第一部分: WDT驱动原理
WDT在内核中通常都实现为misc驱动。
WDT介绍
一个Watchdog Timer(WDT)是一个在软件出错的时候可以复位计算机系统的硬件电路。
通常一个用户空间守护进程会在正常的时间间隔内通过/dev/watchdog特殊设备文件来通知内核的watchdog驱动,用户空间仍然正常。当这样的一个通知发生时,驱动通常会告诉硬件watchdog一切正常,然后watchdog应该再等待一段时间来复位系统。如果用户空间出问题(RAM错误,内核bug等),则通知将会停止,然后硬件watchdog将在超时后复位系统。
Linux的watchdog API是一个相当特别的东西,不同的驱动实现是不同的,而且有时部分是不兼容的。这个文档正是要尝试着去说明已经出现的用法,并且使以后的驱动作者把它作为一份参考。
最简单的 API:
所有的设备驱动都支持的基本的操作模式,一旦/dev/watchdog被打开,则watchdog激活,并且除非喂狗,否则将在一段时间之后重启,这个时间被称为timeout或margin。最简单的喂狗方法就是写一些数据到设备。一个非常简单的watchdog守护进程看起来就像这个文件这样:
Documentation/watchdog/src/watchdog-simple.c
- #include <stdio.h>
- #include <stdlib.h>
- #include <unistd.h>
- #include <fcntl.h>
- int main(void)
- {
- int fd = open("/dev/watchdog", O_WRONLY);
- int ret = 0;
- if (fd == -1) {
- perror("watchdog");
- exit(EXIT_FAILURE);
- }
- while (1) {
- ret = write(fd, "\0", 1);
- if (ret != 1) {
- ret = -1;
- break;
- }
- ret = fsync(fd);
- if (ret)
- break;
- sleep(10);
- }
- close(fd);
- return ret;
- }
一个高级一些的驱动在喂狗之前,可能还会做一些其他的事情,比如说检查HTTP服务器是否依然可以相应。
当设备关闭的时候,除非支持"Magic Close"特性。否则watchdog被关闭。这并不总是一个好主意,比如watchdog守护进程出现了bug并且崩溃了,则系统将不会重启。因此,某些驱动支持"Disable watchdog shutdown on close", CONFIG_WATCHDOG_NOWAYOUT配置选项。当编译内核的时候这个选项被设置为Y,则一旦watchdog被启动,则将没有办法能够停止。这样,则当watchdog守护进程崩溃的时候,系统仍将在超时后重启。Watchdog设备常常也支持nowayout模块参数,这样这个选项就可以在运行时进行控制。
Magic Close 特性:
如果一个驱动支持"Magic Close",则除非在关闭文件前,魔幻字符'V'被发送到/dev/watchdog,驱动将不停止watchdog。如果用户空间守护进程在关闭文件前没有发送这个字符,则驱动认为用户空间崩溃,并在关闭watchdog前停止喂狗。
这样的话,如果没有在一定的时间内重新打开watchdog,则将导致一个重启。
ioctl API:
所有标准的驱动也应该支持一个ioctl API。
喂狗使用一个ioctl:
所有的驱动都有一个ioctl接口支持至少一个ioctl命令,KEEPALIVE。这个 ioctl 做的事和一个写watchdog设备完全一样,所以,上面程序的主循环可以替换为:
- while (1) {
- ioctl(fd, WDIOC_KEEPALIVE, 0);
- sleep(10);
- }
ioctl的参数被忽略。
设置和获得超时值:
对于某些驱动来说,在上层使用SETTIMEOUT ioctl命令改变watchdog的超时值是可能的,那些驱动在他们的选项与中有WDIOF_SETTIMEOUT标志。参数是一个代表以秒为单位的超时值,驱动将在同一个变量中返回实际使用的超时值,这个超时值可能由于硬件的限制,而不同于所请求的超时值
int timeout = 45;
ioctl(fd, WDIOC_SETTIMEOUT, &timeout);
printf("The timeout was set to %d seconds\n", timeout);
如果设备的超时值的粒度只能到分钟,则这个例子可能实际打印"The timeout was set to 60 seconds"。
自从Linux 2.4.18内核,通过GETTIMEOUT ioctl命令查询当前超时值也是可能的:
ioctl(fd, WDIOC_GETTIMEOUT, &timeout);
printf("The timeout was is %d seconds\n", timeout);
预处理:
Pretimeouts:
一些watchdog定时器,可以被设置为,在他们实际复位系统前,有一个触发。这可能通过一个NMI,中断,或其他机制。这将允许在它复位系统前Linux去记录一些有用的信息(比如panic信息和内核转储)。
pretimeout = 10;
ioctl(fd, WDIOC_SETPRETIMEOUT, &pretimeout);
注意,预超时值应该是一个相对于超时值提前的秒数。而不是直到预超时的秒数。
比如,如果你设置超时值为60秒,预超时值为10秒,那么预超时将在50秒后到达。设置为0则是禁用它。预超时还有一个get功能:
ioctl(fd, WDIOC_GETPRETIMEOUT, &timeout);
printf("The pretimeout was is %d seconds\n", timeout);
不是所有的watchdog驱动都支持一个预超时的。
获得重启前的秒数
一些watchdog驱动有一个报告在重启前的剩余时间的功能。WDIOC_GETTIMELEFT就是返回重启前的秒数的ioctl命令。
ioctl(fd, WDIOC_GETTIMELEFT, &timeleft);
printf("The timeout was is %d seconds\n", timeleft);
环境监视:
