Merge pull request #2635 from particle-iot/fix/nrf52_watchdog/sc116493

nRF52: watchdog timeout is not accurate
particle-iot · May 24, 2023 · 6d1e226 · 6d1e226
1 parent d78fe27
commit 6d1e226
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Showing 3 changed files with 43 additions and 6 deletions.
diff --git a/hal/src/nRF52840/watchdog_hal.cpp b/hal/src/nRF52840/watchdog_hal.cpp
@@ -63,7 +63,7 @@ class WatchdogLock {
 class Nrf52Watchdog : public Watchdog {
 public:
     int init(const hal_watchdog_config_t* config) {
-        CHECK_FALSE(initialized_, SYSTEM_ERROR_INVALID_STATE);
+        CHECK_FALSE(started(), SYSTEM_ERROR_INVALID_STATE);
         CHECK_TRUE(config && (config->size > 0), SYSTEM_ERROR_INVALID_ARGUMENT);
         CHECK_TRUE(config->timeout_ms >= WATCHDOG_MIN_TIMEOUT, SYSTEM_ERROR_INVALID_ARGUMENT);
         CHECK_TRUE(config->timeout_ms <= WATCHDOG_MAX_TIMEOUT, SYSTEM_ERROR_INVALID_ARGUMENT);
@@ -80,10 +80,17 @@ class Nrf52Watchdog : public Watchdog {
         } else {
             nrfConfig.behaviour = NRF_WDT_BEHAVIOUR_PAUSE_SLEEP_HALT;
         }
-        nrfx_err_t ret = nrfx_wdt_init(&nrfConfig, nrf52WatchdogEventHandler);
-        SPARK_ASSERT(ret == NRF_SUCCESS);
-        ret = nrfx_wdt_channel_alloc(&channelId_);
-        SPARK_ASSERT(ret == NRF_SUCCESS);
+        if (!initialized_) {
+            nrfx_err_t ret = nrfx_wdt_init(&nrfConfig, nrf52WatchdogEventHandler);
+            SPARK_ASSERT(ret == NRF_SUCCESS);
+            ret = nrfx_wdt_channel_alloc(&channelId_);
+            SPARK_ASSERT(ret == NRF_SUCCESS);
+        } else {
+            nrf_wdt_behaviour_set(nrfConfig.behaviour);
+            uint64_t ticks = (nrfConfig.reload_value * 32768ULL) / 1000;
+            SPARK_ASSERT(ticks <= UINT32_MAX);
+            nrf_wdt_reload_value_set((uint32_t)ticks);
+        }
 
         memcpy(&info_.config, config, std::min(info_.config.size, config->size));
         info_.state = HAL_WATCHDOG_STATE_CONFIGURED;

diff --git a/third_party/nrf5_sdk/nrf5_sdk b/third_party/nrf5_sdk/nrf5_sdk
diff --git a/user/tests/wiring/watchdog/watchdog.cpp b/user/tests/wiring/watchdog/watchdog.cpp
@@ -174,5 +174,35 @@ test(WATCHDOG_07_notify_2) {
     assertEqual(magick, 0xdeadbeef);
 }
 
+#include "nrf_wdt.h"
+static void checkError(system_tick_t expectedTo) {
+    uint32_t reg = nrf_wdt_reload_value_get();
+    uint64_t actualTo = (reg * 1000ULL) / 32768;
+    uint32_t delta = (expectedTo > actualTo) ? (expectedTo - actualTo) : (actualTo - expectedTo);
+    // Serial.printlnf("expected: %ld, actual: %lu, delta: %d", expectedTo, (uint32_t)actualTo, delta);
+    assertLessOrEqual(delta, 1);
+    assertMoreOrEqual(delta, 0);
+}
+
 #endif // HAL_PLATFORM_NRF52840
 
+test(WATCHDDOG_100_reload_value_is_calculated_correctly) {
+    constexpr system_tick_t TEST_LOOP_CNT = 100;
+
+    WatchdogInfo info;
+    assertEqual(0, Watchdog.getInfo(info));
+
+    for (uint16_t i = 1; i <= TEST_LOOP_CNT; i++) {
+        system_tick_t expectedTo;
+        if (i == 1) {
+            expectedTo = info.minTimeout();
+        } else if (i == TEST_LOOP_CNT) {
+            expectedTo = info.maxTimeout();
+        } else {
+            expectedTo = random(info.minTimeout(), info.maxTimeout());
+        }
+        assertEqual(0, Watchdog.init(WatchdogConfiguration().timeout(expectedTo)));
+
+        checkError(expectedTo);
+    }
+}