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feat(sensors): enable capacitive sensor logging (#768)
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* USE_SENSOR_MOVE

* intermediate updates

* finished implementing capacitive_probe firmware

* format lint test

* build fixes

* formatted

* updates to match pressure work

* fixes RAM space build issue

* empty last line

* removed comment

* build update

* pr review fix and format

* faux commit

* faux commit

* fixed build issues stemming from removal of motor driver error surfacing branch

* simulator fix

* formatted

* removed comments

* formatted

* get rid of pesky error messages like with pressure driver

* rip out the unneeded templating of sensor hardware since that stuff is behind ifdefs

* fix simulators

* build issue fix

* merge issue fix

---------

Co-authored-by: Ryan howard <[email protected]>
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pmoegenburg and ryanthecoder committed Jul 18, 2024
1 parent a3f3bfc commit c7a92d4
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Showing 45 changed files with 425 additions and 209 deletions.
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)
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&) {}
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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