From 9740836e615a24d6053f1a858ce27f62697da13c Mon Sep 17 00:00:00 2001
From: Stephane D'Alu <sdalu@sdalu.com>
Date: Sat, 6 Feb 2016 20:11:26 +0100
Subject: Added watchdog WDT
---
os/hal/ports/NRF51/NRF51822/wdg_lld.c | 150 ++++++++++
os/hal/ports/NRF51/NRF51822/wdg_lld.h | 127 +++++++++
testhal/NRF51/NRF51822/WDG/Makefile | 226 +++++++++++++++
testhal/NRF51/NRF51822/WDG/chconf.h | 499 ++++++++++++++++++++++++++++++++++
testhal/NRF51/NRF51822/WDG/halconf.h | 174 ++++++++++++
testhal/NRF51/NRF51822/WDG/main.c | 67 +++++
testhal/NRF51/NRF51822/WDG/mcuconf.h | 21 ++
testhal/NRF51/NRF51822/WDG/readme.txt | 17 ++
8 files changed, 1281 insertions(+)
create mode 100644 os/hal/ports/NRF51/NRF51822/wdg_lld.c
create mode 100644 os/hal/ports/NRF51/NRF51822/wdg_lld.h
create mode 100644 testhal/NRF51/NRF51822/WDG/Makefile
create mode 100644 testhal/NRF51/NRF51822/WDG/chconf.h
create mode 100644 testhal/NRF51/NRF51822/WDG/halconf.h
create mode 100644 testhal/NRF51/NRF51822/WDG/main.c
create mode 100644 testhal/NRF51/NRF51822/WDG/mcuconf.h
create mode 100644 testhal/NRF51/NRF51822/WDG/readme.txt
diff --git a/os/hal/ports/NRF51/NRF51822/wdg_lld.c b/os/hal/ports/NRF51/NRF51822/wdg_lld.c
new file mode 100644
index 0000000..bd17ef7
--- /dev/null
+++ b/os/hal/ports/NRF51/NRF51822/wdg_lld.c
@@ -0,0 +1,150 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file templates/wdg_lld.c
+ * @brief WDG Driver subsystem low level driver source template.
+ *
+ * @addtogroup WDG
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_WDG || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define RELOAD_REQUEST_VALUE 0x6E524635
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+WDGDriver WDGD1;
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if WDG_USE_TIMEOUT_CALLBACK == TRUE
+/**
+ * @brief Watchdog vector.
+ * @details This interrupt is used when watchdog timeout.
+ *
+ * @note Only 2 cycles at NRF51_LFCLK_FREQUENCY are available
+ * to they good bye.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector84) {
+
+ OSAL_IRQ_PROLOGUE();
+ osalSysLockFromISR();
+
+ /* Notify */
+ if (WDGD1.config->callback)
+ WDGD1.config->callback();
+
+ /* Wait for reboot */
+ while (1) { /* */ }
+
+ osalSysUnlockFromISR();
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level WDG driver initialization.
+ *
+ * @notapi
+ */
+void wdg_lld_init(void) {
+ WDGD1.state = WDG_STOP;
+ WDGD1.wdt = NRF_WDT;
+}
+
+/**
+ * @brief Configures and activates the WDG peripheral.
+ *
+ * @note Once started there is now way out.
+ *
+ * @param[in] wdgp pointer to the @p WDGDriver object
+ *
+ * @notapi
+ */
+void wdg_lld_start(WDGDriver *wdgp) {
+#if WDG_USE_TIMEOUT_CALLBACK == TRUE
+ wdgp->wdt->INTENSET = WDT_INTENSET_TIMEOUT_Msk;
+#endif
+
+ /* When to pause? (halt, sleep) */
+ wdgp->wdt->CONFIG =
+ (wdgp->config->flags.pause_on_sleep * WDT_CONFIG_SLEEP_Msk) |
+ (wdgp->config->flags.pause_on_halt * WDT_CONFIG_HALT_Msk );
+
+ /* Timeout in milli-seconds */
+ uint64_t tout = (NRF51_LFCLK_FREQUENCY * wdgp->config->timeout_ms / 1000) - 1;
+ osalDbgAssert(tout <= 0xFFFFFFFF, "watchdog timout value exceeded");
+ wdgp->wdt->CRV = (uint32_t)tout;
+
+ /* Reload request (using RR0) */
+ wdgp->wdt->RREN = WDT_RREN_RR0_Msk;
+
+ /* Say your prayers, little one. */
+ wdgp->wdt->TASKS_START = 1;
+}
+
+/**
+ * @brief Deactivates the WDG peripheral.
