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drivers: watchdog: initial support for watchdog driver on Renesas RA family

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First commit to add support for Renesas RA watchdog driver

Signed-off-by: The Nguyen <the.nguyen.yf@renesas.com>
This commit is contained in:
The Nguyen 2024-12-25 06:16:37 +00:00 • committed by Benjamin Cabé
commit 710fb596df
6 changed files with 384 additions and 0 deletions
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1
drivers/watchdog/CMakeLists.txt
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@ -56,5 +56,6 @@ zephyr_library_sources_ifdef(CONFIG_WDT_INTEL_ADSP wdt_intel_adsp.c wdt_dw_commo
zephyr_library_sources_ifdef(CONFIG_WDT_ANDES_ATCWDT200 wdt_andes_atcwdt200.c) zephyr_library_sources_ifdef(CONFIG_WDT_ANDES_ATCWDT200 wdt_andes_atcwdt200.c)
zephyr_library_sources_ifdef(CONFIG_WDT_NXP_FS26 wdt_nxp_fs26.c) zephyr_library_sources_ifdef(CONFIG_WDT_NXP_FS26 wdt_nxp_fs26.c)
zephyr_library_sources_ifdef(CONFIG_WDT_SHELL wdt_shell.c) zephyr_library_sources_ifdef(CONFIG_WDT_SHELL wdt_shell.c)
zephyr_library_sources_ifdef(CONFIG_WDT_RENESAS_RA wdt_renesas_ra.c)
zephyr_library_sources_ifdef(CONFIG_USERSPACE wdt_handlers.c) zephyr_library_sources_ifdef(CONFIG_USERSPACE wdt_handlers.c)

2
drivers/watchdog/Kconfig
View file

@ -147,4 +147,6 @@ source "drivers/watchdog/Kconfig.litex"
source "drivers/watchdog/Kconfig.rts5912" source "drivers/watchdog/Kconfig.rts5912"
source "drivers/watchdog/Kconfig.renesas_ra"
endif # WATCHDOG endif # WATCHDOG

29
drivers/watchdog/Kconfig.renesas_ra Normal file
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@ -0,0 +1,29 @@
# Copyright (c) 2025 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
config WDT_RENESAS_RA
bool "Watchdog Driver for Renesas RA family"
default y
depends on DT_HAS_RENESAS_RA_WDT_ENABLED
select HAS_WDT_DISABLE_AT_BOOT
select USE_RA_FSP_WDT
help
Enable watchdog driver for Renesas RA MCUs
if WDT_RENESAS_RA
config WDT_RENESAS_RA_NMI
bool "NMI interrupt enable"
default y
select RUNTIME_NMI
help
Watchdog timer generates NMI at value 0
config WDT_RENESAS_RA_START_IN_BOOT
bool "Start WDT in boot time"
default y
depends on !HAS_WDT_DISABLE_AT_BOOT
help
Start watchdog in boot time
endif # WDT_RENESAS_RA

