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/*
* Development of this (watchdog) module was sponsored by Alcatel, Strasbourg
* as part of general debugging enhancements to RTAI.
*
* Copyright () 2001 Ian Soanes <ians@lineo.com>, All rights reserved
*
* 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.
*/
#ifndef _RTAI_WD_H
#define _RTAI_WD_H
#include <rtai_types.h>
// Useful bits and pieces
#define NSECS_PER_SEC 1000000000
// For logging stuff
#define WDLOG(fmt, args...) rt_printk("RTAI[watchdog]: " fmt, ##args)
// What should happen to misbehaving tasks
typedef enum watchdog_policy {
WD_NOTHING, // Not recommended
WD_RESYNC, // Good for occasional overruns
WD_DEBUG, // Good for debugging oneshot tasks
WD_STRETCH, // Good for overrunning tasks
WD_SLIP, // Good for infinite loops
WD_SUSPEND, // Good for most things
WD_KILL // Death sentence
} wd_policy;
// Information about a misbehaving task
typedef struct bad_rt_task {
RT_TASK *task; // Pointer to the bad task
int in_use; // Allocated (static memory management)
int slipping; // In the process of being slipped
int countdown; // Watchdog ticks to stay suspended
int count; // How many times it's offended
int valid; // Still an existing RT task
int forced; // Forcibly suspended
RTIME orig_period; // Original period before adjustments
wd_policy policy; // Policy at time of last offence
struct bad_rt_task *next; // Next in list
} BAD_RT_TASK;
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
int __rtai_wd_init(void);
void __rtai_wd_exit(void);
// API for setting parameters
int rt_wdset_grace(int new_value);
int rt_wdset_gracediv(int new_value);
wd_policy rt_wdset_policy(wd_policy new_value);
int rt_wdset_slip(int new_value);
int rt_wdset_stretch(int new_value);
int rt_wdset_limit(int new_value);
int rt_wdset_safety(int new_value);
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* !_RTAI_WD_H */
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