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include/motor-control/core/stepper_motor/motion_controller.hpp

@@ -25,7 +25,11 @@ template <lms::MotorMechanicalConfig MEConfig>
 class MotionController {
   public:
     using GenericQueue =
+#ifdef PIPETTE_TYPE_DEFINE
         freertos_message_queue::FreeRTOSMessageQueue<SensorSyncMove>;
+#else
+        freertos_message_queue::FreeRTOSMessageQueue<Move>;
+#endif
     using UpdatePositionQueue = freertos_message_queue::FreeRTOSMessageQueue<
         can::messages::UpdateMotorPositionEstimationRequest>;
     MotionController(lms::LinearMotionSystemConfig<MEConfig> lms_config,
@@ -59,7 +63,7 @@ class MotionController {
         -> const lms::LinearMotionSystemConfig<MEConfig>& {
         return linear_motion_sys_config;
     }
-
+#ifdef PIPETTE_TYPE_DEFINE
     void move(const can::messages::AddSensorMoveRequest& can_msg) {
         steps_per_tick velocity_steps =
             fixed_point_multiply(steps_per_mm, can_msg.velocity);
@@ -122,6 +126,48 @@ class MotionController {
         }
         queue.try_write(msg);
     }
+#else
+
+    void move(const can::messages::AddLinearMoveRequest& can_msg) {
+        steps_per_tick velocity_steps =
+            fixed_point_multiply(steps_per_mm, can_msg.velocity);
+        steps_per_tick_sq acceleration_steps =
+            fixed_point_multiply(steps_per_um, can_msg.acceleration);
+        Move msg{
+            .message_index = can_msg.message_index,
+            .duration = can_msg.duration,
+            .velocity = velocity_steps,
+            .acceleration = acceleration_steps,
+            .group_id = can_msg.group_id,
+            .seq_id = can_msg.seq_id,
+            .stop_condition = can_msg.request_stop_condition,
+            .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
+        if (!enabled) {
+            enable_motor();
+        }
+        queue.try_write(msg);
+    }
+
+    void move(const can::messages::HomeRequest& can_msg) {
+        steps_per_tick velocity_steps =
+            fixed_point_multiply(steps_per_mm, can_msg.velocity);
+        Move msg{
+            .message_index = can_msg.message_index,
+            .duration = can_msg.duration,
+            .velocity = velocity_steps,
+            .acceleration = 0,
+            .group_id = can_msg.group_id,
+            .seq_id = can_msg.seq_id,
+            .stop_condition =
+                static_cast<uint8_t>(MoveStopCondition::limit_switch),
+            .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
+        if (!enabled) {
+            enable_motor();
+        }
+        queue.try_write(msg);
+    }
+
+#endif
 
     [[nodiscard]] auto update_position(
         const can::messages::UpdateMotorPositionEstimationRequest& can_msg)

include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp

@@ -9,7 +9,9 @@
 #include "motor-control/core/motor_messages.hpp"
 #include "motor-control/core/stall_check.hpp"
 #include "motor-control/core/tasks/move_status_reporter_task.hpp"
+#ifdef PIPETTE_TYPE_DEFINE
 #include "pipettes/core/sensor_tasks.hpp"
+#endif
 namespace motor_handler {
 
 using namespace motor_messages;
@@ -375,6 +377,7 @@ class MotorInterruptHandler {
             hardware.enable_encoder();
             buffered_move.start_encoder_position =
                 hardware.get_encoder_pulses();
+#ifdef PIPETTE_TYPE_DEFINE
             if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
                 auto msg = can::messages::BindSensorOutputRequest{
                     .message_index = buffered_move.message_index,
@@ -384,6 +387,7 @@ class MotorInterruptHandler {
                 };
                 send_to_pressure_sensor_queue(msg);
             }
+#endif
         }
         if (set_direction_pin()) {
             hardware.positive_direction();
@@ -466,6 +470,7 @@ class MotorInterruptHandler {
         tick_count = 0x0;
         stall_handled = false;
         build_and_send_ack(ack_msg_id);
+#ifdef PIPETTE_TYPE_DEFINE
         if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
             auto stop_msg = can::messages::BindSensorOutputRequest{
                 .message_index = buffered_move.message_index,
@@ -475,6 +480,7 @@ class MotorInterruptHandler {
                     static_cast<uint8_t>(can::ids::SensorOutputBinding::sync)};
             send_to_pressure_sensor_queue(stop_msg);
         }
+#endif
         set_buffered_move(MotorMoveMessage{});
         // update the stall check ideal encoder counts based on
         // last known location
@@ -617,13 +623,14 @@ class MotorInterruptHandler {
         hardware.set_step_tracker(
             static_cast<uint32_t>(position_tracker >> 31));
     }
+#ifdef PIPETTE_TYPE_DEFINE
     void send_to_pressure_sensor_queue(
         can::messages::BindSensorOutputRequest& m) {
         std::ignore = sensor_tasks::get_queues()
                           .pressure_sensor_queue_rear->try_write_isr(m);
         // if (!success) {this->cancel_and_clear_moves();}
     }
-
+#endif
     uint64_t tick_count = 0x0;
     static constexpr const q31_31 tick_flag = 0x80000000;
     static constexpr const uint64_t overflow_flag = 0x8000000000000000;

