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Start WD only after init period so messages are sent even if WD isn't petted

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This commit is contained in:
Oskar Winkels
2023-05-03 17:12:12 +02:00
parent c6fedbd759
commit 0195578317
1 changed files with 11 additions and 1 deletions
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12
sdcl-firmware/Core/Src/main.c
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@ -144,6 +144,7 @@ mission_t mission = M_NONE;
#ifdef WATCHDOG_STM
bool pHeartbeat = false;
bool WD_OK = false;
bool WD_initialized = false;
#endif
/* USER CODE END PV */
@ -192,11 +193,16 @@ int main(void)
/* USER CODE END SysInit */
MX_GPIO_Init();
MX_CAN_Init();
#if false
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_IWDG_Init();
/* USER CODE BEGIN 2 */
#endif
// Ensure we start with SDC disabled
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_RESET);
@ -247,6 +253,9 @@ int main(void)
// Important to prevent bus error state while ABX is starting up
HAL_Delay(1000);
MX_IWDG_Init();
WD_initialized = true;
while (true) {
bool TS_activate_MUXed = HAL_GPIO_ReadPin(TS_activate_MUXed_GPIO_Port, TS_activate_MUXed_Pin) == GPIO_PIN_RESET;
@ -485,7 +494,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
#ifdef WATCHDOG_STM
if (rxData.signals.heartbeat != pHeartbeat) {
HAL_IWDG_Refresh(&hiwdg);
if (WD_initialized)
HAL_IWDG_Refresh(&hiwdg);
WD_OK = true;
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
}