bsp: k230: add watchdog support

K230 has two watchdog timers.

Add unit tests based on utest framework.

Watchdog and test are both configuable, disabled by default.

Signed-off-by: Chen Wang <[email protected]>

7 files changed, 571 insertions, 0 deletions

diff --git a/bsp/k230/.config b/bsp/k230/.config
index 67267cd508..b019e93de7 100644
--- a/bsp/k230/.config
+++ b/bsp/k230/.config
@@ -1497,6 +1497,8 @@ CONFIG_BSP_USING_SDIO0=y
 # CONFIG_BSP_SDIO0_1V8 is not set
 # CONFIG_BSP_USING_SDIO1 is not set
 CONFIG_BSP_SD_MNT_DEVNAME="sd0p1"
+# CONFIG_BSP_USING_WDT is not set
+# CONFIG_BSP_UTEST_DRIVERS is not set
 # end of Drivers Configuration
 
 CONFIG_BOARD_fpgac908=y
diff --git a/bsp/k230/board/Kconfig b/bsp/k230/board/Kconfig
index 93d3df2c38..c91fed4f61 100644
--- a/bsp/k230/board/Kconfig
+++ b/bsp/k230/board/Kconfig
@@ -39,4 +39,25 @@ menu "Drivers Configuration"
                 default "sd0p1"
         endif
 
+    menuconfig BSP_USING_WDT
+        bool "Enable Watchdog Timer"
+        select RT_USING_WDT
+        default n
+
+        if BSP_USING_WDT
+            config BSP_USING_WDT0
+                bool "Enable WDT0"
+                default n
+
+            config BSP_USING_WDT1
+                bool "Enable WDT1"
+                default n
+
+        endif
+
+    config BSP_UTEST_DRIVERS
+        bool "Enable drivers utest"
+        select RT_USING_UTEST
+        default n
+
 endmenu
diff --git a/bsp/k230/drivers/interdrv/wdt/SConscript b/bsp/k230/drivers/interdrv/wdt/SConscript
new file mode 100644
index 0000000000..d7c561ee12
--- /dev/null
+++ b/bsp/k230/drivers/interdrv/wdt/SConscript
@@ -0,0 +1,19 @@
+# RT-Thread building script for component
+
+from building import *
+
+cwd     = GetCurrentDir()
+src     = Glob('*.c')
+CPPPATH = [cwd]
+
+group = DefineGroup('WDT', src, depend = ['BSP_USING_WDT'], CPPPATH = CPPPATH)
+
+objs = [group]
+
+list = os.listdir(cwd)
+
+for item in list:
+    if os.path.isfile(os.path.join(cwd, item, 'SConscript')):
+        objs = objs + SConscript(os.path.join(item, 'SConscript'))
+
+Return('objs')
diff --git a/bsp/k230/drivers/interdrv/wdt/drv_wdt.c b/bsp/k230/drivers/interdrv/wdt/drv_wdt.c
new file mode 100644
index 0000000000..296f1cf561
--- /dev/null
+++ b/bsp/k230/drivers/interdrv/wdt/drv_wdt.c
@@ -0,0 +1,274 @@
+/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <rtthread.h>
+#include <rtdevice.h>
+#include <riscv_io.h>
+#include "board.h"
+#include "ioremap.h"
+#include "sysctl_clk.h"
+#include "drv_wdt.h"
+#include <rtdbg.h>
+#include <sys/ioctl.h>
+
+struct k230_wdt_dev
+{
+    struct rt_watchdog_device device;
+    const char *name;
+    rt_ubase_t base;
+    size_t size;
+    sysctl_clk_node_e clk; /* clock source */
+};
+
+/* There are sixteen TOPs (timeout periods) that can be set in the watchdog. */
+
+static const rt_uint32_t *tops;
+
+static const rt_uint32_t k230_wdt_fix_tops[KD_WDT_NUM_TOPS] = {
+    KD_WDT_FIX_TOP(0), KD_WDT_FIX_TOP(1), KD_WDT_FIX_TOP(2),
+    KD_WDT_FIX_TOP(3), KD_WDT_FIX_TOP(4), KD_WDT_FIX_TOP(5),
+    KD_WDT_FIX_TOP(6), KD_WDT_FIX_TOP(7), KD_WDT_FIX_TOP(8),
+    KD_WDT_FIX_TOP(9), KD_WDT_FIX_TOP(10), KD_WDT_FIX_TOP(11),
+    KD_WDT_FIX_TOP(12), KD_WDT_FIX_TOP(13), KD_WDT_FIX_TOP(14),
+    KD_WDT_FIX_TOP(15)
+};
+
+static struct k230_wdt_timeout timeouts[KD_WDT_NUM_TOPS];
+static char rmod;   /* wdt reset mode, */
+
