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Opentrons · Jan 24, 2024 · 11214b0 · 11214b0
1 parent 3ea1c80
commit 11214b0
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Showing 15 changed files with 95 additions and 77 deletions.
diff --git a/gripper/simulator/interfaces.cpp b/gripper/simulator/interfaces.cpp
@@ -136,7 +136,7 @@ static brushed_motor_handler::BrushedMotorInterruptHandler
 static brushed_motor_interrupt_driver::BrushedMotorInterruptDriver G(
     brushed_motor_queue, brushed_motor_interrupt, brushed_motor_hardware_iface);
 
-void z_motor_iface::initialize(diag0_handler *call_diag0_handler) {
+void z_motor_iface::initialize(diag0_handler* call_diag0_handler) {
     static_cast<void>(call_diag0_handler);
     motor_interface.provide_mech_config(z_motor_sys_config);
 };

diff --git a/head/core/tasks_proto.cpp b/head/core/tasks_proto.cpp
@@ -81,13 +81,15 @@ static auto tail_accessor = eeprom::dev_data::DevDataTailAccessor{head_queues};
 
 void call_run_diag0_z_interrupt() {
     if (head_tasks::get_left_tasks().motion_controller) {
-        return head_tasks::get_left_tasks().motion_controller->run_diag0_interrupt();
+        return head_tasks::get_left_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 
 void call_run_diag0_a_interrupt() {
     if (head_tasks::get_right_tasks().motion_controller) {
-        return head_tasks::get_right_tasks().motion_controller->run_diag0_interrupt();
+        return head_tasks::get_right_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 
@@ -108,7 +110,8 @@ auto head_tasks::start_tasks(
     motor_hardware_task::MotorHardwareTask& rmh_tsk,
     motor_hardware_task::MotorHardwareTask& lmh_tsk,
     i2c::hardware::I2CBase& i2c3,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> std::tuple<diag0_handler, diag0_handler> {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> std::tuple<diag0_handler, diag0_handler> {
     // Start the head tasks
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
@@ -214,8 +217,9 @@ auto head_tasks::start_tasks(
     right_queues.move_status_report_queue =
         &right_move_status_reporter.get_queue();
     right_queues.usage_storage_queue = &right_usage_storage_task.get_queue();
-
-    return std::make_tuple(call_run_diag0_z_interrupt, call_run_diag0_a_interrupt);
+
+    return std::make_tuple(call_run_diag0_z_interrupt,
+                           call_run_diag0_a_interrupt);
 }
 
 // Implementation of HeadQueueClient

diff --git a/head/core/tasks_rev1.cpp b/head/core/tasks_rev1.cpp
@@ -86,13 +86,15 @@ static auto eeprom_data_rev_update_builder =
 
 void call_run_diag0_z_interrupt() {
     if (head_tasks::get_left_tasks().motion_controller) {
-        return head_tasks::get_left_tasks().motion_controller->run_diag0_interrupt();
+        return head_tasks::get_left_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 
 void call_run_diag0_a_interrupt() {
     if (head_tasks::get_right_tasks().motion_controller) {
-        return head_tasks::get_right_tasks().motion_controller->run_diag0_interrupt();
+        return head_tasks::get_right_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 
@@ -113,7 +115,8 @@ auto head_tasks::start_tasks(
     motor_hardware_task::MotorHardwareTask& rmh_tsk,
     motor_hardware_task::MotorHardwareTask& lmh_tsk,
     i2c::hardware::I2CBase& i2c3,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> std::tuple<diag0_handler, diag0_handler> {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> std::tuple<diag0_handler, diag0_handler> {
     // Start the head tasks
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
@@ -236,7 +239,8 @@ auto head_tasks::start_tasks(
     right_queues.usage_storage_queue = &right_usage_storage_task.get_queue();
 #endif
 
-    return std::make_tuple(call_run_diag0_z_interrupt, call_run_diag0_a_interrupt);
+    return std::make_tuple(call_run_diag0_z_interrupt,
+                           call_run_diag0_a_interrupt);
 }
 