Environmental monitoring:
所有的watchdog驱动都被要求返回更多关于系统的信息,有些返回温度,风扇和功率水平监测,依稀可以告诉你上一次重启系统的原因。GETSUPPORT ioctl可以用来查询设备可以做什么:
struct watchdog_info ident;
ioctl(fd, WDIOC_GETSUPPORT, &ident);
ident结构中返回的字段是:
identity 一个标识watchdog驱动的字符串
firmware_version 如果可用的话,就是卡的固件版本
options 一个描述设备支持什么的标志
options字段可以有下面的位集,和描述GET_STATUS 和 GET_BOOT_STATUS ioctls可以返回什么种类的信息。
第二部分: WDT驱动源码
驱动架构比较简单,由于kernel启动时,定义并加入了watchdog的platform_device,所以驱动定义并注册watchdog 的platform_driver- /* linux/drivers/char/watchdog/s3c2410_wdt.c
- *
- * Copyright (c) 2004 Simtec Electronics
- * Ben Dooks <ben@simtec.co.uk>
- *
- * S3C2410 Watchdog Timer Support
- *
- * Based on, softdog.c by Alan Cox,
- * (c) Copyright 1996 Alan Cox <alan@lxorguk.ukuu.org.uk>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
- #include <linux/module.h>
- #include <linux/moduleparam.h>
- #include <linux/types.h>
- #include <linux/timer.h>
- #include <linux/miscdevice.h>
- #include <linux/watchdog.h>
- #include <linux/fs.h>
- #include <linux/init.h>
- #include <linux/platform_device.h>
- #include <linux/interrupt.h>
- #include <linux/clk.h>
- #include <linux/uaccess.h>
- #include <linux/io.h>
- #include <mach/map.h>
- #undef S3C_VA_WATCHDOG
- #define S3C_VA_WATCHDOG (0)
- #include <plat/regs-watchdog.h>
- #define PFX "s3c2410-wdt: "
- #define CONFIG_S3C2410_WATCHDOG_ATBOOT (0)
- #define CONFIG_S3C2410_WATCHDOG_DEFAULT_TIME (15)
- static int nowayout = WATCHDOG_NOWAYOUT;
- static int tmr_margin = CONFIG_S3C2410_WATCHDOG_DEFAULT_TIME;
- static int tmr_atboot = CONFIG_S3C2410_WATCHDOG_ATBOOT;
- static int soft_noboot;
- static int debug;
- module_param(tmr_margin, int, 0);
- module_param(tmr_atboot, int, 0);
- module_param(nowayout, int, 0);
- module_param(soft_noboot, int, 0);
- module_param(debug, int, 0);
- MODULE_PARM_DESC(tmr_margin, "Watchdog tmr_margin in seconds. default="
- __MODULE_STRING(CONFIG_S3C2410_WATCHDOG_DEFAULT_TIME) ")");
- MODULE_PARM_DESC(tmr_atboot,
- "Watchdog is started at boot time if set to 1, default="
- __MODULE_STRING(CONFIG_S3C2410_WATCHDOG_ATBOOT));
- MODULE_PARM_DESC(nowayout, "Watchdog cannot be stopped once started (default="
- __MODULE_STRING(WATCHDOG_NOWAYOUT) ")");
- MODULE_PARM_DESC(soft_noboot, "Watchdog action, set to 1 to ignore reboots, "
- "0 to reboot (default depends on ONLY_TESTING)");
- MODULE_PARM_DESC(debug, "Watchdog debug, set to >1 for debug, (default 0)");
- static unsigned long open_lock;
- static struct device *wdt_dev; /* platform device attached to */
- static struct resource *wdt_mem;
- static struct resource *wdt_irq;
- static struct clk *wdt_clock;
- static void __iomem *wdt_base;
- static unsigned int wdt_count;
- static char expect_close;
- static DEFINE_SPINLOCK(wdt_lock);
- /* watchdog control routines */
