Changes Uploaded during RC8

Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/FswPacket.hpp

@@ -84,12 +84,13 @@ struct FswFileHeader {
     uint8_t totalBlocks;
     uint8_t blockNumber;        // This is 1-indexed, 0-index is optional and contains file-specific metadata
     FileLength_t length;        // This is the size of the following data **not including this header**
-};
+} __attribute__((packed));
 
 struct FswFileMetadata {        // Block 0 of files
     uint16_t callbackId;
     uint32_t timestamp;
-};
+} __attribute__((packed));
+
 
 struct FswFile {
     struct FswFileHeader header;

Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/Version.h

@@ -10,7 +10,7 @@
  *****************************************************************************/
 
 static const unsigned VERSION_MAJOR = 8;    // Version: ++ when drafting a new Release Candidate (for a new upload opportunity)
-static const unsigned VERSION_MINOR = 0;    // Subversion: ++ when a new major feature has been added / made to work
+static const unsigned VERSION_MINOR = 1;    // Subversion: ++ when a new major feature has been added / made to work
 static const unsigned VERSION_REVISION = 0; // Patch: ++ when you make a change and want to reflect that.
 
 #endif // _VERSION_H_

Apps/FlightSoftware/Watchdog/.gitignore

@@ -8,3 +8,4 @@ doc/
 /Debug__opt_for_speed__4/
 /Debug_with_flag/
 /Debug_Radio_Flashing/
+/Debug_Radio_Herc_Flashing/

Apps/FlightSoftware/Watchdog/include/flags.h

@@ -81,13 +81,13 @@ extern "C"
 #define DEFAULT_PWM_LIMIT 9999       // deprecated
 #define DEFAULT_HEATER_SETPOINT 3325 // deprecated
 #define DEFAULT_HEATER_WINDOW 60     // deprecated
-// 3670 is the -5 deg C thermistor voltage ADC reading - heater transitions to ON when T ADC < this value:
-#define DEFAULT_HEATER_ON_VAL 2781
-// 3670 is the 0 deg C thermistor voltage ADC reading - heater transitions to OFF when T ADC > this value:
-#define DEFAULT_HEATER_OFF_VAL 2291
+// 2540 is the 0 deg C thermistor voltage ADC reading - heater transitions to ON when T ADC < this value:
+#define DEFAULT_HEATER_ON_VAL 2540
+// 2042 is the 10 deg C thermistor voltage ADC reading - heater transitions to OFF when T ADC > this value:
+#define DEFAULT_HEATER_OFF_VAL 2040
 #define DEFAULT_HEATING_CONTROL_ENABLED TRUE
 #define DEFAULT_HEATER_DUTY_CYCLE_PERIOD 10000
-#define DEFAULT_HEATER_DUTY_CYCLE 8500
+#define DEFAULT_HEATER_DUTY_CYCLE 9998
 
 #define GENERIC_BIT_INDEX_TO_TYPE_MASK(type, index) (((type)1) << ((type)(index)))
 #define GENERIC_BIT_INDEX_TO_UINT8_MASK(index) GENERIC_BIT_INDEX_TO_TYPE_MASK(uint8_t, index)

Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringService.cpp

@@ -2,6 +2,7 @@
 
 #include <cassert>
 
+#include "comms/debug_comms.h"
 #include "drivers/bsp.h"
 
 namespace iris
@@ -43,6 +44,9 @@ namespace iris
     {
         *(theContext.m_persistentInMission) = false;
 
+        DPRINTF("Defaulting MONITOR_HERCULES to OFF in SERVICE.");
+        theContext.m_watchdogOpts &= ~WDOPT_MONITOR_HERCULES; // don't monitor Hercules for aliveness by default in service
+
         // Enable the falling edge interrupt for WD_INT (should be done after unlocking LOCKLPM5 per slau367p section 12.3.2)
         enableWdIntFallingEdgeInterrupt();
 

Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateInit.cpp

@@ -95,6 +95,13 @@ namespace iris
         DebugComms__tryPrintfToLanderNonblocking("[WARNING] WD SW is in Radio-Programming Mode. This should be changed before flight.\n");
 #endif
 
+#ifdef HERC_PROGRAMMING_MODE
+        // [CWC-03/13/2023] Warn that this is the WRONG version of the SW for Flight and should only be used for hercules programming.
+        // Essentially this is a special version of the SW that disable hercules monitioring by default in mission (instead of enables) so
+        // hercules can be programmed. In flight, though, we want Hercules monitoring to be on by default.
+        DebugComms__tryPrintfToLanderNonblocking("[WARNING] WD SW is in Hercules-Programming Mode. This should be changed before flight.\n");
+#endif
+
         /* set up watchdog */
         watchdog_init(&(theContext.m_watchdogFlags),
                       Time__getPointerToCentisecondCount(),

Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateMission.cpp

@@ -212,6 +212,17 @@ namespace iris
             disableHeater();
         }
 
+#ifdef HERC_PROGRAMMING_MODE
+        // [CWC-03/13/2023] Warn that this is the WRONG version of the SW for Flight and should only be used for hercules programming.
+        // Essentially this is a special version of the SW that disable hercules monitioring by default in mission (instead of enables) so
+        // hercules can be programmed. In flight, though, we want Hercules monitoring to be on by default.
+        DPRINTF("Defaulting MONITOR_HERCULES to OFF in MISSION for programming.");
+        theContext.m_watchdogOpts &= ~WDOPT_MONITOR_HERCULES;
+#else
+        DPRINTF("Defaulting MONITOR_HERCULES to ON in MISSION.");
+        theContext.m_watchdogOpts |= WDOPT_MONITOR_HERCULES; // default to monitoring Hercules for aliveness
+#endif
+
         return getState();
     }
 

Apps/FlightSoftware/Watchdog/src/watchdog.c

@@ -169,6 +169,14 @@ int watchdog_monitor(HerculesComms__State *hState,
     DEBUG_LOG_NULL_CHECK_RETURN(writeIOExpander, "Parameter is NULL", -1);
     DEBUG_LOG_NULL_CHECK_RETURN(details, "Parameter is NULL", -1);
 
+    // Quick and dirty parameters for tuning Hercules Monitoring:
+    // How many consequtive kicks has hercules missed since being reset:
+    static uint8_t herc_conseq_missed_kicks_since_reset = 0;
+    // How many consequtive missed kicks until a reset (testing has shown it has to be at least 2):
+    // -- setting this too low won't give Hercules time to reboot after a crash and reset before
+    // being reset again...
+    static const uint8_t HERC_CONSEQ_MISSED_KICK_THRESHOLD = 3;
+
     /* temporarily disable interrupts */
     __disable_interrupt();
 
@@ -206,6 +214,7 @@ int watchdog_monitor(HerculesComms__State *hState,
         *watchdogFlags ^= WDFLAG_UNRESET_HERCULES;
         *writeIOExpander = TRUE;
         SET_RABI_IN_UINT(details->m_resetActionBits, RABI__HERCULES_UNRESET);
+        DPRINTF("Unreset Hercules.");
     }
 
     /* unreset motor 1 */
@@ -276,29 +285,42 @@ int watchdog_monitor(HerculesComms__State *hState,
     if (*watchdogFlags & WDFLAG_HERCULES_KICK)
     {
         *watchdogFlags ^= WDFLAG_HERCULES_KICK;
+        herc_conseq_missed_kicks_since_reset = 0;
+        // Let Ground know Hercules is still alive
+        // (if Hercules was rebooted while our comms were only over Wifi,
+        // we wouldn't know when it would be good to send SWITCH TO WIFI MODE).
+        DPRINTF("Hercules Alive.");
     }
     else
     {
         if (*watchdogOpts & WDOPT_MONITOR_HERCULES)
         {
-            // reset the hercules
-            setHerculesReset();
-
-            SET_RABI_IN_UINT(details->m_resetActionBits, RABI__HERCULES_WATCHDOG_RESET);
-
-            // Set the flag so that the next time this function triggers, the Hercules will be un-reset
-            *watchdogFlags |= WDFLAG_UNRESET_HERCULES;
-
-            // if the issue was due to a comms breakdown, reset the comms state
-            if (NULL != hState)
-            {
-                HerculesComms__Status hcStatus = HerculesComms__resetState(hState);
-
-                //!< @todo Replace with returning watchdog error code once that is implemented.
-                DEBUG_ASSERT_EQUAL(HERCULES_COMMS__STATUS__SUCCESS, hcStatus);
+            // Only inc. counter if Herc is being monitored.
+            herc_conseq_missed_kicks_since_reset += 1;
+            DPRINTF("Hercules Unresponsive.");
+            // Only reset if counter too big:
+            if(herc_conseq_missed_kicks_since_reset >= HERC_CONSEQ_MISSED_KICK_THRESHOLD){
+                // reset the hercules
+                DPRINTF("No Hercules Kick. Resetting Hercules . . .");
+                herc_conseq_missed_kicks_since_reset = 0;
+                setHerculesReset();
+
+                // queue up hercules unreset
+                *watchdogFlags |= WDFLAG_UNRESET_HERCULES;
+                SET_RABI_IN_UINT(details->m_resetActionBits, RABI__HERCULES_WATCHDOG_RESET);
+
+                // if the issue was due to a comms breakdown, reset the comms state
+                if (NULL != hState)
+                {
+                    DPRINTF("\t Resetting Hercules Comms . . .");
+                    HerculesComms__Status hcStatus = HerculesComms__resetState(hState);
+
+                    //!< @todo Replace with returning watchdog error code once that is implemented.
+                    DEBUG_ASSERT_EQUAL(HERCULES_COMMS__STATUS__SUCCESS, hcStatus);
+                }
+
+                *writeIOExpander = TRUE;
             }
-
-            *writeIOExpander = TRUE;
         }
         else
         {