first pass idea

Opentrons · Jun 26, 2024 · 052468e · 052468e
1 parent f0a0fb8
commit 052468e
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Showing 4 changed files with 66 additions and 13 deletions.
diff --git a/include/sensors/core/sensor_hardware_interface.hpp b/include/sensors/core/sensor_hardware_interface.hpp
@@ -3,6 +3,7 @@
 #include <functional>
 #include <optional>
 
+#include "can/core/ids.hpp"
 #include "common/firmware/gpio.hpp"
 
 namespace sensors {
@@ -28,6 +29,10 @@ class SensorHardwareBase {
     virtual auto set_sync() -> void = 0;
     virtual auto reset_sync() -> void = 0;
     virtual auto check_tip_presence() -> bool = 0;
+    virtual auto set_sync(can::ids::SensorId sensor) -> void = 0;
+    virtual auto reset_sync(can::ids::SensorId sensor) -> void = 0;
+    virtual auto set_sync_required(can::ids::SensorId sensor, bool required) -> void = 0;
+    virtual auto reset_sync_required(can::ids::SensorId sensor, bool required) -> void = 0;
 };
 
 struct SensorHardwareContainer {

diff --git a/include/sensors/core/tasks/capacitive_driver.hpp b/include/sensors/core/tasks/capacitive_driver.hpp
@@ -91,12 +91,13 @@ class FDC1004 {
 
     void set_bind_sync(bool should_bind) {
         bind_sync = should_bind;
-        hardware.reset_sync();
+        hardware.set_sync_required(sensor_id);
+        hardware.reset_sync(sensor_id);
     }
 
     void set_max_bind_sync(bool should_bind) {
         max_capacitance_sync = should_bind;
-        hardware.reset_sync();
+        hardware.reset_sync(sensor_id);
     }
 
     auto set_bind_flags(uint8_t binding) -> void { sensor_binding = binding; }
@@ -280,14 +281,14 @@ class FDC1004 {
             if (capacitance > fdc1004::MAX_CAPACITANCE_READING) {
                 hardware.set_sync();
             } else {
-                hardware.reset_sync();
+                hardware.reset_sync(sensor_id);
             }
         }
         if (bind_sync) {
             if (capacitance > zero_threshold_pf) {
-                hardware.set_sync();
+                hardware.set_sync(sensor_id);
             } else {
-                hardware.reset_sync();
+                hardware.reset_sync(sensor_id);
             }
         }
 

diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -88,12 +88,13 @@ class MMR920 {
 
     void set_bind_sync(bool should_bind) {
         bind_sync = should_bind;
-        hardware.reset_sync();
+        hardware.set_sync_required(sensor_id, should_bind);
+        hardware.reset_sync(sensor_id);
     }
 
     void set_max_bind_sync(bool should_bind) {
         max_pressure_sync = should_bind;
-        hardware.reset_sync();
+        hardware.reset_sync(sensor_id);
     }
 
     auto get_threshold() -> int32_t { return threshold_pascals; }
@@ -368,16 +369,16 @@ class MMR920 {
                 (std::fabs(pressure - current_pressure_baseline_pa -
                            current_moving_pressure_baseline_pa) >
                  threshold_pascals)) {
-                hardware.set_sync();
+                hardware.set_sync(sensor_id);
             } else {
-                hardware.reset_sync();
+                hardware.reset_sync(sensor_id);
             }
         } else {
             if (std::fabs(pressure - current_pressure_baseline_pa) >
                 threshold_pascals) {
-                hardware.set_sync();
+                hardware.set_sync(sensor_id);
             } else {
-                hardware.reset_sync();
+                hardware.reset_sync(sensor_id);
             }
         }
     }
@@ -418,6 +419,7 @@ class MMR920 {
                 max_pressure_consecutive_readings = 0;
             }
             if (over_threshold) {
+                // Use the set_sync that always sets the sync line here
                 hardware.set_sync();
                 can_client.send_can_message(
                     can::ids::NodeId::host,
@@ -431,7 +433,7 @@ class MMR920 {
                 // the sync line on purpose this causes bouncing on the line
                 // that turns off the sync and then immediately turns it back on
                 // and this can cause disrupt the behavior
-                hardware.reset_sync();
+                hardware.reset_sync(sensor_id);
             }
         }
         if (bind_sync) {

diff --git a/include/sensors/firmware/sensor_hardware.hpp b/include/sensors/firmware/sensor_hardware.hpp
@@ -7,6 +7,27 @@
 namespace sensors {
 namespace hardware {
 
+enum class SensorIdBitMask : uint8_t {
+    S0 = 0x01,
+    S1 = 0x02,
+    UNUSED = 0x00,
+    BOTH = 0x03,
+};
+
+static auto get_mask_from_id(can::ids::SensorId sensor) -> SensorIdBitMask{
+    switch(sensor) {
+        case can::ids::SensorId::BOTH:
+            return SensorIdBitMask::BOTH;
+        case can::ids::SensorId::S0 :
+            return SensorIdBitMask::S0;
+        case can::ids::SensorId::S1 :
+            return SensorIdBitMask::S1;
+        case can::ids::SensorId::UNUSED :
+        default :
+            return SensorIdBitMask::UNUSED;
+    }
+}
+
 class SensorHardware : public SensorHardwareBase {
   public:
     SensorHardware(sensors::hardware::SensorHardwareConfiguration hardware)
@@ -19,8 +40,32 @@ class SensorHardware : public SensorHardwareBase {
         }
         return false;
     }
+    auto set_sync(can::ids::SensorId sensor) -> void {
+        sync_state_mask |= get_mask_from_id(sensor);
+        if (sync_state_mask & set_sync_required_mask == set_sync_required_mask) {
+            set_sync();
+        }
+    }
+
+    auto reset_sync(can::ids::SensorId sensor) -> void {
+        sync_state_mask &= 0xFF ^ get_mask_from_id(sensor);
+        if (sync_state_mask & set_sync_required_mask != set_sync_required_mask) {
+            reset_sync();
+        }
+    }
+
+    auto set_sync_required(can::ids::SensorId sensor, bool required) -> void {
+        uint8_t applied_mask = get_mask_from_id(sensor);
+        if (!required) {
+            applied_mask ^= 0xFF;
+        }
+        set_sync_required_mask &= applied_mask;
+    }
+
+    uint8_t set_sync_required_mask = 0x00;
+    uint8_t sync_state_mask = 0x00;
 
-    sensors::hardware::SensorHardwareConfiguration hardware;
 };
+
 };  // namespace hardware
 };  // namespace sensors