+ *
+ * @param[in] wdgp pointer to the @p WDGDriver object
+ *
+ * @api
+ */
+void wdg_lld_stop(WDGDriver *wdgp) {
+ (void)wdgp;
+ osalDbgAssert(false, "WDG cannot be stopped once activated");
+}
+
+/**
+ * @brief Reloads WDG's counter.
+ *
+ * @param[in] wdgp pointer to the @p WDGDriver object
+ *
+ * @notapi
+ */
+void wdg_lld_reset(WDGDriver * wdgp) {
+ wdgp->wdt->RR[0] = RELOAD_REQUEST_VALUE;
+}
+
+#endif /* HAL_USE_WDG */
+
+/** @} */
diff --git a/os/hal/ports/NRF51/NRF51822/wdg_lld.h b/os/hal/ports/NRF51/NRF51822/wdg_lld.h
new file mode 100644
index 0000000..8a3f97d
--- /dev/null
+++ b/os/hal/ports/NRF51/NRF51822/wdg_lld.h
@@ -0,0 +1,127 @@
+/*
+ ChibiOS - Copyright (C) 2006 Stephane D'Alu
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file templates/wdg_lld.h
+ * @brief WDG Driver subsystem low level driver header template.
+ *
+ * @addtogroup WDG
+ * @{
+ */
+
+#ifndef _WDG_LLD_H_
+#define _WDG_LLD_H_
+
+#if (HAL_USE_WDG == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+#define WDG_MAX_TIMEOUT_MS \
+ ((uint32_t)(0xFFFFFFFFu * 1000 / NRF51_LFCLK_FREQUENCY))
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+
+/**
+ * @brief WDG driver implement timeout callback.
+ * @note The default is @p FALSE.
+ */
+#if !defined(WDG_USE_TIMEOUT_CALLBACK) || defined(__DOXYGEN__)
+#define WDG_USE_TIMEOUT_CALLBACK FALSE
+#endif
+/** @} */
+
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a structure representing an WDG driver.
+ */
+typedef struct WDGDriver WDGDriver;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ struct {
+ uint8_t pause_on_sleep : 1;
+ uint8_t pause_on_halt : 1;
+ } flags;
+ uint32_t timeout_ms;
+#if WDG_USE_TIMEOUT_CALLBACK == TRUE
+ void (*callback)(void);
+#endif
+} WDGConfig;
+
+
+
+/**
+ * @brief Structure representing an WDG driver.
+ */
+struct WDGDriver {
+ /**
+ * @brief Driver state.
+ */
+ wdgstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const WDGConfig *config;
+ /* End of the mandatory fields.*/
+ NRF_WDT_Type *wdt;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+extern WDGDriver WDGD1;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void wdg_lld_init(void);
+ void wdg_lld_start(WDGDriver *wdgp);
+ void wdg_lld_stop(WDGDriver *wdgp);
+ void wdg_lld_reset(WDGDriver *wdgp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_WDG == TRUE */
+
+#endif /* _WDG_LLD_H_ */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/WDG/Makefile b/testhal/NRF51/NRF51822/WDG/Makefile
new file mode 100644
index 0000000..a2df0bf
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/Makefile
@@ -0,0 +1,226 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+ USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+ USE_COPT =
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+ USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+ USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+ USE_LDOPT =
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+ USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+ USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+ USE_VERBOSE_COMPILE = no
+endif
+
+# If enabled, this option makes the build process faster by not compiling
+# modules not used in the current configuration.
+ifeq ($(USE_SMART_BUILD),)
+ USE_SMART_BUILD = yes
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+ USE_PROCESS_STACKSIZE = 0x200
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+ USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+#CHIBIOS = ../../../../../ChibiOS-RT
+#CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+CHIBIOS = /home/sdalu/ChibiOS/ChibiOS
+CHIBIOS_CONTRIB = /home/sdalu/ChibiOS/Y/ChibiOS-Contrib
+
+# Startup files.
