add new binding type for sensors and use the auto-baselineing during …

…sensor moves
Opentrons · Jun 25, 2024 · 7a26107 · 7a26107
1 parent 3109317
commit 7a26107
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Showing 3 changed files with 22 additions and 9 deletions.
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -411,8 +411,9 @@ class MotorInterruptHandler {
                 auto binding =
                     static_cast<uint8_t>(can::ids::SensorOutputBinding::sync) |
                     static_cast<uint8_t>(
-                        can::ids::SensorOutputBinding::report);  // sync and
-                                                                 // report
+                        can::ids::SensorOutputBinding::report) |
+                    static_cast<uint8_t>(
+                        can::ids::SensorOutputBinding::auto_baseline_report);
                 if (buffered_move.sensor_id == can::ids::SensorId::BOTH) {
                     send_bind_message(buffered_move.sensor_type,
                                       can::ids::SensorId::S0, binding);

diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -76,10 +76,16 @@ class MMR920 {
             sensor_buffer_index = 0;  // reset buffer index
             crossed_buffer_index = false;
             sensor_buffer->fill(0.0);
-            current_moving_pressure_baseline_pa = 0.0;
         }
     }
 
+    void set_auto_baseline_report(bool should_auto) {
+        enable_auto_baseline = should_auto;
+        // Always set this to 0, we want to clear it if disabled and
+        // reset if if we haven't baselined yet
+        current_moving_pressure_baseline_pa = 0.0;
+    }
+
     void set_bind_sync(bool should_bind) {
         bind_sync = should_bind;
         hardware.reset_sync();
@@ -400,7 +406,8 @@ class MMR920 {
 
             sensor_buffer_log(response_pressure);
 
-            if (sensor_buffer_index == AUTO_BASELINE_END &&
+            if (enable_auto_baseline &&
+                sensor_buffer_index == AUTO_BASELINE_END &&
                 !crossed_buffer_index) {
                 // this is the auto-base lining during a move.  It requires that
                 // a BaselineSensorRequest is sent prior to a move using the
@@ -414,12 +421,12 @@ class MMR920 {
                         sensor_buffer->begin() + AUTO_BASELINE_START,
                         sensor_buffer->begin() + AUTO_BASELINE_END, 0) /
                     (AUTO_BASELINE_END - AUTO_BASELINE_START);
-                 for (auto i = sensor_buffer_index - AUTO_BASELINE_SAMPLES;
+                for (auto i = sensor_buffer_index - AUTO_BASELINE_SAMPLES;
                      i < sensor_buffer_index; i++) {
-                // apply the moving baseline to older samples to so that
-                // data is in the same format as later samples, don't apply
-                // the current_pressure_baseline_pa since it has already
-                // been applied
+                    // apply the moving baseline to older samples to so that
+                    // data is in the same format as later samples, don't apply
+                    // the current_pressure_baseline_pa since it has already
+                    // been applied
                     sensor_buffer->at(sensor_buffer_index) =
                         sensor_buffer->at(sensor_buffer_index) -
                         current_moving_pressure_baseline_pa;
@@ -566,6 +573,7 @@ class MMR920 {
 
     bool _initialized = false;
     bool echoing = false;
+    bool enable_auto_baseline = false;
     bool bind_sync = false;
     bool max_pressure_sync = false;
 

diff --git a/include/sensors/core/tasks/pressure_sensor_task.hpp b/include/sensors/core/tasks/pressure_sensor_task.hpp
@@ -136,6 +136,10 @@ class PressureMessageHandler {
         driver.set_max_bind_sync(
             m.binding & static_cast<uint8_t>(
                             can::ids::SensorOutputBinding::max_threshold_sync));
+        driver.set_auto_baseline_report(
+            m.binding &
+            static_cast<uint8_t>(
+                can::ids::SensorOutputBinding::auto_baseline_report));
         std::array tags{utils::ResponseTag::IS_PART_OF_POLL,
                         utils::ResponseTag::POLL_IS_CONTINUOUS};
         auto tags_as_int = utils::byte_from_tags(tags);