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feat(sensors): enable capacitive sensor logging #768

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Jun 5, 2024
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f66e7db
USE_SENSOR_MOVE
pmoegenburg Apr 10, 2024
051bf38
intermediate updates
pmoegenburg Apr 17, 2024
3649494
finished implementing capacitive_probe firmware
pmoegenburg Apr 29, 2024
c3fbd2a
Merge branch 'main' into EXEC-343-lld-cap-probe-logging
pmoegenburg Apr 29, 2024
070ad67
format lint test
pmoegenburg Apr 30, 2024
a553c8b
build fixes
pmoegenburg Apr 30, 2024
628c9c1
formatted
pmoegenburg Apr 30, 2024
6ac10b7
updates to match pressure work
pmoegenburg May 1, 2024
2a67d43
fixes RAM space build issue
pmoegenburg May 1, 2024
548f3c3
empty last line
pmoegenburg May 1, 2024
d124e93
removed comment
pmoegenburg May 1, 2024
81c6afd
build update
pmoegenburg May 22, 2024
54389b7
pr review fix and format
pmoegenburg May 28, 2024
e7424ea
faux commit
pmoegenburg May 30, 2024
3b46335
faux commit
pmoegenburg May 30, 2024
eacd462
Merge branch 'main' into EXEC-343-lld-cap-probe-logging
pmoegenburg May 31, 2024
60b7cc1
fixed build issues stemming from removal of motor driver error surfac…
pmoegenburg May 31, 2024
0e61d34
simulator fix
pmoegenburg May 31, 2024
ddb9468
formatted
pmoegenburg May 31, 2024
32c62a0
removed comments
pmoegenburg Jun 3, 2024
c234a51
formatted
pmoegenburg Jun 3, 2024
5f65a2b
get rid of pesky error messages like with pressure driver
pmoegenburg Jun 3, 2024
77dce9e
rip out the unneeded templating of sensor hardware since that stuff i…
ryanthecoder Jun 4, 2024
c19f5e2
fix simulators
ryanthecoder Jun 4, 2024
51ce97c
Merge remote-tracking branch 'origin/main' into EXEC-343-lld-cap-prob…
ryanthecoder Jun 4, 2024
dabde72
build issue fix
pmoegenburg Jun 4, 2024
52f0775
merge issue fix
pmoegenburg Jun 4, 2024
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2 changes: 2 additions & 0 deletions .github/workflows/cross-compile-special-sensors.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ jobs:
pipettes-single,
pipettes-multi,
pipettes-96,
gripper,
]
fail-fast: false
name: Build ${{ matrix.target }}
Expand Down Expand Up @@ -89,6 +90,7 @@ jobs:
matrix:
target: [
pipettes,
gripper,
]
steps:
- name: Checkout ot3-firmware repo
Expand Down
2 changes: 1 addition & 1 deletion CMakePresets.json
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
"installDir": "${sourceDir}/dist-sensor",
"binaryDir": "${sourceDir}/build-cross-sensor",
"cacheVariables": {
"USE_PRESSURE_MOVE": true
"USE_SENSOR_MOVE": true
},
"inherits": "cross"
},
Expand Down
2 changes: 1 addition & 1 deletion common/core/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ function(add_revision)
message(STATUS "add_revision has target ${_ar_TARGET} and revision ${_ar_REVISION}")
string(SUBSTRING ${_ar_REVISION} 0 1 PRIMARY_REVISION)
string(SUBSTRING ${_ar_REVISION} 1 1 SECONDARY_REVISION)
if (${USE_PRESSURE_MOVE})
if (${USE_SENSOR_MOVE})
set(TERTIARY_FLAG "'1'")
else()
set(TERTIARY_FLAG "0x00")
Expand Down
5 changes: 5 additions & 0 deletions gripper/core/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,4 +1,9 @@
function(target_gripper_core TARGET)
if(${USE_SENSOR_MOVE})
target_compile_definitions(${TARGET} PUBLIC USE_SENSOR_MOVE)
target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1700)
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target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
endif()
target_sources(${TARGET} PUBLIC
${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_tasks.cpp
${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks.cpp
Expand Down
31 changes: 29 additions & 2 deletions gripper/core/tasks.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,10 @@

