# rtai_wd.h

    00001 /*
    00002  * Development of this (watchdog) module was sponsored by Alcatel, Strasbourg
    00003  * as part of general debugging enhancements to RTAI.
    00004  *
    00005  * Copyright (©) 2001 Ian Soanes <ians@lineo.com>, All rights reserved
    00006  *
    00007  * This program is free software; you can redistribute it and/or
    00008  * modify it under the terms of the GNU General Public License as
    00009  * published by the Free Software Foundation; either version 2 of the
    00010  * License, or (at your option) any later version.
    00011  *
    00012  * This program is distributed in the hope that it will be useful,
    00013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
    00014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    00015  * GNU General Public License for more details.
    00016  *
    00017  * You should have received a copy of the GNU General Public License
    00018  * along with this program; if not, write to the Free Software
    00019  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
    00020  */
    00021
    00022 #ifndef _RTAI_WD_H
    00023 #define _RTAI_WD_H
    00024
    00025 #include <rtai_types.h>
    00026
    00027 // Useful bits and pieces
    00028 #define NSECS_PER_SEC 1000000000
    00029
    00030 // For logging stuff
    00031 #define WDLOG(fmt, args...) rt_printk("RTAI[watchdog]: " fmt, ##args)
    00032
    00033 // What should happen to misbehaving tasks
    00034 typedef enum watchdog_policy {
    00035     WD_NOTHING,                                 // Not recommended
    00036     WD_RESYNC,                          // Good for occasional overruns
    00037     WD_DEBUG,                           // Good for debugging oneshot tasks
    00038     WD_STRETCH,                         // Good for overrunning tasks
    00039     WD_SLIP,                            // Good for infinite loops
    00040     WD_SUSPEND,                                 // Good for most things
    00041     WD_KILL                             // Death sentence
    00042 } wd_policy;
    00043
    00044 // Information about a misbehaving task
    00045 typedef struct bad_rt_task {
    00046     RT_TASK             *task;          // Pointer to the bad task
    00047     int                  in_use;        // Allocated (static memory management)
    00048     int                  slipping;      // In the process of being slipped
    00049     int                  countdown;     // Watchdog ticks to stay suspended
    00050     int                  count;         // How many times it's offended
    00051     int                  valid;         // Still an existing RT task
    00052     int                  forced;        // Forcibly suspended
    00053     RTIME                orig_period;   // Original period before adjustments
    00054     wd_policy            policy;        // Policy at time of last offence
    00055     struct bad_rt_task  *next;          // Next in list
    00056 } BAD_RT_TASK;
    00057
    00058 #ifdef __cplusplus
    00059 extern "C" {
    00060 #endif /* __cplusplus */
    00061
    00062 int __rtai_wd_init(void);
    00063
    00064 void __rtai_wd_exit(void);
    00065
    00066 // API for setting parameters
    00067 int rt_wdset_grace(int new_value);
    00068
    00069 int rt_wdset_gracediv(int new_value);
    00070
    00071 wd_policy rt_wdset_policy(wd_policy new_value);
    00072
    00073 int rt_wdset_slip(int new_value);
    00074
    00075 int rt_wdset_stretch(int new_value);
    00076
    00077 int rt_wdset_limit(int new_value);
    00078
    00079 int rt_wdset_safety(int new_value);
    00080
    00081 #ifdef __cplusplus
    00082 }
    00083 #endif /* __cplusplus */
    00084
    00085 #endif /* !_RTAI_WD_H */