[BSP][NS800RT7P65] Add WDG driver for NS800RT7xxx#11451

7 files changed, 838 insertions, 1 deletions

diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/SConscript b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/SConscript
index f37b3c74ae..5662cb9b62 100644
--- a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/SConscript
+++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/SConscript
@@ -30,6 +30,11 @@ if GetDepend('BSP_USING_SPI'):
 if GetDepend('BSP_USING_QSPI'):   
     src += ['drv_qspi.c']
 
+if GetDepend('BSP_USING_WDT'):
+    src += ['drv_iwdg.c']
+    if GetDepend('BSP_USING_WWDG'):
+        src += ['drv_wwdg.c']
+
 group = DefineGroup('HAL_Drivers', src, depend = [''], CPPPATH = path)
 
 Return('group')
diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_iwdg.c b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_iwdg.c
new file mode 100644
index 0000000000..69c18a25d0
--- /dev/null
+++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_iwdg.c
@@ -0,0 +1,472 @@
+/*
+ * Copyright (c) 2006-2026, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2026-05-13     Jeffery Yuan      first version
+ */
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#include "board.h"
+#include "drv_iwdg.h"
+
+#ifdef BSP_USING_IWDG1
+#include "iwdg1.h"
+#endif
+
+#ifdef BSP_USING_IWDG2
+#include "iwdg2.h"
+#endif
+
+#if defined(RT_USING_WDT) && (defined(BSP_USING_IWDG1) || defined(BSP_USING_IWDG2))
+
+#define DBG_TAG    "drv.iwdg"
+#define DBG_LVL    DBG_INFO
+#include <rtdbg.h>
+
+#define NS800_USEC_PER_SEC        1000000ULL
+#define NS800_MSEC_PER_SEC        1000ULL
+#define NS800_IWDG1_CLK_HZ        10000000ULL
+#define NS800_IWDG2_CLK_HZ        128000ULL
+#define NS800_ARRAY_SIZE(array)   (sizeof(array) / sizeof((array)[0]))
+
+enum ns800_iwdg_id
+{
+    NS800_IWDG1 = 0,
+    NS800_IWDG2,
+};
+
+struct ns800_iwdg
+{
+    rt_watchdog_t watchdog;
+    enum ns800_iwdg_id id;
+    const char *name;
+    void *base;
+    rt_bool_t started;
+    rt_uint64_t timeout_us;
+    union
+    {
+#ifdef BSP_USING_IWDG1
+        struct
+        {
+            IWDG1_Prescaler prescaler;
+            IWDG1_Timeout timeout;
+        } iwdg1;
+#endif
+#ifdef BSP_USING_IWDG2
+        struct
+        {
+            IWDG2_Prescaler prescaler;
+            rt_uint16_t reload;
+        } iwdg2;
+#endif
+    } hw;
+};
+
+static rt_uint64_t ns800_abs_diff_u64(rt_uint64_t a, rt_uint64_t b)
+{
+    return (a > b) ? (a - b) : (b - a);
+}
+
+static rt_uint32_t ns800_timeout_to_seconds(rt_uint64_t timeout_us)
+{
+    return (rt_uint32_t)((timeout_us + NS800_USEC_PER_SEC - 1ULL) / NS800_USEC_PER_SEC);
+}
+
+static rt_uint32_t ns800_timeout_to_ms(rt_uint64_t timeout_us)
+{
+    return (rt_uint32_t)((timeout_us + NS800_MSEC_PER_SEC - 1ULL) / NS800_MSEC_PER_SEC);
+}
+
+#ifdef BSP_USING_IWDG1
+
+static struct ns800_iwdg iwdg1_dev;
+
+static const rt_uint8_t iwdg1_prescaler_code[] =
+{
+    IWDG1_PRESCALE_DIV1,
+    IWDG1_PRESCALE_DIV2,
+    IWDG1_PRESCALE_DIV4,
+    IWDG1_PRESCALE_DIV8,
+    IWDG1_PRESCALE_DIV16,