static auto tasks = gripper_tasks::AllTask{};
static auto queues = gripper_tasks::QueueClient{can::ids::NodeId::gripper};
static std::array<float, SENSOR_BUFFER_SIZE> p_buff;
#ifdef USE_TWO_BUFFERS
static std::array<float, SENSOR_BUFFER_SIZE> p_buff_front;
#endif

static auto eeprom_task_builder =
freertos_task::TaskStarter<512, eeprom::task::EEPromTask>{};
Expand Down Expand Up @@ -95,11 +99,16 @@ void gripper_tasks::start_tasks(
auto& capacitive_sensor_task_front =
capacitive_sensor_task_builder_front.start(
5, "cap sensor S1", i2c2_task_client, i2c2_poll_client,
sensor_hardware, queues);
sensor_hardware, queues,
#ifdef USE_TWO_BUFFERS
p_buff_front);
#else
p_buff);
#endif
auto& capacitive_sensor_task_rear =
capacitive_sensor_task_builder_rear.start(
5, "cap sensor S0", i2c3_task_client, i2c3_poll_client,
sensor_hardware, queues);
sensor_hardware, queues, p_buff);

tasks.i2c2_task = &i2c2_task;
tasks.i2c3_task = &i2c3_task;
Expand Down Expand Up @@ -152,13 +161,27 @@ void gripper_tasks::QueueClient::send_capacitive_sensor_queue_rear(
capacitive_sensor_queue_rear->try_write(m);
}

void gripper_tasks::QueueClient::send_capacitive_sensor_queue_front_isr(
const sensors::utils::TaskMessage& m) {
std::ignore = capacitive_sensor_queue_front->try_write_isr(m);
}

void gripper_tasks::QueueClient::send_capacitive_sensor_queue_rear_isr(
const sensors::utils::TaskMessage& m) {
std::ignore = capacitive_sensor_queue_rear->try_write_isr(m);
}

// gripper does not have environment nor pressure sensor
void gripper_tasks::QueueClient::send_environment_sensor_queue(
const sensors::utils::TaskMessage&) {}
void gripper_tasks::QueueClient::send_pressure_sensor_queue_front(
const sensors::utils::TaskMessage&) {}
void gripper_tasks::QueueClient::send_pressure_sensor_queue_rear(
const sensors::utils::TaskMessage&) {}
void gripper_tasks::QueueClient::send_pressure_sensor_queue_front_isr(
const sensors::utils::TaskMessage&) {}
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void gripper_tasks::QueueClient::send_pressure_sensor_queue_rear_isr(
const sensors::utils::TaskMessage&) {}

void gripper_tasks::QueueClient::send_tip_notification_queue_rear(
const sensors::tip_presence::TaskMessage&) {}
Expand All @@ -176,3 +199,7 @@ auto gripper_tasks::get_all_tasks() -> AllTask& { return tasks; }
* @return
*/
auto gripper_tasks::get_main_queues() -> QueueClient& { return queues; }

auto sensor_tasks::get_queues() -> gripper_tasks::QueueClient& {
return queues;
}
6 changes: 6 additions & 0 deletions gripper/firmware/interfaces_z_motor.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -150,8 +150,14 @@ static tmc2130::configs::TMC2130DriverConfig MotorDriverConfigurations{
/**
* The pending move queue
*/
#ifdef USE_SENSOR_MOVE
static freertos_message_queue::FreeRTOSMessageQueue<
motor_messages::SensorSyncMove>
motor_queue("Motor Queue");
#else
static freertos_message_queue::FreeRTOSMessageQueue<motor_messages::Move>
motor_queue("Motor Queue");
#endif

