Add watchdog component (#45)

* Add watchdog component

* poke2

* Remove docs dir

.github/workflows/build.yaml

@@ -42,7 +42,6 @@ jobs:
     - uses: fprime-community/project-builder@main
       with:
         build_location: BroncoDeployment
-        target_platform: rpipico
     - name: Archive binary
       uses: actions/upload-artifact@v4
       with:

BroncoDeployment/Top/BroncoDeploymentPackets.xml

@@ -53,6 +53,10 @@
         <channel name="hubComDriver.Status"/>
     </packet>
 
+    <packet name="WatchdogChannels" id="9" level="1">
+        <channel name="watchdog.WatchdogPets"/>
+    </packet>
+
     <!-- Ignored packets -->
 
     <ignore>

BroncoDeployment/Top/BroncoDeploymentTopology.cpp

@@ -77,6 +77,9 @@ void configureTopology() {
     // Framer and Deframer components need to be passed a protocol handler
     framer.setup(framing);
     deframer.setup(deframing);
+
+    // Open the Watchdog GPIO pin
+    gpioDriver.open(21, Arduino::GpioDriver::GpioDirection::OUT);
 }
 
 // Public functions for use in main program are namespaced with deployment name BroncoDeployment

BroncoDeployment/Top/instances.fpp

@@ -28,6 +28,11 @@ module BroncoDeployment {
     stack size Default.STACK_SIZE \
     priority 97
 
+  instance watchdog: Components.Watchdog base id 0x0400 \
+    queue size Default.QUEUE_SIZE \
+    stack size Default.STACK_SIZE \
+    priority 96
+
   # ----------------------------------------------------------------------
   # Queued component instances
   # ----------------------------------------------------------------------
@@ -75,4 +80,5 @@ module BroncoDeployment {
   # Custom Connections
 
   instance broncoOreMessageHandler: Components.BroncoOreMessageHandler base id 0x6000
+  instance gpioDriver: Arduino.GpioDriver base id 0x4C00
 }

BroncoDeployment/Top/topology.fpp

@@ -27,6 +27,7 @@ module BroncoDeployment {
     instance fatalAdapter
     instance fatalHandler
     instance framer
+    instance gpioDriver
     instance rateDriver
     instance rateGroup1
     instance rateGroupDriver
@@ -44,6 +45,7 @@ module BroncoDeployment {
 
     #custom instances
     instance broncoOreMessageHandler 
+    instance watchdog
 
     # ----------------------------------------------------------------------
     # Pattern graph specifiers
@@ -72,6 +74,9 @@ module BroncoDeployment {
       rateGroup1.RateGroupMemberOut[0] -> commDriver.schedIn
       rateGroup1.RateGroupMemberOut[1] -> tlmSend.Run
       rateGroup1.RateGroupMemberOut[2] -> systemResources.run
+
+      # Rate Group 1 (1Hz cycle) ouput is connected to watchdog's run input
+      rateGroup1.RateGroupMemberOut[3] -> watchdog.run
     }
 
     connections FaultProtection {
@@ -107,7 +112,10 @@ module BroncoDeployment {
     connections BroncoDeployment {
       # Add here connections to user-defined components
       broncoOreMessageHandler.send_message -> hub.portIn[0]
-      hub.portOut[0] -> broncoOreMessageHandler.recv_message 
+      hub.portOut[0] -> broncoOreMessageHandler.recv_message
+
+      # watchdog's gpioSet output is connected to gpioDriver's gpioWrite input
+      watchdog.gpioSet -> gpioDriver.gpioWrite
     }
     
     connections HubConnections {

Components/CMakeLists.txt

@@ -4,3 +4,4 @@
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/BroncoOreMessageHandler/")
 
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Radio/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog/")

Components/Watchdog/CMakeLists.txt

@@ -0,0 +1,14 @@
+####
+# F prime CMakeLists.txt:
+#
+# SOURCE_FILES: combined list of source and autocoding files
+# MOD_DEPS: (optional) module dependencies
+# UT_SOURCE_FILES: list of source files for unit tests
+#
+####
+set(SOURCE_FILES
+  "${CMAKE_CURRENT_LIST_DIR}/Watchdog.fpp"
+  "${CMAKE_CURRENT_LIST_DIR}/Watchdog.cpp"
+)
+
+register_fprime_module()

Components/Watchdog/Watchdog.cpp

@@ -0,0 +1,34 @@
+// ======================================================================
+// \title  Watchdog.cpp
+// \author nateinaction
+// \brief  cpp file for Watchdog component implementation class
+// ======================================================================
+
+#include "Components/Watchdog/Watchdog.hpp"
+#include "FpConfig.hpp"
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+Watchdog ::Watchdog(const char* const compName) : WatchdogComponentBase(compName) {}
+
+Watchdog ::~Watchdog() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for user-defined typed input ports
+// ----------------------------------------------------------------------
+
+void Watchdog ::run_handler(NATIVE_INT_TYPE portNum, NATIVE_UINT_TYPE context) {
+    // TODO (nateinaction): Convet this to use the gpio output port when it works...
+    digitalWrite(21, (this->cycle_count % 2) == 0 ? HIGH : LOW);
+
+    this->pet_count += (this->cycle_count % 2) == 0 ? 1 : 0;
+    this->tlmWrite_WatchdogPets(pet_count);
+
+    this->cycle_count += 1;
+}
+
+}  // namespace Components

Components/Watchdog/Watchdog.fpp

@@ -0,0 +1,29 @@
+module Components {
+    @ Petting the Watch Dog to keep the satellite alive.
+    active component Watchdog {
+
+        @ Port receiving calls from the rate group
+        async input port run: Svc.Sched
+
+        @ Port sending calls to the GPIO driver
+        output port gpioSet: Drv.GpioWrite
+
+        @ Telemetry channel to report watchdog pet count.
+        telemetry WatchdogPets: U64
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+    }
+}

Components/Watchdog/Watchdog.hpp

@@ -0,0 +1,47 @@
+// ======================================================================
+// \title  Watchdog.hpp
+// \author nate
+// \brief  hpp file for Watchdog component implementation class
+// ======================================================================
+
+#ifndef Components_Watchdog_HPP
+#define Components_Watchdog_HPP
+
+#include "Components/Watchdog/WatchdogComponentAc.hpp"
+#include <Arduino.h>
+
+namespace Components {
+
+class Watchdog : public WatchdogComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct Watchdog object
+    Watchdog(const char* const compName  //!< The component name
+    );
+
+    //! Destroy Watchdog object
+    ~Watchdog();
+
+  PRIVATE:
+    // ----------------------------------------------------------------------
+    // Handler implementations for user-defined typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for run
+    //!
+    //! Port receiving calls from the rate group
+    void run_handler(NATIVE_INT_TYPE portNum,  //!< The port number
+                     NATIVE_UINT_TYPE context  //!< The call order
+                     ) override;
+
+  PRIVATE:
+    U64 pet_count = 0;
+    U64 cycle_count = 0;
+};
+
+}  // namespace Components
+
+#endif