add flex stacker reset reason

stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c

@@ -26,6 +26,39 @@ extern "C" {
 TIM_HandleTypeDef htim17;
 TIM_HandleTypeDef htim20;
 TIM_HandleTypeDef htim3;
+uint16_t reset_reason;
+
+enum RCC_FLAGS {
+    _NONE,
+    // high speed internal clock ready
+    HSIRDY, // = 1
+    // high speed external clock ready
+    HSERDY, // = 2
+    // main phase-locked loop clock ready
+    PLLRDY, // = 3
+    // hsi48 clock ready
+    HSI48RDY, // = 4
+    // low-speed external clock ready
+    LSERDY, // = 5
+    // lse clock security system failure
+    LSECSSD, // = 6
+    // low-speed internal clock ready
+    LSIRDY, // = 7
+    // brown out
+    BORRST, // = 8
+    // option byte-loader reset
+    OBLRST, // = 9
+    // pin reset
+    PINRST, // = 10
+    // software reset
+    SFTRST, // = 11
+    // independent watchdog
+    IWDGRST, // = 12
+    // window watchdog
+    WWDGRST, // = 13
+    // low power reset
+    LPWRRST, // = 14
+};
 
 typedef struct PinConfig {
     void* port;
@@ -300,7 +333,75 @@ void tim3_init(TIM_HandleTypeDef* htim) {
     HAL_NVIC_EnableIRQ(TIM3_IRQn);
 }
 
+static void save_reset_reason() {
+    // check various reset flags to see if the HAL RCC
+    // reset flag matches any of them
+    reset_reason = 0;
+
+    // high speed internal clock ready
+    if (__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY)) {
+        reset_reason |= HSIRDY;
+    }
+    // high speed external clock ready
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY)) {
+        reset_reason |= HSERDY;
+    }
+    // main phase-locked loop clock ready
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY)) {
+        reset_reason |= PLLRDY;
+    }
+    // hsi48 clock ready
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY)) {
+        reset_reason |= HSI48RDY;
+    }
+    // low-speed external clock ready
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY)) {
+        reset_reason |= LSERDY;
+    }
+    // lse clock security system failure
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY)) {
+        reset_reason |= LSECSSD;
+    }
+    // low-speed internal clock ready
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_LSIRDY)) {
+        reset_reason |= LSIRDY;
+    }
+    // brown out
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_PORRST)) {
+        reset_reason |= BORRST;
+    }
+    // option byte-loader reset
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_OBLRST)) {
+        reset_reason |= OBLRST;
+    }
+    // pin reset
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_PINRST)) {
+        reset_reason |= PINRST;
+    }
+    // software reset
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST)) {
+        reset_reason |= SFTRST;
+    }
+    // independent watchdog
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)) {
+        reset_reason |= IWDGRST;
+    }
+    // window watchdog
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_WWDGRST)) {
+        reset_reason |= WWDGRST;
+    }
+    // low power reset
+    else if (__HAL_RCC_GET_FLAG(RCC_FLAG_LPWRRST)) {
+        reset_reason |= LPWRRST;
+    }
+}
+
+uint16_t motor_hardware_reset_reason() {
+    return reset_reason;
+}
+
 void motor_hardware_init(void){
+    save_reset_reason();
     if (!_motor_hardware.initialized) {
         motor_hardware_gpio_init();
         tim17_init(&_motor_hardware.motor_x.timer);

stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp

@@ -58,4 +58,9 @@ auto MotorPolicy::is_diag0_pin(uint16_t pin) -> bool {
 // NOLINTNEXTLINE(readability-convert-member-functions-to-static)
 auto MotorPolicy::is_estop_pin(uint16_t pin) -> bool {
     return hw_is_estop_pin(pin);
+}
+
+// NOLINTNEXTLINE(readability-convert-member-functions-to-static)
+auto MotorPolicy::last_reset_reason() const -> uint16_t {
+    return motor_hardware_reset_reason();
 }

stm32-modules/include/flex-stacker/firmware/motor_hardware.h

@@ -26,6 +26,7 @@ bool hw_read_platform_sensor(bool direction);
 bool hw_read_estop(void);
 bool hw_is_diag0_pin(uint16_t pin);
 bool hw_is_estop_pin(uint16_t pin);
+uint16_t motor_hardware_reset_reason();
 
