add response on restart request by updating Cyphal from v0.8.15 to v0…

….9.0 and DroneCAN from v0.4.5 to v0.5.0 submodules and refactoring iwdg and platform specific functions

Src/common/application.cpp

@@ -104,6 +104,6 @@ __attribute__((noreturn)) void application_entry_point() {
     while (true) {
         ModuleManager::process();
         blink_board_led();
-        WatchdogPeriphery::refresh();
+        HAL::Watchdog::refresh();
     }
 }

Src/peripheral/iwdg/iwdg.hpp

@@ -7,13 +7,26 @@
 #ifndef SRC_PERIPHERY_IWDG_HPP_
 #define SRC_PERIPHERY_IWDG_HPP_
 
-class WatchdogPeriphery {
+namespace HAL {
+
+class Watchdog {
 public:
     /**
-     * @brief Refresh the IWDG
-     * Reload IWDG counter with value defined in the reload register
+     * @brief Reload IWDG counter with value defined in the reload register
      */
     static void refresh();
+
+    /**
+     * @brief Block all refresh calls, so the application will be rebooted soon
+     */
+    static void request_reboot() {
+        reboot_required = true;
+    }
+
+private:
+    static inline bool reboot_required{false};
 };
 
+}  // namespace HAL
+
 #endif  // SRC_PERIPHERY_IWDG_HPP_

Src/platform/stm32f103/iwdg.cpp → Src/platform/stm32/iwdg/iwdg.cpp

@@ -11,8 +11,14 @@
 extern IWDG_HandleTypeDef hiwdg;
 #endif  // HAL_IWDG_MODULE_ENABLED
 
-void WatchdogPeriphery::refresh() {
+namespace HAL {
+
+void Watchdog::refresh() {
+    if (!reboot_required) {
 #ifdef HAL_IWDG_MODULE_ENABLED
-    HAL_IWDG_Refresh(&hiwdg);
+        HAL_IWDG_Refresh(&hiwdg);
 #endif  // HAL_IWDG_MODULE_ENABLED
+    }
 }
+
+}  // namespace HAL

Src/platform/stm32f103/platform_specific.cpp → Src/platform/stm32/platform_specific.cpp

@@ -6,12 +6,13 @@
 
 #include <string.h>
 #include "main.h"
+#include "peripheral/iwdg/iwdg.hpp"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-void uavcanReadUniqueID(uint8_t out_uid[4]) {
+void platformSpecificReadUniqueID(uint8_t out_uid[4]) {
     const uint32_t UNIQUE_ID_16_BYTES[4] = {
         HAL_GetUIDw0(),
         HAL_GetUIDw1(),
@@ -21,11 +22,16 @@ void uavcanReadUniqueID(uint8_t out_uid[4]) {
     memcpy(out_uid, UNIQUE_ID_16_BYTES, 16);
 }
 
-void uavcanRestartNode() {
+bool platformSpecificRequestRestart() {
+    HAL::Watchdog::request_reboot();
+    return true;
+}
+
+void platformSpecificRebootForce() {
     HAL_NVIC_SystemReset();
 }
 
-uint32_t uavcanGetTimeMs() {
+uint32_t platformSpecificGetTimeMs() {
     return HAL_GetTick();
 }
 

Src/platform/stm32f103/CMakeLists.txt

@@ -13,10 +13,10 @@ add_executable(${EXECUTABLE}
     ${CMAKE_CURRENT_LIST_DIR}/adc.cpp
     ${ROOT_DIR}/Src/platform/stm32/pwm/pwm.cpp
     ${CMAKE_CURRENT_LIST_DIR}/pwm.cpp
-    ${CMAKE_CURRENT_LIST_DIR}/iwdg.cpp
+    ${ROOT_DIR}/Src/platform/stm32/iwdg/iwdg.cpp
     ${CMAKE_CURRENT_LIST_DIR}/led.cpp
     ${CMAKE_CURRENT_LIST_DIR}/temperature_sensor.cpp
-    ${CMAKE_CURRENT_LIST_DIR}/platform_specific.cpp
+    ${ROOT_DIR}/Src/platform/stm32/platform_specific.cpp
 
     ${coreSources}
     ${driversSources}

Src/platform/stm32g0b1/CMakeLists.txt

@@ -20,10 +20,10 @@ add_executable(${EXECUTABLE}
     ${CMAKE_CURRENT_LIST_DIR}/gpio.cpp
     ${PLATFORM_DIR}/stm32g0b1/pwm.cpp
     ${PLATFORM_DIR}/stm32g0b1/spi.cpp
-    ${PLATFORM_DIR}/stm32f103/iwdg.cpp
+    ${ROOT_DIR}/Src/platform/stm32/iwdg/iwdg.cpp
     ${PLATFORM_DIR}/stm32f103/led.cpp
     ${PLATFORM_DIR}/stm32f103/temperature_sensor.cpp
-    ${PLATFORM_DIR}/stm32f103/platform_specific.cpp
+    ${ROOT_DIR}/Src/platform/stm32/platform_specific.cpp
 
     ${coreSources}
     ${driversSources}

Src/platform/ubuntu/iwdg.cpp

@@ -5,7 +5,20 @@
  */
 
 #include "peripheral/iwdg/iwdg.hpp"
+#include "main.h"
 
-void WatchdogPeriphery::refresh() {
-    // do nothing
+namespace HAL {
+
+static uint32_t watchdog_deadline_ms = 500;
+
+void Watchdog::refresh() {
+    if (!reboot_required) {
+        watchdog_deadline_ms = platformSpecificGetTimeMs() + 500;
+    }
+
+    if (platformSpecificGetTimeMs() > watchdog_deadline_ms) {
+        platformSpecificRebootForce();
+    }
 }
+
+}  // namespace HAL

Src/platform/ubuntu/main.h

@@ -19,9 +19,10 @@ static inline uint32_t HAL_GetUIDw2() {return 0;}
 
 uint32_t HAL_GetTick();
 void HAL_NVIC_SystemReset();
-void uavcanRestartNode();
+void platformSpecificRebootForce();
+bool platformSpecificRequestRestart();
 
-uint32_t uavcanGetTimeMs();
+uint32_t platformSpecificGetTimeMs();
 
 #ifdef __cplusplus
 }

Src/platform/ubuntu/platform_specific.cpp

@@ -12,6 +12,8 @@
 #include "main.h"
 #include "application.hpp"
 #include "rom.h"
+#include "main.h"
+#include "peripheral/iwdg/iwdg.hpp"
 
 int main() {
     std::cout << "The app has been started." << std::endl;
@@ -20,11 +22,16 @@ int main() {
     return 0;
 }
 
-void uavcanReadUniqueID(uint8_t out_uid[4]) {
+void platformSpecificReadUniqueID(uint8_t out_uid[4]) {
     memset(out_uid, 0x00, 16);
 }
 
-void uavcanRestartNode() {
+bool platformSpecificRequestRestart() {
+    HAL::Watchdog::request_reboot();
+    return true;
+}
+
+void platformSpecificRebootForce() {
     constexpr const char* EXECUTABLE_SYMBOLIC_LINK = "/proc/self/exe";
     constexpr const int MAX_PATH_LENGTH = 1024;
 
@@ -47,7 +54,7 @@ void uavcanRestartNode() {
     exit(1);
 }
 
-uint32_t uavcanGetTimeMs() {
+uint32_t platformSpecificGetTimeMs() {
     return HAL_GetTick();
 }