+    IWDG1_PRESCALE_DIV32,
+    IWDG1_PRESCALE_DIV128,
+    IWDG1_PRESCALE_DIV256,
+    IWDG1_PRESCALE_DIV512,
+    IWDG1_PRESCALE_DIV1024,
+    IWDG1_PRESCALE_DIV2048,
+    IWDG1_PRESCALE_DIV4096,
+    IWDG1_PRESCALE_DIV8192,
+    IWDG1_PRESCALE_DIV64,
+};
+
+static const rt_uint32_t iwdg1_prescaler_div[] =
+{
+    1U, 2U, 4U, 8U, 16U, 32U, 128U, 256U, 512U, 1024U, 2048U, 4096U, 8192U, 64U,
+};
+
+static const rt_uint16_t iwdg1_timeout_count[] =
+{
+    1024U, 4096U, 8192U, 16384U,
+};
+
+static rt_uint64_t iwdg1_calc_timeout_us(rt_uint32_t div, rt_uint32_t count)
+{
+    return ((rt_uint64_t)count * div * NS800_USEC_PER_SEC + NS800_IWDG1_CLK_HZ / 2ULL) / NS800_IWDG1_CLK_HZ;
+}
+
+static void iwdg1_select_config(rt_uint32_t timeout_s, struct ns800_iwdg *dev)
+{
+    rt_uint64_t target_us = (rt_uint64_t)timeout_s * NS800_USEC_PER_SEC;
+    rt_uint64_t best_diff = (rt_uint64_t)-1;
+    rt_uint32_t best_prescaler = 0;
+    rt_uint32_t best_timeout = 0;
+    rt_uint32_t psc;
+    rt_uint32_t top;
+
+    if (target_us == 0)
+    {
+        target_us = iwdg1_calc_timeout_us(iwdg1_prescaler_div[0], iwdg1_timeout_count[0]);
+    }
+
+    for (psc = 0; psc < NS800_ARRAY_SIZE(iwdg1_prescaler_code); psc++)
+    {
+        for (top = 0; top < NS800_ARRAY_SIZE(iwdg1_timeout_count); top++)
+        {
+            rt_uint64_t actual_us = iwdg1_calc_timeout_us(iwdg1_prescaler_div[psc], iwdg1_timeout_count[top]);
+            rt_uint64_t diff = ns800_abs_diff_u64(actual_us, target_us);
+
+            if (diff < best_diff)
+            {
+                best_diff = diff;
+                best_prescaler = psc;
+                best_timeout = top;
+                dev->timeout_us = actual_us;
+            }
+        }
+    }
+
+    dev->hw.iwdg1.prescaler = (IWDG1_Prescaler)iwdg1_prescaler_code[best_prescaler];
+    dev->hw.iwdg1.timeout = (IWDG1_Timeout)best_timeout;
+}
+
+static void iwdg1_apply_config(struct ns800_iwdg *dev)
+{
+    IWDG1_configModule((IWDG1_TypeDef *)dev->base,
+                       RESET_EN,
+                       LPRUN,
+                       dev->hw.iwdg1.prescaler,
+                       HEAD_PERCENT100,
+                       END_PERCENT0,
+                       dev->hw.iwdg1.timeout);
+    IWDG1_clearErrorStatus((IWDG1_TypeDef *)dev->base);
+    IWDG1_clearIntStatus((IWDG1_TypeDef *)dev->base);
+}
+
+void IWDG1_Handler(void)
+{
+    rt_interrupt_enter();
+    IWDG1_clearErrorStatus((IWDG1_TypeDef *)iwdg1_dev.base);
+    IWDG1_clearIntStatus((IWDG1_TypeDef *)iwdg1_dev.base);
+    while (IWDG1_getIntStatus((IWDG1_TypeDef *)iwdg1_dev.base))
+    {
+        ;
+    }
+    IWDG1_enableModule((IWDG1_TypeDef *)iwdg1_dev.base);
+    rt_interrupt_leave();
+}
+
+#endif /* BSP_USING_IWDG1 */
+
+#ifdef BSP_USING_IWDG2
+
+static struct ns800_iwdg iwdg2_dev;
+
+static const rt_uint8_t iwdg2_prescaler_code[] =
+{
+    IWDG2_PRESCALE_DIV128,
+    IWDG2_PRESCALE_DIV2048,
+    IWDG2_PRESCALE_DIV1024,
+    IWDG2_PRESCALE_DIV512,
+    IWDG2_PRESCALE_DIV256,
+    IWDG2_PRESCALE_DIV64,
+    IWDG2_PRESCALE_DIV32,
