sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
101 lines
3.0 KiB
C
101 lines
3.0 KiB
C
#ifndef WATCHDOG_H
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#define WATCHDOG_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* watchdog.h — STM32F7 Independent Watchdog Timer (Issue #300)
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*
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* Manages IWDG (Independent Watchdog) for system health monitoring.
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* Detects communication stalls from Jetson and resets the MCU.
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*
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* Configuration:
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* - LSI frequency: ~32 kHz (typical)
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* - Timeout range: 1ms to ~32 seconds (depending on prescaler/reload)
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* - Default timeout: 2 seconds
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* - Must be kicked (reset) regularly to prevent reboot
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*
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* Typical Usage:
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* 1. Call watchdog_init(2000) in system startup
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* 2. Call watchdog_kick() regularly from main loop (e.g., every 100ms)
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* 3. If watchdog_kick() is not called for >= timeout, MCU resets
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* 4. Useful for detecting Jetson communication failures
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*
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* Note: Once IWDG is started, it cannot be stopped (watchdog always active).
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* It can only be reset via watchdog_kick() or by MCU reset/power cycle.
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*/
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/* Watchdog timeout presets (in milliseconds) */
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typedef enum {
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WATCHDOG_TIMEOUT_1S = 1000, /* 1 second timeout */
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WATCHDOG_TIMEOUT_2S = 2000, /* 2 seconds (default) */
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WATCHDOG_TIMEOUT_4S = 4000, /* 4 seconds */
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WATCHDOG_TIMEOUT_8S = 8000, /* 8 seconds */
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WATCHDOG_TIMEOUT_16S = 16000 /* 16 seconds */
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} WatchdogTimeout;
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/*
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* watchdog_init(timeout_ms)
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*
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* Initialize the Independent Watchdog Timer.
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*
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* - Configures IWDG with specified timeout
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* - Starts the watchdog timer (cannot be stopped)
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* - Must call watchdog_kick() regularly to prevent reset
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*
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* Arguments:
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* - timeout_ms: Timeout in milliseconds (e.g., 2000 for 2 seconds)
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* Typical range: 1-16000 ms
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* Will clamp to valid range
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*
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* Returns: true if initialized, false if invalid timeout
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*/
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bool watchdog_init(uint32_t timeout_ms);
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/*
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* watchdog_kick()
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*
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* Reset the watchdog timer counter.
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* Call this regularly from the main loop (e.g., every 100ms or faster).
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* If not called within the configured timeout period, MCU resets.
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*
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* Note: This is typically called from a high-priority timer interrupt
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* or the main application loop to ensure timing is deterministic.
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*/
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void watchdog_kick(void);
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/*
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* watchdog_get_timeout()
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*
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* Get the configured watchdog timeout in milliseconds.
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*
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* Returns: Timeout value in ms
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*/
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uint32_t watchdog_get_timeout(void);
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/*
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* watchdog_is_running()
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*
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* Check if watchdog timer is running.
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* Once started, watchdog cannot be stopped (only reset via kick).
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*
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* Returns: true if watchdog is active, false if not initialized
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*/
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bool watchdog_is_running(void);
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/*
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* watchdog_was_reset_by_watchdog()
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*
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* Detect if the last MCU reset was caused by watchdog timeout.
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* Useful for diagnosing system failures (e.g., Jetson communication loss).
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*
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* Call this in early startup (before watchdog_init) to check reset reason.
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* Typically used to log or report watchdog resets to debugging systems.
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*
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* Returns: true if last reset was by watchdog, false otherwise
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*/
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bool watchdog_was_reset_by_watchdog(void);
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#endif /* WATCHDOG_H */
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