Reenable watchdogs on Quadruna (#1274)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->

Re-enable all watchdogs on Quadruna.

### Testing Done
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->

Tested on all boards (except the BMS since it's not in the car).

firmware/quadruna/BMS/src/cubemx/BMS.ioc

@@ -78,21 +78,22 @@ Mcu.CPN=STM32H733VGT6
 Mcu.Family=STM32H7
 Mcu.IP0=ADC1
 Mcu.IP1=CORTEX_M7
-Mcu.IP10=SPI2
-Mcu.IP11=SYS
-Mcu.IP12=TIM1
-Mcu.IP13=TIM3
-Mcu.IP14=TIM15
-Mcu.IP15=USART1
+Mcu.IP10=SDMMC1
+Mcu.IP11=SPI2
+Mcu.IP12=SYS
+Mcu.IP13=TIM1
+Mcu.IP14=TIM3
+Mcu.IP15=TIM15
+Mcu.IP16=USART1
 Mcu.IP2=CRC
 Mcu.IP3=DEBUG
 Mcu.IP4=DMA
 Mcu.IP5=FDCAN1
 Mcu.IP6=FREERTOS
-Mcu.IP7=NVIC
-Mcu.IP8=RCC
-Mcu.IP9=SDMMC1
-Mcu.IPNb=16
+Mcu.IP7=IWDG1
+Mcu.IP8=NVIC
+Mcu.IP9=RCC
+Mcu.IPNb=17
 Mcu.Name=STM32H733VGTx
 Mcu.Package=LQFP100
 Mcu.Pin0=PC13
@@ -142,15 +143,16 @@ Mcu.Pin48=PB9
 Mcu.Pin49=VP_CRC_VS_CRC
 Mcu.Pin5=PC2_C
 Mcu.Pin50=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin51=VP_SYS_VS_Systick
-Mcu.Pin52=VP_TIM1_VS_ControllerModeReset
-Mcu.Pin53=VP_TIM1_VS_indirect_ch1
-Mcu.Pin54=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin51=VP_IWDG1_VS_IWDG
+Mcu.Pin52=VP_SYS_VS_Systick
+Mcu.Pin53=VP_TIM1_VS_ControllerModeReset
+Mcu.Pin54=VP_TIM1_VS_indirect_ch1
+Mcu.Pin55=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin6=PC3_C
 Mcu.Pin7=PA0
 Mcu.Pin8=PA1
 Mcu.Pin9=PA2
-Mcu.PinsNb=55
+Mcu.PinsNb=56
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=TIM3_PRESCALER,8;ADC_FREQUENCY,1000;TIM1_AUTO_RELOAD_REG,0xFFFF;TIMx_FREQUENCY,512000000;IWDG_RESET_FREQUENCY,5;TASK1KHZ_STACK_SIZE,512;TIM1_FREQUENCY,512000000;TASK100HZ_STACK_SIZE,512;TASK1HZ_STACK_SIZE,512;IWDG_WINDOW_DISABLE_VALUE,4095;IWDG_PRESCALER,4;TASKCANRX_STACK_SIZE,512;TIM1_PWM_MIN_FREQUENCY,1;LSI_FREQUENCY,32000;TIM1_PRESCALER,(TIM1_FREQUENCY / TIM1_AUTO_RELOAD_REG / TIM1_PWM_MIN_FREQUENCY)
 Mcu.UserName=STM32H733VGTx
@@ -542,6 +544,8 @@ VP_CRC_VS_CRC.Mode=CRC_Activate
 VP_CRC_VS_CRC.Signal=CRC_VS_CRC
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
+VP_IWDG1_VS_IWDG.Mode=IWDG_Activate
+VP_IWDG1_VS_IWDG.Signal=IWDG1_VS_IWDG
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ControllerModeReset.Mode=Reset Mode

firmware/quadruna/BMS/src/cubemx/BMS.ioc.md5

@@ -1 +1 @@
-ca949076cacb016039ceb7e66cb2b925
+e19d30cabbe9e6c882e0f72a8cdbdcd7

firmware/quadruna/BMS/src/cubemx/Inc/stm32h7xx_hal_conf.h

@@ -63,7 +63,7 @@ extern "C"
 /* #define HAL_OSPI_MODULE_ENABLED   */
 /* #define HAL_I2S_MODULE_ENABLED   */
 /* #define HAL_SMBUS_MODULE_ENABLED   */
-/* #define HAL_IWDG_MODULE_ENABLED   */
+#define HAL_IWDG_MODULE_ENABLED
 /* #define HAL_LPTIM_MODULE_ENABLED   */
 /* #define HAL_LTDC_MODULE_ENABLED   */
 /* #define HAL_QSPI_MODULE_ENABLED   */

firmware/quadruna/BMS/src/cubemx/Src/main.c

@@ -58,6 +58,8 @@ CRC_HandleTypeDef hcrc;
 
