10 files changed, 221 insertions, 0 deletions

diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs
index 2034c67e0..c3fcdf21e 100644
--- a/embassy-nrf/src/chips/nrf52805.rs
+++ b/embassy-nrf/src/chips/nrf52805.rs
@@ -8,6 +8,9 @@ embassy_hal_common::peripherals! {
     RTC0,
     RTC1,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs
index 27e1f3d20..997f130f9 100644
--- a/embassy-nrf/src/chips/nrf52810.rs
+++ b/embassy-nrf/src/chips/nrf52810.rs
@@ -8,6 +8,9 @@ embassy_hal_common::peripherals! {
     RTC0,
     RTC1,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs
index 0d0c5ac75..7e53f734b 100644
--- a/embassy-nrf/src/chips/nrf52811.rs
+++ b/embassy-nrf/src/chips/nrf52811.rs
@@ -8,6 +8,9 @@ embassy_hal_common::peripherals! {
     RTC0,
     RTC1,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs
index 9b5bdef16..a0315c406 100644
--- a/embassy-nrf/src/chips/nrf52820.rs
+++ b/embassy-nrf/src/chips/nrf52820.rs
@@ -8,6 +8,9 @@ embassy_hal_common::peripherals! {
     RTC0,
     RTC1,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs
index e79dba524..6e506d3fc 100644
--- a/embassy-nrf/src/chips/nrf52832.rs
+++ b/embassy-nrf/src/chips/nrf52832.rs
@@ -9,6 +9,9 @@ embassy_hal_common::peripherals! {
     RTC1,
     RTC2,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs
index 7c62a7fdc..037efacbb 100644
--- a/embassy-nrf/src/chips/nrf52833.rs
+++ b/embassy-nrf/src/chips/nrf52833.rs
@@ -9,6 +9,9 @@ embassy_hal_common::peripherals! {
     RTC1,
     RTC2,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/chips/nrf52840.rs b/embassy-nrf/src/chips/nrf52840.rs
index 00f6d49dd..6523858d8 100644
--- a/embassy-nrf/src/chips/nrf52840.rs
+++ b/embassy-nrf/src/chips/nrf52840.rs
@@ -9,6 +9,9 @@ embassy_hal_common::peripherals! {
     RTC1,
     RTC2,
 
+    // WDT
+    WDT,
+
     // RNG
     RNG,
 
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 4cce8028a..e846746b8 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -40,6 +40,7 @@ pub mod spim;
 pub mod timer;
 pub mod twim;
 pub mod uarte;
+pub mod wdt;
 
