Sync pressure sensor reading w move group

.github/workflows/cross-compile-special-sensors.yaml

@@ -0,0 +1,116 @@
+name: "cross-compile/format/lint all targets"
+on:
+  push:
+    branches:
+      - "*"
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref_name }}
+  cancel-in-progress: true
+
+defaults:
+  run:
+    shell: bash
+    working-directory: ot3-firmware
+
+jobs:
+  build-cross:
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 20
+    strategy:
+      matrix:
+        target: [
+          pipettes-single,
+          pipettes-multi,
+          pipettes-96,
+        ]
+      fail-fast: false
+    name: Build ${{ matrix.target }}
+    steps:
+      - name: Checkout ot3-firmware repo
+        uses: actions/checkout@v4
+        with:
+          path: ot3-firmware
+
+      - name: Checkout github actions directory
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            .github/actions
+          sparse-checkout-cone-mode: false
+          path: actions
+
+      - name: Setup main
+        uses: ./actions/.github/actions/main-setup
+        with:
+          cache-version: ${{ secrets.CACHE_VERSION }}
+
+      - name: Configure
+        run: cmake --preset=cross . -DUSE_PRESSURE_MOVE=true
+
+      - name: Build all STM32G4 applications
+        run: cmake --build --preset=${{ matrix.target }} --target ${{ matrix.target }}-images ${{ matrix.target }}-applications
+
+  format:
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 20
+    name: Formatting
+    steps:
+      - name: Checkout ot3-firmware repo
+        uses: actions/checkout@v4
+        with:
+          path: ot3-firmware
+
+      - name: Checkout github actions directory
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            .github/actions
+          sparse-checkout-cone-mode: false
+          path: actions
+
+      - name: Setup main
+        uses: ./actions/.github/actions/main-setup
+        with:
+          cache-version: ${{ secrets.CACHE_VERSION }}
+
+      - name: Configure
+        run: cmake --preset=cross . -DUSE_PRESSURE_MOVE=true
+
+      - name: Format
+        run: cmake --build ./build-cross --target format-ci
+
+  lint:
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 20
+    name: ${{ matrix.target }} lint
+    strategy:
+      matrix:
+        target: [
+          pipettes,
+        ]
+    steps:
+      - name: Checkout ot3-firmware repo
+        uses: actions/checkout@v4
+        with:
+          path: ot3-firmware
+
+      - name: Checkout github actions directory
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            .github/actions
+          sparse-checkout-cone-mode: false
+          path: actions
+
+      - name: Setup main
+        uses: ./actions/.github/actions/main-setup
+        with:
+          cache-version: ${{ secrets.CACHE_VERSION }}
+
+      - name: Configure
+        run: cmake --preset=cross . -DUSE_PRESSURE_MOVE=true
+
+      - name: Format
+        run: cmake --build ./build-cross --target ${{ matrix.target }}-lint

common/core/CMakeLists.txt

@@ -54,6 +54,12 @@ 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 "0x01")
+  else()
+  set(TERTIARY_FLAG "0x00")
+  endif()
+
 
   configure_file(${CMAKE_SOURCE_DIR}/common/core/revision.c.in ${CMAKE_CURRENT_BINARY_DIR}/${_ar_TARGET}_revision.c)
 

common/core/revision.c.in

@@ -4,7 +4,7 @@
 static const struct revision _revision = {
     .primary = '${PRIMARY_REVISION}',
     .secondary = '${SECONDARY_REVISION}',
-    .tertiary = {0x00,0x00}
+    .tertiary = {0x00,${TERTIARY_FLAG}}
 };
 
 const struct revision* revision_get() {

gripper/firmware/utility_gpio.c

@@ -131,7 +131,7 @@ inline static void ebrake_gpio_init(void) {
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     HAL_GPIO_Init(EBRAKE_PORT, &GPIO_InitStruct);
 
