void IWD_Init(void)
{
    IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);

    IWDG_SetPrescaler(IWDG_Prescaler_16);

    IWDG_SetReload(0xFFF);

    IWDG_ReloadCounter();

     IWDG_Enable();
}

int main(void)
{
  
  GlobalInit();
  UsartSendString("Start\r");
  while(1)
  {
    
    switch(mot_state)
   {
      //some code
    }

     while(1)
    {
          //zaglushka
     }

    if(rx_command_recieved)
    {
        //some code
    }

     IWDG_SetReload(0xFFF);
    IWDG_ReloadCounter();
  }