robobuggy / arduino / RadioBuggyMega / watchdog.c @ e775590e
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1 | e775590e | unknown | /* Watchdog Library. Woof! woof!
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2 | * Cats beware! Meow.
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3 | *
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4 | * The watchdog library checks everytime its called how long time has passed
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5 | * between change in signals. If the time passed between signals is more than
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6 | * the threshold initialized in the begining, it enters the fail case. In the case
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7 | * of buggy, it drops the brakes.
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8 | *
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9 | * The watchdog can be fed, preferably with a bone, everytime a signal is made.
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10 | * ie. rc_available is true. If the dog has been fed recently, then the time last fed
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11 | * is reset to the current time.
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12 | *
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13 | * @author: Audrey Yeoh (ayeoh)
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14 | *
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15 | */
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16 | |||
17 | #include <Arduino.h> |
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18 | #include "watchdog.h" |
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19 | |||
20 | static fail_function_ptr fail_mode = NULL; |
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21 | static unsigned long time; |
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22 | static int thresh; |
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23 | |||
24 | /* Initializes the watchdog.
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25 | * Sets the threshold of the maximum time to wait for a new signal
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26 | * Sets the fail case function if the time passed between signals is more
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27 | * than the threshold.
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28 | */
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29 | void watchdog_init(int timeThresh, fail_function_ptr f ){ |
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30 | thresh = timeThresh; |
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31 | fail_mode = f; |
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32 | time = 0;
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33 | } |
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34 | |||
35 | void watchdog_feed(){
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36 | time = millis(); |
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37 | } |
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38 | |||
39 | void watchdog_loop(){
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40 | if(millis() - time > thresh){
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41 | fail_mode(); |
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42 | } |
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43 | } |