implement watchdog

306-controller_interface.X/app/can_message.c

@@ -0,0 +1,12 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_message.c
+ */
+
+#include "../middleware/can_interface.h"
+
+void CM_controller_alive(void* p) {
+    CAN_Send(0x0, 0xF, 0);
+}

306-controller_interface.X/app/can_message.h

@@ -0,0 +1,29 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_message.h
+ */
+
+#ifndef CAN_MESSAGE_H
+#define CAN_MESSAGE_H
+
+
+/*
+S   R   M
+1   0   F   CONTROL_ALIVE       -               -                   -                   -
+1	2	0	JOY_SETUP           Mode            Param1              Param2              aliveTime
+1	3	0	DISPLAY_SETUP       reset           -                   -                   aliveTime
+1	3	2	DISPLAY_SPEED       valH            valL                -                   -
+1	3	3	DISPLAY_DIRECTION   direction       -                   -                   -
+1	4	0	DRIVE_SETUP         Reset/init      speedTime           stopTime            aliveTime
+1	4	1	DRIVE_POWER         valH            valL                -                   -
+1	5	0	STEERING_SETUP      Reset/init      homing              setCenter           aliveTime
+1	5	1	STEERING_SET        valHH           valH                valL                valLL
+1	6	0	SETUP_CONTROL       batteryVoltTime batteryCurrentTime  batteryEnergyTime   aliveTime
+*/
+
+void CM_controller_alive(void* p);
+
+#endif	/* CAN_MESSAGE_H */
+

306-controller_interface.X/app/factory/factory.c

@@ -30,6 +30,10 @@ LED* l8()  {
     return &theFactory.l8_;
 }
 
+WATCHDOG* WDcontroller(){
+    return &theFactory.WDcontroller_;
+}
+
 
 //initialize all objects
 void Factory_init() {
@@ -54,6 +58,13 @@ void Factory_init() {
     CAN_init();
     CAN_setSender(1);
     LED_off(l1());
+    
+    // TODO init EPROM interface
+    
+    // TODO init watchdog with EPROM CST 
+    WATCHDOG_init(WDcontroller());
+    CAR_CST.CONTROL_ALIVE_TIME = 10; 
+    WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
 }
 
 void foo(uint8_t a, uint8_t b, uint32_t c){
@@ -69,9 +80,12 @@ void foo(uint8_t a, uint8_t b, uint32_t c){
 void Factory_build() {    
     ECAN_SetRXBnInterruptHandler(CAN_newMsg);
     CAN_onReceiveCan(foo);
+    
+    WATCHDOG_onAlive(WDcontroller(), CM_controller_alive, NULL);
 }
 
 //start all state machines
 void Factory_start() {
     CAN_startBehaviour();
+    WATCHDOG_startBehaviour(WDcontroller());
 }

306-controller_interface.X/app/factory/factory.h

@@ -12,9 +12,13 @@
 #include <stdint.h>
 #include <stdbool.h>
 
+#include "../car.h"
+#include "../can_message.h"
 #include "../../board/led/led.h"
 #include "../../board/button/button.h"
+#include "../../middleware/alive_checker.h"
 #include "../../middleware/can_interface.h"
+#include "../../middleware/watchdog.h"
 
 
 typedef struct {
@@ -27,6 +31,8 @@ typedef struct {
     LED l7_;
     LED l8_;
     
+    WATCHDOG WDcontroller_;
+
 } Factory;
 
 
@@ -44,5 +50,7 @@ LED* l6();
 LED* l7();
 LED* l8();
 
+WATCHDOG* WDcontroller();
+
 
 #endif

306-controller_interface.X/middleware/watchdog.c

@@ -0,0 +1,90 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file watchdog.c
+ */
+
+#include "watchdog.h"
+
+void WATCHDOG_init(WATCHDOG* me){
+    me->state = STWD_INIT;
+    me->time = 10;
+    me->alive.f = NULL;
+}
+
+void WATCHDOG_startBehaviour(WATCHDOG* me){
+    POST(me, &WATCHDOG_processEvent, evWDinit, 0, 0);
+}
+
+bool WATCHDOG_processEvent(Event* ev) {
+    bool processed = false;
+    WATCHDOG* me = (WATCHDOG*)Event_getTarget(ev);
+    WATCHDOG_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    uint64_t data = Event_getData(ev);
+    
+    switch (me->state) {        // onState
+        case STWD_INIT:
+            if (ev->id == evWDinit) {
+                me->state = STWD_ALIVE;
+                WATCHDOG_emitPoll(me, 10*me->time, 0);
+            }
+            break;
+        
+        case STWD_ALIVE:
+            if (ev->id == evWDpoll) {
+                WATCHDOG_emitPoll(me, 10*me->time, 0);
+                if (me->alive.f != NULL) {
+                    me->alive.f(me->alive.p);
+                }
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STWD_INIT:
+                break;
+            
+            case STWD_ALIVE:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STWD_INIT:
+                break;
+            
+            case STWD_ALIVE:
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p) {
+    me->alive.f = f;
+    me->alive.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data) {
+    POST(me, &WATCHDOG_processEvent, evWDpoll, t, data);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void WATCHDOG_setTime(WATCHDOG* me, uint8_t v) {
+    me->time = v;
+}