 #ifdef __cplusplus
 }  // extern "C"

stm32-modules/include/flex-stacker/firmware/motor_policy.hpp

@@ -20,6 +20,7 @@ class MotorPolicy {
     auto check_estop() -> bool;
     auto is_diag0_pin(uint16_t pin) -> bool;
     auto is_estop_pin(uint16_t pin) -> bool;
+    [[nodiscard]] auto last_reset_reason() const -> uint16_t;
 };
 
 }  // namespace motor_policy

stm32-modules/include/flex-stacker/flex-stacker/gcodes.hpp

@@ -142,6 +142,44 @@ struct GetSystemInfo {
     }
 };
 
+struct GetResetReason {
+    /*
+     * M114- GetResetReason retrieves the value of the RCC reset flag
+     * that was captured at the beginning of the hardware setup
+     * */
+    using ParseResult = std::optional<GetResetReason>;
+    static constexpr auto prefix = std::array{'M', '1', '1', '4'};
+
+    template <typename InputIt, typename InLimit>
+    requires std::forward_iterator<InputIt> &&
+        std::sized_sentinel_for<InputIt, InLimit>
+    static auto write_response_into(InputIt buf, InLimit limit, uint16_t reason)
+        -> InputIt {
+        int res = 0;
+        // print a hexadecimal representation of the reset flags
+        res = snprintf(&*buf, (limit - buf), "M114 Last Reset Reason: %X OK\n",
+                       reason);
+        if (res <= 0) {
+            return buf;
+        }
+        return buf + res;
+    }
+    template <typename InputIt, typename Limit>
+    requires std::forward_iterator<InputIt> &&
+        std::sized_sentinel_for<Limit, InputIt>
+    static auto parse(const InputIt& input, Limit limit)
+        -> std::pair<ParseResult, InputIt> {
+        auto working = prefix_matches(input, limit, prefix);
+        if (working == input) {
+            return std::make_pair(ParseResult(), input);
+        }
+        if (working != limit && !std::isspace(*working)) {
+            return std::make_pair(ParseResult(), input);
+        }
+        return std::make_pair(ParseResult(GetResetReason()), working);
+    }
+};
+
 struct SetSerialNumber {
     using ParseResult = std::optional<SetSerialNumber>;
     static constexpr auto prefix = std::array{'M', '9', '9', '6'};

stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp

@@ -48,7 +48,7 @@ class HostCommsTask {
         gcode::GetLimitSwitches, gcode::SetMicrosteps, gcode::GetMoveParams,
         gcode::SetMotorStallGuard, gcode::GetMotorStallGuard, gcode::HomeMotor,
         gcode::GetPlatformSensors, gcode::GetDoorClosed, gcode::GetEstopStatus,
-        gcode::StopMotor>;
+        gcode::StopMotor, gcode::GetResetReason>;
     using AckOnlyCache =
         AckCache<8, gcode::EnterBootloader, gcode::SetSerialNumber,
                  gcode::SetTMCRegister, gcode::SetRunCurrent,
@@ -64,6 +64,7 @@ class HostCommsTask {
     using GetDoorClosedCache = AckCache<8, gcode::GetDoorClosed>;
     using GetPlatformSensorsCache = AckCache<8, gcode::GetPlatformSensors>;
     using GetEstopCache = AckCache<8, gcode::GetEstopStatus>;
+    using GetResetReasonCache = AckCache<8, gcode::GetResetReason>;
 
   public:
     static constexpr size_t TICKS_TO_WAIT_ON_SEND = 10;
@@ -88,7 +89,9 @@ class HostCommsTask {
           // NOLINTNEXTLINE(readability-redundant-member-init)
           get_platform_sensors_cache(),
           // NOLINTNEXTLINE(readability-redundant-member-init)
-          get_estop_cache() {}
+          get_estop_cache(),
+          // NOLINTNEXTLINE(readability-redundant-member-init)
+          get_reset_reason_cache() {}
     HostCommsTask(const HostCommsTask& other) = delete;
     auto operator=(const HostCommsTask& other) -> HostCommsTask& = delete;
     HostCommsTask(HostCommsTask&& other) noexcept = delete;
@@ -293,6 +296,50 @@ class HostCommsTask {
             cache_entry);
     }
 