332
drivers/watchdog/wdt_renesas_ra.c Normal file
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@ -0,0 +1,332 @@
/*
* Copyright (c) 2025 Renesas Electronics Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <soc.h>
#include <zephyr/kernel.h>
#include <zephyr/drivers/clock_control/renesas_ra_cgc.h>
#include <zephyr/logging/log.h>
#include <zephyr/drivers/watchdog.h>
#include "r_wdt.h"
LOG_MODULE_REGISTER(wdt_renesas_ra, CONFIG_WDT_LOG_LEVEL);
struct wdt_renesas_ra_config {
const struct device *clock_dev;
const struct clock_control_ra_subsys_cfg clock_subsys;
};
struct wdt_renesas_ra_data {
struct wdt_timeout_cfg timeout;
struct st_wdt_instance_ctrl wdt_ctrl;
struct st_wdt_cfg wdt_cfg;
struct k_mutex inst_lock;
atomic_t device_state;
};
#define WDT_RENESAS_RA_ATOMIC_ENABLE (0)
#define WDT_RENESAS_RA_ATOMIC_TIMEOUT_SET (1)
/* Lookup table for WDT period raw cycle */
const float timeout_period_lut[] = {
[WDT_TIMEOUT_128] = 128, [WDT_TIMEOUT_512] = 512, [WDT_TIMEOUT_1024] = 1024,
[WDT_TIMEOUT_2048] = 2048, [WDT_TIMEOUT_4096] = 4096, [WDT_TIMEOUT_8192] = 8192,
[WDT_TIMEOUT_16384] = 16384};
/* Lookup table for the division value of the input clock count */
const float clock_div_lut[] = {[WDT_CLOCK_DIVISION_1] = 1, [WDT_CLOCK_DIVISION_4] = 4,
[WDT_CLOCK_DIVISION_16] = 16, [WDT_CLOCK_DIVISION_32] = 32,
[WDT_CLOCK_DIVISION_64] = 64, [WDT_CLOCK_DIVISION_128] = 128,
[WDT_CLOCK_DIVISION_256] = 256, [WDT_CLOCK_DIVISION_512] = 512,
[WDT_CLOCK_DIVISION_2048] = 2048, [WDT_CLOCK_DIVISION_8192] = 8192};
#define WDT_WINDOW_INVALID (-1)
/* Lookup table for the window start position setting */
const int window_start_lut[] = {
[0] = WDT_WINDOW_START_100, [1] = WDT_WINDOW_START_75, [2] = WDT_WINDOW_START_50,
[3] = WDT_WINDOW_START_25, [4] = WDT_WINDOW_INVALID,
};
/* Lookup table for the window end position setting */
const int window_end_lut[] = {
[0] = WDT_WINDOW_INVALID, [1] = WDT_WINDOW_END_75, [2] = WDT_WINDOW_END_50,
[3] = WDT_WINDOW_END_25, [4] = WDT_WINDOW_END_0,
};
static inline void wdt_renesas_ra_inst_lock(const struct device *dev)
{
struct wdt_renesas_ra_data *data = dev->data;
k_mutex_lock(&data->inst_lock, K_FOREVER);
}
static inline void wdt_renesas_ra_inst_unlock(const struct device *dev)
{
struct wdt_renesas_ra_data *data = dev->data;
k_mutex_unlock(&data->inst_lock);
}
static int wdt_renesas_ra_timeout_calculate(const struct device *dev,
const struct wdt_timeout_cfg *config)
{
struct wdt_renesas_ra_data *data = dev->data;
const struct wdt_renesas_ra_config *cfg = dev->config;
struct st_wdt_cfg *p_cfg = &data->wdt_cfg;
unsigned int window_start_idx;
unsigned int window_end_idx;
unsigned int best_divisor = WDT_CLOCK_DIVISION_1;
unsigned int best_timeout = WDT_TIMEOUT_128;
unsigned int best_period_ms = UINT_MAX;
unsigned int min_delta = UINT_MAX;
uint32_t clock_rate;
int ret;
if (atomic_test_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_TIMEOUT_SET)) {
if (config->window.min != data->timeout.window.min ||
config->window.max != data->timeout.window.max ||
config->flags != data->timeout.flags) {
LOG_ERR("wdt support only one timeout setting value");
return -EINVAL;
}
data->timeout.callback = config->callback;
return 0;
}
ret = clock_control_get_rate(cfg->clock_dev, (clock_control_subsys_t)&cfg->clock_subsys,
&clock_rate);
if (unlikely(ret)) {
return ret;
}
for (unsigned int divisor = WDT_CLOCK_DIVISION_1; divisor < ARRAY_SIZE(clock_div_lut);