+    IWDG2_PRESCALE_DIV16,
+    IWDG2_PRESCALE_DIV8,
+    IWDG2_PRESCALE_DIV4,
+};
+
+static const rt_uint32_t iwdg2_prescaler_div[] =
+{
+    128U, 2048U, 1024U, 512U, 256U, 64U, 32U, 16U, 8U, 4U,
+};
+
+static rt_uint64_t iwdg2_calc_timeout_us(rt_uint32_t div, rt_uint32_t reload)
+{
+    return ((rt_uint64_t)(reload + 1U) * div * NS800_USEC_PER_SEC + NS800_IWDG2_CLK_HZ / 2ULL) / NS800_IWDG2_CLK_HZ;
+}
+
+static void iwdg2_select_config(rt_uint32_t timeout_s, struct ns800_iwdg *dev)
+{
+    rt_uint64_t target_us = (rt_uint64_t)timeout_s * NS800_USEC_PER_SEC;
+    rt_uint64_t best_diff = (rt_uint64_t)-1;
+    rt_uint32_t best_prescaler = 0;
+    rt_uint32_t best_reload = 0;
+    rt_uint32_t psc;
+
+    if (target_us == 0)
+    {
+        target_us = iwdg2_calc_timeout_us(iwdg2_prescaler_div[NS800_ARRAY_SIZE(iwdg2_prescaler_div) - 1], 0U);
+    }
+
+    for (psc = 0; psc < NS800_ARRAY_SIZE(iwdg2_prescaler_code); psc++)
+    {
+        rt_uint64_t ticks;
+        rt_uint64_t actual_us;
+        rt_uint64_t diff;
+        rt_uint64_t tick_us = ((rt_uint64_t)iwdg2_prescaler_div[psc] * NS800_USEC_PER_SEC +
+                               NS800_IWDG2_CLK_HZ / 2ULL) / NS800_IWDG2_CLK_HZ;
+
+        if (tick_us == 0)
+        {
+            tick_us = 1;
+        }
+
+        ticks = (target_us + tick_us / 2ULL) / tick_us;
+        if (ticks == 0)
+        {
+            ticks = 1;
+        }
+
+        if (ticks > 4096ULL)
+        {
+            ticks = 4096ULL;
+        }
+
+        actual_us = iwdg2_calc_timeout_us(iwdg2_prescaler_div[psc], (rt_uint32_t)(ticks - 1ULL));
+        diff = ns800_abs_diff_u64(actual_us, target_us);
+        if (diff < best_diff)
+        {
+            best_diff = diff;
+            best_prescaler = psc;
+            best_reload = (rt_uint32_t)(ticks - 1ULL);
+            dev->timeout_us = actual_us;
+        }
+    }
+
+    dev->hw.iwdg2.prescaler = (IWDG2_Prescaler)iwdg2_prescaler_code[best_prescaler];
+    dev->hw.iwdg2.reload = (rt_uint16_t)best_reload;
+}
+
+static rt_err_t iwdg2_apply_config(struct ns800_iwdg *dev)
+{
+    if (!IWDG2_configModule((IWDG2_TypeDef *)dev->base,
+                            RESET_SEL,
+                            dev->hw.iwdg2.prescaler,
+                            dev->hw.iwdg2.reload))
+    {
+        return -RT_ETIMEOUT;
+    }
+
+    return RT_EOK;
+}
+
+void IWDG2_Handler(void)
+{
+    rt_interrupt_enter();
+    if (IWDG2_getIntStatus((IWDG2_TypeDef *)iwdg2_dev.base))
+    {
+        IWDG2_clearIntStatus((IWDG2_TypeDef *)iwdg2_dev.base);
+        while (IWDG2_getIntStatus((IWDG2_TypeDef *)iwdg2_dev.base))
+        {
+            ;
+        }
+    }
+    rt_interrupt_leave();
+}
+
+#endif /* BSP_USING_IWDG2 */
+
+static rt_err_t ns800_iwdg_init(rt_watchdog_t *wdt)
+{
+    RT_UNUSED(wdt);
+    return RT_EOK;
+}
+
+static rt_err_t ns800_iwdg_control(rt_watchdog_t *wdt, int cmd, void *arg)
+{
+    struct ns800_iwdg *dev;
+
+    RT_ASSERT(wdt != RT_NULL);
+    dev = (struct ns800_iwdg *)wdt->parent.user_data;
+    RT_ASSERT(dev != RT_NULL);
+