+static void k230_wdt_timeouts_init(struct k230_wdt_dev *dev)
+{
+    rt_uint32_t wdt_clk;
+    rt_uint32_t time_value;
+    rt_uint32_t i, t;
+    rt_uint64_t msec;
+    struct k230_wdt_timeout tout, *dst;
+    /* caculate timeout value */
+    wdt_clk = sysctl_clk_get_leaf_freq(dev->clk);
+
+    for (i = 0; i < KD_WDT_NUM_TOPS; ++i)
+    {
+        tout.top_val = i;
+        tout.sec = tops[i] / wdt_clk;
+        msec = (rt_uint64_t)tops[i] * (rt_uint64_t)1000L;
+        msec = msec / wdt_clk;
+        tout.msec = msec - (rt_uint64_t)tout.sec * (rt_uint64_t)1000L;
+
+        for (t = 0; t < i; ++t)
+        {
+            dst = &timeouts[t];
+            if (tout.sec > dst->sec || (tout.sec == dst->sec &&
+                tout.msec >= dst->msec))
+                continue;
+            else
+                swap(*dst, tout);
+        }
+
+        timeouts[i] = tout;
+    }
+    rt_kprintf("watchdog timeout table init OK!\n");
+}
+
+static rt_err_t k230_wdt_feed(struct k230_wdt_dev *dev)
+{
+    k230_wdt_t *reg = (k230_wdt_t *)dev->base;
+    reg->crr = 0x76;
+
+    return RT_EOK;
+}
+
+static rt_err_t k230_wdt_enable(struct k230_wdt_dev *dev)
+{
+    k230_wdt_t *reg = (k230_wdt_t *)dev->base;
+    reg->crr = 0x76;
+    reg->cr |= 0x1;
+
+    return RT_EOK;
+}
+
+static rt_err_t k230_wdt_disable(struct k230_wdt_dev *dev)
+{
+    k230_wdt_t *reg = (k230_wdt_t *)dev->base;
+    reg->crr = 0x76;
+    reg->cr &= ~0x1;
+
+    return RT_EOK;
+}
+
+static rt_err_t k230_wdt_set_timeout(struct k230_wdt_dev *dev, rt_uint64_t timeout)
+{
+    k230_wdt_t *reg = (k230_wdt_t *)dev->base;
+    rt_uint32_t top_val;
+    rt_uint32_t i;
+    rt_uint32_t time = (timeout + rmod -1) / rmod;
+
+    for (i = 0; i < KD_WDT_NUM_TOPS; ++i)
+    {
+        if (timeouts[i].sec >= time)
+            break;
+    }
+
+    if (i == KD_WDT_NUM_TOPS)
+        --i;
+
+    top_val = timeouts[i].top_val;
+
+    reg->torr = (top_val << 4) | (top_val << 0);
+
+    return RT_EOK;
+}
+
+static rt_err_t k230_wdt_get_timeout(struct k230_wdt_dev *dev, void *timeout)
+{
+    rt_uint64_t top_val;
+    rt_uint32_t i;
+    k230_wdt_t *reg = (k230_wdt_t *)dev->base;
+    top_val = ((reg->torr) & 0xf);
+
+    for (i = 0; i < KD_WDT_NUM_TOPS; ++i)
+    {
+        if (timeouts[i].top_val == top_val)
+            break;
+    }
+
+    *((rt_uint64_t *)timeout) = timeouts[i].sec * rmod;
+
+    return RT_EOK;
+}
+
+static rt_err_t k230_wdt_init(rt_watchdog_t *wdt)
+{
+    RT_ASSERT(wdt != NULL);
+
+    struct k230_wdt_dev *dev = rt_container_of(wdt, struct k230_wdt_dev, device);
+    k230_wdt_t *reg = (k230_wdt_t *)dev->base;
+
+    reg->cr &= ~(0x01 << 1);
+    reg->cr |= (0x0 << 1);      /* default set wdt reset mode */
+    rmod = KD_WDT_RMOD_RESET;
+
+    if (reg->comp_param_1 & (1 << 6))
+    {
+        tops = k230_wdt_fix_tops;
+    }
+
+    k230_wdt_timeouts_init(dev);
+
+    if (!timeouts[KD_WDT_NUM_TOPS - 1].sec)
+    {
+        rt_kprintf("No any valid Timeout period detected\n");
+        return -RT_EINVAL;
+    }
+
+    return RT_EOK;
+}
+
+static rt_err_t k230_wdt_control(rt_watchdog_t *wdt, int cmd, void *args)
+{
+    RT_ASSERT(wdt != NULL);
+
+    struct k230_wdt_dev *dev = rt_container_of(wdt, struct k230_wdt_dev, device);
+
+    switch(cmd)
+    {
+        case KD_DEVICE_CTRL_WDT_GET_TIMEOUT:
+            k230_wdt_get_timeout(dev, args);