divisor++) {
for (unsigned int timeout = WDT_TIMEOUT_128;
timeout < ARRAY_SIZE(timeout_period_lut); timeout++) {
unsigned int period_ms =
(unsigned int)(1000.0F * clock_div_lut[divisor] *
timeout_period_lut[timeout] / (float)clock_rate);
unsigned int delta = period_ms > config->window.max
? period_ms - config->window.max
: config->window.max - period_ms;
if (delta < min_delta) {
min_delta = delta;
best_divisor = divisor;
best_timeout = timeout;
best_period_ms = period_ms;
}
}
}
if (min_delta == UINT_MAX) {
LOG_ERR("wdt timeout out of range");
return -EINVAL;
}
window_start_idx = (config->window.min * 4 + best_period_ms - 1) / best_period_ms;
window_end_idx = (config->window.max * 4 + best_period_ms - 1) / best_period_ms;
if (window_start_lut[window_start_idx] == WDT_WINDOW_INVALID ||
window_end_lut[window_end_idx] == WDT_WINDOW_INVALID) {
LOG_ERR("this wdt timeout is not supported");
return -ENOTSUP;
}
p_cfg->clock_division = (wdt_clock_division_t)best_divisor;
p_cfg->timeout = (wdt_timeout_t)best_timeout;
p_cfg->window_start = (wdt_window_start_t)window_start_lut[window_start_idx];
p_cfg->window_end = (wdt_window_end_t)window_end_lut[window_end_idx];
LOG_INF("actual window min = %.2f ms", window_start_idx * best_period_ms * 0.25);
LOG_INF("actual window max = %.2f ms", window_end_idx * best_period_ms * 0.25);
memcpy(&data->timeout, config, sizeof(struct wdt_timeout_cfg));
return 0;
}
static int wdt_renesas_ra_setup(const struct device *dev, uint8_t options)
{
struct wdt_renesas_ra_data *data = dev->data;
int ret = 0;
/*
* TODO: WDT must be restarted with wdt_feed call after sleep -> will be added later when PM
* mode is supported
*/
if ((options & WDT_OPT_PAUSE_IN_SLEEP) != 0) {
LOG_ERR("wdt pause in sleep mode not supported");
return -ENOTSUP;
}
wdt_renesas_ra_inst_lock(dev);
if (atomic_test_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_ENABLE)) {
LOG_ERR("wdt has been already setup");
ret = -EBUSY;
goto end;
}
if (!atomic_test_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_TIMEOUT_SET)) {
LOG_ERR("wdt timeout should be installed before");
ret = -EFAULT;
goto end;
}
/* Pause watchdog timer when CPU is halted by the debugger. */
R_DEBUG->DBGSTOPCR_b.DBGSTOP_WDT = (options & WDT_OPT_PAUSE_HALTED_BY_DBG) != 0 ? 1 : 0;
if (R_WDT_Open(&data->wdt_ctrl, &data->wdt_cfg) != FSP_SUCCESS) {
LOG_ERR("wdt setup failed");
ret = -EIO;
goto end;
}
if (R_WDT_Refresh(&data->wdt_ctrl) != FSP_SUCCESS) {
LOG_ERR("wdt start failed");
ret = -EIO;
goto end;
}
atomic_set_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_ENABLE);
end:
wdt_renesas_ra_inst_unlock(dev);
return ret;
}
static int wdt_renesas_ra_disable(const struct device *dev)
{
struct wdt_renesas_ra_data *data = dev->data;
if (!atomic_test_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_ENABLE)) {
LOG_ERR("wdt has not been enabled yet");
return -EFAULT;
}
LOG_ERR("wdt can not be stopped once it has started");
return -EPERM;
}
#ifdef CONFIG_WDT_RENESAS_RA_NMI
void wdt_renesas_ra_callback_adapter(wdt_callback_args_t *p_args)
{
const struct device *dev = p_args->p_context;
struct wdt_renesas_ra_data *data = dev->data;
wdt_callback_t callback = data->timeout.callback;
if (callback != NULL) {
callback(dev, 0);
}
}
#endif /* CONFIG_WDT_RENESAS_RA_NMI */
#define WDT_RENESAS_RA_SUPPORTED_FLAGS (WDT_FLAG_RESET_NONE | WDT_FLAG_RESET_SOC)