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_WDT_KEEPALIVE:
+#ifdef BSP_USING_IWDG1
+        if (dev->id == NS800_IWDG1)
+        {
+            IWDG1_refreshModule((IWDG1_TypeDef *)dev->base);
+        }
+#endif
+#ifdef BSP_USING_IWDG2
+        if (dev->id == NS800_IWDG2)
+        {
+            IWDG2_refreshModule((IWDG2_TypeDef *)dev->base);
+        }
+#endif
+        break;
+
+    case RT_DEVICE_CTRL_WDT_SET_TIMEOUT:
+        if (arg == RT_NULL)
+        {
+            return -RT_EINVAL;
+        }
+#ifdef BSP_USING_IWDG1
+        if (dev->id == NS800_IWDG1)
+        {
+            if (dev->started)
+            {
+                LOG_W("%s timeout cannot be reconfigured after start", dev->name);
+                return -RT_EBUSY;
+            }
+            iwdg1_select_config(*(rt_uint32_t *)arg, dev);
+            LOG_I("%s timeout request=%u s actual=%u ms",
+                  dev->name, *(rt_uint32_t *)arg, ns800_timeout_to_ms(dev->timeout_us));
+        }
+#endif
+#ifdef BSP_USING_IWDG2
+        if (dev->id == NS800_IWDG2)
+        {
+            rt_err_t ret;
+
+            iwdg2_select_config(*(rt_uint32_t *)arg, dev);
+            ret = iwdg2_apply_config(dev);
+            if (ret != RT_EOK)
+            {
+                return ret;
+            }
+
+            if (dev->started)
+            {
+                IWDG2_refreshModule((IWDG2_TypeDef *)dev->base);
+            }
+            LOG_I("%s timeout request=%u s actual=%u ms",
+                  dev->name, *(rt_uint32_t *)arg, ns800_timeout_to_ms(dev->timeout_us));
+        }
+#endif
+        break;
+
+    case RT_DEVICE_CTRL_WDT_GET_TIMEOUT:
+        if (arg == RT_NULL)
+        {
+            return -RT_EINVAL;
+        }
+        *(rt_uint32_t *)arg = ns800_timeout_to_seconds(dev->timeout_us);
+        break;
+
+    case RT_DEVICE_CTRL_WDT_GET_TIMELEFT:
+        return -RT_ENOSYS;
+
+    case RT_DEVICE_CTRL_WDT_START:
+        if (!dev->started)
+        {
+#ifdef BSP_USING_IWDG1
+            if (dev->id == NS800_IWDG1)
+            {
+                iwdg1_apply_config(dev);
+                IWDG1_enableModule((IWDG1_TypeDef *)dev->base);
+            }
+#endif
+#ifdef BSP_USING_IWDG2
+            if (dev->id == NS800_IWDG2)
+            {
+                rt_err_t ret = iwdg2_apply_config(dev);
+                if (ret != RT_EOK)
+                {
+                    return ret;
+                }
+                IWDG2_enableModule((IWDG2_TypeDef *)dev->base);
+                IWDG2_refreshModule((IWDG2_TypeDef *)dev->base);
+            }
+#endif
+            dev->started = RT_TRUE;
+            LOG_I("%s started, timeout=%u ms", dev->name, ns800_timeout_to_ms(dev->timeout_us));
+        }
+        break;
+
+    case RT_DEVICE_CTRL_WDT_STOP:
+        return -RT_ENOSYS;
+
+    default:
+        return -RT_EINVAL;
+    }
+
+    return RT_EOK;
+}
+
+static const struct rt_watchdog_ops ns800_iwdg_ops =
+{
+    .init = ns800_iwdg_init,
+    .control = ns800_iwdg_control,
+};
+
+#ifdef BSP_USING_IWDG1
+int rt_hw_iwdg1_init(void)
+{
