- software debounce the irq lines

- change safety relay pin PB6 -> PB5 - add c1 revision
Opentrons · Jun 14, 2024 · 3f670bf · 3f670bf
1 parent e48b8b5
commit 3f670bf
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Showing 8 changed files with 62 additions and 45 deletions.
diff --git a/bootloader/firmware/stm32G4/CMakeLists.txt b/bootloader/firmware/stm32G4/CMakeLists.txt
@@ -170,8 +170,8 @@ endmacro()
 foreach_revision(
     PROJECT_NAME bootloader-hepa-uv
     CALL_FOREACH_REV hepauv_bootloader_loop
-    REVISIONS a1 b1
-    SOURCES hepauv_sources hepauv_sources
+    REVISIONS a1 b1 c1
+    SOURCES hepauv_sources hepauv_sources hepauv_sources
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )

diff --git a/hepa-uv/firmware/CMakeLists.txt b/hepa-uv/firmware/CMakeLists.txt
@@ -44,7 +44,6 @@ set(HEPAUV_SRCS_A1
 )
 set(HEPAUV_SRCS_B1 ${HEPAUV_SRCS_A1})
 set(HEPAUV_SRCS_C1 ${HEPAUV_SRCS_B1})
-set(HEPAUV_SRCS_C2 ${HEPAUV_SRCS_C1})
 
 macro(hepa_uv_loop)
     set(_driver_suffix ${PROJECT_NAME}_${REVISION})
@@ -84,12 +83,12 @@ endmacro()
 
 foreach_revision(
     PROJECT_NAME hepa-uv
-    REVISIONS a1 b1
-    SOURCES HEPAUV_SRCS_A1 HEPAUV_SRCS_B1
+    REVISIONS a1 b1 c1
+    SOURCES HEPAUV_SRCS_A1 HEPAUV_SRCS_B1 HEPAUV_SRCS_C1
     CALL_FOREACH_REV hepa_uv_loop)
 
 alias_for_revision(PROJECT_NAME hepa-uv REVISION a1 REVISION_ALIAS proto)
-alias_for_revision(PROJECT_NAME hepa-uv REVISION b1 REVISION_ALIAS rev1)
+alias_for_revision(PROJECT_NAME hepa-uv REVISION c1 REVISION_ALIAS rev1)
 
 add_clang_tidy_target(
     TARGET_NAME hepa-uv-lint

diff --git a/hepa-uv/firmware/main_rev1.cpp b/hepa-uv/firmware/main_rev1.cpp
@@ -1,4 +1,5 @@
 #include <array>
+#include <optional>
 
 // clang-format off
 #include "FreeRTOS.h"
@@ -92,6 +93,17 @@ class EEPromHardwareInterface
 };
 static auto eeprom_hw_iface = EEPromHardwareInterface();
 
+#if PCB_PRIMARY_REVISION == 'a' || PCB_PRIMARY_REVISION == 'b'
+static constexpr std::optional<gpio::PinConfig> safety_relay_active =
+    std::nullopt;
+#else
+static std::optional<gpio::PinConfig> safety_relay_active =
+    gpio::PinConfig{// NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+                    .port = nSAFETY_ACTIVE_MCU_PORT,
+                    .pin = nSAFETY_ACTIVE_MCU_PIN,
+                    .active_setting = nSAFETY_ACTIVE_AS};
+#endif
+
 static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
     .door_open =
         gpio::PinConfig{
@@ -123,17 +135,14 @@ static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
             .port = HEPA_ON_OFF_PORT,
             .pin = HEPA_ON_OFF_PIN,
             .active_setting = HEPA_ON_OFF_AS},
-    .uv_on_off = gpio::PinConfig{
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = UV_ON_OFF_MCU_PORT,
-        .pin = UV_ON_OFF_MCU_PIN,
-        .active_setting = UV_ON_OFF_AS},
-    .safety_relay_active = gpio::PinConfig{
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = nSAFETY_ACTIVE_MCU_PORT,
-        .pin = nSAFETY_ACTIVE_MCU_PIN,
-        .active_setting = nSAFETY_ACTIVE_AS},
-    };
+    .uv_on_off =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = UV_ON_OFF_MCU_PORT,
+            .pin = UV_ON_OFF_MCU_PIN,
+            .active_setting = UV_ON_OFF_AS},
+    .safety_relay_active = safety_relay_active,
+};
 
 static auto& hepauv_queues = hepauv_tasks::get_main_queues();
 

diff --git a/hepa-uv/firmware/utility_gpio.c b/hepa-uv/firmware/utility_gpio.c
@@ -142,10 +142,10 @@ void uv_on_off_output_init() {
 void safety_relay_active_input_init() {
     /* GPIO Ports Clock Enable */
     __HAL_RCC_GPIOB_CLK_ENABLE();
-    /*Configure GPIO pin nSAFETY_ACTIVE_MCU: PB6 */
+    /*Configure GPIO pin nSAFETY_ACTIVE_MCU: PB5 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
     GPIO_InitStruct.Pin = nSAFETY_ACTIVE_MCU_PIN;
-    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(nSAFETY_ACTIVE_MCU_PORT, &GPIO_InitStruct);
 }

diff --git a/include/common/core/wtf.hpp b/include/common/core/wtf.hpp
diff --git a/include/hepa-uv/core/uv_task.hpp b/include/hepa-uv/core/uv_task.hpp
@@ -9,14 +9,15 @@
 #include "hepa-uv/core/messages.hpp"
 #include "hepa-uv/firmware/gpio_drive_hardware.hpp"
 #include "hepa-uv/firmware/uv_control_hardware.hpp"
-#include "ot_utils/freertos/freertos_timer.hpp"
 #include "ot_utils/freertos/freertos_sleep.hpp"
+#include "ot_utils/freertos/freertos_timer.hpp"
 
 namespace uv_task {
 
 // How long to keep the UV light on in seconds.
 static constexpr uint32_t DELAY_S = 60 * 15;      // 15 minutes
 static constexpr uint32_t MAX_DELAY_S = 60 * 60;  // 1hr max timeout
+static constexpr uint32_t DEBOUNCE_MS = 250;      // button debounce
 
 using TaskMessage = uv_task_messages::TaskMessage;
 
