// The watchdog table is made up of two arrays, 
// counters are vars and reload values are const.
uint32_t WatchdogTable_Counter[NUM_NORMAL_TASKS] = {0};
const uint32_t WatchdogTable_ReloadValue[NUM_NORMAL_TASKS];

// Watchdog task
void WatchdogTask(void)
{
    for (uint8_t i=0 ; i<NUM_NORMAL_TASKS ; i++)
    {
        // If a counter is zero, that task must have crashed, so reset the system.
        if (WatchdogTable_Counter[i] == 0)
        {
            FORCE_RESET();
        }
        else
        {
            // Otherwise just decrement the counter
            WatchdogTable_Counter[i]--;
        }
    }
    
    // All tasks are still operating if we got to here
    KICK_WATCHDOG;
}

// Kick watchdog function
void KickWatchdog(uint8_t TaskID)
{
    // Reload this task's counter
    WatchdogTable_Counter[TaskID] = WatchdogTable_ReloadValue[TaskID];
}