+    iwdg1_dev.id = NS800_IWDG1;
+    iwdg1_dev.name = IWDG1_DEVICE_NAME;
+    iwdg1_dev.base = IWDG1;
+    iwdg1_dev.started = RT_FALSE;
+    iwdg1_select_config(10U, &iwdg1_dev);
+    iwdg1_dev.watchdog.ops = &ns800_iwdg_ops;
+
+    if (rt_hw_watchdog_register(&iwdg1_dev.watchdog,
+                                iwdg1_dev.name,
+                                RT_DEVICE_FLAG_DEACTIVATE,
+                                &iwdg1_dev) != RT_EOK)
+    {
+        LOG_E("%s register failed", iwdg1_dev.name);
+        return -RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+INIT_BOARD_EXPORT(rt_hw_iwdg1_init);
+#endif /* BSP_USING_IWDG1 */
+
+#ifdef BSP_USING_IWDG2
+int rt_hw_iwdg2_init(void)
+{
+    RCC_unlockRccRegister();
+    RCC_enableLircOscillator();
+    RCC_lockRccRegister();
+
+    iwdg2_dev.id = NS800_IWDG2;
+    iwdg2_dev.name = IWDG2_DEVICE_NAME;
+    iwdg2_dev.base = IWDG2;
+    iwdg2_dev.started = RT_FALSE;
+    iwdg2_select_config(10U, &iwdg2_dev);
+    iwdg2_dev.watchdog.ops = &ns800_iwdg_ops;
+
+    if (rt_hw_watchdog_register(&iwdg2_dev.watchdog,
+                                iwdg2_dev.name,
+                                RT_DEVICE_FLAG_DEACTIVATE,
+                                &iwdg2_dev) != RT_EOK)
+    {
+        LOG_E("%s register failed", iwdg2_dev.name);
+        return -RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+INIT_BOARD_EXPORT(rt_hw_iwdg2_init);
+#endif /* BSP_USING_IWDG2 */
+
+#endif /* RT_USING_WDT && (BSP_USING_IWDG1 || BSP_USING_IWDG2) */
+
diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_iwdg.h b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_iwdg.h
new file mode 100644
index 0000000000..2b17471be0
--- /dev/null
+++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_iwdg.h
@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2006-2026, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2026-05-13     Jeffery Yuan      first version
+ */
+
+#ifndef __DRV_IWDG_H__
+#define __DRV_IWDG_H__
+
+#include <rtdevice.h>
+#include <board.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define IWDG1_DEVICE_NAME    "iwdg1"
+#define IWDG2_DEVICE_NAME    "iwdg2"
+
+int rt_hw_iwdg1_init(void);
+int rt_hw_iwdg2_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DRV_IWDG_H__ */
+
diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_wwdg.c b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_wwdg.c
new file mode 100644
index 0000000000..41e109c1a8
--- /dev/null
+++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_wwdg.c
@@ -0,0 +1,273 @@
+/*
+ * Copyright (c) 2006-2026, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2026-05-13     Jeffery Yuan      first version
+ */
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#include "board.h"
+#include "drv_wwdg.h"
+#include "rcc.h"
+#include "wwdg.h"
+
+#ifdef RT_USING_WDT
+#ifdef BSP_USING_WWDG
+
+#define DBG_TAG    "drv.wwdg"
+#define DBG_LVL    DBG_INFO
+#include <rtdbg.h>
+
+#define NS800_WWDG_COUNTER_MIN 0x40U
+#define NS800_WWDG_COUNTER_MAX 0x7FU
