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[2620:137:e000::1:20]) by mx.google.com with ESMTP id sd3-20020a1709076e0300b00711ffe66c06si1301575ejc.754.2022.06.16.02.29.39; Thu, 16 Jun 2022 02:30:04 -0700 (PDT) Received-SPF: pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) client-ip=2620:137:e000::1:20; Authentication-Results: mx.google.com; dkim=pass header.i=@kernel.org header.s=k20201202 header.b=qhE2Z1kx; spf=pass (google.com: domain of linux-kernel-owner@vger.kernel.org designates 2620:137:e000::1:20 as permitted sender) smtp.mailfrom=linux-kernel-owner@vger.kernel.org; dmarc=pass (p=NONE sp=NONE dis=NONE) header.from=kernel.org Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1376366AbiFPIsJ (ORCPT + 99 others); Thu, 16 Jun 2022 04:48:09 -0400 Received: from lindbergh.monkeyblade.net ([23.128.96.19]:36352 "EHLO lindbergh.monkeyblade.net" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1359805AbiFPIrq (ORCPT ); Thu, 16 Jun 2022 04:47:46 -0400 Received: from ams.source.kernel.org (ams.source.kernel.org [145.40.68.75]) by lindbergh.monkeyblade.net (Postfix) with ESMTPS id 472C15E75A; Thu, 16 Jun 2022 01:46:52 -0700 (PDT) Received: from smtp.kernel.org (relay.kernel.org [52.25.139.140]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by ams.source.kernel.org (Postfix) with ESMTPS id C56B0B822B0; Thu, 16 Jun 2022 08:46:50 +0000 (UTC) Received: by smtp.kernel.org (Postfix) with ESMTPSA id 1E2BAC341CB; Thu, 16 Jun 2022 08:46:44 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/simple; d=kernel.org; s=k20201202; t=1655369209; bh=bdDAcR0HjZJFIwntvamKxxbeGIgFlMkgAgwD/aNZMUg=; h=From:To:Cc:Subject:Date:In-Reply-To:References:From; b=qhE2Z1kxHHmMoI0ytsNbGs77YMejHNJmaQtWeg8xugywbbBIzbfHqyFiQNPBhtObH abEEZl3AQ2thYv6cQkW0TnUD9D8Jr/uTalMn2P8Gl8ceipda9naJk48Ed9028lDNqU iWjp77uNu8NI6zIsKMsE7/8FfcbGv1LKF0pLv7m4ZFWsrXaaO09pLt3bt3y8zOPPqK 9mzngcI00N/QEJwYaK/4EdcOANSGxrb+NW4AI/8m2xHnpv7uF8Ocw7ZiarCe+44AsC ceu24HWEe6HuDE+298zLQCqd6rrZKqHzOoKFm91cxf9it/pTCjG/Bwtx7U+2cJ+grt iGQwmqDrdDokA== From: Daniel Bristot de Oliveira To: Steven Rostedt Cc: Daniel Bristot de Oliveira , Wim Van Sebroeck , Guenter Roeck , Jonathan Corbet , Ingo Molnar , Thomas Gleixner , Peter Zijlstra , Will Deacon , Catalin Marinas , Marco Elver , Dmitry Vyukov , "Paul E. McKenney" , Shuah Khan , Gabriele Paoloni , Juri Lelli , Clark Williams , linux-doc@vger.kernel.org, linux-kernel@vger.kernel.org, linux-trace-devel@vger.kernel.org Subject: [PATCH V4 20/20] Documentation/rv: Add watchdog-monitor documentation Date: Thu, 16 Jun 2022 10:45:02 +0200 Message-Id: <129a431c1a12610fa7b44f76ce73aa8058f55bc6.1655368610.git.bristot@kernel.org> X-Mailer: git-send-email 2.35.1 In-Reply-To: References: MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Spam-Status: No, score=-7.7 required=5.0 tests=BAYES_00,DKIMWL_WL_HIGH, DKIM_SIGNED,DKIM_VALID,DKIM_VALID_AU,DKIM_VALID_EF,RCVD_IN_DNSWL_HI, SPF_HELO_NONE,SPF_PASS,T_SCC_BODY_TEXT_LINE autolearn=ham autolearn_force=no version=3.4.6 X-Spam-Checker-Version: SpamAssassin 3.4.6 (2021-04-09) on lindbergh.monkeyblade.net Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Adds documentation about the safe_wtd and safe_wtd_nwo RV monitors, and their usage via a safety application. Cc: Wim Van Sebroeck Cc: Guenter Roeck Cc: Jonathan Corbet Cc: Steven Rostedt Cc: Ingo Molnar Cc: Thomas Gleixner Cc: Peter Zijlstra Cc: Will Deacon Cc: Catalin Marinas Cc: Marco Elver Cc: Dmitry Vyukov Cc: "Paul E. McKenney" Cc: Shuah Khan Cc: Gabriele Paoloni Cc: Juri Lelli Cc: Clark Williams Cc: linux-doc@vger.kernel.org Cc: linux-kernel@vger.kernel.org Cc: linux-trace-devel@vger.kernel.org Signed-off-by: Daniel Bristot de Oliveira --- Documentation/trace/rv/watchdog-monitor.rst | 250 ++++++++++++++++++++ 1 file changed, 250 insertions(+) create mode 100644 Documentation/trace/rv/watchdog-monitor.rst diff --git a/Documentation/trace/rv/watchdog-monitor.rst b/Documentation/trace/rv/watchdog-monitor.rst new file mode 100644 index 000000000000..2b142fb31572 --- /dev/null +++ b/Documentation/trace/rv/watchdog-monitor.rst @@ -0,0 +1,250 @@ +Watchdog monitor +---------------- + +The watchdog is an essential building block for the usage of Linux in +safety-critical systems because it allows the system to be monitored from +an external element - the watchdog hardware, acting as a