Merge branch 'edge' into flex-stacker-ui-leds-bringup

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 */

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();
+}

stm32-modules/heater-shaker/firmware/motor_task/motor_hardware.c

@@ -19,6 +19,39 @@ motor_hardware_handles *MOTOR_HW_HANDLE = NULL;
 
 static _Atomic int16_t motor_speed_buffer[MOTOR_SPEED_BUFFER_SIZE];
 static _Atomic size_t motor_speed_buffer_itr = 0;
+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 MX_NVIC_Init(void)
 {
@@ -491,6 +524,69 @@ static void DAC_Init(DAC_HandleTypeDef* dac) {
   HAL_DAC_SetValue(dac, SOLENOID_DAC_CHANNEL, DAC_ALIGN_8B_R, 0);
 }
 
+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;
+    }
+}
+
 /**
   * Initializes the Global MSP.
   */
@@ -814,6 +910,7 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 }
 
 void motor_hardware_setup(motor_hardware_handles* handles) {
+  save_reset_reason();
   MOTOR_HW_HANDLE = handles;
   memset(motor_speed_buffer, 0, sizeof(motor_speed_buffer));
   MX_GPIO_Init();
@@ -840,6 +937,10 @@ void motor_hardware_solenoid_release(DAC_HandleTypeDef* dac1) {
   HAL_DAC_SetValue(dac1, SOLENOID_DAC_CHANNEL, DAC_ALIGN_8B_R, 0);
 }
 
+uint16_t motor_hardware_reset_reason() {
+    return reset_reason;
+}
+
 void motor_hardware_plate_lock_on(TIM_HandleTypeDef* tim3, float power) {
   float power_scale = fabs(power);
   if (power_scale > 1.f) {

stm32-modules/heater-shaker/firmware/motor_task/motor_hardware.h

@@ -37,6 +37,13 @@ bool motor_hardware_plate_lock_sensor_read(uint16_t GPIO_Pin);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
 
+/**
+ * @brief Returns the reason saved upon startup for the last
+ * reset of the software.
+ * @return a flag containing the reason for reset.
+ * */
+uint16_t motor_hardware_reset_reason();
+
 /**
  * @brief To be called every time the motor control library updates its speed
  * measurement. This function adds new speed values to a circular buffer,

stm32-modules/heater-shaker/firmware/motor_task/motor_policy.cpp

@@ -131,3 +131,7 @@ auto MotorPolicy::get_serial_number(void)
     -> std::array<char, SYSTEM_SERIAL_NUMBER_LENGTH> {
     return _serial.get_serial_number();
 }
+
+auto MotorPolicy::last_reset_reason() const -> uint16_t {
+    return motor_hardware_reset_reason();
+}

stm32-modules/heater-shaker/firmware/motor_task/motor_policy.hpp

@@ -46,6 +46,7 @@ class MotorPolicy {
     auto plate_lock_closed_sensor_read() -> bool;
     auto get_serial_number(void)
         -> std::array<char, SYSTEM_SERIAL_NUMBER_LENGTH>;
+    auto last_reset_reason() const -> uint16_t;
 
   private:
     static constexpr uint16_t MAX_SOLENOID_CURRENT_MA = 330;

stm32-modules/heater-shaker/simulator/motor_thread.cpp

@@ -109,13 +109,21 @@ struct SimMotorPolicy {
         }
     }
 
+    auto last_reset_reason() -> uint16_t { return reset_reason; }
+
+    auto set_last_reset_reason(uint16_t sim_reason) -> void {
+        reset_reason = sim_reason;
+    }
+
   private:
     int16_t rpm_setpoint = 0;
     int16_t rpm_current = 0;
     int32_t ramp_rate = DEFAULT_RAMP_RATE_RPM_PER_S;
     float sim_plate_lock_power = 0;
     bool sim_plate_lock_enabled = false;
     bool sim_plate_lock_braked = false;
+    // Simulated reset reason from HAL RCC flag
+    uint16_t reset_reason = 0;
 };
 
 struct motor_thread::TaskControlBlock {

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

@@ -67,6 +67,7 @@ class MotorInterruptController {
             motor_util::MovementType::FixedDistance, steps);
         _policy->enable_motor(_id);
         _response_id = move_id;
+        _policy->start_motor_timer(_id);
     }
     auto start_move(Move move) -> void {
         motor_util::MotorState* state = move.motor_state;

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"

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;
+    [[nodiscard]] auto last_reset_reason() const -> uint16_t;
 };

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'};