 FDCAN_HandleTypeDef hfdcan1;
 
+IWDG_HandleTypeDef hiwdg1;
+
 SD_HandleTypeDef hsd1;
 
 SPI_HandleTypeDef hspi2;
@@ -150,6 +152,7 @@ static void MX_USART1_UART_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_SDMMC1_SD_Init(void);
 static void MX_CRC_Init(void);
+static void MX_IWDG1_Init(void);
 void        RunTask100Hz(void *argument);
 void        RunTaskCanRx(void *argument);
 void        RunTaskCanTx(void *argument);
@@ -200,6 +203,7 @@ int main(void)
     MX_TIM3_Init();
     MX_SDMMC1_SD_Init();
     MX_CRC_Init();
+    MX_IWDG1_Init();
     /* USER CODE BEGIN 2 */
     tasks_init();
     /* USER CODE END 2 */
@@ -286,8 +290,9 @@ void SystemClock_Config(void)
     /** Initializes the RCC Oscillators according to the specified parameters
      * in the RCC_OscInitTypeDef structure.
      */
-    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI | RCC_OSCILLATORTYPE_HSE;
     RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
+    RCC_OscInitStruct.LSIState       = RCC_LSI_ON;
     RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
     RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
     RCC_OscInitStruct.PLL.PLLM       = 1;
@@ -504,6 +509,33 @@ static void MX_FDCAN1_Init(void)
     /* USER CODE END FDCAN1_Init 2 */
 }
 
+/**
+ * @brief IWDG1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_IWDG1_Init(void)
+{
+    /* USER CODE BEGIN IWDG1_Init 0 */
+
+    /* USER CODE END IWDG1_Init 0 */
+
+    /* USER CODE BEGIN IWDG1_Init 1 */
+
+    /* USER CODE END IWDG1_Init 1 */
+    hiwdg1.Instance       = IWDG1;
+    hiwdg1.Init.Prescaler = IWDG_PRESCALER_4;
+    hiwdg1.Init.Window    = 4095;
+    hiwdg1.Init.Reload    = 4095;
+    if (HAL_IWDG_Init(&hiwdg1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN IWDG1_Init 2 */
+
+    /* USER CODE END IWDG1_Init 2 */
+}
+
 /**
  * @brief SDMMC1 Initialization Function
  * @param None

firmware/quadruna/BMS/src/hw/hw_watchdogConfig.c

@@ -6,11 +6,11 @@
 #include "io_canTx.h"
 #include "hw_utils.h"
 
-// extern IWDG_HandleTypeDef hiwdg1;
+extern IWDG_HandleTypeDef hiwdg1;
 
 void hw_watchdogConfig_refresh(void)
 {
-    // HAL_IWDG_Refresh(&hiwdg1);
+    HAL_IWDG_Refresh(&hiwdg1);
 }
 
 void hw_watchdogConfig_timeoutCallback(WatchdogHandle *watchdog)

firmware/quadruna/BMS/src/tasks.c

@@ -51,14 +51,13 @@
 
 extern ADC_HandleTypeDef   hadc1;
 extern FDCAN_HandleTypeDef hfdcan1;
-// extern IWDG_HandleTypeDef  hiwdg; // TODO: Re-enable watchdog.
-extern SPI_HandleTypeDef  hspi2;
-extern TIM_HandleTypeDef  htim1;
-extern TIM_HandleTypeDef  htim3;
-extern TIM_HandleTypeDef  htim15;
-extern UART_HandleTypeDef huart1;
-extern SD_HandleTypeDef   hsd1;
-extern CRC_HandleTypeDef  hcrc;
+extern SPI_HandleTypeDef   hspi2;
+extern TIM_HandleTypeDef   htim1;
+extern TIM_HandleTypeDef   htim3;
+extern TIM_HandleTypeDef   htim15;
+extern UART_HandleTypeDef  huart1;
+extern SD_HandleTypeDef    hsd1;
+extern CRC_HandleTypeDef   hcrc;
 
 static void canRxQueueOverflowCallBack(uint32_t overflow_count)
 {
@@ -180,7 +179,6 @@ static const AirsConfig airs_config = { .air_p_gpio = {
                                    }
 };
 