- #define DBG(msg...) do { \
- if (debug) \
- printk(KERN_INFO msg); \
- } while (0)
- /* functions */
- static void s3c2410wdt_keepalive(void)
- {
- spin_lock(&wdt_lock);
- writel(wdt_count, wdt_base + S3C2410_WTCNT);
- spin_unlock(&wdt_lock);
- }
- static void __s3c2410wdt_stop(void)
- {
- unsigned long wtcon;
- wtcon = readl(wdt_base + S3C2410_WTCON);
- wtcon &= ~(S3C2410_WTCON_ENABLE | S3C2410_WTCON_RSTEN);
- writel(wtcon, wdt_base + S3C2410_WTCON);
- }
- static void s3c2410wdt_stop(void)
- {
- spin_lock(&wdt_lock);
- __s3c2410wdt_stop();
- spin_unlock(&wdt_lock);
- }
- static void s3c2410wdt_start(void)
- {
- unsigned long wtcon;
- spin_lock(&wdt_lock);
- __s3c2410wdt_stop();
- wtcon = readl(wdt_base + S3C2410_WTCON);
- wtcon |= S3C2410_WTCON_ENABLE | S3C2410_WTCON_DIV128;
- if (soft_noboot) {
- wtcon |= S3C2410_WTCON_INTEN;
- wtcon &= ~S3C2410_WTCON_RSTEN;
- } else {
- wtcon &= ~S3C2410_WTCON_INTEN;
- wtcon |= S3C2410_WTCON_RSTEN;
- }
- DBG("%s: wdt_count=0x%08x, wtcon=%08lx\n",
- __func__, wdt_count, wtcon);
- writel(wdt_count, wdt_base + S3C2410_WTDAT);
- writel(wdt_count, wdt_base + S3C2410_WTCNT);
- writel(wtcon, wdt_base + S3C2410_WTCON);
- spin_unlock(&wdt_lock);
- }
- static int s3c2410wdt_set_heartbeat(int timeout)
- {
- unsigned int freq = clk_get_rate(wdt_clock);
- unsigned int count;
- unsigned int divisor = 1;
- unsigned long wtcon;
- if (timeout < 1)
- return -EINVAL;
- freq /= 128;
- count = timeout * freq;
- DBG("%s: count=%d, timeout=%d, freq=%d\n",
- __func__, count, timeout, freq);
- /* if the count is bigger than the watchdog register,
- then work out what we need to do (and if) we can
- actually make this value
- */
- if (count >= 0x10000) {
- for (divisor = 1; divisor <= 0x100; divisor++) {
- if ((count / divisor) < 0x10000)
- break;
- }
- if ((count / divisor) >= 0x10000) {
- dev_err(wdt_dev, "timeout %d too big\n", timeout);
- return -EINVAL;
- }
- }
- tmr_margin = timeout;
- DBG("%s: timeout=%d, divisor=%d, count=%d (%08x)\n",
- __func__, timeout, divisor, count, count/divisor);
- count /= divisor;
- wdt_count = count;
- /* update the pre-scaler */
- wtcon = readl(wdt_base + S3C2410_WTCON);
- wtcon &= ~S3C2410_WTCON_PRESCALE_MASK;
- wtcon |= S3C2410_WTCON_PRESCALE(divisor-1);
- writel(count, wdt_base + S3C2410_WTDAT);
- writel(wtcon, wdt_base + S3C2410_WTCON);
- return 0;
- }
- /*
- * /dev/watchdog handling
- */
- static int s3c2410wdt_open(struct inode *inode, struct file *file)
- {
- if (test_and_set_bit(0, &open_lock))
- return -EBUSY;
- if (nowayout)
- __module_get(THIS_MODULE);
- expect_close = 0;
- /* start the timer */
- s3c2410wdt_start();
- return nonseekable_open(inode, file);
- }
- static int s3c2410wdt_release(struct inode *inode, struct file *file)
- {
- /*
- * Shut off the timer.
