[FW-344] Watchdog (#501)

* fix watchdog to performance well

* la pijadita de turno jajaajjaj

* fix watchdog to performance well

* la pijadita de turno jajaajjaj

* Update Inc/HALAL/Services/Watchdog/Watchdog.hpp

copilot leads

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update Inc/HALAL/Services/Watchdog/Watchdog.hpp

copilot leads II

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update Src/HALAL/Services/Watchdog/Watchdog.cpp

for the future checking the watchdog, please be careful with the dog

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Author: oganigl

Inc/HALAL/Services/Watchdog/Watchdog.hpp

@@ -1,36 +1,36 @@
 #pragma once
-#include "HALAL/Models/PinModel/Pin.hpp"
 #include "C++Utilities/CppUtils.hpp"
 #include "ErrorHandler/ErrorHandler.hpp"
-
+#include "HALAL/Models/PinModel/Pin.hpp"
 
 extern IWDG_HandleTypeDef watchdog_handle;
-
+extern bool reset_by_iwdg;
 
 /**
  * @brief The watchdog class resets the board when it gets stuck inside a loop
  *
- * To ensure that the code its not stuck, the refresh function must be called at least once each period
- * Otherwise, the Watchdog will reset the board. The Watchdog its not active until it is started.
+ * To ensure that the code is not stuck, the refresh function must be called at
+ * least once every period; otherwise, the Watchdog will reset the board. The
+ * Watchdog is not active until it is started.
  */
-class Watchdog{
-public:
-
-    template<typename TimeUnit>
-    static void start(chrono::duration<int64_t, TimeUnit> period){
-    	if((chrono::duration_cast<chrono::microseconds>(period)).count() > 32000000){
-    		ErrorHandler("Watchdog refresh interval is too big");
-    	}
-    	if((chrono::duration_cast<chrono::microseconds>(period)).count() < 125){
-    		ErrorHandler("Watchdog refresh interval is too short");
-    	}
-        uint64_t microseconds = chrono::duration_cast<chrono::microseconds>(period).count();
-        uint32_t RL = (uint64_t)((double) microseconds / 4 / 31.25) - 1;
+class Watchdog {
+   public:
+    static std::chrono::microseconds watchdog_time;
+    
+    static void start() {
+        if ((chrono::duration_cast<chrono::microseconds>(watchdog_time)).count() > 32000000) {
+            ErrorHandler("Watchdog refresh interval is too big");
+        }
+        if ((chrono::duration_cast<chrono::microseconds>(watchdog_time)).count() < 125) {
+            ErrorHandler("Watchdog refresh interval is too short");
+        }
+        uint64_t milliseconds = chrono::duration_cast<chrono::milliseconds>(watchdog_time).count();
+        uint32_t RL = double(milliseconds) * 8.0 - 1; // this is the formula for the Reload
         uint32_t prescaler = 0;
-
-        while(RL > 4095){
-        	microseconds /= 2;
-        	prescaler += 1;
+        while (RL > 4095) {
+            milliseconds /= 2;
+            prescaler += 1;
+            RL = double(milliseconds) * 8.0 - 1;
         }
 
         watchdog_handle.Instance = IWDG1;
@@ -40,8 +40,18 @@ class Watchdog{
         HAL_IWDG_Init(&watchdog_handle);
     }
 
-    static inline void refresh(){
-    	__HAL_IWDG_RELOAD_COUNTER(&watchdog_handle);
+    static void refresh() {
+        HAL_IWDG_Refresh(&watchdog_handle);
+    }
+    static void check_reset_flag(){
+        if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDG1RST)) {
+            reset_by_iwdg = true;
+            
+        }
+        __HAL_RCC_CLEAR_RESET_FLAGS();
+    }
+    template <typename TimeUnit>
+    Watchdog(chrono::duration<int64_t, TimeUnit> period) {
+        watchdog_time = std::chrono::duration_cast<std::chrono::microseconds>(period);
     }
-
 };

Inc/ST-LIB.hpp

@@ -3,7 +3,6 @@
 #include "HALAL/HALAL.hpp" // Erase this when ST-LIB_LOW is finished.
 #include "ST-LIB_LOW.hpp"  // Erase this when ST-LIB_HIGH is finished
 #include "ST-LIB_HIGH.hpp" // Highest layer up to the moment
-
 class STLIB {
 public:
 

Src/HALAL/HALAL.cpp

@@ -10,6 +10,11 @@
 #ifndef SIM_ON
 void HALAL::start(IPV4 ip, IPV4 subnet_mask, IPV4 gateway,
                   UART::Peripheral& printf_peripheral) {
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+    Watchdog::check_reset_flag();
+    Watchdog::start();
+#endif
 #if !defined STLIB_ETH
 #else
     Ethernet::inscribe();
@@ -67,7 +72,6 @@ void HALAL::start(IPV4 ip, IPV4 subnet_mask, IPV4 gateway,
 #else
     Ethernet::start(ip, subnet_mask, gateway);
 #endif
-
 #ifdef HAL_TIM_MODULE_ENABLED
     Encoder::start();
     Global_RTC::start_rtc();

Src/HALAL/Services/Watchdog/Watchdog.cpp

@@ -1,3 +1,5 @@
 #include "HALAL/Services/Watchdog/Watchdog.hpp"
 
 IWDG_HandleTypeDef watchdog_handle;
+std::chrono::microseconds Watchdog::watchdog_time = std::chrono::microseconds(1000000); //1 second by default
+bool reset_by_iwdg{};

Src/ST-LIB.cpp

@@ -11,7 +11,7 @@
 #include "ST-LIB.hpp"
 
 void STLIB::start(IPV4 ip, IPV4 subnet_mask, IPV4 gateway, UART::Peripheral& printf_peripheral) {
-	HALAL::start(ip, subnet_mask, gateway, printf_peripheral);
+  HALAL::start(ip, subnet_mask, gateway, printf_peripheral);
 	STLIB_LOW::start();
 	STLIB_HIGH::start();
 }
@@ -22,11 +22,14 @@ void STLIB::start(string ip, string subnet_mask, string gateaway,  UART::Periphe
 
 
 void STLIB::update() {
+#ifdef HAL_IWDG_MODULE_ENABLED
+  Watchdog::refresh();
+#endif
 #if !defined STLIB_ETH
 #else
 	Ethernet::update();
   Server::update_servers();
 #endif
-	ErrorHandlerModel::ErrorHandlerUpdate();
+    ErrorHandlerModel::ErrorHandlerUpdate();
 
 }