@@ -34,12 +35,17 @@ class UVMessageHandler {
           can_client{can_client},
           _timer(
               "UVTask", [ThisPtr = this] { ThisPtr->timer_callback(); },
-              DELAY_S * 1000) {
+              DELAY_S * 1000),
+          debounce_timer(
+              "UVTaskDebounce", [ThisPtr = this] { ThisPtr->debounce_cb(); },
+              DEBOUNCE_MS) {
         // get current state
         uv_push_button = gpio::is_set(drive_pins.uv_push_button);
         door_closed = gpio::is_set(drive_pins.door_open);
         reed_switch_set = gpio::is_set(drive_pins.reed_switch);
-        safety_relay_active = gpio::is_set(drive_pins.safety_relay_active);
+        if (drive_pins.safety_relay_active.has_value())
+            safety_relay_active =
+                gpio::is_set(drive_pins.safety_relay_active.value());
         // turn off UV Ballast
         gpio::reset(drive_pins.uv_on_off);
     }
@@ -60,6 +66,12 @@ class UVMessageHandler {
         uv_push_button = false;
     }
 
+    // callback to debounce the irq signals
+    void debounce_cb() {
+        debounce_timer.stop();
+        set_uv_light_state(uv_push_button, uv_off_timeout_s);
+    }
+
     void visit(const std::monostate &) {}
 
     // Handle GPIO EXTI Interrupts here
@@ -69,20 +81,18 @@ class UVMessageHandler {
             return;
         }
 
+        // debounce
+        if (debounce_timer.is_running()) return;
+        debounce_timer.start();
+
         // update states
-        if (m.pin == drive_pins.uv_push_button.pin) {
+        door_closed = gpio::is_set(drive_pins.door_open);
+        reed_switch_set = gpio::is_set(drive_pins.reed_switch);
+        if (drive_pins.safety_relay_active.has_value())
+            safety_relay_active =
+                gpio::is_set(drive_pins.safety_relay_active.value());
+        if (m.pin == drive_pins.uv_push_button.pin)
             uv_push_button = !uv_push_button;
-        } else if (m.pin == drive_pins.door_open.pin) {
-            door_closed = gpio::is_set(drive_pins.door_open);
-        } else if (m.pin == drive_pins.reed_switch.pin) {
-            reed_switch_set = gpio::is_set(drive_pins.reed_switch);
-        }
-
-        // Always update safety relay state
-        safety_relay_active = gpio::is_set(drive_pins.safety_relay_active);
-
-        // Drive the UV light
-        set_uv_light_state(uv_push_button, uv_off_timeout_s);
     }
 
     void visit(const can::messages::SetHepaUVStateRequest &m) {
@@ -160,9 +170,11 @@ class UVMessageHandler {
         }
 
         // wait 10ms for safety relay, then update the states
-        ot_utils::freertos_sleep::sleep(10);
-        safety_relay_active = gpio::is_set(drive_pins.safety_relay_active);
+        ot_utils::freertos_sleep::sleep(100);
         uv_current_ma = uv_hardware.get_uv_light_current();
+        if (drive_pins.safety_relay_active.has_value())
+            safety_relay_active =
+                gpio::is_set(drive_pins.safety_relay_active.value());
         if (!safety_relay_active) {
             // we tried to set the uv light, but the relay is not active
             if (_timer.is_running()) {
@@ -203,6 +215,7 @@ class UVMessageHandler {
     LEDControlClient &led_control_client;
     CanClient &can_client;
     ot_utils::freertos_timer::FreeRTOSTimer _timer;
+    ot_utils::freertos_timer::FreeRTOSTimer debounce_timer;
 };
 
 /**

diff --git a/include/hepa-uv/firmware/gpio_drive_hardware.hpp b/include/hepa-uv/firmware/gpio_drive_hardware.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <optional>
+
 #include "common/firmware/gpio.hpp"
 
 namespace gpio_drive_hardware {
@@ -11,7 +13,7 @@ struct GpioDrivePins {
     gpio::PinConfig uv_push_button;
     gpio::PinConfig hepa_on_off;
     gpio::PinConfig uv_on_off;
-    gpio::PinConfig safety_relay_active;
+    std::optional<gpio::PinConfig> safety_relay_active = std::nullopt;
 };
 
 }  // namespace gpio_drive_hardware
diff --git a/include/hepa-uv/firmware/utility_gpio.h b/include/hepa-uv/firmware/utility_gpio.h
@@ -103,7 +103,7 @@ void utility_gpio_init();
 // UV_W_CTRL PB2
 #define UV_W_CTRL_PORT GPIOB
 #define UV_W_CTRL_PIN GPIO_PIN_2
-// nSAFETY_ACTIVE_MCU PB6
+// nSAFETY_ACTIVE_MCU PB5
 #define nSAFETY_ACTIVE_MCU_PORT GPIOB
-#define nSAFETY_ACTIVE_MCU_PIN GPIO_PIN_6
+#define nSAFETY_ACTIVE_MCU_PIN GPIO_PIN_5
 #define nSAFETY_ACTIVE_AS GPIO_PIN_RESET