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[nrf] Add watchdog timer implementation for NRF5x
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‎README.md‎

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@@ -787,9 +787,9 @@ Please [discover modm's peripheral drivers for your specific device][discover].
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<td align="center">○</td>
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<td align="center">○</td>
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<td align="center">○</td>
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<td align="center">✅</td>
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<td align="center">✅</td>
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<td align="center">✅</td>
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<td align="center">○</td>
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<td align="center">○</td>
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<td align="center">○</td>

‎examples/nrf5340-dk/wdt/main.cpp‎

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/*
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* Copyright (c) 2026, Niklas Hauser
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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/*
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# nRF5340-DK watchdog (app core)
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Watchdog example for the nRF5340 application core.
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- Target: `nrf5340-xxaa@app`
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- Uses app-core-owned `Led1` and `Button1` from the BSP.
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- If `Button1` is held for more than 4 seconds after the watchdog starts,
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the MCU resets.
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- A watchdog reset is indicated by a faster LED blink sequence after startup.
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*/
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#include <modm/board.hpp>
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using namespace Board;
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using namespace std::chrono_literals;
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int
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main()
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{
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Board::initialize();
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Wdt::initialize<SystemClock, 4s>();
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auto startupDelay = 100ms;
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MODM_LOG_INFO << "nRF5340-DK watchdog example" << modm::endl;
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MODM_LOG_INFO << "Press and hold Button1 for more than 4s to trigger a watchdog reset." << modm::endl;
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if (NRF_RESET->RESETREAS & RESET_RESETREAS_DOG0_Msk) {
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NRF_RESET->RESETREAS = RESET_RESETREAS_DOG0_Msk;
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MODM_LOG_INFO << "Previous reset reason: watchdog." << modm::endl;
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startupDelay = 50ms;
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}
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uint32_t counter(0);
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while (counter < 10)
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{
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Led1::toggle();
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modm::delay(startupDelay);
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MODM_LOG_INFO << "startup: " << counter++ << modm::endl;
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}
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Wdt::enable();
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MODM_LOG_INFO << "Watchdog started." << modm::endl;
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while (true)
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{
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Led1::toggle();
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modm::delay(500ms);
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if (!Button1::read()) { Wdt::trigger(); }
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MODM_LOG_INFO << "loop: " << counter++ << modm::endl;
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}
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return 0;
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}

‎examples/nrf5340-dk/wdt/project.xml‎

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<library>
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<extends>modm:nrf5340-dk</extends>
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<options>
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<option name="modm:build:build.path">../../../build/nrf5340-dk/wdt</option>
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</options>
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<modules>
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<module>modm:platform:wdt</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

‎src/modm/board/nrf51422_dk/board.hpp‎

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{
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static constexpr uint32_t Frequency = 16_MHz;
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static constexpr uint32_t Uart0 = 16_MHz;
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static constexpr uint32_t Wdt = 32.768_kHz;
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static bool inline
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enable()

‎src/modm/board/nrf52840_dk/board.hpp‎

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{
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static constexpr uint32_t Frequency = 64_MHz;
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static constexpr uint32_t Uarte0 = 16_MHz;
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static constexpr uint32_t Wdt = 32.768_kHz;
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static bool inline
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enable()

‎src/modm/board/nrf5340_dk/board.hpp.in‎

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%% endif
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static constexpr uint32_t Uarte0 = 16_MHz;
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static constexpr uint32_t Uarte1 = 16_MHz;
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static constexpr uint32_t Wdt = 32.768_kHz;
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static bool inline
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enable()

‎src/modm/platform/iwdg/nrf/module.lb‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Copyright (c) 2026, Niklas Hauser
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#
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# This file is part of the modm project.
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# -----------------------------------------------------------------------------
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def init(module):
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module.name = ":platform:wdt"
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module.description = "Watchdog Timer"
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def prepare(module, options):
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device = options[":target"]
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module.depends(":cmsis:device", ":math:algorithm")
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return device.has_driver("wdt:nrf*")
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def build(env):
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target = env[":target"].identifier
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if target.family == "53":
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peripheral = "NRF_WDT0" if target.core == "app" else "NRF_WDT_NS"
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else:
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peripheral = "NRF_WDT"
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env.outbasepath = "modm/src/modm/platform/wdt"
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env.substitutions = {
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"peripheral": peripheral,
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}
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env.template("wdt.hpp.in")

‎src/modm/platform/iwdg/nrf/wdt.hpp.in‎

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/*
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* Copyright (c) 2026, Niklas Hauser
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#pragma once
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#include <algorithm>
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#include <modm/architecture/interface/peripheral.hpp>
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#include <modm/math/algorithm/prescaler.hpp>
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#include "../device.hpp"
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namespace modm::platform
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{
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/// @ingroup modm_platform_wdt
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class Wdt : public ::modm::PeripheralDriver
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{
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public:
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static inline void
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initialize(uint32_t reload)
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{
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{{ peripheral }}->CRV = reload;
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{{ peripheral }}->RREN = WDT_RREN_RR0_Enabled;
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}
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template< class SystemClock, milliseconds_t timeout, percent_t tolerance=pct(1) >
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static void
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initialize()
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{
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constexpr auto result = modm::GenericPrescaler<double>::from_linear(
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SystemClock::Wdt, 1000.0 / timeout.count(), 0xFul, 0xFFFFFFFFul);
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assertDurationInTolerance< double(result.prescaler) / SystemClock::Wdt,
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timeout.count() / 1000.0, tolerance >();
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initialize(result.prescaler - 1);
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}
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static inline void
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enable()
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{
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{{ peripheral }}->TASKS_START = 1ul;
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}
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static inline void
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trigger()
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{
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{{ peripheral }}->RR[0] = WDT_RR_RR_Reload;
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}
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static inline bool
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isRunning()
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{
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return {{ peripheral }}->RUNSTATUS;
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}
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};
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}

‎tools/scripts/generate_hal_matrix.py‎

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"fsmc": "External Memory",
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"flash": "Internal Flash",
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"iwdg": "Watchdog",
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"wdt": "Watchdog",
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"timer": "Timer",
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"i2c": "I<sup>2</sup>C",
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"usart": "UART",

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