+include $(CHIBIOS_CONTRIB)/os/common/ports/ARMCMx/compilers/GCC/mk/startup_nrf51.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/NRF51/NRF51822/platform.mk
+include $(CHIBIOS_CONTRIB)/os/hal/boards/NRF51-DK/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk
+
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/NRF51822.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(STARTUPSRC) \
+ $(KERNSRC) \
+ $(PORTSRC) \
+ $(OSALSRC) \
+ $(HALSRC) \
+ $(PLATFORMSRC) \
+ $(BOARDSRC) \
+ $(TESTSRC) \
+ main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC =
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+
+INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
+ $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
+ $(CHIBIOS)/os/various
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU = cortex-m0
+
+TRGT = arm-none-eabi-
+CC = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+# runtime support makes code size explode.
+LD = $(TRGT)gcc
+#LD = $(TRGT)g++
+CP = $(TRGT)objcopy
+AS = $(TRGT)gcc -x assembler-with-cpp
+AR = $(TRGT)ar
+OD = $(TRGT)objdump
+SZ = $(TRGT)size
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra -Wundef
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
+
+
+# Flash
+JLINK_DEVICE = nrf51422
+JLINK_PRE_FLASH = w4 4001e504 1
+JLINK_ERASE_ALL = w4 4001e504 2\nw4 4001e50c 1\nsleep 100
+
+
+include /home/sdalu/ChibiOS/W/ChibiOS-Contrib/os/various/jlink.mk
+include /home/sdalu/ChibiOS/W/ChibiOS-Contrib/os/various/gdb.mk
+
+flash: all jlink-flash
+debug: gdb-debug
diff --git a/testhal/NRF51/NRF51822/WDG/chconf.h b/testhal/NRF51/NRF51822/WDG/chconf.h
new file mode 100644
index 0000000..5b0630c
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/chconf.h
@@ -0,0 +1,499 @@
+/*
+ Copyright (C) 2015 Stephen Caudle
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file templates/chconf.h
+ * @brief Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ * contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef _CHCONF_H_
+#define _CHCONF_H_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief System time counter resolution.
+ * @note Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION 32
+
+/**
+ * @brief System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ * setting also defines the system tick time unit.
+ */
+#define CH_CFG_ST_FREQUENCY 1000
+
+/**
+ * @brief Time delta constant for the tick-less mode.
+ * @note If this value is zero then the system uses the classic
+ * periodic tick. This value represents the minimum number
+ * of ticks that is safe to specify in a timeout directive.
+ * The value one is not valid, timeouts are rounded up to
+ * this value.
+ */
+#define CH_CFG_ST_TIMEDELTA 0
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ * threads before preemption occurs. Setting this value to zero
+ * disables the preemption for threads with equal priority and the
+ * round robin becomes cooperative. Note that higher priority
+ * threads can still preempt, the kernel is always preemptive.
+ * @note Disabling the round robin preemption makes the kernel more compact
+ * and generally faster.
+ * @note The round robin preemption is not supported in tickless mode and
+ * must be set to zero in that case.
+ */
+#define CH_CFG_TIME_QUANTUM 20
+
+/**
+ * @brief Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ * then the whole available RAM is used. The core memory is made
+ * available to the heap allocator and/or can be used directly through
+ * the simplified core memory allocator.
+ *
+ * @note In order to let the OS manage the whole RAM the linker script must
+ * provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note Requires @p CH_CFG_USE_MEMCORE.
+ */
+#define CH_CFG_MEMCORE_SIZE 0
+
+/**
+ * @brief Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ * does not spawn the idle thread. The application @p main()
+ * function becomes the idle thread and must implement an
+ * infinite loop.
+ */
+#define CH_CFG_NO_IDLE_THREAD FALSE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ * is used when two possible implementations exist.
+ *
+ * @note This is not related to the compiler optimization options.
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_OPTIMIZE_SPEED TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ * the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM FALSE
+
+/**
+ * @brief Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_REGISTRY TRUE
+
+/**
+ * @brief Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ * the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_WAITEXIT TRUE
+
+/**
+ * @brief Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_SEMAPHORES TRUE
+
+/**
+ * @brief Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ * priority rather than in FIFO order.
+ *
+ * @note The default is @p FALSE. Enable this if you have special
+ * requirements.
+ * @note Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
+
+/**
+ * @brief Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MUTEXES TRUE
+
+/**
+ * @brief Enables recursive behavior on mutexes.
+ * @note Recursive mutexes are heavier and have an increased
+ * memory footprint.
+ *
+ * @note The default is @p FALSE.
+ * @note Requires @p CH_CFG_USE_MUTEXES.
