wdt_task.cpp

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#define TRACE_LEVEL     WDT_TASK_TRACE_LEVEL
#define LOCAL_TASK_ID   WDT_TASK_ID
 
#include "tasks/wdt_task.h"
 
#if (ENABLE_WDT)
 
WdtTask::WdtTask(const char *taskName, uint16_t stackSize, uint8_t priority, WdtParam_t wdtParam) : Thread(taskName, stackSize, priority), param(wdtParam)
{
  Start();
};
 
void WdtTask::Run() {
  bool firsCheck = true;
  uint16_t stackUsage;
  char strTask[12] = {0};
  uint8_t last_day_boot_rst;
 
  // WDT Start to Normal...
  param.systemStatusLock->Take();
  param.system_status->tasks[WDT_TASK_ID].state = task_flag::normal;
  param.systemStatusLock->Give();
 
  TRACE_INFO_F(F("WDT: Starting WDT and Info Stack TASK..."));
 
  while (true) {
 
    // Check WDT Ready to reload (reset)
    bool resetWdt = true;
 
    // Reset one time for day (reset and wdt index if event occurs. Send to Master)
    if(firsCheck) {
      // Init last day at first
      last_day_boot_rst = rtc.getDay();
    } else {
      // Check day is changed
      if(last_day_boot_rst != rtc.getDay()) {
        last_day_boot_rst = rtc.getDay();
        // Reset counter if occurs event
        if((param.boot_request->tot_reset)||(param.boot_request->wdt_reset)) {
          // Reset counter on new or restored firmware
          param.boot_request->tot_reset = 0;
          param.boot_request->wdt_reset = 0;
          // Save info bootloader block
          param.eeprom->Write(BOOT_LOADER_STRUCT_ADDR, (uint8_t*) param.boot_request, sizeof(bootloader_t));
        }
      }
    }
 
    TRACE_INFO_F(F("%s: "), Thread::GetName().c_str());
    // Trace DateTime with Semaphore
    if(param.rtcLock->Take(Ticks::MsToTicks(RTC_WAIT_DELAY_MS))) {
      TRACE_INFO_F(F("%02d/%02d/%02d "), rtc.getDay(), rtc.getMonth(), rtc.getYear());
      TRACE_INFO_F(F("%02d:%02d:%02d.%03d\r\n"), rtc.getHours(), rtc.getMinutes(), rtc.getSeconds(), rtc.getSubSeconds());
      param.rtcLock->Give();
    }
 
    param.systemStatusLock->Take();
    // WDT Always Set
    param.system_status->tasks[WDT_TASK_ID].watch_dog = wdt_flag::set;
    // Check All Module Setting Flag WDT before reset Global WDT
    for(uint8_t id = 0; id < TOTAL_INFO_TASK; id++)
    {
      // For all Running Task (not suspend) and (real started Running_POS != 0)
      // Sleep is noting Suspended. WatchDog (xxx) Longer Time is required !!!
      if((param.system_status->tasks[id].state != task_flag::suspended)&&
        (param.system_status->tasks[id].running_pos)) {
        // Checkink First WDT Timer correct
        if (param.system_status->tasks[id].watch_dog == wdt_flag::timer) {
          param.system_status->tasks[id].watch_dog_ms -= WDT_TASK_WAIT_DELAY_MS;
          if(param.system_status->tasks[id].watch_dog_ms < 0)
          {
            // Exit Time validity check WDT. Remove Flag and reset TimeUp
            param.system_status->tasks[id].watch_dog_ms = 0;
            param.system_status->tasks[id].watch_dog = wdt_flag::clear;
          }          
        }
        // If single task not performed local signal WDT...
        if (param.system_status->tasks[id].watch_dog == wdt_flag::clear)
          // Wdt is not applicable (All Working TASK Need to be operative!!!)
          resetWdt = false;
      }
    }
    param.systemStatusLock->Give();
 