static freertos_message_queue::FreeRTOSMessageQueue<
can::messages::UpdateMotorPositionEstimationRequest>
Expand Down
2 changes: 1 addition & 1 deletion include/bootloader/core/ids.h
Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ typedef enum {
can_messageid_peripheral_status_request = 0x8c,
can_messageid_peripheral_status_response = 0x8d,
can_messageid_baseline_sensor_response = 0x8e,
can_messageid_send_accumulated_pressure_data = 0x8f,
can_messageid_send_accumulated_sensor_data = 0x8f,
can_messageid_set_hepa_fan_state_request = 0x90,
can_messageid_get_hepa_fan_state_request = 0x91,
can_messageid_get_hepa_fan_state_response = 0x92,
Expand Down
3 changes: 2 additions & 1 deletion include/can/core/ids.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ enum class MessageId {
peripheral_status_request = 0x8c,
peripheral_status_response = 0x8d,
baseline_sensor_response = 0x8e,
send_accumulated_pressure_data = 0x8f,
send_accumulated_sensor_data = 0x8f,
set_hepa_fan_state_request = 0x90,
get_hepa_fan_state_request = 0x91,
get_hepa_fan_state_response = 0x92,
Expand Down Expand Up @@ -193,6 +193,7 @@ enum class SensorType {
pressure_temperature = 0x4,
humidity = 0x5,
temperature = 0x6,
UNUSED = 0x7,
};

/** Sensor IDs available.
Expand Down
2 changes: 1 addition & 1 deletion include/can/core/message_handlers/move_group.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ using namespace can::messages;
template <move_group_task::TaskClient Client>
class MoveGroupHandler {
public:
#ifdef USE_PRESSURE_MOVE
#ifdef USE_SENSOR_MOVE
using MessageType =
std::variant<std::monostate, AddLinearMoveRequest,
ClearAllMoveGroupsRequest, ExecuteMoveGroupRequest,
Expand Down
20 changes: 14 additions & 6 deletions include/can/core/messages.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -751,24 +751,28 @@ struct FirmwareUpdateStatusResponse
-> bool = default;
};

struct SendAccumulatedPressureDataRequest
: BaseMessage<MessageId::send_accumulated_pressure_data> {
struct SendAccumulatedSensorDataRequest
: BaseMessage<MessageId::send_accumulated_sensor_data> {
uint32_t message_index = 0;
uint8_t sensor_id = 0;
uint8_t sensor_type = 0;

template <bit_utils::ByteIterator Input, typename Limit>
static auto parse(Input body, Limit limit)
-> SendAccumulatedPressureDataRequest {
-> SendAccumulatedSensorDataRequest {
uint32_t msg_ind = 0;
uint8_t sensor_id = 0;
uint8_t sensor_type = 0;

body = bit_utils::bytes_to_int(body, limit, msg_ind);
body = bit_utils::bytes_to_int(body, limit, sensor_id);
return SendAccumulatedPressureDataRequest{.message_index = msg_ind,
.sensor_id = sensor_id};
body = bit_utils::bytes_to_int(body, limit, sensor_type);
return SendAccumulatedSensorDataRequest{.message_index = msg_ind,
.sensor_id = sensor_id,
.sensor_type = sensor_type};
}

auto operator==(const SendAccumulatedPressureDataRequest& other) const
auto operator==(const SendAccumulatedSensorDataRequest& other) const
-> bool = default;
};

Expand Down Expand Up @@ -1737,6 +1741,7 @@ struct AddSensorMoveRequest : BaseMessage<MessageId::add_sensor_move_request> {
mm_per_tick velocity;
uint8_t request_stop_condition;
can::ids::SensorId sensor_id{};
can::ids::SensorType sensor_type{};

template <bit_utils::ByteIterator Input, typename Limit>
static auto parse(Input body, Limit limit) -> AddSensorMoveRequest {
Expand All @@ -1748,6 +1753,7 @@ struct AddSensorMoveRequest : BaseMessage<MessageId::add_sensor_move_request> {
uint8_t request_stop_condition = 0;
uint32_t msg_ind = 0;
uint8_t sensor_id = 0;
uint8_t sensor_type = 0;

body = bit_utils::bytes_to_int(body, limit, msg_ind);
body = bit_utils::bytes_to_int(body, limit, group_id);
Expand All @@ -1757,6 +1763,7 @@ struct AddSensorMoveRequest : BaseMessage<MessageId::add_sensor_move_request> {
body = bit_utils::bytes_to_int(body, limit, velocity);
body = bit_utils::bytes_to_int(body, limit, request_stop_condition);
body = bit_utils::bytes_to_int(body, limit, sensor_id);
body = bit_utils::bytes_to_int(body, limit, sensor_type);
return AddSensorMoveRequest{
.message_index = msg_ind,
.group_id = group_id,
Expand All @@ -1766,6 +1773,7 @@ struct AddSensorMoveRequest : BaseMessage<MessageId::add_sensor_move_request> {
.velocity = velocity,
.request_stop_condition = request_stop_condition,
.sensor_id = static_cast<can::ids::SensorId>(sensor_id),
.sensor_type = static_cast<can::ids::SensorType>(sensor_type),
};
}