+        break;
+        case KD_DEVICE_CTRL_WDT_SET_TIMEOUT:
+            k230_wdt_set_timeout(dev, *((rt_uint32_t*)args));
+        break;
+        case KD_DEVICE_CTRL_WDT_KEEPALIVE:
+            k230_wdt_feed(dev);
+        break;
+        case KD_DEVICE_CTRL_WDT_START:
+            k230_wdt_enable(dev);
+        break;
+        case RT_DEVICE_CTRL_WDT_STOP:
+        case KD_DEVICE_CTRL_WDT_STOP:
+            k230_wdt_disable(dev);
+        break;
+        default:
+            return -RT_EINVAL;
+    }
+
+    return RT_EOK;
+}
+
+static struct rt_watchdog_ops k230_wdt_ops =
+{
+    .init = k230_wdt_init,
+    .control = k230_wdt_control,
+};
+
+static struct k230_wdt_dev wdt_devices[] =
+{
+#ifdef BSP_USING_WDT0
+    {
+        .name = "wdt0",
+        .base = WDT0_BASE_ADDR,
+        .size = WDT0_IO_SIZE,
+        .clk = SYSCTL_CLK_WDT0,
+    },
+#endif /* BSP_USING_WDT0 */
+
+#ifdef BSP_USING_WDT1
+    {
+        .name = "wdt1",
+        .base = WDT1_BASE_ADDR,
+        .size = WDT1_IO_SIZE,
+        .clk = SYSCTL_CLK_WDT1,
+    },
+#endif /* BSP_USING_WDT1 */
+
+#if !defined(BSP_USING_WDT0) && !defined(BSP_USING_WDT1)
+#error "No watchdog device defined!"
+#endif
+};
+
+int rt_hw_wdt_init(void)
+{
+    rt_uint8_t i;
+    for (i = 0; i < sizeof(wdt_devices) / sizeof(struct k230_wdt_dev); i++)
+    {
+        wdt_devices[i].device.ops = &k230_wdt_ops;
+        wdt_devices[i].base = (rt_ubase_t)rt_ioremap((void *)wdt_devices[i].base, wdt_devices[i].size);
+
+        if (rt_hw_watchdog_register(&wdt_devices[i].device, wdt_devices[i].name, RT_DEVICE_FLAG_RDWR, RT_NULL) != RT_EOK)
+        {
+            LOG_E("%s register failed!", wdt_devices[i].name);
+            return -RT_ERROR;
+        }
+        LOG_D("%s register OK!", wdt_devices[i].name);
+    }
+
+    return RT_EOK;
+}
+INIT_DEVICE_EXPORT(rt_hw_wdt_init);
\ No newline at end of file
diff --git a/bsp/k230/drivers/interdrv/wdt/drv_wdt.h b/bsp/k230/drivers/interdrv/wdt/drv_wdt.h
new file mode 100644
index 0000000000..6afb2b0e48
--- /dev/null
+++ b/bsp/k230/drivers/interdrv/wdt/drv_wdt.h
@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef DRV_WDT_H_
+#define DRV_WDT_H_
+
+#include <drivers/dev_watchdog.h>
+#include <sys/ioctl.h>
+
+#define DEFUALT_TIMEOUT     30*1000 /* ms */
+#define KD_WDT_NUM_TOPS     16
+#define KD_WDT_FIX_TOP(_idx)    (1U << (16 + _idx))
+#define KD_WDT_RMOD_RESET   1
+#define KD_WDT_RMOD_IRQ     2
+
+#define KD_DEVICE_CTRL_WDT_GET_TIMEOUT    _IOW('W', 1, int) /* get timeout(in seconds) */
+#define KD_DEVICE_CTRL_WDT_SET_TIMEOUT    _IOW('W', 2, int) /* set timeout(in seconds) */
+#define KD_DEVICE_CTRL_WDT_GET_TIMELEFT   _IOW('W', 3, int) /* get the left time before reboot(in seconds) */
+#define KD_DEVICE_CTRL_WDT_KEEPALIVE      _IOW('W', 4, int) /* refresh watchdog */
+#define KD_DEVICE_CTRL_WDT_START          _IOW('W', 5, int) /* start watchdog */
+#define KD_DEVICE_CTRL_WDT_STOP           _IOW('W', 6, int) /* stop watchdog */
+
+struct k230_wdt_timeout {
+    rt_uint32_t top_val;
+    rt_uint32_t sec;
+    rt_uint32_t msec;
+};
+
+#define swap(a, b) \
+    do { struct k230_wdt_timeout __tmp = (a); (a) = (b); (b) = __tmp; } while (0)
+
+/* wdt register map */
+typedef struct _wdt
+{
+    /* WDT Control Register                     (0x00) */
+    volatile uint32_t cr;
+    /* WDT Timeout Range Register               (0x04) */
