feat(hepa-uv): Add led hardware and push button led task.

Opentrons · Jan 20, 2024 · 868ac67 · 868ac67
1 parent 2809beb
commit 868ac67
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Showing 11 changed files with 690 additions and 4 deletions.
diff --git a/hepa-uv/core/tasks.cpp b/hepa-uv/core/tasks.cpp
@@ -20,25 +20,32 @@ static auto hepa_task_builder =
 static auto uv_task_builder =
     freertos_task::TaskStarter<512, uv_task::UVTask>{};
 
+static auto light_control_task_builder =
+    freertos_task::TaskStarter<512, light_control_task::LightControlTask>{};
+
 /**
  * Start hepa_uv tasks.
  */
 void hepauv_tasks::start_tasks(
     can::bus::CanBus& can_bus,
-    gpio_drive_hardware::GpioDrivePins& gpio_drive_pins) {
+    gpio_drive_hardware::GpioDrivePins& gpio_drive_pins,
+    light_control_task::LightControlInterface& led_hardware) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
 
     auto& hepa_task = hepa_task_builder.start(5, "hepa_fan", gpio_drive_pins);
     auto& uv_task = uv_task_builder.start(5, "uv_ballast", gpio_drive_pins);
+    auto& light_control_task = light_control_task_builder.start(5, "push_button_leds", led_hardware);
 
     tasks.hepa_task_handler = &hepa_task;
     tasks.uv_task_handler = &uv_task;
+    tasks.light_control_task_handler = &light_control_task;
     tasks.can_writer = &can_writer;
 
     queues.set_queue(&can_writer.get_queue());
     queues.hepa_queue = &hepa_task.get_queue();
     queues.uv_queue = &uv_task.get_queue();
+    queues.light_control_queue = &light_control_task.get_queue();
 }
 
 hepauv_tasks::QueueClient::QueueClient(can::ids::NodeId this_fw)
@@ -53,6 +60,10 @@ void hepauv_tasks::QueueClient::send_uv_message(const uv_task::TaskMessage& m) {
     uv_queue->try_write(m);
 }
 
+void hepauv_tasks::QueueClient::send_light_control_message(const light_control_task::TaskMessage& m) {
+    light_control_queue->try_write(m);
+}
+
 /**
  * Access to the tasks singleton
  * @return

diff --git a/hepa-uv/firmware/CMakeLists.txt b/hepa-uv/firmware/CMakeLists.txt
@@ -12,6 +12,7 @@ set(REVISIONS hepa-rev1)
 # Add source files that should be checked by clang-tidy here
 set(HEPA_UV_FW_LINTABLE_SRCS
         ${CMAKE_CURRENT_SOURCE_DIR}/freertos_idle_timer_task.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/light_control_task/light_control_hardware.cpp
         ${COMMON_EXECUTABLE_DIR}/system/iwdg.cpp
         ${CAN_FW_DIR}/hal_can_bus.cpp
         ${CAN_FW_DIR}/utils.c
@@ -23,6 +24,7 @@ set(HEPAUV_FW_NON_LINTABLE_SRCS
         ${CMAKE_CURRENT_SOURCE_DIR}/stm32g4xx_it.c
         ${CMAKE_CURRENT_SOURCE_DIR}/clocking.c
         ${CMAKE_CURRENT_SOURCE_DIR}/utility_gpio.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/led_hardware.c
         ${CMAKE_CURRENT_SOURCE_DIR}/can.c
         ${CMAKE_CURRENT_SOURCE_DIR}/i2c_setup.c
         ${COMMON_EXECUTABLE_DIR}/errors/errors.c