rtai-core/include/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 */

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