-    HAL_GPIO_WritePin(EBRAKE_PORT, EBRAKE_PIN, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(EBRAKE_PORT, EBRAKE_PIN, GPIO_PIN_RESET);
 }
 #endif
 

include/bootloader/core/ids.h

@@ -46,6 +46,7 @@ typedef enum {
     can_messageid_execute_move_group_request = 0x18,
     can_messageid_clear_all_move_groups_request = 0x19,
     can_messageid_home_request = 0x20,
+    can_messageid_add_sensor_move_request = 0x23,
     can_messageid_move_completed = 0x13,
     can_messageid_motor_position_request = 0x12,
     can_messageid_motor_position_response = 0x14,
@@ -112,6 +113,7 @@ 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_set_hepa_fan_state_request = 0x90,
     can_messageid_get_hepa_fan_state_request = 0x91,
     can_messageid_get_hepa_fan_state_response = 0x92,

include/can/core/ids.hpp

@@ -48,6 +48,7 @@ enum class MessageId {
     execute_move_group_request = 0x18,
     clear_all_move_groups_request = 0x19,
     home_request = 0x20,
+    add_sensor_move_request = 0x23,
     move_completed = 0x13,
     motor_position_request = 0x12,
     motor_position_response = 0x14,
@@ -114,6 +115,7 @@ enum class MessageId {
     peripheral_status_request = 0x8c,
     peripheral_status_response = 0x8d,
     baseline_sensor_response = 0x8e,
+    send_accumulated_pressure_data = 0x8f,
     set_hepa_fan_state_request = 0x90,
     get_hepa_fan_state_request = 0x91,
     get_hepa_fan_state_response = 0x92,
@@ -198,6 +200,7 @@ enum class SensorType {
 enum class SensorId {
     S0 = 0x0,
     S1 = 0x1,
+    UNUSED = 0x2,
 };
 
 /** Links sensor threshold triggers to pins. */

include/can/core/message_handlers/move_group.hpp

@@ -11,10 +11,19 @@ using namespace can::messages;
 template <move_group_task::TaskClient Client>
 class MoveGroupHandler {
   public:
+#ifdef USE_PRESSURE_MOVE
+    using MessageType =
+        std::variant<std::monostate, AddLinearMoveRequest,
+                     ClearAllMoveGroupsRequest, ExecuteMoveGroupRequest,
+                     GetMoveGroupRequest, HomeRequest, StopRequest,
+                     AddSensorMoveRequest>;
+#else
     using MessageType =
         std::variant<std::monostate, AddLinearMoveRequest,
                      ClearAllMoveGroupsRequest, ExecuteMoveGroupRequest,
                      GetMoveGroupRequest, HomeRequest, StopRequest>;
+#endif
+
     MoveGroupHandler(Client &task_client) : task_client{task_client} {}
     MoveGroupHandler(const MoveGroupHandler &) = delete;
     MoveGroupHandler(const MoveGroupHandler &&) = delete;

include/can/core/messages.hpp

@@ -721,6 +721,27 @@ struct FirmwareUpdateStatusResponse
         -> bool = default;
 };
 
+struct SendAccumulatedPressureDataRequest
+    : BaseMessage<MessageId::send_accumulated_pressure_data> {
+    uint32_t message_index = 0;
+    uint8_t sensor_id = 0;
+
+    template <bit_utils::ByteIterator Input, typename Limit>
+    static auto parse(Input body, Limit limit)
+        -> SendAccumulatedPressureDataRequest {
+        uint32_t msg_ind = 0;
+        uint8_t sensor_id = 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};
+    }
+
+    auto operator==(const SendAccumulatedPressureDataRequest& other) const
+        -> bool = default;
+};
+
 struct ReadFromSensorRequest : BaseMessage<MessageId::read_sensor_request> {
     uint32_t message_index = 0;
     uint8_t sensor = 0;
@@ -1672,6 +1693,51 @@ struct GetHepaUVStateResponse
         -> bool = default;
 };
 