 // Implementation of HeadQueueClient

diff --git a/head/firmware/main_proto.cpp b/head/firmware/main_proto.cpp
@@ -146,17 +146,17 @@ struct motor_hardware::HardwareConfig pin_configurations_left {
             .port = GPIOA,
             .pin = GPIO_PIN_8,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOB,
-        .pin = GPIO_PIN_4,
-        .active_setting = GPIO_PIN_RESET},
-    .diag0 =
+    .estop_in =
         {
             // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = GPIOC,
-            .pin = GPIO_PIN_13,
-            .active_setting = GPIO_PIN_RESET}
+            .port = GPIOB,
+            .pin = GPIO_PIN_4,
+            .active_setting = GPIO_PIN_RESET},
+    .diag0 = {
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+        .port = GPIOC,
+        .pin = GPIO_PIN_13,
+        .active_setting = GPIO_PIN_RESET}
 };
 
 struct motor_hardware::HardwareConfig pin_configurations_right {
@@ -196,26 +196,24 @@ struct motor_hardware::HardwareConfig pin_configurations_right {
             .port = GPIOA,
             .pin = GPIO_PIN_8,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOB,
-        .pin = GPIO_PIN_4,
-        .active_setting = GPIO_PIN_RESET},
-    .diag0 =
+    .estop_in =
         {
             // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = GPIOC,
-            .pin = GPIO_PIN_15,
-            .active_setting = GPIO_PIN_RESET}
+            .port = GPIOB,
+            .pin = GPIO_PIN_4,
+            .active_setting = GPIO_PIN_RESET},
+    .diag0 = {
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+        .port = GPIOC,
+        .pin = GPIO_PIN_15,
+        .active_setting = GPIO_PIN_RESET}
 };
 
 // TODO clean up the head main file by using interfaces.
 static tmc2130::configs::TMC2130DriverConfig motor_driver_configs_right{
     .registers =
         {
-            .gconfig = {.en_pwm_mode = 1,
-                        .diag0_error = 1,
-                        .diag0_otpw = 1},
+            .gconfig = {.en_pwm_mode = 1, .diag0_error = 1, .diag0_otpw = 1},
             .ihold_irun = {.hold_current = 0xB,
                            .run_current = 0x19,
                            .hold_current_delay = 0x7},
@@ -242,9 +240,7 @@ static tmc2130::configs::TMC2130DriverConfig motor_driver_configs_right{
 static tmc2130::configs::TMC2130DriverConfig motor_driver_configs_left{
     .registers =
         {
-            .gconfig = {.en_pwm_mode = 1,
-                        .diag0_error = 1,
-                        .diag0_otpw = 1},
+            .gconfig = {.en_pwm_mode = 1, .diag0_error = 1, .diag0_otpw = 1},
             .ihold_irun = {.hold_current = 0xB,
                            .run_current = 0x19,
                            .hold_current_delay = 0x7},
@@ -415,7 +411,8 @@ auto main() -> int {
 
     app_update_clear_flags();
     initialize_timer(motor_callback_glue, left_enc_overflow_callback_glue,
-                     right_enc_overflow_callback_glue, &call_diag0_z_handler, &call_diag0_a_handler);
+                     right_enc_overflow_callback_glue, &call_diag0_z_handler,
+                     &call_diag0_a_handler);
 
     if (initialize_spi(&hspi2) != HAL_OK) {
         Error_Handler();
@@ -429,11 +426,12 @@ auto main() -> int {
 
     i2c_setup(&i2c_handles);
     i2c_comms3.set_handle(i2c_handles.i2c3);
-    std::tie(call_diag0_z_handler, call_diag0_a_handler) = head_tasks::start_tasks(can_bus_1, motor_left.motion_controller,
-                            motor_right.motion_controller, psd, spi_comms2,
-                            spi_comms3, motor_driver_configs_left,
-                            motor_driver_configs_right, rmh_tsk, lmh_tsk,
-                            i2c_comms3, eeprom_hw_iface);
+    std::tie(call_diag0_z_handler, call_diag0_a_handler) =
+        head_tasks::start_tasks(can_bus_1, motor_left.motion_controller,
+                                motor_right.motion_controller, psd, spi_comms2,
+                                spi_comms3, motor_driver_configs_left,
+                                motor_driver_configs_right, rmh_tsk, lmh_tsk,
+                                i2c_comms3, eeprom_hw_iface);
 
     timer_for_notifier.start();
 

diff --git a/head/firmware/main_rev1.cpp b/head/firmware/main_rev1.cpp
@@ -440,7 +440,8 @@ auto main() -> int {
     app_update_clear_flags();
 
     initialize_timer(motor_callback_glue, left_enc_overflow_callback_glue,
-                     right_enc_overflow_callback_glue, &call_diag0_z_handler, &call_diag0_a_handler);
+                     right_enc_overflow_callback_glue, &call_diag0_z_handler,
+                     &call_diag0_a_handler);
 
