feat(sensors): support new pipette sensor board #797
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… read the io expander and update the singleton
sfoster1
requested changes
Jul 23, 2024
| void operator()( | ||
| i2c::writer::Writer<QueueImpl> *writer, | ||
| sensors::hardware::SensorHardwareVersionSingleton *version_wrapper) { | ||
| auto handler = ReadSenorBoardHandler(writer, get_queue()); |
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| auto handler = ReadSenorBoardHandler(writer, get_queue()); | |
| auto handler = ReadSensorBoardHandler(writer, get_queue()); |
| */ | ||
| template <template <class> class QueueImpl> | ||
| requires MessageQueue<QueueImpl<TaskMessage>, TaskMessage> | ||
| class ReadSenorBoardTask { |
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| class ReadSenorBoardTask { | |
| class ReadSensorBoardTask { |
etc
|
Tested Side by side with an old pipette and performing as expected |
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The new sensor board adds a GPIO expander so that we can read the version of the board and adjust how we read the pressure sensor.
The way this works is that there is a SensorHardwareVersionSingleton that is in charge of holding the version of the board, and it defaults to the version before we had the ability to see the sensor board rev. This singleton is then shared via the SensorHardwareBase instance(s) and a new ReadBoardRevTask
The new task attempts to query the i2c bus at the address of our expander, if it receives a response it compares the bitmap to known versions and sets the version of the singleton.
Now any sensor that gets updated, can change their behavior by asking their SensorHardware instance what rev to use instead of relying on compiler defines.