- * Lock it in if it's a module and we set nowayout
- */
- if (expect_close == 42)
- s3c2410wdt_stop();
- else {
- dev_err(wdt_dev, "Unexpected close, not stopping watchdog\n");
- s3c2410wdt_keepalive();
- }
- expect_close = 0;
- clear_bit(0, &open_lock);
- return 0;
- }
- static ssize_t s3c2410wdt_write(struct file *file, const char __user *data,
- size_t len, loff_t *ppos)
- {
- /*
- * Refresh the timer.
- */
- if (len) {
- if (!nowayout) {
- size_t i;
- /* In case it was set long ago */
- expect_close = 0;
- for (i = 0; i != len; i++) {
- char c;
- if (get_user(c, data + i))
- return -EFAULT;
- if (c == 'V')
- expect_close = 42;
- }
- }
- s3c2410wdt_keepalive();
- }
- return len;
- }
- #define OPTIONS (WDIOF_SETTIMEOUT | WDIOF_KEEPALIVEPING | WDIOF_MAGICCLOSE)
- static const struct watchdog_info s3c2410_wdt_ident = {
- .options = OPTIONS,
- .firmware_version = 0,
- .identity = "S3C2410 Watchdog",
- };
- static long s3c2410wdt_ioctl(struct file *file, unsigned int cmd,
- unsigned long arg)
- {
- void __user *argp = (void __user *)arg;
- int __user *p = argp;
- int new_margin;
- switch (cmd) {
- case WDIOC_GETSUPPORT:
- return copy_to_user(argp, &s3c2410_wdt_ident,
- sizeof(s3c2410_wdt_ident)) ? -EFAULT : 0;
- case WDIOC_GETSTATUS:
- case WDIOC_GETBOOTSTATUS:
- return put_user(0, p);
- case WDIOC_KEEPALIVE:
- s3c2410wdt_keepalive();
- return 0;
- case WDIOC_SETTIMEOUT:
- if (get_user(new_margin, p))
- return -EFAULT;
- if (s3c2410wdt_set_heartbeat(new_margin))
- return -EINVAL;
- s3c2410wdt_keepalive();
- return put_user(tmr_margin, p);
- case WDIOC_GETTIMEOUT:
- return put_user(tmr_margin, p);
- default:
- return -ENOTTY;
- }
- }
- /* kernel interface */
- static const struct file_operations s3c2410wdt_fops = {
- .owner = THIS_MODULE,
- .llseek = no_llseek,
- .write = s3c2410wdt_write,
- .unlocked_ioctl = s3c2410wdt_ioctl,
- .open = s3c2410wdt_open,
- .release = s3c2410wdt_release,
- };
- static struct miscdevice s3c2410wdt_miscdev = {
- .minor = WATCHDOG_MINOR,
- .name = "watchdog",
- .fops = &s3c2410wdt_fops,
- };
- /* interrupt handler code */
- static irqreturn_t s3c2410wdt_irq(int irqno, void *param)
- {
- dev_info(wdt_dev, "watchdog timer expired (irq)\n");
- s3c2410wdt_keepalive();
- return IRQ_HANDLED;
- }
- /* device interface */
- static int __devinit s3c2410wdt_probe(struct platform_device *pdev)
- {
- struct resource *res;
- struct device *dev;
- unsigned int wtcon;
- int started = 0;
- int ret;
- int size;
- DBG("%s: probe=%p\n", __func__, pdev);
- dev = &pdev->dev;
- wdt_dev = &pdev->dev;
- /* get the memory region for the watchdog timer -- flags is IORESOURCE_MEM */
- res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
