Change default reboot to SOC reset from WDT reset

Fixes #460

Signed-off-by: Joachim Wiberg <troglobit@gmail.com>

doc/config/runlevels.md

@@ -165,4 +165,22 @@ sync(2) has been called, twice.
 
 > "On Linux, sync is only guaranteed to schedule the dirty blocks for
 > writing; it can actually take a short time before all the blocks are
-> finally written.
+> finally written.
+
+**Syntax:** `reboot-watchdog <on|off|true|false|1|0>`
+
+Controls whether the system should reboot via the watchdog timer (WDT)
+or directly via the SoC/kernel.  When enabled, Finit will:
+
+ 1. Send `SIGPWR` to the registered watchdog daemon before shutdown
+ 2. Send `SIGTERM` to the watchdog daemon and wait up to 10 seconds
+    for the watchdog to trigger a hardware reset
+
+When disabled (default), Finit skips the watchdog reboot logic and
+calls the kernel's `reboot(2)` syscall directly for a clean SoC reboot.
+
+*Default:* off (reboot via SoC)
+
+> [!NOTE]
+> This setting only affects reboots.  The watchdog daemon will still
+> run and monitor the system during normal operation.

doc/watchdog.md

@@ -10,14 +10,21 @@ many embedded systems this is crucial to ensure all circuits on the
 board are properly reset for the next boot, in effect ensuring the
 system works the same after both a power-on and reboot event.
 
+> [!NOTE]
+> The watchdog reboot delegation can be enabled with the `reboot-watchdog`
+> configuration option in `/etc/finit.conf`.  By default this is disabled
+> and the system reboots directly via the SoC using the kernel's `reboot(2)`
+> syscall.  See [Runlevels](config/runlevels.md) for details.
+
 The delegation is performed at the very last steps of system shutdown,
-if reboot has been selected and an elected watchdog is known, first a
+if reboot has been selected, `reboot-watchdog` is enabled, and an elected
-`SIGPWR` is sent to advise watchdogd of the pending reboot.  Then, when
+watchdog is known.  First a `SIGPWR` is sent to advise watchdogd of the
-the necessary steps of preparing the system for shutdown (umount etc.)
+pending reboot.  Then, when the necessary steps of preparing the system
-are completed, Finit sends `SIGTERM` to watchdogd and puts itself in a
+for shutdown (umount etc.) are completed, Finit sends `SIGTERM` to
-10 sec timeout loop waiting for the WDT to reset the board.  If a reset
+watchdogd and puts itself in a 10 sec timeout loop waiting for the WDT
-is not done before the timeout, Finit falls back to`reboot(RB_AUTOBOOT)`
+to reset the board.  If a reset is not done before the timeout, Finit
-which tells the kernel to do the reboot.
+falls back to `reboot(RB_AUTOBOOT)` which tells the kernel to do the
+reboot.
 
 An external watchdog service can also be used.  The more advanced cousin
 [watchdogd](https://github.com/troglobit/watchdogd/) is the recommended

src/conf.c

@@ -60,6 +60,7 @@ int   single    = 0;		/* single user mode from kernel cmdline */
 int   bootstrap = 1;		/* set while bootstrapping (for TTYs) */
 int   kerndebug = 0;		/* set if /proc/sys/kernel/printk > 7 */
 int   syncsec   = 0;		/* reboot delay */
+int   wdtreboot = 0;		/* reboot via watchdog, default: SOC */
 int   readiness = SVC_NOTIFY_PID;
 char *finit_conf= NULL;
 char *finit_rcsd= NULL;
@@ -1034,6 +1035,11 @@ static int parse_static(char *line, int is_rcsd)
 		return 0;
 	}
 
+	if (MATCH_CMD(line, "reboot-watchdog ", x)) {
+		wdtreboot = get_bool(strip_line(x), 0);
+		return 0;
+	}
+
 	/*
 	 * Periodic check and instability index leveler, seconds
 	 */

src/conf.h

@@ -37,6 +37,7 @@ extern int   single;
 extern int   bootstrap;
 extern int   kerndebug;
 extern int   syncsec;
+extern int   wdtreboot;
 extern int   readiness;
 extern char *fstab;
 extern char *sdown;

src/sig.c

@@ -358,7 +358,7 @@ void do_shutdown(shutop_t op)
 		return;
 	}
 
-	if (wdog) {
+	if (wdtreboot && wdog) {
 		print(kill(wdog->pid, SIGPWR) == 1, "Advising watchdog, system going down");
 		do_sleep(2);
 	}
@@ -405,17 +405,17 @@ void do_shutdown(shutop_t op)
 
 	/* Reboot via watchdog or kernel, or shutdown? */
 	if (op == SHUT_REBOOT) {
-		print(0, "Rebooting ...");
+		if (wdtreboot && wdog && wdog->pid > 1) {
-		if (wdog && wdog->pid > 1) {
 			int timeout = 10;
 
 			/* Wait here until the WDT reboots, or timeout with fallback */
+			print(0, "Rebooting using WDT, please wait ...");
 			print(kill(wdog->pid, SIGTERM) == 1, "Pending watchdog reboot");
 			while (timeout--)
 				do_sleep(1);
 		}
 
-		dbg("Rebooting ...");
+		print(0, "Rebooting ...");
 		reboot(RB_AUTOBOOT);
 	} else if (op == SHUT_OFF) {
 		print(0, "Powering down ...");