include/sensors/core/tasks/pressure_driver.hpp

@@ -14,6 +14,12 @@
 #include "sensors/core/sensors.hpp"
 #include "sensors/core/utils.hpp"
 
+#if PIPETTE_TYPE_DEFINE == NINETY_SIX_CHANNEL
+#define PRESSURE_SENSOR_BUFFER_SIZE 1800
+#else
+#define PRESSURE_SENSOR_BUFFER_SIZE 3000
+#endif
+
 namespace sensors {
 
 namespace tasks {
@@ -35,7 +41,7 @@ class MMR920C04 {
     MMR920C04(I2CQueueWriter &writer, I2CQueuePoller &poller,
               CanClient &can_client, OwnQueue &own_queue,
               sensors::hardware::SensorHardwareBase &hardware,
-              const can::ids::SensorId &id, std::array<float, 3000> *p_buff)
+              const can::ids::SensorId &id, std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> *p_buff)
         : writer(writer),
           poller(poller),
           can_client(can_client),
@@ -353,7 +359,7 @@ class MMR920C04 {
         if (echo_this_time) {
             // send a response with 9999 to make an overload of the buffer
             // visible
-            if (pressure_buffer_index < 3000) {
+            if (pressure_buffer_index < PRESSURE_SENSOR_BUFFER_SIZE) {
                 (*p_buff)[pressure_buffer_index] = pressure;
                 pressure_buffer_index++;
             } else {
@@ -544,7 +550,7 @@ class MMR920C04 {
         value &= Reg::value_mask;
         return write(Reg::address, value);
     }
-    std::array<float, 3000> *p_buff;
+    std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> *p_buff;
     uint16_t pressure_buffer_index = 0;
 };
 

include/sensors/core/tasks/pressure_sensor_task.hpp

@@ -21,7 +21,7 @@ class PressureMessageHandler {
         I2CQueueWriter &i2c_writer, I2CQueuePoller &i2c_poller,
         CanClient &can_client, OwnQueue &own_queue,
         sensors::hardware::SensorHardwareBase &hardware,
-        const can::ids::SensorId &id, std::array<float, 3000> *p_buff)
+        const can::ids::SensorId &id, std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> *p_buff)
         : driver{i2c_writer, i2c_poller, can_client, own_queue,
                  hardware,   id,         p_buff} {}
     PressureMessageHandler(const PressureMessageHandler &) = delete;
@@ -200,7 +200,7 @@ class PressureSensorTask {
         i2c::writer::Writer<QueueImpl> *writer,
         i2c::poller::Poller<QueueImpl> *poller, CanClient *can_client,
         sensors::hardware::SensorHardwareBase *hardware,
-        std::array<float, 3000> *p_buff) {
+        std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> *p_buff) {
         auto handler = PressureMessageHandler{
             *writer,   *poller,   *can_client, get_queue(),
             *hardware, sensor_id, p_buff};

pipettes/core/sensor_tasks.cpp

@@ -6,7 +6,7 @@
 
 static auto tasks = sensor_tasks::Tasks{};
 static auto queue_client = sensor_tasks::QueueClient{};
-static std::array<float, 3000> p_buff;
+static std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> p_buff;
 static auto eeprom_task_builder =
     freertos_task::TaskStarter<512, eeprom::task::EEPromTask>{};