safety-monitor. + +A user-space application controls the watchdog device via the watchdog +interface. This application, hereafter safety_app, enables the watchdog +and periodically pets the watchdog upon correct completion of the safety +related processing. + +If the safety_app, for any reason, stops pinging the watchdog, +the watchdog hardware can set the system in a fail-safe state. For +example, shutting the system down. + +Given the importance of the safety_app / watchdog hardware couple, +the interaction between these software pieces also needs some +sort of monitoring. In other words, "who monitors the monitor?" + +The safe watchdog (safe_wtd) RV monitor monitors the interaction between +the safety_app and the watchdog device, enforcing the correct sequence of +events that leads the system to a safe state. + +Furthermore, the safety_app can monitor the RV monitor by collecting the +events generated by the RV monitor itself via tracing interface. In this way, +closing the monitoring loop with the safety_app. + +A diagram of the components and their interactions is:: + + user-space: + +--------------------------------+ + | safety_app |-----------+ + +--------------------------------+ | + | ^ | + | Configure | Enable and | + | | check data | + ===================+====================+=============== | + kernel-space: | | | + v v | + +----------+ instr. +-------------+ | + | watchdog | ----------->| RV Monitor |----+ | + | device | +-------------+ | | + +----------+ | | + | | | + | | | + ================+====================================== | | + hardware: | | | + v | +-> Bring the system + +--------------------+ +----> to a safe state, + | watchdog hardware |---------------------------> e.g., halt. + +--------------------+ + +Sample safety_app +----------------- + +The user-space safety_app sample code in ``tools/verification/safety_app/`` +serves to illustrate the usage of the RV monitors for this use-case, as +well as the starting point to the development of a user-specific safety_app. + +Watchdog events +--------------- + +The RV monitor observes the watchdog by using instrumentation to +process the events generated by the interaction between the +safety_app and the watchdog device layer in kernel. + +The monitored events are: + + - watchdog:watchdog_open: open the watchdog device; + - watchdog:watchdog_close: close the watchdog device; + - watchdog:watchdog_start: start the watchdog; + - watchdog:watchdog_stop: stop the watchdog; + - watchdog:watchdog_set_timeout: set the watchdog timeout; + - watchdog:watchdog_ping: reprogram the watchdog with the previously set + timeout; + - watchdog:watchdog_nowayout: prevents the watchdog from stopping; + - watchdog:watchdog_set_keep_alive: set an intermediary ping to overcome + the limitation of a hardware watchdog maximum timeout being shorter than + the timeout set by the user-space tool; + - watchdog:watchdog_keep_alive: the execution of the function that runs the + intermediary keep alive ping; + +RV monitor events +----------------- + +The RV monitor monitors the relevant events as an outside observer, +interpreting all the components (the hardware; the watchdog device +interface; and the safety monitor) as an integrated component. + +The events selected for the monitor are: + + - other_threads: an event generated by any thread other than the + one that set nowayout or open the watchdog the last time. + - open: a thread opens the watchdog to manipulate it; + - close: a thread closes the watchdog; + - start: starts the watchdog countdown; + - stop: stops the watchdog; + - set_safe_timeout: configures the watchdog with a given timeout; + - ping: resets the watchdog countdown with the previously configured timeout; + - nowayout: prevents the watchdog to be stopped until the system's shutdown; + - sched_keep_alive: schedules a kernel worker to ping the watchdog if the + timeout is longer than the watchdog hardware can handle. + - keep_alive: executes the previously scheduled watchdog ping; + +Noting that the events that does not appear in the automata models are +considered blocked events, and their execution will always cause the +RV monitor to react to an unexpected event. + +RV monitor specification +------------------------ + +The monitor's goal is to assess a set of specifications that conducts the +system to a