+ */
+#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
+
+/**
+ * @brief Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_MUTEXES.
+ */
+#define CH_CFG_USE_CONDVARS TRUE
+
+/**
+ * @brief Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ * specification are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_CONDVARS.
+ */
+#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
+
+/**
+ * @brief Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_EVENTS TRUE
+
+/**
+ * @brief Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ * are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_EVENTS.
+ */
+#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
+
+/**
+ * @brief Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MESSAGES TRUE
+
+/**
+ * @brief Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ * FIFO order.
+ *
+ * @note The default is @p FALSE. Enable this if you have special
+ * requirements.
+ * @note Requires @p CH_CFG_USE_MESSAGES.
+ */
+#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
+
+/**
+ * @brief Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ * included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#define CH_CFG_USE_MAILBOXES TRUE
+
+/**
+ * @brief I/O Queues APIs.
+ * @details If enabled then the I/O queues APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_QUEUES TRUE
+
+/**
+ * @brief Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MEMCORE TRUE
+
+/**
+ * @brief Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ * @p CH_CFG_USE_SEMAPHORES.
+ * @note Mutexes are recommended.
+ */
+#define CH_CFG_USE_HEAP TRUE
+
+/**
+ * @brief Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MEMPOOLS TRUE
+
+/**
+ * @brief Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_WAITEXIT.
+ * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#define CH_CFG_USE_DYNAMIC TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Debug option, kernel statistics.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS FALSE
+
+/**
+ * @brief Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ * at runtime.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_SYSTEM_STATE_CHECK TRUE
+
+/**
+ * @brief Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ * parameters are activated.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_CHECKS TRUE
+
+/**
+ * @brief Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ * activated. This includes consistency checks inside the kernel,
+ * runtime anomalies and port-defined checks.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_ASSERTS TRUE
+
+/**
+ * @brief Debug option, trace buffer.
+ * @details If enabled then the context switch circular trace buffer is
+ * activated.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_TRACE TRUE
+
+/**
+ * @brief Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note The default is @p FALSE.
+ * @note The stack check is performed in a architecture/port dependent way.
+ * It may not be implemented or some ports.
+ * @note The default failure mode is to halt the system with the global
+ * @p panic_msg variable set to @p NULL.
+ */
+#define CH_DBG_ENABLE_STACK_CHECK TRUE
+
+/**
+ * @brief Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ * value when a thread is created. This can be useful for the
+ * runtime measurement of the used stack.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_FILL_THREADS TRUE
+
+/**
+ * @brief Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ * counts the system ticks occurred while executing the thread.
+ *
+ * @note The default is @p FALSE.
+ * @note This debug option is not currently compatible with the
+ * tickless mode.
+ */
+#define CH_DBG_THREADS_PROFILING FALSE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS \
+ /* Add threads custom fields here.*/
+
+/**
+ * @brief Threads initialization hook.
+ * @details User initialization code added to the @p chThdInit() API.
+ *
+ * @note It is invoked from within @p chThdInit() and implicitly from all
+ * the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) { \
+ /* Add threads initialization code here.*/ \
+}
+
+/**
+ * @brief Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ *
+ * @note It is inserted into lock zone.
+ * @note It is also invoked when the threads simply return in order to
+ * terminate.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
+ /* Add threads finalization code here.*/ \
+}
+
+/**
+ * @brief Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
+ /* Context switch code here.*/ \
+}
+
+/**
+ * @brief Idle thread enter hook.
+ * @note This hook is invoked within a critical zone, no OS functions
+ * should be invoked from here.
+ * @note This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() { \
+}
+
+/**
+ * @brief Idle thread leave hook.
+ * @note This hook is invoked within a critical zone, no OS functions
+ * should be invoked from here.
+ * @note This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() { \
+}
+
+/**
+ * @brief Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() { \
+ /* Idle loop code here.*/ \
+}
+
+/**
+ * @brief System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ * after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() { \
+ /* System tick event code here.*/ \
+}
+
+/**
+ * @brief System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ * the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) { \
+ /* System halt code here.*/ \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h). */
+/*===========================================================================*/
+
+#endif /* _CHCONF_H_ */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/WDG/halconf.h b/testhal/NRF51/NRF51822/WDG/halconf.h
new file mode 100644
index 0000000..2a88c0c
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/halconf.h
@@ -0,0 +1,174 @@
+/*
+ Copyright (C) 2015 Stephen Caudle
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file templates/halconf.h
+ * @brief HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ * various device drivers from your application. You may also use
+ * this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef _HALCONF_H_
+#define _HALCONF_H_
+
+#include "mcuconf.h"
+
+#define HAL_USE_PAL TRUE
+#define HAL_USE_WDG TRUE
+#define WDG_USE_TIMEOUT_CALLBACK TRUE
+
+
+/**
+ * @brief Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL TRUE
+#endif
+
+/**
+ * @brief Enables the DAC subsystem.