+    template <typename InputIt, typename InputLimit>
+    requires std::forward_iterator<InputIt> &&
+        std::sized_sentinel_for<InputLimit, InputIt>
+    auto visit_message(const messages::GetResetReasonResponse& response,
+                       InputIt tx_into, InputLimit tx_limit) -> InputIt {
+        auto cache_entry =
+            get_reset_reason_cache.remove_if_present(response.responding_to_id);
+        return std::visit(
+            [tx_into, tx_limit, response](auto cache_element) {
+                using T = std::decay_t<decltype(cache_element)>;
+                if constexpr (std::is_same_v<std::monostate, T>) {
+                    return errors::write_into(
+                        tx_into, tx_limit,
+                        errors::ErrorCode::BAD_MESSAGE_ACKNOWLEDGEMENT);
+                } else {
+                    return cache_element.write_response_into(tx_into, tx_limit,
+                                                             response.reason);
+                }
+            },
+            cache_entry);
+    }
+
+    template <typename InputIt, typename InputLimit>
+    requires std::forward_iterator<InputIt> &&
+        std::sized_sentinel_for<InputLimit, InputIt>
+    auto visit_gcode(const gcode::GetResetReason& gcode, InputIt tx_into,
+                     InputLimit tx_limit) -> std::pair<bool, InputIt> {
+        auto id = get_reset_reason_cache.add(gcode);
+        if (id == 0) {
+            return std::make_pair(
+                false, errors::write_into(tx_into, tx_limit,
+                                          errors::ErrorCode::GCODE_CACHE_FULL));
+        }
+        auto message = messages::GetResetReasonMessage{.id = id};
+
+        if (!task_registry->send(message, TICKS_TO_WAIT_ON_SEND)) {
+            auto wrote_to = errors::write_into(
+                tx_into, tx_limit, errors::ErrorCode::INTERNAL_QUEUE_FULL);
+            get_reset_reason_cache.remove_if_present(id);
+            return std::make_pair(false, wrote_to);
+        }
+        return std::make_pair(true, tx_into);
+    }
+
     template <typename InputIt, typename InputLimit>
     requires std::forward_iterator<InputIt> &&
         std::sized_sentinel_for<InputLimit, InputIt>
@@ -1020,6 +1067,7 @@ class HostCommsTask {
     GetDoorClosedCache get_door_closed_cache;
     GetPlatformSensorsCache get_platform_sensors_cache;
     GetEstopCache get_estop_cache;
+    GetResetReasonCache get_reset_reason_cache;
     bool may_connect_latch = true;
 };
 

stm32-modules/include/flex-stacker/flex-stacker/messages.hpp

@@ -74,6 +74,15 @@ struct GetSystemInfoResponse {
     const char* hw_version;
 };
 
+struct GetResetReasonMessage {
+    uint32_t id;
+};
+
+struct GetResetReasonResponse {
+    uint32_t responding_to_id;
+    uint16_t reason;
+};
+
 struct SetSerialNumberMessage {
     uint32_t id;
     static constexpr std::size_t SERIAL_NUMBER_LENGTH =
@@ -278,7 +287,7 @@ using HostCommsMessage =
                    GetTMCRegisterResponse, GetLimitSwitchesResponses,
                    GetMoveParamsResponse, GetMotorStallGuardResponse,
                    GetDoorClosedResponse, GetPlatformSensorsResponse,
-                   GetEstopResponse>;
+                   GetEstopResponse, GetResetReasonResponse>;
 
 using SystemMessage =
     ::std::variant<std::monostate, AcknowledgePrevious, GetSystemInfoMessage,
@@ -296,6 +305,7 @@ using MotorMessage = ::std::variant<
     MoveToLimitSwitchMessage, StopMotorMessage, MoveCompleteMessage,
     GetLimitSwitchesMessage, MoveMotorInMmMessage, SetMicrostepsMessage,
     GetMoveParamsMessage, SetDiag0IRQMessage, GPIOInterruptMessage,
-    HomeMotorMessage, GetPlatformSensorsMessage, GetEstopMessage>;
+    HomeMotorMessage, GetPlatformSensorsMessage, GetEstopMessage,
+    GetResetReasonMessage>;
 
 };  // namespace messages

stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp

@@ -424,6 +424,17 @@ class MotorTask {
         _l_controller.stop_movement(0, false);
     }
 
+    template <MotorControlPolicy Policy>
+    auto visit_message(const messages::GetResetReasonMessage& msg,
+                       Policy& policy) -> void {
+        auto reason = policy.last_reset_reason();
+
+        auto response = messages::GetResetReasonResponse{
+            .responding_to_id = msg.id, .reason = reason};
+        static_cast<void>(_task_registry->send_to_address(
+            response, Queues::HostCommsAddress));
+    }
+
     /**
      * @brief Move the motor to the limit switch; apply fast moves to XZ motors
      * whenever possible.