bsp_q7s/core/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp
+                                    XiphosWdtHandler.cpp)

bsp_q7s/core/XiphosWdtHandler.cpp

@@ -0,0 +1,39 @@
+#include "XiphosWdtHandler.h"
+
+XiphosWdtHandler::XiphosWdtHandler(object_id_t objectId) : SystemObject(objectId) {}
+
+ReturnValue_t XiphosWdtHandler::initialize() {
+  int result = xsc_watchdog_init(&wdtHandle);
+  if (result != 0) {
+    sif::error << "XiphosWdtHandler: Initiating watchdog failed with code " << result << ": "
+               << strerror(result) << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  if (wdtHandle == nullptr) {
+    sif::error << "XiphosWdtHandler: WDT handle is nullptr!" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = xsc_watchdog_set_timeout(wdtHandle, timeoutSeconds);
+  if (result != 0) {
+    sif::error << "XiphosWdtHandler: Setting WDT timeout of " << timeoutSeconds
+               << " seconds failed with code " << result << ": " << strerror(result) << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = xsc_watchdog_enable(wdtHandle);
+  if (result != 0) {
+    sif::error << "XiphosWdtHandler: Enabling WDT failed with code " << result << ": "
+               << strerror(result) << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t XiphosWdtHandler::performOperation(uint8_t opCode) {
+  int result = xsc_watchdog_keepalive(wdtHandle);
+  if (result != 0) {
+    sif::warning << "XiphosWdtHandler: Feeding WDT failed with code " << result << ": "
+                 << strerror(result) << std::endl;
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}

bsp_q7s/core/XiphosWdtHandler.h

@@ -0,0 +1,22 @@
+#ifndef BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_
+#define BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <libxiphos.h>
+
+class XiphosWdtHandler : public SystemObject, public ExecutableObjectIF {
+ public:
+  XiphosWdtHandler(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  // Timeout duration range specified by Xiphos: 0.001 seconds to 171 seconds. The libxiphos API
+  // expects an int, so I guess this translates to 1 to 171 seconds.
+  uint32_t timeoutSeconds = 60;
+  struct watchdog_s* wdtHandle = nullptr;
+};
+
+#endif /* BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_ */

bsp_q7s/em/emObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/core/XiphosWdtHandler.h>
 #include <bsp_q7s/objectFactory.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/PcduHandlerDummy.h>
@@ -37,6 +38,7 @@ void ObjectFactory::produce(void* args) {
 
   PersistentTmStores stores;
   readFirmwareVersion();
+  new XiphosWdtHandler(objects::XIPHOS_WDT);
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
                                        *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
                                        enableHkSets);

bsp_q7s/fmObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/core/XiphosWdtHandler.h>
 #include <bsp_q7s/objectFactory.h>
 #include <devices/gpioIds.h>
 #include <fsfw/storagemanager/LocalPool.h>
@@ -34,6 +35,7 @@ void ObjectFactory::produce(void* args) {
 
   PersistentTmStores stores;
   readFirmwareVersion();
+  new XiphosWdtHandler(objects::XIPHOS_WDT);
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
                                        *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
                                        true);

bsp_q7s/scheduling.cpp

@@ -82,6 +82,14 @@ void scheduling::initTasks() {
   }
 #endif
 
+  PeriodicTaskIF* xiphosWdtTask =
+      factory->createPeriodicTask("XIPHOS_WDT", 90, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = xiphosWdtTask->addComponent(objects::XIPHOS_WDT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("XIPHOS_WDT", objects::XIPHOS_WDT);
+  }
+
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
       "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
@@ -410,6 +418,7 @@ void scheduling::initTasks() {
   };
 
   sif::info << "Starting tasks.." << std::endl;
+  xiphosWdtTask->startTask();
   tmTcDistributor->startTask();
 
 #if OBSW_ADD_TCPIP_SERVERS == 1

common/config/eive/objects.h

@@ -26,6 +26,7 @@ enum commonObjects : uint32_t {
   THERMAL_CONTROLLER = 0x43400001,
   ACS_CONTROLLER = 0x43000002,
   CORE_CONTROLLER = 0x43000003,
+  XIPHOS_WDT = 0x43000004,
   GLOBAL_JSON_CFG = 0x43000006,
 
   /* 0x44 ('D') for device handlers */

tmtc

@@ -1 +1 @@
-Subproject commit 22a42108b431bafa707de2b3a24cad9de95b70d0
+Subproject commit 783bdd297a931a96c8b077ec2c2456a203b23ffc