+    volatile uint32_t torr;
+    /* WDT Current Counter Value Register       (0x08) */
+    volatile uint32_t ccvr;
+    /* WDT Counter Restart Register             (0x0c) */
+    volatile uint32_t crr;
+    /* WDT Interrupt Status Register            (0x10) */
+    volatile uint32_t stat;
+    /* WDT Interrupt Clear Register             (0x14) */
+    volatile uint32_t eoi;
+    /* reserverd                                (0x18) */
+    volatile uint32_t resv1;
+    /* WDT Protection level Register            (0x1c) */
+    volatile uint32_t prot_level;
+    /* reserved                                 (0x20-0xe0) */
+    volatile uint32_t resv4[49];
+    /* WDT Component Parameters Register 5      (0xe4) */
+    volatile uint32_t comp_param_5;
+    /* WDT Component Parameters Register 4      (0xe8) */
+    volatile uint32_t comp_param_4;
+    /* WDT Component Parameters Register 3      (0xec) */
+    volatile uint32_t comp_param_3;
+    /* WDT Component Parameters Register 2      (0xf0) */
+    volatile uint32_t comp_param_2;
+    /* WDT Component Parameters Register 1      (0xf4) */
+    volatile uint32_t comp_param_1;
+    /* WDT Component Version Register           (0xf8) */
+    volatile uint32_t comp_version;
+    /* WDT Component Type Register              (0xfc) */
+    volatile uint32_t comp_type;
+} __attribute__((packed, aligned(4))) k230_wdt_t;
+
+
+#endif /* DRV_WDT_H_ */
\ No newline at end of file
diff --git a/bsp/k230/drivers/utest/SConscript b/bsp/k230/drivers/utest/SConscript
new file mode 100644
index 0000000000..d8032f3923
--- /dev/null
+++ b/bsp/k230/drivers/utest/SConscript
@@ -0,0 +1,12 @@
+from building import *
+
+src = []
+
+if GetDepend('RT_UTEST_USING_ALL_CASES') or GetDepend('BSP_UTEST_DRIVERS'):
+
+    if GetDepend('BSP_USING_WDT'):
+        src += ['test_wdt.c']
+
+group = DefineGroup('utestcases', src, depend = [''])
+
+Return('group')
diff --git a/bsp/k230/drivers/utest/test_wdt.c b/bsp/k230/drivers/utest/test_wdt.c
new file mode 100644
index 0000000000..6736ca7f34
--- /dev/null
+++ b/bsp/k230/drivers/utest/test_wdt.c
@@ -0,0 +1,170 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * Refer to https://www.rt-thread.org/document/api/iwdg_sample_8c-example.html
+ * This is a watchdog device test routine, the program searches for the watchdog
+ * device by device name, then initializes the device and sets the watchdog
+ * device overflow time.
+ *
+ * "test_wdt_feed" tests that the watchdog timer will not time out when the
+ * watchdog is fed and will not cause the system to restart.
+ *
+ * "test_wdt_nofeed" tests that the watchdog timer will time out when the
+ * watchdog is not fed and cause the system to restart.
+ */
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#include "../interdrv/wdt/drv_wdt.h"
+#include "utest.h"
+
+/* Default watchdog device name */
+/* If WDT0 and WDT1 both enabled, we use WDT0 */
+#ifdef BSP_USING_WDT0
+#define IWDG_DEVICE_NAME "wdt0"
+#elif defined(BSP_USING_WDT1)
+#define IWDG_DEVICE_NAME "wdt1"
+#else
+#error "No watchdog device defined!"
+#endif
+
+/* Watchdog device handle */
+static rt_device_t wdg_dev;
+
+/*
+ * Dog feeding flag, 1 means feeding the dog, 0 means not feeding the dog.
+ * This flag is used in the idle thread callback function.
+ * If the dog is not fed, the system will restart due to watchdog timeout.