safe state. + +These specifications are: + + - 1: Once open, only one process manipulates the watchdog; + - 2: Following 1, the keep-alive mechanisms will not be used; + - 3: If required, nowayout will be set before opening the watchdog; + - 4: A safe timeout must be set; + - 5: At least one ping must be made before entering the safe/safe_nwo states + - 6: The RV monitor does not react if the watchdog is closed without stopping. + But the hardware watchdog is expected to react. + +Deterministic automata monitors +------------------------------- + +Following the specifications, a deterministic automata monitor +was developed. The monitor is modeled as Deterministic Automata model. + +The deterministic automata model for safe_wtd is:: + + #==================================# other_threads + H H ----------------+ + -----------> H init H | + H H <---------------+ + #==================================# + | | ^ + | | | close + | | +----------------------------------------------------+ + | | | + | | open | + | +------------------------------------------------------+ | + | | | + | nowayout | | + v | | + nowayout +-------------------+ | | + other_threads | | nowayout | | + +---------------- | nwo |<-------------------------------------+ | | + | | | | | | + +---------------> | | <+ | | | + +-------------------+ | | | | + | | | | | + | open | close | | | + v | | | | + +-------------------+ | | | | + | opened_nwo | -+ | | | + +-------------------+ | | | + | | | | + | start | | | + v | | | + +-------------------+ | | | + +---------------> | started_nwo | -+ | | | + | +-------------------+ | | | | + | | | | | | + | open | set_safe_timeout | | | | + | v | | | | + | +-------------------+ | | | | + | | set_nwo | | | | | + | +-------------------+ | | | | + | | | | | | + | +-------------+ | ping | | | | + | | | | | | | | + | | ping v v | | | | + | | +-------------------+ | | | | + | +-----------| safe_nwo | | | | | + | +-------------------+ | | | | + | | | | | | + | | close | close | | | + | v v | | | + | +----------------------------------+ nowayout | | | + | | | other_threads | | | + | | closed_running_nwo | ----------------+ | | | + | | | | | | | + +---------------- | | <---------------+ | | | + +----------------------------------+ | | | + | nowayout ^ | | | + +-----------------------------+ | | | + | | | + | | | + +-------------------+ +--------+ | | | + | | | |------+---+ | + | started | start | opened | | | + +---------------- | | <-------- | |>-----+-------+ + | +-------------------+ +--------+ | ^ + | | | | + | | set_safe_timeout +-------------+-------+ + | v | | + | +-------------------+ | | + | | | | | + | | set | | | + +----------+---------------> | | | | + | | +-------------------+ | | + | | | | | + | | | ping | | + | | v | | + | | +-------------------+ ping | | + | | | | -------+ | | + | | +---- | safe | | | | + | | | | | <------+ | | + | | | +-------------------+ | | + | | | | | | + | | stop | | stop | | + | | | v | | + | | | +-------------------+ close | | + | +-----------+---> | stopped |-------------+ | + | | +-------------------+ | + | +---+ | + | | close | + | v | + | other_threads +----------------------------------------+ | + | +--------------> | | | + | | | closed_running | | + | +--------------- | |--------------+ + | +----------------------------------------+ + | | ^ + | open | | close + | v | + | set_safe_timeout +-------------------+ + +-------------------------> | reopened | + +-------------------+ + +It is important to note that the events sched_keep_alive and keep_alive +are not allowed in the monitor (they are said to be blocked events). +The execution of any blocked events leads the RV monitor to react. + +Additional options +------------------ + +The RV monitor also has a set of options enabled via kernel command +line/module options. They are: + + - watchdog_id: the device id to monitor (default 0); + - dont_stop: once enabled, do not allow the RV monitor to be stopped (default off); + - safe_timeout: define a maximum safe value that a user-space application can + set as the watchdog timeout (default unlimited); + - check_timeout: After every ping, check if the time left in the watchdog is less + than or equal to the last timeout set for the watchdog. It only works for watchdog + devices that provide the get_timeleft() function (default off); -- 2.35.1