- if (res == NULL) {
- dev_err(dev, "no memory resource specified\n");
- return -ENOENT;
- }
- size = (res->end - res->start) + 1;
- //请求分配指定的I/O内存资源
- wdt_mem = request_mem_region(res->start, size, pdev->name);
- if (wdt_mem == NULL) {
- dev_err(dev, "failed to get memory region\n");
- ret = -ENOENT;
- goto err_req;
- }
- //将一个IO地址空间映射到内核的虚拟地址空间上去,便于访问
- wdt_base = ioremap(res->start, size);
- if (wdt_base == NULL) {
- dev_err(dev, "failed to ioremap() region\n");
- ret = -EINVAL;
- goto err_req;
- }
- DBG("probe: mapped wdt_base=%p\n", wdt_base);
- /* get the memory region for the watchdog timer -- flags is IORESOURCE_IRQ */
- wdt_irq = platform_get_resource(pdev, IORESOURCE_IRQ, 0);
- if (wdt_irq == NULL) {
- dev_err(dev, "no irq resource specified\n");
- ret = -ENOENT;
- goto err_map;
- }
- //注册中断服务函数s3c2410wdt_irq()
- ret = request_irq(wdt_irq->start, s3c2410wdt_irq, 0, pdev->name, pdev);
- if (ret != 0) {
- dev_err(dev, "failed to install irq (%d)\n", ret);
- goto err_map;
- }
- //从平台时钟队列中获取clk
- wdt_clock = clk_get(&pdev->dev, "watchdog");
- if (IS_ERR(wdt_clock)) {
- dev_err(dev, "failed to find watchdog clock source\n");
- ret = PTR_ERR(wdt_clock);
- goto err_irq;
- }
- //inform the system when the clock source should be running
- clk_enable(wdt_clock);
- /* see if we can actually set the requested timer margin, and if
- * not, try the default value */
- if (s3c2410wdt_set_heartbeat(tmr_margin)) {
- started = s3c2410wdt_set_heartbeat(
- CONFIG_S3C2410_WATCHDOG_DEFAULT_TIME);
- if (started == 0)
- dev_info(dev,
- "tmr_margin value out of range, default %d used\n",
- CONFIG_S3C2410_WATCHDOG_DEFAULT_TIME);
- else
- dev_info(dev, "default timer value is out of range, "
- "cannot start\n");
- }
- ret = misc_register(&s3c2410wdt_miscdev);
- if (ret) {
- dev_err(dev, "cannot register miscdev on minor=%d (%d)\n",
- WATCHDOG_MINOR, ret);
- goto err_clk;
- }
- if (tmr_atboot && started == 0) {
- dev_info(dev, "starting watchdog timer\n");
- s3c2410wdt_start();
- } else if (!tmr_atboot) {
- /* if we're not enabling the watchdog, then ensure it is
- * disabled if it has been left running from the bootloader
- * or other source */
- s3c2410wdt_stop();
- }
- /* print out a statement of readiness */
- wtcon = readl(wdt_base + S3C2410_WTCON);
- dev_info(dev, "watchdog %sactive, reset %sabled, irq %sabled\n",
- (wtcon & S3C2410_WTCON_ENABLE) ? "" : "in",
- (wtcon & S3C2410_WTCON_RSTEN) ? "" : "dis",
- (wtcon & S3C2410_WTCON_INTEN) ? "" : "en");
- return 0;
- err_clk:
- clk_disable(wdt_clock);
- clk_put(wdt_clock);
- err_irq:
- free_irq(wdt_irq->start, pdev);
- err_map:
- iounmap(wdt_base);
- err_req:
- release_resource(wdt_mem);
- kfree(wdt_mem);