static int wdt_renesas_ra_install_timeout(const struct device *dev,
const struct wdt_timeout_cfg *config)
{
struct wdt_renesas_ra_data *data = dev->data;
struct st_wdt_cfg *p_config = &data->wdt_cfg;
int ret = 0;
if (config->window.min > config->window.max || config->window.max == 0) {
return -EINVAL;
}
if ((config->flags & ~WDT_RENESAS_RA_SUPPORTED_FLAGS) != 0) {
return -ENOTSUP;
}
if (config->callback == NULL && (config->flags & WDT_FLAG_RESET_MASK) == 0) {
LOG_ERR("no timeout response was chosen");
return -EINVAL;
}
if (config->callback != NULL && (config->flags & WDT_FLAG_RESET_MASK) != 0) {
LOG_ERR("WDT_FLAG_RESET_NONE should be chosen in case of interrupt response");
return -ENOTSUP;
}
wdt_renesas_ra_inst_lock(dev);
if (atomic_test_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_ENABLE)) {
LOG_ERR("cannot change timeout settings after wdt setup");
ret = -EBUSY;
goto end;
}
#ifndef CONFIG_WDT_RENESAS_RA_NMI
if (config->callback != NULL) {
LOG_ERR("interrupt response only available in case CONFIG_WDT_RENESAS_RA_NMI=y");
ret = -ENOTSUP;
goto end;
}
#else
p_config->reset_control = (config->flags & WDT_FLAG_RESET_MASK) != 0
? WDT_RESET_CONTROL_RESET
: WDT_RESET_CONTROL_NMI;
#endif
ret = wdt_renesas_ra_timeout_calculate(dev, config);
if (ret < 0) {
goto end;
}
atomic_set_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_TIMEOUT_SET);
LOG_INF("wdt timeout was set successfully");
end:
wdt_renesas_ra_inst_unlock(dev);
return ret;
}
static int wdt_renesas_ra_feed(const struct device *dev, int channel_id)
{
struct wdt_renesas_ra_data *data = dev->data;
if (!atomic_test_bit(&data->device_state, WDT_RENESAS_RA_ATOMIC_ENABLE) ||
channel_id != 0) {
return -EINVAL;
}
if (R_WDT_Refresh(&data->wdt_ctrl) != FSP_SUCCESS) {
return -EIO;
}
return 0;
}
static DEVICE_API(wdt, wdt_renesas_ra_api) = {
.setup = wdt_renesas_ra_setup,
.disable = wdt_renesas_ra_disable,
.install_timeout = wdt_renesas_ra_install_timeout,
.feed = wdt_renesas_ra_feed,
};
#define WDT_RENESAS_RA_DEFINE(id) \
static struct wdt_renesas_ra_config wdt_renesas_ra_cfg##id = { \
.clock_dev = DEVICE_DT_GET(DT_CLOCKS_CTLR(id)), \
.clock_subsys = {.mstp = DT_CLOCKS_CELL(id, mstp), \
.stop_bit = DT_CLOCKS_CELL(id, stop_bit)}, \
}; \
\
static struct wdt_renesas_ra_data wdt_renesas_ra_data##id = { \
.device_state = ATOMIC_INIT(0), \
.wdt_cfg = {.stop_control = WDT_STOP_CONTROL_DISABLE, \
.reset_control = WDT_RESET_CONTROL_RESET, \
.p_callback = wdt_renesas_ra_callback_adapter, \
.p_context = DEVICE_DT_GET(id)}, \
}; \
\
DEVICE_DT_DEFINE(id, NULL, NULL, &wdt_renesas_ra_data##id, &wdt_renesas_ra_cfg##id, \
POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEVICE, &wdt_renesas_ra_api);
DT_FOREACH_STATUS_OKAY(renesas_ra_wdt, WDT_RENESAS_RA_DEFINE)

15
dts/bindings/watchdog/renesas,ra-wdt.yaml Normal file
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@ -0,0 +1,15 @@
# Copyright (c) 2025 Renesas Electronics Corporation
# SPDX-License-Identifier: Apache-2.0
description: Renesas RA Watchdog (wdt)
compatible: "renesas,ra-wdt"
include: base.yaml
properties:
reg:
required: true
clocks:
required: true

5
modules/Kconfig.renesas_fsp
View file

@ -159,6 +159,11 @@ config USE_RA_FSP_ACMPHS
help help
Enable RA FSP ACMPHS driver Enable RA FSP ACMPHS driver
config USE_RA_FSP_WDT
bool
help
Enable RA FSP WDT driver
endif # HAS_RENESAS_RA_FSP endif # HAS_RENESAS_RA_FSP
if HAS_RENESAS_RZ_FSP if HAS_RENESAS_RZ_FSP