move reset reason to system task

Opentrons · Dec 5, 2024 · ceb5763 · ceb5763
1 parent 91beeb1
commit ceb5763
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Showing 10 changed files with 122 additions and 121 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c
@@ -26,39 +26,6 @@ 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;
@@ -333,75 +300,7 @@ 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_BORRST)) {
-        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);

diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp b/stm32-modules/flex-stacker/firmware/motor_control/motor_policy.cpp
@@ -58,9 +58,4 @@ 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();
 }
diff --git a/stm32-modules/flex-stacker/firmware/system/system_hardware.c b/stm32-modules/flex-stacker/firmware/system/system_hardware.c
@@ -13,6 +13,106 @@
 // address 4 in the bootable region is the address of the first instruction that
 // should run, aka the data that should be loaded into $pc.
 const uint32_t *const sysmem_boot_loc = (uint32_t*)SYSMEM_BOOT;
+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
+};
+
+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_BORRST)) {
+        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 system_hardware_reset_reason() {
+    return reset_reason;
+}
 
 /** PUBLIC FUNCTION IMPLEMENTATION */
 
@@ -60,6 +160,7 @@ void system_hardware_enter_bootloader(void) {
 }
 
 void system_hardware_gpio_init(void) {
+    save_reset_reason();
     GPIO_InitTypeDef init = {0};
 
     /* GPIO Ports Clock Enable */

diff --git a/stm32-modules/flex-stacker/firmware/system/system_policy.cpp b/stm32-modules/flex-stacker/firmware/system/system_policy.cpp
@@ -65,3 +65,8 @@ auto SystemPolicy::initialize() -> void { system_hardware_gpio_init(); }
 auto SystemPolicy::get_door_closed() -> bool {
     return system_hardware_read_door_closed();
 }
+
+// NOLINTNEXTLINE(readability-convert-member-functions-to-static)
+auto SystemPolicy::last_reset_reason() const -> uint16_t {
+    return system_hardware_reset_reason();
+}
diff --git a/stm32-modules/include/flex-stacker/firmware/motor_policy.hpp b/stm32-modules/include/flex-stacker/firmware/motor_policy.hpp
@@ -20,7 +20,6 @@ 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
diff --git a/stm32-modules/include/flex-stacker/firmware/system_hardware.h b/stm32-modules/include/flex-stacker/firmware/system_hardware.h
@@ -5,6 +5,7 @@ extern "C" {
 #endif  // __cplusplus
 
 #include <stdbool.h>
+#include <stdint.h>
 
 #define HOPPER_DOR_CLOSED_PIN GPIO_PIN_13
 #define HOPPER_DOR_CLOSED_GPIO_PORT GPIOC
@@ -15,6 +16,7 @@ extern "C" {
 void system_hardware_enter_bootloader(void);
 void system_hardware_gpio_init(void);
 bool system_hardware_read_door_closed(void);
+uint16_t system_hardware_reset_reason(void);
 
 #ifdef __cplusplus
 }  // extern "C"

diff --git a/stm32-modules/include/flex-stacker/firmware/system_policy.hpp b/stm32-modules/include/flex-stacker/firmware/system_policy.hpp
@@ -23,4 +23,5 @@ class SystemPolicy {
         -> errors::ErrorCode;
     auto get_serial_number() -> std::array<char, SYSTEM_SERIAL_NUMBER_LENGTH>;
     auto get_door_closed() -> bool;
+    auto last_reset_reason() const -> uint16_t;
 };
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp b/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp
@@ -292,7 +292,7 @@ using HostCommsMessage =
 using SystemMessage =
     ::std::variant<std::monostate, AcknowledgePrevious, GetSystemInfoMessage,
                    SetSerialNumberMessage, EnterBootloaderMessage,
-                   GetDoorClosedMessage>;
+                   GetDoorClosedMessage, GetResetReasonMessage>;
 
 using MotorDriverMessage =
     ::std::variant<std::monostate, SetTMCRegisterMessage, GetTMCRegisterMessage,
@@ -305,7 +305,6 @@ using MotorMessage = ::std::variant<
     MoveToLimitSwitchMessage, StopMotorMessage, MoveCompleteMessage,
     GetLimitSwitchesMessage, MoveMotorInMmMessage, SetMicrostepsMessage,
     GetMoveParamsMessage, SetDiag0IRQMessage, GPIOInterruptMessage,
-    HomeMotorMessage, GetPlatformSensorsMessage, GetEstopMessage,
-    GetResetReasonMessage>;
+    HomeMotorMessage, GetPlatformSensorsMessage, GetEstopMessage>;
 
 };  // namespace messages
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -424,17 +424,6 @@ 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.

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/system_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/system_task.hpp
@@ -86,6 +86,17 @@ class SystemTask {
         static_cast<void>(_task_registry->send(response));
     }
 
+    template <SystemExecutionPolicy 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(response, Queues::HostCommsAddress));
+    }
+
     template <SystemExecutionPolicy Policy>
     auto visit_message(const messages::SetSerialNumberMessage& message,
                        Policy& policy) {