feat(thermocycler and heater-shaker): grab reset flags on startup

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/heater-shaker/heater-shaker/gcodes.hpp

@@ -641,6 +641,44 @@ 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 {
     /*
     ** Set Serial Number uses a random gcode, M996, adjacent to the firmware

stm32-modules/include/heater-shaker/heater-shaker/host_comms_task.hpp

@@ -48,7 +48,7 @@ class HostCommsTask {
         gcode::GetPlateLockStateDebug, gcode::SetLEDDebug,
         gcode::IdentifyModuleStartLED, gcode::IdentifyModuleStopLED,
         gcode::SetOffsetConstants, gcode::GetOffsetConstants,
-        gcode::DeactivateHeater>;
+        gcode::DeactivateHeater, gcode::GetResetReason>;
     using AckOnlyCache =
         AckCache<8, gcode::SetRPM, gcode::SetTemperature,
                  gcode::SetAcceleration, gcode::SetPIDConstants,
@@ -66,6 +66,7 @@ class HostCommsTask {
     using GetPlateLockStateDebugCache =
         AckCache<8, gcode::GetPlateLockStateDebug>;
     using GetOffsetConstantsCache = AckCache<8, gcode::GetOffsetConstants>;
+    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_plate_lock_state_debug_cache(),
           // NOLINTNEXTLINE(readability-redundant-member-init)
-          get_offset_constants_cache() {}
+          get_offset_constants_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;
@@ -478,6 +481,50 @@ class HostCommsTask {
         return std::make_pair(true, tx_into);
     }
 
+    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->motor->get_message_queue().try_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>
@@ -1053,6 +1100,7 @@ class HostCommsTask {
     GetPlateLockStateCache get_plate_lock_state_cache;
     GetPlateLockStateDebugCache get_plate_lock_state_debug_cache;
     GetOffsetConstantsCache get_offset_constants_cache;
+    GetResetReasonCache get_reset_reason_cache;
     bool may_connect_latch = true;
 };
 

stm32-modules/include/heater-shaker/heater-shaker/messages.hpp

@@ -269,6 +269,15 @@ struct GetOffsetConstantsResponse {
     double const_b, const_c;
 };
 
+struct GetResetReasonMessage {
+    uint32_t id;
+};
+
+struct GetResetReasonResponse {
+    uint32_t responding_to_id;
+    uint16_t reason;
+};
+
 struct DeactivateHeaterMessage {
     uint32_t id;
 };
@@ -295,7 +304,7 @@ using MotorMessage = ::std::variant<
     ActuateSolenoidMessage, SetPlateLockPowerMessage, OpenPlateLockMessage,
     ClosePlateLockMessage, SetPIDConstantsMessage, PlateLockComplete,
     GetPlateLockStateMessage, GetPlateLockStateDebugMessage,
-    CheckPlateLockStatusMessage>;
+    CheckPlateLockStatusMessage, GetResetReasonMessage>;
 using SystemMessage =
     ::std::variant<std::monostate, EnterBootloaderMessage, AcknowledgePrevious,
                    SetSerialNumberMessage, GetSystemInfoMessage, SetLEDMessage,
@@ -307,5 +316,6 @@ using HostCommsMessage =
                    ErrorMessage, GetTemperatureResponse, GetRPMResponse,
                    GetTemperatureDebugResponse, ForceUSBDisconnectMessage,
                    GetPlateLockStateResponse, GetPlateLockStateDebugResponse,
-                   GetSystemInfoResponse, GetOffsetConstantsResponse>;
+                   GetSystemInfoResponse, GetOffsetConstantsResponse,
+                   GetResetReasonResponse>;
 };  // namespace messages

stm32-modules/include/heater-shaker/heater-shaker/motor_task.hpp

@@ -531,6 +531,17 @@ class MotorTask {
         static_cast<void>(get_message_queue().try_send(check_state_message));
     }
 
+    template <MotorExecutionPolicy 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->comms->get_message_queue().try_send(
+            messages::HostCommsMessage(response)));
+    }
+
     template <typename Policy>
     auto visit_message(const messages::CheckPlateLockStatusMessage& msg,
                        Policy& policy) -> void {

stm32-modules/include/heater-shaker/test/test_motor_policy.hpp

@@ -61,6 +61,12 @@ class TestMotorPolicy {
     auto get_serial_number(void)
         -> std::array<char, SYSTEM_SERIAL_NUMBER_LENGTH>;
 
+    auto last_reset_reason() const -> uint16_t { return _reset_reason; }
+
+    auto set_last_reset_reason(uint16_t sim_reason) -> void {
+        _reset_reason = sim_reason;
+    }
+
   private:
     int16_t target_rpm;
     int16_t current_rpm;
@@ -76,4 +82,5 @@ class TestMotorPolicy {
     double overridden_kp = 0.0;
     double overridden_kd = 0.0;
     bool plate_lock_braked = false;
+    uint16_t _reset_reason = 0;
 };

stm32-modules/include/thermocycler-gen2/firmware/motor_hardware.h

@@ -184,6 +184,13 @@ void motor_hardware_seal_switch_set_disarmed();
  */
 void motor_hardware_seal_switch_interrupt();
 
+/**
+ * @brief Returns the reason saved upon startup for the last
+ * reset of the software.
+ * @return a flag containing the reasons for reset.
+ * */
+uint16_t motor_hardware_reset_reason();
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif  // __cplusplus