2021-01-26 07:42:43 +11:00
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//! Watchdog
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// See [Chapter 4 Section 7](https://datasheets.raspberrypi.org/rp2040/rp2040_datasheet.pdf) for more details
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2021-05-16 03:32:14 +10:00
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use embedded_hal::watchdog;
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use embedded_time::{
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duration,
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fixed_point::FixedPoint,
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};
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use crate::pac::WATCHDOG;
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//const MAX_LOAD: u32 = 0x7FFFFF;
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pub struct Watchdog {
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watchdog: WATCHDOG,
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delay_ms: u32,
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}
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impl Watchdog {
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pub fn new(watchdog: WATCHDOG) -> Self {
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Self {
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watchdog,
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delay_ms: 0,
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}
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}
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pub fn enable_tick_generation(&mut self, cycles: u8) {
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const WATCHDOG_TICK_ENABLE_BITS: u32 = 0x200;
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self.watchdog
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.tick
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.write(|w| unsafe { w.bits(WATCHDOG_TICK_ENABLE_BITS | cycles as u32)})
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}
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fn load_counter(&self, counter: u32) {
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self.watchdog
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.load
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.write(|w| unsafe { w.bits(counter)});
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}
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fn enable(&self) {
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self.watchdog
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.ctrl
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.write(|w| w.enable().set_bit())
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}
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}
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impl watchdog::Watchdog for Watchdog {
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fn feed(&mut self) {
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self.load_counter(self.delay_ms)
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}
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}
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impl watchdog::WatchdogEnable for Watchdog {
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type Time = duration::Microseconds;
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/// Due to a logic error, the watchdog decrements by 2 and
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/// value must be compensated; see RP2040-E1
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fn start<T: Into<Self::Time>>(&mut self, period: T) {
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let delay_ms = period
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.into()
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.integer() * 2;
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self.load_counter(delay_ms);
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self.enable();
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}
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}
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impl watchdog::WatchdogDisable for Watchdog {
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fn disable(&mut self) {
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self.watchdog
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.ctrl
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.write(|w| w.enable().clear_bit())
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}
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}
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