-// TODO: Test differential ADC for voltage measurement
 static const TractiveSystemConfig ts_config = { .ts_vsense_channel_P        = ADC1_IN10_TS_VSENSE_P,
                                                 .ts_vsense_channel_N        = ADC1_IN11_TS_VSENSE_N,
                                                 .ts_isense_high_res_channel = ADC1_IN5_TS_ISENSE_75A,
@@ -451,9 +449,7 @@ _Noreturn void tasks_run1kHz(void)
     for (;;)
     {
         // Check in for timeouts for all RTOS tasks
-
-        // TODO: Re-enable watchdog after investigating failure
-        // hw_watchdog_checkForTimeouts();
+        hw_watchdog_checkForTimeouts();
 
         const uint32_t task_start_ms = TICK_TO_MS(osKernelGetTickCount());
         io_canTx_enqueueOtherPeriodicMsgs(task_start_ms);

firmware/quadruna/CRIT/src/cubemx/CRIT.ioc

@@ -42,19 +42,22 @@ FREERTOS.Tasks01=Task1kHz,48,512,StartTask1kHz,Default,NULL,Static,Task1kHzBuffe
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
+IWDG.IPParameters=Reload
+IWDG.Reload=LSI_FREQUENCY /  IWDG_PRESCALER / IWDG_RESET_FREQUENCY
 KeepUserPlacement=false
 Mcu.CPN=STM32F412RGT6
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
 Mcu.IP1=CAN1
 Mcu.IP2=DMA
 Mcu.IP3=FREERTOS
-Mcu.IP4=NVIC
-Mcu.IP5=RCC
-Mcu.IP6=SYS
-Mcu.IP7=TIM3
-Mcu.IP8=USART2
-Mcu.IPNb=9
+Mcu.IP4=IWDG
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=SYS
+Mcu.IP8=TIM3
+Mcu.IP9=USART2
+Mcu.IPNb=10
 Mcu.Name=STM32F412R(E-G)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13
@@ -101,16 +104,17 @@ Mcu.Pin45=PB7
 Mcu.Pin46=PB8
 Mcu.Pin47=PB9
 Mcu.Pin48=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin49=VP_SYS_VS_tim6
+Mcu.Pin49=VP_IWDG_VS_IWDG
 Mcu.Pin5=PC1
-Mcu.Pin50=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin50=VP_SYS_VS_tim6
+Mcu.Pin51=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin6=PC2
 Mcu.Pin7=PC3
 Mcu.Pin8=PA0
 Mcu.Pin9=PA1
-Mcu.PinsNb=51
+Mcu.PinsNb=52
 Mcu.ThirdPartyNb=0
-Mcu.UserConstants=TASK_100HZ_STACK_SIZE,512;TASK_CANRX_STACK_SIZE,512;TASK_CANTX_STACK_SIZE,512;TIM12_PWM_MINIMUM_FREQUENCY,1;IDWG_RESET_FREQUENCY,5;TIMx_FREQUENCY,96000000;TIM12_PRESCALER,(TIMx_FREQUENCY / TIM12_AUTO_RELOAD_REG / TIM12_PWM_MINIMUM_FREQUENCY);TASK_1HZ_STACK_SIZE,512;TASK_1KHZ_STACK_SIZE,512;TIM12_AUTO_RELOAD_REG,0xFFFF;IWDG_PRESCALER,4;IWDG_WINDOW_DISABLE_VALUE,4095;LSI_FREQUENCY,32000;TIM3_PRESCALER,8;ADC_FREQUENCY,1000
+Mcu.UserConstants=TASK_100HZ_STACK_SIZE,512;TASK_CANRX_STACK_SIZE,512;TASK_CANTX_STACK_SIZE,512;TIM3_PRESCALER,8;TIM12_PWM_MINIMUM_FREQUENCY,1;IWDG_RESET_FREQUENCY,5;ADC_FREQUENCY,1000;TIMx_FREQUENCY,96000000;TIM12_PRESCALER,(TIMx_FREQUENCY / TIM12_AUTO_RELOAD_REG / TIM12_PWM_MINIMUM_FREQUENCY);TASK_1HZ_STACK_SIZE,512;TASK_1KHZ_STACK_SIZE,512;TIM12_AUTO_RELOAD_REG,0xFFFF;IWDG_PRESCALER,4;LSI_FREQUENCY,32000
 Mcu.UserName=STM32F412RGTx
 MxCube.Version=6.9.2
 MxDb.Version=DB.6.0.92
@@ -355,7 +359,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_IWDG_Init-IWDG-false-HAL-true
 RCC.AHBFreq_Value=96000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=48000000
@@ -405,6 +409,8 @@ USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
+VP_IWDG_VS_IWDG.Mode=IWDG_Activate
+VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_SYS_VS_tim6.Mode=TIM6
 VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 VP_TIM3_VS_ClockSourceINT.Mode=Internal

firmware/quadruna/CRIT/src/cubemx/CRIT.ioc.md5

@@ -1 +1 @@
-f66dd413a25eae33438e59d6817c3f06
+9f9ba4ceab1fab48c4463e02aa002734

firmware/quadruna/CRIT/src/cubemx/Inc/main.h

@@ -61,18 +61,17 @@ extern "C"
 #define TASK_100HZ_STACK_SIZE 512
 #define TASK_CANRX_STACK_SIZE 512
 #define TASK_CANTX_STACK_SIZE 512
+#define TIM3_PRESCALER 8
 #define TIM12_PWM_MINIMUM_FREQUENCY 1
-#define IDWG_RESET_FREQUENCY 5
+#define IWDG_RESET_FREQUENCY 5
+#define ADC_FREQUENCY 1000
 #define TIMx_FREQUENCY 96000000
 #define TIM12_PRESCALER (TIMx_FREQUENCY / TIM12_AUTO_RELOAD_REG / TIM12_PWM_MINIMUM_FREQUENCY)
 #define TASK_1HZ_STACK_SIZE 512
 #define TASK_1KHZ_STACK_SIZE 512
 #define TIM12_AUTO_RELOAD_REG 0xFFFF
 #define IWDG_PRESCALER 4
-#define IWDG_WINDOW_DISABLE_VALUE 4095
 #define LSI_FREQUENCY 32000
-#define TIM3_PRESCALER 8
-#define ADC_FREQUENCY 1000
 #define NDRIVE_MODE_1b_Pin GPIO_PIN_13
 #define NDRIVE_MODE_1b_GPIO_Port GPIOC
 #define NCHIMERA_Pin GPIO_PIN_15

firmware/quadruna/CRIT/src/cubemx/Inc/stm32f4xx_hal_conf.h

@@ -56,7 +56,7 @@ extern "C"
 /* #define HAL_HASH_MODULE_ENABLED */
 /* #define HAL_I2C_MODULE_ENABLED */
 /* #define HAL_I2S_MODULE_ENABLED */
-/* #define HAL_IWDG_MODULE_ENABLED */
+#define HAL_IWDG_MODULE_ENABLED
 /* #define HAL_LTDC_MODULE_ENABLED */
 /* #define HAL_RNG_MODULE_ENABLED */
 /* #define HAL_RTC_MODULE_ENABLED */

firmware/quadruna/CRIT/src/cubemx/Src/main.c

@@ -48,6 +48,8 @@ DMA_HandleTypeDef hdma_adc1;
 
 CAN_HandleTypeDef hcan1;
 
+IWDG_HandleTypeDef hiwdg;
+
 TIM_HandleTypeDef htim3;
 
 UART_HandleTypeDef huart2;
@@ -124,6 +126,7 @@ static void MX_ADC1_Init(void);
 static void MX_CAN1_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_USART2_UART_Init(void);
+static void MX_IWDG_Init(void);
 void        StartTask1kHz(void *argument);
 void        RunTask100Hz(void *argument);
 void        RunTaskCanRx(void *argument);
@@ -171,6 +174,7 @@ int main(void)
     MX_CAN1_Init();
     MX_TIM3_Init();
     MX_USART2_UART_Init();
+    MX_IWDG_Init();
     /* USER CODE BEGIN 2 */
     tasks_init();
     /* USER CODE END 2 */
@@ -250,8 +254,9 @@ void SystemClock_Config(void)
     /** Initializes the RCC Oscillators according to the specified parameters
      * in the RCC_OscInitTypeDef structure.
      */
-    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI | RCC_OSCILLATORTYPE_HSE;
     RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
+    RCC_OscInitStruct.LSIState       = RCC_LSI_ON;
     RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
     RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
     RCC_OscInitStruct.PLL.PLLM       = 8;
@@ -363,6 +368,32 @@ static void MX_CAN1_Init(void)
     /* USER CODE END CAN1_Init 2 */
 }
 
+/**
+ * @brief IWDG Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_IWDG_Init(void)
+{
+    /* USER CODE BEGIN IWDG_Init 0 */
+
+    /* USER CODE END IWDG_Init 0 */
+
+    /* USER CODE BEGIN IWDG_Init 1 */
+
+    /* USER CODE END IWDG_Init 1 */
+    hiwdg.Instance       = IWDG;
+    hiwdg.Init.Prescaler = IWDG_PRESCALER_4;
+    hiwdg.Init.Reload    = LSI_FREQUENCY / IWDG_PRESCALER / IWDG_RESET_FREQUENCY;
+    if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN IWDG_Init 2 */
+
+    /* USER CODE END IWDG_Init 2 */
+}
+
 /**
  * @brief TIM3 Initialization Function
  * @param None

firmware/quadruna/CRIT/src/hw/hw_watchdogConfig.c

@@ -6,12 +6,11 @@
 #include "io_canTx.h"
 #include "hw_utils.h"
 
-// TODO: Re-enable watchdog.
-// extern IWDG_HandleTypeDef hiwdg;
+extern IWDG_HandleTypeDef hiwdg;
 
 void hw_watchdogConfig_refresh(void)
 {
-    // HAL_IWDG_Refresh(&hiwdg);
+    HAL_IWDG_Refresh(&hiwdg);
 }
 
 void hw_watchdogConfig_timeoutCallback(WatchdogHandle *watchdog)