 // This mod MUST go last, so that it sees all the `impl_foo!` macros
 #[cfg(feature = "nrf52805")]
diff --git a/embassy-nrf/src/wdt.rs b/embassy-nrf/src/wdt.rs
new file mode 100644
index 000000000..0c6f2b3fb
--- /dev/null
+++ b/embassy-nrf/src/wdt.rs
@@ -0,0 +1,153 @@
+//! HAL interface to the WDT peripheral.
+//!
+//! This HAL implements a basic watchdog timer with 1..=8 handles.
+//! Once the watchdog has been started, it cannot be stopped.
+
+use crate::pac::WDT;
+use crate::peripherals;
+
+const MIN_TICKS: u32 = 15;
+
+#[non_exhaustive]
+pub struct Config {
+    /// Number of 32768 Hz ticks in each watchdog period.
+    ///
+    /// Note: there is a minimum of 15 ticks (458 microseconds). If a lower
+    /// number is provided, 15 ticks will be used as the configured value.
+    pub timeout_ticks: u32,
+
+    /// Should the watchdog continue to count during sleep modes?
+    pub run_during_sleep: bool,
+
+    /// Should the watchdog continue to count when the CPU is halted for debug?
+    pub run_during_debug_halt: bool,
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        Self {
+            timeout_ticks: 32768, // 1 second
+            run_during_debug_halt: true,
+            run_during_sleep: true,
+        }
+    }
+}
+
+/// An interface to the Watchdog.
+pub struct Watchdog {
+    _private: (),
+}
+
+impl Watchdog {
+    /// Try to create a new watchdog instance from the peripheral.
+    ///
+    /// This function will return an error if the watchdog is already active
+    /// with a `config` different to the requested one, or a different number of
+    /// enabled handles.
+    ///
+    /// `N` must be between 1 and 8, inclusive.
+    #[inline]
+    pub fn try_new<const N: usize>(
+        wdt: peripherals::WDT,
+        config: Config,
+    ) -> Result<(Self, [WatchdogHandle; N]), peripherals::WDT> {
+        assert!(N >= 1 && N <= 8);
+
+        let r = unsafe { &*WDT::ptr() };
+
+        let crv = config.timeout_ticks.max(MIN_TICKS);
+        let rren = (1u32 << N) - 1;
+
+        if r.runstatus.read().runstatus().bit() {
+            let curr_config = r.config.read();
+            if curr_config.halt().bit() != config.run_during_debug_halt
+                || curr_config.sleep().bit() != config.run_during_sleep
+                || r.crv.read().bits() != crv
+                || r.rren.read().bits() != rren
+            {
+                return Err(wdt);
+            }
+        } else {
+            r.config.write(|w| {
+                w.sleep().bit(config.run_during_sleep);
+                w.halt().bit(config.run_during_debug_halt);
+                w
+            });
+            r.intenset.write(|w| w.timeout().set_bit());
+
+            r.crv.write(|w| unsafe { w.bits(crv) });
+            r.rren.write(|w| unsafe { w.bits(rren) });
+            r.tasks_start.write(|w| unsafe { w.bits(1) });
+        }
+
+        let this = Self { _private: () };
+
+        const DUMMY_HANDLE: WatchdogHandle = WatchdogHandle { index: 0 };
+        let mut handles = [DUMMY_HANDLE; N];
+        for i in 0..N {
+            handles[i] = WatchdogHandle { index: i as u8 };
+            handles[i].pet();
+        }
+
+        Ok((this, handles))
+    }
+
+    /// Enable the watchdog interrupt.
+    ///
+    /// NOTE: Although the interrupt will occur, there is no way to prevent
+    /// the reset from occurring. From the time the event was fired, the
+    /// system will reset two LFCLK ticks later (61 microseconds) if the
+    /// interrupt has been enabled.
+    #[inline(always)]
+    pub fn enable_interrupt(&mut self) {
+        let r = unsafe { &*WDT::ptr() };
+        r.intenset.write(|w| w.timeout().set_bit());
+    }
+
+    /// Disable the watchdog interrupt.
+    ///
+    /// NOTE: This has no effect on the reset caused by the Watchdog.
+    #[inline(always)]
+    pub fn disable_interrupt(&mut self) {
+        let r = unsafe { &*WDT::ptr() };
+        r.intenclr.write(|w| w.timeout().set_bit());
+    }
+
+    /// Is the watchdog still awaiting pets from any handle?
+    ///
+    /// This reports whether sufficient pets have been received from all
+    /// handles to prevent a reset this time period.
+    #[inline(always)]
+    pub fn awaiting_pets(&self) -> bool {
+        let r = unsafe { &*WDT::ptr() };
+        let enabled = r.rren.read().bits();
+        let status = r.reqstatus.read().bits();
+        (status & enabled) == 0
+    }
+}
+
+pub struct WatchdogHandle {
+    index: u8,
+}
+
+impl WatchdogHandle {
+    /// Pet the watchdog.
+    ///
+    /// This function pets the given watchdog handle.
+    ///
+    /// NOTE: All active handles must be pet within the time interval to
+    /// prevent a reset from occurring.
+    #[inline]
+    pub fn pet(&mut self) {
+        let r = unsafe { &*WDT::ptr() };
+        r.rr[self.index as usize].write(|w| w.rr().reload());
+    }
+
+    /// Has this handle been pet within the current window?
+    pub fn is_pet(&self) -> bool {
+        let r = unsafe { &*WDT::ptr() };
+        let rd = r.reqstatus.read().bits();
+        let idx = self.index as usize;
+        ((rd >> idx) & 0x1) == 0
+    }
+}
diff --git a/examples/nrf/src/bin/wdt.rs b/examples/nrf/src/bin/wdt.rs
new file mode 100644
index 000000000..53df7b0b7
--- /dev/null
+++ b/examples/nrf/src/bin/wdt.rs
@@ -0,0 +1,46 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#![allow(incomplete_features)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+
+use defmt::*;
+use embassy::executor::Spawner;
+use embassy_nrf::gpio::{Input, Pull};
+use embassy_nrf::gpiote::PortInput;
+use embassy_nrf::wdt::{Config, Watchdog};
+use embassy_nrf::Peripherals;
+use embassy_traits::gpio::{WaitForHigh, WaitForLow};
+
+#[embassy::main]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    info!("Hello World!");
+
+    let mut config = Config::default();
+    config.timeout_ticks = 32768 * 3; // 3 seconds
+
+    // This is needed for `probe-run` to be able to catch the panic message
+    // in the WDT interrupt. The core resets 2 ticks after firing the interrupt.
+    config.run_during_debug_halt = false;
+
+    let (_wdt, [mut handle]) = match Watchdog::try_new::<1>(p.WDT, config) {
+        Ok(x) => x,
+        Err(_) => {
+            info!("Watchdog already active with wrong config, waiting for it to timeout...");
+            loop {}
+        }
+    };
+
+    let mut button = PortInput::new(Input::new(p.P0_11, Pull::Up));
+
+    info!("Watchdog started, press button 1 to pet it or I'll reset in 3 seconds!");
+
+    loop {
+        button.wait_for_high().await;
+        button.wait_for_low().await;
+        info!("Button pressed, petting watchdog!");
+        handle.pet();
+    }
+}