+ */
+#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
+#define HAL_USE_DAC FALSE
+#endif
+
+/**
+ * @brief Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC FALSE
+#endif
+
+/**
+ * @brief Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN FALSE
+#endif
+
+/**
+ * @brief Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT FALSE
+#endif
+
+/**
+ * @brief Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT FALSE
+#endif
+
+/**
+ * @brief Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C FALSE
+#endif
+
+/**
+ * @brief Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S FALSE
+#endif
+
+/**
+ * @brief Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU FALSE
+#endif
+
+/**
+ * @brief Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC FALSE
+#endif
+
+/**
+ * @brief Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI FALSE
+#endif
+
+/**
+ * @brief Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM FALSE
+#endif
+
+/**
+ * @brief Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC FALSE
+#endif
+
+/**
+ * @brief Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC FALSE
+#endif
+
+/**
+ * @brief Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL TRUE
+#endif
+
+/**
+ * @brief Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB FALSE
+#endif
+
+/**
+ * @brief Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI FALSE
+#endif
+
+/**
+ * @brief Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART FALSE
+#endif
+
+/**
+ * @brief Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB FALSE
+#endif
+
+
+#endif /* _HALCONF_H_ */
+
+/** @} */
diff --git a/testhal/NRF51/NRF51822/WDG/main.c b/testhal/NRF51/NRF51822/WDG/main.c
new file mode 100644
index 0000000..0614d7e
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/main.c
@@ -0,0 +1,67 @@
+/*
+ Copyright (C) 2015 Stephen Caudle
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+
+
+void timeout_callback(void) {
+ palTogglePad(IOPORT1, LED2);
+ palTogglePad(IOPORT1, LED3);
+ palTogglePad(IOPORT1, LED4);
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+ /*
+ * System initializations.
+ * - HAL initialization, this also initializes the configured device drivers
+ * and performs the board-specific initializations.
+ * - Kernel initialization, the main() function becomes a thread and the
+ * RTOS is active.
+ */
+ halInit();
+ chSysInit();
+
+
+ palSetPad(IOPORT1, LED1);
+
+ WDGConfig WDG_config = {
+ .flags.pause_on_sleep = 0,
+ .flags.pause_on_halt = 0,
+ .timeout_ms = 5000,
+ .callback = timeout_callback
+ };
+
+ wdgStart(&WDGD1, &WDG_config);
+
+
+
+ /*
+ * Normal main() thread activity, in this demo it does nothing.
+ */
+ while (true) {
+ if (palReadPad(IOPORT1, BTN1) == 0) {
+ palTogglePad(IOPORT1, LED1);
+ wdgReset(&WDGD1);
+ }
+ chThdSleepMilliseconds(500);
+ }
+}
diff --git a/testhal/NRF51/NRF51822/WDG/mcuconf.h b/testhal/NRF51/NRF51822/WDG/mcuconf.h
new file mode 100644
index 0000000..c2f4981
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/mcuconf.h
@@ -0,0 +1,21 @@
+/*
+ Copyright (C) 2015 Stephen Caudle
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#ifndef _MCUCONF_H_
+#define _MCUCONF_H_
+
+
+#endif /* _MCUCONF_H_ */
diff --git a/testhal/NRF51/NRF51822/WDG/readme.txt b/testhal/NRF51/NRF51822/WDG/readme.txt
new file mode 100644
index 0000000..41312c9
--- /dev/null
+++ b/testhal/NRF51/NRF51822/WDG/readme.txt
@@ -0,0 +1,17 @@
+*****************************************************************************
+** ChibiOS/HAL - GPT driver demo for NRF51x22. **
+*****************************************************************************
+
+** TARGET **
+
+The demo runs on an NRF51-DK board.
+
+** The Demo **
+
+The application demonstrates the use of the NRF51x22 GPT driver.
+
+** Board Setup **
+
+** Build Procedure **
+
+Just modify the TRGT line in the makefile in order to use different GCC ports.
--
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