Kd ag/mz wdt2

fsae-vehicle-fw/platformio.ini

@@ -15,3 +15,4 @@ framework = arduino
 
 lib_deps =
 	https://github.com/tsandmann/freertos-teensy.git@^11.0.0
+	https://github.com/kdao18/WDT_T4.git

fsae-vehicle-fw/src/main.cpp

@@ -5,6 +5,7 @@
 
 #include "peripherals/adc.h"
 #include "peripherals/can.h"
+#include "peripherals/wdt.h"
 
 #include "peripherals/gpio.h"
 #include "vehicle/apps.h"
@@ -42,9 +43,13 @@ void setup() { // runs once on bootup
     GPIO_Init();
     PCC_Init();
     thermal_Init();
+    WDT_Init();
 
+    xTaskCreate(WDT_Update_Task, "threadWDT", 128, NULL, 9,
+                NULL); // runs wdt update task
     xTaskCreate(threadADC, "threadADC", THREAD_ADC_STACK_SIZE, NULL,
                 THREAD_ADC_PRIORITY, NULL);
+
     xTaskCreate(threadMotor, "threadMotor", THREAD_MOTOR_STACK_SIZE, NULL,
                 THREAD_MOTOR_PRIORITY, NULL);
     xTaskCreate(threadTelemetry, "threadTelemetryCAN",
@@ -57,7 +62,6 @@ void setup() { // runs once on bootup
 
 void threadMain(void *pvParameters) {
     Serial.begin(9600);
-
     xLastWakeTime = xTaskGetTickCount(); // Initialize the last wake time
 
 #if HIMAC_FLAG
@@ -72,7 +76,7 @@ void threadMain(void *pvParameters) {
     int toggle = 0;
 #endif
     while (true) {
-
+        main_last_run_tick = xTaskGetTickCount(); // Update WDT tick
         /*============LOW PRIORITY GPIO UPDATES============*/
         digitalWrite(13, HIGH); // orange led on teensy
 

fsae-vehicle-fw/src/peripherals/adc.cpp

@@ -2,6 +2,7 @@
 
 #include "adc.h"
 #include "./vehicle/telemetry.h"
+#include "peripherals/wdt.h"
 #include "utils/utils.h"
 #include "vehicle/apps.h"
 #include "vehicle/bse.h"
@@ -87,7 +88,9 @@ void threadADC(void *pvParameters) {
 
     lastWakeTime = xTaskGetTickCount();
     while (true) {
+        adc_last_run_tick = xTaskGetTickCount(); // Update WDT tick
         vTaskDelayUntil(&lastWakeTime, TICKTYPE_FREQUENCY);
+
         for (uint16_t currentIndexADC0 = 0;
              currentIndexADC0 < SENSOR_PIN_AMT_ADC0; ++currentIndexADC0) {
             uint16_t currentPinADC0 = adc0Pins[currentIndexADC0];
@@ -104,6 +107,7 @@ void threadADC(void *pvParameters) {
         ShockTravelUpdateData(
             adc0Reads[SUSP_TRAV_LINPOT1], adc0Reads[SUSP_TRAV_LINPOT2],
             adc0Reads[SUSP_TRAV_LINPOT3], adc0Reads[SUSP_TRAV_LINPOT4]);
+
         APPS_UpdateData(adc0Reads[APPS_1_INDEX], adc0Reads[APPS_2_INDEX]);
         BSE_UpdateData(adc0Reads[BSE_1_INDEX], adc0Reads[BSE_2_INDEX]);
     }