+// NOLINTNEXTLINE(cppcoreguidelines-pro-type-member-init)
+struct AddSensorMoveRequest : BaseMessage<MessageId::add_sensor_move_request> {
+    uint32_t message_index;
+    uint8_t group_id;
+    uint8_t seq_id;
+    stepper_timer_ticks duration;
+    um_per_tick_sq acceleration;
+    mm_per_tick velocity;
+    uint8_t request_stop_condition;
+    can::ids::SensorId sensor_id{};
+
+    template <bit_utils::ByteIterator Input, typename Limit>
+    static auto parse(Input body, Limit limit) -> AddSensorMoveRequest {
+        uint8_t group_id = 0;
+        uint8_t seq_id = 0;
+        stepper_timer_ticks duration = 0;
+        um_per_tick_sq acceleration = 0;
+        mm_per_tick velocity = 0;
+        uint8_t request_stop_condition = 0;
+        uint32_t msg_ind = 0;
+        uint8_t sensor_id = 0;
+
+        body = bit_utils::bytes_to_int(body, limit, msg_ind);
+        body = bit_utils::bytes_to_int(body, limit, group_id);
+        body = bit_utils::bytes_to_int(body, limit, seq_id);
+        body = bit_utils::bytes_to_int(body, limit, duration);
+        body = bit_utils::bytes_to_int(body, limit, acceleration);
+        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);
+        return AddSensorMoveRequest{
+            .message_index = msg_ind,
+            .group_id = group_id,
+            .seq_id = seq_id,
+            .duration = duration,
+            .acceleration = acceleration,
+            .velocity = velocity,
+            .request_stop_condition = request_stop_condition,
+            .sensor_id = static_cast<can::ids::SensorId>(sensor_id),
+        };
+    }
+
+    auto operator==(const AddSensorMoveRequest& other) const -> bool = default;
+};
+
 /**
  * A variant of all message types we might send..
  */

include/gripper/core/can_task.hpp

@@ -65,6 +65,7 @@ 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::WriteToSensorRequest, can::messages::BaselineSensorRequest,
     can::messages::SetSensorThresholdRequest,
     can::messages::BindSensorOutputRequest,

include/motor-control/core/motor_messages.hpp

@@ -79,12 +79,46 @@ struct Move {  // NOLINT(cppcoreguidelines-pro-type-member-init)
     }
 };
 
+struct SensorSyncMove {  // NOLINT(cppcoreguidelines-pro-type-member-init)
+    uint32_t message_index;
+    stepper_timer_ticks duration;  // in stepper timer ticks
+    steps_per_tick velocity;
+    steps_per_tick_sq acceleration;
+    uint8_t group_id;
+    uint8_t seq_id;
+    uint8_t stop_condition = static_cast<uint8_t>(MoveStopCondition::none);
+    int32_t start_encoder_position;
+    uint16_t usage_key;
+    can::ids::SensorId sensor_id;
+
+    auto build_ack(uint32_t position, int32_t pulses, uint8_t flags,
+                   AckMessageId _id) -> Ack {
+        return Ack{
+            .message_index = message_index,
+            .group_id = group_id,
+            .seq_id = seq_id,
+            .current_position_steps = position,
+            .encoder_position = pulses,
+            .position_flags = flags,
+            .ack_id = _id,
+            .start_encoder_position = start_encoder_position,
+            .usage_key = usage_key,
+        };
+    }
+
+    [[nodiscard]] auto check_stop_condition(MoveStopCondition cond) const
+        -> bool {
+        return ((stop_condition & static_cast<uint8_t>(cond)) ==
+                static_cast<uint8_t>(cond));
+    }
+};
+
 struct GearMotorMove  // NOLINT(cppcoreguidelines-pro-type-member-init)
     : public Move {
     uint32_t start_step_position;
     can::ids::PipetteTipActionType action;
     can::ids::GearMotorId gear_motor_id;
-
+    can::ids::SensorId sensor_id;
     auto build_ack(uint32_t position, int32_t pulses, uint8_t flags,
                    AckMessageId _id) -> GearMotorAck {
         return GearMotorAck{message_index, group_id,