updated message defs

Opentrons · Dec 18, 2023 · 286e501 · 286e501
1 parent 2086f17
commit 286e501
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Showing 4 changed files with 16 additions and 42 deletions.
diff --git a/hardware/opentrons_hardware/firmware_bindings/constants.py b/hardware/opentrons_hardware/firmware_bindings/constants.py
@@ -143,11 +143,9 @@ class MessageId(int, Enum):
     write_motor_current_request = 0x33
     read_motor_current_request = 0x34
     read_motor_current_response = 0x35
-    motor_driver_error_encountered = 0x36
-    read_motor_driver_error_register_request = 0x37
-    read_motor_driver_error_register_response = 0x38
-    reset_motor_driver_error_handling = 0x39
-    motor_driver_in_error_state = 0x3b
+    read_motor_driver_error_status_request = 0x36
+    read_motor_driver_error_status_response = 0x37
+    motor_driver_in_error_state = 0x38
 
     set_brushed_motor_vref_request = 0x40
     set_brushed_motor_pwm_request = 0x41

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py b/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
@@ -335,25 +335,25 @@ class ReadMotorDriverResponse(BaseMessage):  # noqa: D101
 
 
 @dataclass
-class MotorDriverErrorEncountered(BaseMessage):  # noqa: D101
+class ReadMotorDriverErrorStatusRequest(BaseMessage):  # noqa: D101
     payload: payloads.EmptyPayload
     payload_type: Type[
         payloads.EmptyPayload
     ] = payloads.EmptyPayload
     message_id: Literal[
-        MessageId.motor_driver_error_encountered
-    ] = MessageId.motor_driver_error_encountered
+        MessageId.read_motor_driver_error_status_request
+    ] = MessageId.read_motor_driver_error_status_request
 
 
 @dataclass
-class ResetMotorDriverErrorHandling(BaseMessage):  # noqa: D101
-    payload: payloads.EmptyPayload
+class ReadMotorDriverErrorStatusResponse(BaseMessage):  # noqa: D101
+    payload: payloads.ReadMotorDriverErrorStatusResponsePayload
     payload_type: Type[
-        payloads.EmptyPayload
-    ] = payloads.EmptyPayload
+        payloads.ReadMotorDriverErrorStatusResponsePayload
+    ] = payloads.ReadMotorDriverErrorStatusResponsePayload
     message_id: Literal[
-        MessageId.reset_motor_driver_error_handling
-    ] = MessageId.reset_motor_driver_error_handling
+        MessageId.read_motor_driver_error_status_response
+    ] = MessageId.read_motor_driver_error_status_response
 
 
 @dataclass
@@ -367,28 +367,6 @@ class MotorDriverInErrorState(BaseMessage):  # noqa: D101
     ] = MessageId.motor_driver_in_error_state
 
 
-@dataclass
-class ReadMotorDriverErrorRequest(BaseMessage):  # noqa: D101
-    payload: payloads.EmptyPayload
-    payload_type: Type[
-        payloads.EmptyPayload
-    ] = payloads.EmptyPayload
-    message_id: Literal[
-        MessageId.read_motor_driver_error_register_request
-    ] = MessageId.read_motor_driver_error_register_request
-
-
-@dataclass
-class ReadMotorDriverErrorResponse(BaseMessage):  # noqa: D101
-    payload: payloads.ReadMotorDriverErrorRegisterResponsePayload
-    payload_type: Type[
-        payloads.ReadMotorDriverErrorRegisterResponsePayload
-    ] = payloads.ReadMotorDriverErrorRegisterResponsePayload
-    message_id: Literal[
-        MessageId.read_motor_driver_error_register_response
-    ] = MessageId.read_motor_driver_error_register_response
-
-
 @dataclass
 class WriteMotorCurrentRequest(BaseMessage):  # noqa: D101
     payload: payloads.MotorCurrentPayload

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/messages.py b/hardware/opentrons_hardware/firmware_bindings/messages/messages.py
@@ -41,10 +41,8 @@
     defs.WriteMotorDriverRegister,
     defs.ReadMotorDriverRequest,
     defs.ReadMotorDriverResponse,
-    defs.MotorDriverErrorEncountered,
-    defs.ReadMotorDriverErrorRequest,
-    defs.ReadMotorDriverErrorResponse,
-    defs.ResetMotorDriverErrorHandling,
+    defs.ReadMotorDriverErrorStatusRequest,
+    defs.ReadMotorDriverErrorStatusResponse,
     defs.MotorDriverInErrorState,
     defs.WriteMotorCurrentRequest,
     defs.SetBrushedMotorVrefRequest,

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
@@ -267,8 +267,8 @@ class ReadMotorDriverRegisterResponsePayload(EmptyPayload):
 
 
 @dataclass(eq=False)
-class ReadMotorDriverErrorRegisterResponsePayload(EmptyPayload):
-    """Read motor driver error register response payload."""
+class ReadMotorDriverErrorStatusResponsePayload(EmptyPayload):
+    """Read motor driver error status response payload."""
 
     reg_addr: utils.UInt8Field
     data: utils.UInt32Field