Process incoming board status reports

3 files changed, 40 insertions, 2 deletions

diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index 5e8e8e95..70c5bc41 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -539,6 +539,14 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				reprap.GetHeat().ProcessRemoteHeatersReport(buf->id.Src(), buf->msg.heatersStatusBroadcast);
 				break;
 
+			case CanMessageType::driversStatusReport:
+				//TODO
+				break;
+
+			case CanMessageType::boardStatusReport:
+				reprap.GetExpansion().ProcessBoardStatusReport(buf);
+				break;
+
 			case CanMessageType::heaterTuningReport:
 				reprap.GetHeat().ProcessRemoteHeaterTuningReport(buf->id.Src(), buf->msg.heaterTuningReport);
 				break;
@@ -585,7 +593,7 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				}
 				break;
 #endif
-			case CanMessageType::driversStatusReport:	// not handled yet
+
 			default:
 				if (reprap.Debug(moduleCan))
 				{
diff --git a/src/CAN/ExpansionManager.cpp b/src/CAN/ExpansionManager.cpp
index fa843870..18015984 100644
--- a/src/CAN/ExpansionManager.cpp
+++ b/src/CAN/ExpansionManager.cpp
@@ -145,6 +145,34 @@ void ExpansionManager::ProcessAnnouncement(CanMessageBuffer *buf) noexcept
 	CanInterface::SendResponseNoFree(buf);
 }
 
+// Process a board status report
+void ExpansionManager::ProcessBoardStatusReport(const CanMessageBuffer *buf) noexcept
+{
+	const CanAddress address = buf->id.Src();
+	ExpansionBoardData& board = boards[address];
+	if (board.state != BoardState::running)
+	{
+		UpdateBoardState(address, BoardState::running);
+	}
+
+	const CanMessageBoardStatus msg = buf->msg.boardStatus;
+
+	// We must process the data in the correct order, to ensure that we pick up the right values
+	size_t index = 0;
+	if (msg.hasVin)
+	{
+		board.vin = msg.values[index++];
+	}
+	if (msg.hasV12)
+	{
+		board.v12 = msg.values[index++];
+	}
+	if (msg.hasMcuTemp)
+	{
+		board.mcuTemp = msg.values[index++];
+	}
+}
+
 // Return a pointer to the expansion board, if it is present
 const ExpansionBoardData *ExpansionManager::GetBoardDetails(uint8_t address) const noexcept
 {
diff --git a/src/CAN/ExpansionManager.h b/src/CAN/ExpansionManager.h
index cd7c7a5c..1899f536 100644
--- a/src/CAN/ExpansionManager.h
+++ b/src/CAN/ExpansionManager.h
@@ -35,9 +35,11 @@ public:
 	ExpansionManager() noexcept;
 
 	unsigned int GetNumExpansionBoards() const noexcept { return numExpansionBoards; }
-	void ProcessAnnouncement(CanMessageBuffer *buf) noexcept;
 	const ExpansionBoardData *GetBoardDetails(uint8_t address) const noexcept;
 
+	void ProcessAnnouncement(CanMessageBuffer *buf) noexcept;
+	void ProcessBoardStatusReport(const CanMessageBuffer *buf) noexcept;
+
 	// Firmware update and related functions
 	GCodeResult ResetRemote(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
 	GCodeResult UpdateRemoteFirmware(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);