+#define NS800_WWDG_TICK_BASE   4096ULL /* Fixed WWDG counter clock divider from the reference manual. */
+#define NS800_USEC_PER_SEC     1000000ULL
+#define NS800_MSEC_PER_SEC     1000ULL
+#define NS800_ARRAY_SIZE(array) (sizeof(array) / sizeof((array)[0]))
+
+struct ns800_wwdg
+{
+    rt_watchdog_t watchdog;
+    WWDG_TypeDef *base;
+    WWDG_Prescaler prescaler;
+    rt_uint8_t reload;
+    rt_uint8_t window;
+    rt_uint64_t timeout_us;
+    rt_bool_t started;
+};
+
+static struct ns800_wwdg wwdg_dev;
+
+static const rt_uint8_t wwdg_prescaler_div[] =
+{
+    1U, 2U, 4U, 8U, 16U, 32U, 64U, 128U,
+};
+
+static rt_uint32_t wwdg_get_clock_hz(void)
+{
+    rt_uint32_t clock_hz = RCC_getPclk5Frequency();
+
+    if (clock_hz == 0U || clock_hz == 0xFFFFFFFFU)
+    {
+        LOG_E("%s clock query failed", WWDG_DEVICE_NAME);
+        return 0U;
+    }
+
+    return clock_hz;
+}
+
+static rt_uint64_t wwdg_calc_timeout_us(rt_uint32_t div, rt_uint32_t reload, rt_uint32_t clock_hz)
+{
+    rt_uint32_t ticks = reload - (NS800_WWDG_COUNTER_MIN - 1U);
+
+    return (rt_uint64_t)ticks * NS800_WWDG_TICK_BASE * div * NS800_USEC_PER_SEC / clock_hz;
+}
+
+static rt_uint64_t wwdg_calc_max_timeout_us(rt_uint32_t clock_hz)
+{
+    return wwdg_calc_timeout_us(wwdg_prescaler_div[NS800_ARRAY_SIZE(wwdg_prescaler_div) - 1],
+                                NS800_WWDG_COUNTER_MAX,
+                                clock_hz);
+}
+
+static rt_uint32_t wwdg_timeout_to_ms(rt_uint64_t timeout_us)
+{
+    return (rt_uint32_t)(timeout_us / NS800_MSEC_PER_SEC);
+}
+
+static void wwdg_select_max_config(struct ns800_wwdg *dev)
+{
+    rt_uint32_t clock_hz = wwdg_get_clock_hz();
+    rt_uint32_t max_prescaler = NS800_ARRAY_SIZE(wwdg_prescaler_div) - 1U;
+
+    dev->prescaler = (WWDG_Prescaler)max_prescaler;
+    dev->reload = NS800_WWDG_COUNTER_MAX;
+    dev->window = NS800_WWDG_COUNTER_MAX;
+    dev->timeout_us = clock_hz ? wwdg_calc_max_timeout_us(clock_hz) : 0U;
+}
+
+static rt_err_t wwdg_select_config(rt_uint32_t timeout_s, struct ns800_wwdg *dev)
+{
+    rt_uint64_t target_us = (rt_uint64_t)timeout_s * NS800_USEC_PER_SEC;
+    rt_uint64_t best_timeout_us = (rt_uint64_t)-1;
+    rt_uint32_t best_prescaler = 0;
+    rt_uint32_t best_reload = NS800_WWDG_COUNTER_MAX;
+    rt_uint32_t clock_hz = wwdg_get_clock_hz();
+    rt_uint32_t psc;
+
+    if (timeout_s == 0U || clock_hz == 0U)
+    {
+        return -RT_EINVAL;
+    }
+
+    if (target_us > wwdg_calc_max_timeout_us(clock_hz))
+    {
+        return -RT_EINVAL;
+    }
+
+    for (psc = 0; psc < NS800_ARRAY_SIZE(wwdg_prescaler_div); psc++)
+    {
+        rt_uint64_t tick_unit = (rt_uint64_t)NS800_WWDG_TICK_BASE * wwdg_prescaler_div[psc] * NS800_USEC_PER_SEC;
+        rt_uint64_t ticks;
+        rt_uint32_t reload;
+        rt_uint64_t actual_us;
+
+        ticks = (target_us * clock_hz + tick_unit - 1ULL) / tick_unit;
+        if (ticks == 0)
+        {
+            ticks = 1;
+        }
+
+        if (ticks > 64ULL)
+        {
+            continue;
+        }
+
+        reload = (rt_uint32_t)(ticks + (NS800_WWDG_COUNTER_MIN - 1U));