- return ret;
- }
- static int __devexit s3c2410wdt_remove(struct platform_device *dev)
- {
- release_resource(wdt_mem);
- kfree(wdt_mem);
- wdt_mem = NULL;
- free_irq(wdt_irq->start, dev);
- wdt_irq = NULL;
- clk_disable(wdt_clock);
- clk_put(wdt_clock);
- wdt_clock = NULL;
- iounmap(wdt_base);
- misc_deregister(&s3c2410wdt_miscdev);
- return 0;
- }
- static void s3c2410wdt_shutdown(struct platform_device *dev)
- {
- s3c2410wdt_stop();
- }
- #ifdef CONFIG_PM
- static unsigned long wtcon_save;
- static unsigned long wtdat_save;
- static int s3c2410wdt_suspend(struct platform_device *dev, pm_message_t state)
- {
- /* Save watchdog state, and turn it off. */
- wtcon_save = readl(wdt_base + S3C2410_WTCON);
- wtdat_save = readl(wdt_base + S3C2410_WTDAT);
- /* Note that WTCNT doesn't need to be saved. */
- s3c2410wdt_stop();
- return 0;
- }
- static int s3c2410wdt_resume(struct platform_device *dev)
- {
- /* Restore watchdog state. */
- writel(wtdat_save, wdt_base + S3C2410_WTDAT);
- writel(wtdat_save, wdt_base + S3C2410_WTCNT); /* Reset count */
- writel(wtcon_save, wdt_base + S3C2410_WTCON);
- printk(KERN_INFO PFX "watchdog %sabled\n",
- (wtcon_save & S3C2410_WTCON_ENABLE) ? "en" : "dis");
- return 0;
- }
- #else
- #define s3c2410wdt_suspend NULL
- #define s3c2410wdt_resume NULL
- #endif /* CONFIG_PM */
- /*
- *platform_driver s3c2410wdt_driver 与 platform_device s3c_device_wdt 对应
- *s3c_device_wdt 在arch/arm/plat-s3c24xx/devs.c中定义
- *两者的工作顺序是先定义platform_device -> 注册 platform_device->
- *在mini2440_machine_init()中完成
- *再定义 platform_driver-> 注册 platform_driver
- */
- static struct platform_driver s3c2410wdt_driver = {
- .probe = s3c2410wdt_probe, //设备的检测,所以需要先注册设备
- .remove = __devexit_p(s3c2410wdt_remove), //删除该设备
- .shutdown = s3c2410wdt_shutdown, //关闭该设备
- .suspend = s3c2410wdt_suspend,
- .resume = s3c2410wdt_resume,
- .driver = { //设备驱动
- .owner = THIS_MODULE,
- /*
*对应 struct platform_device s3c_device_wdt = {
* .name = "s3c2410-wdt",
* ...
* };
*/
- .name = "s3c2410-wdt",
- },
- };
- static char banner[] __initdata =
- KERN_INFO "S3C2410 Watchdog Timer, (c) 2004 Simtec Electronics\n";
- static int __init watchdog_init(void) //模块初始化
- {
- printk(banner); //打印信息
- return platform_driver_register(&s3c2410wdt_driver); //注册设备的驱动程序
- }
- static void __exit watchdog_exit(void) //移除模块
- {
- platform_driver_unregister(&s3c2410wdt_driver); //unregister a driver for platform-level devices
- }
- module_init(watchdog_init);
- module_exit(watchdog_exit);
- MODULE_AUTHOR("Ben Dooks , "
- "Dimitry Andric ");
- MODULE_DESCRIPTION("S3C2410 Watchdog Device Driver");
- MODULE_LICENSE("GPL");
- MODULE_ALIAS_MISCDEV(WATCHDOG_MINOR);
- MODULE_ALIAS("platform:s3c2410-wdt");