Feat(pipettes): add Liquid Probe

CMakePresets.json

@@ -35,17 +35,6 @@
       "binaryDir": "${sourceDir}/build-cross",
       "inherits": "cross-no-directory-reqs"
     },
-    {
-      "name": "cross-sensor-buffer",
-      "displayName": "STM32 G4 OT-3 cross-compilation with sensor data buffers",
-      "description": "Build application firmware for OT-3 systems that use STM32, for flashing onto boards",
-      "installDir": "${sourceDir}/dist-sensor",
-      "binaryDir": "${sourceDir}/build-cross-sensor",
-      "cacheVariables": {
-        "USE_PRESSURE_MOVE": true
-      },
-      "inherits": "cross"
-    },
     {
       "name": "host",
       "displayName": "STM32 OT-3 host compilation for tests",
@@ -99,17 +88,6 @@
         "firmware-images"
       ]
     },
-    {
-      "name": "firmware-g4-sensors",
-      "displayName": "All G4 Firmwares With Sensor Data Buffers",
-      "description": "Environment to build all g4 firmware - see firmware-l5",
-      "configurePreset": "cross-sensor-buffer",
-      "jobs": 4,
-      "targets": [
-        "firmware-applications",
-        "firmware-images"
-      ]
-    },
     {
       "name": "pipettes",
       "displayName": "pipettes binaries",

common/core/CMakeLists.txt

@@ -54,11 +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})
-  set(TERTIARY_FLAG "'1'")
-  else()
   set(TERTIARY_FLAG "0x00")
-  endif()
 
 
   configure_file(${CMAKE_SOURCE_DIR}/common/core/revision.c.in ${CMAKE_CURRENT_BINARY_DIR}/${_ar_TARGET}_revision.c)

gripper/core/CMakeLists.txt

@@ -1,4 +1,7 @@
 function(target_gripper_core TARGET)
+    target_compile_definitions(${TARGET} PUBLIC USE_SENSOR_MOVE)
+    target_compile_definitions(${TARGET} PUBLIC SENSOR_BUFF_SIZE=300)
+    target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_tasks.cpp
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks.cpp

gripper/core/tasks.cpp

@@ -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> sensor_buffer;
+#ifdef USE_TWO_BUFFERS
+static std::array<float, SENSOR_BUFFER_SIZE> sensor_buffer_front;
+#endif
 
 static auto eeprom_task_builder =
     freertos_task::TaskStarter<512, eeprom::task::EEPromTask>{};
@@ -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
+            sensor_buffer_front);
+#else
+            sensor_buffer);
+#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, sensor_buffer);
 
     tasks.i2c2_task = &i2c2_task;
     tasks.i2c3_task = &i2c3_task;
@@ -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&) {}
+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&) {}
@@ -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;
+}

gripper/firmware/interfaces_z_motor.cpp

@@ -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>

gripper/simulator/interfaces.cpp

@@ -27,8 +27,15 @@ static auto motor_interface =
 /**
  * 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>

include/bootloader/core/ids.h

@@ -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,
@@ -204,6 +204,7 @@ typedef enum {
     can_sensoroutputbinding_sync = 0x1,
     can_sensoroutputbinding_report = 0x2,
     can_sensoroutputbinding_max_threshold_sync = 0x4,
+    can_sensoroutputbinding_auto_baseline_report = 0x8,
 } CANSensorOutputBinding;
 
 /** How a sensor's threshold should be interpreted. */

include/can/core/ids.hpp

@@ -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,
@@ -193,6 +193,7 @@ enum class SensorType {
     pressure_temperature = 0x4,
     humidity = 0x5,
     temperature = 0x6,
+    UNUSED = 0x7,
 };
 
 /** Sensor IDs available.
@@ -213,6 +214,8 @@ enum class SensorOutputBinding {
     sync = 0x1,
     report = 0x2,
     max_threshold_sync = 0x4,
+    auto_baseline_report = 0x08,
+    multi_sensor_sync = 0x10,
 };
 
 /** How a sensor's threshold should be interpreted. */

include/can/core/message_handlers/move_group.hpp

@@ -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,