    // Logging Stack (Only ready module task controlled)
    #if (ENABLE_STACK_USAGE)
    // Update This Task
    stackUsage = (uint16_t)uxTaskGetStackHighWaterMark( NULL );
    if((stackUsage) && (stackUsage < param.system_status->tasks[WDT_TASK_ID].stack)) {
      param.systemStatusLock->Take();
      param.system_status->tasks[WDT_TASK_ID].stack = stackUsage;
      param.systemStatusLock->Give();
    }
    TRACE_INFO_F(F("WDT: Stack Free monitor, Heap free: %lu\r\n"), (uint32_t)xPortGetFreeHeapSize());
    for(uint8_t id = 0; id < TOTAL_INFO_TASK; id++) {
      if(param.system_status->tasks[id].stack != 0xFFFFu) {
        switch(id) {
          case ACCELEROMETER_TASK_ID:
            strcpy (strTask, "Accelerom.  "); break;
          case CAN_TASK_ID:
            strcpy (strTask, "Can Bus     "); break;
          case ELABORATE_TASK_ID:
            strcpy (strTask, "Elabor.Data "); break;
          case SENSOR_TASK_ID:
            strcpy (strTask, "Mod.Sensor  "); break;
          case SUPERVISOR_TASK_ID:
            strcpy (strTask, "Supervisor  "); break;
          case WDT_TASK_ID:
            strcpy (strTask, "WDT Info    "); break;
        }
        TRACE_INFO_F(F("%s%s : %d\r\n"), strTask,
          (param.system_status->tasks[id].state == task_flag::suspended) ? SUSPEND_STRING :
          ((param.system_status->tasks[id].watch_dog == wdt_flag::clear) ? SPACE_STRING : FLAG_STRING),
          param.system_status->tasks[id].stack);
      }
    }
    #endif
 
    // Update TaskWatchDog (if all enabledModule setting local Flag)
    // else... Can Flash Saving INFO on Task Not Responding after (XXX mS)
    // For check TASK debugging Info
    if(resetWdt)
    {
      #if (ENABLE_WDT)
      TRACE_INFO_F(F("WDT: Reset WDT OK\r\n"));
      IWatchdog.reload();
      #endif
      // Reset WDT Variables for TASK
      param.systemStatusLock->Take();
      // Check All Module Setting Flag WDT before reset Global WDT
      // WDT Are called from Task into TASK While(1) Generic...
      // 
      for(uint8_t id = 0; id < TOTAL_INFO_TASK; id++) {
        // Reset only setted WDT Flags to Reset State (Not ::rest)
        if(param.system_status->tasks[id].watch_dog == wdt_flag::set)
          param.system_status->tasks[id].watch_dog = wdt_flag::clear;
      }
      param.systemStatusLock->Give();
 
      // Reset WDT Complete ( At first Attempt ALL TASK Working. Clear RollBack request)
      // Only at first step check EEProm Structure BootLoader
      // All is OK, all task started (no checked position software running_pos)
      // No Need to check WDT from All Task (if config parametr error some task)
      // Can not perform Complete LOAD and configuration BUT Application is OK
      // If All Task Start and enter in WDT Task, The application is Ready to RUN
      if(firsCheck) {
        firsCheck = false;
        // Flag OK Start APP Excuted (Loading structure at boot in main.c)
        if (!param.boot_request->app_executed_ok) {
          if(param.boot_request->rollback_executed) {
            TRACE_INFO_F(F("WDT: Flashing firmware with roll_back executed."));
          } else {
            TRACE_INFO_F(F("WDT: Flashing firmware with new version ready, clear flags."));
          }            
          // Remove request_upload and roll_back (firmware started OK)
          param.boot_request->app_executed_ok = true;
          param.boot_request->request_upload = false;          
          param.boot_request->backup_executed = false;
          param.boot_request->app_forcing_start = false;
          param.boot_request->rollback_executed = false;          
          param.boot_request->upload_error = 0;          
          param.boot_request->upload_executed = false;
          // Reset counter on new or restored firmware
          param.boot_request->tot_reset = 0;
          param.boot_request->wdt_reset = 0;
          param.eeprom->Write(BOOT_LOADER_STRUCT_ADDR, (uint8_t*) param.boot_request, sizeof(bootloader_t));
        }
      }
    }
 
    // Exit WDT
    DelayUntil(Ticks::MsToTicks(WDT_TASK_WAIT_DELAY_MS));
  }
}
 
#endif