+        actual_us = wwdg_calc_timeout_us(wwdg_prescaler_div[psc], reload, clock_hz);
+        if (actual_us >= target_us && actual_us < best_timeout_us)
+        {
+            best_prescaler = psc;
+            best_reload = reload;
+            best_timeout_us = actual_us;
+        }
+    }
+
+    if (best_timeout_us == (rt_uint64_t)-1)
+    {
+        return -RT_EINVAL;
+    }
+
+    dev->prescaler = (WWDG_Prescaler)best_prescaler;
+    dev->reload = (rt_uint8_t)best_reload;
+    dev->window = (rt_uint8_t)best_reload;
+    dev->timeout_us = best_timeout_us;
+
+    return RT_EOK;
+}
+
+static void wwdg_apply_config(struct ns800_wwdg *dev)
+{
+    WWDG_configModule(dev->base,
+                      WWDG_DIRECT_RESET,
+                      dev->prescaler,
+                      dev->window);
+}
+
+static rt_err_t wwdg_init(rt_watchdog_t *wdt)
+{
+    RT_UNUSED(wdt);
+    return RT_EOK;
+}
+
+static rt_err_t wwdg_control(rt_watchdog_t *wdt, int cmd, void *arg)
+{
+    struct ns800_wwdg *dev;
+    rt_err_t ret;
+
+    RT_ASSERT(wdt != RT_NULL);
+    dev = (struct ns800_wwdg *)wdt->parent.user_data;
+    RT_ASSERT(dev != RT_NULL);
+
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_WDT_KEEPALIVE:
+        WWDG_refreshModule(dev->base, dev->reload);
+        break;
+
+    case RT_DEVICE_CTRL_WDT_SET_TIMEOUT:
+        if (arg == RT_NULL)
+        {
+            return -RT_EINVAL;
+        }
+        ret = wwdg_select_config(*(rt_uint32_t *)arg, dev);
+        if (ret != RT_EOK)
+        {
+            rt_uint32_t clock_hz = wwdg_get_clock_hz();
+
+            LOG_W("%s timeout request=%u s exceeds max=%u ms",
+                  WWDG_DEVICE_NAME,
+                  *(rt_uint32_t *)arg,
+                  clock_hz ? wwdg_timeout_to_ms(wwdg_calc_max_timeout_us(clock_hz)) : 0U);
+            return ret;
+        }
+        if (dev->started)
+        {
+            wwdg_apply_config(dev);
+            WWDG_refreshModule(dev->base, dev->reload);
+        }
+        LOG_W("%s timeout request=%u s actual=%u ms",
+              WWDG_DEVICE_NAME,
+              *(rt_uint32_t *)arg,
+              wwdg_timeout_to_ms(dev->timeout_us));
+        break;
+
+    case RT_DEVICE_CTRL_WDT_GET_TIMEOUT:
+        if (arg == RT_NULL)
+        {
+            return -RT_EINVAL;
+        }
+        *(rt_uint32_t *)arg = (rt_uint32_t)(dev->timeout_us / NS800_USEC_PER_SEC);
+        break;
+
+    case RT_DEVICE_CTRL_WDT_GET_TIMELEFT:
+        return -RT_ENOSYS;
+
+    case RT_DEVICE_CTRL_WDT_START:
+        if (!dev->started)
+        {
+            wwdg_apply_config(dev);
+            WWDG_clearIntStatus(dev->base);
+            WWDG_enableModule(dev->base, dev->reload);
+            dev->started = RT_TRUE;
+            LOG_I("%s started, timeout=%u ms", WWDG_DEVICE_NAME, wwdg_timeout_to_ms(dev->timeout_us));
+        }
+        break;
+
+    case RT_DEVICE_CTRL_WDT_STOP:
+        return -RT_ENOSYS;
+
+    default:
+        return -RT_EINVAL;
+    }
+
+    return RT_EOK;
+}
+
+static const struct rt_watchdog_ops wwdg_ops =
+{