     i2c_setup(&i2c_handles);
     i2c_comms3.set_handle(i2c_handles.i2c3);
@@ -454,11 +455,12 @@ auto main() -> int {
 
     utility_gpio_init();
     can_bus_1.start(can_bit_timings);
-    std::tie(call_diag0_z_handler, call_diag0_a_handler) = head_tasks::start_tasks(can_bus_1, motor_left.motion_controller,
-                            motor_right.motion_controller, psd, spi_comms2,
-                            spi_comms3, motor_driver_configs_left,
-                            motor_driver_configs_right, rmh_tsk, lmh_tsk,
-                            i2c_comms3, eeprom_hw_iface);
+    std::tie(call_diag0_z_handler, call_diag0_a_handler) =
+        head_tasks::start_tasks(can_bus_1, motor_left.motion_controller,
+                                motor_right.motion_controller, psd, spi_comms2,
+                                spi_comms3, motor_driver_configs_left,
+                                motor_driver_configs_right, rmh_tsk, lmh_tsk,
+                                i2c_comms3, eeprom_hw_iface);
 
     timer_for_notifier.start();
 

diff --git a/include/can/core/messages.hpp b/include/can/core/messages.hpp
@@ -623,7 +623,8 @@ struct ReadMotorDriverErrorStatusRequest
     uint32_t message_index;
 
     template <bit_utils::ByteIterator Input, typename Limit>
-    static auto parse(Input body, Limit limit) -> ReadMotorDriverErrorStatusRequest {
+    static auto parse(Input body, Limit limit)
+        -> ReadMotorDriverErrorStatusRequest {
         uint32_t msg_ind = 0;
 
         body = bit_utils::bytes_to_int(body, limit, msg_ind);

diff --git a/include/head/core/tasks_proto.hpp b/include/head/core/tasks_proto.hpp
@@ -43,7 +43,8 @@ auto start_tasks(
     motor_hardware_task::MotorHardwareTask& right_motor_hardware,
     motor_hardware_task::MotorHardwareTask& left_motor_hardware,
     i2c::hardware::I2CBase& i2c3,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> std::tuple<diag0_handler, diag0_handler>;
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> std::tuple<diag0_handler, diag0_handler>;
 
 /**
  * Access to all tasks not associated with a motor. This will be a singleton.

diff --git a/include/head/core/tasks_rev1.hpp b/include/head/core/tasks_rev1.hpp
@@ -43,7 +43,8 @@ auto start_tasks(
     motor_hardware_task::MotorHardwareTask& right_motor_hardware,
     motor_hardware_task::MotorHardwareTask& left_motor_hardware,
     i2c::hardware::I2CBase& i2c3,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> std::tuple<diag0_handler, diag0_handler>;
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> std::tuple<diag0_handler, diag0_handler>;
 
 /**
  * Access to all tasks not associated with a motor. This will be a singleton.

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -433,8 +433,8 @@ class MotorInterruptHandler {
                                         .error_code = err_code});
         if (err_code == can::ids::ErrorCode::motor_driver_error_detected) {
             driver_client.send_motor_driver_queue_isr(
-                can::messages::ReadMotorDriverErrorStatusRequest{.message_index =
-                                                              message_index});
+                can::messages::ReadMotorDriverErrorStatusRequest{
+                    .message_index = message_index});
         }
         if (err_code == can::ids::ErrorCode::collision_detected) {
             build_and_send_ack(AckMessageId::position_error);

diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -230,16 +230,17 @@ class MotionControllerMessageHandler {
         const motor_control_task_messages::RouteMotorDriverInterrupt& m) {
         if (debounce_count > 9) {
             if (controller.read_tmc_diag0()) {
-                controller.stop(can::ids::ErrorSeverity::unrecoverable,
-                                can::ids::ErrorCode::motor_driver_error_detected);
+                controller.stop(
+                    can::ids::ErrorSeverity::unrecoverable,
+                    can::ids::ErrorCode::motor_driver_error_detected);
                 if (!controller.is_timer_interrupt_running()) {
                     can_client.send_can_message(
                         can::ids::NodeId::host,
                         can::messages::ErrorMessage{
                             .message_index = m.message_index,
                             .severity = can::ids::ErrorSeverity::unrecoverable,
-                            .error_code =
-                                can::ids::ErrorCode::motor_driver_error_detected});
+                            .error_code = can::ids::ErrorCode::
+                                motor_driver_error_detected});
                     driver_client.send_motor_driver_queue(
                         can::messages::ReadMotorDriverErrorStatusRequest{
                             .message_index = m.message_index});
@@ -252,7 +253,9 @@ class MotionControllerMessageHandler {
         } else {
             debounce_count++;
             vTaskDelay(pdMS_TO_TICKS(100));
-            motion_client.send_motion_controller_queue(motor_control_task_messages::RouteMotorDriverInterrupt{.message_index = m.message_index});
+            motion_client.send_motion_controller_queue(
+                motor_control_task_messages::RouteMotorDriverInterrupt{
+                    .message_index = m.message_index});
         }
     }
 
