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fix(watchdog): remove old temp solution when h7 was unstable #142

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Merged
PonomarevDA merged 1 commit into from
Aug 19, 2026
Merged

fix(watchdog): remove old temp solution when h7 was unstable #142

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34 changes: 27 additions & 7 deletions Src/peripheral/iwdg/iwdg_stm32.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,23 +19,43 @@
extern FDCAN_HandleTypeDef hfdcan1;
#endif // FDCAN1

#ifdef FDCAN2
extern FDCAN_HandleTypeDef hfdcan2;
#endif // FDCAN2

#if defined(FDCAN1) || defined(FDCAN2)
static bool is_bus_off(FDCAN_HandleTypeDef& handle) {
FDCAN_ProtocolStatusTypeDef status{};

if (HAL_FDCAN_GetProtocolStatus(&handle, &status) != HAL_OK) {
return true;
}

return status.BusOff != 0U;
}
#endif

namespace HAL {

void Watchdog::refresh() {
#ifdef HAL_IWDG_MODULE_ENABLED
if (reboot_required) {
return;
}
#endif // HAL_IWDG_MODULE_ENABLED

#if defined(HAL_IWDG_MODULE_ENABLED) && defined(STM32H753xx)
HAL_IWDG_Refresh(&IWDG_HANDLE);
#elif defined(HAL_IWDG_MODULE_ENABLED) && defined(FDCAN1)
if (!__HAL_FDCAN_GET_FLAG(&hfdcan1, FDCAN_FLAG_BUS_OFF)) {
bool can_is_healthy = true;

#ifdef FDCAN1
can_is_healthy = can_is_healthy && !is_bus_off(hfdcan1);
#endif

#ifdef FDCAN2
can_is_healthy = can_is_healthy && !is_bus_off(hfdcan2);
#endif

if (can_is_healthy) {
HAL_IWDG_Refresh(&IWDG_HANDLE);
}
#elif defined(HAL_IWDG_MODULE_ENABLED)
HAL_IWDG_Refresh(&IWDG_HANDLE);
#endif // HAL_IWDG_MODULE_ENABLED
}

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