+    .init = wwdg_init,
+    .control = wwdg_control,
+};
+
+int rt_hw_wwdg_init(void)
+{
+    wwdg_dev.base = WWDG;
+    wwdg_dev.started = RT_FALSE;
+    if (wwdg_select_config(1U, &wwdg_dev) != RT_EOK)
+    {
+        wwdg_select_max_config(&wwdg_dev);
+    }
+    wwdg_dev.watchdog.ops = &wwdg_ops;
+
+    if (rt_hw_watchdog_register(&wwdg_dev.watchdog,
+                                WWDG_DEVICE_NAME,
+                                RT_DEVICE_FLAG_DEACTIVATE,
+                                &wwdg_dev) != RT_EOK)
+    {
+        LOG_E("%s register failed", WWDG_DEVICE_NAME);
+        return -RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+INIT_BOARD_EXPORT(rt_hw_wwdg_init);
+
+#endif /* BSP_USING_WWDG */
+#endif /* RT_USING_WDT */
+
diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_wwdg.h b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_wwdg.h
new file mode 100644
index 0000000000..32b90820ce
--- /dev/null
+++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_wwdg.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2006-2026, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2026-05-13     Jeffery Yuan      first version
+ */
+
+#ifndef DRV_WWDG_H__
+#define DRV_WWDG_H__
+
+#include <rtdevice.h>
+#include <board.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define WWDG_DEVICE_NAME    "wwdg"
+
+int rt_hw_wwdg_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DRV_WWDG_H__ */
+
diff --git a/bsp/novosns/ns800/ns800rt7p65-nssinepad/.ci/attachconfig/ci.attachconfig.yml b/bsp/novosns/ns800/ns800rt7p65-nssinepad/.ci/attachconfig/ci.attachconfig.yml
index 796e33c9df..c1aa4777e4 100644
--- a/bsp/novosns/ns800/ns800rt7p65-nssinepad/.ci/attachconfig/ci.attachconfig.yml
+++ b/bsp/novosns/ns800/ns800rt7p65-nssinepad/.ci/attachconfig/ci.attachconfig.yml
@@ -15,4 +15,11 @@ devices.spi:
     kconfig:
       - CONFIG_BSP_USING_SPI=y
       - CONFIG_BSP_USING_SPI1=y
-      - CONFIG_BSP_USING_QSPI=y
\ No newline at end of file
+      - CONFIG_BSP_USING_QSPI=y
+devices.wdt:
+    <<: *scons
+    kconfig:
+      - CONFIG_BSP_USING_WDT=y
+      - CONFIG_BSP_USING_IWDG1=y
+      - CONFIG_BSP_USING_IWDG2=y
+      - CONFIG_BSP_USING_WWDG=y
\ No newline at end of file
diff --git a/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig b/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig
index 1c899b2331..b23da33d13 100644
--- a/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig
+++ b/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig
@@ -211,4 +211,22 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_QSPI
         default n
 
+    menuconfig BSP_USING_WDT
+        bool "Enable Watchdog"
+        select RT_USING_WDT
+        default n
+        if BSP_USING_WDT
+            config BSP_USING_IWDG1
+                bool "Enable IWDG1"
+                default n
+
+            config BSP_USING_IWDG2
+                bool "Enable IWDG2"
+                default n
+
+            config BSP_USING_WWDG
+                bool "Enable WWDG"
+                default n
+        endif
+
 endmenu