Expand Down
7 changes: 7 additions & 0 deletions include/common/core/sensor_buffer.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
#pragma once

#ifdef USE_SENSOR_MOVE
constexpr size_t SENSOR_BUFFER_SIZE = P_BUFF_SIZE;
#else
constexpr size_t SENSOR_BUFFER_SIZE = 0;
#endif
12 changes: 11 additions & 1 deletion include/gripper/core/can_task.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,22 @@ using MotorDispatchTarget = can::dispatch::DispatchParseTarget<
can::messages::ReadMotorDriverRegister,
can::messages::WriteMotorDriverRegister,
can::messages::WriteMotorCurrentRequest>;
#ifdef USE_SENSOR_MOVE
using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
can::message_handlers::move_group::MoveGroupHandler<z_tasks::QueueClient>,
can::messages::AddLinearMoveRequest,
can::messages::ClearAllMoveGroupsRequest,
can::messages::ExecuteMoveGroupRequest, can::messages::GetMoveGroupRequest,
can::messages::HomeRequest, can::messages::StopRequest,
can::messages::AddSensorMoveRequest>;
#else
using MoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
can::message_handlers::move_group::MoveGroupHandler<z_tasks::QueueClient>,
can::messages::AddLinearMoveRequest,
can::messages::ClearAllMoveGroupsRequest,
can::messages::ExecuteMoveGroupRequest, can::messages::GetMoveGroupRequest,
can::messages::HomeRequest, can::messages::StopRequest>;
#endif
using MotionControllerDispatchTarget = can::dispatch::DispatchParseTarget<
can::message_handlers::motion::MotionHandler<z_tasks::QueueClient>,
can::messages::DisableMotorRequest, can::messages::EnableMotorRequest,
Expand Down Expand Up @@ -65,7 +75,7 @@ using GripperInfoDispatchTarget = can::dispatch::DispatchParseTarget<
using SensorDispatchTarget = can::dispatch::DispatchParseTarget<
sensors::handlers::SensorHandler<gripper_tasks::QueueClient>,
can::messages::TipStatusQueryRequest, can::messages::ReadFromSensorRequest,
can::messages::SendAccumulatedPressureDataRequest,
can::messages::SendAccumulatedSensorDataRequest,
can::messages::WriteToSensorRequest, can::messages::BaselineSensorRequest,
can::messages::SetSensorThresholdRequest,
can::messages::BindSensorOutputRequest,
Expand Down
17 changes: 17 additions & 0 deletions include/gripper/core/tasks.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -67,11 +67,24 @@ struct QueueClient : can::message_writer::MessageWriter {
void send_capacitive_sensor_queue_rear(
const sensors::utils::TaskMessage& m);

void send_capacitive_sensor_queue_front_isr(
const sensors::utils::TaskMessage& m);

void send_capacitive_sensor_queue_rear_isr(
const sensors::utils::TaskMessage& m);

void send_environment_sensor_queue(const sensors::utils::TaskMessage& m);

void send_pressure_sensor_queue_front(const sensors::utils::TaskMessage& m);

void send_pressure_sensor_queue_rear(const sensors::utils::TaskMessage& m);

void send_pressure_sensor_queue_front_isr(
const sensors::utils::TaskMessage& m);

void send_pressure_sensor_queue_rear_isr(
const sensors::utils::TaskMessage& m);

void send_tip_notification_queue_rear(
const sensors::tip_presence::TaskMessage& m);
void send_tip_notification_queue_front(
Expand Down Expand Up @@ -258,3 +271,7 @@ struct QueueClient : can::message_writer::MessageWriter {
} // namespace g_tasks

