feat: command watchdog — relays off when the bus goes silent#6
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Implement the disarmed-by-default bus-liveness watchdog (#5) against bread-crumbs-contracts 0.4.5's shared vocabulary, mirroring the Slice_DCMT implementation (feastorg/Slice_DCMT#8): - BREAD_OP_SET_WATCHDOG handler arms/disarms ([timeout_ms:u16], 0 = disarm); firmware boots disarmed unless -DRLHT_WATCHDOG_BOOT_MS is set, so standalone/serial use is unaffected by default. - Liveness stamping: CRUMBS on_message callback, GET_WATCHDOG reply build, and serial CLI commands refresh wdLastRxMs; a valid command frame clears a trip. - watchdogLogic() in the main loop: on expiry, drive both relays LOW and zero setpoints/on-times (same safe-state set as processEStop, estop untouched), latch tripped, bump trip_count; relayControlLogic() holds the e-stop-equivalent safe state while tripped. - BREAD_OP_GET_WATCHDOG reply reports [armed][timeout_ms][tripped][trip_count]; caps now advertise RLHT_CAP_CMD_WATCHDOG (bit 6). - Serial CLI: WDOG=<ms> (0 = off); status output gains WDOG/WDTRIP. Masked windows stay within the short-cli-window discipline (feastorg/Slice_DCMT#3). Builds verified on all four envs. Closes #5
CameronBrooks11
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Jul 18, 2026
RLHT firmware with CMD_WATCHDOG support (feastorg/Slice_RLHT#6) is now flashed on the bench board, so arm it like the dcmt devices (#40).
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Implements #5 against bread-crumbs-contracts 0.4.5, mirroring feastorg/Slice_DCMT#8 — see the commit message for the mechanism. Key layering guarantees: boots disarmed (standalone/serial unaffected), armed only by a controller via
BREAD_OP_SET_WATCHDOG, trip = e-stop-equivalent safe state (relays LOW, setpoints/on-times zeroed) held until fresh traffic,RLHT_CAP_CMD_WATCHDOG(bit 6) advertised for feature detection. The bread provider side (anolishq/anolis-provider-bread#113) works unchanged for RLHT once this is flashed — the helper is type-agnostic via the caps flag. All four PIO envs build against registry 0.4.5. Bench note: no heater is connected on the current bench, so live validation is a relay-click test at most; the DCMT kill-test validates the shared mechanism.