Added the zig_main project to software for zig based implementation of code for robot

software/zig_main/imports/wdt.zig

@@ -0,0 +1,85 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+// ---------------------------------------------------------------------------
+// Type aliases
+// ---------------------------------------------------------------------------
+
+pub const Config = sys.esp_task_wdt_config_t;
+pub const UserHandle = sys.esp_task_wdt_user_handle_t;
+pub const TaskHandle = sys.TaskHandle_t;
+
+// ---------------------------------------------------------------------------
+// Watchdog initialisation
+// ---------------------------------------------------------------------------
+
+/// Initialise the Task Watchdog Timer.
+///
+/// `config.timeout_ms`   — watchdog timeout in milliseconds
+/// `config.idle_core_mask` — bitmask of idle tasks to subscribe (0 = none)
+/// `config.trigger_panic` — whether to trigger a panic on timeout
+pub fn init(config: *const Config) !void {
+    try errors.espCheckError(sys.esp_task_wdt_init(config));
+}
+
+/// Reconfigure a running watchdog (does not reset the timer).
+pub fn reconfigure(config: *const Config) !void {
+    try errors.espCheckError(sys.esp_task_wdt_reconfigure(config));
+}
+
+/// De-initialise the Task Watchdog Timer.
+pub fn deinit() !void {
+    try errors.espCheckError(sys.esp_task_wdt_deinit());
+}
+
+// ---------------------------------------------------------------------------
+// Task subscription
+// ---------------------------------------------------------------------------
+
+/// Subscribe a FreeRTOS task to the watchdog. Pass `null` for the calling task.
+pub fn add(task_handle: TaskHandle) !void {
+    try errors.espCheckError(sys.esp_task_wdt_add(task_handle));
+}
+
+/// Subscribe a named user (not a FreeRTOS task) to the watchdog.
+/// Returns a `UserHandle` for resetting and unsubscribing.
+pub fn addUser(user_name: [*:0]const u8) !UserHandle {
+    var handle: UserHandle = null;
+    try errors.espCheckError(sys.esp_task_wdt_add_user(user_name, &handle));
+    return handle;
+}
+
+/// Unsubscribe a FreeRTOS task from the watchdog.
+pub fn delete(task_handle: TaskHandle) !void {
+    try errors.espCheckError(sys.esp_task_wdt_delete(task_handle));
+}
+
+/// Unsubscribe a user registered with `addUser`.
+pub fn deleteUser(user_handle: UserHandle) !void {
+    try errors.espCheckError(sys.esp_task_wdt_delete_user(user_handle));
+}
+
+// ---------------------------------------------------------------------------
+// Watchdog reset (feed)
+// ---------------------------------------------------------------------------
+
+/// Reset (feed) the watchdog for the calling task.
+/// Call at least once per watchdog period to prevent a timeout.
+pub fn reset() !void {
+    try errors.espCheckError(sys.esp_task_wdt_reset());
+}
+
+/// Reset the watchdog for a named user registered with `addUser`.
+pub fn resetUser(user_handle: UserHandle) !void {
+    try errors.espCheckError(sys.esp_task_wdt_reset_user(user_handle));
+}
+
+// ---------------------------------------------------------------------------
+// Status query
+// ---------------------------------------------------------------------------
+
+/// Returns `ESP_OK` if `task_handle` is subscribed and has recently reset,
+/// or an error if it is overdue or not subscribed.
+pub fn status(task_handle: TaskHandle) !void {
+    try errors.espCheckError(sys.esp_task_wdt_status(task_handle));
+}