306-controller_interface.X/middleware/watchdog.h

@@ -0,0 +1,83 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file watchdog.h
+ */
+#ifndef WATCHDOG_H
+#define WATCHDOG_H
+
+#include "../xf/xf.h"
+
+typedef enum {
+    STWD_INIT,
+    STWD_ALIVE
+} WATCHDOG_STATES;
+
+typedef enum {
+    evWDinit = 20,
+    evWDpoll
+} WATCHDOG_EVENTS;
+
+typedef void (*WATCHDOG_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    WATCHDOG_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} WATCHDOG_CALLBACK;
+
+typedef struct {
+    WATCHDOG_STATES state;
+    uint8_t time;
+    WATCHDOG_CALLBACK alive;
+} WATCHDOG;
+
+/**
+ * Initialize the WATCHDOG
+ * @param me the WATCHDOG itself
+ */
+void WATCHDOG_init(WATCHDOG* me);
+
+/**
+ * Start the WATCHDOG state machine
+ * @param me the WATCHDOG itself
+ */
+void WATCHDOG_startBehaviour(WATCHDOG* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool WATCHDOG_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the WATCHDOG is entering state alive
+ * @param me the WATCHDOG itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the poll event
+ * @param me the WATCHDOG itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data);
+
+/***********
+ * SETTERS *
+ ***********/
+
+void WATCHDOG_setTime(WATCHDOG* me, uint8_t v);
+
+#endif

306-controller_interface.X/nbproject/configurations.xml

@@ -7,6 +7,7 @@
       <logicalFolder name="app" displayName="app" projectFiles="true">
         <itemPath>app/factory/factory.h</itemPath>
         <itemPath>app/car.h</itemPath>
+        <itemPath>app/can_message.h</itemPath>
       </logicalFolder>
       <logicalFolder name="board" displayName="board" projectFiles="true">
         <itemPath>board/led/led.h</itemPath>
@@ -25,6 +26,7 @@
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
         <itemPath>middleware/can_interface.h</itemPath>
         <itemPath>middleware/alive_checker.h</itemPath>
+        <itemPath>middleware/watchdog.h</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.h</itemPath>
@@ -41,6 +43,7 @@
                    projectFiles="true">
       <logicalFolder name="app" displayName="app" projectFiles="true">
         <itemPath>app/factory/factory.c</itemPath>
+        <itemPath>app/can_message.c</itemPath>
       </logicalFolder>
       <logicalFolder name="board" displayName="board" projectFiles="true">
         <itemPath>board/led/led.c</itemPath>
@@ -59,6 +62,7 @@
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
         <itemPath>middleware/can_interface.c</itemPath>
         <itemPath>middleware/alive_checker.c</itemPath>
+        <itemPath>middleware/watchdog.c</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.c</itemPath>
@@ -210,6 +214,7 @@
         <property key="debugoptions.debug-startup" value="Use system settings"/>
         <property key="debugoptions.reset-behaviour" value="Use system settings"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="memories.aux" value="false"/>
         <property key="memories.bootflash" value="true"/>
@@ -240,7 +245,7 @@
         <property key="programoptions.programcalmem" value="false"/>
         <property key="programoptions.programuserotp" value="false"/>
         <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
-        <property key="programoptions.usehighvoltageonmclr" value="false"/>
+        <property key="programoptions.usehighvoltageonmclr" value="true"/>
         <property key="programoptions.uselvpprogramming" value="false"/>
         <property key="voltagevalue" value="5.0"/>
       </PICkit3PlatformTool>
@@ -285,7 +290,7 @@
         <property key="programoptions.programcalmem" value="false"/>
         <property key="programoptions.programuserotp" value="false"/>
         <property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
-        <property key="programoptions.usehighvoltageonmclr" value="false"/>
+        <property key="programoptions.usehighvoltageonmclr" value="true"/>
         <property key="programoptions.uselvpprogramming" value="false"/>
         <property key="voltagevalue" value="5.0"/>
       </Tool>