Document Watchodg features and settings

- add docs for Watchdog configuration - add docs to README.md how to recover from errors - add Watchdog separate values for H-BRIDGE and RELAY builds Signed-off-by: Martin Mihálek <[email protected]>
aenniw · Feb 2, 2019 · 4c8c3f4 · 4c8c3f4
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diff --git a/skarsta/README.md b/skarsta/README.md
@@ -192,6 +192,16 @@ After testing quite a few DC motors from Ebay, Aliexpress and Banggood, I stuck
     <a href="https://drive.google.com/uc?export=view&id=15VFWSnQ_u37xM2864LjUWOSjwABPXVya"><img src="https://drive.google.com/uc?export=view&id=15VFWSnQ_u37xM2864LjUWOSjwABPXVya" style="width: 500px; max-width: 100%; height: auto" title="Click for the larger version." /></a>
   </details>
 
+### Error codes && handling
+
+- if any Error message bellow is showed on display it is needed to manually power down/up table to be able to operate once again,
+  after any of error pops out it is advised to closely inspect table if the problem reoccurs if so open an issue
+
+  | _Error code_ |         _Description_         |
+  | ------------ | :---------------------------: |
+  | Err 1        | Motor stuck and cannot rotate |
+  | Err 2        |  Motor started unexpectedly   |
+
 ### Library Credentials
 
 [ENCODER](https://github.com/buxtronix/arduino/tree/master/libraries/Rotary)

diff --git a/skarsta/lib/watchdog/Watchdog.h b/skarsta/lib/watchdog/Watchdog.h
@@ -5,10 +5,28 @@
 #include <Motor.h>
 #include <Display.h>
 
+/**
+ * WATCHDOG_TIMEOUT     represents timeout in millis for watchdog to perform its checks
+ * WATCHDOG_TOLERANCE   represents number of failed check in row needed to trigger an error,
+ *                      so the reaction time will be (WATCHDOG_TIMEOUT * WATCHDOG_TOLERANCE) ms
+ *
+ * WATCHDOG_DEADLOCK_CHANGE     represents rotation steps threshold for detecting if motor is stuck and cannot move
+ *                              so if rotation change is greater then WATCHDOG_DEADLOCK_CHANGE for WATCHDOG_TOLERANCE times Error 1 will be trigerred
+ * WATCHDOG_OTHER_CHANGE        represents rotation steps threshold for detecting if motor was started mainly due to programing errors,
+ *                              so if rotation change is greater then WATCHDOG_OTHER_CHANGE for WATCHDOG_TOLERANCE times Error 2 will be trigerred
+ */
+
+#ifndef  __H_BRIDGE_MOTOR__
+#define WATCHDOG_TIMEOUT 10
+#define WATCHDOG_DEADLOCK_CHANGE 1
+#define WATCHDOG_OTHER_CHANGE 5
+#define WATCHDOG_TOLERANCE 5
+#else
 #define WATCHDOG_TIMEOUT 250
 #define WATCHDOG_DEADLOCK_CHANGE 2
 #define WATCHDOG_OTHER_CHANGE 10
 #define WATCHDOG_TOLERANCE 2
+#endif
 
 class Watchdog : Service {
 private: