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PR review comment fixes
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@pmoegenburg
pmoegenburg committed Feb 21, 2024
1 parent acc0fc5 commit 986661d
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Showing 6 changed files with 57 additions and 46 deletions.
24 changes: 18 additions & 6 deletions include/motor-control/core/tasks/gear_tmc2160_motor_driver_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,12 +59,24 @@ class MotorDriverMessageHandler {
auto data = driver.handle_spi_read(
tmc2160::registers::Registers(static_cast<uint8_t>(m.id.token)),
m.rxBuffer);
can::messages::ReadMotorDriverRegisterResponse response_msg{
.message_index = m.id.message_index,
.reg_address = static_cast<uint8_t>(m.id.token),
.data = data,
};
can_client.send_can_message(can::ids::NodeId::host, response_msg);
if (spi::utils::tag_in_token(
m.id.token, spi::utils::ResponseTag::IS_ERROR_RESPONSE)) {
can::messages::ReadMotorDriverErrorStatusResponse response_msg{
.message_index = m.id.message_index,
.reg_address = static_cast<uint8_t>(m.id.token),
.data = data,
};
can_client.send_can_message(can::ids::NodeId::host,
response_msg);
} else {
can::messages::ReadMotorDriverRegisterResponse response_msg{
.message_index = m.id.message_index,
.reg_address = static_cast<uint8_t>(m.id.token),
.data = data,
};
can_client.send_can_message(can::ids::NodeId::host,
response_msg);
}
}
}

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9 changes: 5 additions & 4 deletions include/motor-control/core/tasks/motion_controller_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,9 @@
#include "motor-control/core/tasks/messages.hpp"
#include "motor-control/core/tasks/tmc_motor_driver_common.hpp"

constexpr uint32_t DIAG0_DEBOUNCE_REPS = 9;
constexpr uint32_t DIAG0_DEBOUNCE_DELAY = 100;

namespace motion_controller_task {

using TaskMessage = motor_control_task_messages::MotionControlTaskMessage;
Expand Down Expand Up @@ -190,7 +193,7 @@ class MotionControllerMessageHandler {

void handle(
const motor_control_task_messages::RouteMotorDriverInterrupt& m) {
if (m.debounce_count > 9) {
if (m.debounce_count > DIAG0_DEBOUNCE_REPS) {
if (controller.read_tmc_diag0()) {
controller.stop(
can::ids::ErrorSeverity::unrecoverable,
Expand All @@ -207,12 +210,10 @@ class MotionControllerMessageHandler {
can::messages::ReadMotorDriverErrorStatusRequest{
.message_index = m.message_index});
}
} else {
controller.clear_cancel_request();
}
diag0_debounced = false;
} else {
vTaskDelay(pdMS_TO_TICKS(100));
vTaskDelay(pdMS_TO_TICKS(DIAG0_DEBOUNCE_DELAY));
motion_client.send_motion_controller_queue(
increment_message_debounce_count(m));
}
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2 changes: 0 additions & 2 deletions include/pipettes/core/tasks/motion_controller_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,8 +173,6 @@ class MotionControllerMessageHandler {
can::messages::ReadMotorDriverErrorStatusRequest{
.message_index = m.message_index});
}
} else {
controller.clear_cancel_request();
}
diag0_debounced = false;
} else {
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53 changes: 26 additions & 27 deletions pipettes/firmware/hardware_config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ static uint16_t get_spi_pins_lt(GPIO_TypeDef* for_handle) {
}
}

static uint16_t get_motor_driver_pins_ht(GPIO_TypeDef* for_handle, bool for_diag0) {
static uint16_t get_motor_driver_pins_ht(GPIO_TypeDef* for_handle) {
/*
* Dir Pins
* plunger -> PA6
Expand All @@ -162,41 +162,28 @@ static uint16_t get_motor_driver_pins_ht(GPIO_TypeDef* for_handle, bool for_diag
* Motor Enable
* pickup enable -> PA10
* plunger enable -> PB4
*
* Diag0 Pin
* PB6
*/
if (!for_diag0) {
switch((uint32_t)for_handle) {
case (uint32_t)GPIOA: return GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_10;
case (uint32_t)GPIOB: return GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_7 | GPIO_PIN_4;
case (uint32_t)GPIOC: return GPIO_PIN_2;
default: return 0;
}
} else {
return GPIO_PIN_6;
switch((uint32_t)for_handle) {
case (uint32_t)GPIOA: return GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_10;
case (uint32_t)GPIOB: return GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_7 | GPIO_PIN_4;
case (uint32_t)GPIOC: return GPIO_PIN_2;
default: return 0;
}
}

static uint16_t get_motor_driver_pins_lt(GPIO_TypeDef* for_handle, bool for_diag0) {
static uint16_t get_motor_driver_pins_lt(GPIO_TypeDef* for_handle) {
/*
* Dir Pin -> PC6
*
* Step Pin -> PC7
* Enable Pin -> PA10
*
* VREF (TMC2130) -> PA5
*
* DIAG0 Pin -> PC11
*/
if (!for_diag0) {
switch((uint32_t)for_handle) {
case (uint32_t)GPIOA: return GPIO_PIN_10;
case (uint32_t)GPIOC: return GPIO_PIN_6 | GPIO_PIN_7;
default: return 0;
}
} else {
return GPIO_PIN_11;
switch((uint32_t)for_handle) {
case (uint32_t)GPIOA: return GPIO_PIN_10;
case (uint32_t)GPIOC: return GPIO_PIN_6 | GPIO_PIN_7;
default: return 0;
}
}

Expand Down Expand Up @@ -226,14 +213,26 @@ uint16_t pipette_hardware_spi_pins(const PipetteType pipette_type, GPIO_TypeDef*
}
}

uint16_t pipette_hardware_motor_driver_pins(const PipetteType pipette_type, GPIO_TypeDef* for_handle, bool for_diag0) {
uint16_t pipette_hardware_motor_driver_pins(const PipetteType pipette_type, GPIO_TypeDef* for_handle) {
switch (pipette_type) {
case NINETY_SIX_CHANNEL:
case THREE_EIGHTY_FOUR_CHANNEL:
return get_motor_driver_pins_ht(for_handle);
case SINGLE_CHANNEL:
case EIGHT_CHANNEL:
default:
return get_motor_driver_pins_lt(for_handle);
}
}

uint16_t pipette_hardware_motor_driver_diag0_pin(const PipetteType pipette_type) {
switch (pipette_type) {
case NINETY_SIX_CHANNEL:
case THREE_EIGHTY_FOUR_CHANNEL:
return get_motor_driver_pins_ht(for_handle, for_diag0);
return GPIO_PIN_6;
case SINGLE_CHANNEL:
case EIGHT_CHANNEL:
default:
return get_motor_driver_pins_lt(for_handle, for_diag0);
return GPIO_PIN_11;
}
}
3 changes: 2 additions & 1 deletion pipettes/firmware/hardware_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ typedef enum {
}GPIOInterruptBlock;

uint16_t pipette_hardware_spi_pins(const PipetteType pipette_type, GPIO_TypeDef* which_handle);
uint16_t pipette_hardware_motor_driver_pins(const PipetteType pipette_type, GPIO_TypeDef* for_handle, bool for_diag0);
uint16_t pipette_hardware_motor_driver_pins(const PipetteType pipette_type, GPIO_TypeDef* for_handle);
uint16_t pipette_hardware_motor_driver_diag0_pin(const PipetteType pipette_type);
PipetteHardwarePin pipette_hardware_get_gpio(const PipetteType pipette_type, PipetteHardwareDevice device);
IRQn_Type get_interrupt_line(GPIOInterruptBlock gpio_pin_type);
12 changes: 6 additions & 6 deletions pipettes/firmware/motor_hardware.c
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ void motor_driver_gpio_init() {
GPIO_InitTypeDef GPIO_InitStruct = {0};
PipetteType pipette_type = get_pipette_type();

GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOC, false);
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOC);
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
Expand All @@ -92,21 +92,21 @@ void motor_driver_gpio_init() {
if (pipette_type != NINETY_SIX_CHANNEL) {
// Driver Clock Pin.
// Enable Dir/Step pin
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOA, false);
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOA);
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// Diag0 pin
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOC, true);
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_diag0_pin(pipette_type);
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
} else {
// Enable Dir/Step pin
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOA, false);
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOA);
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// Enable/Dir/Step pin
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOB, false);
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOB);
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
// Diag0 pin
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_pins(pipette_type, GPIOB, true);
GPIO_InitStruct.Pin = pipette_hardware_motor_driver_diag0_pin(pipette_type);
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
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