handle watchdog

diff --git a/hostside/parse-proto-spec b/hostside/parse-proto-spec
index 8e94b512f37e94b5273e000ec321b6672b1ce6e0..e7399020945419a4bb21c96143c351cdfa70617c 100755 (executable)
--- a/hostside/parse-proto-spec
+++ b/hostside/parse-proto-spec
@@ -98,6 +98,7 @@ sub process_line () {
        $v{cname}= $cname;
        $v{noiselevel}=
            ($cname =~ m/nmradone/ ? 3 :
+            $cname =~ m/watchdog/ ? 3 :
             $cname =~ m/p[io]ng/ ? 2 :
             $cname =~ m/detect/ ? 2 :
             0);

diff --git a/hostside/safety.h b/hostside/safety.h
index 7c07b4d1476dda79c6e33d570930c0ea3c153d2f..735145cae701436acb9644f3c43cf8fac73b49e3 100644 (file)
--- a/hostside/safety.h
+++ b/hostside/safety.h
@@ -360,9 +360,14 @@ int trackloc_set_exactinto(TrackLocation *t, TrackAdvanceContext *c,
 #define MARGIN_NOSE 6 /*mm*/
 #define MARGIN_TAIL 6 /*mm*/
 #define MARGIN_SPEED 1.2 /*ratio*/
-#define MARGIN_STOPTIME 50 /*ms*/
 #define MARGIN_AUTOPOINTTIME 500 /*ms*/
-#define MARGIN_POLARISETIME 50 /*ms*/
 #define UNMARGIN_ROUNDING 1e-4 /* mm/ms; for 1s, leads to max err of 100um */
 
+#define MARGIN_STOPTIME 60 /*ms*/
+#define MARGIN_POLARISETIME 60 /*ms*/
+
+#define UNMARGIN_WATCHDOG_16 3 /* 16ms units */ /* should be < MARGIN_*TIME */
+#define UNMARGIN_WATCHDOG (UNMARGIN_WATCHDOG_16*16) /*ms*/
+#define MARGIN_WATCHDOG 20
+
 #endif /*SAFETY_H*/

diff --git a/hostside/startup.c b/hostside/startup.c
index fc97508fcbde01ce58a7a4785ae3f926cbfd2336..fb7c137400781112c7aa47ba24ab4d15ba02d671 100644 (file)
--- a/hostside/startup.c
+++ b/hostside/startup.c
@@ -9,20 +9,14 @@ const char *const stastatelist[]= DEFINE_STASTATE_DATA;
 StartupState sta_state;
 
 static TimeoutEvent sta_toev= { .pclass="startup", .pinst="sta" };
-static TimeoutEvent ping_toev= { .pclass="startup", .pinst="ping" };
 
-static int ping_seq;
 static PicInsn piob;
 static void sta_goto(StartupState new_state);
 
-static void timedout_onward(TimeoutEvent *toev) {
-  assert(sta_state != Sta_Run);
-  if (sta_state == Sta_Settling) {
-    enco_pic_off(&piob);
-    serial_transmit(&piob);
-  }
-  sta_goto(sta_state == Sta_Flush ? Sta_Ping : sta_state + 1);
-}
+/*---------- ping ----------*/
+
+static int ping_seq;
+static TimeoutEvent ping_toev= { .pclass="startup", .pinst="ping" };
 
 static void timedout_ping(TimeoutEvent *toev) {
   assert(sta_state >= Sta_Ping);
@@ -40,13 +34,47 @@ static void initial_ping(void) {
   struct timeval now;
   
   mgettimeofday(&now);
-oprintf(DUPO("ip") " %ld.%06ld\n", now.tv_sec, now.tv_usec);
   ping_seq= (now.tv_sec & 0x1fU) << 5; /* bottom 5bi of secs: period 32s */
   ping_seq |= (now.tv_usec >> 15);      /* top 5bi of 20bi us: res.~2^15us */
   ping_toev.duration=  300;
   timefor_ping(0);
 }
 
+/*---------- watchdog ----------*/
+
+static TimeoutEvent watchdog_toev= { .pclass="startup", .pinst="watchdog" };
+static PicInsn watchdog_piob;
+
+static void watchdog_transmit(TimeoutEvent *toev) {
+  toev_start(&watchdog_toev);
+  serial_transmit(&watchdog_piob);
+}
+
+static void watchdog_start(void) {
+  watchdog_toev.duration= UNMARGIN_WATCHDOG - MARGIN_WATCHDOG;
+  watchdog_toev.callback= watchdog_transmit;
+  enco_pic_watchdog(&watchdog_piob, UNMARGIN_WATCHDOG_16);
+  watchdog_transmit(0);
+}
+
+static void watchdog_stop(void) {
+  if (!watchdog_toev.running) return;
+  toev_stop(&watchdog_toev);
+  enco_pic_watchdog(&watchdog_piob, 0);
+  serial_transmit(&watchdog_piob);
+}
+
+/*---------- main startup algorithm ----------*/
+
+static void timedout_onward(TimeoutEvent *toev) {
+  assert(sta_state != Sta_Run);
+  if (sta_state == Sta_Settling) {
+    enco_pic_off(&piob);
+    serial_transmit(&piob);
+  }
+  sta_goto(sta_state == Sta_Flush ? Sta_Ping : sta_state + 1);
+}
+
 static void sta_startup_manual(void) {
   waggle_startup_manual();
   retransmit_start();
@@ -119,6 +147,9 @@ static void sta_goto(StartupState new_state) {
   }
   if (piob.l) serial_transmit(&piob);
 
+  if (new_state >= Sta_Run) watchdog_start();
+  else watchdog_stop();
+     
   toev_start(&sta_toev);
   sta_state= new_state;
 
@@ -228,9 +259,7 @@ void on_pic_fault(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
 
 void on_pic_wtimeout(const PicInsnInfo *pii, const PicInsn *pi, int objnum) {
   if (sta_state <= Sta_Settling) return;
-  if (sta_state == Sta_Resolving || sta_state == Sta_Finalising)
-    die("PIC sent WTIMEOUT in Resolving or Finalising");
-  oprintf(UPO, "warning watchdog : PIC watchdog timer triggered\n");
+  die("microcontrollers' watchdog timer triggered\n");
 }
 
 void on_pic_hello(const PicInsnInfo *pii, const PicInsn *pi, int objnum)