add license/copyright header

New API enables setting watchdog timeout in the unit of microseconds. It is possible to configure watchdog timer behavior in CPU sleep state as well as when it is halted by the debugger. It supports watchdogs with multiple reload channels. Jira: ZEP-2564 Signed-off-by: Michał Kruszewski <[email protected]> Signed-off-by: Karol Lasończyk <[email protected]>

Commit introduces support for watchdog configuration for Nordic Semiconductor nRF SoCs in device tree. Signed-off-by: Karol Lasończyk <[email protected]>

Changes add a translation layer to make nrfx WDT driver works with Zephyr API. Signed-off-by: Karol Lasończyk <[email protected]>

New test checks watchdog API if the simpliest test cases work correctly. Each test contains description at the begining of the source file. This implementation replace old SoC-centric implementation. Signed-off-by: Karol Lasończyk <[email protected]>

kl-cruz · 2018-05-14T08:59:59Z

@MaureenHelm @anangl Cleaned-up commits. Waiting for test results

mnkp · 2018-05-20T21:45:29Z

include/watchdog.h

+ * @param dev Pointer to the device structure for the driver instance.
+ * @param cfg Pointer to timeout configuration structure.
+ *
+ * @retval 0 If successful.


It looks like we forgot to update the documentation to inform the user that the function returns channel_id. This makes usage of this API confusing. It should probably be fixed for 1.12 release.

kl-cruz requested review from dbkinder, erwango and nashif as code owners April 10, 2018 13:02

carlescufi requested a review from tbursztyka April 10, 2018 13:05

carlescufi changed the title ~~[RFC][DNM] Shim for nrfx wdt driver~~ [RFC][DNM] Watchdog API redesign and shim for nrfx wdt driver Apr 10, 2018

kl-cruz force-pushed the nrfx_shim_wdt branch from 5cd2e2b to 50b3dbe Compare April 10, 2018 17:03

dbkinder approved these changes Apr 10, 2018

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kl-cruz force-pushed the nrfx_shim_wdt branch 2 times, most recently from 1aa13d1 to 009ba88 Compare April 11, 2018 06:35

kl-cruz force-pushed the nrfx_shim_wdt branch from 009ba88 to 56e4820 Compare April 11, 2018 10:57

tbursztyka requested changes Apr 12, 2018

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galak added the platform: nRF Nordic nRFx label Apr 12, 2018

kl-cruz force-pushed the nrfx_shim_wdt branch from 56e4820 to 333d08d Compare April 17, 2018 13:43

galak mentioned this pull request Apr 17, 2018

Driver API review/cleanup/rework #5697

Closed

33 tasks

carlescufi requested a review from MaureenHelm April 17, 2018 16:12

anangl requested changes Apr 19, 2018

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kl-cruz force-pushed the nrfx_shim_wdt branch 2 times, most recently from 2e14558 to 03680c9 Compare April 20, 2018 13:33

anangl requested changes Apr 23, 2018

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This was referenced Apr 23, 2018

ext: mcux: Reorganize imported drivers into soc family subfolders #7163

Merged

Watchdog API redesign and shim for mcux wdog driver #7166

Merged

anangl reviewed Apr 24, 2018

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MaureenHelm reviewed Apr 24, 2018

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kl-cruz commented Apr 25, 2018

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kl-cruz force-pushed the nrfx_shim_wdt branch from 84466ca to 6dc8e3c Compare April 25, 2018 14:33

kl-cruz force-pushed the nrfx_shim_wdt branch 3 times, most recently from 580f58a to 8514aac Compare April 26, 2018 06:41

kl-cruz force-pushed the nrfx_shim_wdt branch from 8514aac to bdf3508 Compare May 8, 2018 11:27

kl-cruz requested a review from carlescufi as a code owner May 8, 2018 11:27

anangl requested changes May 8, 2018

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tbursztyka approved these changes May 8, 2018

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kl-cruz force-pushed the nrfx_shim_wdt branch from bdf3508 to 171737f Compare May 11, 2018 11:51

kl-cruz changed the title ~~[RFC][DNM] Watchdog API redesign and shim for nrfx wdt driver~~ drivers: wdt: Watchdog API redesign and shim for nrfx wdt driver May 11, 2018

MaureenHelm requested changes May 11, 2018

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Michał Kruszewski and others added 4 commits May 14, 2018 08:51

dts: nrf: Expand nRF DTS to support watchdog

f7a84ad

Commit introduces support for watchdog configuration for Nordic Semiconductor nRF SoCs in device tree. Signed-off-by: Karol Lasończyk <[email protected]>

drivers: watchdog: Add shim for nrfx WDT driver

c8dee9d

Changes add a translation layer to make nrfx WDT driver works with Zephyr API. Signed-off-by: Karol Lasończyk <[email protected]>

kl-cruz force-pushed the nrfx_shim_wdt branch from 171737f to bacbb38 Compare May 14, 2018 08:58

anangl approved these changes May 14, 2018

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MaureenHelm approved these changes May 14, 2018

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MaureenHelm merged commit c989809 into zephyrproject-rtos:master May 14, 2018

mnkp reviewed May 20, 2018

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mnkp mentioned this pull request Jun 4, 2018

api: watchdog: fix wdt_install_timeout doxygen comment #8130

Merged

		@@ -30,4 +57,6 @@ source "drivers/watchdog/Kconfig.esp32"

		source "drivers/watchdog/Kconfig.sam0"

		source "drivers/watchdog/Kconfig.nrf"


		static struct device DEVICE_NAME_GET(wdt_nrf);

		/* There are eight reload registers (channels) in Nordic's WDT. */


		#define NRF_WDT_CHANNELS_NUMBER 8

		static struct device DEVICE_NAME_GET(wdt_nrf);

drivers: wdt: Watchdog API redesign and shim for nrfx wdt driver #7007

drivers: wdt: Watchdog API redesign and shim for nrfx wdt driver #7007

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kl-cruz commented Apr 10, 2018

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kl-cruz commented Apr 25, 2018

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