From 60fba110ffcc9484f6bfcf2d0f5af646b6e9a76a Mon Sep 17 00:00:00 2001
From: Stepan Usatiuk <stepanusatiuk@gmail.com>
Date: Thu, 19 Mar 2020 14:26:47 +0300
Subject: [PATCH] [AVR] use a watchdog to keep this thing from freezing

---
 Firmware/MotorControl/src/main.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index 5798084..ac17ac3 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -1,6 +1,7 @@
 #include <Arduino.h>
 #include <Servo.h>
 #include <Wire.h>
+#include <avr/wdt.h>
 #include <util/atomic.h>
 #include "Config.h"
 #include "Globals.h"
@@ -72,6 +73,8 @@ void requestEvent() {
 
     sts.toBytes(txBuffer);
     Wire.write(txBuffer, i2cStsBytes);
+
+    wdt_reset();
 }
 
 void execCommand(Command cmd) {
@@ -126,7 +129,7 @@ void setup() {
     OCR2A = 250;
     TCCR2A |= (1 << WGM20) | (1 << CS22);
     TIMSK2 |= (1 << OCIE2A);
-}
+    wdt_enable(WDTO_8S);}
 
 volatile unsigned int tick = 0;
 volatile bool armed = false;