@@ -341,8 +344,10 @@ class MotionControllerTask {
     */
 
     void run_diag0_interrupt() {
-        if (!diag0_debounced){
-            static_cast<void>(queue.try_write_isr(motor_control_task_messages::RouteMotorDriverInterrupt{.message_index = 0}));
+        if (!diag0_debounced) {
+            static_cast<void>(queue.try_write_isr(
+                motor_control_task_messages::RouteMotorDriverInterrupt{
+                    .message_index = 0}));
             diag0_debounced = true;
         }
     }

diff --git a/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2130_motor_driver_task.hpp
@@ -60,12 +60,11 @@ class MotorDriverMessageHandler {
                 m.rxBuffer);
             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::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 {

diff --git a/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp b/include/motor-control/core/tasks/tmc2160_motor_driver_task.hpp
@@ -60,12 +60,11 @@ class MotorDriverMessageHandler {
                 m.rxBuffer);
             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::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 {

diff --git a/include/motor-control/core/tasks/tmc_motor_driver_common.hpp b/include/motor-control/core/tasks/tmc_motor_driver_common.hpp
@@ -8,10 +8,11 @@ namespace tmc {
 namespace tasks {
 
 using SpiResponseMessage = std::tuple<spi::messages::TransactResponse>;
-using CanMessageTuple = std::tuple<can::messages::ReadMotorDriverRegister,
-                                   can::messages::WriteMotorDriverRegister,
-                                   can::messages::WriteMotorCurrentRequest,
-                                   can::messages::ReadMotorDriverErrorStatusRequest>;
+using CanMessageTuple =
+    std::tuple<can::messages::ReadMotorDriverRegister,
+               can::messages::WriteMotorDriverRegister,
+               can::messages::WriteMotorCurrentRequest,
+               can::messages::ReadMotorDriverErrorStatusRequest>;
 using GearCanMessageTuple =
     std::tuple<can::messages::GearReadMotorDriverRegister,
                can::messages::ReadMotorDriverErrorStatusRequest,

diff --git a/include/pipettes/core/gear_motor_tasks.hpp b/include/pipettes/core/gear_motor_tasks.hpp
@@ -73,7 +73,8 @@ struct QueueClient : can::message_writer::MessageWriter {
 
     void send_motor_driver_queue(const tmc2160::tasks::gear::TaskMessage& m);
 
-    void send_motor_driver_queue_isr(const tmc2160::tasks::gear::TaskMessage& m);
+    void send_motor_driver_queue_isr(
+        const tmc2160::tasks::gear::TaskMessage& m);
 
     void send_move_group_queue(
         const pipettes::tasks::move_group_task::TaskMessage& m);

diff --git a/include/pipettes/core/linear_motor_tasks.hpp b/include/pipettes/core/linear_motor_tasks.hpp
@@ -134,7 +134,8 @@ struct QueueClient : can::message_writer::MessageWriter {
         driver_queue->try_write(m);
     }
 
-    void send_motor_driver_queue_isr(const tmc2130::tasks::TaskMessage& m) const {
+    void send_motor_driver_queue_isr(
+        const tmc2130::tasks::TaskMessage& m) const {
         static_cast<void>(driver_queue->try_write_isr(m));
     }
 
@@ -177,7 +178,8 @@ struct QueueClient : can::message_writer::MessageWriter {
         driver_queue->try_write(m);
     }
 
-    void send_motor_driver_queue_isr(const tmc2160::tasks::TaskMessage& m) const {
+    void send_motor_driver_queue_isr(
+        const tmc2160::tasks::TaskMessage& m) const {
         static_cast<void>(driver_queue->try_write_isr(m));
     }