updates to match pressure work

Opentrons · May 1, 2024 · 6ac10b7 · 6ac10b7
1 parent 628c9c1
commit 6ac10b7
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Showing 3 changed files with 16 additions and 2 deletions.
diff --git a/gripper/core/CMakeLists.txt b/gripper/core/CMakeLists.txt
@@ -2,6 +2,7 @@ function(target_gripper_core TARGET)
     if(${USE_SENSOR_MOVE})
     target_compile_definitions(${TARGET} PUBLIC USE_SENSOR_MOVE)
     target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=2800)
+    target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_tasks.cpp

diff --git a/gripper/core/tasks.cpp b/gripper/core/tasks.cpp
@@ -17,6 +17,9 @@
 static auto tasks = gripper_tasks::AllTask{};
 static auto queues = gripper_tasks::QueueClient{can::ids::NodeId::gripper};
 static std::array<float, SENSOR_BUFFER_SIZE> p_buff;
+#ifdef USE_TWO_BUFFERS
+static std::array<float, SENSOR_BUFFER_SIZE> p_buff_front;
+#endif
 
 static auto eeprom_task_builder =
     freertos_task::TaskStarter<512, eeprom::task::EEPromTask>{};
@@ -97,7 +100,12 @@ auto gripper_tasks::start_tasks(
     auto& capacitive_sensor_task_front =
         capacitive_sensor_task_builder_front.start(
             5, "cap sensor S1", i2c2_task_client, i2c2_poll_client,
-            sensor_hardware, queues, p_buff);
+            sensor_hardware, queues,
+#ifdef USE_TWO_BUFFERS
+            p_buff_front);
+#else
+            p_buff);
+#endif
     auto& capacitive_sensor_task_rear =
         capacitive_sensor_task_builder_rear.start(
             5, "cap sensor S0", i2c3_task_client, i2c3_poll_client,

diff --git a/pipettes/core/sensor_tasks.cpp b/pipettes/core/sensor_tasks.cpp
@@ -188,7 +188,12 @@ void sensor_tasks::start_tasks(
         auto& capacitive_sensor_task_front =
             capacitive_sensor_task_builder_front.start(
                 5, "capacitive sensor s1", i2c2_task_client, i2c2_poller_client,
-                sensor_hardware_primary, queues, p_buff);
+                sensor_hardware_secondary, queues,
+#ifdef USE_TWO_BUFFERS
+                p_buff_front);
+#else
+                p_buff);
+#endif
         tasks.capacitive_sensor_task_front = &capacitive_sensor_task_front;
         queues.capacitive_sensor_queue_front =
             &capacitive_sensor_task_front.get_queue();