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feat: STM32 watchdog timer driver (Issue #300) #386

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sl-jetson merged 2 commits from sl-mechanical/issue-300-watchdog into main 2026-03-04 12:39:06 -05:00
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src/main.c
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@ -28,6 +28,7 @@
#include "power_mgmt.h" #include "power_mgmt.h"
#include "battery.h" #include "battery.h"
#include "coulomb_counter.h" #include "coulomb_counter.h"
#include "watchdog.h"
#include <math.h> #include <math.h>
#include <string.h> #include <string.h>
#include <stdio.h> #include <stdio.h>
@ -43,6 +44,9 @@ extern volatile uint8_t cdc_estop_clear_request;
/* BNO055 active flag (set if BNO055 initialized successfully) */ /* BNO055 active flag (set if BNO055 initialized successfully) */
static bool bno055_active = false; static bool bno055_active = false;
/* Watchdog reset flag (set if MCU was reset by IWDG timeout) */
static bool g_watchdog_reset_detected = false;
/* /*
* Apply a PID tuning command string from the USB terminal. * Apply a PID tuning command string from the USB terminal.
* Format: P<kp> I<ki> D<kd> T<setpoint_deg> M<max_speed> ? * Format: P<kp> I<ki> D<kd> T<setpoint_deg> M<max_speed> ?
@ -120,6 +124,9 @@ int main(void) {
HAL_Init(); HAL_Init();
SystemClock_Config(); SystemClock_Config();
/* Detect watchdog reset (Issue #300) — must be before safety_init() */
g_watchdog_reset_detected = watchdog_was_reset_by_watchdog();
/* USB CDC */ /* USB CDC */
USBD_Init(&hUsbDevice, &SaltyLab_Desc, 0); USBD_Init(&hUsbDevice, &SaltyLab_Desc, 0);
USBD_RegisterClass(&hUsbDevice, &USBD_CDC); USBD_RegisterClass(&hUsbDevice, &USBD_CDC);
@ -129,6 +136,11 @@ int main(void) {
status_init(); status_init();
HAL_Delay(3000); /* Wait for USB host to enumerate */ HAL_Delay(3000); /* Wait for USB host to enumerate */
/* Log watchdog reset event if it occurred (Issue #300) */
if (g_watchdog_reset_detected) {
printf("[WATCHDOG] MCU reset by IWDG timeout detected. Main loop may have hung.\n");
}
/* Init IMU (MPU6000 via SPI1 — mpu6000.c wraps icm42688 + complementary filter) */ /* Init IMU (MPU6000 via SPI1 — mpu6000.c wraps icm42688 + complementary filter) */
int imu_ret = mpu6000_init() ? 0 : -1; int imu_ret = mpu6000_init() ? 0 : -1;