sched/wdog: support for periodic wdog.

This commit added support for periodic wdog.

Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>

include/nuttx/wdog.h

@@ -31,7 +31,6 @@
 
 #include <nuttx/compiler.h>
 #include <nuttx/clock.h>
-#include <nuttx/irq.h>
 #include <stdint.h>
 
 /****************************************************************************
@@ -90,6 +89,13 @@ struct wdog_s
   clock_t            expired;    /* Timer associated with the absoulute time */
 };
 
+struct wdog_period_s
+{
+  struct wdog_s      wdog;       /* Watchdog */
+  clock_t            period;     /* Period time in ticks */
+  wdentry_t          func;       /* Wrapped function to execute when delay expires */
+};
+
 /****************************************************************************
  * Pubic Function Prototypes
  ****************************************************************************/
@@ -279,6 +285,34 @@ static inline int wd_start_realtime(FAR struct wdog_s *wdog,
 #endif
 }
 
+/****************************************************************************
+ * Name: wd_start_period
+ *
+ * Description:
+ *   This function periodically adds a watchdog timer to the active timer.
+ *
+ * Input Parameters:
+ *   wdog     - Pointer of the periodic watchdog.
+ *   delay    - Delayed time in system ticks.
+ *   period   - Period in system ticks.
+ *   wdentry  - Function to call on timeout.
+ *   arg      - Parameter to pass to wdentry.
+ *
+ *   NOTE:  The parameter must be of type wdparm_t.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is return to
+ *   indicate the nature of any failure.
+ *
+ * Assumptions:
+ *   The watchdog routine runs in the context of the timer interrupt handler
+ *   and is subject to all ISR restrictions.
+ *
+ ****************************************************************************/
+
+int wd_start_period(FAR struct wdog_period_s *wdog, sclock_t delay,
+                    clock_t period, wdentry_t wdentry, wdparm_t arg);
+
 /****************************************************************************
  * Name: wd_cancel
  *
@@ -297,6 +331,26 @@ static inline int wd_start_realtime(FAR struct wdog_s *wdog,
 
 int wd_cancel(FAR struct wdog_s *wdog);
 
+/****************************************************************************
+ * Name: wd_cancel_period
+ *
+ * Description:
+ *   This function cancels a currently running periodic watchdog timer.
+ *
+ * Input Parameters:
+ *   wdog_period - Pointer of the periodic watchdog.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success;  A negated errno value is returned to
+ *   indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+static inline int wd_cancel_period(FAR struct wdog_period_s *wdog_period)
+{
+  return wd_cancel(&wdog_period->wdog);
+}
+
 /****************************************************************************
  * Name: wd_gettime
  *

sched/wdog/wd_start.c

@@ -94,6 +94,35 @@ static unsigned int g_wdtimernested;
  * Private Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: wdentry_period
+ *
+ * Description:
+ *   Periodic watchdog timer callback function.
+ *
+ * Input Parameters:
+ *   arg - The argument of the wdog callback.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+static void wdentry_period(wdparm_t arg)
+{
+  FAR struct wdog_period_s *wdperiod = (FAR struct wdog_period_s *)arg;
+
+  wdperiod->func(wdperiod->wdog.arg);
+
+  /* Since we set `ticks++` at `wd_start_abstick`,
+   * we need to use `expired - 1` here to avoid time drift.
+   */
+
+  wd_start_abstick(&wdperiod->wdog,
+                   wdperiod->wdog.expired + wdperiod->period - 1,
+                   wdentry_period, wdperiod->wdog.arg);
+}
+
 /****************************************************************************
  * Name: wd_expiration
  *
@@ -151,6 +180,9 @@ static inline_function void wd_expiration(clock_t ticks)
       arg = wdog->arg;
       wdog->func = NULL;
 
+      arg = func != wdentry_period ? wdog->arg :
+            (wdparm_t)list_container_of(wdog, struct wdog_period_s, wdog);
+
       /* Execute the watchdog function */
 
       up_setpicbase(wdog->picbase);
@@ -396,6 +428,45 @@ int wd_start(FAR struct wdog_s *wdog, sclock_t delay,
                           wdentry, arg);
 }
 
+/****************************************************************************
+ * Name: wd_start_period
+ *
+ * Description:
+ *   This function periodically adds a watchdog timer to the active timer.
+ *
+ * Input Parameters:
+ *   wdog     - Pointer of the periodic watchdog.
+ *   delay    - Delayed time in system ticks.
+ *   period   - Period in system ticks.
+ *   wdentry  - Function to call on timeout.
+ *   arg      - Parameter to pass to wdentry.
+ *
+ *   NOTE:  The parameter must be of type wdparm_t.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is return to
+ *   indicate the nature of any failure.
+ *
+ * Assumptions:
+ *   The watchdog routine runs in the context of the timer interrupt handler
+ *   and is subject to all ISR restrictions.
+ *
+ ****************************************************************************/
+
+int wd_start_period(FAR struct wdog_period_s *wdog, sclock_t delay,
+                    clock_t period, wdentry_t wdentry, wdparm_t arg)
+{
+  if (!wdog || !period || !wdentry)
+    {
+      return -EINVAL;
+    }
+
+  wdog->func   = wdentry;
+  wdog->period = period;
+
+  return wd_start(&wdog->wdog, delay, wdentry_period, arg);
+}
+
 /****************************************************************************
  * Name: wd_timer
  *