} // namespace gripper_tasks

namespace sensor_tasks {
[[nodiscard]] auto get_queues() -> gripper_tasks::QueueClient&;
} // namespace sensor_tasks
2 changes: 2 additions & 0 deletions include/motor-control/core/motor_messages.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,7 @@ struct SensorSyncMove { // NOLINT(cppcoreguidelines-pro-type-member-init)
int32_t start_encoder_position;
uint16_t usage_key;
can::ids::SensorId sensor_id;
can::ids::SensorType sensor_type;

auto build_ack(uint32_t position, int32_t pulses, uint8_t flags,
AckMessageId _id) -> Ack {
Expand Down Expand Up @@ -119,6 +120,7 @@ struct GearMotorMove // NOLINT(cppcoreguidelines-pro-type-member-init)
can::ids::PipetteTipActionType action;
can::ids::GearMotorId gear_motor_id;
can::ids::SensorId sensor_id;
can::ids::SensorType sensor_type;
auto build_ack(uint32_t position, int32_t pulses, uint8_t flags,
AckMessageId _id) -> GearMotorAck {
return GearMotorAck{message_index, group_id,
Expand Down
16 changes: 10 additions & 6 deletions include/motor-control/core/stepper_motor/motion_controller.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ template <lms::MotorMechanicalConfig MEConfig>
class MotionController {
public:
using GenericQueue =
#ifdef USE_PRESSURE_MOVE
#ifdef USE_SENSOR_MOVE
freertos_message_queue::FreeRTOSMessageQueue<SensorSyncMove>;
#else
freertos_message_queue::FreeRTOSMessageQueue<Move>;
Expand Down Expand Up @@ -63,7 +63,7 @@ class MotionController {
-> const lms::LinearMotionSystemConfig<MEConfig>& {
return linear_motion_sys_config;
}
#ifdef USE_PRESSURE_MOVE
#ifdef USE_SENSOR_MOVE
void move(const can::messages::AddSensorMoveRequest& can_msg) {
steps_per_tick velocity_steps =
fixed_point_multiply(steps_per_mm, can_msg.velocity);
Expand All @@ -79,7 +79,8 @@ class MotionController {
can_msg.request_stop_condition,
0,
hardware.get_usage_eeprom_config().get_distance_key(),
can_msg.sensor_id};
can_msg.sensor_id,
can_msg.sensor_type};
if (!enabled) {
enable_motor();
}
Expand All @@ -100,7 +101,8 @@ class MotionController {
.seq_id = can_msg.seq_id,
.stop_condition = can_msg.request_stop_condition,
.usage_key = hardware.get_usage_eeprom_config().get_distance_key(),
.sensor_id = can::ids::SensorId::UNUSED};
.sensor_id = can::ids::SensorId::UNUSED,
.sensor_type = can::ids::SensorType::UNUSED};
if (!enabled) {
enable_motor();
}
Expand All @@ -120,7 +122,8 @@ class MotionController {
.stop_condition =
static_cast<uint8_t>(MoveStopCondition::limit_switch),
.usage_key = hardware.get_usage_eeprom_config().get_distance_key(),
.sensor_id = can::ids::SensorId::UNUSED};
.sensor_id = can::ids::SensorId::UNUSED,
.sensor_type = can::ids::SensorType::UNUSED};
if (!enabled) {
enable_motor();
}
Expand Down Expand Up @@ -318,7 +321,8 @@ class PipetteMotionController {
hardware.get_step_tracker(),
can_msg.action,
gear_motor_id,
can::ids::SensorId::UNUSED};
can::ids::SensorId::UNUSED,
can::ids::SensorType::UNUSED};

if (!enabled) {
enable_motor();
Expand Down
4 changes: 4 additions & 0 deletions include/motor-control/core/stepper_motor/motor.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,11 @@ using namespace freertos_message_queue;

template <lms::MotorMechanicalConfig MEConfig>
struct Motor {
#ifdef USE_SENSOR_MOVE
using GenericQueue = FreeRTOSMessageQueue<SensorSyncMove>;
#else
using GenericQueue = FreeRTOSMessageQueue<Move>;
#endif
using UpdatePositionQueue = FreeRTOSMessageQueue<
can::messages::UpdateMotorPositionEstimationRequest>;

Expand Down
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