+ */
+static int flag_feed;
+
+/* Overflow time, in seconds. */
+static rt_uint32_t timeout = 3;
+
+static void idle_hook(void)
+{
+    /* Feed the dog in the callback function of the idle thread */
+    if (flag_feed)
+        rt_device_control(wdg_dev, KD_DEVICE_CTRL_WDT_KEEPALIVE, NULL);
+
+    /* Do not print, otherwise the screen will display too much. */
+}
+
+static void waiting_for_timeout(int seconds)
+{
+    LOG_I("Waiting for watchdog timer time-out...\n");
+    for (int i = 0; i < seconds; i++)
+    {
+        rt_thread_mdelay(1000);
+        LOG_I(".");
+    }
+}
+
+static void test_wdt_feed(void)
+{
+    rt_err_t ret = RT_EOK;
+
+    /* Find the watchdog device according to the name and obtain the handle */
+    wdg_dev = rt_device_find(IWDG_DEVICE_NAME);
+    if (!wdg_dev)
+    {
+        LOG_E("find %s failed!\n", IWDG_DEVICE_NAME);
+        return;
+    }
+
+    /* Initialize the device */
+    ret = rt_device_init(wdg_dev);
+    if (ret != RT_EOK)
+    {
+        LOG_E("initialize %s failed!\n", IWDG_DEVICE_NAME);
+        return;
+    }
+
+    /* Set the watchdog timeout time */
+    ret = rt_device_control(wdg_dev, KD_DEVICE_CTRL_WDT_SET_TIMEOUT, &timeout);
+    if (ret != RT_EOK)
+    {
+        LOG_E("set %s timeout failed!\n", IWDG_DEVICE_NAME);
+        return;
+    }
+
+    flag_feed = 1; /* Set feed the dog sign */
+
+    /* start watchdog timer */
+    rt_device_control(wdg_dev, KD_DEVICE_CTRL_WDT_START, RT_NULL);
+    LOG_I("Watchdog Timer [%s] is launched!\n", IWDG_DEVICE_NAME);
+
+    /* Delay enough time to see if the system will be restarted by the watchdog */
+    waiting_for_timeout(10);
+
+    LOG_I("Thanks for feeding me, I'm still alive!\n");
+    /* If you feed the dog successfully, you will have a chance to come here and close the gate dog. */
+    rt_device_close(wdg_dev);
+    LOG_I("Watchdog is closed!\n");
+
+    LOG_I("Test Done with Feed!\n");
+
+    return;
+}
+
+static void test_wdt_nofeed(void)
+{
+    rt_err_t ret = RT_EOK;
+
+    /* Find the watchdog device according to the name and obtain the handle */
+    wdg_dev = rt_device_find(IWDG_DEVICE_NAME);
+    if (!wdg_dev)
+    {
+        LOG_E("find %s failed!\n", IWDG_DEVICE_NAME);
+        return;
+    }
+
+    /* Initialize the device */
+    ret = rt_device_init(wdg_dev);
+    if (ret != RT_EOK)
+    {
+        LOG_E("initialize %s failed!\n", IWDG_DEVICE_NAME);
+        return;
+    }
+
+    /* Set the watchdog timeout time */
+    ret = rt_device_control(wdg_dev, KD_DEVICE_CTRL_WDT_SET_TIMEOUT, &timeout);
+    if (ret != RT_EOK)
+    {
+        LOG_E("set %s timeout failed!\n", IWDG_DEVICE_NAME);
+        return;
+    }
+
+    flag_feed = 0; /* Do not feed the dog */
+
+    rt_device_control(wdg_dev, KD_DEVICE_CTRL_WDT_START, RT_NULL);
+    LOG_I("Watchdog Timer [%s] is launched!\n", IWDG_DEVICE_NAME);
+
+    /* Delay long enough and the system should reboot due to watchdog timeout. */
+    LOG_I("Oops, I am so hungary and will be killed in seconds!\n");
+    waiting_for_timeout(10);
+
+    LOG_I("SHOULD NOT SEE THIS PRINT!\n");
+
+    return;
+}
+
+static void test_wdt (void)
+{
+    UTEST_UNIT_RUN(test_wdt_feed);
+    UTEST_UNIT_RUN(test_wdt_nofeed);
+}
+
+static rt_err_t utest_init(void)
+{
+    flag_feed = 0;
+    rt_thread_idle_sethook(idle_hook);
+    return RT_EOK;
+}
+
+UTEST_TC_EXPORT(test_wdt, "wdt", utest_init, NULL, 10);
\ No newline at end of file