fsae-vehicle-fw/src/peripherals/wdt.cpp

@@ -0,0 +1,116 @@
+#include <Arduino.h>
+#include <Watchdog_t4.h>
+#include <arduino_freertos.h>
+
+#include "peripherals/wdt.h"
+#include "utils/utils.h"
+
+#define ADC_FAULT_TIME_THRESHOLD_MS 100
+#define MAIN_FAULT_TIME_THRESHOLD_MS 100
+#define MOTOR_FAULT_TIME_THRESHOLD_MS 100
+#define TELEMETRY_FAULT_TIME_THRESHOLD_MS 100
+
+// Global watchdog tick tracking variables
+TickType_t adc_last_run_tick = 0;
+TickType_t main_last_run_tick = 0;
+TickType_t motor_last_run_tick = 0;
+TickType_t telemetry_last_run_tick = 0;
+
+// Bitmask flag definition
+static uint8_t WDT_BIT_ADC = 0b0001;
+static uint8_t WDT_BIT_MAIN = 0b0010;
+static uint8_t WDT_BIT_MOTOR = 0b0100;
+static uint8_t WDT_BIT_TELEMETRY = 0b1000;
+
+static uint8_t WDT_REQUIRED_MASK = 0b0000; // 0b000 represents no flags
+
+static constexpr uint32_t WDT_CHECK_PERIOD_MS = 100;
+
+static WDT_T4<WDT1> WDT;
+
+void WDT_Init() {
+    TickType_t now = xTaskGetTickCount();
+    adc_last_run_tick = now;
+    main_last_run_tick = now;
+    motor_last_run_tick = now;
+    telemetry_last_run_tick = now;
+
+    WDT_timings_t config;
+
+    config.timeout = 1.0; // second before reset
+    config.trigger = 0.0;
+    config.callback = nullptr;
+
+    WDT.begin(config);
+
+    Serial.println("Watchdog initialized (1 second timeout)");
+}
+
+void WDT_Update_Task(void *pvParameters) {
+    TickType_t now;
+
+    TickType_t adc_ageTicks;
+    uint32_t adc_ageMs;
+
+    TickType_t main_ageTicks;
+    uint32_t main_ageMs;
+
+    TickType_t motor_ageTicks;
+    uint32_t motor_ageMs;
+
+    TickType_t telemetry_ageTicks;
+    uint32_t telemetry_ageMs;
+
+    uint8_t mask;
+
+    for (;;) {
+        now = xTaskGetTickCount();
+
+        adc_ageTicks = now - adc_last_run_tick;
+        adc_ageMs = adc_ageTicks * portTICK_PERIOD_MS;
+
+        main_ageTicks = now - main_last_run_tick;
+        main_ageMs = main_ageTicks * portTICK_PERIOD_MS;
+
+        motor_ageTicks = now - motor_last_run_tick;
+        motor_ageMs = motor_ageTicks * portTICK_PERIOD_MS;
+
+        telemetry_ageTicks = now - telemetry_last_run_tick;
+        telemetry_ageMs = telemetry_ageTicks * portTICK_PERIOD_MS;
+
+        mask = 0b0000;
+
+        if (adc_ageMs >= ADC_FAULT_TIME_THRESHOLD_MS) {
+            mask |= WDT_BIT_ADC;
+        }
+        if (main_ageMs >= MAIN_FAULT_TIME_THRESHOLD_MS) {
+            mask |= WDT_BIT_MAIN;
+        }
+        if (motor_ageMs >= MOTOR_FAULT_TIME_THRESHOLD_MS) {
+            mask |= WDT_BIT_MOTOR;
+        }
+        if (telemetry_ageMs >= TELEMETRY_FAULT_TIME_THRESHOLD_MS) {
+            mask |= WDT_BIT_TELEMETRY;
+        }
+
+        // pet if 0b0000
+        if (mask & WDT_REQUIRED_MASK) {
+            WDT.feed(); // pet hardware watchdog
+            Serial.println("WDT fed successfully");
+        } else {
+            if (mask & WDT_BIT_ADC) {
+                Serial.println("WDT: ADC thread overdue");
+            }
+            if (mask & WDT_BIT_MAIN) {
+                Serial.println("WDT: Main thread overdue");
+            }
+            if (mask & WDT_BIT_MOTOR) {
+                Serial.println("WDT: Motor thread overdue");
+            }
+            if (mask & WDT_BIT_TELEMETRY) {
+                Serial.println("WDT: Telemetry thread overdue");
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(WDT_CHECK_PERIOD_MS)); // 100ms delay
+    }
+}

fsae-vehicle-fw/src/peripherals/wdt.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <arduino_freertos.h>
+
+extern TickType_t adc_last_run_tick;
+extern TickType_t main_last_run_tick;
+extern TickType_t motor_last_run_tick;
+extern TickType_t telemetry_last_run_tick;
+
+void WDT_Init();
+void WDT_Update_Task(void *pvParameters);

fsae-vehicle-fw/src/vehicle/apps.cpp

@@ -1,11 +1,13 @@
 // Anteater Electric Racing, 2025
 
 #include "apps.h"
+
+#include <arduino_freertos.h>
+#include <cmath>
+
 #include "utils/utils.h"
 #include "vehicle/faults.h"
 #include "vehicle/telemetry.h"
-#include <arduino_freertos.h>
-#include <cmath>
 
 typedef struct {
     float appsReading1_Percentage; // Percentage of pedal travel (0 to 1)

fsae-vehicle-fw/src/vehicle/bse.cpp

@@ -7,6 +7,7 @@
 #include "bse.h"
 
 #include "vehicle/faults.h"
+
 #include <arduino_freertos.h>
 
 typedef struct {

fsae-vehicle-fw/src/vehicle/motor.cpp

@@ -8,6 +8,7 @@
 
 #include "peripherals/can.h"
 #include "peripherals/gpio.h"
+#include "peripherals/wdt.h"
 #include "utils/utils.h"
 #include <arduino_freertos.h>
 
@@ -64,6 +65,7 @@ void Motor_Init() {
 void threadMotor(void *pvParameters) {
     xLastWakeTime = xTaskGetTickCount();
     while (true) {
+        motor_last_run_tick = xTaskGetTickCount(); // Update WDT tick
         // Clear packet contents
         vcu1 = {0};
         bms1 = {0};

fsae-vehicle-fw/src/vehicle/telemetry.cpp

@@ -4,6 +4,7 @@
 
 #include "vehicle/telemetry.h"
 
+#include "peripherals/wdt.h"
 #include <arduino_freertos.h>
 
 TelemetryData telemetryData;
@@ -77,7 +78,8 @@ void threadTelemetry(void *pvParameters) {
     static TickType_t lastWakeTime =
         xTaskGetTickCount(); // Initialize the last wake time
     while (true) {
-        taskENTER_CRITICAL(); // Enter critical section
+        telemetry_last_run_tick = xTaskGetTickCount(); // Update WDT tick
+        taskENTER_CRITICAL();                          // Enter critical section
         telemetryData = {
             .APPS_Travel = APPS_GetAPPSReading(),